Disclosure of Invention
Based on the above-mentioned defects in the prior art, the present invention aims to provide a prostate binding device, which directly provides a linear driving force through the cooperation of a first motor, a first gear and a first rack to trigger the execution of a puncture needle, a needle retraction and a wire retraction, has simpler operation, can improve the binding efficiency, reduce the vibration and noise generated in the binding process, and has long service life.
Therefore, the invention provides the following technical scheme.
The invention provides a prostate binding device, which comprises an implantation mechanism and an operating mechanism, wherein the implantation mechanism comprises a puncture needle assembly and a binding wire assembly, and the operating mechanism comprises:
a first drive assembly including a first motor, a first gear and a first rack engaged with each other;
The actuation assembly comprises a puncture needle actuation piece, a binding wire actuation piece and a first elastic piece, wherein the first elastic piece is respectively connected with the puncture needle actuation piece and the binding wire actuation piece, the puncture needle actuation piece is in transmission connection with the puncture needle assembly, and the binding wire actuation piece is in transmission connection with the binding wire assembly;
Wherein, when the puncture needle is performed, the first rack provides a linear driving force for triggering the actuating component to move from an initial position to a puncture needle completion position along a first direction, and the puncture needle actuating component drives the puncture needle component to move so as to puncture the prostate;
When the needle is retracted, the first rack drives the puncture needle actuating piece to drive the puncture needle assembly to move along the second direction so as to complete needle retraction, the first elastic piece is used for accumulating energy due to the fact that the puncture needle actuating piece is pulled, then the binding thread actuating piece moves along the second direction under the elasticity of the first elastic piece so as to tighten the binding thread assembly, and the first direction is opposite to the second direction.
Optionally, the operating mechanism further comprises a first trigger switch, which is used for triggering the first driving component to operate;
When the actuating assembly is in an initial state, the first trigger switch is operated once and can trigger the prostate bundle nailing device to execute the puncture needle, and then the first trigger switch is operated once again and can trigger the prostate bundle nailing device to execute the puncture needle and the wire winding.
Optionally, the lancet actuator is locked when the actuation assembly is in an initial state, the first rack provides power to unlock the lancet actuator when a lancet is being performed;
And/or the binding thread actuating member is locked when the puncture needle assembly completes the puncture needle or starts to retract, and the first rack provides power to unlock the binding thread actuating member in the process of driving the puncture needle actuating member to move along the second direction by the first rack when retracting, so that the binding thread actuating member can move along the second direction under the elastic force of the first elastic member.
Optionally, the actuation assembly further comprises:
A first mounting member provided with a first guide rail to which the puncture needle actuating member and the binding thread actuating member are respectively movably connected;
a second elastic member having one end connected to the first mounting member and the other end connected to the puncture needle actuating member;
wherein when the actuation assembly is in an initial position, the lancet actuation member is locked and the second resilient member is in an energy storage state;
when the puncture needle is performed, the first rack provides power to unlock the puncture needle actuating element during the linear movement of the first rack, and then the puncture needle actuating element moves to a puncture needle completion position along a first direction under the elastic force of the second elastic element.
Optionally, the first mounting piece is provided with a first locking structure and a second locking structure which are distributed in sequence along the first direction;
when the puncture needle is performed, the first rack provides power to enable the first locking structure to be in a yielding state and unlocked, so that the puncture needle actuating piece can move along a first direction under the elasticity of the second elastic piece;
When the puncture needle assembly completes the puncture needle or starts to retract, the second locking structure can prevent the binding thread actuating member from moving along the second direction, and when the puncture needle assembly is retracted, the first rack provides power to enable the second locking structure to be out of position and unlocked, so that the binding thread actuating member moves along the second direction under the elasticity of the first elastic member to realize the thread retraction.
Optionally, the actuating assembly further comprises an unlocking piece, wherein the unlocking piece is connected to the first rack, and the unlocking piece is provided with a first unlocking structure and a second unlocking structure which are distributed in sequence along the first direction;
when the puncture needle is performed, the first rack drives the unlocking piece to move along a first direction, and the first locking structure is unlocked through the first unlocking structure;
When the needle is retracted, the first rack drives the unlocking piece to move along a second direction, and the second locking structure is unlocked through the second unlocking structure.
Optionally, the first locking structure includes a first connecting arm, a first stop portion and a first extension arm, one end of the first connecting arm is a free end, and the first stop portion and the first extension arm are respectively connected to the free end of the first connecting arm;
When the puncture needle is performed, the first unlocking structure presses the first extension arm to deform the first connecting arm so as to shift the first stopping part to unlock the puncture needle during the movement of the unlocking member along the first direction;
and/or the second locking structure comprises a second connecting arm, a second stopping part and a second extension arm, wherein one end of the second connecting arm is a free end, and the second stopping part and the second extension arm are respectively connected with the free end of the second connecting arm;
When the puncture needle assembly completes the puncture needle or starts to retract, the binding thread actuating member is at least partially abutted against the second stop part along a second direction and locked; when the needle is retracted, in the process that the unlocking piece moves along the second direction, the second unlocking structure enables the second connecting arm to deform, and then the second stopping portion is shifted to unlock.
Optionally, the puncture needle actuating element, the binding wire actuating element and the first elastic element are all located at one side of the first mounting element facing the implantation mechanism, and the first driving assembly and the unlocking element are all located at one side of the first mounting element facing away from the implantation mechanism;
the first mounting piece is provided with a first through hole extending along a first direction, the puncture needle actuating piece comprises a first lug, the binding wire actuating piece comprises a second lug, the first lug is provided with a first protruding part, and the second lug is provided with a second protruding part;
The first lug is movably inserted into the first through hole, so that the first protruding part can be abutted against the first locking structure along a first direction to be locked;
the second protruding block is movably inserted into the first through hole, so that the second protruding portion can be abutted against the second locking structure along the second direction to be locked.
Optionally, the puncture needle actuating piece comprises a third bump, and the first rack is provided with a boss;
when the puncture needle is retracted, the boss can be abutted against the third lug along the second direction, so that the first rack drives the puncture needle actuating piece to move along the second direction to complete the retraction.
Optionally, the puncture needle actuating element, the binding wire actuating element and the first elastic element are all located at one side of the first mounting element facing the implantation mechanism, and the first driving assembly and the unlocking element are all located at one side of the first mounting element facing away from the implantation mechanism;
The first mounting piece is provided with a second through hole extending along a first direction, the third lug is movably inserted into the second through hole, and the third lug partially extends out of the second through hole;
And/or, when the actuation assembly is in an initial state, the boss and the third bump are spaced apart in the first direction to avoid interference of the boss with movement of the lancet actuator 221 in the first direction to a lancet complete position;
when the puncture needle is completed, the first rack drives the unlocking piece to move to the unlocking piece initial position, and at the moment, the boss is abutted to the third bump along the second direction, or a gap is reserved between the boss and the third bump.
Optionally, the first elastic element is a coil spring, the puncture needle actuating element is provided with a first mounting column, the binding nail wire actuating element is provided with a clamping structure, one end of the first elastic element is wound on the first mounting column, and the other end of the first elastic element is clamped on the clamping structure;
And/or the puncture needle actuating pieces and the binding thread actuating pieces are sequentially distributed along a first direction, when the actuating assembly is in an initial state, the binding thread actuating pieces are abutted against the puncture needle actuating pieces along a second direction under the action of the first elastic piece, and thus, when a puncture needle is performed, the puncture needle actuating pieces can drive the binding thread actuating pieces to move along the first direction;
And/or the puncture needle actuating piece is provided with a first plug-in connection part, the puncture needle assembly comprises a second plug-in connection part, and the first plug-in connection part and the second plug-in connection part are plugged in order to ensure that the puncture needle actuating piece is in transmission connection with the puncture needle assembly;
And/or the binding thread actuating piece is provided with a third plug-in connection part, the binding thread assembly comprises a fourth plug-in connection part, and the third plug-in connection part and the fourth plug-in connection part are plugged in order to ensure that the binding thread actuating piece is in transmission connection with the binding thread assembly;
and/or the implantation mechanism and the operating mechanism are detachably connected.
Optionally, the puncture needle assembly comprises a puncture needle and a distal anchor, the distal anchor is arranged in the puncture needle in a hollow structure in advance, the binding wire assembly comprises a binding wire, and one end of the binding wire is connected with the distal anchor;
the needle passes through the prostate with the distal anchor when the needle is retracted, the needle is retracted to disengage from the prostate with the distal anchor remaining on the distal side of the prostate when the needle is retracted, and the distal anchor stretches and squeezes the distal side of the prostate when the wire is retracted under the pull of the wire harness.
Optionally, the operating mechanism further comprises a second drive assembly comprising a second motor, a second gear wheel and a second rack that intermesh, the implant mechanism further comprising a clamp-and-sever assembly comprising a proximal anchor and a cutter;
The clamp shut-off assembly is locked when it is in an initial state;
When clamping and severing, the second rack provides power to unlock the clamp-severing assembly, the proximal anchor clamps the wire harness at a proximal end of the prostate, and the cutter then severs the wire harness such that the proximal anchor retains and squeezes the proximal side of the prostate.
Optionally, the operating mechanism further comprises a trigger connected to the second rack;
when clamping and cutting off are carried out, the second rack drives the trigger piece to move to be in contact with the clamping and cutting-off assembly, and the clamping and cutting-off assembly is unlocked under the pushing of the trigger piece.
Optionally, the implantation mechanism includes a second mount, and the clamp-cut assembly includes:
A proximal anchor actuator movably mounted to the second mount;
A cutter actuator movably mounted to the second mounting member;
a third elastic member having opposite ends connected to the proximal anchor actuating member and the cutter actuating member, respectively;
a first locking member rotatably coupled to the second mounting member;
a second locking member rotatably coupled to the second mounting member;
When the clamp shut-off assembly is in an initial state, the first locking member locks the proximal anchor actuating member, the second locking member locks the cutter actuating member, and the third resilient member is in a tensioned state;
When clamping and cutting are performed, the trigger piece moves under the driving of the second rack so as to push the first locking piece to rotate and separate from the proximal anchor actuating piece, meanwhile, the first locking piece rotates so as to push the second locking piece to rotate and separate from the cutter actuating piece, and then the proximal anchor actuating piece and the cutter actuating piece move towards each other under the rebound force of the third elastic piece so as to achieve clamping and cutting.
Optionally, the operating mechanism further comprises a second trigger switch, when the prostate bundle nailing device is in a shutdown state, the second trigger switch is operated once, so that the prostate bundle nailing device can be started and automatically calibrated to an initial state.
Optionally, the operating mechanism further comprises a first trigger switch, and the first trigger switch is operated once and can trigger the second driving assembly to operate;
the operating mechanism further comprises a shell and a first trigger switch, the first trigger switch is used for triggering the first driving assembly and the second driving assembly to operate, and the shell comprises a handle;
the first trigger switch is arranged on the front side of the handle, and the second trigger switch is arranged on the rear side of the shell and above the handle;
And/or the operating mechanism comprises a first trigger switch which is used for triggering the first driving component and the second driving component to operate, wherein the first trigger switch is a button switch, and the second trigger switch is a ship-shaped switch;
And/or, the second rack can move along a third direction, and the third direction is perpendicular to the first direction;
the trigger piece of the operating mechanism comprises a trigger end and a detected end, wherein the trigger end is positioned in the main body and used for unlocking the clamping and cutting assembly, and the detected end is at least partially positioned in the handle and used for connecting a travel switch trigger element;
and/or the implantation mechanism further comprises an indicator lamp, wherein the indicator lamp is used for indicating the current state of the prostate bundle nail device, and the current state comprises an automatic calibration finishing state, a puncture needle finishing state, a needle retraction finishing state and a clamping cutting finishing state.
The invention has the following technical effects:
The invention provides a prostate binding device, which directly provides linear driving force through the cooperation of a first motor, a first gear and a first rack to trigger the execution of a puncture needle, a puncture needle and a wire winding, realizes intelligent binding operation through the first motor and an automatic control program, and, compared with the scheme of adopting the cooperation of the gear and the cam in the prior art CN114980823A, the linear motion stroke length of the first rack in the scheme is adjustable, the first rack is driven by the first motor to execute the motion along the second direction once, the needle retraction and the wire retraction can be triggered successively, the operation is simpler and more convenient, and the binding efficiency can be improved. And the first driving component has simple and stable structure and stable operation, can reduce vibration and noise generated in the process of binding nails, and has long service life.
Drawings
Fig. 1 is a structural exploded view of a prostate bundle nailing device of the present invention;
FIG. 2 is a schematic view of a partial perspective view of the operating mechanism of the present invention when the actuating assembly is in an initial state;
FIG. 3 is a diagram showing the assembly structure of the first driving assembly, the unlocking member, the first optocoupler, the second optocoupler and the third optocoupler when the actuating assembly is in the initial state;
fig. 4 is a diagram showing an assembly structure of the first driving assembly, the unlocking member, the first optocoupler, the second optocoupler and the third optocoupler when the actuating assembly is in an initial state;
FIG. 5 is a schematic perspective view of the actuator assembly of the present invention when the actuator assembly is in an initial state;
FIG. 6 is an exploded view of a partial construction of the actuation assembly of the present invention;
FIG. 7 is a schematic view of a partial perspective of the actuator assembly of the present invention when the actuator assembly is in an initial state;
FIG. 8 is an enlarged view of FIG. 7 at A;
FIG. 9 is an enlarged view of a partial structure of the first mounting member of the present invention;
FIG. 10 is a diagram showing the assembled configuration of the actuator assembly and the first drive assembly when the actuator assembly is in an initial state;
FIG. 11 is a partial structural elevational view of the operating mechanism of the present invention with the actuating assembly in an initial state;
FIG. 12 is a partial elevational view of the operating mechanism of the present invention as it completes the lancet;
FIG. 13 is a partial structural elevational view of the operating body of the present invention when the wire slide is locked;
FIG. 14 is a partial elevational view of the operating mechanism of the present invention during retraction;
FIG. 15 is a partial structural elevational view of the operating mechanism of the present invention with the actuating assembly reset to the initial position and the release member unset;
FIG. 16 is a diagram showing the assembled structure of the second drive assembly, trigger, travel switch trigger, first travel switch and second travel switch of the present invention without clamping and cutting operations;
FIG. 17 is an exploded view of the structure of the implant mechanism of the present invention;
FIG. 18 is a schematic view of a part of the implantation mechanism of the present invention;
FIG. 19 is a partial structural cross-sectional view of the implantation mechanism of the present invention;
FIG. 20 is an enlarged view of FIG. 19 at B;
FIG. 21 is a structural relationship of the wire harness and distal anchor of the implant device of the present invention;
FIG. 22 is a structural view of the proximal anchor and cutter of the implant mechanism of the present invention;
FIG. 23 is a fragmentary structural exploded view of the clamp-and-sever assembly of the present invention;
Fig. 24 is a schematic perspective view of a prostate bundle nailing device according to the present invention.
Description of the reference numerals
100. A prostate stapling device;
1. An implantation mechanism;
11. the puncture needle comprises a puncture needle assembly, 111, a puncture needle connecting piece, 1111, a second inserting part, 112, a puncture needle, 113, a distal end anchoring piece, 114 and a puncture needle guide tube;
12. The wire binding assembly, 121, a wire binding connecting piece, 1211, a fourth inserting part, 122, a wire binding, 123, a wire binding guide tube, 124, a wire binding support tube;
13. Clamping and severing assembly, 131, proximal anchor, 132, cutter, 133, proximal anchor actuator, 1331, first slot, 134, cutter actuator, 1341, second abutment, 135, third spring, 136, first lock, 1361, first snap-in projection, 1362, pusher, 137, second lock, 1371, pushed portion, 1372, first abutment, 138, pusher, 139, pull rod;
14. 15 parts of a gun head welding assembly, 16 parts of an outer cover, 17 parts of a base body, 18 parts of a locking knob;
2. an operating mechanism;
21. First driving component 211, first motor 2111, first output shaft 212, first gear 213, first rack 2131, boss 214, second guide rail 215 and slide block;
22. an actuation assembly;
221. Puncture needle actuator, 2211, first bump, 22111, first boss, 221111, first abutment surface, 221112, second inclined surface, 2212, third bump, 2213, first mounting post, 2214, first plug portion, 2215, hook portion, 2216, second clip portion;
222. the wire bundling actuating piece comprises a wire bundling actuating piece, a 2221, a second lug, a 22211, a second protruding part, 222111, a second abutting surface, 222112, a fourth inclined surface, a 2222, a clamping structure, a 2223, a third plug-in connection part, a 2224, a fourth lug, a 22241 and a bending part;
223. A first elastic member;
224. 2241, a first guide rail, 2242, a first locking structure, 22421, a first connecting arm, 22422, a first stop portion, 224221, a first stop surface, 224222, a first inclined surface, 22423, a first extension arm, 2243, a second locking structure, 22431, a second connecting arm, 22432, a second stop portion, 224321, a second stop surface, 224322, a third inclined surface, 22433, a second extension arm, 2244, a first through hole, 2245, a second through hole, 2246, a second mounting post, 22471, a first hollow portion, 22472, a second hollow portion, 22473, a connecting portion, 2248, a groove, 2249, and a first clamping portion;
225. a second elastic member;
226. an unlocking member; 2261, a first unlocking structure, 2262, a second unlocking structure, 2263, a first baffle, 2264 and a second baffle;
23. a first trigger switch;
24. The second driving component 241, the second motor 2411, the second output shaft 242, the second gear 243, the second rack 244 and the guide rod;
25. The trigger piece, 251, trigger end, 252, detected end;
26. a second trigger switch;
27. the device comprises a shell 271, a handle 272, a main body 273, a first shell 274 and a second shell;
281. The device comprises a travel switch trigger element, 282, a first optical coupler, 283, a second optical coupler, 284, a third optical coupler, 285, a first travel switch, 286 and a second travel switch;
291. an endoscope sheath tube 292, a battery 293 and an indicator lamp.
Detailed Description
In order to make the technical scheme and the beneficial effects of the application more obvious and understandable, the following detailed description is given by way of example. Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
In the description of the present invention, unless explicitly defined otherwise, terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "height", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., refer to an orientation or positional relationship based on that shown in the drawings, and are merely for convenience of simplifying the description of the present invention, and do not indicate that the apparatus or element referred to must have a specific orientation, be constructed and operated in a specific orientation, i.e., are not to be construed as limiting the present invention.
In the present invention, the terms "first", "second" are used for descriptive purposes only and are not to be construed as relative importance of the features indicated or the number of technical features indicated. Thus, a feature defining "first", "second" may explicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, and "plurality" means at least one, unless explicitly defined otherwise.
In the present invention, the terms "mounted," "connected," "secured," "disposed," and the like are to be construed broadly, unless otherwise specifically limited. For example, "connected" may be a fixed connection, a removable connection, or an integral connection, may be a mechanical connection or an electrical connection, may be a direct connection or an indirect connection via an intermediate medium, or may be a communication between two elements or an interaction relationship between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless explicitly defined otherwise, a first feature "on", "above", "over" and "above", "below" or "under" a second feature may be that the first feature and the second feature are in direct contact, or that the first feature and the second feature are in indirect contact via an intermediary. Moreover, a first feature "above," "over" and "on" a second feature may be that the first feature is directly above or obliquely above the second feature, or simply indicates that the level of the first feature is higher than the level of the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the level of the first feature is less than the level of the second feature.
The prostate bundle nailing device of the present invention will be described in detail with reference to fig. 1 to 24.
In this embodiment, as shown in fig. 1, 17, 18, 21 and 24, the prostate bundle pin device 100 includes an implantation mechanism 1 and an operation mechanism 2, the implantation mechanism 1 includes a puncture needle assembly 11 and a bundle pin wire assembly 12, the puncture needle assembly 11 includes a puncture needle 112 and a distal anchor 113, the distal anchor 113 is previously placed in the puncture needle 112 having a hollow structure, the bundle pin wire assembly 12 includes a bundle pin wire 122, and one end of the bundle pin wire 122 is connected with the distal anchor 113.
As shown in fig. 1 to 6, the operating mechanism 2 includes a first driving assembly 21 and an actuating assembly 22, the first driving assembly 21 includes a first motor 211, a first gear 212 and a first rack 213 which are engaged with each other, and the first gear 212 is coaxially connected with a first output shaft 2111 of the first motor 211. The actuating assembly 22 comprises a puncture needle actuating element 221, a binding thread actuating element 222 and a first elastic element 223, wherein the first elastic element 223 is respectively connected with the puncture needle actuating element 221 and the binding thread actuating element 222, the puncture needle actuating element 221 is in transmission connection with the puncture needle assembly 11, and the binding thread actuating element 222 is in transmission connection with the binding thread assembly 12.
In using the prostate bundle nailing device 100, the implantation end of the implantation mechanism 1 is inserted to the proximal end side of the prostate bundle, and then the user controls the implantation mechanism 1 to perform the needle, needle retraction, and thread take-up by the operation mechanism 2.
Specifically, as shown in fig. 2, 3, 5, 11 and 12, when the lancet is performed, the first motor 211 rotates forward, the first gear 212 drives the first rack 213 to perform linear motion under the meshing transmission of the first gear 212 and the first rack 213, and the actuation assembly 22 is triggered to move from the initial position to the lancet completion position along the first direction a by the linear driving force provided by the first rack 213, wherein the lancet actuator 221 drives the lancet assembly 11 to move, and the wire harness actuator 222 drives the wire harness assembly 12 to move, so that the lancet is performed on the prostate, and at this time, the lancet 112 passes through the prostate together with the distal end anchor 113, that is, the distal end anchor 113 and the wire harness 122 are conveyed to the distal end side of the prostate by the lancet 112.
As shown in fig. 2, 3,5, 12 and 14, when retracting, the first motor 211 is reversed, the first gear 212 drives the first rack 213 to move in a reverse straight line under the meshing transmission of the first gear 212 and the first rack 213, the first rack 213 drives the puncture needle actuator 221 to drive the puncture needle assembly 11 to move in the second direction b, at this time, the puncture needle 112 is retracted from the prostate, the distal anchor 113 remains at the distal side of the prostate, one end of the binding wire 122 passes through the prostate to be connected with the distal anchor 113, and furthermore, since the first elastic member 223 is pulled by the puncture needle actuator 221 to store energy, the binding wire actuator 222 moves in the second direction b under the elastic force of the first elastic member 223 to tighten the binding wire assembly 12, thereby achieving retracting, by pulling the binding wire 122 to extend the distal end and press the distal side of the prostate, as shown in fig. 14 and 15. Wherein the first direction a and the second direction b are opposite.
Through adopting above-mentioned technical scheme, prostate beam nailing device 100 has disposed first drive assembly 21, through first motor 211, first gear 212 and first rack 213 cooperation, directly provide sharp drive force, with the execution of triggering the felting needle, receive the needle and receive the line, realize intelligent beam nailing operation, and, compare in prior art CN114980823A adopts gear and cam complex scheme, the linear motion stroke length of first rack 213 of this scheme is adjustable, carry out the motion along second direction b through first motor 211 drive first rack 213 and can trigger the receipts needle and receive the line successively, the operation is simpler and more convenient, can improve beam nailing efficiency. In addition, the first driving assembly 21 is stable in operation and stable in structure, and compared with the scheme of matching gears and cams in the prior art, vibration and noise generated in the process of binding nails can be reduced, and the first driving assembly is not easy to damage and long in service life.
It should be understood that herein, the "proximal" and "distal" are relative positions, wherein the proximal end of the prostate refers to the portion of the prostate tissue immediately adjacent to the urethra and the distal end of the prostate refers to the portion of the prostate tissue that is farther away.
It should be appreciated that in normal use of the prostate bundle nailing device 100, the front end of the prostate bundle nailing device 100 faces the patient, herein the back-to-front direction means "first direction a", the front-to-back direction means "second direction b", and the bottom-to-top direction means "third direction c". The "first direction a" and "second direction b" referred to herein are all referenced to in fig. 1,2,3, 9 and 11, and the "third direction c" is all referenced to in fig. 1,2 and 11.
It should be understood that "retracting" herein refers to retracting the needle 112 from the prostate, and that retraction may be performed after the needle 112 is retracted from the prostate.
In an embodiment, as shown in fig. 1 and 24, the operating mechanism 2 further includes a first trigger switch 23, where the first trigger switch 23 is used to trigger the first driving component 21 to operate. When the actuating assembly 22 is in the initial state, the first trigger switch 23 is operated once, so as to trigger the prostate bundle nailing device 100 to execute the needling, and then the first trigger switch 23 is operated once again, so as to trigger the prostate bundle nailing device 100 to execute the needle retraction and wire winding. In this scheme, the user only needs to operate the first trigger switch 23 twice, can control the prostate bundle nailing device 100 to execute the felting needle, take-up and take-up, compares in prior art CN114980823A and need manual operation three times in order to realize the scheme of felting needle, take-up and take-up, and this scheme saves once operation, reduces bundle nail operation degree of difficulty and operating time, improves bundle nail efficiency.
In one embodiment, the lancet actuator 221 is locked when the actuation assembly 22 is in the initial state. When lancing is performed, the first rack 213 provides power to unlock the lancet actuator 221, such that the lancet actuator 221 can be triggered to move in the first direction a.
In an embodiment, when the puncture needle assembly 11 completes the puncture needle, the second locking structure 2243 does not lock the wire harness actuator 222, the first motor 211 is reversed when the puncture needle begins to retract, the first gear 212 drives the first gear rack 213 to move linearly in the opposite direction under the meshing transmission of the first gear rack 212 and the first gear rack 213, the first gear rack 213 drives the needle slider 221 and the unlocking element 226 to move in the second direction b, and the wire harness actuator 222 is locked by the second locking structure 2243 after moving slightly in the second direction b, that is, the wire harness actuator 222 is locked in the initial stage of retraction, and of course, the wire harness actuator 222 can be locked while completing the puncture needle. Thus, the wire harness actuator 222 is preferably locked during the initial stage of retraction. For ease of description herein, the following will specifically describe an example of "the binding thread actuator 222 is locked at the initial stage of retraction".
Then, the first rack 213 drives the unlocking piece 226 to move to the unlocking piece initial position in the second direction b. As shown in fig. 2, 12 and 14, when the puncture needle assembly 11 is retracted, the first motor 211 drives the first rack 213 to perform linear motion, the first rack 213 drives the puncture needle actuating member 221 to move along the second direction b, the puncture needle actuating member 221 drives the puncture needle assembly 11 to move along the second direction b, so that the puncture needle 112 is retracted from the prostate, and, as the binding thread actuating member 222 is locked, the binding thread actuating member 222 is fixed during retraction of the puncture needle 112 from the prostate, and after retraction of the puncture needle 112 from the prostate, and during continuous linear motion of the first rack 213, the puncture needle actuating member 221 continues to move along the second direction b to drive the puncture needle assembly 11 to return to its initial position, and the first rack 213 provides power to unlock the binding thread actuating member 222, after the binding thread actuating member 222 is unlocked, the binding thread actuating member 222 can move along the second direction b under the elastic force of the first elastic member 223, as shown in fig. 14 and 15, so as to achieve retraction of the needle and retraction.
In one embodiment, as shown in fig. 5, the actuating assembly 22 further includes a first mounting member 224 and a second elastic member 225, wherein the first mounting member 224 is provided with a first guide track 2241, and the puncture needle actuating member 221 and the staple line actuating member 222 are respectively movably connected to the first guide track 2241, and one end of the second elastic member 225 is connected to the first mounting member 224, and the other end is connected to the puncture needle actuating member 221. As shown in fig. 2 and 11, when the actuation assembly 22 is in the initial position, the lancet actuator 221 is locked and the second resilient member 225 is in the energized state. When the lancet is performed, during the linear movement of the first rack 213, the first rack 213 provides power to unlock the lancet actuator 221, and after the lancet actuator 221 is unlocked, the second elastic member 225 can release the elastic force, and the lancet actuator 221 moves to the lancet completion position in the first direction a under the elastic force of the second elastic member 225.
In one embodiment, as shown in fig. 5, the second elastic member 225 is a tension spring, the first mounting member 224 is provided with a second mounting post 2246, the puncture needle actuating member 221 is provided with a hook portion 2215, the hook portion 2215 and the second mounting post 2246 are spaced apart along the first direction a, one end of the second elastic member 225 is hung on the second mounting post 2246, and the other end is hung on the hook portion 2215. When the actuation assembly 22 is in the initial position, the second resilient member 225 is stretched and when the lancet actuator 221 is unlocked, the second resilient member 225 springs back to pull the lancet actuator 221 to move in the first direction a.
In an embodiment, as shown in fig. 5 and 6, the first elastic member 223 is a coil spring, the puncture needle actuating member 221 is provided with a first mounting post 2213, the binding thread actuating member 222 is provided with a clamping structure 2222, and one end of the first elastic member 223 is wound around the first mounting post 2213 and the other end thereof is clamped to the clamping structure 2222. As shown in fig. 14, when the puncture needle actuator 221 moves in the second direction b and the wire harness actuator 222 is locked, the first elastic member 223 is stretched, and as shown in fig. 15, after the wire harness actuator 222 is unlocked, the first elastic member 223 is retracted to drive the wire harness actuator 222 to move in the second direction b.
In one embodiment, as shown in fig. 5 to 8, the first mounting member 224 is provided with a first locking structure 2242 and a second locking structure 2243 sequentially distributed along the first direction a.
When actuation assembly 22 is in the initial state, first locking structure 2242 is at least partially positioned in the path of travel of lancet actuator 221 in first direction a such that first locking structure 2242 can prevent movement of lancet actuator 221 in first direction a, effecting a lock. When the lancet is being performed, the first rack 213 provides power to move the first locking structure 2242 away from the lancet actuator 221 along the path of travel in the first direction a, and the first locking structure 2242 yields to unlock, thereby allowing the lancet actuator 221 to move in the first direction a under the force of the second resilient member 225.
During lancet operation, the wire harness actuator 222 moves along the first direction a along with the lancet actuator 221, when the lancet assembly 11 completes the lancet operation, the lancet actuator 221 and the wire harness actuator 222 stop moving, and at this time, the second locking structure 2243 is at least partially located on the travel path of the wire harness actuator 222 in the second direction b, so that when retraction is started, the wire harness actuator 222 is slightly moved in the second direction b and then locked by the second locking structure 2243, and the wire harness actuator 222 cannot continue to move along the second direction b along with the lancet actuator 221, so that retraction can be performed first, the lancet 112 is retracted from the prostate, and after the lancet 112 is retracted from the prostate, the first rack 213 provides power to allow the second locking structure 2243 to be unseated, so that the wire harness actuator 222 moves in the second direction b under the elastic force of the first elastic member 223 and retraction is achieved. Preferably, when the lancet assembly 11 completes the lancet, the gap between the second locking structure 2243 and the locked portion of the wire harness actuator 222 is configured to be 1mm-2mm, reserving an assembly process gap, while also locking the wire harness actuator 222 at the moment of opening the retraction.
In an embodiment, as shown in fig. 3, 8 and 10, the actuating assembly 22 further includes an unlocking member 226, the unlocking member 226 is connected to the first rack 213, and the unlocking member 226 is provided with a first unlocking structure 2261 and a second unlocking structure 2262 sequentially distributed along the first direction a. When the lancet is being performed, the first rack 213 drives the unlocking member 226 to move in the first direction a, unlocking the first locking structure 2242 by driving the first unlocking structure 2261 to move. When retracting, the first rack 213 drives the unlocking piece 226 to move in the second direction b, and the second locking structure 2243 is unlocked by driving the second unlocking structure 2262 to move. In this scheme, set up the unlatching 226 alone, compare in direct shaping first unblock structure 2261 and second unblock structure 2262 on first rack 213, can reduce the processing degree of difficulty of first rack 213, save processing cost.
Further, as shown in fig. 6 to 10, the first locking structure 2242 includes a first connecting arm 22421, a first stopping portion 22422 and a first extending arm 22423, one end of the first connecting arm 22421 is a free end and the other end thereof is fixed on the body of the first mounting member 224, and the first stopping portion 22422 and the first extending arm 22423 are respectively connected to the free end of the first connecting arm 22421. When the actuation assembly 22 is in the initial state, the lancet actuator 221 is locked against the first stop 22422 at least partially along the first direction a, and the first extension arm 22423 is located at least partially along the travel path of the first unlocking structure 2261 in the first direction a, it should be understood that at this time, the force exerted by the second elastic member 225 on the lancet actuator 221 is insufficient to enable the lancet actuator 221 to overcome the blocking force of the first stop 22422, thereby ensuring the stability of locking. When the lancet is being performed, during movement of the release member 226 in the first direction a, the first release structure 2261 moves into contact with the first extension arm 22423 and presses the first extension arm 22423 to deform the first connection arm 22421 and thereby displace the first stop 22422 out of engagement with the lancet actuator 221 to effect release. Further, the puncture needle actuator 221 is provided with a first protruding portion 22111, and the first protruding portion 22111 is locked in abutment against the first stopper 22422 in the first direction a.
The second locking structure 2243 includes a second connecting arm 22431, a second stopping portion 22432, and a second extending arm 22433, where one end of the second connecting arm 22431 is a free end and the other end of the second connecting arm 22431 is fixed on the body of the first mounting member 224, and the second stopping portion 22432 and the second extending arm 22433 are respectively connected to the free ends of the second connecting arm 22431. As shown in fig. 13 and 14, at an initial stage of the narrowing, the wire harness actuator 222 is at least partially locked against the second stopper 22432 along the second direction b, and the second extension arm 22433 is at least partially located on the travel path of the second unlocking structure 2262 in the second direction b, and it should be understood that at this time, the force exerted by the first elastic member 223 on the wire harness actuator 222 is insufficient to enable the wire harness actuator 222 to overcome the blocking force of the second stopper 22432. As shown in fig. 8, 10, 14 and 15, in the process of continuing to retract, during the process that the unlocking piece 226 moves along the second direction b along with the first rack 213, the second unlocking structure 2262 moves to contact with the second extension arm 22433 and presses the second extension arm 22433, so that the second connection arm 22431 is deformed, and further, the second stop part 22432 is shifted to separate from the binding wire actuating piece 222, so as to unlock, and after unlocking, the binding wire actuating piece 222 moves along the second direction b to retract. Further, as shown in fig. 8 and 14, the wire harness actuating member 222 is provided with a second boss 22211, and the second boss 22211 is locked against the second stopper 22432 in the second direction b.
Further, as shown in fig. 6 to 9, the first mounting member 224 is provided with a first hollow portion 22471 and a second hollow portion 22472 sequentially distributed along the first direction a, the first hollow portion 22471 and the second hollow portion 22472 are connected by a connecting portion 22473, the first connecting arm 22421 is located in the first hollow portion 22471 and the fixed end thereof is connected to the connecting portion 22473, the first extending arm 22423 extends toward the unlocking member 226 and extends out of the first hollow portion 22471, the second connecting arm 22431 is located in the second hollow portion 22472 and the fixed end thereof is connected to the connecting portion 22473, and the second extending arm 22433 extends toward the unlocking member 226 and extends out of the second hollow portion 22472. In this scheme, first locking structure 2242 and second locking structure 2243 are compactly arranged, all connect in the body of first installed part 224 through connecting portion 22473, simple structure, be convenient for process.
In one embodiment, as shown in FIGS. 5 and 23, when the actuator 22 is moved to the full lancet position, the wire slider 222 abuts the second mounting post 2246, and the actuator 22 stops, i.e., the second mounting post 2246 also serves to limit the limit position of movement of the actuator 22 in the first direction a. When the actuation mechanism 22 is in the full lancet position, the second boss 22211 of the wire harness actuation member 222 and the second stop 22432 of the second locking structure 2243 are sequentially distributed along the second direction b with a spacing of 1mm-2mm therebetween.
In one embodiment, as shown in fig. 5 and 8, the first locking structure 2242 and the second locking structure 2243 are located above the first guide track 2241, the first protrusion 22111 is provided on the top wall of the puncture needle actuator 221, the second protrusion 22211 is provided on the top wall of the wire harness actuator 222, the first stop 22422 and the first protrusion 22111 are opposite to each other in the first direction a, and the second stop 22432 and the second protrusion 22211 are opposite to each other in the second direction b. The first locking structure 2242 and the second locking structure 2243 are both axisymmetrically arranged, which is advantageous in simplifying the structural design.
Further, as shown in fig. 8 and 9, the first stop 22422 includes a first stop surface 224221 and a first sloped surface 224222, the first projection 22111 includes a first abutment surface 221111 and a second sloped surface 221112, both the first stop surface 224221 and the first abutment surface 221111 are perpendicular to the first direction a, and the first sloped surface 224222 extends obliquely in the first direction a in a direction away from the lancet actuator 221. When the actuating assembly 22 is in the initial state, the first stop surface 224221 and the first abutment surface 221111 are stably abutted, and the second boss 22211 is located between the first locking structure 2242 and the second locking structure 2243, and the second boss 22211 does not interfere with the first locking structure 2242. When the lancet is completed, the first protruding portion 22111 is located between the first locking structure 2242 and the second locking structure 2243, so that when the lancet is retracted, the lancet actuator 221 moves along the second direction b until the second inclined surface 221112 abuts against the first inclined surface 224222, and due to the inclined surface matching, the lancet actuator 221 can smoothly overcome the obstruction of the first inclined surface 224222 under the driving of the first rack 213, and the first protruding portion 22111 is smoothly locked by the first stopper 22422 after passing over the first stopper 22422.
The second stop 22432 includes a second stop surface 224321 and a third inclined surface 224322, the second boss 22211 includes a second abutment surface 222111 and a fourth inclined surface 222112, the second stop surface 224321 and the second abutment surface 222111 are perpendicular to the second direction b, and the third inclined surface 224322 extends obliquely in the second direction b in a direction away from the wire harness actuator 222. When the lancet is performed, the wire harness actuator 222 moves along with the lancet actuator 221 in the first direction a until the fourth ramp 222112 abuts against the third ramp 224322, and due to the ramp engagement, the rebound force of the second resilient member 225 is sufficient to urge the wire harness actuator 222 against the obstruction of the third ramp 224322, the second boss 22211 smoothly passes over the second stop 22432 and continues to move in the first direction a, and when the actuation assembly 22 reaches the lancet complete position, the first boss 22111 is positioned between the first locking structure 2242 and the second locking structure 2243, the first boss 22111 does not interfere with the second locking structure 2243.
Further, as shown in fig. 8, the number of the first protruding portions 22111 is two, the number of the second protruding portions 22211 is two, the two first protruding portions 22111 are sequentially distributed along the first direction a, and the two second protruding portions 22211 are sequentially distributed along the second direction b, so as to ensure the stability of the corresponding locking function. It should be appreciated that both first protrusions 22111 can successfully pass over first stops 22422 during the deformation of first connecting arm 22421 by first unlocking structure 2261, and both second protrusions 22211 can successfully pass over second stops 22432 during the deformation of second connecting arm 22431 by second unlocking structure 2262.
In one embodiment, as shown in fig. 1,5 and 10, the puncture needle actuating element 221, the wire harness actuating element 222 and the first elastic element 223 are all located on a side of the first mounting element 224 facing the implantation mechanism 1, and the first driving assembly 21 and the unlocking element 226 are all located on a side of the first mounting element 224 facing away from the implantation mechanism 1. As shown in fig. 7 and 8, the first mount 224 is provided with a first through hole 2244 extending in the first direction a, the puncture needle actuator 221 includes a first projection 2211, the wire harness actuator 222 includes a second projection 2221, the first projection 2211 is provided with a first protruding portion 22111, and the second projection 2221 is provided with a second protruding portion 22211. The first bump 2211 is movably inserted through the first through hole 2244 so that the first protruding portion 22111 can be locked by abutting against the first locking structure 2242 along the first direction a. The second bump 2221 is movably inserted into the first through hole 2244 such that the second protrusion 22211 can be locked by abutting against the second locking structure 2243 in the second direction b. In this solution, the components of the actuating assembly 22 are arranged reasonably and compactly, which is advantageous for the miniaturized design of the operating mechanism 2.
Further, in order to facilitate the thin design of the first mounting member 224, as shown in fig. 7 and 8, a groove 2248 is provided on a side of the first mounting member 224 facing away from the implantation mechanism 1, the groove 2248 is located above the first through hole 2244 and is communicated with the first through hole 2244, the first connecting arm 22421 and the second connecting arm 22431 are located above the groove 2248, the first stop 22422 and the second stop 22432 extend into the groove 2248, the first protruding portion 22111 and the second protruding portion 22211 are located in the groove 2248, a part of the structure of the actuation assembly 22 is accommodated by the groove 2248, and the first protruding block 2211 and the second protruding block 2221 are respectively abutted on the wall of the groove 2248, so as to prevent the puncture needle actuation member 221 and the binding actuation member 222 from being separated from the first guide track 2241.
In one embodiment, as shown in fig. 3 and 7, the lancet actuator 221 includes a third bump 2212 and the first rack 213 is provided with a boss 2131. When retracting, the boss 2131 can abut against the third bump 2212 along the second direction b, so that the first rack 213 drives the puncture needle actuator 221 to move along the second direction b to complete retracting. Further, as shown in fig. 6 and 7, the first mounting member 224 is provided with a second through hole 2245 extending along the first direction a, the third projection 2212 is movably inserted into the second through hole 2245, and the third projection 2212 partially protrudes out of the second through hole 2245.
Further, as shown in FIGS. 3 and 10, when the actuation assembly 22 is in the initial state, the boss 2131 and the third bump 2212 are spaced apart in the first direction a such that when the actuation assembly 22 moves in the first direction a under the rebound force of the second resilient member 225, the boss 2131 does not interfere with the movement of the third bump 2212, but blocks the movement of the lancet actuation member 221 in the first direction a to the lancet completed position. In addition, when the lancet is completed, the first rack 213 drives the unlocking member 226 to move in the second direction b to the unlocking member initial position, and at this time, the boss 2131 abuts against the third bump 2212 in the second direction b, or alternatively, the boss 2131 and the third bump 2212 are spaced apart in the second direction b, for example, by 1mm-2mm, so as to reserve an assembly process gap, so that when the lancet needs to be retracted, the first rack 213 can immediately drive the lancet actuating member 221 to move in the second direction b, and at the same time, the unlocking member 226 located at its initial position also moves in the second direction b, so that after the lancet 112 is retracted from the prostate, the wire harness actuating member 222 is unlocked by the unlocking member 226.
In an embodiment, as shown in fig. 5 to 7, a first guide track 2241 is formed between the first through hole 2244 and the second through hole 2245, and the first bump 2211 and the third bump 2212 of the puncture needle actuator 221 are respectively inserted into the first through hole 2244 and the second through hole 2245, so that the puncture needle actuator 221 is slidably matched with the first guide track 2241, and each component of the actuating assembly 22 is compactly arranged, which is beneficial to miniaturization design of the prostate bundle nailing device 100.
In an embodiment, as shown in fig. 6 and 7, the wire harness actuator 222 is provided with a fourth bump 2224, the fourth bump 2224 is inserted into the second through hole 2245, and an outer end of the fourth bump 2224 forms a bent portion 22241, the bent portion 22241 abuts against a side wall of the first mounting member 224 facing away from the implantation mechanism 1, and, as shown in fig. 8, an upper portion of the wire harness actuator 222 abuts against a side wall of the first mounting member 224 facing away from the implantation mechanism 1 through the second bump 22211, so that the wire harness actuator 222 can be stably slidably engaged with the first guide rail 2241.
In an embodiment, as shown in fig. 5 and 7, the first mounting member 224 is provided with a first clamping portion 2249, the bottom of the puncture needle actuating member 221 is provided with a second clamping portion 2216, the top of the puncture needle actuating member 221 abuts against the groove wall of the groove 2248 through the first bump 2211, and the bottom of the puncture needle actuating member 221 is movably clamped with the first clamping portion 2249 through the second clamping portion 2216, so that the puncture needle actuating member 221 is stably slidably matched with the first guide rail 2241.
In one embodiment, as shown in fig. 5, the puncture needle actuating element 221 and the binding thread actuating element 222 are sequentially distributed along the first direction a, and when the actuating assembly 22 is in the initial state, the binding thread actuating element 222 abuts against the puncture needle actuating element 221 along the second direction b under the action of the first elastic element 223, so that the puncture needle actuating element 221 can drive the binding thread actuating element 222 to move along the first direction a when the puncture needle is performed.
In one embodiment, as shown in fig. 5 and 18, the lancet actuator 221 is provided with a first mating portion 2214, and the lancet assembly 11 includes a second mating portion 1111, with the first mating portion 2214 mating with the second mating portion 1111 such that the lancet actuator 221 is in driving connection with the lancet assembly 11. The wire harness actuator 222 is provided with a third mating portion 2223, the wire harness assembly 12 includes a fourth mating portion 1211, and the third mating portion 2223 and the fourth mating portion 1211 mate such that the wire harness actuator 222 is in driving connection with the wire harness assembly 12. In a specific embodiment, the first plug portion 2214 and the third plug portion 2223 are both in a clamping groove structure, and the second plug portion 1111 and the fourth plug portion 1211 are both clamping protrusions, so that the detachable assembly is realized through the plugging of the clamping grooves and the clamping protrusions.
In an embodiment, the implant mechanism 1 and the operating mechanism 2 are detachably connected, so that a new implant mechanism 1 can be exchanged for a different patient to ensure hygiene, and of course, the implant mechanism 1 can be exchanged after several uses for the same patient, or the implant mechanism 1 can be exchanged each time.
In one embodiment, as shown in fig. 3 and 4, the first driving assembly 21 includes a second rail 214 and a slider 215 that are slidably engaged, the operating mechanism 2 further includes a housing 27, the second rail 214 is mounted on an inner wall of the housing 27, and the first rack 213 and the unlocking member 226 are respectively connected to the slider 215.
In one embodiment, the first gear 212 is provided with a first mounting hole (not shown), as shown in fig. 4, the first output shaft 2111 is mounted on the first mounting hole, and the cross section of the first output shaft 2111 is D-shaped, and the cross section of the first mounting hole is D-shaped, so that the dislocation between the first output shaft 2111 and the first mounting hole can be prevented.
In one embodiment, the unlocking member 226 has five state positions, a locking member home position, a first unlocking member position, a first limit position, a second unlocking member position, and a second limit position, during a complete use of the prostate bundle nailing device 100. As shown in fig. 10 and 11, when the actuation assembly 22 is in the initial state, the unlocking member 226 stops at the unlocking member initial position. When the puncture needle is performed, the first rack 213 drives the unlocking member 226 to move to a position for unlocking the puncture needle actuating member 221 along the first direction a, at this time, the unlocking member 226 is at the first unlocking member position, and the unlocking member 226 continues to move, so that after the puncture needle actuating member 221 is out of lock, the unlocking member continues to move to the first limit position along the first direction a to stop. As shown in FIG. 12, after the lancet actuator 221 is unlocked, the actuation mechanism 22 is moved to the full lancet position by the pull of the second resilient member 225. After the lancet is completed, the unlocking member 226 returns to the unlocking member initial position to stop. As shown in fig. 13 to 15, when the retraction and the retraction are performed, the first rack 213 drives the unlocking member 226 and the needle slider 221 to move along the second direction b, and when the unlocking member 226 moves to the second unlocking position, the unlocking member 226 unlocks the second unlocking structure 2243, so that the binding thread actuating member 222 moves to abut against the needle slider 221 along the second direction b under the elastic force of the first elastic member 223, and then, under the continued driving of the first driving assembly 21, the puncture needle actuating member 221 together with the binding thread actuating member 222 returns to the initial position of the actuating assembly 22, and as shown in fig. 15, the unlocking member 226 moves to the second limit position along the second direction b along with the first rack 213. After the needle retraction and the thread retraction are completed, as shown in fig. 11, the unlocking member 226 moves along the first direction a to return to the unlocking member initial position.
As shown in fig. 3, the unlocking member 226 is provided with a first blocking piece 2263 and a second blocking piece 2264 which are arranged at intervals along the first direction a, and the operating mechanism 2 includes a first optocoupler 282, a second optocoupler 283 and a third optocoupler 284 which are arranged at intervals along the first direction a. When the unlocking piece 226 is at the unlocking piece initial position, the second blocking piece 2264 and the second optical coupler 283 cooperate to obtain the position information of the unlocking piece 226. When the unlocking piece 226 is at the first limit position, the second blocking piece 2264 and the third optical coupler 284 cooperate to obtain the position information of the unlocking piece 226. When the unlocking piece 226 is at the second limit position, the first blocking piece 2263 and the first optocoupler 282 cooperate to obtain the position information of the unlocking piece 226.
In one embodiment, as shown in fig. 1, 2 and 16, the operating mechanism 2 further includes a second driving assembly 24, where the second driving assembly 24 includes a second motor 241, a second gear 242 and a second rack 243 that are meshed with each other, and the second gear 242 is coaxially connected with a second output shaft 2411 of the second motor 241. As shown in fig. 18, the implant mechanism 1 further includes a clamp-and-sever assembly 13, as shown in fig. 22, the clamp-and-sever assembly 13 including a proximal anchor 131 and a cutter 132. When the clamp-and-cut assembly 13 is in the initial state, the clamp-and-cut assembly 13 is locked to prevent false triggering of the clamp-and-cut operation. When clamping and severing, the second motor 241 is turned on, the second rack 243 is moved linearly to provide power which can be used to unlock the clamp-severing assembly 13, and after the clamp-severing assembly 13 is unlocked, both the proximal anchor 131 and the cutter 132 are movable, i.e., the proximal anchor 131 is moved at the proximal end of the prostate to clamp the binding wire 122, and then the cutter 132 is moved to sever the binding wire 122, such that the proximal anchor 131 remains at the proximal side of the prostate, and under tension of the binding wire 122 remaining in the prostate, the proximal anchor 131 presses the proximal side of the prostate, and the distal anchor 113 presses the distal side of the prostate, thereby enabling the prostate to be contracted to enlarge the urethra.
Further, as shown in fig. 2 and 16, the operating mechanism 2 further includes a trigger member 25, and the trigger member 25 is connected to the second rack 243. When clamping and cutting is performed, the second motor 241 rotates forward, and the second rack 243 drives the trigger 25 to move in a direction toward the clamping and cutting assembly 13, so that the trigger 25 is driven to move into contact with the clamping and cutting assembly 13, and thus, the clamping and cutting assembly 13 is unlocked by the pushing of the trigger 25.
Further, as shown in fig. 17 and 18, the implantation mechanism 1 includes a second mounting member 14, the clamp-and-cut assembly 13 includes a proximal anchor actuating member 133, a cutter actuating member 134, a third elastic member 135, a first locking member 136 and a second locking member 137, the proximal anchor actuating member 133 and the cutter actuating member 134 are movably mounted to the second mounting member 14, respectively, both ends of the third elastic member 135 are connected to the proximal anchor actuating member 133 and the cutter actuating member 134, respectively, and the first locking member 136 and the second locking member 137 are rotatably connected to the second mounting member 14, respectively.
During the lancet, retracting and winding up of the prostate bundle nailing device 100 the clamp shut off assembly 13 is always in an initial state in which the first locking member 136 locks the proximal anchor actuating member 133, the second locking member 137 locks the cutter actuating member 134, the third elastic member 135 is in tension and the first locking member 136 is at least partially located in the path of movement of the trigger member 25.
After the completion of the puncturing, retracting and winding of the prostate bundle of nails 100, the clamping and cutting are started, as shown in fig. 2 and 16, the trigger 25 is moved by the driving of the second driving assembly 24, the trigger 25 is moved to be released from the first locking member 136, then, under the pushing of the trigger 25, as shown in fig. 18, the first locking member 136 is rotated to be separated from the proximal anchoring member actuator 133, so that the proximal anchoring member actuator 133 is unlocked, and at the same time, the first locking member 136 is rotated to be in contact with the second locking member 137 and push the second locking member 137 to rotate, and the second locking member 137 is rotated to be separated from the cutter actuator 134, so that the cutter actuator 134 is unlocked, then, under the rebound force of the third elastic member 135, the proximal anchoring member 133 and the cutter actuator 134 are moved toward each other, and the movement speed of the proximal anchoring member actuator 133 is smaller than that of the cutter actuator 134, so that the proximal anchoring member 131 is firstly clamped by V-shaped and the clamp bundles of nails 122 are cut off, and the clamp bundles of nails 122 are then clamped by the clamp bundles of nails 122.
Further, as shown in fig. 18 and 23, the proximal anchor actuating member 133, the second locking member 137 and the cutter actuating member 134 are sequentially distributed along the first direction a, a first clamping groove 1331 is formed at the bottom of the proximal anchor actuating member 133, a first clamping protrusion 1361 and a pushing portion 1362 are respectively formed at two sides of the first locking member 136, a pushed portion 1371 and a first abutting portion 1372 are respectively formed at two sides of the second locking member 137, and a second abutting portion 1341 is formed on the cutter actuating member 134.
When the clamp shut-off assembly 13 is in the initial state, the first clamping protrusion 1361 is clamped upward in the first clamping groove 1331 to limit the movement of the proximal anchor actuator 133 in the first direction a, and the pushing portion 1362 is positioned below the pushed portion 1371 with a space therebetween. The first abutment 1372 abuts the second abutment 1341 upwardly and in the first direction a to limit the movement of the proximal anchor actuator 133 and the cutter actuator 134 toward each other under the tension of the third resilient member 135.
When the trigger 25 moves upward, the trigger 25 pushes the first locking member 136 upward to approach the pushing portion 13621, so that the first locking member 136 rotates, the first locking protrusion 1361 rotates downward to disengage from the first locking groove 1331, the proximal anchor actuating member 133 is unlocked, the pushing portion 1362 rotates upward to push the pushed portion 1371 upward, so that the second locking member 137 rotates, the first abutting portion 1372 rotates downward to disengage from the second abutting portion 1341, and the cutter actuating member 134 is unlocked.
In an embodiment, as shown in fig. 2 and 16, the second rack 243 is movable along a third direction c, which is perpendicular to the first direction a, and the output shafts of the first motor 211 and the second motor 241 are perpendicular.
In one embodiment, as shown in fig. 2 and 24, the housing 27 of the operating mechanism 2 includes a main body 272 and a handle 271 that are connected, the first driving component 21 and the second motor 241 are located in the main body 272, the trigger 25 includes a trigger end 251 and a detected end 252, the trigger end 251 is located in the main body 272 and is used for unlocking the clamping and cutting component 13, the detected end 252 is located at least partially in the handle 271 and is used for connecting with a travel switch trigger element 281, and the space in the handle 271 is used for accommodating the trigger 25, so that the structure is more compact.
During a complete use of the prostate bundle nailing device 100 the trigger member 25 has two positions, a trigger member initial position and a trigger member trigger unlocked position. As shown in fig. 16, the operating mechanism 2 further includes a first travel switch 285 and a second travel switch 286, when the clamp cutoff assembly 13 is in an initial state, the trigger 25 is in a trigger initial position, the first travel switch 285 cooperates with the travel switch trigger element 281 to acquire position information of the trigger 25, and when the trigger 25 moves to a position to unlock the first locking member 136, the trigger 25 is in a trigger unlock position, the second travel switch 286 cooperates with the travel switch trigger element 281 to acquire position information of the trigger 25.
In one embodiment, as shown in fig. 16, the second driving assembly 24 includes a guide rod 244, the guide rod 244 is mounted on the inner wall of the housing 27, and the second rack 243 is movably sleeved on the guide rod 244. A space is reserved between the guide rod 244 and the inner wall of the shell 27, and the second gear 242 is positioned in the space between the guide rod 244 and the inner wall of the shell 27, so that the transverse space in the shell 27 is fully utilized.
The second gear 242 is provided with a second mounting hole (not shown in the drawing), and as shown in fig. 16, the second output shaft 2411 is mounted in the second mounting hole, and the cross section of the second output shaft 2411 is D-shaped, and the cross section of the second mounting hole is D-shaped, so that the dislocation between the second output shaft 2411 and the second mounting hole can be prevented.
In an embodiment, as shown in fig. 1 and 24, the operating mechanism 2 further includes a second trigger switch 26, and when the prostate bundle nailing device 100 is in the off state, the second trigger switch 23 is operated once, so that the prostate bundle nailing device 100 can be started and the prostate bundle nailing device 100 is automatically calibrated to the initial state, so as to ensure the accuracy of the prostate bundle nailing device 100 in the long-term use process, and after the automatic calibration, the operations of puncturing, narrowing, reeling, clamping and cutting are performed. Of course, the prostate bundle nailing device 100 may be configured without an automatic calibration function, and the accuracy of the prostate bundle nailing device 100 in the usable period may be ensured by limiting the number of times of use. It should be appreciated that after the second trigger switch 23 is operated once to activate the prostate bundle nailing device 100, a plurality of bundle nailing operations may be performed in succession, without the need for automatic calibration again, only upon restarting after shutdown.
Specifically, if the puncture needle actuator 221 and the wire harness actuator 222 are not at the initial positions, when the automatic calibration is performed, the first motor 211 is operated to drive the puncture needle actuator 221 and the wire harness actuator 222 to move along the first direction a so as to restore to the initial positions, thereby completing the automatic calibration.
In an embodiment, as shown in fig. 1 and 24, the first trigger switch 23 is further used to trigger the second driving component 24 to operate, and the actuation of the clamping and cutting is controlled by the first trigger switch 23, so as to avoid the user from triggering the clamping and cutting by mistake due to operation errors. Specifically, after the prostate bundle nailing device 100 is started, the first trigger switch 23 is operated once to trigger the puncture needle, operated once again to trigger the retraction and the wire winding, operated once again to trigger the clamping and the cutting, that is, by three operations of the first trigger switch 23, the execution of the puncture needle, the retraction and the wire winding, the clamping and the cutting can be controlled successively.
Further, as shown in fig. 1 and 24, the first trigger switch 23 is disposed on the front side of the handle 271, the second trigger switch 26 is disposed on the rear side of the housing 27 and above the handle 271, and the two trigger switches are disposed in opposite positions, so that the safety of the two trigger switch operations can be improved.
In an embodiment, as shown in fig. 24, the first trigger switch 23 is a push button switch, which is more convenient to use and less prone to false triggering than the plate switch in the prior art CN114980823 a. The second trigger switch 26 is a boat-shaped switch, and has a difference prompting function unlike the first trigger switch 23 in structure, so that a user is prevented from operating a wrong switch.
In one embodiment, as shown in fig. 1, the prostate bundle nailing device 100 includes a battery 292 for powering the device, the battery 292 being disposed within the handle 271 of the housing 27.
In one embodiment, as shown in fig. 1, the housing 27 includes a first housing 273 and a second housing 274, the first housing 273 and the second housing 274 together enclose a cavity, the first driving assembly 21, the actuating assembly 22, the second driving assembly 24, and the trigger 25 are all located in the cavity, as shown in fig. 1 and 17, the implantation mechanism 1 includes an outer cover 16, a base 17, and a locking knob 18, the outer cover 16 and the base 17 are connected and jointly clamp the second mounting member 14, the locking knob 18 is provided on the outer cover 16, the implantation mechanism 1 is detachably mounted on the first housing 273 and locked by the locking knob 18, and the first driving assembly 21 and the second driving assembly 24 are mounted on an inner wall of the second housing 274. The assembly of the implantation mechanism 1 and the housing 27 can refer to the assembly structure and principle of any existing binding device.
In one embodiment, as shown in fig. 1, the operating mechanism 2 further includes an endoscope sheath 291, one end of the endoscope sheath 291 is located inside the housing 27 and mounted on the first mounting member 224, and the other end protrudes outside the housing 27.
In one embodiment, as shown in fig. 24, the implantation mechanism 1 further includes an indicator 293, where the indicator 293 is disposed on the housing 27, and the indicator 293 is used to indicate a current state of the prostate bundle nailing device 100, where the current state includes an auto-calibration complete state, a lancet complete state, a retraction complete state, and a clamping cut complete state.
Further, in an embodiment, the number of the indication lamps 293 may be one, and the four states are respectively indicated by displaying lights with different colors or different flashing frequencies.
In still another embodiment, as shown in fig. 24, the number of the indication lamps 293 may be four, and the four states may be indicated by turning on or off the indication lamps 293 at four different positions. For example, four indicator lamps 293 are spaced apart along a first direction a, and when the automatic alignment of the prostate bundle nailing device 100 is completed, a first indicator lamp 293 positioned in the first direction a is turned on, when the needling of the prostate bundle nailing device 100 is completed, a second indicator lamp 293 positioned in the first direction a is turned on, when the needling and winding of the prostate bundle nailing device 100 are completed, a third indicator lamp 293 positioned in the first direction a is turned on, and when the clamping and cutting of the prostate bundle nailing device 100 are completed, a fourth indicator lamp 293 positioned in the first direction a is turned on. Through the suggestion of pilot lamp 293 for man-machine interaction is more convenient, lets restraint nail operation process more clear, uses safelyr.
In one embodiment, as shown in fig. 18 to 21, the puncture needle assembly 11 further comprises a puncture needle connector 111 and a puncture needle guide tube 114 which are connected, wherein the puncture needle connector 111 is provided with a second insertion part 1111, and the second insertion part 1111 is inserted into the first insertion part 2214 of the puncture needle actuator 221. The wire harness assembly 12 further includes a wire harness connector 121, a wire harness guide tube 123 and a wire harness support tube 124, the wire harness connector 121 being provided with a fourth mating portion 1211, the fourth mating portion 1211 mating with a third mating portion 2223 of the wire harness actuator 222. The puncture needle guide tube 114, the binding wire guide tube 123 and the binding wire support tube 124 are hollow, one end of the puncture needle guide tube 114 is connected with the puncture needle connecting piece 111, and one end of the puncture needle 112 is connected in the puncture needle guide tube 114 in a penetrating way. A wire guide tube 123 is disposed within the needle guide tube 114 in a clearance fit therewith, and one end of a wire support tube 124 is inserted into the wire guide tube 123 and connected to one end of the wire 122 and the other end is connected to the wire connector 121.
In one embodiment, as shown in fig. 18 to 20 and 22, the clamp-cut assembly 13 further includes a push rod 138 and a pull rod 139, the pull rod 139 is hollow, one end of the push rod 138 is connected to the proximal anchor actuator 133, the other end is movably inserted into the pull rod 139, and the end abuts against the proximal anchor 131 in the first direction a, and one end of the pull rod 139 is connected to the cutter actuator 134 and the other end is connected to the cutter 132. When the proximal anchor actuator 133 and the cutter actuator 134 are moved toward each other, the proximal anchor actuator 133 moves in a first direction a and the cutter actuator 134 moves in a second direction b, such that the push rod 138 pushes the proximal anchor 131 away from moving in the first direction a and the pull rod 139 pulls the cutter 132 to move in the second direction b, clamping and severing. It should be appreciated that the proximal anchor actuator 133 and the cutter actuator 134 are moved toward one another to effect clamping and severing, and reference may be made to the principles and structure of any of the prior art stapling devices for specific details.
In one embodiment, the implantation mechanism 1 further comprises a gun head welding assembly 15, and the specific structure and principle of the gun head welding assembly can refer to any existing beam nailing device.
Specifically, the one complete run of the prostate bundle nailing device 100 of the present embodiment is as follows:
(1) Starting up and automatic calibration
The user operates the second trigger switch 26 once to turn on the prostate bundle nailing device 100 and the prostate bundle nailing device 100 is automatically calibrated such that the prostate bundle nailing device 100 is in the initial state, at this time, the first boss 22111 of the puncture needle actuating element 221 is locked against the first stopper 22422 in the first direction a, and the second elastic element 225 is compressed.
(2) Lancet needle
Before the puncture needle, the front end of the implantation mechanism 1 is sent to the proximal side of the prostate by the user, then, the user operates the first trigger switch 23 for the first time, the first motor 211 rotates forward, the unlocking member 226 is driven by the first rack 213 to move along the first direction a, when the unlocking member 226 moves to the first unlocking structure 2261 to contact with the first extension arm 22423 and press the first extension arm 22423, the first connection arm 22421 deforms, so that the first stop 22422 breaks away from the first boss 22111, the puncture needle actuator 221 is unlocked, then, the second elastic member 225 instantaneously bounces to push the puncture needle actuator 221 together with the wire harness actuator 222 to move along the first direction a, wherein the puncture needle actuator 221 drives the puncture needle assembly 11 to move along the first direction a, the wire harness actuator 222 drives the wire harness assembly 12 to move along the first direction a, the puncture needle 112 passes through the prostate to convey the distal anchor 113 located in the puncture needle 112 to the distal side of the prostate, one end of the puncture needle 122 is located in the puncture needle 112 and is connected with the distal anchor 113 in the distal end of the distal end, and the second boss 2243 mm is sequentially locked with the second wire harness actuator 222 along the second direction 2223.
Then, the first rack 213 drives the unlocking member 226 to move to the unlocking member initial position along the second direction b, and since the boss 2131 of the first rack 213 is spaced from the third boss 2212 by a certain distance in the second direction b, the puncture needle actuating member 221 is not moved under the constraint of the second elastic member 225, and when the unlocking member 226 moves to the unlocking member initial position, the first motor 211 stops operating, and at this time, the boss 2131 is spaced from the third boss 2212 by 2mm in the second direction b.
(3) Needle and wire retracting
The user operates the second first trigger switch 23, the first motor 211 is reversed to drive the first rack 213 and the unlocking member 226 to move along the second direction b, the boss 2131 of the first rack 213 pushes the puncture needle actuating member 221 to move along the second direction b, the binding wire actuating member 222 moves along with the puncture needle actuating member 221 along the second direction b under the pulling of the first elastic member 223, and when moving for 2mm, the second protrusion 222111 of the binding wire actuating member 222 abuts against the second stop 22432 to be locked.
The first motor 211 continues to reverse and continues to drive the first rack 213 and the unlocking member 226 to move in the second direction b, the boss 2131 of the first rack 213 pushes the lancet actuator 221 to move in the second direction b, so that the lancet actuator 221 drives the lancet assembly 11 to move in the second direction b, the lancet 112 is retracted from the prostate, the distal anchor 113 remains on the distal side of the prostate, retracting is achieved, and the first elastic member 223 is stretched because the wire harness actuator 222 is locked by the second stopper 22432 on the first mounting member 224. During the retracting process, when the unlocking member 226 moves to the second unlocking structure 2262 to contact with the second extension arm 22433 and presses the second extension arm 22433, the second connection arm 22431 deforms, so that the second stop part 22432 is separated from the binding wire actuating member 222, the binding wire actuating member 222 is unlocked, then the first elastic member 223 instantaneously retracts to pull the binding wire actuating member 222 to move along the second direction b until the binding wire actuating member 222 abuts against the puncture needle actuating member 221 again, and the binding wire actuating member 222 moves along the second direction b to the limit position along with the puncture needle actuating member 221 under the pulling of the first elastic member 223 and under the driving of the first rack 213, and the retracting process is completed, and at this time, the first protruding part 22111 of the puncture needle actuating member 221 and the first stop part 22422 of the first locking structure 2242 are sequentially distributed along the first direction a and are separated by 2mm, and a reserved assembly process gap is reserved between the first protruding part and the second protruding part 2242.
Then, the first rack 213 drives the unlocking member 226 to move 2mm in the first direction a, and the puncture needle actuating member 221 and the binding wire actuating member 222 synchronously move 2mm in the first direction a under the pulling of the second elastic member 225, so that the first protruding portion 22111 abuts against the first stopping portion 22422, and the puncture needle actuating member 221 is locked again by the first locking structure 2242. The first rack 213 continues to drive the unlocking member 226 to move to the unlocking member initial position in the first direction a, and the first motor 211 stops running.
(4) Clamping and cutting
The user adjusts the angle of the binding wire 122 with the prostate through the endoscope of the prostate binding device 100 and compresses the prostate through the gun head welding assembly 15 of the implantation mechanism 1, so that the prostate is contracted, then the user operates the first trigger switch 23 for the third time, the second motor 241 drives the trigger 25 to move in the direction toward the first locking piece 136 of the clamping and cutting assembly 13, the trigger 25 pushes the first locking piece 136 to rotate to unlock the proximal anchor actuating piece 133, the first locking piece 136 pushes the second locking piece 137 to rotate to unlock the cutter actuating piece 134, and then the proximal anchor actuating piece 133 and the cutter actuating piece 134 move toward each other under the rebound force of the third elastic piece 135 to achieve clamping and cutting.
The user then releases the tissue of the prostate, the tissue of the prostate rebounds, and the proximal anchor 131 and the distal anchor 113 are tensioned outwardly, the proximal anchor 131 and the distal anchor 113 compress the tissue from the two ends of the prostate, respectively, completing the stapling, exiting the implantation mechanism 1, and a new stapling operation may be repeated after replacement of the implantation mechanism 1.
It should be understood that the above examples are illustrative and are not intended to encompass all possible implementations encompassed by the claims. Various modifications and changes may be made in the above embodiments without departing from the scope of the disclosure. Likewise, the individual features of the above embodiments can also be combined arbitrarily to form further embodiments of the invention which may not be explicitly described. Therefore, the above examples merely represent several embodiments of the present invention and do not limit the scope of protection of the patent of the present invention.