WO2022110243A1 - Anastomat - Google Patents

Abstract

An anastomat (100), comprising an end effector (1), an occluding mechanism (2), a staple pushing assembly and a first driving mechanism (10). The end effector (1) comprises a staple cartridge assembly (11) and a staple anvil (12), and an anastomotic staple is arranged in the staple cartridge assembly (11); the occluding mechanism (2) is configured to drive the engagement of the staple cartridge assembly (11) and the staple anvil (12) so as to occlude the end effector (1); the staple pushing assembly is configured to push the anastomotic staple out of the staple cartridge assembly (11); and the first driving mechanism (10) is configured to: in an occluding stage, be detachably connected with the occluding mechanism (2) to drive the occluding mechanism (2) to occlude the end effector (1), and in a staple pushing stage after the occluding stage, be separated from the occluding mechanism (2) and drive the staple pushing assembly to push the anastomotic staple out of the staple cartridge assembly (11). The anastomat (100) can be used in the medical field, for example, used as a surgical instrument in a surgical procedure. During the operation of the anastomat (100), the occluding stage and the staple pushing stage are independent of each other and do not interfere with each other, and the first driving mechanism (10) is configured to drive the implementation of the two stages.

Description

Translated fromChinese

吻合器stapler技术领域technical field

本公开至少一实施例涉及一种吻合器。At least one embodiment of the present disclosure relates to a stapler.

背景技术Background technique

在外科手术治疗中，各种吻合器被广泛应用，例如，皮肤吻合器、消化道(食道、胃肠等)圆形吻合器、直肠吻合器、圆形痔吻合器、包皮环切吻合器、血管吻合器、疝气吻合器、肺切割缝合器等。这些吻合器是医学上使用的替代传统手工缝合的设备，由于现代科技的发展和制作技术的改进，目前临床上使用的各种吻合器具有缝合快速准确、操作简便、出血量少及很少有副作用和手术并发症等优点，有时还使得过去无法切除的肿瘤手术得以病灶切除，因此很受国内外临床外科医生的青睐和推崇。In surgical treatment, various staplers are widely used, such as skin staplers, gastrointestinal (esophagus, gastrointestinal, etc.) circular staplers, rectal staplers, circular hemorrhoid staplers, circumcision staplers, Vascular stapler, hernia stapler, lung cutting stapler, etc. These staplers are medically used to replace the traditional manual suture equipment. Due to the development of modern technology and the improvement of manufacturing technology, various staplers currently used in clinical practice have the advantages of fast and accurate suture, easy operation, less blood loss and less It has the advantages of side effects and surgical complications, and sometimes enables the resection of tumors that were unresectable in the past, so it is very popular and respected by clinical surgeons at home and abroad.

通常，吻合器使用由例如医用不锈钢、钛、钛合金、可生物降解镁合金等材料制成的吻合钉来缝合。Typically, staplers are sutured using staples made of materials such as medical stainless steel, titanium, titanium alloys, biodegradable magnesium alloys, and the like.

发明内容SUMMARY OF THE INVENTION

本公开至少一实施例提供一种吻合器，该吻合器包括末端执行器、闭合机构、推钉组件和第一驱动机构。末端执行器包括钉仓组件和钉砧，钉仓组件中设置有吻合钉；闭合机构配置为驱动钉仓组件和钉砧对合以使末端执行器闭合；推钉组件配置为将吻合钉从钉仓组件中推出；第一驱动机构配置为：在闭合阶段，第一驱动机构与闭合机构可拆卸地连接以驱动闭合机构将末端执行器闭合；在闭合阶段之后的推钉阶段，第一驱动机构与闭合机构分离并驱动推钉组件将吻合钉从钉仓组件中推出。At least one embodiment of the present disclosure provides a stapler that includes an end effector, a closing mechanism, a staple push assembly, and a first driving mechanism. The end effector includes a staple cartridge assembly and a staple anvil, and the staple cartridge assembly is provided with staples; the closing mechanism is configured to drive the staple cartridge assembly and the staple anvil to engage so as to close the end effector; the staple push assembly is configured to remove the staples from the staples The first drive mechanism is configured to: in the closing stage, the first drive mechanism is detachably connected with the closing mechanism to drive the closing mechanism to close the end effector; in the nail pushing stage after the closing stage, the first drive mechanism Detach from the closure mechanism and drive the staple pusher assembly to push the staples out of the staple cartridge assembly.

例如，本公开一实施例提供的吻合器中，在所述第一驱动机构驱动所述闭合机构将所述末端执行器闭合的闭合阶段以及驱动所述推钉组件将所述吻合钉从所述钉仓组件中推出的推钉阶段，所述第一驱动机构朝向所述末端执行器移动。For example, in the stapler provided by an embodiment of the present disclosure, in the closing stage when the first driving mechanism drives the closing mechanism to close the end effector and drives the staple push assembly to remove the staples from the end effector During the push-out stage of the staple cartridge assembly, the first drive mechanism moves toward the end effector.

例如，本公开一实施例提供的吻合器还包括第二驱动机构，第二驱动机构与所述第一驱动机构连接，在所述闭合阶段与所述闭合机构可拆卸地连接且配置为在所述第一驱动机构的驱动下朝向所述末端执行器移动而使所述闭合机构与所述钉仓组件和钉砧接触并对所述钉仓组件和钉砧施加压力以使所述末端执行器闭合；所述第二驱动机构还配置为在所述推钉阶段与所述闭合机构分离，且在所述第一驱动机构的驱动下驱动所述推钉组件将所述吻合钉从所述钉仓组件中推出。For example, the stapler provided by an embodiment of the present disclosure further includes a second driving mechanism, the second driving mechanism is connected with the first driving mechanism, is detachably connected with the closing mechanism in the closing stage, and is configured to moving toward the end effector under the driving of the first drive mechanism to bring the closure mechanism into contact with the cartridge assembly and anvil and apply pressure to the cartridge assembly and anvil to cause the end effector closing; the second drive mechanism is further configured to be disengaged from the closure mechanism during the staple push stage, and to drive the staple push assembly to remove the staples from the staples under the actuation of the first drive mechanism released in the bin assembly.

例如，本公开一实施例提供的吻合器中，所述吻合器包括主体部分和可拆卸部分，所述可拆卸部分与所述主体部分可拆卸地连接；所述第一驱动机构位于所述主体部分，所述第二驱动机构、所述闭合机、所述推钉组件和所述末端执行器构位于所述可拆卸部分，所述可拆卸部分与所述主体部分连接以使所述第二驱动机构与所述第一驱动机构可拆卸地连 接。For example, in a stapler provided by an embodiment of the present disclosure, the stapler includes a main body part and a detachable part, the detachable part is detachably connected to the main body part; the first driving mechanism is located on the main body part, the second drive mechanism, the closure machine, the push nail assembly and the end effector mechanism are located on the removable part, the removable part is connected to the main body part to allow the second A drive mechanism is detachably connected to the first drive mechanism.

例如，本公开一实施例提供的吻合器中，所述第一驱动机构与所述第二驱动机构的延伸方向为轴向，所述第一驱动机构包括在所述轴向上远离所述末端执行器的第一端和与其第一端相对的第二端，所述第二驱动机构包括在所述轴向上的靠近所述第一驱动机构的第一端和远离所述第一驱动机构的第二端；所述第一驱动机构的第二端与所述第二驱动机构的第一端可拆卸地连接，所述第一驱动机构沿所述轴向移动从而驱动所述第二驱动结构沿所述轴向移动。For example, in the stapler provided by an embodiment of the present disclosure, the extension directions of the first driving mechanism and the second driving mechanism are axial directions, and the first driving mechanism includes a distance away from the distal end in the axial direction a first end of the actuator and a second end opposite to the first end, the second drive mechanism includes a first end in the axial direction close to the first drive mechanism and a first end away from the first drive mechanism the second end of the first drive mechanism; the second end of the first drive mechanism is detachably connected to the first end of the second drive mechanism, and the first drive mechanism moves along the axial direction to drive the second drive mechanism The structure moves in the axial direction.

例如，本公开一实施例提供的吻合器中，所述第一驱动机构为单一驱动杆。For example, in the stapler provided by an embodiment of the present disclosure, the first driving mechanism is a single driving rod.

例如，本公开一实施例提供的吻合器中，所述吻合器还包括电动驱动机构，所述第一驱动机构的第一端与所述电动驱动机构连接，所述电动驱动机构驱动所述第一驱动机构沿所述轴向移动。For example, in the stapler provided by an embodiment of the present disclosure, the stapler further includes an electric drive mechanism, the first end of the first drive mechanism is connected to the electric drive mechanism, and the electric drive mechanism drives the first drive mechanism. A drive mechanism moves in the axial direction.

例如，本公开一实施例提供的吻合器还包括可分离连接结构，可分离连接结构配置为在所述闭合阶段与所述闭合机构和所述第二驱动机构连接从而随着所述第二驱动机构的移动而朝向所述末端执行器移动，以驱动所述闭合机构朝向所述末端执行器移动以使所述末端执行器闭合，且配置为在所述闭合机构驱动所述末端执行器闭合之后与所述闭合机构分离或与所述第二驱动机构分离从而停止驱动所述闭合机构移动。For example, the stapler provided by an embodiment of the present disclosure further includes a detachable connecting structure, and the detachable connecting structure is configured to be connected with the closing mechanism and the second driving mechanism in the closing stage so as to follow the second driving movement of the mechanism toward the end effector to drive the closure mechanism toward the end effector to close the end effector, and is configured after the closure mechanism drives the end effector to close The closing mechanism is disengaged or disengaged from the second driving mechanism to stop driving the closing mechanism to move.

例如，本公开一实施例提供的吻合器中，所述可分离连接结构与所述第二驱动机构可拆卸地连接，且与所述闭合机构可拆卸地连接；或者，所述可分离连接结构与所述第二驱动机构和所述闭合机构中的一者固定连接，且与所述第二驱动机构和所述闭合机构中的另一者可拆卸连接。For example, in the stapler provided by an embodiment of the present disclosure, the detachable connecting structure is detachably connected to the second driving mechanism, and is detachably connected to the closing mechanism; or, the detachable connecting structure It is fixedly connected with one of the second driving mechanism and the closing mechanism, and is detachably connected with the other of the second driving mechanism and the closing mechanism.

例如，本公开一实施例提供的吻合器中，所述第一驱动机构与所述第二驱动机构的延伸方向为轴向，垂直于所述轴向的方向为纵向，所述可分离连接结构包括在所述纵向上的第一端和第二端；所述第二驱动机构包括第一连接结构，所述闭合机构包括第二连接结构；在所述可分离连接结构驱动所述闭合机构朝向所述末端执行器移动的过程中，所述可分离连接结构的第一端通过所述第一连接结构与所述第二驱动机构连接，所述可分离连接结构的第二端通过所述第二连接结构与所述闭合机构连接；所述可分离连接结构配置为可相对于所述第一连接结构和所述第二连接结构沿所述纵向移动而使所述可分离连接结构的第二端与所述闭合机构分离或使所述可分离连接结构的第一端与所述第二驱动机构分离。For example, in the stapler provided by an embodiment of the present disclosure, the extending direction of the first driving mechanism and the second driving mechanism is an axial direction, and a direction perpendicular to the axial direction is a longitudinal direction, and the separable connecting structure including a first end and a second end in the longitudinal direction; the second driving mechanism includes a first connecting structure, and the closing mechanism includes a second connecting structure; driving the closing mechanism toward the detachable connecting structure During the movement of the end effector, the first end of the detachable connecting structure is connected to the second driving mechanism through the first connecting structure, and the second end of the detachable connecting structure is connected to the second driving mechanism through the first connecting structure. Two connecting structures are connected to the closing mechanism; the separable connecting structure is configured to be movable in the longitudinal direction relative to the first connecting structure and the second connecting structure so that the second connecting structure of the separable connecting structure is movable in the longitudinal direction. The end is decoupled from the closure mechanism or the first end of the separable connection structure is decoupled from the second drive mechanism.

例如，本公开一实施例提供的吻合器中，所述吻合器还包括分离驱动结构，所述分离驱动结构配置为在所述末端执行器闭合之后给所述可分离连接结构施加沿所述纵向的驱动力以使所述可分离连接结构在所述驱动力的作用下沿所述纵向移动而使所述可分离连接结构的第二端与所述闭合机构分离或使所述可分离连接结构的第一端与所述第二驱动机构分离。For example, in the stapler provided by an embodiment of the present disclosure, the stapler further includes a separation driving structure, and the separation driving structure is configured to apply a force along the longitudinal direction to the separable connecting structure after the end effector is closed A driving force to make the separable connecting structure move along the longitudinal direction under the action of the driving force to separate the second end of the separable connecting structure from the closing mechanism or make the separable connecting structure The first end of the is separated from the second drive mechanism.

例如，本公开一实施例提供的吻合器中，所述第一连接结构为设置于所述第二驱动机构的凹槽，所述可分离连接结构包括主体部和从所述主体部的第一表面凸出的第一凸台，所述主体部的第一表面面向所述凹槽，所述第一凸台位于所述可分离连接结构的第一端； 在所述闭合阶段，所述可分离连接结构的主体部驱动所述闭合机构沿所述轴向移动，所述第一凸台部分嵌设于所述凹槽中以使得所述可分离连接结构随着所述第二驱动机构的移动而朝向所述末端执行器移动；所述第一凸台包括第一倾斜面，所述第一倾斜面与所述轴向和所述纵向相交；所述分离驱动结构位于所述可分离连接结构的靠近所述末端执行器的一侧；在所述可分离连接结构驱动所述闭合机构沿所述轴向朝向所述末端执行器移动以使所述末端执行器闭合之后，所述分离驱动结构与所述第一倾斜面接触从而给所述第一倾斜面施加所述沿轴向的阻力和沿所述纵向的驱动力，所述可分离连接结构在所述沿纵向的驱动力的作用下沿所述纵向移动。For example, in the stapler provided by an embodiment of the present disclosure, the first connecting structure is a groove provided in the second driving mechanism, and the separable connecting structure includes a main body and a first connecting structure from the main body. a first boss with a protruding surface, the first surface of the main body part faces the groove, the first boss is located at the first end of the separable connecting structure; in the closing stage, the separable connecting structure The main part of the disconnecting connection structure drives the closing mechanism to move along the axial direction, and the first boss part is embedded in the groove so that the disconnectable connecting structure follows the movement of the second driving mechanism. moving toward the end effector; the first boss includes a first inclined surface, the first inclined surface intersects the axial direction and the longitudinal direction; the separation driving structure is located at the detachable connection a side of the structure close to the end effector; after the separable connection structure drives the closure mechanism to move in the axial direction toward the end effector to close the end effector, the separation drive The structure is in contact with the first inclined surface to apply the resistance in the axial direction and the driving force in the longitudinal direction to the first inclined surface, and the detachable connecting structure acts on the driving force in the longitudinal direction move down the longitudinal direction.

例如，本公开一实施例提供的吻合器中，所述分离驱动结构包括第一屏障斜面，所述第一屏障斜面与所述轴向和所述纵向相交，且配置为在所述可分离连接结构驱动所述闭合机构沿所述轴向朝向所述末端执行器移动以使所述末端执行器闭合后与所述第一凸台的所述第一倾斜面接触以给所述第一倾斜面施加所述沿轴向的阻力和所述沿纵向的驱动力，所述第一屏障斜面与所述第一倾斜面平行。For example, in the stapler provided by an embodiment of the present disclosure, the separation driving structure includes a first barrier slope, the first barrier slope intersects the axial direction and the longitudinal direction, and is configured to be connected in the detachable connection The structure drives the closing mechanism to move toward the end effector along the axial direction, so that the end effector contacts the first inclined surface of the first boss after being closed to give the first inclined surface The resistance in the axial direction and the driving force in the longitudinal direction are applied, and the first barrier slope is parallel to the first slope.

例如，本公开一实施例提供的吻合器中，所述第一倾斜面与所述轴向的夹角中靠近末端执行器的夹角为钝角，所述可分离连接结构在所述沿纵向的驱动力的作用下沿所述纵向远离所述闭合机构移动而与所述闭合机构分离；或者，所述第一倾斜面与所述轴向的夹角中靠近末端执行器的夹角为锐角，所述可分离连接结构在所述沿纵向的驱动力的作用下沿所述纵向靠近所述闭合机构移动而与所述第二驱动机构分离。For example, in the stapler provided by an embodiment of the present disclosure, the included angle between the first inclined surface and the axial direction close to the end effector is an obtuse angle, and the separable connecting structure is at the longitudinal direction. Under the action of the driving force, it moves away from the closing mechanism in the longitudinal direction and is separated from the closing mechanism; or, among the included angles between the first inclined surface and the axial direction, the included angle near the end effector is an acute angle, The detachable connecting structure moves close to the closing mechanism in the longitudinal direction under the action of the driving force in the longitudinal direction to be separated from the second driving mechanism.

例如，本公开一实施例提供的吻合器中，所述吻合器还包括固定支架，所述闭合机构设置于所述固定支架上，所述固定支架包括第一滑槽和第二滑槽。第一滑槽沿所述轴向延伸；第二滑槽沿所述轴向延伸，与所述第一滑槽连通，位于所述第一滑槽的靠近所述末端执行器的一侧，且包括在横向上彼此相对的第一槽壁和第二槽壁；所述横向与所述轴向和所述纵向垂直，所述第一槽壁用作所述分离驱动结构，所述第一槽壁的朝向所述可分离连接结构的面具有所述第一屏障斜面；在所述闭合阶段，所述可分离连接结构的主体部与所述闭合结构连接，随着所述第二驱动机构沿所述轴向朝向所述末端执行器移动，所述可分离连接结构的主体部在所述第一滑槽中朝向所述末端执行器移动以驱动所述闭合机构朝向所述末端执行器移动；在所述闭合阶段之后，所述可分离连接结构的主体部的在所述轴向上的至少部分进入所述第二滑槽中以使所述第一屏障斜面与所述第一倾斜面接触。For example, in the stapler provided by an embodiment of the present disclosure, the stapler further includes a fixing bracket, the closing mechanism is disposed on the fixing bracket, and the fixing bracket includes a first sliding slot and a second sliding slot. The first chute extends along the axial direction; the second chute extends along the axial direction, communicates with the first chute, is located on the side of the first chute close to the end effector, and Comprising a first groove wall and a second groove wall opposite to each other in a transverse direction; the transverse direction is perpendicular to the axial direction and the longitudinal direction, the first groove wall serves as the separation drive structure, the first groove The face of the wall facing the separable connecting structure has the first barrier slope; in the closing stage, the main part of the separable connecting structure is connected to the closing structure, as the second drive mechanism moves along the the axial movement toward the end effector, the main body portion of the separable connection structure moving toward the end effector in the first chute to drive the closing mechanism to move toward the end effector; After the closing stage, at least a portion of the main body portion of the separable connection structure in the axial direction enters the second chute to bring the first barrier sloped surface into contact with the first sloped surface .

例如，本公开一实施例提供的吻合器中，所述可分离连接结构还包括第二凸台，第二凸台从所述主体部的第二表面上凸出且位于所述可分离连接结构的第一端，包括与所述轴向和所述纵向相交的第二倾斜面，所述第二表面与所述第一表面相对；所述第二槽壁也用作所述分离驱动结构，并包括朝向所述可分离连接结构的第二屏障斜面，所述第二屏障斜面配置为与所述第二倾斜面接触以给所述第二倾斜面施加所述沿轴向的阻力和所述沿纵向的驱动力且与所述第二倾斜面平行；在所述闭合阶段之后，所述可分离连接结构的主体部的在所述轴向上的至少部分进入所述第二滑槽中，且所述第一凸台和所述第二凸台被所述第一槽壁和所述第二槽壁阻挡于所述第二滑槽之外以使所述第一屏障斜面与所述第一倾斜 面接触、以及所述第二屏障斜面与所述第二倾斜面接触。For example, in the stapler provided by an embodiment of the present disclosure, the separable connecting structure further includes a second boss, and the second boss protrudes from the second surface of the main body portion and is located on the separable connecting structure The first end of the , including a second inclined surface intersecting with the axial direction and the longitudinal direction, the second surface is opposite to the first surface; the second groove wall also serves as the separation driving structure, and includes a second barrier ramp facing the separable connection structure, the second barrier ramp being configured to contact the second ramp to apply the axial resistance and the second ramp to the second ramp a driving force in the longitudinal direction and parallel to the second inclined surface; after the closing stage, at least part of the main body portion of the separable connection structure in the axial direction enters the second chute, And the first boss and the second boss are blocked from the second chute by the first groove wall and the second groove wall, so that the first barrier slope and the An inclined surface is in contact, and the second barrier inclined surface is in contact with the second inclined surface.

例如，本公开一实施例提供的吻合器中，所述第一滑槽的在所述横向上的宽度大于所述第二滑槽在所述横向上的宽度，所述第二滑槽在所述横向上的宽度大于所述主体部的宽度且小于所述第一凸台的宽度、所述主体部的宽度和所述第二凸台的宽度之和。For example, in the stapler provided by an embodiment of the present disclosure, the width of the first chute in the transverse direction is greater than the width of the second chute in the transverse direction, and the second chute is The width in the lateral direction is larger than the width of the main body part and smaller than the sum of the width of the first boss, the width of the body part and the width of the second boss.

例如，本公开一实施例提供的吻合器中，所述第二滑槽的沿所述轴向的长度小于所述第一滑槽的沿所述轴向的长度。For example, in the stapler provided by an embodiment of the present disclosure, the length along the axial direction of the second sliding groove is smaller than the length along the axial direction of the first sliding groove.

例如，本公开一实施例提供的吻合器中，所述闭合机构为套设于所述第二驱动机构外侧的套筒，所述第二连接结构为贯穿所述套筒的筒壁的连接孔，所述可分离连接结构的第二端可拆卸地插接于所述连接孔中。For example, in the stapler provided by an embodiment of the present disclosure, the closing mechanism is a sleeve sleeved on the outer side of the second driving mechanism, and the second connecting structure is a connecting hole penetrating the cylindrical wall of the sleeve , the second end of the detachable connection structure is detachably plugged into the connection hole.

例如，本公开一实施例提供的吻合器中，所述闭合机构为套设于所述第二驱动机构外侧的套筒，所述钉仓组件包括靠近所述套筒的第一端，所述钉砧包括靠近所述套筒的第一端；在所述闭合阶段，所述第二驱动机构在所述第一驱动机构的驱动下朝向所述末端执行器移动而驱动所述套筒朝向所述末端执行器移动从而使所述套筒套设于所述钉仓组件的第一端和所述钉砧的第一端上而对所述钉仓组件的第一端和所述钉砧的第一端施加压力以使所述末端执行器闭合。For example, in the stapler provided by an embodiment of the present disclosure, the closing mechanism is a sleeve sleeved on the outside of the second driving mechanism, the staple cartridge assembly includes a first end close to the sleeve, the the anvil includes a first end close to the sleeve; in the closing stage, the second drive mechanism moves toward the end effector under the drive of the first drive mechanism to drive the sleeve toward the end effector The end effector is moved so that the sleeve is sleeved on the first end of the staple cartridge assembly and the first end of the staple anvil and is opposite to the first end of the staple cartridge assembly and the staple anvil. The first end applies pressure to close the end effector.

例如，本公开一实施例提供的吻合器中，所述末端执行器的靠近所述套筒的一端包括引导斜面，所述引导斜面与所述轴向和所述纵向具有夹角，所述引导斜面包括在所述轴向上靠近所述套筒的第一端和远离所述套筒的第二端，在所述纵向上所述第一端也比所述第二端更靠近所述套筒；在所述闭合阶段，所述套筒在与所述钉仓组件和所述钉砧接触之前与所述引导斜面接触且沿所述引导斜面朝向所述钉仓组件和所述钉砧滑动。For example, in the stapler provided by an embodiment of the present disclosure, an end of the end effector close to the sleeve includes a guide slope, the guide slope has an included angle with the axial direction and the longitudinal direction, and the guide slope The ramp includes a first end proximate the sleeve in the axial direction and a second end remote from the sleeve, the first end also being closer to the sleeve than the second end in the longitudinal direction a cartridge; during the closing phase, the sleeve contacts and slides along the guide ramps toward the cartridge assembly and the anvil prior to contact with the cartridge assembly and the anvil .

例如，本公开一实施例提供的吻合器中，所述套筒的筒壁包括曲面，所述钉仓组件的第一端和所述钉砧的第一端中的至少一者包括呈曲面的受力面，所述受力面配置为与所述套筒接触并承受所述套筒所施加的压力。For example, in the stapler provided by an embodiment of the present disclosure, the barrel wall of the sleeve includes a curved surface, and at least one of the first end of the staple cartridge assembly and the first end of the staple anvil includes a curved surface. A force bearing surface configured to be in contact with the sleeve and to withstand the pressure exerted by the sleeve.

例如，本公开一实施例提供的吻合器中，所述套筒包括与所述受力面接触的内表面，所述内表面为曲面；所述受力面的曲率与所述套筒的内表面的曲率相等。For example, in the stapler provided by an embodiment of the present disclosure, the sleeve includes an inner surface in contact with the force-bearing surface, and the inner surface is a curved surface; the curvature of the force-bearing surface is the same as the inner surface of the sleeve. The curvatures of the surfaces are equal.

例如，本公开一实施例提供的吻合器中，所述推钉组件包括推钉片、推钉滑块和推钉驱动机构。推钉片配置为给所述吻合钉施加压力以将所述吻合钉从所述钉仓推出；推钉滑块配置为给所述推钉片施加压力以驱动所述推钉片给所述吻合钉施加推钉压力；推钉驱动机构配置为在所述第一驱动结构和所述第二驱动机构的驱动下沿所述轴向移动以驱动所述推钉滑块沿所述轴向移动，从而所述推钉滑块与所述推钉片接触以给所述推钉片施加所述推钉压力。For example, in the stapler provided by an embodiment of the present disclosure, the nail pushing assembly includes a nail pushing piece, a nail pushing slider, and a nail pushing driving mechanism. The staple pusher is configured to apply pressure to the staples to push the staples out of the staple cartridge; the staple pusher slider is configured to apply pressure to the staples to drive the staples to the staple The nail applies a nail pushing pressure; the nail pushing driving mechanism is configured to move in the axial direction under the driving of the first driving structure and the second driving mechanism to drive the nail pushing slider to move in the axial direction, Therefore, the nail pushing slider is in contact with the nail pushing piece to apply the nail pushing pressure to the nail pushing piece.

例如，本公开一实施例提供的吻合器中，在进行推钉之前，所述推钉驱动机构与所述第二驱动机构连接，随着所述第二驱动机构的移动而移动至与所述推钉滑块接触。For example, in the stapler provided by an embodiment of the present disclosure, before pushing the nails, the nail pushing driving mechanism is connected with the second driving mechanism, and moves to the position with the second driving mechanism as the second driving mechanism moves. Push nail slider contact.

例如，本公开一实施例提供的吻合器中，在进行推钉之前，所述推钉驱动机构位于所述第二驱动机构的靠近所述推钉滑块的一侧且与所述第二驱动机构之间具有间隔，所述第二驱动机构沿所述轴向朝向末端执行器移动经过所述间隔之后与所述推钉滑块连接。For example, in the stapler provided by an embodiment of the present disclosure, before the nail pushing, the nail pushing driving mechanism is located on the side of the second driving mechanism close to the nail pushing slider and is connected with the second driving mechanism. There is an interval between the mechanisms, and the second driving mechanism moves toward the end effector along the axial direction after passing through the interval and is connected with the push nail slider.

例如，本公开一实施例提供的吻合器中，在所述推钉阶段之后，所述第一驱动机构还配置为驱动所述闭合机构远离所述末端执行器移动以使所述钉仓组件和所述钉砧彼此远离从而使所述末端执行器打开。For example, in the stapler provided by an embodiment of the present disclosure, after the staple pushing stage, the first driving mechanism is further configured to drive the closing mechanism to move away from the end effector to cause the staple cartridge assembly and the staple cartridge assembly to move away from the end effector. The anvils are spaced apart from each other to open the end effector.

例如，本公开一实施例提供的吻合器还包括第一弹性构件，第一弹性构件与所述闭合机构连接，其中，在所述闭合阶段，所述闭合机构朝向所述末端执行器移动以使所述末端执行器闭合且使所述第一弹性构件发生弹性形变；在所述推钉阶段之后，所述闭合机构在发生弹性形变的所述第一弹性构件在其弹性回复力的作用下远离所述末端执行器移动。For example, the stapler provided by an embodiment of the present disclosure further includes a first elastic member, the first elastic member is connected with the closing mechanism, wherein, in the closing stage, the closing mechanism moves toward the end effector to make the closing mechanism move toward the end effector. The end effector is closed and the first elastic member is elastically deformed; after the nail pushing stage, the closing mechanism moves away from the elastically deformed first elastic member under the action of its elastic restoring force The end effector moves.

例如，本公开一实施例提供的吻合器中，在所述吻合器包括第二驱动机构时，所述闭合机构为套设于所述第二驱动机构外侧的套筒；所述套筒包括从所述套筒的内壁朝向所述内侧突出的卡持结构，所述第一弹性构件位于所述卡持结构的靠近所述末端执行器的一侧以配置为随着所述闭合机构朝向所述末端执行器移动而被压缩。For example, in the stapler provided by an embodiment of the present disclosure, when the stapler includes a second driving mechanism, the closing mechanism is a sleeve sleeved on the outside of the second driving mechanism; the sleeve includes a The inner wall of the sleeve protrudes toward the inner side of the holding structure, the first elastic member is located on the side of the holding structure close to the end effector to be configured to follow the closing mechanism toward the end effector The end effector moves and is compressed.

例如，本公开一实施例提供的吻合器中，在所述吻合器包括第二驱动机构时，所述闭合机构为套设于所述第二驱动机构外侧的套筒；所述套筒包括从所述套筒的内壁朝向所述内侧突出的卡持结构，所述第一弹性构件位于所述卡持结构的靠近所述末端执行器的一侧以配置为随着所述闭合机构朝向所述末端执行器移动而被拉伸。For example, in the stapler provided by an embodiment of the present disclosure, when the stapler includes a second driving mechanism, the closing mechanism is a sleeve sleeved on the outside of the second driving mechanism; the sleeve includes a The inner wall of the sleeve protrudes toward the inner side of the holding structure, the first elastic member is located on the side of the holding structure close to the end effector to be configured to follow the closing mechanism toward the end effector The end effector moves and is stretched.

例如，本公开一实施例提供的吻合器中，所述钉仓组件和钉砧对合以夹持目标组织，所述推钉组件将所述吻合钉从所述钉仓组件中推出后，所述吻合钉进入所述目标组织以将所述目标组织缝合；所述吻合器还包括切割装置，所述第一驱动机构还配置为驱动所述切割装置对所述目标组织进行切割。For example, in the stapler provided by an embodiment of the present disclosure, the staple cartridge assembly and the staple anvil are abutted to clamp the target tissue, and after the staple pushing assembly pushes the staples out of the staple cartridge assembly, the The staple enters the target tissue to suture the target tissue; the stapler further includes a cutting device, and the first driving mechanism is further configured to drive the cutting device to cut the target tissue.

附图说明Description of drawings

为了更清楚地说明本发明实施例的技术方案，下面将对实施例的附图作简单地介绍，显而易见地，下面描述中的附图仅仅涉及本发明的一些实施例，而非对本发明的限制。In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present invention, rather than limit the present invention. .

图1A为本公开一实施例提供的一种吻合器的整体结构示意图；FIG. 1A is a schematic diagram of the overall structure of a stapler according to an embodiment of the disclosure;

图1B为图1A所示的吻合器的俯视图；FIG. 1B is a top view of the stapler shown in FIG. 1A;

图2为沿图1B中的B-B线的整体剖面示意图；Fig. 2 is the overall cross-sectional schematic diagram along the B-B line in Fig. 1B;

图3为本公开一实施例提供的一种吻合器的包括末端执行器和闭合机构的局部的示意图；3 is a schematic diagram of a part of a stapler including an end effector and a closing mechanism according to an embodiment of the present disclosure;

图4为本公开一实施例提供的一种吻合器的包括第一驱动机构、第二驱动机构、闭合机构和末端执行器的局部的示意图；4 is a schematic diagram of a part of a stapler including a first driving mechanism, a second driving mechanism, a closing mechanism and an end effector according to an embodiment of the present disclosure;

图5A为本公开一实施例提供的一种吻合器的可拆卸部分的整体示意图；5A is an overall schematic diagram of a detachable part of a stapler according to an embodiment of the present disclosure;

图5B为本公开一实施例提供的一种吻合器的主体部分的与可拆卸部分连接的截面示意图；5B is a schematic cross-sectional view of a main body part of a stapler connected to a detachable part according to an embodiment of the present disclosure;

图5C为本公开一实施例提供的一种吻合器的主体部分的与可拆卸部分连接的端部的示意图；Fig. 5C is a schematic diagram of an end portion of a main body portion of a stapler connected to a detachable portion according to an embodiment of the present disclosure;

图6A-6F为本公开一实施例提供的一种吻合器在闭合过程中可分离连接结构与闭合机 构连接和分离的示意图；6A-6F are schematic diagrams of the connection and separation of a separable connecting structure and a closing mechanism of a stapler during a closing process according to an embodiment of the present disclosure;

图7为图6A-6F所示的实施例中可分离连接结构的示意图；7 is a schematic diagram of a separable connection structure in the embodiment shown in FIGS. 6A-6F;

图8为本公开一实施例提供的一种吻合器的包括第一弹性构件的局部的示意图；8 is a schematic diagram of a part of a stapler including a first elastic member according to an embodiment of the present disclosure;

图9为本公开一实施例提供的一种吻合器的包括第一驱动机构的主体部分的示意图；FIG. 9 is a schematic diagram of a main body part including a first driving mechanism of a stapler according to an embodiment of the present disclosure;

图10A为钉仓组件和推钉驱动机构的结构关系图；Fig. 10A is a structural relationship diagram of a staple cartridge assembly and a staple push driving mechanism;

图10B为图10A所示的吻合器的钉砧方向的俯视图；FIG. 10B is a top view of the stapler shown in FIG. 10A in the direction of the anvil;

图10C为图10A所示的吻合器的钉仓方向的俯视图；FIG. 10C is a top view of the stapler shown in FIG. 10A in the direction of the staple cartridge;

图10D为沿图10C中的J-J线的剖面示意图；10D is a schematic cross-sectional view along line J-J in FIG. 10C;

图10E为沿图10B中的H-H线的剖面示意图；10E is a schematic cross-sectional view along the line H-H in FIG. 10B;

图11A-11B为彼此未连接的推钉驱动机构与推钉滑块连接的示意图；11A-11B are schematic diagrams of the connection between the nail-pushing drive mechanism and the nail-pushing slider that are not connected to each other;

图12A为携带有切割刀的推钉滑块的结构示意图；12A is a schematic structural diagram of a nail push slider carrying a cutting knife;

图12B为携带有切割刀的推钉滑块的剖面示意图；12B is a schematic cross-sectional view of a nail push slider carrying a cutting knife;

图12C为推钉滑块的靠近切割驱动机构的端部的示意图；Figure 12C is a schematic view of the end of the push nail slider close to the cutting drive mechanism;

图12D为切割驱动机构的结构示意图；12D is a schematic structural diagram of a cutting drive mechanism;

图12E为彼此连接的切割驱动机构与推钉滑块连接的示意图；FIG. 12E is a schematic diagram of the connection of the cutting drive mechanism and the nail pushing slider connected to each other;

图13A为推钉过程的示意图；13A is a schematic diagram of a nail pushing process;

图13B为推钉阶段时切割刀未与目标组织接触时的示意图；Figure 13B is a schematic view of the cutting blade not in contact with the target tissue during the push nail stage;

图13C为推钉滑块携带切割刀从末端执行器的第一端移动到末端执行器的第二端的示意图；13C is a schematic diagram of the nail push slider carrying the cutting knife from the first end of the end effector to the second end of the end effector;

图13D为推钉阶段时切割刀移动以与目标组织接触时的示意图；13D is a schematic view of the cutting blade moving to contact the target tissue during the push nail stage;

图14A为本公开一实施例提供的一种吻合器的前摆动驱动组件的示意图一；14A is a schematic diagram 1 of a front swing drive assembly of a stapler according to an embodiment of the disclosure;

图14B为本公开一实施例提供的一种吻合器的前摆动驱动组件的示意图二；14B is a second schematic diagram of a front swing driving assembly of a stapler according to an embodiment of the present disclosure;

图15A-15B为本公开一实施例提供的一种吻合器的前摆动驱动构件的示意图；15A-15B are schematic diagrams of a front swing driving member of a stapler according to an embodiment of the present disclosure;

图16A为本公开一实施例提供的一种吻合器的后摆动驱动组件的局部示意图；16A is a partial schematic diagram of a rear swing drive assembly of a stapler according to an embodiment of the present disclosure;

图16B为本公开一实施例提供的一种吻合器的手动调节驱动机构的局部示意图；16B is a partial schematic diagram of a manual adjustment driving mechanism of a stapler according to an embodiment of the present disclosure;

图17为本公开一实施例提供的吻合器中，在末端执行器闭合之前，推钉滑块位于末端执行器的第二端时的示意图；17 is a schematic diagram of the stapler at the second end of the end effector before the end effector is closed in the stapler according to an embodiment of the present disclosure;

图18A-18B为本公开一实施例提供的一种手柄的示意图；18A-18B are schematic diagrams of a handle provided by an embodiment of the present disclosure;

图19为拨盘和双向控制按钮的放大示意图；Figure 19 is an enlarged schematic view of a dial and a two-way control button;

图20为本公开一实施例提供的一种吻合器主体的示意图。FIG. 20 is a schematic diagram of a stapler body according to an embodiment of the disclosure.

具体实施方式Detailed ways

为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例的附图，对本发明实施例的技术方案进行清楚、完整地描述。显然，所描述的实施例是本发明的一部分实施例，而不是全部的实施例。基于所描述的本发明的实施例，本领域普通技术人员在无需创造性劳动的前提下所获得的所有其它实施例，都属于本发明保护的范围。In order to make the purpose, 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 accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, embodiments of the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

除非另作定义，此处使用的技术术语或者科学术语应当为本发明所属领域内具有一般技能的人士所理解的通常意义。本发明专利申请说明书以及权利要求书中使用的“第一”、“第二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。“包括”或者“包含”等类似的词语意指出现该词前面的元件或者物件涵盖出现在该词后面列举的元件或者物件及其等同，而不排除其他元件或者物件。“内”、“外”、“上”、“下”等仅用于表示相对位置关系，当被描述对象的绝对位置改变后，则该相对位置关系也可能相应地改变。Unless otherwise defined, technical or scientific terms used herein should have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first", "second" and similar terms used in the description of the patent application and the claims of the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. "Comprises" or "comprising" and similar words mean that the elements or things appearing before the word encompass the elements or things recited after the word and their equivalents, but do not exclude other elements or things. "Inner", "outer", "upper", "lower", etc. are only used to indicate the relative positional relationship, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

本公开中的附图并不是严格按实际比例绘制，钉仓中用于容纳吻合钉的钉槽的个数也不是限定为图中所示的数量，各个结构的具体地尺寸和数量可根据实际需要进行确定。本公开中所描述的附图仅是结构示意图。The drawings in the present disclosure are not drawn strictly to the actual scale, and the number of staple grooves in the staple cartridge for accommodating staples is not limited to the number shown in the drawings, and the specific size and number of each structure can be based on actual Need to be determined. The drawings described in the present disclosure are only schematic structural diagrams.

本公开至少一实施例提供一种吻合器，该吻合器包括末端执行器、闭合机构、推钉组件和第一驱动机构。末端执行器包括钉仓组件和钉砧，钉仓组件中设置有吻合钉；闭合机构配置为驱动钉仓组件和钉砧对合以使末端执行器闭合；推钉组件配置为将吻合钉从钉仓组件中推出；第一驱动机构配置为：在闭合阶段，第一驱动机构与闭合机构可拆卸地连接以驱动闭合机构将末端执行器闭合；在闭合阶段之后的推钉阶段，第一驱动机构与闭合机构分离并驱动推钉组件将吻合钉从钉仓组件中推出。该吻合器可应用于医疗领域，例如用作手术过程中的手术器械。在该吻合器的运行过程中，闭合阶段和推钉阶段彼此独立，互不干扰，且第一驱动机构配置为驱动该两个个阶段的实现。At least one embodiment of the present disclosure provides a stapler that includes an end effector, a closing mechanism, a staple push assembly, and a first driving mechanism. The end effector includes a staple cartridge assembly and a staple anvil, and the staple cartridge assembly is provided with staples; the closing mechanism is configured to drive the staple cartridge assembly and the staple anvil to engage so as to close the end effector; the staple push assembly is configured to remove the staples from the staples The first drive mechanism is configured to: in the closing stage, the first drive mechanism is detachably connected with the closing mechanism to drive the closing mechanism to close the end effector; in the nail pushing stage after the closing stage, the first drive mechanism Detach from the closure mechanism and drive the staple pusher assembly to push the staples out of the staple cartridge assembly. The stapler can be used in the medical field, for example, as a surgical instrument in a surgical procedure. During the operation of the stapler, the closing stage and the nail pushing stage are independent of each other and do not interfere with each other, and the first drive mechanism is configured to drive the realization of the two stages.

本公开至少一实施例提供一种吻合器，该吻合器包括末端执行器、闭合机构、第一驱动机构和切割装置。末端执行器包括钉仓组件和钉砧，钉仓组件中设置有吻合钉；闭合机构配置为驱动钉仓组件和钉砧对合以夹持目标组织；推钉组件配置为将吻合钉从钉仓组件中推入目标组织而将目标组织缝合；第一驱动机构配置为：在闭合阶段，第一驱动机构与闭合机构可拆卸地连接以驱动闭合机构将末端执行器闭合；在闭合阶段之后的推钉阶段，第一驱动机构与闭合机构分离并驱动推钉组件将吻合钉从钉仓组件中推出；切割装置配置为在目标组织整体被缝合之后的切割阶段在第一驱动机构的驱动下对目标组织进行切割。At least one embodiment of the present disclosure provides a stapler that includes an end effector, a closing mechanism, a first driving mechanism, and a cutting device. The end effector includes a staple cartridge assembly and a staple anvil, the staple cartridge assembly is provided with staples; the closing mechanism is configured to drive the staple cartridge assembly and the staple anvil to engage to clamp the target tissue; the staple push assembly is configured to push the staples from the staple cartridge The target tissue is pushed into the assembly to suture the target tissue; the first drive mechanism is configured to: in the closing stage, the first drive mechanism and the closing mechanism are detachably connected to drive the closing mechanism to close the end effector; pushing after the closing stage In the staple stage, the first driving mechanism is separated from the closing mechanism and drives the staple push assembly to push out the staples from the staple cartridge assembly; the cutting device is configured to be driven by the first driving mechanism in the cutting stage after the target tissue is sutured as a whole to the target tissue for cutting.

本公开至少一实施例提供一种吻合器，该吻合器包括末端执行器、闭合机构、推钉组件和锁定机构。末端执行器包括钉仓组件和钉砧，所述钉仓组件中设置有吻合钉；在初始状态下，所述末端执行器处于打开状态；在闭合阶段，所述闭合机构配置为驱动所述钉仓组件和所述钉砧对合以使所述末端执行器闭合以夹持目标组织；在所述闭合阶段之后的推钉阶段，所述推钉组件配置为将所述吻合钉从所述钉仓组件中推出以将所述目标组织缝合；锁定机构，配置为在所述推钉阶段中将所述闭合机构限定于第一位置以使所述闭合机构保持所述末端执行器的闭合状态，且配置为在所述初始状态下将所述闭合机构限定于第二位置以保持所述末端执行器处于所述打开状态。At least one embodiment of the present disclosure provides a stapler that includes an end effector, a closure mechanism, a staple push assembly, and a locking mechanism. The end effector includes a staple cartridge assembly and a staple anvil, the staple cartridge assembly is provided with staples; in an initial state, the end effector is in an open state; in a closing phase, the closing mechanism is configured to drive the staples A cartridge assembly and the staple anvil are engaged to close the end effector to clamp target tissue; in a staple push phase following the closure phase, the staple push assembly is configured to remove the staples from the staples pushing out into the cartridge assembly to staple the target tissue; a locking mechanism configured to confine the closure mechanism in a first position during the staple pushing phase to maintain the closure mechanism in a closed state of the end effector, and is configured to define the closure mechanism in a second position to maintain the end effector in the open state in the initial state.

本公开至少一实施例提供一种吻合器，该吻合器包括末端执行器、闭合机构、推钉组件、第一驱动机构和摆动机构。末端执行器包括钉仓组件和钉砧，所述钉仓组件中设置有吻合钉；闭合机构配置为驱动钉仓组件和所述钉砧对合以使所述末端执行器闭合以夹持目 标组织；推钉组件配置为将所述吻合钉从所述钉仓组件中推出；所述第一驱动机构配置为：在闭合阶段，所述第一驱动机构与所述闭合机构可拆卸地连接以驱动所述闭合机构将所述末端执行器闭合；在闭合阶段之后的推钉阶段，所述第一驱动机构与所述闭合机构分离并驱动所述推钉组件将所述吻合钉从所述钉仓组件中推出以将所述目标组织缝合；摆动机构包括前摆动驱动组件和后摆动驱动组件，所述前摆动驱动组件和后摆动驱动组件配置为驱动所述末端执行器摆动；所述吻合器包括主体部分和可拆卸部分，所述可拆卸部分与所述主体部分可拆卸地连接；所述末端执行器和所述前摆动驱动组件位于所述可拆卸部分，所述第一驱动机构和所述后摆动驱动组件位于所述主体部分；所述可拆卸部分与所述主体部分可拆卸地连接以使所述前摆动驱动组件与所述后摆动驱动组件可拆卸地连接。At least one embodiment of the present disclosure provides a stapler, which includes an end effector, a closing mechanism, a staple pushing assembly, a first driving mechanism, and a swinging mechanism. The end effector includes a staple cartridge assembly and a staple anvil, the staple cartridge assembly is provided with staples; the closing mechanism is configured to drive the staple cartridge assembly and the staple anvil to engage so as to close the end effector to clamp the target tissue a staple pusher assembly configured to push the staples out of the staple cartridge assembly; the first drive mechanism configured to: in a closing stage, the first drive mechanism is detachably connected to the closing mechanism to drive The closure mechanism closes the end effector; in a staple push phase following the closure phase, the first drive mechanism disengages the closure mechanism and drives the staple push assembly to remove the staples from the cartridge 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 the end effector to swing; the stapler includes a body portion and a detachable portion, the detachable portion being detachably connected to the body portion; the end effector and the front swing drive assembly are located on the detachable portion, the first drive mechanism and the A rear swing drive assembly is located on the body portion; the detachable portion is removably connected to the body portion to removably connect the front swing drive assembly to the rear swing drive assembly.

本公开至少一实施例提供一种吻合器，该吻合器包括末端执行器、闭合机构和推钉组件。末端执行器包括钉仓组件和钉砧，所述钉仓组件中设置有吻合钉；闭合机构配置为在闭合阶段驱动所述钉仓组件和所述钉砧对合以夹持目标组织，所述末端执行器具有靠近所述闭合机构的第一端和远离所述闭合机构的第二端；推钉组件配置为在所述闭合阶段之后的推钉阶段从所述第二端到所述第一端将所述吻合钉从所述钉仓组件中推入所述目标组织而从所述第二端到所述第一端将所述目标组织缝合。At least one embodiment of the present disclosure provides a stapler that includes an end effector, a closure mechanism, and a staple push assembly. The end effector includes a staple cartridge assembly and a staple anvil, the staple cartridge assembly is provided with staples; the closing mechanism is configured to drive the staple cartridge assembly and the staple anvil to engage in a closing phase to clamp the target tissue, the The end effector has a first end proximate the closure mechanism and a second end remote from the closure mechanism; the tack pusher assembly is configured to go from the second end to the first end during a tack push stage following the closure stage The end pushes the staples from the cartridge assembly into the target tissue to staple the target tissue from the second end to the first end.

本公开至少一实施例提供一种手柄，该手柄配置为与可拆卸部分可拆卸地连接，所述可拆卸部分包括末端执行器，所述末端执行器包括钉仓组件和钉砧，其中，所述手柄包括拨盘开关，拨盘开关包括设置于所述手柄的第一表面上的拨盘，所述拨盘配置为可被拨动而旋转以控制所述末端执行器的摆动方向和摆动角度。该手柄可用于吻合器，该吻合器可用做医疗器械，例如用于手术器械，用于加持目标组织，并对目标组织进行缝合与切割。At least one embodiment of the present disclosure provides a handle configured to be detachably connected to a detachable portion, the detachable portion including an end effector, the end effector including a cartridge assembly and an anvil, wherein the The handle includes a dial switch, the dial switch includes a dial disposed on the first surface of the handle, the dial is configured to be toggled to rotate to control the swing direction and swing angle of the end effector . The handle can be used for a stapler, and the stapler can be used as a medical instrument, such as a surgical instrument, for holding the target tissue, and suturing and cutting the target tissue.

本公开至少一实施例提供一种吻合器主体，该吻合器主体包括本公开实施例提供的任意一种手柄、以及与所述手柄连接的驱动部；所述驱动部整体的延伸方向为轴向，所述轴向与所述手柄的延伸方向相交；所述驱动部的远离所述手柄的一端与所述可拆卸部分可拆卸地连接，且包括电动马达和后摆动驱动构件；电动马达与所述拨盘开关信号连接，所述拨盘开关控制所述电动马达的工作；后摆动驱动构件与所述电动马达连接，沿所述轴向延伸，所述电动马达配置为在所述拨盘开关控制下旋转以驱动所述后摆动驱动构件沿所述轴向移动以驱动所述末端执行器摆动。At least one embodiment of the present disclosure provides a stapler body, the stapler body comprising any of the handles provided in the embodiments of the present disclosure, and a drive part connected to the handle; the entire extension direction of the drive part is axial , the axial direction intersects with the extension direction of the handle; the end of the drive part away from the handle is detachably connected to the detachable part, and includes an electric motor and a rear swinging drive member; the electric motor is connected to the detachable part. The dial switch is signal-connected, and the dial switch controls the operation of the electric motor; the rear swing drive member is connected to the electric motor and extends along the axial direction, and the electric motor is configured to be connected between the dial switch and the electric motor. Controlling the rotation to drive the rear swing drive member to move in the axial direction to drive the end effector to swing.

本公开至少一实施例提供一种吻合器，该吻合器包括本公开实施例提供的任意一种吻合器主体、以及所述可拆卸部分。所述可拆卸部分与所述主体部分可拆卸地连接，所述可拆卸部分还包括前摆动驱动组件；前摆动驱动组件与所述末端执行器连接，所述可拆卸部分与所述吻合器主体可拆卸地连接以使所述前摆动驱动组件与所述后摆动驱动构件可拆卸地连接，所述前摆动驱动组件在所述后摆动驱动构件的驱动下驱动所述末端执行器摆动。At least one embodiment of the present disclosure provides a stapler, and the stapler includes any one of the stapler bodies provided in the embodiments of the present disclosure, and the detachable part. The detachable portion is detachably connected to the main body portion, and the detachable portion further includes a front swing drive assembly; the front swing drive assembly is connected to the end effector, and the detachable portion is connected to the stapler body Removably connected to removably connect the front swing drive assembly to the rear swing drive member, the front swing drive assembly driving the end effector to swing under the drive of the rear swing drive member.

示例性地，图1A为本公开一实施例提供的一种吻合器100的整体结构示意图，图1B为图1A所示的吻合器的俯视图，图2为沿图1B中的B-B线的整体剖面示意图，图3为本公开一实施例提供的一种吻合器的包括末端执行器和闭合机构的局部示意图，图4为本公开一实施例提供的一种吻合器的包括第一驱动机构、第二驱动机构、闭合机构和末端执 行器的局部示意图。该吻合器100可应用于医疗领域，本公开实施例以该吻合器100用作手术过程中的手术器械为例进行介绍。Exemplarily, FIG. 1A is a schematic diagram of the overall structure of astapler 100 according to an embodiment of the present disclosure, FIG. 1B is a top view of the stapler shown in FIG. 1A , and FIG. 2 is an overall cross-section along line B-B in FIG. 1B . Schematic diagram, FIG. 3 is a partial schematic diagram of a stapler including an end effector and a closing mechanism according to an embodiment of the present disclosure, and FIG. 4 is a schematic diagram of a stapler according to an embodiment of the present disclosure including a first driving mechanism, a first driving mechanism Partial schematic diagram of two drive mechanism, closing mechanism and end effector. Thestapler 100 can be applied in the medical field, and the embodiment of the present disclosure is described by taking thestapler 100 as a surgical instrument in a surgical procedure as an example.

结合图1-4，吻合器100包括末端执行器11、闭合机构2、推钉组件和第一驱动机构1010。末端执行器11包括钉仓组件11和钉砧12，钉仓组件11中设置有吻合钉。闭合机构2配置为驱动钉仓组件11和钉砧12对合以使末端执行器11闭合；推钉组件11配置为将吻合钉从钉仓组件11中推出。第一驱动机构1010配置为：在闭合阶段，第一驱动机构1010与闭合机构2可拆卸地连接以驱动闭合机构2将末端执行器11闭合以夹取目标组织；在闭合阶段之后的推钉阶段，第一驱动机构1010与闭合机构2分离并驱动推钉组件将吻合钉从钉仓组件中推出以将吻合钉钉入目标组织而将目标组织缝合。上述目标组织例如为手术中要进行缝合和切割的目标组织，例如为人体或动物体组织。在该吻合器100的运行过程中，闭合阶段和推钉阶段彼此独立，互不干扰，且第一驱动机构1010配置为驱动该两个个阶段的实现，大大简化了驱动结构，从而有效简化了吻合器100的整体结构，节省空间，利于减小吻合器100的径向尺寸，从而在手术过程中易于进入手术对象例如人体内，减小对手术对象的伤害；并且，驱动结构的简化使吻合器100的运行过程更加容易顺利实现，对提高运行的可靠性具有突出的贡献，也降低了对吻合器100运行过程进行控制的控制系统的设计难度。1-4 , thestapler 100 includes anend effector 11 , aclosing mechanism 2 , a push nail assembly and a first driving mechanism 1010 . Theend effector 11 includes astaple cartridge assembly 11 and astaple anvil 12. Thestaple cartridge assembly 11 is provided with staples. Theclosing mechanism 2 is configured to drive thestaple cartridge assembly 11 and thestaple anvil 12 together to close theend effector 11 ; thestaple push assembly 11 is configured to push the staples out of thestaple cartridge assembly 11 . The first driving 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 nail pushing stage after the closing stage , the first driving mechanism 1010 is separated from theclosing mechanism 2 and drives the staple push assembly to push out the staples from the staple cartridge assembly to drive the staples into the target tissue and suturing the target tissue. The above-mentioned target tissue is, for example, the target tissue to be sutured and cut during surgery, such as human or animal body tissue. During the operation of thestapler 100, the closing stage and the nail pushing stage are independent of each other and do not interfere with each other, and the first driving mechanism 1010 is configured to drive the realization of the two stages, which greatly simplifies the driving structure and thus effectively simplifies the The overall structure of thestapler 100 saves space and is conducive to reducing the radial size of thestapler 100, so that it is easy to enter the surgical object, such as the human body, during the operation, reducing the damage to the surgical object; and the simplification of the driving structure enables anastomosis. The operation process of thestapler 100 is easier and smoother to realize, which makes an outstanding contribution to improving the reliability of operation, and also reduces the difficulty of designing a control system for controlling the operation process of thestapler 100 .

例如，钉仓组件11包括靠近闭合机构的第一端，钉砧12包括靠近闭合机构的第一端，钉仓组件11的第一端于钉砧12的第一端活动连接；闭合机构配置为给钉仓组件11的第一端和钉砧12的第一端施加压力以使两者彼此靠近而对合。钉砧12包括面向钉仓组件11的工作面，钉仓组件11包括与工作面相对的出钉面，闭合机构2配置为驱动工作面和出钉面彼此靠近以对合。For example, thestaple cartridge assembly 11 includes a first end near the closing mechanism, thestaple anvil 12 includes a first end near the closing mechanism, and the first end of thestaple cartridge assembly 11 is articulated with the first end of thestaple anvil 12; the closing mechanism is configured as Pressure is applied to the first end of thecartridge assembly 11 and the first end of thestaple anvil 12 to bring the two toward each other into engagement. Theanvil 12 includes a working surface facing thecartridge assembly 11, thecartridge assembly 11 includes a nail ejecting surface opposite the working surface, and theclosure mechanism 2 is configured to drive the working surface and the nail ejecting surface toward each other for engagement.

在图1-4所示的实施例中，在钉仓上设有至少一个钉槽110，每个钉槽具有朝向钉砧12的开口。在一些示例中，每个钉槽的开口可独立地为方形、圆形、三角形等形状，并且被独立地配置为：在推钉阶段，允许容纳在钉槽中的吻合钉通过其开口射出。本公开的实施例对此不做限定。In the embodiment shown in FIGS. 1-4 , at least onestaple slot 110 is provided on the staple cartridge, each staple slot having an opening toward thestaple anvil 12 . In some examples, the opening of each staple slot may independently be square, circular, triangular, etc., and independently configured to allow staples contained in the staple slot to be ejected through its opening during the staple pushing stage. The embodiments of the present disclosure do not limit this.

在一些示例中，多个钉槽的开口可均匀地排列在钉仓的出钉面上或以形成一定图案的方式排列。例如，该多个钉槽的开口可在钉仓的出钉面上排列形成至少一条直线、矩形、三角形、菱形、圆形等。本公开的实施例对此不作限制。In some examples, the openings of the plurality of staple slots may be arranged uniformly on the staple exit face of the staple cartridge or arranged in a pattern. For example, the openings of the plurality of staple grooves can be arranged to form at least one straight line, rectangle, triangle, rhombus, circle, etc. on the staple outlet surface of the staple cartridge. The embodiments of the present disclosure do not limit this.

在一些示例中，吻合钉可由与人体相容或至少对人体无害的材料形成。例如，吻合钉的材料可包括医用不锈钢、钛、钛合金、可生物降解的镁合金等材料。进一步地，例如，在吻合钉的至少部分表面上可具有与人体相容或者至少对人体无害的钝化层、镀层或涂层等。本公开的实施例对此不作限定。In some examples, the staples may be formed of materials that are compatible with, or at least harmless to, the human body. For example, the material of the staple may include medical stainless steel, titanium, titanium alloy, biodegradable magnesium alloy and other materials. Further, for example, at least a portion of the surface of the staple may have a passivation layer, a plating layer or a coating or the like that is compatible with the human body or at least harmless to the human body. The embodiments of the present disclosure do not limit this.

在一些示例中，钉砧12可由例如与人体可相容或至少对人体无害的刚性材料形成。钉砧12的材料可包括，例如，医用不锈钢、钛、钛合金、钴合金等金属材料；或医用陶瓷、硬质塑料等非金属材料。例如，钉砧12的内表面和/或外表面的至少一部分上还可具有与人体相容或者至少对人体无害的钝化层、镀层或涂层等。本公开的实施例对此不作限定。In some examples, theanvil 12 may be formed of a rigid material that is compatible with the human body or at least harmless to the human body, for example. The material of theanvil 12 may include, for example, metal materials such as medical stainless steel, titanium, titanium alloy, and cobalt alloy; or non-metallic materials such as medical ceramics and hard plastics. For example, at least a portion of the inner surface and/or the outer surface of theanvil 12 may also have a passivation layer, plating or coating, etc. that is compatible with the human body or at least harmless to the human body. The embodiments of the present disclosure do not limit this.

例如，如图2和图4所示，吻合器100还包括第二驱动机构20，第二驱动机构20与第一驱动机构10连接，在闭合阶段与闭合机构可拆卸地连接且配置为在第一驱动机构10的驱动下朝向末端执行器1移动而使闭合机构与钉仓组件11和钉砧12接触并对钉仓组件11和钉砧12施加压力以使末端执行器1闭合；第二驱动机构20还配置为在推钉阶段与闭合机构分离，且在第一驱动机构10的驱动下驱动推钉组件将吻合钉从钉仓组件11中推出。For example, as shown in Figs. 2 and 4, thestapler 100 further includes asecond drive mechanism 20, which is connected to thefirst drive mechanism 10, is detachably connected to the closing mechanism during the closing phase, and is configured to Adriving mechanism 10 moves toward theend effector 1 so that the closing mechanism contacts thestaple cartridge assembly 11 and thestaple anvil 12 and applies pressure to thestaple cartridge assembly 11 and thestaple anvil 12 to close theend effector 1; the second driving Themechanism 20 is also configured to be disengaged from the closing mechanism during the push stage, and to drive the push assembly to push the staples out of thecartridge assembly 11 under the drive of thefirst drive mechanism 10 .

图5A为本公开一实施例提供的一种吻合器100的可拆卸部分3的整体示意图，如图5A所示，吻合器100包括主体部分4和可拆卸部分3，可拆卸部分3与主体部分4可拆卸地连接；第一驱动机构10位于主体部分4，第二驱动机构20、闭合机、推钉组件和末端执行器1构位于可拆卸部分3，可拆卸部分3与主体部分4连接以使第二驱动机构20与第一驱动机构10可拆卸地连接。该可拆卸部分3设计为手术过程中进入手术对象例如人体内的部分，而主体部分4不需要进入手术对象内部，该可拆卸部分3可以更换，例如每一次手术更换一个可拆卸部分3，而无需更换带有敌意驱动机构的主体部分4，大大节省了成本。这种可拆卸部分3相比于可从把手上拆卸掉的可拆卸结构，减小了拆卸部分的结构和体积，进一步减少一次性使用的零部件，从而进一步减小成本，提高主体部的重复利用率。5A is an overall schematic diagram of adetachable part 3 of astapler 100 according to an embodiment of the disclosure. As shown in FIG. 5A , thestapler 100 includes amain body part 4 and adetachable part 3 , and thedetachable part 3 and themain body part 4 Removably connected; thefirst drive mechanism 10 is located in themain body part 4, thesecond drive mechanism 20, the closing machine, the push nail assembly and theend effector 1 are located in theremovable part 3, and theremovable part 3 is connected with themain body part 4 to Thesecond drive mechanism 20 is detachably connected to thefirst drive mechanism 10 . Thedetachable part 3 is designed to enter the surgical object such as the human body during the operation, and themain body part 4 does not need to enter the operation object. Thedetachable part 3 can be replaced, for example, onedetachable part 3 is replaced for each operation, while There is no need to replace themain body part 4 with the hostile drive mechanism, resulting in considerable cost savings. Compared with the detachable structure that can be detached from the handle, thedetachable part 3 reduces the structure and volume of the detachable part, and further reduces the number of disposable parts, thereby further reducing the cost and improving the repetition of the main body. utilization.

例如，如图2和图4所示，第一驱动机构10与第二驱动机构20的延伸方向为轴向，第一驱动机构10包括在轴向上远离末端执行器1的第一端和与其第一端相对的第二端，第二驱动机构20包括在轴向上的靠近第一驱动机构10的第一端和远离第一驱动机构10的第二端。图5B为本公开一实施例提供的一种吻合器100的主体部分4的与可拆卸部分3连接的截面示意图，图5C为本公开一实施例提供的一种吻合器100的主体部分4的与可拆卸部分3连接的端部的示意图。例如，如图5B-5C所示，主体部分4与可拆卸部分3可采用插接的形式。在将主体部分44与可拆卸部分3连接时，第二驱动机构20的第一端具有凹槽200，第一驱动机构10的第二端具有的突出结构，突出结构配置为能够插入到凹槽内，然后将可拆卸部分3相对于主体部分4沿正向旋转例如旋转90°之后，第一驱动机构10的第二端的突出结构被第二驱动机构20的第一端的凹槽的槽壁阻挡从而无法沿轴向相对于第二驱动机构20移动，从而将第一驱动机构10的第二端的突出结构锁定在该位置，实现第一驱动机构10的第二端与第二驱动机构20的第一端与第一驱动机构10连接；当需要将可拆卸部分3从主体部分4上拆卸掉的时候，相对于主体部分4沿与正向相反的反向旋转可拆卸部分3例如旋转90°，即可解除对第一驱动机构10的第二端的突出结构的锁定，从而将第一驱动机构10与第二驱动机构20拆分开，即将可拆卸部分3与主体部分4拆分开。这种可拆卸连接方式操作简单，易于控制，利于设备使用安装时的稳定。当然，主体部分4与可拆卸部分3也可以通过螺丝连接或卡接等多种连接方式，第一驱动机构10的第二端与第二驱动机构20的第一端也可以通过其他的卡接、挂钩、磁吸连接等可拆卸连接方式，本公开对此不作限定。For example, as shown in FIG. 2 and FIG. 4 , the extension directions of thefirst driving mechanism 10 and thesecond driving mechanism 20 are in the axial direction, and thefirst driving mechanism 10 includes a first end away from theend effector 1 in the axial direction and a The second end opposite to the first end, thesecond drive mechanism 20 includes a first end close to thefirst drive mechanism 10 and a second end away from thefirst drive mechanism 10 in the axial direction. FIG. 5B is a schematic cross-sectional view of themain body part 4 of astapler 100 according to an embodiment of the disclosure being connected to thedetachable part 3 , and FIG. 5C is a schematic diagram of themain body part 4 of thestapler 100 according to an embodiment of the disclosure. Schematic view of the end connected to thedetachable part 3. For example, as shown in FIGS. 5B-5C , themain body portion 4 and thedetachable portion 3 may be in the form of plugging. When connecting the main body portion 44 with the detachable portion 3, the first end of the second drive mechanism 20 has a groove 200, and the second end of the first drive mechanism 10 has a protruding structure configured to be able to be inserted into the groove Then, after rotating the detachable part 3 in the positive direction relative to the main body part 4, for example, after rotating it by 90°, the protruding structure of the second end of the first driving mechanism 10 is replaced by the groove wall of the groove of the first end of the second driving mechanism 20 Blocking so that it cannot move relative to the second driving mechanism 20 in the axial direction, so as to lock the protruding structure of the second end of the first driving mechanism 10 in this position, and realize the connection between the second end of the first driving mechanism 10 and the second driving mechanism 20 The first end is connected with the first drive mechanism 10; when the detachable part 3 needs to be detached from the main body part 4, the detachable part 3 is rotated in the opposite direction to the forward direction relative to the main body part 4, for example, rotated 90° , the locking of the protruding structure of the second end of the first driving mechanism 10 can be released, so as to separate the first driving mechanism 10 and the second driving mechanism 20 , that is, the detachable part 3 and the main body part 4 are separated. This detachable connection method is simple to operate, easy to control, and is conducive to the stability of the equipment during use and installation. Of course, themain body part 4 and thedetachable part 3 can also be connected by a variety of connection methods such as screw connection or snap connection, and the second end of thefirst driving mechanism 10 and the first end of thesecond driving mechanism 20 can also be connected by other snap connections. , hook, magnetic connection and other detachable connection methods, which are not limited in this disclosure.

例如，在第一驱动机构10驱动闭合机构将末端执行器1闭合的闭合阶段以及驱动推钉组件将吻合钉从钉仓组件11中推出的推钉阶段，第一驱动机构10朝向末端执行器1移动。例如，第二驱动机构20还配置为在推钉阶段与闭合机构分离，且在第一驱动机构10 的驱动下驱动推钉组件将吻合钉从钉仓组件11中推出。例如，在闭合阶段和推钉阶段，第二驱动机构20在第一驱动机构10的驱动下也沿轴向朝向末端执行器1移动。例如，在闭合阶段和推钉阶段，第一驱动机构10和第二驱动机构20均沿轴向基本做直线运动。例如，第一驱动机构10为单一驱动杆，如此，单一驱动杆沿轴向方向移动以驱动闭合阶段和推钉阶段的完成，大大简化了驱动结构，从而有效简化了吻合器100的整体结构，节省空间，利于减小吻合器100的尺寸，从而在手术过程中易于进入手术对象例如人体内，减小对手术对象的伤害；并且，驱动结构的简化使吻合器100的运行过程更加容易顺利实现，对提高运行的可靠性具有突出的贡献，也降低了对吻合器100运行过程进行控制的控制系统的设计难度。For example, in the closing phase in which thefirst drive mechanism 10 drives the closing mechanism to close theend effector 1 and the staple push phase in which the staple pusher assembly is driven to push the staples out of thestaple cartridge assembly 11 , thefirst drive mechanism 10 is directed toward theend effector 1 . move. For example, thesecond drive mechanism 20 is further configured to be disengaged from the closure mechanism during the push stage, and to drive the push assembly to push the staples out of thecartridge assembly 11 under the drive of thefirst drive mechanism 10 . For example, thesecond driving mechanism 20 is also moved axially toward theend effector 1 under the driving of thefirst driving mechanism 10 during the closing stage and the nail pushing stage. For example, in the closing stage and the nail pushing stage, both thefirst driving mechanism 10 and thesecond driving mechanism 20 perform a substantially linear movement in the axial direction. For example, thefirst driving mechanism 10 is a single driving rod. In this way, the single driving rod moves in the axial direction to drive the completion of the closing stage and the nail pushing stage, which greatly simplifies the driving structure and thus effectively simplifies the overall structure of thestapler 100. It saves space and is beneficial to reduce the size of thestapler 100, so that it is easy to enter the surgical object such as the human body during the operation, thereby reducing the damage to the surgical object; and the simplification of the driving structure makes the operation process of thestapler 100 easier and smoother. , which has a prominent contribution to improving the reliability of operation, and also reduces the difficulty of designing a control system for controlling the operation process of thestapler 100 .

例如，吻合器100还包括可分离连接结构6，可分离连接结构6配置为在闭合阶段与闭合机构和第二驱动机构20连接从而随着第二驱动机构20的移动而朝向末端执行器1移动，以驱动闭合机构朝向末端执行器1移动，从而将末端执行器1闭合，且可分离连接结构6配置为在闭合机构闭合之后与闭合机构分离。第一驱动机构10与第二驱动机构20的延伸方向为轴向，垂直于轴向的方向为纵向，可分离连接结构6包括在纵向上的第一端和第二端；第二驱动机构20包括第一连接结构，闭合机构2包括第二连接结构。For example, thestapler 100 also includes adetachable connection structure 6 that is configured to connect with the closure mechanism and thesecond drive mechanism 20 during the closing phase to move toward theend effector 1 as thesecond drive mechanism 20 moves , to drive the closing mechanism to move toward theend effector 1 , thereby closing theend effector 1 , and the detachable connectingstructure 6 is configured to be disengaged from the closing mechanism after the closing mechanism is closed. The extension direction of thefirst driving mechanism 10 and thesecond driving mechanism 20 is the axial direction, and the direction perpendicular to the axial direction is the longitudinal direction. The separable connectingstructure 6 includes a first end and a second end in the longitudinal direction; thesecond driving mechanism 20 Including a first connecting structure, theclosing mechanism 2 includes a second connecting structure.

例如，在可分离连接结构6驱动闭合机构朝向末端执行器1移动的过程中，可分离连接结构6的第一端通过第一连接结构与第二驱动机构20连接，可分离连接结构6的第二端通过第二连接结构与闭合机构连接；可分离连接结构6配置为可相对于第一连接结构和第二连接结构沿纵向移动而使可分离连接结构6的第二端与闭合机构分离或使可分离连接结构6的第一端与第二驱动机构20分离。For example, when the detachable connectingstructure 6 drives the closing mechanism to move toward theend effector 1 , the first end of the detachable connectingstructure 6 is connected to thesecond driving mechanism 20 through the first connecting structure, and the first end of the detachable connectingstructure 6 is connected with thesecond driving mechanism 20 . The two ends are connected with the closing mechanism through a second connecting structure; the separable connectingstructure 6 is configured to be movable longitudinally relative to the first connecting structure and the second connecting structure to separate the second end of the separable connectingstructure 6 from the closing mechanism or The first end of thedetachable connection structure 6 is detached from thesecond drive mechanism 20 .

例如，吻合器100还包括分离驱动结构，分离驱动结构配置为在末端执行器1闭合之后给可分离连接结构6施加沿纵向的驱动力以使可分离连接结构6在驱动力的作用下沿纵向移动而使可分离连接结构6的第二端与闭合机构分离或使可分离连接结构6的第一端与第二驱动机构20分离。For example, thestapler 100 further includes a separation drive structure configured to apply a longitudinal driving force to the detachable connectingstructure 6 after theend effector 1 is closed so that the detachable connectingstructure 6 is longitudinally driven by the driving force The movement disengages the second end of the separable connectingstructure 6 from the closing mechanism or the first end of the separable connectingstructure 6 from thesecond drive mechanism 20 .

示例性地，图6A-6F为本公开一实施例提供的一种吻合器100在闭合过程中可分离连接结构6与闭合机构连接和分离的示意图。结合图6A-6E，例如，闭合机构为套设于第二驱动机构20外侧的套筒2，第二连接结构为贯穿套筒2的筒壁的连接孔23，可分离连接结构6的第二端可拆卸地插接于连接孔23中。图7为图6A-6F所示的实施例中可分离连接结构6的示意图，如图7所示，在本实施例中，可分离连接结构6为一个滑块，第一连接结构为设置于第二驱动机构20的凹槽203。当然，在其他实施例中，可分离连接结构6也可以为其他的类型，不限于该滑块；第一连接结构也不限于是凹槽，第二连接结构也不限于是上述贯穿套筒2的筒壁的连接孔23，只要能够实现其上述功能就可。闭合机构也不限于是套筒2，也可以是其他任意可以在第一驱动机构10的驱动下驱动末端执行器1闭合和打开的机构。Exemplarily, FIGS. 6A-6F are schematic diagrams of the connection and separation of the detachable connectingstructure 6 and the closing mechanism during the closing process of astapler 100 according to an embodiment of the present disclosure. 6A-6E, for example, the closing mechanism is thesleeve 2 sleeved on the outer side of thesecond driving mechanism 20, the second connecting structure is the connectinghole 23 passing through the cylindrical wall of thesleeve 2, and the second connectingstructure 6 can be separated. The end is detachably inserted into theconnection hole 23 . FIG. 7 is a schematic diagram of the separable connectingstructure 6 in the embodiment shown in FIGS. 6A-6F . As shown in FIG. 7 , in this embodiment, the separable connectingstructure 6 is a slider, and the first connecting structure is disposed on Thegroove 203 of thesecond drive mechanism 20 . Of course, in other embodiments, theseparable connection structure 6 can also be of other types, not limited to the slider; the first connection structure is not limited to a groove, and the second connection structure is not limited to the above-mentioned through-sleeve 2 The connectinghole 23 of the cylindrical wall can be used as long as it can realize the above-mentioned functions. The closing mechanism is also not limited to thesleeve 2 , and can also be any other mechanism that can drive theend effector 1 to close and open under the driving of thefirst driving mechanism 10 .

该套筒2可由例如与人体可相容或至少对人体无害的刚性材料形成。例如，套筒2的材料可包括，例如，医用不锈钢、钛、钛合金、钴合金等金属材料；或医用陶瓷、硬质塑 料等非金属材料。进一步地，套筒2的内表面和/或外表面的至少一部分上还可具有与人体相容或者至少对人体无害的钝化层、镀层或涂层等。本公开的实施例对此不作限定。Thesleeve 2 may be formed of, for example, a rigid material that is compatible with the human body or at least harmless to the human body. For example, the material of thesleeve 2 may include, for example, metal materials such as medical stainless steel, titanium, titanium alloy, cobalt alloy, etc.; or non-metallic materials such as medical ceramics and hard plastics. Further, at least a part of the inner surface and/or the outer surface of thesleeve 2 may also have a passivation layer, a plating layer or a coating layer that is compatible with the human body or at least harmless to the human body. The embodiments of the present disclosure do not limit this.

例如，套筒2为具有圆形横截面的中空的弧形筒，以便于手术中套筒2进入手术对象例如人体时减少对手术对象的组织的挫伤。套筒2具有筒壁和被该筒壁所围绕的空腔，在闭合阶段，第二驱动机构20等结构位于该空腔内，以尽量减少位于套筒2外部的结构，以尽量减少手术中套筒2进入手术对象人体时对手术对象的组织的挫伤。该套筒2的远离末端执行器1的一端部分封闭且靠近末端执行器1的另一端开放。For example, thesleeve 2 is a hollow arc-shaped cylinder with a circular cross section, so as to reduce the contusion to the tissue of the surgical object when thesleeve 2 enters the surgical object such as the human body during the operation. Thesleeve 2 has a cylinder wall and a cavity surrounded by the cylinder wall. In the closing stage, structures such as thesecond driving mechanism 20 are located in the cavity, so as to minimize the structures located outside thesleeve 2, so as to minimize the need for surgery. When thesleeve 2 enters the body of the surgical subject, the contusion to the tissue of the surgical subject. One end of thesleeve 2 remote from theend effector 1 is partially closed and the other end close to theend effector 1 is open.

如图7所示，在闭合阶段，可分离连接结构6的第一端通过套筒2上的连接孔23与第二驱动机构20连接，可分离连接结构6的第二端通过第二驱动机构20的凹槽203与套筒2连接，从而实现可闭合机构通过可分离连接结构6与第二驱动机构20连接，从而，套筒2随着第二驱动机构20的移动而朝向末端执行器1移动，以驱动套筒2朝向末端执行器1移动。结合图3，钉仓组件11包括靠近套筒2的第一端，钉砧12包括靠近套筒2的第一端；在闭合阶段，第二驱动机构20在第一驱动机构10的驱动下朝向末端执行器1移动而驱动套筒2朝向末端执行器1移动，从而使套筒2套设于钉仓组件11的第一端和钉砧12的第一端上而对钉仓组件11的第一端和钉砧12的第一端施加压力以使末端执行器1闭合，从而，末端执行器1加持目标组织。As shown in FIG. 7 , in the closing stage, the first end of the separable connectingstructure 6 is connected with thesecond driving mechanism 20 through the connectinghole 23 on thesleeve 2 , and the second end of the separable connectingstructure 6 passes through the second driving mechanism Thegroove 203 of the 20 is connected with thesleeve 2, so that the closable mechanism is connected with thesecond driving mechanism 20 through the detachable connectingstructure 6, so that thesleeve 2 moves toward theend effector 1 with the movement of thesecond driving mechanism 20. move to drive thesleeve 2 towards theend effector 1. Referring to FIG. 3 , thestaple cartridge assembly 11 includes a first end close to thesleeve 2 , and thestaple anvil 12 includes a first end close to thesleeve 2 ; in the closing stage, thesecond driving mechanism 20 is driven by thefirst driving mechanism 10 to face Theend effector 1 moves to drive thesleeve 2 to move toward theend effector 1, so that thesleeve 2 is sleeved on the first end of thestaple cartridge assembly 11 and the first end of thestaple anvil 12, and is opposite to the first end of thestaple cartridge assembly 11. One end and the first end of theanvil 12 apply pressure to close theend effector 1 so that theend effector 1 holds the target tissue.

图6A-6F中的可分离连接结构6与第二驱动机构20可拆卸地连接，且与闭合机构可拆卸地连接。如图7所示，可分离连接结构6包括主体部61和从主体部61的第一表面凸出的第一凸台611，主体部61的第一表面面向凹槽203，第一凸台611位于可分离连接结构6的第一端；第一凸台611包括第一倾斜面6111，第一倾斜面6111与轴向和纵向相交。如图6E所示，吻合器100还包括固定支架8，闭合机构设置于固定支架8上，固定支架8包括第一滑槽81和第二滑槽82；第一滑槽81沿轴向延伸；第二滑槽82沿轴向延伸，与第一滑槽81连通，位于第一滑槽81的靠近末端执行器1的一侧，且包括在横向上彼此相对的第一槽壁和第二槽壁；横向与轴向和纵向垂直，第一槽壁用作上述分离驱动结构；第一槽壁的朝向可分离连接结构6的面具有第一屏障斜面801，第一屏障斜面801与轴向和纵向相交。The detachable connectingstructure 6 in Figures 6A-6F is detachably connected to thesecond drive mechanism 20 and to the closing mechanism. As shown in FIG. 7 , the detachable connectingstructure 6 includes amain body 61 and afirst boss 611 protruding from a first surface of themain body 61 , the first surface of themain body 61 faces thegroove 203 , and thefirst boss 611 Located at the first end of the separable connectingstructure 6; thefirst boss 611 includes a firstinclined surface 6111, and the firstinclined surface 6111 intersects the axial direction and the longitudinal direction. As shown in FIG. 6E, thestapler 100 further includes a fixingbracket 8, the closing mechanism is arranged on the fixingbracket 8, and the fixingbracket 8 includes a first slidinggroove 81 and a second slidinggroove 82; the first slidinggroove 81 extends in the axial direction; The second slidinggroove 82 extends in the axial direction, communicates with the first slidinggroove 81, is located on the side of the first slidinggroove 81 close to theend effector 1, and includes a first groove wall and a second groove opposite to each other in the lateral direction The transverse direction is perpendicular to the axial direction and the longitudinal direction, and the first groove wall is used as the above-mentioned separation driving structure; Vertically intersect.

在闭合阶段，可分离连接结构6的主体部61的一端位于套筒2的连接孔23中以驱动套筒2沿轴向移动，第一凸台611部分嵌设于凹槽203中以使得可分离连接结构6随着第二驱动机构20的移动而朝向末端执行器1移动。分离驱动结构位于可分离连接结构6的靠近末端执行器1的一侧，第一屏障斜面801在可分离连接结构6驱动套筒2沿轴向朝向末端执行器1移动以使末端执行器1闭合之后与第一凸台611的第一倾斜面6111接触以给第一倾斜面6111施加沿轴向的阻力和沿纵向的驱动力，第一屏障斜面801与第一倾斜面6111平行，可分离连接结构6在沿纵向的驱动力的作用下沿纵向移动，而使可分离连接结构6的第二端与闭合机构分离。在本实施例中，例如，在闭合阶段，可分离连接结构6的第一凸台611在纵向上至少部分位于凹槽203内的端面与凹槽203的面向该端面的底面之间间隔开滑动距离，从而在推钉阶段，可分离连接结构6可沿纵向朝向凹槽203的底面 滑动而与套筒2分离。即，在可分离连接结构6驱动闭合机构沿轴向朝向末端执行器1移动以使末端执行器1闭合之后，分离驱动结构与第一倾斜面6111接触从而给第一倾斜面6111施加沿轴向的阻力和沿纵向的驱动力，可分离连接结构6在沿纵向的驱动力的作用下沿纵向移动。In the closing stage, one end of themain body 61 of the separable connectingstructure 6 is located in the connectinghole 23 of thesleeve 2 to drive thesleeve 2 to move in the axial direction, and thefirst boss 611 is partially embedded in thegroove 203 so that thesleeve 2 can be moved in the axial direction. Theseparation link structure 6 moves toward theend effector 1 with the movement of thesecond drive mechanism 20 . The separation driving structure is located on the side of the detachable connectingstructure 6 close to theend effector 1 , and thefirst barrier ramp 801 drives thesleeve 2 to move axially toward theend effector 1 at the detachable connectingstructure 6 to close theend effector 1 After that, it contacts with the firstinclined surface 6111 of thefirst boss 611 to apply axial resistance and longitudinal driving force to the firstinclined surface 6111. The first barrier inclinedsurface 801 is parallel to the firstinclined surface 6111 and can be separated and connected. Thestructure 6 is moved longitudinally under the action of a driving force in the longitudinal direction, so that the second end of the separable connectingstructure 6 is separated from the closing mechanism. In the present embodiment, for example, in the closing stage, thefirst boss 611 of the separable connectingstructure 6 slides at a distance between the end face of thegroove 203 located at least partially in the longitudinal direction and the bottom face of thegroove 203 facing the end face. distance, so that the detachable connectingstructure 6 can be slid longitudinally towards the bottom surface of thegroove 203 to be separated from thesleeve 2 during the nail pushing stage. That is, after the detachable connectingstructure 6 drives the closing mechanism to move toward theend effector 1 in the axial direction to close theend effector 1 , the detachable driving structure contacts the firstinclined surface 6111 to apply the axial direction to the firstinclined surface 6111 The detachable connectingstructure 6 moves in the longitudinal direction under the action of the driving force in the longitudinal direction.

如图6F所示，在闭合阶段之后，可分离连接结构6的主体部61的在轴向上的至少部分进入第二滑槽82中以使第一屏障斜面801与第一倾斜面6111接触。如此，充分利用了套筒2内有限的空间来实现可分离连接结构6在闭合阶段连接第二驱动机构20和套筒2且在闭合阶段之后的推钉阶段与套筒2分离，从而使得在推钉阶段第一驱动机构10和第二驱动机构20驱动推钉组件进行推钉时，套筒2不再随着第二驱动机构20沿轴向移动而移动，保持了闭合的末端执行器1的稳定。As shown in FIG. 6F , after the closing stage, at least part of themain body portion 61 of the separable connectingstructure 6 in the axial direction enters thesecond chute 82 to bring thefirst barrier slope 801 into contact with thefirst slope 6111 . In this way, the limited space in thesleeve 2 is fully utilized to realize that the detachable connectingstructure 6 connects thesecond driving mechanism 20 and thesleeve 2 in the closing stage and is separated from thesleeve 2 in the push nail stage after the closing stage, so that the In the nail pushing stage, when thefirst driving mechanism 10 and thesecond driving mechanism 20 drive the nail pushing assembly to push nails, thesleeve 2 no longer moves with the axial movement of thesecond driving mechanism 20 , and theclosed end effector 1 is maintained. of stability.

例如，第一凸台611在横向上的厚度大于凹槽203在横向上的深度，以使可分离连接结构6的主体部61位于凹槽203的外部，便于可分离连接结构6的主体部进入第二滑槽82。For example, the thickness of thefirst boss 611 in the lateral direction is greater 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, so that the main body portion of the separable connectingstructure 6 can enter. Thesecond chute 82 .

例如，在纵向上，第一倾斜面6111超出凹槽203，即在纵向上，第一倾斜面6111位于凹槽203的外部，以保证可分离连接结构6的主体部进入第二滑槽82后可与第一屏障斜面801接触，保证在闭合阶段吻合器100正常运行的可靠性。For example, in the longitudinal direction, the firstinclined surface 6111 extends beyond thegroove 203 , that is, in the longitudinal direction, the firstinclined surface 6111 is located outside thegroove 203 to ensure that after the main body of the detachable connectingstructure 6 enters the second slidinggroove 82 It can be in contact with thefirst barrier slope 801 to ensure the reliability of the normal operation of thestapler 100 in the closing stage.

例如，在图6A-6F所示的实施例中，第一倾斜面6111与轴向的夹角中靠近末端执行器1的夹角为钝角，该夹角为第一倾斜面6111与套筒2的中轴线的夹角。可分离连接结构6在沿纵向的驱动力的作用下沿纵向远离闭合机构移动而与闭合机构分离，如此，在推钉阶段，可分离连接结构6位于套筒2的空腔内部，避免套筒2外部有明显的突出结构，从而避免或减少在手术中，套筒2进入手术对象例如人体时，位于套筒2外部的突出结构对手术对象的组织造成挫伤。For example, in the embodiment shown in FIGS. 6A-6F , the included angle between the firstinclined surface 6111 and the axial direction close to theend effector 1 is an obtuse angle, and the included angle is the firstinclined surface 6111 and thesleeve 2 the angle of the central axis. The detachable connectingstructure 6 moves away from the closing mechanism in the longitudinal direction under the action of the longitudinal driving force and is separated from the closing mechanism. In this way, in the stage of pushing the nail, the detachable connectingstructure 6 is located inside the cavity of thesleeve 2, avoiding the sleeve There are obvious protruding structures on the outside of thesleeve 2, so as to avoid or reduce the contusion to the tissue of the surgical object caused by the protruding structures located on the outside of thesleeve 2 when thesleeve 2 enters the surgical object such as the human body during the operation.

当然，在其他实施例中，可以设计第一倾斜面6111与轴向的夹角中靠近末端执行器1的夹角为锐角，可分离连接结构6在沿纵向的驱动力的作用下沿纵向靠近套筒2移动而与第二驱动机构20分离，即此时驱动力的方向与图6A-6F所示的实施例中驱动力的方向相反，可分离连接结构6的移动方向与6A-6F所示的实施例中的可分离连接结构6的移动方向相反。这种情况下，在推钉阶段，可分离连接结构6位于套筒2上，而不随着第二驱动机构20的移动而移动。即，在其他一些实施例中，可分离连接结构6的第一端与第二驱动机构20分离，在套筒2驱动末端执行器1闭合之后，可分离连接结构6与第二驱动机构20分离从而停止驱动闭合机构移动。Of course, in other embodiments, the included angle between the firstinclined surface 6111 and the axial direction close to theend effector 1 can be designed to be an acute angle, and the detachable connectingstructure 6 approaches the longitudinal direction under the action of the longitudinal driving force. Thesleeve 2 moves and separates from thesecond driving mechanism 20, that is, the direction of the driving force is opposite to the direction of the driving force in the embodiment shown in Figs. The moving directions of the separable connectingstructures 6 in the illustrated embodiment are opposite. In this case, the detachable connectingstructure 6 is located on thesleeve 2 and does not move with the movement of thesecond driving mechanism 20 during the nail pushing stage. That is, in some other embodiments, the first end of the separable connectingstructure 6 is separated from thesecond driving mechanism 20 , and after thesleeve 2 drives theend effector 1 to close, the separable connectingstructure 6 is separated from thesecond driving mechanism 20 . Thereby, the movement of the driving closing mechanism is stopped.

在一些实施例中，例如，如图7，可分离连接结构6还包括第二凸台612。第二凸台612从主体部的第二表面05上凸出且位于可分离连接结构6的第一端，包括与轴向和纵向相交的第二倾斜面6121，第二表面05与第一表面01相对；第二槽壁也用作分离驱动结构，并包括朝向可分离连接结构6的第二屏障斜面802，第二屏障斜面802配置为与第二倾斜面6121接触以给第二倾斜面6121施加沿轴向的阻力和沿纵向的驱动力且与第二倾斜面6121平行；在闭合阶段之后，可分离连接结构6的主体部的在轴向上的至少部分进入第 二滑槽82中，且第一凸台611和第二凸台612被第一槽壁和第二槽壁阻挡于第二滑槽82之外以使第一屏障斜面801与第一倾斜面6111接触、以及第二屏障斜面802与第二倾斜面6121接触。该第二凸台612不仅能够增加可分离连接结构6的对称性，提高可分离连接结构6的结构稳定性，还能够增加驱动力的大小，有利于保证驱动可分离连接结构6与套筒2分离的可靠性。例如，第一屏障斜面801与第一倾斜面6111接触后，两者互补；第二屏障斜面802与第二倾斜面6121接触后，两者互补。In some embodiments, eg, as shown in FIG. 7 , theseparable connection structure 6 further includes asecond boss 612 . Thesecond boss 612 protrudes from the second surface 05 of the main body and is located at the first end of the separable connectingstructure 6 , and includes a secondinclined surface 6121 intersecting with the axial and longitudinal directions. The second surface 05 and thefirst surface 01 is opposite; the second groove wall also serves as the separation drive structure and includes asecond barrier ramp 802 facing the separable connectingstructure 6, thesecond barrier ramp 802 being configured to be in contact with thesecond ramp 6121 to give thesecond ramp 6121 Applying resistance in the axial direction and driving force in the longitudinal direction and parallel to the secondinclined surface 6121; after the closing stage, at least part of the main body of the detachable connectingstructure 6 in the axial direction enters thesecond chute 82, And thefirst boss 611 and thesecond boss 612 are blocked from thesecond chute 82 by the first groove wall and the second groove wall, so that the first barrier inclinedsurface 801 is in contact with the firstinclined surface 6111, and the second barrier Theinclined surface 802 is in contact with the secondinclined surface 6121 . Thesecond boss 612 can not only increase the symmetry of the separable connectingstructure 6 and improve the structural stability of the separable connectingstructure 6 , but also increase the size of the driving force, which is beneficial to ensure that the separable connectingstructure 6 and thesleeve 2 are driven. Separation reliability. For example, after the first barrier inclinedsurface 801 and the firstinclined surface 6111 are in contact, the two are complementary; after the second barrier inclinedsurface 802 and the secondinclined surface 6121 are in contact, the two are complementary.

例如，如图7所示，第一凸台611还包括第一平台部，第一平台部具有第一水平面6110，第一水平面6110与第一倾斜面6111相交且连接，该第一平台部能够增加第一凸台611的机械强度，使其位于在凹槽203中的时候，结构和位置更加稳固。类似地，第二凸台612还包括第二平台部，第二平台部具有第二水平面，第二水平面与第二倾斜面6121相交且连接，该第二平台部能够增加第二凸台612的机械强度，在第一凸台611具有第一平台部的情况下，增加可分离连接结构6的对称性，以使其结构更加稳定。For example, as shown in FIG. 7 , thefirst boss 611 further includes a first platform portion, the first platform portion has a firsthorizontal surface 6110, the firsthorizontal surface 6110 intersects and connects with the firstinclined surface 6111, and the first platform portion can The mechanical strength of thefirst boss 611 is increased, so that when it is located in thegroove 203, the structure and position are more stable. Similarly, thesecond boss 612 further includes a second platform portion, the second platform portion has a second horizontal plane, the second horizontal plane intersects and connects with the secondinclined surface 6121 , and the second platform portion can increase the In terms of mechanical strength, when thefirst boss 611 has a first platform portion, the symmetry of the separable connectingstructure 6 is increased to make its structure more stable.

例如，第一滑槽81的在横向上的宽度大于第二滑槽82在横向上的的宽度，以使得仅可分离连接结构6的主体部能够进入第二滑槽82中，而第一凸台611和第二凸台612无法进入第二滑槽82中，从而实现上述驱动可分离连接结构6沿纵向移动以与套筒2分离。For example, the width of the first slidingslot 81 in the lateral direction is larger than the width of the second slidingslot 82 in the lateral direction, so that only the main body of the separable connectingstructure 6 can enter the second slidingslot 82, and the first protruding Thestage 611 and thesecond boss 612 cannot enter thesecond chute 82 , so that the above-mentioned drive-detachableconnecting structure 6 can be moved longitudinally to be separated from thesleeve 2 .

例如，在一些实施例中，第二滑槽82在横向上的宽度大于主体部的宽度且小于第一凸台611的宽度、主体部的宽度和第二凸台612的宽度之和，以在保障可分离连接结构6的主体部在第一滑槽81中滑动时，有充足的空间留给第一凸台611和第二凸台612的同时，尽量减小第一滑槽81的宽度，利于可分离连接结构6的主体部在第一滑槽81中滑动时位置的稳定，也有利于提高固定支架8的机械强度和机构稳定性，从而提高整个吻合器100的稳定性。For example, in some embodiments, the width of thesecond chute 82 in the lateral 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 be in the To ensure that when the main body of theseparable connection structure 6 slides in thefirst chute 81, there is sufficient space left for thefirst boss 611 and thesecond boss 612, and at the same time, the width of thefirst chute 81 is reduced as much as possible, It is beneficial to the stability of the position of the main body of theseparable connection structure 6 when sliding in thefirst chute 81 , and also to improve the mechanical strength and mechanism stability of the fixingbracket 8 , thereby improving the stability of theentire stapler 100 .

例如，在另一些实施例中，第一滑槽81的在横向上的宽度大于第一凸台611在横向上的宽度、主体部在横向上的宽度和第二凸台612在横向上的宽度之和，以保障当可分离连接结构6的主体部在第一滑槽81中滑动时，有充足的空间留给第一凸台611和第二凸台612，从而保证后续可分离连接结构6的主体部顺利进入第二滑槽82中。For example, in other embodiments, the width of thefirst chute 81 in the lateral direction is greater than the width of thefirst boss 611 in the lateral direction, the width of the main body in the lateral direction, and the width of thesecond boss 612 in the lateral direction The sum is to ensure that when the main body of the separable connectingstructure 6 slides in thefirst chute 81, there is sufficient space left for thefirst boss 611 and thesecond boss 612, so as to ensure the subsequentseparable connecting structure 6 The main body part of the device enters thesecond chute 82 smoothly.

例如，第二滑槽82的沿轴向的长度小于第一滑槽81的沿轴向的长度，以尽量减小固定支架8上开槽的大小，利于提高固定支架8的机械强度和机构稳定性，从而提高整个吻合器100的稳定性。For example, the axial length of thesecond chute 82 is smaller than the axial length of thefirst chute 81 , so as to minimize the size of the slot on the fixingbracket 8 and improve the mechanical strength and mechanism stability of the fixingbracket 8 Therefore, the stability of theentire stapler 100 is improved.

以上实施例为示例性地，在其他实施例中，可分离连接结构6也可以与第二驱动机构20和闭合机构中的一者固定连接，且与第二驱动机构20和闭合机构中的另一者可拆卸连接。The above embodiments are exemplary, in other embodiments, thedetachable connection structure 6 may also be fixedly connected to one of thesecond driving mechanism 20 and the closing mechanism, and is connected to the other of thesecond driving mechanism 20 and the closing mechanism. A detachable connection.

如图3所示，例如，末端执行器1的靠近套筒2的一端包括引导斜面101，引导斜面101与轴向和纵向具有夹角，引导斜面101包括在轴向上靠近套筒2的第一端和远离套筒2的第二端，在纵向上第一端也比第二端更靠近套筒2。在闭合阶段，套筒2在与钉仓组件11和钉砧12接触之前与引导斜面101接触且沿引导斜面101朝向钉仓组件11和钉砧12滑动，从而更加容易实现套筒2套设于钉仓组件11的第一端和钉砧12的第一端上而对钉 仓组件11的第一端和钉砧12的第一端施加压力以使末端执行器1闭合，增加了闭合阶段正常进行的可靠性。As shown in FIG. 3 , for example, the end of theend effector 1 that is close to thesleeve 2 includes aguide slope 101 , theguide slope 101 has an included angle with the axial direction and the longitudinal direction, and theguide slope 101 includes a first slope close to thesleeve 2 in the axial direction. One end and a second end remote from thesleeve 2, the first end is also longitudinally closer to thesleeve 2 than the second end. In the closing stage, thesleeve 2 is in contact with theguide slope 101 before contacting with thestaple cartridge assembly 11 and thestaple anvil 12 and slides along theguide slope 101 toward thestaple cartridge assembly 11 and thestaple anvil 12 , so that it is easier to realize thesleeve 2 being sleeved on thestaple cartridge assembly 11 and thestaple anvil 12 . Pressure is applied to the first end of thestaple cartridge assembly 11 and the first end of thestaple anvil 12 to make theend effector 1 close, increasing the normal closing stage reliability.

例如，套筒2的筒壁包括曲面例如为上述弧形面，如图3所示，钉仓组件11的第一端和钉砧12的第一端中的至少一者，例如钉砧12的第一端，包括呈曲面的受力面102，该呈曲面的受力面102配置为与套筒2接触并承受套筒2所施加的压力，以增大在闭合阶段套筒2对末端执行器1的施力面积，有利于驱动末端执行器1闭合以及闭合后的稳定性，减小目标组织滑移。例如，套筒2包括与受力面接触的内表面，内表面为曲面；受力面的曲率与套筒2的内表面的曲率相等，以进一步增大在闭合阶段套筒2对末端执行器1的施力面积，有利于驱动末端执行器1闭合以及闭合后的稳定性，减小目标组织滑移。For example, the cylindrical wall of thesleeve 2 includes a curved surface such as the above-mentioned curved surface. As shown in FIG. 3 , at least one of the first end of thestaple cartridge assembly 11 and the first end of thestaple anvil 12 , such as the The first end includes a curved force-receivingsurface 102 that is configured to contact and withstand the pressure exerted by thesleeve 2 to increase the effect of thesleeve 2 on the end during the closing phase The force application area of thedevice 1 is beneficial to drive theend effector 1 to close and the stability after closing, and reduce the slippage of the target tissue. For example, thesleeve 2 includes an inner surface in contact with the force-bearing surface, and the inner surface is a curved surface; the curvature of the force-bearing surface is equal to the curvature of the inner surface of thesleeve 2, so as to further increase the impact of thesleeve 2 on the end effector during the closing stage The force application area of 1 is beneficial to drive theend effector 1 to close and the stability after closing, and reduce the slippage of the target tissue.

图13A为推钉过程的示意图。例如，参考图13A，推钉组件包括推钉片700、推钉滑块60和推钉驱动机构40。推钉片700配置为给吻合钉施加压力以将吻合钉从钉仓推出；推钉滑块60配置为给推钉片700施加压力以驱动推钉片700给吻合钉施加推钉压力；推钉驱动机构40配置为在第一驱动结构和第二驱动机构20的驱动下沿轴向移动以驱动推钉滑块60沿轴向移动，从而推钉滑块60与推钉片700接触以给推钉片700施加推钉压力。FIG. 13A is a schematic diagram of the nail pushing process. For example, referring to FIG. 13A , the nail push assembly includes anail push piece 700 , anail push slider 60 and a nailpush drive mechanism 40 . Thestaple pushing piece 700 is configured to apply pressure to the staples to push the staples out from the staple cartridge; thestaple pushing slider 60 is configured to apply pressure to thestaple pushing piece 700 to drive thestaple pushing piece 700 to apply the staple pushing pressure to the staples; push the staples Thedriving mechanism 40 is configured to move in the axial direction under the driving of the first driving structure and thesecond driving mechanism 20 to drive thenail pushing slider 60 to move in the axial direction, so that thenail pushing slider 60 contacts thenail pushing piece 700 to push the nail Thenail tab 700 applies nail push pressure.

例如，在一些实施例中，在进行推钉之前，推钉驱动机构40与第二驱动机构20连接，随着第二驱动机构20的移动而移动至与推钉滑块60接触，这样更加利于第二驱动机构20后续驱动推钉驱动机构40移动的可靠性和吻合器100推钉阶段正常进行的操作稳定性，降低设计难度。For example, in some embodiments, before the nail pushing, the nail pushingdriving mechanism 40 is connected with thesecond driving mechanism 20, and as thesecond driving mechanism 20 moves, it moves to contact with thenail pushing slider 60, which is more conducive to The reliability of thesecond driving mechanism 20 for subsequent driving of the nail pushingdriving mechanism 40 to move and the operational stability of thestapler 100 during the pushing stage of the stapler can reduce the design difficulty.

例如，在另一些实施例中，在进行推钉之前，推钉驱动机构40位于第二驱动机构20的靠近推钉滑块60的一侧且与第二驱动机构20之间具有间隔，即此时推钉驱动机构40与第二驱动机构20不连接，第二驱动机构20沿轴向朝向末端执行器1移动经过间隔之后与推钉滑块60连接。For example, in other embodiments, before the nail pushing, the nail pushingdriving mechanism 40 is located on the side of thesecond driving mechanism 20 close to thenail pushing slider 60 and there is a space between it and thesecond driving mechanism 20, that is, this When the nail pushingdriving mechanism 40 is not connected with thesecond driving mechanism 20 , thesecond driving mechanism 20 moves toward theend effector 1 in the axial direction and is connected with thenail pushing slider 60 after passing through an interval.

例如，在推钉阶段之后，第一驱动机构10还配置为驱动闭合机构远离末端执行器1移动以使钉仓组件11和钉砧12彼此远离从而使末端执行器1打开。即，闭合机构例如套筒2朝向远离末端执行器1移动而释放钉砧12的第一端和钉仓组件11的第一端以使钉砧12和钉仓组件11打开。For example, after the staple push phase, thefirst drive mechanism 10 is further configured to drive the closure mechanism to move away from theend effector 1 to move thestaple cartridge assembly 11 and thestaple anvil 12 away from each other to open theend effector 1 . That is, a closure mechanism such assleeve 2 moves away fromend effector 1 to release the first end ofanvil 12 and the first end ofcartridge assembly 11 to openanvil 12 andcartridge assembly 11 .

图8为本公开一实施例提供的一种吻合器100的包括第一弹性构件71的局部的示意图。例如，如图8所示，吻合器100还包括第一弹性构件71，第一弹性构件71与闭合机构连接。在闭合阶段，闭合机构朝向末端执行器1移动以使末端执行器1闭合且使第一弹性构件71发生弹性形变；在推钉阶段之后，闭合机构在发生弹性形变的第一弹性构件71在其弹性回复力的作用下远离末端执行器1移动。FIG. 8 is a schematic diagram of a part 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 which is connected with the closing mechanism. In the closing stage, the closing mechanism moves toward theend effector 1 to close theend effector 1 and elastically deform the firstelastic member 71 ; after the nailing stage, the closing mechanism operates when the elastically deformed firstelastic member 71 is in its place. Move away from theend effector 1 under the action of elastic restoring force.

该第一弹性构件71在外部载荷作用下产生变形，并且在该外部载荷移除后变形完全消失并完全恢复其原本的形状和尺寸。例如，该第一弹性构件71的材料可包括某些具有弹性压缩变形性质的树脂或天然材料等，例如但不限于热塑性弹性体(thermoplastic elastomer，TPE)、热塑性聚氨酯(thermoplastic polyurethane,TPU)、热塑性聚酯弹性体(thermoplastic polyester elastomer，TPEE)等。该第一弹性构件71可被制成例如块状弹性件或中空柱状弹 性件等。又例如，该弹性压缩变形结构可包括某些具有弹性压缩变形性质的结构，例如压缩弹簧、Z字形弹性件、风琴页形弹性件、灯笼骨架形弹性件等。该弹性压缩变形结构可由例如但不限于金属、塑料或陶瓷等材料形成。本公开的实施例对此不作限制。The firstelastic member 71 is deformed under an external load, and after the external load is removed, the deformation completely disappears and the original shape and size are completely restored. For example, the material of the firstelastic member 71 may include some resins or natural materials with elastic compression deformation properties, such as but not limited to thermoplastic elastomer (thermoplastic elastomer, TPE), thermoplastic polyurethane (thermoplastic polyurethane, TPU), thermoplastic Polyester elastomer (thermoplastic polyester elastomer, TPEE) and so on. The firstelastic member 71 can be made, for example, as a block-shaped elastic member or a hollow cylindrical elastic member. For another example, the elastic compression deformation structure may include certain structures with elastic compression deformation properties, such as compression springs, zigzag elastic members, organ leaf elastic members, lantern skeleton-shaped elastic members, and the like. The elastic compression deformation structure may be formed of materials such as, but not limited to, metal, plastic, or ceramic. The embodiments of the present disclosure do not limit this.

例如，在图8所示实施例中，套筒2包括从套筒2的内壁朝向内侧突出的卡持结构24，第一弹性构件71位于卡持结构24的靠近末端执行器1的一侧以配置为随着闭合机构朝向末端执行器1移动而被压缩，以充分利用套筒2内部有限的空间实现对第一弹性构件71的压缩和限位。For example, in the embodiment shown in FIG. 8 , thesleeve 2 includes a holdingstructure 24 protruding from the inner wall of thesleeve 2 toward the inside, and the firstelastic member 71 is located on the side of the holdingstructure 24 close to theend effector 1 to It is configured to be compressed as the closing mechanism moves toward theend effector 1 , so as to make full use of the limited space inside thesleeve 2 to realize the compression and limiting of the firstelastic member 71 .

例如，在其他实施例中，第一弹性构件71位于卡持结构24的靠近末端执行器1的一侧以配置为随着闭合机构朝向末端执行器1移动而被拉伸，如此，也可以达到与图8相同或相似的技术效果。For example, in other embodiments, the firstelastic member 71 is located on a side of the holdingstructure 24 close to theend effector 1 to be configured to be stretched as the closing mechanism moves toward theend effector 1 . In this way, it is also possible to achieve The same or similar technical effect as Figure 8.

图9为本公开一实施例提供的一种吻合器100的包括第一驱动机构10的主体部分4的示意图，如图9所示，吻合器100还包括电动驱动机构，电动驱动机构位于主体部分4，主体部分4例如包括手柄9和与手柄9连接的驱动部99；例如电动驱动机构位于手柄9或/和驱动部99，第一驱动机构10的第一端与电动驱动机构连接，电动驱动机构驱动第一驱动机构10沿轴向移动。例如电动驱动机构包括电机和在电机驱动下运动的涡轮连杆机构，具体本领域技术人员可根据常规技术设计，本公开对电动驱动机构的结构不作限定。FIG. 9 is a schematic diagram of themain body part 4 including thefirst driving mechanism 10 of astapler 100 according to an embodiment of the present disclosure. As shown in FIG. 9 , thestapler 100 further includes an electric driving mechanism, and the electric driving mechanism is located in the main body part. 4. Themain body part 4 includes, for example, ahandle 9 and adrive part 99 connected to thehandle 9; for example, the electric drive mechanism is located in thehandle 9 or/and thedrive part 99, the first end of thefirst drive mechanism 10 is connected to the electric drive mechanism, and the electric drive The mechanism drives thefirst drive mechanism 10 to move in the axial direction. For example, the electric drive mechanism includes a motor and a turbine linkage mechanism that moves under the drive of the motor, which can be designed by those skilled in the art according to conventional techniques, and the structure of the electric drive mechanism is not limited in the present disclosure.

例如，吻合器100还包括切割装置。钉仓组件11和钉砧12对合以夹持目标组织；推钉组件将吻合钉从钉仓组件11中推出后，吻合钉进入目标组织以将目标组织缝合；第一驱动机构10还配置为驱动切割装置对目标组织进行切割。即第一驱动机构10还配置为驱动切割装置对目标组织进行切割，进一步简化驱动结构，节省空间，减小吻合器100的体积，从而在手术过程中易于进入手术对象例如人体内，减小对手术对象的伤害；并且，驱动结构的简化使吻合器100的运行过程更加容易顺利实现，对提高运行的可靠性具有突出的贡献，也降低了对吻合器100运行过程进行控制的控制系统的设计难度。例如，在将目标组织整体被缝合之后再对目标组织进行缝合。当然，也可以对目标组织进行边缝边切，即对于目标组织的每个局部，先缝合该局部，接着对该局部进行切割。具体的缝合和切割方式将在下文中介绍。For example, thestapler 100 also includes a cutting device. Thestaple cartridge assembly 11 and thestaple anvil 12 are combined to clamp the target tissue; after the staple pusher assembly pushes out the staples from thestaple cartridge assembly 11, the staples enter the target tissue to sew the target tissue; thefirst driving mechanism 10 is further configured as The cutting device is driven to cut the target tissue. That is, thefirst driving mechanism 10 is also configured to drive the cutting device to cut the target tissue, which further simplifies the driving structure, saves space, and reduces the volume of thestapler 100, so that it is easy to enter the surgical object, such as the human body, during the operation, reducing the need for In addition, the simplification of the driving structure makes the operation process of thestapler 100 easier and smoother, which has a prominent contribution to improving the reliability of operation, and also reduces the design of the control system for controlling the operation process of thestapler 100. difficulty. For example, the target tissue is sutured after the entire target tissue is sutured. Of course, the target tissue can also be cut while being sewn, that is, for each part of the target tissue, the part is sutured first, and then the part is cut. The specific stitching and cutting methods will be introduced below.

例如，吻合器100还包括切割驱动机构，切割驱动机构配置为在第一驱动机构10的驱动下驱动切割装置以对目标组织进行切割。例如，推钉驱动机构40复用作切割驱动机构，以简化结构，节省空间。第二驱动机构20还配置为在切割阶段与切割驱动机构连接以驱动切割驱动机构移动，即在推钉驱动机构40复用作切割驱动机构的情况下，第二驱动机构20还配置为在切割阶段与推钉驱动机构40连接以驱动推钉驱动机构40移动。For example, thestapler 100 further includes a cutting drive mechanism configured to drive the cutting device under the driving of thefirst drive mechanism 10 to cut the target tissue. For example, the nail pushingdriving mechanism 40 is reused as a cutting driving mechanism to simplify the structure and save space. Thesecond drive mechanism 20 is also configured to be connected with the cutting drive mechanism during the cutting stage to drive the cutting drive mechanism to move, that is, in the case where the nailpush drive mechanism 40 doubles as the cutting drive mechanism, thesecond drive mechanism 20 is also configured to drive the cutting drive mechanism during cutting. The stage is connected with the pushnail drive mechanism 40 to drive the pushnail drive mechanism 40 to move.

例如，切割装置包括携刀部件和切割刀605，切割刀605与携刀部件活动连接，切割驱动机构配置为驱动携刀部件移动以使切割刀605移动。例如，推钉滑块60复用作携刀部件，以进一步简化结构，节省空间，且便于推钉阶段和切割阶段的驱动和控制。For example, the cutting device includes a knife-carrying member and a cuttingknife 605 , the cuttingknife 605 is movably connected with the knife-carrying member, and the cutting driving mechanism is configured to drive the knife-carrying member to move so as to move the cuttingknife 605 . For example, the nail-pushingslider 60 is reused as a knife-carrying part, so as to further simplify the structure, save space, and facilitate the driving and control of the nail-pushing stage and the cutting stage.

下面以推钉驱动机构40复用作切割驱动机构的情况为例对吻合器100的推钉阶段和切割阶段进行介绍。The following describes the staple pushing stage and the cutting stage of thestapler 100 by taking the case where the staple pushingdriving mechanism 40 is reused as the cutting driving mechanism as an example.

在第一驱动机构10驱动闭合机构将末端执行器1闭合的闭合阶段以及驱动推钉组件将吻合钉从钉仓组件11中推出的推钉阶段，第一驱动机构10朝向末端执行器1移动；例如，在切割阶段，第一驱动机构10远离末端执行器1移动以驱动切割驱动机构远离末端执行器1移动。In the closing stage in which thefirst driving mechanism 10 drives the closing mechanism to close theend effector 1 and the staple pushing stage in which the staple pushing assembly is driven to push out the staples from 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 .

图10A为钉仓组件11和切割驱动机构的结构关系图。参考图10A和图2，末端执行器1包括在轴向上彼此相对的第一端和第二端，第一端靠近闭合机构即套筒2。在推钉阶段之前，切割装置位于第一端；在推钉阶段，第一驱动机构10沿轴向朝向末端执行器1移动以驱动切割驱动机构与推钉滑块60同步朝向末端执行器1移动，切割驱动机构驱动切割装置从第一端移动到第二端，但在推钉阶段，切割刀605至少部分位于推钉滑块60中，切割刀605与夹持在钉仓组件11和钉砧12之间的目标组织具有预设距离以使切割刀605不接触目标组织。在切割阶段，第一驱动机构10沿轴向远离末端执行器1移动以驱动切割驱动机构远离末端执行器1移动，切割驱动机构驱动切割装置从第二端移动到第一端并对目标组织进行切割。FIG. 10A is a structural relationship diagram of thestaple cartridge assembly 11 and the cutting drive mechanism. Referring to FIGS. 10A and 2 , theend effector 1 includes a first end and a second end axially opposite to each other, the first end being adjacent to the closure mechanism, ie, thesleeve 2 . Before the nail pushing stage, the cutting device is located at the first end; in the nail pushing stage, thefirst drive mechanism 10 moves axially toward theend effector 1 to drive the cutting drive mechanism to move toward theend effector 1 in synchronization with thepush nail slider 60 , the cutting drive mechanism drives the cutting device to move from the first end to the second end, but in the nail pushing stage, thecutting blade 605 is at least partially located in thenail pushing slider 60, and thecutting blade 605 is clamped between thestaple cartridge assembly 11 and the nail anvil. The target tissue between 12 has a preset distance so that thecutting blade 605 does not contact the target tissue. During the cutting phase, thefirst drive mechanism 10 is moved axially away from theend effector 1 to drive the cutting drive mechanism to move away from theend effector 1 , and the cutting drive mechanism drives the cutting device to move from the second end to the first end and to the target tissue. cut.

图10B为图10A所示的吻合器100的钉砧方向的俯视图；图10C为图10A所示的吻合器100的钉仓方向的俯视图；图10D为沿图10C中的J-J线的剖面示意图；图10E为沿图10B中的H-H线的剖面示意图；图12D-12E为切割驱动机构的结构示意图；图13C为推钉滑块60携带切割刀605从末端执行器1的第一端移动到末端执行器1的第二端的示意图。参考图10B-10E、和图13C，钉仓组件11包括钉仓500和外支架400。钉仓500内置有吻合钉；外支架400固定于钉仓500上，具有彼此相对的第一部分和第二部分；第一部分和第二部分位于钉仓的远离钉砧12的一侧且均沿轴向延伸，外支架400的第一部分401和外支架400第二部分402彼此间隔以限定出沿轴向延伸第一滑槽41，外支架400的第一部分和外支架400第二部分分别具有远离钉仓500的上表面和与上表面相对的下表面。推钉驱动机构40包括主体部411和第一滑动部分412。在推钉驱动机构40驱动推钉滑块60移动过程中，主体部411配置为与携刀部件连接，且主体部411的远离钉砧12的第一端在第一滑槽41中滑动。第一滑动部分412与主体部411连接，被支撑于外支架400的第一部分的上表面和外支架400的第二部分的上表面上，且配置为可沿外支架400的第一部分的上表面和外支架400第二部分的上表面滑动。如此，实现了将推钉驱动机构40设置于钉仓上，外支架400能够保障推钉驱动机构40在推钉阶段稳定移动，从而在推钉阶段，推钉驱动机构40可以不受钉砧12的作用力，可以使推钉驱动机构40也即切割驱动机构与夹置于钉仓和钉砧12之间的目标组织之间具有预设距离以使切割刀605不接触目标组织。10B is a top view of thestapler 100 shown in FIG. 10A in the direction of the staple anvil; FIG. 10C is a top view of thestapler 100 shown in FIG. 10A in the direction of the staple cartridge; FIG. 10D is a schematic cross-sectional view along the J-J line in FIG. 10C ; 10E is a schematic cross-sectional view along the line H-H in FIG. 10B ; FIGS. 12D-12E are schematic structural diagrams of the cutting drive mechanism; FIG. 13C is thenail pushing slider 60 carrying the cuttingknife 605 moving from the first end of theend effector 1 to the end Schematic diagram of the second end of theactuator 1. 10B-10E, and FIG. 13C,staple cartridge assembly 11 includesstaple cartridge 500 andouter bracket 400. Thestaple cartridge 500 contains staples; theouter bracket 400 is fixed on thestaple cartridge 500 and has a first part and a second part opposite to each other; the first part and the second part are located on the side of the staple cartridge away from thestaple anvil 12 and both are along the axis Extending upward, thefirst portion 401 of theouter bracket 400 and thesecond portion 402 of theouter bracket 400 are spaced apart from each other to define an axially extendingfirst chute 41, thefirst portion 401 of theouter bracket 400 and thesecond portion 402 of theouter bracket 400 respectively have remote The upper surface of thebin 500 and the lower surface opposite the upper surface. The nailpush driving mechanism 40 includes amain body portion 411 and a first slidingportion 412 . During the movement of thenail pushing slider 60 driven by the nail pushingdriving mechanism 40 , themain body portion 411 is configured to be connected with the knife-carrying member, and the first end of themain body portion 411 away from thenail anvil 12 slides in thefirst chute 41 . The first slidingpart 412 is connected with themain body part 411 , is supported on the upper surface of the first part of theouter bracket 400 and the upper surface of the second part of theouter bracket 400 , and is configured to be able to follow the upper surface of the first part of theouter bracket 400 and slide with the upper surface of the second part of theouter bracket 400 . In this way, the nail-pushingdriving mechanism 40 is arranged on the staple cartridge, and theouter bracket 400 can ensure that the nail-pushingdriving mechanism 40 moves stably in the nail-pushing stage, so that in the nail-pushing stage, the nail-pushingdriving mechanism 40 can not be affected by theanvil 12 . The force can make thepush driving mechanism 40, that is, the cutting driving mechanism, and the target tissue sandwiched between the staple cartridge and theanvil 12 to have a preset distance so that thecutting blade 605 does not contact the target tissue.

例如，如图13C所示，钉仓包括钉仓支架，钉仓支架包括沿轴向延伸的第一部分511和第二部分512，钉仓支架的第一部分和钉仓支架的第二部分均包括用于容纳吻合钉的钉槽且限定出沿轴向延伸的第二滑槽42，第二滑槽42与第一滑槽41相对，在推钉驱动机构40驱动推钉滑块60移动过程中，推钉驱动机构40的主体部411的靠近钉砧12的第二端在第二滑槽42中滑动。For example, as shown in FIG. 13C, the staple cartridge includes a staple cartridge holder, the staple cartridge holder includes afirst portion 511 and asecond portion 512 extending in the axial direction, and both the first portion of the staple cartridge holder and the second portion of the staple cartridge holder include a In the nail groove for accommodating staples and defining a second slidinggroove 42 extending in the axial direction, the second slidinggroove 42 is opposite to the first slidinggroove 41. During the process of driving thenail pushing slider 60 to move by the nail pushingdriving mechanism 40, The second end of themain body portion 411 of the pushnail driving mechanism 40 that is close to thenail anvil 12 slides in the second slidinggroove 42 .

例如，钉仓具有与钉砧12相对的出钉面，推钉驱动机构40的主体部411与第一滑动部分412构成的整体在垂直于出钉面的方向上的截面的形状为T字形。如此，区别于“工”字形的推钉驱动机构40(切割驱动机构)，该T字形的推钉驱动机构40设置于钉仓上，该T字形的推钉驱动机靠近钉砧12的一端，即靠近目标组织的一端，在推钉阶段可以与目标组织间隔开预设距离以使切割刀605不接触目标组织，从而实现在整个目标组织被缝合之后再对目标组织进行切割，这种方式更加利于目标组织缝合的平整、准确以及切割的准确性。For example, the staple cartridge has a staple ejection surface opposite to thestaple anvil 12 , and the cross-sectional shape of theentire body 411 and the first slidingportion 412 of the staplepush driving mechanism 40 in the direction perpendicular to the staple ejection surface is T-shaped. In this way, different from the "I"-shaped nail pushing driving mechanism 40 (cutting driving mechanism), the T-shaped nail pushingdriving mechanism 40 is arranged on the nail magazine, and the T-shaped nail pushing driving machine is close to one end of thenail anvil 12, That is, one end close to the target tissue can be separated from the target tissue by a preset distance during the pushing stage so that the cuttingknife 605 does not contact the target tissue, so that the target tissue can be cut after the entire target tissue is sutured. It is beneficial to the smoothness and accuracy of target tissue suture and the accuracy of cutting.

例如，推钉驱动机构40还包括第二滑动部分413，第二滑动部分413与主体部411连接，位于第一部分和第二部分的远离第一滑动部分412的一侧，且与第一部分的下表面和第二部分的下表面接触且配置为可沿第一部分的下表面和第二部分的下表面滑动。For example, the pushnail driving mechanism 40 further includes a second slidingpart 413, the second slidingpart 413 is connected with themain body part 411, is located on the side of the first part and the second part away from the first slidingpart 412, and is connected with the lower part of the first part. The surface is in contact with the lower surface of the second portion and is configured to slide along the lower surface of the first portion and the lower surface of the second portion.

图13A为推钉过程的示意图。如图12A和图13A所示，推钉片700沿轴向排列，且配置为给吻合钉施加压力以将吻合钉从钉仓推出；推钉滑块60配置为给推钉片700施加压力以驱动推钉片700给吻合钉施加推钉压力；推钉驱动机构40配置为在推钉阶段在第一驱动机构10的驱动下驱动推钉滑块60沿轴向移动，从而推钉滑块60沿轴向依此与推钉片700接触以给推钉片700施加推钉压力。FIG. 13A is a schematic diagram of the nail pushing process. As shown in FIGS. 12A and 13A , thepush pieces 700 are arranged in the axial direction and are configured to apply pressure to the staples to push the staples out of the staple cartridge; thepush block 60 is configured to apply pressure to thepush pieces 700 to Thenail pushing piece 700 is driven to apply nail pushing pressure to the staples; the nail pushingdriving mechanism 40 is configured to drive thenail pushing slider 60 to move in the axial direction under the driving of thefirst driving mechanism 10 in the nail pushing stage, so as to push thenail sliding block 60 It is in contact with thenail pushing piece 700 in the axial direction to apply a nail pushing pressure to thenail pushing piece 700 .

如图12A所示，例如，推钉滑块60包括主体部和推钉滑槽601。推钉滑槽601位于推钉滑块60的主体部上且位于推钉滑块60的主体部的面向钉砧12的一侧，配置为在推钉滑块60沿轴向移动的推钉阶段容纳推钉片700，且包括面向钉砧12的底面，其中，底面配置为在推钉阶段给推钉片700施加推钉压力。As shown in FIG. 12A , for example, thenail pushing slider 60 includes a main body portion and anail pushing chute 601 . Thenail pushing chute 601 is located on the main body portion of thenail pushing slider 60 and is located on the side of the main body portion of thenail pushing slider 60 that faces thenail anvil 12 , and is configured for the nail pushing stage when thenail pushing slider 60 moves in the axial direction. Thepusher piece 700 is accommodated and includes a bottom surface facing theanvil 12 , wherein the bottom surface is configured to apply a pusher pressure to thepusher piece 700 during the pusher stage.

如图12A所示，例如，推钉滑块60包括容纳腔600，切割刀605至少部分位于容纳腔600内。推钉滑块60包括第一推钉滑槽601和第二推钉滑槽601，第一推钉滑槽601所推出的吻合钉进入钉仓支架的第一部分的钉槽中，第二推钉滑槽601所推出的吻合钉进入钉仓支架的第二部分的钉槽中；容纳腔600位于第一推钉滑槽601和第二推钉滑槽601之间，从而，容纳腔600的壁可同时用于构成推钉滑槽601，充分利用推钉滑块60的有限空间，使其同时具备携带切割刀605和具有多个推钉滑槽601的功能。As shown in FIG. 12A , for example, thenail pushing slider 60 includes a receivingcavity 600 , and the cuttingknife 605 is at least partially located in the receivingcavity 600 . Thenail pushing slider 60 includes a firstnail pushing chute 601 and a secondnail pushing chute 601. The staples pushed out by the firstnail pushing chute 601 enter into the nail grooves of the first part of the cartridge holder, and the second nail pushing The staples pushed out by the slidinggroove 601 enter into the staple groove of the second part of the staple cartridge bracket; theaccommodating cavity 600 is located between the first pushingnail sliding groove 601 and the second nail pushing slidinggroove 601 , so that the wall of theaccommodating cavity 600 It can be used to form thenail pushing chute 601 at the same time, making full use of the limited space of thenail pushing slider 60 , so that it has the functions of carrying the cuttingknife 605 and having multiplenail pushing chute 601 at the same time.

图12A为携带有切割刀605的推钉滑块60的整体结构示意图；图12B为携带有切割刀605的推钉滑块60的剖面示意图。如图12A-12B所示，例如，推钉滑块60即携刀部件包括容纳腔600、限位结构和出刀驱动结构602。切割刀605至少部分位于容纳腔600内且包括刀刃6050；限位结构配置为将切割刀605活动连接于推钉滑块60上；例如，容纳腔600具有内壁621/622，内壁包括相交的多个壁面621/622，多个壁面621/622构成限位结构；在推钉阶段，多个壁面将切割刀605卡持于固定位置；多个壁面给切割刀605施加的静摩擦力与割刀的重力平衡，以实现将切割刀605固定。12A is a schematic diagram of the overall structure of thenail pushing slider 60 carrying thecutting blade 605 ; FIG. 12B is a cross-sectional schematic diagram of thenail pushing slider 60 carrying thecutting blade 605 . As shown in FIGS. 12A-12B , for example, thenail pushing slider 60 , that is, the knife-carrying component includes aaccommodating cavity 600 , a limiting structure and a knife-exitingdriving structure 602 . The cuttingknife 605 is at least partially located in theaccommodating cavity 600 and includes a cutting edge 6050; the limiting structure is configured to movably connect the cuttingknife 605 to thenail pushing slider 60; A plurality of wall surfaces 621/622, and a plurality of wall surfaces 621/622 constitute a limiting structure; in the nail pushing stage, the plurality of walls hold the cuttingknife 605 in a fixed position; the static friction force exerted by the plurality of walls on the cuttingknife 605 is related to the Gravity is balanced to achieve fixing the cuttingknife 605 .

例如，多个壁面包括彼此相对的第一壁面621和第二壁面622，第一壁面621和第二壁面622与开口相交且均与轴向相交；在第一驱动力的作用下，切割刀605沿第一壁面621和第二壁面622滑动以从开口露出。出刀驱动结构602配置为施加第一驱动力至切割刀605以使刀刃6050朝向目标组织移动从而与目标组织接触。容纳腔600包括朝向目标组织的 开口，切割刀605配置为可在第一驱动力的作用下至少部分从开口露出以使得刀刃6050与目标组织接触。For example, the plurality of wall surfaces include afirst wall surface 621 and asecond wall surface 622 opposite to each other, thefirst wall surface 621 and thesecond wall surface 622 intersect the opening and both intersect the axial direction; under the action of the first driving force, thecutting blade 605 It slides along thefirst wall surface 621 and thesecond wall surface 622 to be exposed from the opening. Theblade drive structure 602 is configured to apply a first driving force to thecutting blade 605 to move the blade 6050 toward the target tissue for contact with the target tissue. The receivingcavity 600 includes an opening toward the target tissue, and thecutting blade 605 is configured to at least partially emerge from the opening under the action of the first driving force so that the blade edge 6050 is in contact with the target tissue.

例如，第一壁面与第二壁面与轴向垂直，以有利于后续切割刀605沿第一壁面与第二壁面朝向目标组织滑动。For example, the first wall surface and the second wall surface are perpendicular to the axial direction, so as to facilitate the subsequent sliding of thecutting blade 605 toward the target tissue along the first wall surface and the second wall surface.

图11A-11B为彼此未连接的推钉驱动机构40与推钉滑块60连接的示意图。如图11A-11B所示，例如，在进行推钉之前，推钉驱动机构40就与第二驱动机构20连接，随着第二驱动机构20的移动而移动至与推钉滑块60接触，并与推钉滑块60连接。图12C为推钉滑块60的靠近切割驱动机构的端部的示意图；图12E为彼此连接的切割驱动机构与推钉滑块60连接的示意图。结合图12C-12E，推钉滑块60即携刀部件还包括第一连接结构，推钉驱动机构40的主体部包括第二连接结构。在推钉阶段，第一连接结构与第二连接结构不连接；在推钉阶段之后且在切割阶段之前，第一连接结构与第二连接结构连接。例如，推钉驱动机构40的主体部还包括面向携刀部件的施力面641，推钉滑块60包括面向主体部的受力面642。在推钉阶段，切割驱动机构朝向携刀部件移动以使施力面与受力面接触，推钉驱动机构40通过施力面给受力面施加第二驱动力以驱动携刀部件移动。FIGS. 11A-11B are schematic diagrams illustrating the connection of the nail pushingdriving mechanism 40 and thenail pushing slider 60 , which are not connected to each other. As shown in FIGS. 11A-11B , for example, before the nail pushing, the nail pushingdriving mechanism 40 is connected with thesecond driving mechanism 20 , and as thesecond driving mechanism 20 moves, it moves to contact with thenail pushing slider 60 , And connected with thepush nail slider 60 . FIG. 12C is a schematic view of the end of thenail pushing slider 60 close to the cutting drive mechanism; FIG. 12E is a schematic view of the connection of the cutting drive mechanism and thenail pushing slider 60 connected to each other. 12C-12E, thenail pushing slider 60, that is, the knife-carrying member further includes a first connection structure, and the main body of the nailpush driving mechanism 40 includes a second connection structure. In the nail pushing stage, the first connecting structure is not connected with the second connecting structure; after the nail pushing stage and before the cutting stage, the first connecting structure is connected with the second connecting structure. For example, the main body portion of the nail pushingdriving mechanism 40 further includes aforce applying surface 641 facing the knife-carrying member, and thenail pushing slider 60 includes aforce receiving surface 642 facing the main body portion. In the nail pushing stage, the cutting drive mechanism moves toward the knife-carrying member to make the force-applying surface contact the force-receiving surface, and the nail-pushingdriving mechanism 40 applies a second driving force to the force-receiving surface through the force-applying surface to drive the knife-carrying member to move.

例如，在本实施例中，第一连接结构复用作出刀驱动结构602，出刀驱动结构602至少部分位于容纳腔600内且配置为可沿轴向移动；出刀驱动结构602沿轴向延伸，包括在轴向上靠近切割驱动机构的第一端和与第一端相对的第二端；推钉滑块60包括贯穿受力面414且与容纳腔600连通的通孔415；在推钉阶段，出刀驱动结构602的第一端位于容纳腔600内，出刀驱动结构602的第二端延伸到容纳腔600外部，且出刀驱动结构602不沿轴向相对于切割刀605运动。图13B为推钉阶段时切割刀未与目标组织接触时的示意图；图13D为推钉阶段时切割刀移动以与目标组织接触时的示意图。结合图12C-12E和图13C、图13D，例如，钉仓支架包括阻力面503，阻力面503面向出刀驱动结构602，出刀驱动结构602配置为当切割装置在切割驱动机构的驱动下到达末端执行器1的第二端时撞击阻力面503，从而阻力面503对出刀驱动结构602施加出刀驱动力，出刀驱动结构602配置为在出刀驱动力的作用下与切割刀605接触以对切割刀605施加第一驱动力以驱动切割刀605朝向目标组织移动。例如，图13B所示，当切割装置到达末端执行器1的第二端时，出刀驱动结构602的第二端撞击阻力面503，从而阻力面503对出刀驱动结构602施加出刀驱动力，出刀驱动结构602在出刀驱动力的作用下沿轴向远离末端执行器1的第二端移动以与切割刀605接触从而对切割刀605施加第一驱动力以驱动切割刀605朝向目标组织移动，且出刀驱动结构602的第一端通过通孔603移动至容纳腔600外部与第二连接结构连接，即由图13B所示的状态变为图13D所示的状态。For example, in the present embodiment, the first connection structure reuses theknife drive structure 602, theknife drive structure 602 is at least partially located in theaccommodating cavity 600 and is configured to move in the axial direction; theknife drive structure 602 extends in the axial direction , including a first end close to the cutting drive mechanism in the axial direction and a second end opposite to the first end; thenail pushing slider 60 includes a throughhole 415 that penetrates the force-bearingsurface 414 and communicates with theaccommodating cavity 600; At this stage, the first end of the knife-delivery driving structure 602 is located in theaccommodating cavity 600 , the second end of the knife-deliveringdriving structure 602 extends outside theaccommodating cavity 600 , and the knife-deliveringdriving structure 602 does not move relative to the cuttingknife 605 in the axial direction. FIG. 13B is a schematic diagram of the cutting blade not in contact with the target tissue in the nail pushing stage; FIG. 13D is a schematic diagram of the cutting blade moving to contact the target tissue in the nail pushing stage. 12C-12E and FIGS. 13C and 13D, for example, the staple cartridge holder includes aresistance surface 503, and theresistance surface 503 faces theknife drive structure 602, and theknife drive structure 602 is configured to reach when the cutting device is driven by the cutting drive mechanism. When the second end of theend effector 1 hits theresistance surface 503, theresistance surface 503 exerts a knife driving force on theknife driving structure 602, and theknife driving structure 602 is configured to be in contact with the cuttingknife 605 under the action of the knife driving force A first driving force is applied to thecutting blade 605 to drive thecutting blade 605 to move toward 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 theknife driving structure 602 hits theresistance surface 503 , so that theresistance surface 503 applies the knife driving force to theknife driving structure 602 , under the action of the driving force of the knife, the drivingstructure 602 moves away from the second end of theend effector 1 in the axial direction to contact the cuttingknife 605 so as to apply a first driving force to the cuttingknife 605 to drive the cuttingknife 605 towards the target The tissue moves, and the first end of theknife driving structure 602 moves to the outside of the receivingcavity 600 through the throughhole 603 to connect with the second connecting structure, that is, the state shown in FIG. 13B changes to the state shown in FIG. 13D .

在推钉阶段，切割刀605的刀刃6050朝向目标组织，切割刀605还包括与刀刃6050相交的第一斜面606，出刀驱动结构602包括第二斜面607，第二斜面607位于第一斜面606的远离刀刃6050的一侧且在轴向上位于第一斜面606的靠近末端执行器1的第二端的一侧，且与第一斜面606平行，第一斜面606和第二斜面607均与轴向相交；当出刀驱动结构602的第二端撞击阻力面503时，出刀驱动结构602配置为在出刀驱动力的作用下沿 轴向远离末端执行器1的第二端移动以使第二斜面607与切割刀605的第一斜面606接触从而对切割刀605施加第一驱动力，在出刀驱动结构602沿轴向远离末端执行器1的第二端移动的同时，切割刀605朝向目标组织移动且第一斜面606相对于第二斜面607朝向靠近目标组织的方向滑动。如此，可以保证出刀驱动结构602顺利地与第二连接结构连接，保证运行的稳定性，且充分利用了容纳腔600的有限空间，节省了空间，利于实现吻合器100的小型化，以尽量减小吻合器100的径向尺寸，而在手术过程中易于进入手术对象例如人体内，减小手术对象的伤害。In the nail pushing stage, the cutting edge 6050 of the cuttingknife 605 faces the target tissue, the cuttingknife 605 further includes a firstinclined surface 606 intersecting with the cutting edge 6050 , and the drivingstructure 602 includes a secondinclined surface 607 , and the secondinclined surface 607 is located on the firstinclined surface 606 The side away from the cutting edge 6050 is located on the side of the firstinclined surface 606 close to the second end of theend effector 1 in the axial direction, and is parallel to the firstinclined surface 606, and both the firstinclined surface 606 and the secondinclined surface 607 are parallel to the shaft When the second end of the knifeejection drive structure 602 hits theresistance surface 503, the knifeejection drive structure 602 is configured to move away from the second end of theend effector 1 in the axial direction under the action of the knife ejection driving force to make the first The twoinclined surfaces 607 are in contact with the firstinclined surface 606 of thecutting blade 605 to apply a first driving force to thecutting blade 605 . When the drivingstructure 602 moves away from the second end of theend effector 1 in the axial direction, thecutting blade 605 moves toward thecutting blade 605 . The target tissue moves and thefirst ramp 606 slides relative to thesecond ramp 607 toward the target tissue. In this way, it can be ensured that the knifeejection driving structure 602 is smoothly connected with the second connecting structure, and the operation stability is ensured, and the limited space of theaccommodating cavity 600 is fully utilized, which saves the space, and is conducive to realizing the miniaturization of thestapler 100 to minimize the The radial size of thestapler 100 is reduced, and it is easy to enter the surgical object, such as the human body, during the operation, thereby reducing the injury of the surgical object.

例如，第二斜面607与轴向的靠近末端执行器1的第二端的夹角为钝角，以利于第一斜面606沿第二斜面607滑动。For example, the included angle between the secondinclined surface 607 and the axial second end close to theend effector 1 is an obtuse angle, so as to facilitate the sliding of the firstinclined surface 606 along the secondinclined surface 607 .

如图12D-12E所示，切割驱动机构的主体部包括镂空区域，镂空区域贯穿施力面而使施力面具有过孔，第二连接结构位于镂空区域内，出刀驱动结构602的第二端穿过过孔进入镂空区域中与第二连接结构连接。As shown in FIGS. 12D-12E , the main body of the cutting drive mechanism includes a hollow area, and the hollow area penetrates the force applying surface so that the force applying surface has a through hole, the second connecting structure is located in the hollow area, and the second connecting structure of theknife driving structure 602 is located in the hollow area. The end passes through the via hole and enters the hollow area to be connected with the second connection structure.

结合图12C-12E，例如，第二连接结构包括弹性连接件，弹性连接件从镂空区域的面向出刀驱动结构602的第二端的内壁上凸出；出刀驱动结构602的第二端具有嵌套孔604。弹性连接件包括弹性连接杆610和端部突起611；弹性连接杆610从镂空区域的面向出刀驱动结构602的第二端的内壁上凸出且沿轴向延伸；端部突起611位于弹性连接杆610的远离内壁的一端且沿垂直于轴向的第二方向突出于弹性连接杆610；端部突起611嵌套于嵌套孔604内以使出刀驱动结构602的第二端与弹性连接件连接。12C-12E, for example, the second connecting structure includes an elastic connecting piece, and the elastic connecting piece protrudes from the inner wall of the hollow area facing the second end of the knifeejection drive structure 602; the second end of the knifeejection drive structure 602 has an embeddedSleeve 604. The elastic connecting piece includes an elastic connectingrod 610 and anend protrusion 611 ; the elastic connectingrod 610 protrudes from the inner wall of the hollow area facing the second end of theknife driving structure 602 and extends in the axial direction; theend protrusion 611 is located on the elastic connecting rod One end of 610 away from the inner wall and along the second direction perpendicular to the axial direction protrudes from the elastic connectingrod 610; theend protrusion 611 is nested in thenesting hole 604 so that the second end of theknife driving structure 602 is connected to the elastic connecting piece connect.

如图12E所示，例如，端部突起611的突出于弹性连接杆610的端面为弧形面612，出刀驱动结构602和弹性连接件构造为：在出刀驱动力的作用下出刀驱动结构602沿轴向远离末端执行器1的第二端移动而到达端部突起611时，出刀驱动结构602的第二端抵靠弧形面以使弹性连接杆610在第二方向上发生弹性形变，在出刀驱动力的作用下出刀驱动结构602继续沿轴向远离末端执行器1的第二端移动而使得嵌套孔604与端部突起611相对时，在弹性连接杆610的弹性回复力的作用下端部突起611沿第二方向朝嵌套孔604移动并嵌入嵌套孔604中以使推钉驱动机构40(即切割驱动机构)与推钉滑块60(即携刀部件)连接。这种设计能够充分利用出刀驱动结构602这一部件，在利用其实现驱动切割刀605露出以对目标组织进行切割的同时，还能够快速与推钉驱动机构40连接，以为接下来的切割阶段驱动切割刀605移动而进行切割做准备，且结构简单，易于实现，并且节约空间。As shown in FIG. 12E , for example, the end surface of theend protrusion 611 protruding from the elastic connectingrod 610 is an arc-shapedsurface 612 , and theknife driving structure 602 and the elastic connecting piece are configured to drive the knife under the action of the knife driving force. When thestructure 602 moves away from the second end of theend effector 1 in the axial direction and reaches theend protrusion 611, the second end of theknife driving structure 602 abuts against the arc surface to make the elastic connectingrod 610 elastic in the second direction Deformation, under the action of the driving force of the knife, the knife-exit driving structure 602 continues to move away from the second end of theend effector 1 in the axial direction so that thenesting hole 604 is opposite to theend protrusion 611, the elasticity of the elastic connectingrod 610 Under the action of the restoring force, theend protrusion 611 moves toward thenesting hole 604 in the second direction and is inserted into thenesting hole 604, so that the nail pushing driving mechanism 40 (ie the cutting drive mechanism) and the nail pushing slider 60 (ie the knife-carrying member) connect. This design can make full use of the part of theknife driving structure 602 , which can be used to drive the cuttingknife 605 to be exposed to cut the target tissue, and at the same time, it can also be quickly connected to the pushnail driving mechanism 40 for the next cutting stage. Thecutting blade 605 is driven to move to prepare for cutting, and the structure is simple, easy to implement, and saves space.

例如，弧形面为球冠面，嵌套孔604基本为圆形，以使得端部突起611更加容易进入到嵌套孔604内而实现出刀驱动结构602的第二端与弹性连接件连接，增加设备的可靠性。For example, the arc surface is a spherical cap surface, and thenesting hole 604 is substantially circular, so that theend protrusion 611 can more easily enter thenesting hole 604 to realize the connection between the second end of theknife driving structure 602 and the elastic connecting piece , to increase the reliability of the equipment.

当然，在其他实施例中，出刀驱动结构602的第二端还可以通过其他挂接形式、或者卡接、通过磁吸连接等连接方式，本公开实施例对具体连接方式不作限定，只要能够达到上述效果即可。Of course, in other embodiments, the second end of the knifeejection drive structure 602 can also be connected by other hooking forms, or by clamping, by magnetic connection, etc. The embodiment of the present disclosure does not limit the specific connection method, as long as it can The above effect can be achieved.

例如，在其他至少一实施例提供的吻合器100中，推钉滑块即携刀部件包括第一连接结构，切割驱动机构的主体部包括第二连接结构；至少在推钉阶段和切割阶段，第一连接 结构与第二连接结构连接以使得推钉驱动机构即切割驱动机构与推钉滑块连接。即，推钉驱动机构在推钉阶段就是与推钉滑块连接的。并且，例如，第一连接结构包括靠近切割驱动机构的第一连接端，第二连接结构包括靠近第一连接结构的第二连接端。在推钉阶段之前，推钉驱动机构(即切割驱动机构)与携刀部件不连接；在推钉阶段，在第一驱动机构和第二驱动机构的驱动下，推钉驱动机构朝向推钉滑块(即携刀部件)移动以使第一连接端与第二连接端连接。例如，推钉驱动机构的主体部还包括面向携刀部件的施力面，携刀部件包括面向主体部的受力面；在推钉阶段，切割驱动机构朝向携刀部件移动以使施力面与受力面接触，且使第一连接端与第二连接端连接，切割驱动机构通过施力面给受力面施加第二驱动力、以及通过第二连接结构给第一连接结构施加第三驱动力以驱动携刀部件移动。在本实施例中，端部突起611的位置可以与嵌套孔的位置互换。例如，切割驱动机构的主体部包括镂空区域，该镂空区域贯穿施力面而使施力面具有过孔，第二连接结构位于镂空区域内，第一连接端穿过过孔进入镂空区域中与第二连接结构的第二连接端连接。例如第二连接结构包括弹性连接件，弹性连接件从镂空区域的面向第一连接端的内壁上凸出；弹性连接件的远离内壁的一端为第二连接端，第二连接端具有嵌套孔。弹性连接件包括：弹性连接杆610和端部突起611；弹性连接杆610从镂空区域的面向第一连接端的的内壁上凸出并沿轴向延伸；端部突起611位于弹性连接杆610的远离内壁的一端且沿垂直于轴向的第二方向突出于弹性连接杆610；端部突起611嵌套于嵌套孔内以使出刀驱动结构的第二端与弹性连接件连接。例如，端部突起611的突出于弹性连接杆610的端面为弧形面，切割驱动机构和弹性连接件构造为：在第一驱动机构的驱动下切割驱动机构沿轴向朝向末端执行器的第二端移动而到达第一连接端时，第一连接端抵靠弧形面以使弹性连接杆610在第二方向上发生弹性形变，在第一驱动结构的驱动下切割驱动机构继续沿轴向朝向末端执行器的第二端移动而使得嵌套孔与端部突起611相对时，在弹性连接杆610的弹性回复力的作用下端部突起611沿第二方向朝嵌套孔移动并嵌入嵌套孔中以使第一连接端和第二连接端连接。第二连接结构包括弹性连接件，该弹性连接件从镂空区域的面向出刀驱动结构的第二端的内壁上凸出且沿轴向延伸；弹性连接件的远离内壁的一端为第二连接端，第二连接端具有嵌套孔。出刀驱动结构的第二端具有端部突起611，端部突起611沿垂直于轴向的第二方向突出于出刀驱动结构的第二端；端部突起611嵌套于嵌套孔内以使出刀驱动结构的第二端与弹性连接件连接。该端部突起611的突出于出刀驱动结构的第二端的端面为弧形面，出刀驱动结构和弹性连接件构造为：在出刀驱动力的作用下出刀驱动结构沿轴向远离末端执行器的第二端移动而使得弹性连接件到达端部突起611时，弹性连接件抵靠弧形面以使弹性连接件在第二方向上发生弹性形变，在出刀驱动力的作用下出刀驱动结构继续沿轴向远离末端执行器的第二端移动而使得嵌套孔与端部突起611相对时，在弹性连接杆610的弹性回复力的作用下弹性连接件沿第二方向朝嵌套孔移动从而端部突起611嵌入嵌套孔中以使切割驱动机构与携刀部件连接。例如，弧形面为球冠面，嵌套孔基本为圆形。本实施例与图12C-12E所示的实施例可以达到相似的技术效果。For example, in thestapler 100 provided in at least one other embodiment, the staple pushing slider, that is, the knife-carrying member, includes a first connection structure, and the main body of the cutting drive mechanism includes a second connection structure; at least in the staple pushing stage and the cutting stage, The first connecting structure is connected with the second connecting structure so that the nail pushing driving mechanism, that is, the cutting driving mechanism, is connected with the nail pushing slider. That is, the nail-pushing driving mechanism is connected with the nail-pushing slider during the nail-pushing stage. Also, for example, the first connection structure includes a first connection end adjacent to the cutting drive mechanism, and the second connection structure includes a second connection end adjacent to the first connection structure. Before the nail pushing stage, the nail pushing driving mechanism (ie the cutting driving mechanism) is not connected with the knife-carrying part; in the nail pushing stage, driven by the first driving mechanism and the second driving mechanism, the nail pushing driving mechanism slides toward the nail pushing The block (ie, the knife-carrying member) moves to connect the first connection end with the second connection end. For example, the main body of the nail-pushing driving mechanism further includes a force-applying surface facing the knife-carrying member, and the knife-carrying member includes a force-bearing surface facing the main body portion; in the nail-pushing stage, the cutting driving mechanism moves toward the knife-carrying member to make the force-applying surface In contact with the force-bearing surface, and the first connection end is connected with the second connection end, the cutting driving mechanism applies a second driving force to the force-bearing surface through the force-applying surface, and applies a third driving force to the first connection structure through the second connection structure. The driving force is used to drive the knife-carrying member to move. In this embodiment, the positions of theend protrusions 611 may be interchanged with the positions of the nesting holes. For example, the main body of the cutting drive mechanism includes a hollow area, the hollow area penetrates the force-applying surface so that the force-applying surface has a through hole, the second connection structure is located in the hollow area, and the first connection end passes through the through hole into the hollow area and is connected to the hollow area. The second connection end of the second connection structure is connected. For example, the second connecting structure includes an elastic connecting piece, which protrudes from the inner wall of the hollow area facing the first connecting end; the end of the elastic connecting piece away from the inner wall is the second connecting end, and the second connecting end has a nesting hole. The elastic connecting piece includes: an elastic connectingrod 610 and anend protrusion 611 ; the elastic connectingrod 610 protrudes from the inner wall of the hollow area facing the first connecting end and extends in the axial direction; theend protrusion 611 is located away from the elastic connectingrod 610 One end of the inner wall protrudes from the elastic connectingrod 610 along the second direction perpendicular to the axial direction; theend protrusion 611 is nested in the nesting hole to connect the second end of the knife driving structure with the elastic connecting piece. For example, the end surface of theend protrusion 611 protruding from the elastic connectingrod 610 is an arc-shaped surface, and the cutting driving mechanism and the elastic connecting member are configured such that the cutting driving mechanism is driven by the first driving mechanism in the axial direction toward the first driving mechanism of the end effector. When the two ends move to reach the first connecting end, the first connecting end abuts against the arc-shaped surface so that the elastic connectingrod 610 is elastically deformed in the second direction, and the cutting drive mechanism continues along the axial direction under the driving of the first driving structure When moving toward the second end of the end effector so that the nesting hole is opposite to theend protrusion 611 , theend protrusion 611 moves toward the nesting hole in the second direction under the action of the elastic restoring force of the elastic connectingrod 610 and is inserted into the nesting hole. hole to connect the first connection end and the second connection end. The second connection structure includes an elastic connection piece, the elastic connection piece protrudes from the inner wall of the hollow area facing the second end of the knife ejection drive structure and extends in the axial direction; the end of the elastic connection piece away from the inner wall is the second connection end, The second connection end has nested holes. The second end of the knife driving structure has anend protrusion 611, and theend protrusion 611 protrudes from the second end of the knife driving structure along the second direction perpendicular to the axial direction; theend protrusion 611 is nested in the nesting hole to The second end of the knife driving structure is connected with the elastic connecting piece. The end surface of theend protrusion 611 protruding from the second end of the knife-out driving structure is an arc-shaped surface, and the knife-out driving structure and the elastic connecting piece are configured such that the knife-out driving structure is axially away from the end under the action of the knife-out driving force When the second end of the actuator moves so that the elastic connecting piece reaches theend protrusion 611, the elastic connecting piece abuts against the arc-shaped surface so that the elastic connecting piece is elastically deformed in the second direction, and is ejected under the action of the driving force of the knife. When the knife driving structure continues to move away from the second end of the end effector in the axial direction so that the nesting hole is opposite to theend protrusion 611 , the elastic connecting piece moves toward the nesting in the second direction under the action of the elastic restoring force of the elastic connectingrod 610 . The sleeve hole moves so that theend protrusions 611 fit into the nested holes to connect the cutting drive mechanism with the knife carrier. For example, the arcuate surface is a spherical cap surface, and the nesting hole is substantially circular. This embodiment can achieve similar technical effects as the embodiment shown in FIGS. 12C-12E .

在本公开至少一实施例中，在初始状态下，末端执行器1处于打开状态；在闭合阶段， 闭合机构配置为驱动钉仓组件11和钉砧12对合以使末端执行器1闭合以夹持目标组织；在闭合阶段之后的推钉阶段，推钉组件配置为将吻合钉从钉仓组件11中推出以将目标组织缝合。例如，吻合器100还包括锁定机构5，锁定机构5配置为在推钉阶段中将闭合机构限定于第一位置以使闭合机构保持末端执行器1的闭合状态，且配置为在初始状态下将闭合机构限定于第二位置以保持末端执行器1处于打开状态，以达到双向锁定的技术效果，防止在末端执行器1闭合之后由于闭合机构发生移动而造成组织滑移；并且，在初始状态下防止由于闭合机构发生移动而造成末端执行器1闭合，从而提高闭合机构的工作稳定性和可靠性。In at least one embodiment of the present disclosure, in the initial state, theend effector 1 is in an open state; in the closing stage, the closing mechanism is configured to drive thestaple cartridge assembly 11 and thestaple anvil 12 to engage together to close theend effector 1 to clamp The target tissue is held; during the staple push phase following the closure phase, the staple push assembly is configured to push the staples out of thecartridge assembly 11 to staple the target tissue. For example, thestapler 100 further includes alocking mechanism 5 that is configured to confine the closure mechanism to a first position during the staple push phase to hold the closure mechanism in the closed state of theend effector 1, and is configured to, in an initial state, lock the closure mechanism into a closed state. The closing mechanism is defined in the second position to keep theend effector 1 in an open state to achieve the technical effect of two-way locking, preventing tissue slippage due to the movement of the closing mechanism after theend effector 1 is closed; and, in the initial state Theend effector 1 is prevented from closing due to the movement of the closing mechanism, thereby improving the working stability and reliability of the closing mechanism.

示例性地，图6A-6C展示了本公开一实施例提供的锁定机构5的结构、以及闭合机构将末端执行器1闭合过程中锁定机构5的工作过程。结合图1和图6A-6C，锁定机构5包括第一限位结构和第二限位结构。第一限位结构配置为在推钉阶段中将闭合机构限位于第一位置；第二限位结构配置为在初始状态下将闭合机构限定于第二位置。第一限位结构和第二限位结构可以是任意的形式，只要能够实现上述目的即可，不限于上述实施例所描述的情况，本公开对此不作限定。Exemplarily, FIGS. 6A-6C show the structure of thelocking mechanism 5 provided by an embodiment of the present disclosure, and the working process of thelocking mechanism 5 when the closing mechanism closes theend effector 1 . 1 and 6A-6C, thelocking mechanism 5 includes a first limiting structure and a second limiting structure. The first limiting structure is configured to limit the closing mechanism to the first position in the nail pushing stage; the second limiting structure is configured to limit the closing mechanism to the second position in the initial state. The first limiting structure and the second limiting structure can be in any form as long as the above-mentioned purpose can be achieved, and are not limited to the situations described in the foregoing embodiments, which are not limited in the present disclosure.

例如，如图8所示，吻合器100还包括第一弹性构件71，第一弹性构件71与闭合机构连接。在闭合阶段，闭合机构朝向末端执行器1移动以使末端执行器1闭合且使第一弹性构件71发生弹性形变；在推钉阶段，发生弹性形变的第一弹性构件71在其弹性回复力的作用下给闭合机构施加阻止闭合机构朝向末端执行器1移动的第一阻力，第一限位结构配置为给闭合机构施加与第一阻力方向相反的第二阻力，第一阻力与第二阻力平衡以将闭合机构限定于第一位置；在初始阶段，当闭合机构受到驱动其偏离第二位置的驱动力时，第二限位结构配置为给闭合机构施加第三阻力以与驱动力平衡从而将闭合机构限定于第二位置。For example, as shown in FIG. 8 , thestapler 100 further includes a firstelastic member 71 which is connected with the closing mechanism. In the closing stage, the closing mechanism moves toward theend effector 1 to close theend effector 1 and elastically deform the firstelastic member 71; in the nail pushing stage, the elastically deformed firstelastic member 71 is at the limit of its elastic restoring force. Under the action, a first resistance that prevents the closing mechanism from moving toward theend effector 1 is applied to the closing mechanism, and the first limiting structure is configured to apply a second resistance opposite to the direction of the first resistance to the closing mechanism, and the first resistance and the second resistance are balanced to limit the closing mechanism to the first position; in the initial stage, when the closing mechanism is subjected to a driving force that drives it away from the second position, the second limiting structure is configured to apply a third resistance force to the closing mechanism to balance the driving force so as to reduce The closing mechanism is defined in the second position.

第一限位结构包括第一限位槽51和第一锁定构件。第一限位槽51具有第一侧壁，位于闭合机构上且配置为随闭合机构的移动而移动；在推钉阶段，第一锁定构件的第一端部501的至少部分限位于第一限位槽51中且与第一侧壁接触以给第一侧壁施加第四阻力，从而通过第一限位槽51对闭合机构施加第二阻力，第四阻力与第二阻力大小相等且方向相同。第二限位结构包括第二限位槽52和第二锁定构件。第二限位槽52具有第二侧壁，位于闭合机构上且配置为随闭合机构的移动而移动。在初始阶段，第二锁定构件的第一端部501的至少部分限位于第二限位槽52中且配置为可与第二侧壁接触以给第二侧壁施加第五阻力，从而通过第二限位槽52对闭合机构施加第三阻力，第五阻力与第三阻力大小相等且均与第一阻力的方向相同。例如，在本实施例中，闭合机构为中空的套筒2，第一限位槽51、第二限位槽52贯穿套筒2的筒壁。如此，锁定机构5不会突出于套筒2，利用了套筒2和套筒2内部空间对套筒2实现双向锁定，充分利用了套筒2内部的有限空间，并防止从而在手术过程中易于进入手术对象例如人体内，减小手术对象的挫伤。The first limiting structure includes a first limitinggroove 51 and a first locking member. The first limitinggroove 51 has a first side wall, is located on the closing mechanism and is configured to move 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 limited to the first limit. Thefirst limit groove 51 is in contact with the first side wall to apply a fourth resistance to the first side wall, so as to exert a second resistance to the closing mechanism through thefirst limit groove 51. The fourth resistance and the second resistance are equal in magnitude and in the same direction . The second limiting structure includes a second limitinggroove 52 and a second locking member. The second limitingslot 52 has a second side wall, is located on the closing mechanism and is configured to move with the movement of the closing mechanism. In the initial stage, at least a portion of thefirst end 501 of the second locking member is confined in the second limitinggroove 52 and is configured to be in contact with the second side wall to apply a fifth resistance force to the second side wall to pass the first The two limitinggrooves 52 exert a third resistance force on the closing mechanism, and the fifth resistance force and the third resistance force are equal in magnitude and in the same direction as the first resistance force. For example, in this embodiment, the closing mechanism is ahollow sleeve 2 , and the first limitinggroove 51 and the second limitinggroove 52 penetrate through the cylindrical wall of thesleeve 2 . In this way, thelocking mechanism 5 will not protrude from thesleeve 2, thesleeve 2 and the inner space of thesleeve 2 are used to achieve bidirectional locking of thesleeve 2, the limited space inside thesleeve 2 is fully utilized, and the operation is prevented. It is easy to enter the surgical object such as the human body, and the contusion of the surgical object is reduced.

如图6A-6C所示，例如，在一些实施例中，第一锁定构件和第二锁定构件为同一共用锁定构件50。在闭合阶段，第一限位槽51和第二限位槽52相对于共用锁定构件50移动 以使共用锁定构件50配置为从第二限位槽52移动到第一限位槽51；当共用锁定构件50的第一端部501至少部分被限位于第一限位槽51中时，共用锁定构件50和第一限位槽51构成第一锁定构件；当共用锁定构件50的第一端部501至少部分被限位于第二限位槽52中时，共用锁定构件50和第二限位槽52构成第二锁定构件。共用锁定构件50简化了锁定机构5的结构，节省空间，利于吻合器100的小型化。As shown in FIGS. 6A-6C , for example, in some embodiments, the first locking member and the second locking member are the samecommon locking member 50 . In the closing stage, the first limitingslot 51 and the second limitingslot 52 move relative to thecommon locking member 50 so that thecommon locking member 50 is configured to move from the second limitingslot 52 to the first limitingslot 51; when thecommon locking member 50 is configured to move from the second limitingslot 52 to the first limitingslot 51 When thefirst end portion 501 of the lockingmember 50 is at least partially confined in the first limitinggroove 51, thecommon locking member 50 and the first limitinggroove 51 constitute the first locking member; when the first end portion of thecommon locking member 50 is When 501 is at least partially confined in the second limitinggroove 52, thecommon locking member 50 and the second limitinggroove 52 constitute a second locking member. Thecommon locking member 50 simplifies the structure of thelocking mechanism 5 , saves space, and facilitates miniaturization of thestapler 100 .

例如，套筒2、第一限位槽51和第二限位槽52的移动方向为轴向，沿轴向，第一限位槽51位于第二限位槽52的远离末端执行器1的一侧，以实现第一限位槽51的上述功能。For example, the movement direction of thesleeve 2 , the first limitinggroove 51 and the second limitinggroove 52 is the axial direction. In the axial direction, the first limitinggroove 51 is located at a distance of the second limitinggroove 52 away from theend effector 1 . one side, so as to realize the above-mentioned function of the first limitinggroove 51 .

如图6A-6C所示，锁定机构5还包括通道槽53，通道槽53位于第一限位槽51和第二限位槽52之间且与第一限位槽51和第二限位槽52连通。在闭合阶段，共用锁定构件50配置为从第二限位槽52经通道槽53移动到第一限位槽51。通道槽53贯穿套筒2的筒壁。As shown in FIGS. 6A-6C , thelocking mechanism 5 further includes achannel groove 53 , and thechannel groove 53 is located between thefirst limit groove 51 and thesecond limit groove 52 and is connected with thefirst limit groove 51 and thesecond limit groove 52 connected. In the closing stage, thecommon locking member 50 is configured to move from the second limitinggroove 52 to the first limitinggroove 51 via thepassage groove 53 . Thechannel groove 53 penetrates the cylindrical wall of thesleeve 2 .

例如，共用锁定构件50还包括与第一端部501相对的第二端部502、以及连接第一端部501和第二端部502的颈部503；通道槽53配置为允许颈部503通过而不允许第一端部501通过以使在初始阶段，第一端部501无法通过通道槽53而至少部分被限位于第二限位槽52内，且在推钉阶段，第一端部501无法通过通道槽53而至少部分被限位于第一限位槽51内。从第一端部501到第二端部502的方向为纵向，纵向垂直于轴向，垂直于轴向和纵向的方向为横向。例如，通道槽53的在横向上的宽度小于第一限位槽51的在横向上的宽度且小于第二限位槽52的在横向上的宽度；第一端部501的在横向上的宽度大于颈部503的在横向上的宽度且大于通道槽53的在横向上的宽度，以实现通道槽53允许颈部503通过而不允许第一端部501通过以使在初始阶段，第一端部501无法通过通道槽53而至少部分被限位于第二限位槽52内，且在推钉阶段，第一端部501无法通过通道槽53而至少部分被限位于第一限位槽51内。For example, thecommon locking member 50 also 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 passage of theneck 503 Thefirst end portion 501 is not allowed to pass through, so that in the initial stage, thefirst end portion 501 cannot pass through thepassage groove 53 and is at least partially confined in the second limitinggroove 52, and in the nail pushing stage, thefirst end portion 501 It cannot pass through thechannel groove 53 and is at least partially confined in the first limitinggroove 51 . The direction from thefirst end portion 501 to thesecond end portion 502 is the longitudinal direction, the longitudinal direction is perpendicular to the axial direction, and the direction perpendicular to the axial direction and the longitudinal direction is the transverse direction. For example, the width of thechannel groove 53 in the lateral direction is smaller than the width of the first limitinggroove 51 in the lateral direction and smaller than the width of the second limitinggroove 52 in the lateral direction; the width of thefirst end portion 501 in the lateral direction greater than the width of theneck 503 in the transverse direction and greater than the width of thechannel groove 53 in the transverse direction, so that thechannel groove 53 allows the passage of theneck 503 but not thefirst end 501 so that in the initial stage, the first end Theportion 501 cannot pass through thepassage groove 53 and is at least partially confined in the second limitinggroove 52 , and in the push nail stage, thefirst end portion 501 cannot pass through thepassage groove 53 and is at least partially confined within the first limitinggroove 51 .

例如，在本公开至少一实施例中，锁定机构还包括锁定驱动结构。在闭合阶段，锁定驱动结构配置为驱动共用锁定构件沿纵向朝向远离第二端部的方向移动以使第一端部移动至第二限位槽之外，随着第一限位槽和第二限位槽的移动，颈部配置为从第二限位槽经通道槽移动到第一限位槽；在末端闭合器闭合之后，锁定驱动结构配置为驱动共用锁定构件沿纵向朝向靠近第二端部的方向移动以使第一端部的至少部分移动至第一限位槽内而被限位于第一限位槽内，第一端部的至少部分与第一侧壁接触以给第一侧壁施加第四阻力。For example, in at least one embodiment of the present disclosure, the locking mechanism further includes a locking drive structure. During the closing phase, the locking drive structure is configured to drive the common locking member to move longitudinally away from the second end portion to move the first end portion out of the second limit slot, with the first limit slot and the second limit slot For movement of the limiting slot, the neck is configured to move from the second limiting slot to the first limiting slot through the passage slot; after the end closure is closed, the locking drive structure is configured to drive the common locking member longitudinally toward the second end The direction of the first end is moved in the direction of the first end so that at least part of the first end is moved into the first limiting groove to be confined in the first limiting groove, and at least part of the first end is in contact with the first side wall to give the first side The wall exerts a fourth resistance.

如图6A-6C所示，例如，吻合器100包括固定支架8，套筒2套设于固定支架8外侧，第一限位槽51、第二限位槽52和通道槽53暴露固定支架8的外表面。固定支架8包括贯穿外表面的通孔，当共用锁定机构5的第一端部501的至少部分被限位于第一限位槽51或被限位于第二限位槽52中时，颈部503的至少部分和第二端部502位于通孔中。例如，第一端部501包括朝向固定支架8的下表面，当共用锁定机构5的第一端部501的至少部分被限位于第一限位槽51内或被限位于第二限位槽52内时，固定支架8的外表面与第一端部501的下表面直接接触以支撑第一端部501。该共用锁定构件50和通孔构成插销结构。As shown in FIGS. 6A-6C , for example, thestapler 100 includes a fixingbracket 8 , thesleeve 2 is sleeved on the outside of the fixingbracket 8 , and the first limitingslot 51 , the second limitingslot 52 and thechannel slot 53 expose the fixingbracket 8 the outer surface. The fixingbracket 8 includes a through hole penetrating the outer surface. When at least part of thefirst end portion 501 of thecommon locking mechanism 5 is confined in the first limitinggroove 51 or in the second limitinggroove 52, theneck portion 503 At least part of and thesecond end 502 are located in the through hole. For example, thefirst end portion 501 includes a lower surface facing the fixingbracket 8 , when at least part of thefirst end portion 501 of thecommon locking mechanism 5 is confined in the first limitinggroove 51 or within the second limitinggroove 52 When inside, the outer surface of the fixingbracket 8 is in direct contact with 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.

例如，第一端部501的至少部分在轴向上的长度小于第一限位槽51在轴向上的长度，以留有一定余量，使得第一限位槽51允许第一端部501的至少部分在第一限位槽51中在在余量允许的范围内移动以调整位置，从而在闭合阶段夹取组织时起到缓冲作用。For example, the length of at least part of thefirst end portion 501 in the axial direction is smaller than the length of the first limitinggroove 51 in the axial direction to leave a certain margin so that the first limitinggroove 51 allows thefirst end portion 501 At least part of the first limitinggroove 51 moves within a range allowed by the margin to adjust the position, so as to play a buffering role when the tissue is clamped in the closing stage.

例如，第一侧壁为第一弧形，第一端部501的至少部分的与第一侧壁接触的侧面为第二弧形，第一弧形和第二弧形的曲率相同，提高锁定构件的稳定性和可靠性。For example, the first side wall has a first arc shape, and at least a part of the side surface of thefirst end portion 501 in contact with the first side wall has a second arc shape, and the curvatures of the first and second arc shapes are the same, which improves locking Stability and reliability of components.

例如，通道槽53的平面形状为直的条形，以保证共用锁定构件50在顺利通过通道槽53而在第一限位槽51和第二限位槽52之间移动。For example, the planar shape of thechannel groove 53 is a straight bar shape to ensure that thecommon locking member 50 can smoothly pass through thechannel groove 53 and move between the first limitinggroove 51 and the second limitinggroove 52 .

示例性地，如图6A-6C所示，例如，锁定驱动结构包括面向共用锁定构件50的承载面；承载面包括沿轴向依次排列的第一表面01、第一坡面02、突出表面03、第二坡面04和第二表面05，第一坡面02连接第一表面01和突出表面，第二坡面04连接突出表面和第二表面05，第一坡面02与突出表面之间具有第一夹角，第二坡面04与突出表面之间具有第二夹角；在纵向上，突出表面到第二限位槽52的距离小于第一表面01到第二限位槽52的距离且小于第二表面05到第二限位槽52的距离，突出表面到通道槽53的距离小于第一表面01到通道槽53的距离且小于第二表面05到通道槽53的距离，突出表面到第一限位槽51的距离小于第一表面01到第一限位槽51的距离且小于第二表面05到第一限位槽51的距离。如图6A，在初始阶段，第二端部502位于第一坡面02的远离第二坡面04的一侧；如图6B，在闭合阶段，锁定驱动结构配置为沿轴向相对于共用锁定构件50移动以使第二端部502沿第一坡面02移动到突出表面以驱动共用锁定构件50沿纵向朝向远离第二端部502的方向移动，继而使第二端部502依次沿突出面和第二坡面04移动到第二坡面04的远离第一坡面02的一侧，如图6C，以使共用锁定构件50沿纵向朝向靠近第二端部502的方向移动。在闭合阶段，锁定驱动结构相对于共用锁定构件50的移动与第一限位槽51和第二限位槽52相对于共用锁定构件50的移动同步，以使在第二端部502相对于锁定驱动结构移动的过程中，颈部503从第二限位槽52经通道槽53移动至第一限位槽51中，如图6C；此时，第一端部501的至少部分与第一侧壁的靠近通道槽53的第一部分接触以给第一侧壁的第一部分511施加第四阻力，第一侧壁的第一部分511背离末端执行器1。Illustratively, as shown in FIGS. 6A-6C , for example, the locking drive structure includes a bearing surface facing thecommon locking member 50 ; the bearing surface includes afirst surface 01 , a first slope surface 02 , and a protruding surface 03 arranged in sequence along the axial direction. , the second slope 04 and the second surface 05, the first slope 02 connects thefirst surface 01 and the protruding surface, the second slope 04 connects the protruding surface and the second surface 05, between the first slope 02 and the protruding surface There is a first included angle, and there is a second included angle between the second slope surface 04 and the protruding surface; in the longitudinal direction, the distance from the protruding surface to the second limitinggroove 52 is smaller than the distance between thefirst surface 01 and the second limitinggroove 52 The distance is smaller than the distance from the second surface 05 to thesecond limit groove 52, and the distance from the protruding surface to thechannel groove 53 is smaller than the distance from thefirst surface 01 to thechannel groove 53 and smaller than the distance from the second surface 05 to thechannel groove 53. The distance from the surface to thefirst limit groove 51 is smaller than the distance from thefirst surface 01 to thefirst limit groove 51 and smaller than the distance from the second surface 05 to thefirst limit groove 51 . 6A, in the initial stage, thesecond end 502 is located on the side of the first ramp 02 away from the second ramp 04; FIG. 6B, in the closing stage, the locking drive structure is configured to axially lock relative to the common lock Themember 50 moves to move thesecond end 502 along the first ramp 02 to the protruding surface to drive thecommon locking member 50 to move longitudinally away from thesecond end 502, which in turn moves thesecond end 502 along the protruding surface and the second ramp 04 to the side of the second ramp 04 away from the first ramp 02 , as shown in FIG. 6C , to move thecommon locking member 50 longitudinally toward thesecond end 502 . During the closing phase, the movement of the locking drive structure relative to thecommon locking member 50 is synchronized with the movement of the first limitinggroove 51 and the second limitinggroove 52 relative to thecommon locking member 50, so that the locking relative to the lockingmember 50 at thesecond end 502 is synchronized. During the movement of the driving structure, theneck 503 moves from the second limitinggroove 52 to the first limitinggroove 51 through thepassage groove 53, as shown in FIG. 6C; at this time, at least part of thefirst end 501 is connected to the first side The first portion of the wall near thechannel slot 53 contacts to apply a fourth resistance force to thefirst portion 511 of the first side wall, which faces away from theend effector 1 .

例如，在图6A-6C所示的实施例中，固定支架8和共用锁定构件50在轴向上不移动，锁定驱动结构沿轴向移动，以保证固定支架8和共用锁定构件50的稳定。For example, in the embodiment shown in FIGS. 6A-6C , the fixedbracket 8 and thecommon locking member 50 do not move in the axial direction, and the locking driving structure moves in the axial direction to ensure the stability of the fixedbracket 8 and thecommon locking member 50 .

吻合器100的第一驱动机构10与第二驱动机构20连接且配置为驱动第二驱动结构移动；在闭合阶段，第二驱动机构20与闭合机构可拆卸地连接且配置为在第一驱动机构10的驱动下朝向末端执行器1移动而使得闭合机构与钉仓组件11和钉砧12接触并对钉仓组件11和钉砧12施加压力以使末端执行器1闭合。例如，锁定驱动结构设置于第二驱动机构20上。例如，在图6A-6C所示的实施例中，第二驱动机构20的一部分复用作锁定驱动结构，以充分利用第二驱动机构20，简化吻合器100的结构。Thefirst drive mechanism 10 of thestapler 100 is connected to thesecond drive mechanism 20 and configured to drive the second drive mechanism to move; in the closing phase, thesecond drive mechanism 20 is detachably connected to the closing mechanism and configured to drive the first drive mechanism The actuation of 10 moves toward theend effector 1 so that the closing mechanism contacts thestaple cartridge assembly 11 and thestaple anvil 12 and applies pressure to thestaple cartridge assembly 11 and thestaple anvil 12 to close theend effector 1 . For example, a locking drive structure is provided on thesecond drive mechanism 20 . For example, in the embodiment shown in FIGS. 6A-6C , a part of thesecond driving mechanism 20 is reused as the locking driving structure, so as to make full use of thesecond driving mechanism 20 and simplify the structure of thestapler 100 .

推钉阶段，第二驱动机构20与闭合机构分离且继续朝向末端执行器1移动以驱动推钉组件将吻合钉从钉仓组件11中推出。如图6C所示，第一表面01位于第二表面05的靠 近末端执行器1的一端，在闭合阶段，在第二端部502相对于锁定驱动结构移动的过程中，第一端部501从第二限位槽52移动至第一限位槽51；在推钉阶段和切割阶段，第二端部502在第二表面05上方移动且第二表面05配置为不向第二端部502施加驱动共用锁定结构沿纵向移动的作用力，即第二表面05上无凸台等能够驱动共用锁定结构沿纵向向上移动的结构，从而实现在推钉阶段和切割阶段均保持对套筒2的锁定，以保证目标组织的位置固定，从而保证缝合和切割的准确度。In the staple pushing stage, thesecond driving mechanism 20 is disengaged from the closing mechanism and continues to move toward theend effector 1 to drive the staple pushing assembly to push the staples out of thestaple cartridge assembly 11 . As shown in FIG. 6C, thefirst surface 01 is located at the end of the second surface 05 close to theend effector 1. During the closing phase, during the movement of thesecond end 502 relative to the locking drive structure, thefirst end 501 is removed from the Thesecond limit slot 52 moves to thefirst limit slot 51 ; thesecond end 502 moves over the second surface 05 and the second surface 05 is configured not to apply to thesecond end 502 during the nailing and cutting stages The force that drives the common locking structure to move in the longitudinal direction, that is, there is no structure on the second surface 05 such as a boss that can drive the common locking structure to move upward in the longitudinal direction, so as to maintain the locking of thesleeve 2 in both the nail pushing stage and the cutting stage , to ensure the fixed position of the target tissue, so as to ensure the accuracy of suturing and cutting.

例如，如图6A-6C所示，锁定机构5还包括第二弹性构件72，第二弹性构件72配置为在共用锁定构件50沿纵向朝向远离第二端部502的方向移动的过程中被压缩，且在共用锁定构件50沿纵向朝向靠近第二端部502的方向移动的过程中在其弹性回复力的作用下还原，以保证共用锁定构件50能够快速沿纵向朝向靠近第二端部502的方向移动而回到通孔中，从而保证锁定机构5运行的可靠性。For example, as shown in FIGS. 6A-6C , thelocking mechanism 5 further includes a secondelastic member 72 configured to be compressed during longitudinal movement of thecommon locking member 50 in a direction away from thesecond end 502 , and is restored under the action of its elastic restoring force during the movement of thecommon locking member 50 in the direction close to thesecond end 502 in the longitudinal direction, so as to ensure that thecommon locking member 50 can quickly move longitudinally toward the direction close to thesecond end 502 The direction moves back to the through hole, so as to ensure the reliability of thelocking mechanism 5 in operation.

第二弹性构件72的性质和材料可参考上述第一弹性构件71的性质和材料。例如第二弹性构件72为弹簧，例如，第二弹性构件72可套设于颈部503且被固定支架8施力而变形例如被压缩而变形。The properties and materials of the secondelastic member 72 may refer 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 be deformed by the force of the fixingbracket 8 , such as being compressed and deformed.

例如，如图6A-6C所示，共用锁定构件50的第二端部502的形状为沿纵向朝向承载面渐缩的锥形，如此，当第二端部502沿第一坡面02滑动时，减小了第二端部502与第一坡面02的接触面积，使得第二端部502比较容易移动至突出表面；并且，当第二端部502沿突出表面、第二坡面04和第二表面05滑动时，减小了第二端部502了与突出表面、第二坡面04和第二表面05的接触面积，有利于滑动的顺利进行。For example, as shown in FIGS. 6A-6C , thesecond end portion 502 of thecommon locking member 50 is in the shape of a taper that tapers longitudinally toward the bearing surface, so that when thesecond end portion 502 slides along the first ramp surface 02 , the contact area between thesecond end portion 502 and the first slope surface 02 is reduced, so that thesecond end portion 502 is easier to move to the protruding surface; When the second surface 05 slides, the contact area of thesecond end portion 502 with the protruding surface, the second slope surface 04 and the second surface 05 is reduced, which is beneficial to the smooth progress of the sliding.

例如，第一坡面02和第二坡面04为平面或曲面，优选为平面，比较容易实现上述移动，尤其是容易实现第二端部502沿第一坡面02滑动至突出表面。当然，本公开实施例对第一坡面02和第二坡面04的形状不作限定。For example, the first slope surface 02 and the second slope surface 04 are planes or curved surfaces, preferably planes, and it is relatively easy to realize the above-mentioned movement, especially thesecond end 502 can slide along the first slope surface 02 to the protruding surface. Of course, the embodiments of the present disclosure do not limit the shapes of the first slope surface 02 and the second slope surface 04 .

例如，对于本公开至少一实施例提供的吻合器100，在推钉阶段之后的打开阶段，锁定机构5还配置为消除对闭合机构的位置的限定以使得末端执行器1打开。例如，可通过人为控制实现在任何时候解除消除对闭合机构的位置的限定以将末端执行器1打开；例如，打开阶段在缝合之前，例如在对组织进行缝合之前，需要打开末端执行器1调整加持的目标组织的位置；也可以在缝合和切割之后，当然，也可以在完成缝合之后但在进行切割之前将末端执行器1打开，例如某些特殊情况发生而需要在切割之前打开末端执行器1以进行调整。For example, for thestapler 100 provided by at least one embodiment of the present disclosure, in the opening phase after the staple pushing phase, thelocking mechanism 5 is further configured to remove the restriction on the position of the closing mechanism so that theend effector 1 is opened. For example, de-defining the position of the closure mechanism to open theend effector 1 at any time can be achieved by human control; for example, the opening stage is before suturing, such as before suturing the tissue, requiring the opening of theend effector 1 to adjust The position of the target tissue to be supported; it can also be after suturing and cutting, of course, theend effector 1 can also be opened after finishing the suturing but before cutting, for example, in some special cases, it is necessary to open the end effector before cutting 1 to make adjustments.

在推钉阶段之后的打开阶段，第一限位结构配置为消除第二阻力，闭合机构在第一阻力的作用下远离末端执行器1移动以使得钉仓组件11和钉砧12彼此远离从而使末端执行器1打开。打开阶段，共用锁定构件50配置为从第一限位槽51移动到第二限位槽52以回复到初始状态。In the opening phase after the staple pushing phase, the first limiting structure is configured to eliminate the second resistance, and the closing mechanism moves away from theend effector 1 under the action of the first resistance to move thestaple cartridge assembly 11 and thestaple anvil 12 away from each other so that theEnd effector 1 opens. In the opening stage, thecommon locking member 50 is configured to move from the first limitinggroove 51 to the second limitinggroove 52 to return to the initial state.

例如，在图6A-6C所示的实施例中，在打开阶段，共用锁定构件50配置为从第一限位槽51经通道槽53移动到第二限位槽52。在打开阶段，锁定驱动结构还配置为驱动共用锁定构件50沿纵向朝向远离第二端部502的方向移动以使第一端部501移动至第一限位 槽51之外，随着第一限位槽51和第二限位槽52的移动，颈部503配置为从第二限位槽52经通道槽53移动到第一限位槽51。For example, in the embodiment shown in FIGS. 6A-6C , thecommon locking member 50 is configured to move from the first limitingslot 51 to the second limitingslot 52 via thepassage slot 53 during the opening phase. During the opening phase, the locking drive structure is further configured to drive thecommon locking member 50 to move longitudinally away from thesecond end portion 502 to move thefirst end portion 501 out of the first limitinggroove 51 . During the movement of theposition slot 51 and the secondposition limit groove 52 , theneck portion 503 is configured to move from the secondposition limit groove 52 to the firstposition limit groove 51 through thepassage groove 53 .

在图6A-6C所示的实施例中，在打开阶段，锁定驱动结构配置为沿轴向相对于共用锁定构件50移动以使第二端部502沿第二坡面04移动到突出表面以驱动共用锁定构件50沿纵向朝向远离第二端部502的方向移动，继而使第二端部502依次沿突出面和第一坡面02移动到第一坡面02的远离第二坡面04的一侧以使共用锁定构件50沿纵向朝向靠近第二端部502的方向移动；在打开阶段，锁定驱动结构相对于共用锁定构件50的移动与第一限位槽51和第二限位槽52相对于共用锁定构件50的移动同步，以使在第二端部502相对于锁定驱动结构移动的过程中，颈部503从第一限位槽51经通道槽53移动至第二限位槽52中。In the embodiment shown in FIGS. 6A-6C , during the opening phase, the locking drive structure is configured to move axially relative to thecommon locking member 50 to move thesecond end 502 along the second ramp 04 to the protruding surface to drive Thecommon locking member 50 moves longitudinally away from thesecond end portion 502 , thereby causing thesecond end portion 502 to move along the protruding surface and the first ramp surface 02 in turn to a portion of the first ramp surface 02 away from the second ramp surface 04 . side so that thecommon locking member 50 moves longitudinally toward the direction close to thesecond end 502; in the opening phase, the movement of the locking drive structure relative to thecommon locking member 50 is opposite to thefirst limit groove 51 and thesecond limit groove 52 The movement of thecommon locking member 50 is synchronized so that during the movement of thesecond end portion 502 relative to the locking driving structure, theneck portion 503 moves from the first limitinggroove 51 to the second limitinggroove 52 through thepassage groove 53 .

例如，如图8所示，第一弹性构件71位于锁定机构5的靠近末端执行器1的一端且随着闭合机构朝向末端执行器1移动而被压缩；或者，在其他实施例中，第一弹性构件71位于锁定机构5的远离末端执行器1的一端且随着闭合机构朝向末端执行器1移动而被拉伸。For example, as shown in FIG. 8, the firstelastic member 71 is located at the end of thelocking mechanism 5 close to theend effector 1 and is compressed as the closing mechanism moves toward theend effector 1; or, in other embodiments, the firstelastic member 71 is Theelastic member 71 is located at the end of thelocking mechanism 5 remote from theend effector 1 and is stretched as the closure mechanism moves toward theend effector 1 .

例如，如图6A-6C所示，第一限位槽51、第二限位槽52和通道槽53，与连接孔23正对设置，以比较均匀、充分地利用套筒2内部的空间。For example, as shown in FIGS. 6A-6C , the first limitinggroove 51 , the second limitinggroove 52 and thepassage groove 53 are arranged opposite to the connectinghole 23 to make more uniform and full use of the space inside thesleeve 2 .

图14A为本公开一实施例提供的一种吻合器100的前摆动驱动组件的示意图一；图14B为本公开一实施例提供的一种吻合器100的前摆动驱动组件的示意图二。结合图2和图14A-14B，例如，至少一实施例提供的吻合器100包括末端执行器1、闭合机构、推钉组件、第一驱动机构10和摆动机构。末端执行器1包括钉仓组件11和钉砧12，钉仓组件11中设置有吻合钉；闭合机构配置为驱动钉仓组件11和钉砧12对合以使末端执行器1闭合以夹持目标组织；推钉组件配置为将吻合钉从钉仓组件11中推出；第一驱动机构10配置为：在闭合阶段，第一驱动机构10与闭合机构可拆卸地连接以驱动闭合机构将末端执行器1闭合；在闭合阶段之后的推钉阶段，第一驱动机构10与闭合机构分离并驱动推钉组件将吻合钉从钉仓组件11中推出以将目标组织缝合。摆动机构包括前摆动驱动组件和后摆动驱动组件。前摆动驱动组件和后摆动驱动组件配置为驱动末端执行器1摆动。如图1A所示，吻合器100包括主体部分4和可拆卸部分3，可拆卸部分3与主体部分4可拆卸地连接；末端执行器1和前摆动驱动组件位于可拆卸部分3，第一驱动机构10和后摆动驱动组件位于主体部分4；如图1A和图15A所示，可拆卸部分3与主体部分4可拆卸地连接以使前摆动驱动组件与后摆动驱动组件可拆卸地连接。如此，充分利用了主体部分4的空间来设置摆动机构，以及在可拆卸部分3与主体部分4可拆卸的情况下，实现了摆动机构的可拆卸连接。14A is a schematic diagram 1 of a front swing driving assembly of astapler 100 according to an embodiment of the disclosure; FIG. 14B is a schematic diagram 2 of a front swing driving assembly of astapler 100 according to an embodiment of the disclosure. 2 and 14A-14B, for example, thestapler 100 provided by at least one embodiment includes anend effector 1, a closing mechanism, a nail pushing assembly, afirst driving mechanism 10 and a swinging mechanism. Theend effector 1 includes astaple cartridge assembly 11 and astaple anvil 12, in which thestaple cartridge assembly 11 is provided with staples; the closing mechanism is configured to drive thestaple cartridge assembly 11 and thestaple anvil 12 to engage so as to close theend effector 1 to clamp the target tissue; the staple push assembly is configured to push the staples out of thecartridge assembly 11; thefirst drive mechanism 10 is configured to: in the closing stage, thefirst drive mechanism 10 is removably connected to the closing mechanism to drive the closing mechanism to push theend effector 1. Closing; in the staple pushing phase following the closing phase, thefirst driving mechanism 10 is disengaged from the closing mechanism and drives the staple pushing assembly to push the staples out of thestaple cartridge 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 amain body part 4 and adetachable part 3, and thedetachable part 3 is detachably connected with themain body part 4; theend effector 1 and the front swing drive assembly are located in thedetachable part 3, and the first drive Themechanism 10 and the rear swing drive assembly are located on themain body portion 4; as shown in Figures 1A and 15A, thedetachable portion 3 is removably connected to themain body portion 4 to removably connect the front swing drive assembly to the rear swing drive assembly. In this way, the space of themain body part 4 is fully utilized to set the swing mechanism, and the detachable connection of the swing mechanism is realized under the condition that thedetachable part 3 and themain body part 4 are detachable.

图15A-15B为本公开一实施例提供的一种吻合器100的前摆动驱动构件的示意图。结合图5C和图15A-15B，前摆动驱动组件包括前摆动驱动构件81，前摆动驱动构件81与末端执行器1连接；后摆动驱动组件包括后摆动驱动构件82，后摆动驱动构件82与第一驱动机构10的延伸方向相同且并排设置，可拆卸部分3与主体部分4可拆卸地连接以使前 摆动驱动构件81与后摆动驱动构件82可拆卸地连接，例如两者挂接、插接等。后摆动驱动构件82与第一驱动机构10的延伸方向为轴向；在摆动机构驱动末端执行器1摆动的过程中，前摆动驱动构件81和后摆动驱动构件82沿轴向朝向末端执行器1移动以驱动末端执行器1朝向第一摆动方向摆动；例如，前摆动驱动构件81和后摆动驱动构件82还可以沿轴向远离末端执行器1移动以驱动末端执行器1朝向与第一摆动方向相反的第二摆动方向摆动。15A-15B are schematic diagrams of a front swing driving member of astapler 100 according to an embodiment of the present disclosure. 5C and FIGS. 15A-15B, the front swing drive assembly includes a frontswing drive member 81, which is connected to theend effector 1; the rear swing drive assembly includes a rearswing drive member 82, which is connected to the firstswing drive member 82. Adriving mechanism 10 extends in the same direction and is arranged side by side, thedetachable part 3 is detachably connected with themain body part 4 so that the frontswing driving member 81 and the rearswing driving member 82 are detachably connected, for example, the two are hooked or inserted Wait. The extension direction of the rearswing driving member 82 and thefirst driving mechanism 10 is the axial direction; during the swing mechanism driving theend effector 1 to swing, the frontswing driving member 81 and the rearswing driving member 82 face theend effector 1 in the axial direction. move 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 move axially away from theend effector 1 to drive theend effector 1 toward the first swing direction Swing in the opposite second swing direction.

例如，如图15B所示，前摆动驱动构件81包括彼此连接的第一部分8001和第二部分8002，以便于制作，当前摆动驱动构件81沿轴向的长度较长时，将前摆动驱动构件81分为彼此连接的两部分利于缓冲前摆动驱动构件81的应力，也便于制作和安装。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 ease of manufacture. When the length of the frontswing driving member 81 in the axial direction is long, the frontswing driving member 81 Dividing into two parts connected to each other is beneficial to buffer the stress of the frontswing driving member 81, and also facilitates manufacture and installation.

例如，结合图2和图14A-14B，前摆动驱动组件包括可弯折部位80，可弯折部位80构造为朝第一摆动方向或第二摆动方向弯折以使得末端执行器1绕可弯折部位80摆动；末端执行器1包括靠近前摆动驱动组件的第一端和与第一端相对的第二端，末端执行器1的第一端与前摆动驱动组件连接，可弯折部位80沿轴向位于前摆动驱动组件与末端执行器1的第一端相连接的位置与前摆动驱动组件与后摆动驱动组件相连接的位置之间，以便于末端执行器1绕可弯折部位80摆动。第二驱动机构20包括沿轴向延伸的传动带201，在推钉阶段，传动带201经可弯折部位80进入末端执行器1中以驱动推钉组件将吻合钉从钉仓组件11中推出，且传动带201的带面与末端执行器1摆动的方向基本垂直，以增加第二驱动机构20的柔韧性，由于在推钉阶段和切割阶段，传动带201会经过可弯折部位80，从而这种方案利于减小摆头阻力，且避免对第二驱动机构20造成折损。For example, in conjunction with FIGS. 2 and 14A-14B, the front swing drive assembly includes abendable portion 80 configured to bend toward the first swing direction or the second swing direction to allow theend effector 1 to bend around Thefolding part 80 swings; theend effector 1 includes a first end close to the front swing drive assembly and a second end opposite to the first end, the first end of theend effector 1 is connected with the front swing drive assembly, and thebendable part 80 It is located in the axial direction between the position where the front swing drive assembly is connected with the first end of theend effector 1 and the position where the front swing drive assembly is connected with the rear swing drive assembly, so that theend effector 1 can be wound around thebendable part 80 swing. Thesecond driving mechanism 20 includes a drivingbelt 201 extending in the axial direction. During the staple pushing stage, the drivingbelt 201 enters theend effector 1 through thebendable portion 80 to drive the staple pushing assembly to push out the staples from thestaple cartridge assembly 11 , and The belt surface of thetransmission belt 201 is substantially perpendicular to the swinging direction of theend effector 1, so as to increase the flexibility of thesecond driving mechanism 20. Since thetransmission belt 201 will pass through thebendable part 80 during the nail pushing stage and the cutting stage, so this solution It is beneficial to reduce the resistance of the swinging head and avoid damage to thesecond driving mechanism 20 .

参考图5B，例如，第二驱动机构20还包括连接部分202，连接部分202与闭合机构2可拆卸地连接，位于传动带201的远离末端执行器1的一侧，其中，连接部分202的靠近末端执行器1的一端与传动带201的远离末端执行器1的一端连接，可拆卸部分3与主体部分4连接以使连接部分202的远离末端执行器1的一端与第一驱动机构10连接，如此，既可以利用传动带201在配合末端执行器1摆动时减小第二驱动机构20的折损，又可以利用连接部分202实现多种功能。例如，连接部分202的一部分还用作上述锁定驱动结构，例如连接部分202还与可分离连接结构6可拆卸地连接。从而充分利用同一构件实现上述多种功能，节省了空间，对于减小吻合器100尺寸具有重要意义。5B , for example, thesecond driving mechanism 20 further includes a connectingportion 202, which is detachably connected with theclosing mechanism 2 and is located on the side of thetransmission belt 201 away from theend effector 1, wherein the connectingportion 202 is close to the end One end of theeffector 1 is connected with the end of thetransmission belt 201 away from theend effector 1, and thedetachable part 3 is connected with themain body part 4 so that the end of the connectingpart 202 away from theend effector 1 is connected with thefirst driving mechanism 10, so, Thetransmission belt 201 can be used to reduce the breakage of thesecond driving mechanism 20 when theend effector 1 swings, and the connectingportion 202 can be used to achieve various functions. For example, a part of the connectingportion 202 also serves as the above-mentioned locking driving structure, eg, the connectingportion 202 is also detachably connected with the detachable connectingstructure 6 . Therefore, the same component is fully utilized to realize the above-mentioned multiple functions, which saves space and is of great significance for reducing the size of thestapler 100 .

例如，第二驱动机构20包括多个传动带201，多个传动带201在垂直于带面的方向上堆叠，且相邻的传动带201之间不存在缝隙，以增强第二驱动机构20的强度，保证其驱动推钉驱动机构40沿轴向移动的可靠性。For example, thesecond driving mechanism 20 includes a plurality oftransmission belts 201, the plurality oftransmission belts 201 are stacked in a direction perpendicular to the belt surface, and there is no gap betweenadjacent transmission belts 201, so as to enhance the strength of thesecond driving mechanism 20 and ensure The reliability of driving the pushnail driving mechanism 40 to move in the axial direction.

例如，传动带201的材料为钢，每个传动带201在垂直于带面的方向上的厚度为100μm～1000μm，每个传动带201在轴向的长度为10cm～30cm，以保证其实现驱动推钉驱动机构40沿轴向移动所需要的强度。当然，可根据实际需要进行尺寸设计，本公开实施例对此不作限定。传动带201的材料也不限为钢，也可以是其他金属材料或有机材料。For example, the material of thetransmission belt 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 10 cm to 30 cm, so as to ensure that it can drive the push nails. The strength required to move themechanism 40 in the axial direction. Of course, size design can be performed according to actual needs, which is not limited in the embodiment of the present disclosure. The material of thetransmission belt 201 is also not limited to steel, and can also be other metal materials or organic materials.

例如，参考图5B，在第二驱动机构20与第一驱动机构10连接的状态下，传动带201的远离第一驱动机构10的一端与推钉驱动机构40连接，例如与推钉驱动机构40焊接， 当然也可以是其他的连接方式。For example, referring to FIG. 5B , in the state where thesecond driving mechanism 20 is connected with thefirst driving mechanism 10 , the end of thetransmission belt 201 away from thefirst driving mechanism 10 is connected with thenail pushing mechanism 40 , for example, welded with thenail pushing mechanism 40 , and of course other connection methods are also possible.

从末端执行器1的第一端到末端执行器1的第二端的方向为第一方向。如图11B和图13C所示，钉仓的钉仓支架包括沿第一方向延伸的第一部分511和第二部分512，钉仓支架的第一部分和钉仓支架的第二部分均包括用于容纳吻合钉的钉槽且限定出沿第一方向延伸的滑槽，在推钉驱动机构40驱动推钉滑块60移动过程中，切割驱动机构和传送带经可弯折部位80进入滑槽中且在滑槽中滑动，以实现驱动切割驱动机构(即推钉驱动机构40)在末端执行器1的第一端到第二端之间移动。The direction from the first end of theend effector 1 to the second end of theend effector 1 is the first direction. As shown in FIGS. 11B and 13C , the staple cartridge holder of the staple cartridge includes afirst portion 511 and asecond portion 512 extending in a first direction, and both the first portion of the staple cartridge holder and the second portion of the staple cartridge holder include a The staple groove of the staples defines a chute extending along the first direction. During the process of driving thenail pushing slider 60 to move by the nail pushingdriving mechanism 40, the cutting driving mechanism and the conveyor belt enter the sliding groove through thebendable part 80 and enter the sliding groove through thebendable part 80. Slide in the chute, so as to drive the cutting driving mechanism (ie, the nail pushing driving mechanism 40 ) to move between the first end and the second end of theend effector 1 .

例如，如图14A-14B所示，前摆动驱动组件包括传动机构，传动机构与前摆动驱动构件81连接，且配置为在前摆动驱动构件81的驱动下驱动末端执行器1绕可弯折部位80摆动。例如，传动机构包括驱动齿821条820和齿轮811/812/813。驱动齿821条820包括驱动齿821，沿轴向延伸，且与前摆动驱动构件81连接以在前摆动驱动构件81的驱动下沿轴向运动；例如驱动齿821条820与前摆动驱动构件81连一体成型。驱动齿821条820包括驱动齿821，沿轴向延伸，且与前摆动驱动构件81连接以在前摆动驱动构件81的驱动下沿轴向运动。该齿轮811/812/813与驱动齿821啮合，驱动齿821条820沿轴向运动以驱动齿821轮转动。前摆动驱动组件还包括摆头连接部，摆头连接部的靠近末端执行器1的第一端与末端执行器1的第一端连接，摆头连接部的远离末端执行器1的第二端包括终端齿814，终端齿814与齿轮811/812/813啮合以使摆头连接部和末端执行器1在齿轮811/812/813的驱动下摆动，终端齿814与齿轮811/812/813啮合的位置为可弯折部位80；齿轮811/812/813的齿盘的盘面与传动带201的带面基本垂直，以使传动带201的带面与末端执行器1摆动的方向基本垂直。For example, as shown in FIGS. 14A-14B , the front swing drive assembly includes a transmission mechanism that is connected to the frontswing drive member 81 and configured to drive theend effector 1 around the bendable portion under the driving of the frontswing drive member 81 80 swings. For example, the transmission includes driveteeth 821bars 820 and gears 811/812/813. Driveteeth 821bar 820 includes driveteeth 821 extending in the axial direction and connected to the frontswing drive member 81 for axial movement under the drive of the frontswing drive member 81 ; Formed together. Thedrive teeth 821bar 820 includes driveteeth 821 extending in the axial direction and connected with the frontswing drive member 81 to move in the axial direction under the driving of the frontswing drive member 81 . Thegears 811/812/813 mesh with the drivingteeth 821, and the drivingteeth 821 and thebars 820 move in the axial direction to drive theteeth 821 to rotate. The front swing drive assembly further includes a swing head connecting part, a first end of the swing head connecting part close to theend effector 1 is connected with the first end of theend effector 1, and a second end of the swing head connecting part is far away from theend effector 1 Includingterminal teeth 814, which mesh withgears 811/812/813 to make the swing head link and endeffector 1 swing driven bygears 811/812/813, and which mesh withgears 811/812/813 The position is thebendable part 80; the disk surface of the toothed disc of thegears 811/812/813 is substantially perpendicular to the belt surface of thetransmission belt 201, so that the belt surface of thetransmission belt 201 is substantially perpendicular to the direction in which theend effector 1 swings.

例如，如图14A-14B所示，传动机构包括沿轴向排列的多个齿轮，多个齿轮3中相邻的齿轮彼此啮合；多个齿轮811/812/813中最靠近末端执行器1的齿轮813与摆头连接部的第二端的终端齿814啮合，多个齿轮811/812/813中至少最远离末端执行器1的齿轮811与驱动齿条820的驱动齿821啮合，以避免对单一齿轮的依赖，增加传动机构运行的稳定性。For example, as shown in FIGS. 14A-14B , the transmission mechanism includes a plurality of gears arranged in the axial direction, and the adjacent gears among the plurality ofgears 3 mesh with each other; Thegear 813 meshes with theterminal tooth 814 at the second end of the swing head connecting part, and at least thegear 811 farthest from theend effector 1 among the plurality ofgears 811/812/813 meshes with the drivingtooth 821 of thedriving rack 820, so as to avoid a single The dependence of gears increases the stability of the transmission mechanism.

例如，如图14A-14B所示，多个齿轮811/812/813中最靠近末端执行器1的齿轮813的齿盘的直径小于多个齿轮811/812/813中其他齿轮812/813的齿盘的直径，从而，与直径较大的齿轮连接的前摆动驱动机构连接沿轴向移动较小的距离，即可使得摆头连接部的终端齿814转动较大的角度，也即与摆头连接部连接的末端执行器1转动较大的角度，从而利于利用有限的轴向长度实现末端执行器1较大的摆幅。For example, as shown in FIGS. 14A-14B , the diameter of the chainring of thegear 813 of the plurality ofgears 811/812/813 closest to theend effector 1 is smaller than the teeth of theother gears 812/813 of the plurality ofgears 811/812/813 The diameter of the disc, so that the connection of the front swing drive mechanism connected with the larger diameter gear moves a smaller distance in the axial direction, so that theterminal teeth 814 of the swing head connecting part can be rotated by a larger angle, that is, with the swing head Theend effector 1 connected by the connecting part rotates by a larger angle, so as to facilitate the realization of a larger swing amplitude of theend effector 1 with a limited axial length.

例如，如图14A-14B所示，吻合器100还包括稳定齿条830，稳定齿条830与齿轮811/812/813啮合，驱动齿821条820位于齿轮811/812/813的第一侧，稳定齿条830位于齿轮811/812/813的与第一侧相对的二侧，稳定齿条830不与前摆动驱动构件81连接。稳定齿条830能够承载齿轮811/812/813，使齿轮811/812/813的结构和运行更加稳定。For example, as shown in FIGS. 14A-14B, thestapler 100 further includes a stabilizingrack 830, which meshes with thegears 811/812/813, and thedrive teeth 821 are located on the first side of thegears 811/812/813, The stabilizingrack 830 is located on two sides of thegears 811 / 812 / 813 opposite to the first side, and the stabilizingrack 830 is not connected with the frontswing driving member 81 . The stabilizingrack 830 can carry thegears 811/812/813, so that the structure and operation of thegears 811/812/813 are more stable.

例如，如图14A-14B所示，在闭合机构为套设于第二驱动机构20和传动机构外侧的套筒2的情况下，钉仓组件11包括靠近套筒2的第一端，钉砧12包括靠近套筒2的第一 端。在闭合阶段，第二驱动机构20在第一驱动机构10的驱动下朝向末端执行器1移动而驱动套筒2朝向末端执行器1移动从而使套筒2套设于钉仓组件11的第一端和钉砧12的第一端上而对钉仓组件11的第一端和钉砧12的第一端施加压力以使末端执行器1闭合；套筒2包括靠近末端执行器1的第一部分21和远离末端执行器1的第二部分22；吻合器100还包括可转动的套筒连接部件25，套筒2的第一部分21与套筒2的第二部分22通过可转动的套筒连接部件25连接，可转动的套筒连接部件25位于可弯折部位80以使套筒2的第一部分21可随着末端执行器1摆动，从而使闭合机构适应末端执行器1摆动的设计。For example, as shown in FIGS. 14A-14B, in the case where the closing mechanism is thesleeve 2 sleeved on the outside of thesecond driving mechanism 20 and the transmission mechanism, thestaple cartridge assembly 11 includes a first end close to thesleeve 2, thestaple anvil 12 includes a first end proximate thesleeve 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 part of thestaple cartridge assembly 11end effector 1 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 includes a first portion proximate theend effector 1 21 and thesecond part 22 away from theend effector 1; thestapler 100 further comprises a rotatablesleeve connecting part 25, thefirst part 21 of thesleeve 2 is connected with thesecond part 22 of thesleeve 2 through the rotatable sleeve Thepart 25 is connected, and the rotatablesleeve connection part 25 is located at thebendable part 80 so that thefirst part 21 of thesleeve 2 can swing with theend effector 1 , so that the closing mechanism can be adapted to the design of the swing of theend effector 1 .

例如，如图14A-14B所示，可转动的套筒2连接部件包括彼此连接的第一铰接结构和第二铰接结构，第一铰接结构与套筒2的第一部分连接，第二铰接结构与套筒2的第二部分连接。For example, as shown in FIGS. 14A-14B , therotatable sleeve 2 connecting part includes a first hinge structure and a second hinge structure connected to each other, the first hinge structure is connected with the first part of thesleeve 2, and the second hinge structure is connected with The second part of thesleeve 2 is connected.

图16A为本公开一实施例提供的一种吻合器100的后摆动驱动组件的局部示意图；图16B为本公开一实施例提供的一种吻合器100的手动调节驱动机构的局部示意图；结合图9和图16A-16B，后摆动驱动组件还包括第三摆动驱动机构，第三摆动驱动机构配置为在摆动机构驱动末端执行器1摆动的过程中驱动前摆动驱动构件81和后摆动驱动构件82沿轴向朝向末端执行器1移动或者沿轴向远离末端执行器1移动，且第三摆动驱动机构配置为可调节前摆动驱动构件81和后摆动驱动构件82沿轴向朝向末端执行器1移动的距离或者沿轴向远离末端执行器1移动的距离，从而调节末端执行器1摆动的幅度。16A is a partial schematic diagram of a rear swing drive assembly of astapler 100 according to an embodiment of the disclosure; FIG. 16B is a partial schematic diagram of a manual adjustment drive mechanism of astapler 100 according to an embodiment of the disclosure; 9 and FIGS. 16A-16B , the rear swing drive assembly further includes a third swing drive mechanism configured to drive the frontswing drive member 81 and the rearswing drive member 82 during the swing mechanism driving theend effector 1 to swing. moving axially toward or away from theend effector 1 and the third swing drive mechanism is configured to adjust the frontswing drive member 81 and the rearswing drive member 82 to move axially toward theend effector 1 or the distance moved away from theend effector 1 in the axial direction, so as to adjust the swing amplitude of theend effector 1 .

图18A-18B为本公开一实施例提供的一种手柄的示意图；如图16A-16B和图18A-18B所示，第三摆动驱动机构包括档位调节开关98，档位调节开关98配置为逐档调节前摆动驱动构件81和后摆动驱动构件82沿轴向朝向末端执行器1移动的距离，或者逐档调节前摆动驱动构件81和后摆动驱动构件82沿轴向远离末端执行器1移动的距离，从而逐档调节末端执行器1摆动的幅度。18A-18B are schematic diagrams of a handle provided by an embodiment of the present disclosure; as shown in FIGS. 16A-16B and FIGS. 18A-18B , the third swing driving mechanism includes agear adjustment switch 98, and thegear adjustment switch 98 is configured as Step-by-step adjustment of the distance that the frontswing drive member 81 and the rearswing drive member 82 move axially toward theend effector 1 , or the distance that the frontswing drive member 81 and the rearswing drive member 82 move axially away from theend effector 1 distance, so as to adjust the swing amplitude of theend effector 1 step by step.

例如，前摆动驱动构件81和后摆动驱动构件82均为沿轴向延伸的单杆；前摆动驱动构件81沿轴向延伸，与第二驱动机构20并排设置，以充分利用狭长的套筒2内的空间；后摆动驱动构件82沿轴向延伸，与第一驱动机构10并排设置，以充分利用狭长的套筒2内的空间。For example, the frontswing drive member 81 and the rearswing drive member 82 are both single rods extending in the axial direction; the frontswing drive member 81 extends in the axial direction and is arranged side by side with thesecond drive mechanism 20 to make full use of the long andnarrow sleeve 2 The rearswing drive member 82 extends in the axial direction and is arranged side by side with thefirst drive mechanism 10 to make full use of the space inside theelongated sleeve 2 .

如图15A-15B所示，可拆卸部分3与主体部分4可拆卸地连接以使前摆动驱动构件81与后摆动驱动构件82可拆卸地连接，从而实现前摆动驱动组件与后摆动驱动组件可拆卸地连接。As shown in FIGS. 15A-15B , thedetachable part 3 is detachably connected with themain body part 4 so that the frontswing drive member 81 and the rearswing drive member 82 are detachably connected, so that the front swing drive assembly and the rear swing drive assembly can be detachably connected. Removably connected.

例如，前摆动驱动构件81包括图15A-15B中的第一部分和与该第一部分可拆卸连接的第二部分，在吻合器100的可拆卸部分3与主体部分4不连接时，前摆动驱动构件81的第一部分和第二部分均位于可拆卸部分3。For example, the frontswing drive member 81 includes a first part in FIGS. 15A-15B and a second part removably connected to the first part, and the front swing drive member is not connected to themain body part 4 when thereleasable part 3 of thestapler 100 is not connected to themain body part 4 Both the first and second parts of 81 are located in thedetachable part 3 .

如图16A-16B所示，第三摆动驱动机构为手动调节驱动机构，通过手动调节档位，朝向第一拨动方向每拨动一个档位，前摆动驱动构件81和后摆动驱动构件82沿轴向朝向末端执行器1移动一个档位的距离以使末端执行器1朝向第一摆动方向转动一个档位的角度；或者，朝向第二拨动方向每拨动一个档位，前摆动驱动构件81和后摆动驱动构件82沿轴 向远离末端执行器1移动一个档位的距离以使末端执行器1朝向第二摆动方向转动一个档位的角度。例如，如图1所示，手动调节驱动机构包括手动旋钮96，通过手动操作手动旋钮96以控制前摆动驱动构件81和后摆动驱动构件82沿轴向朝向末端执行器1移动的档位。As shown in FIGS. 16A-16B , the third swing drive mechanism is a manual adjustment drive mechanism. By manually adjusting the gear position, each time one gear position is toggled toward the first toggle direction, the frontswing drive member 81 and the rearswing drive member 82 move along the The distance of moving theend effector 1 in the axial direction by one gear to make theend effector 1 rotate the angle of one gear towards the first swing direction; 81 and the rearswing drive member 82 move axially away from theend effector 1 by a distance of one gear to rotate theend effector 1 by one gear towards the second swing direction. For example, as shown in FIG. 1 , the manual adjustment drive mechanism includes amanual knob 96 that is manually operated to control the gears in which the frontswing drive member 81 and the rearswing drive member 82 move axially toward theend effector 1 .

或者，第三摆动驱动机构为电动驱动机构。例如电动驱动机构包括电动马达和摆头控制开关；电动马达配置为旋转以驱动前摆动驱动构件81和后摆动驱动构件82沿轴向朝向末端执行器1移动或者沿轴向远离末端执行器1移动；摆头控制开关配置为控制给电动马达发送电信号以控制马达的工作。Alternatively, the third swing drive mechanism is an electric drive mechanism. For example, the electric drive mechanism includes an electric motor and a swing head 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 move axially away from theend effector 1 ; The swing head control switch is configured to control sending an electrical signal to the electric motor to control the operation of the motor.

如图16A-16B、图18A-18B所示，所示，主体部分4包括手柄9，摆头控制开关为拨盘93开关，拨盘93开关包括设置于手柄9表面上的拨盘93，拨盘93配置为可被朝向第一拨动方向拨动以驱动末端执行器1朝向第一摆动方向摆动，且配置为可被朝向第二拨动方向拨动以驱动末端执行器1朝向第二摆动方向摆动，第一拨动方向与第二拨动方向不同。As shown in FIGS. 16A-16B and 18A-18B, as shown, themain body part 4 includes ahandle 9, the head swing control switch is adial 93 switch, and thedial 93 switch includes adial 93 arranged on the surface of thehandle 9. Thedisc 93 is configured to be toggled toward the first toggle direction to drive theend effector 1 to swing toward the first swing direction, and configured to be toggled toward the second toggle direction to drive theend effector 1 to swing toward the second swing direction The direction swings, and the first toggle direction is different from the second toggle direction.

例如，拨盘93上具有档位标记。朝向第一拨动方向每拨动一个档位，前摆动驱动构件81和后摆动驱动构件82沿轴向朝向末端执行器1移动一个档位的距离以使末端执行器1朝向第一摆动方向转动一个档位的角度；或者/和，朝向第二拨动方向每拨动一个档位，前摆动驱动构件81和后摆动驱动构件82沿轴向远离末端执行器1移动一个档位的距离以使末端执行器1朝向第二摆动方向转动一个档位的角度。For example, thedial 93 has gear marks on it. Each time a gear is toggled toward the first swing direction, the frontswing drive member 81 and the rearswing drive member 82 move axially toward theend effector 1 by a distance of one gear position to rotate theend effector 1 toward the first swing direction The angle of one gear; or/and, for each gear toggled toward the second toggle direction, the frontswing drive member 81 and the rearswing drive member 82 move axially away from theend effector 1 by a distance of one gear such that Theend effector 1 is rotated towards the second swing direction by an angle of one gear.

示例性地，图17为本公开一实施例提供的吻合器100中，在末端执行器1闭合之前，推钉滑块60位于末端执行器1的第二端时的示意图一，如图17所示，该吻合器100包括末端执行器1、闭合机构和推钉组件。末端执行器1包括钉仓组件11和钉砧12，钉仓组件11中设置有吻合钉；闭合机构配置为在闭合阶段驱动钉仓组件11和钉砧12对合以夹持目标组织，末端执行器1具有靠近闭合机构的第一端和远离闭合机构的第二端；推钉组件配置为在闭合阶段之后的推钉阶段从第二端到第一端将吻合钉从钉仓组件11中推入目标组织而从第二端到第一端将目标组织缝合。相比于从末端执行器1的第一端到末端执行器1的第二端将目标组织缝合，从末端执行器1的第二端到末端执行器1的第一端将目标组织缝合的过程中，对目标组织缝合的精度更高。Exemplarily, FIG. 17 is a schematic diagram 1 of thestapler 100 provided in an embodiment of the present disclosure, before theend effector 1 is closed, when thenail pushing slider 60 is located at the second end of theend effector 1 , as shown in FIG. 17 . As shown, thestapler 100 includes anend effector 1, a closing mechanism and a staple push assembly. Theend effector 1 includes astaple cartridge assembly 11 and astaple anvil 12, and staples are arranged in thestaple cartridge assembly 11; the closing mechanism is configured to drive thestaple cartridge assembly 11 and thestaple anvil 12 to close together in the closing stage to clamp the target tissue, and the end effector is performed. Thedevice 1 has a first end proximate the closure mechanism and a second end remote from the closure mechanism; the staple pusher assembly is configured to push staples from thecartridge assembly 11 from the second end to the first end during the staple push phase following the closure phase The target tissue is sutured from the second end to the first end into the target tissue. The process of suturing the target tissue from the second end of theend effector 1 to the first end of theend effector 1 compared to suturing the target tissue from the first end of theend effector 1 to the second end of theend effector 1 , the accuracy of suturing the target tissue is higher.

推钉组件包括推钉片700、推钉滑块60和推钉驱动机构40。推钉片700沿从第二端到第一端的方向排列，且配置为给吻合钉施加推钉压力以将吻合钉从钉仓组件11中推出；推钉滑块60配置为给推钉片700施加压力以驱动推钉片700给吻合钉施加推钉压力；推钉驱动机构40配置为在推钉阶段驱动推钉滑块60沿从第二端到第一端的方向移动，从而推钉滑块60沿从第二端到第一端的方向依次与推钉片700接触以给推钉片700施加推钉压力。The nail pushing assembly includes anail pushing piece 700 , anail pushing slider 60 and a nail pushingdriving mechanism 40 . Thestaple pushing pieces 700 are arranged in the direction from the second end to the first end, and are configured to apply a staple pushing pressure to the staples to push the staples out of thestaple cartridge assembly 11; 700 applies pressure to drive thepush tab 700 to apply a push pressure to the staples; thepush drive mechanism 40 is configured to drive thepush slider 60 to move in a direction from the second end to the first end during the push stage, thereby pushing the staples Theslider 60 is in contact with thenail pushing piece 700 in sequence from the second end to the first end to apply a nail pushing pressure to thenail pushing piece 700 .

例如，如图17所示，在推钉阶段之前，推钉滑块60位于第二端；在推钉阶段，推钉滑块60从第二端移动至第一端且将钉仓组件11中的吻合钉沿从第二端到第一端的方向依次推出以将目标组织缝合。For example, as shown in FIG. 17 , before the nail pushing stage, the nail pushingslide block 60 is located at the second end; during the nail pushing stage, the nail pushingslide block 60 moves from the second end to the first end and pushes thenail cartridge assembly 11 into thenail cartridge assembly 11 . The staples are sequentially pushed out in the direction from the second end to the first end to suture the target tissue.

例如，如图17所示，吻合器100还包括切割装置和切割驱动机构。切割装置配置为在 目标组织整体被缝合之后的切割阶段对目标组织进行切割；切割驱动机构配置为在切割阶段驱动切割装置对目标组织进行切割，在切割阶段，切割装置从第一端移动至第二端以对目标组织沿从第一端到第二端的方向进行切割。For example, as shown in Figure 17, thestapler 100 also 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 entire target tissue is sutured; the cutting driving mechanism is configured to drive the cutting device to cut the target tissue in the cutting stage, and in the cutting stage, the cutting device moves from the first end to the second Two ends are used to cut the target tissue in the direction from the first end to the second end.

例如，切割装置包括携刀部件和切割刀605。推钉滑块60复用作携刀部件，即，在闭合阶段和推钉阶段，切割装置位于末端执行器1的第二端。推钉驱动机构40复用作切割驱动机构；切割刀605与推钉滑块60活动连接，推钉滑块60移动以使切割刀605移动；在推钉阶段，切割刀605至少部分位于推钉滑块60中，切割刀605随着推钉滑块60沿从第二端到第一端的方向移动，且切割刀605与夹持在钉仓组件11和钉砧12之间的目标组织具有预设距离以使切割刀605不接触目标组织。图20为本公开一实施例提供的吻合器100中，推钉阶段结束时，推钉滑块60位于第一端时的示意图。如图20所示，当推钉阶段结束时，推钉滑块60到达末端执行器1的第一端；在切割阶段，推钉驱动机构40推动推钉滑块60以使切割刀605随着推钉滑块60沿从第一端到第二端的方向移动，切割刀605在出刀驱动力的作用下接触目标组织并对目标组织沿从第一端到第二端的方向进行切割。在目标组织整体缝合后再切割有利于提高缝合和切割的准确度，且推钉滑块60复用作携刀部件能够简化结构，节约空间。例如，吻合器100包括出刀驱动结构602，钉仓支架包括阻力面503，阻力面503面向出刀驱动结构602，出刀驱动结构602配置为当切割装置在切割驱动机构的驱动下到达末端执行器1的第一端时撞击阻力面503，从而阻力面503对出刀驱动结构602施加出刀驱动力，出刀驱动结构602配置为在出刀驱动力的作用下与切割刀605接触以对切割刀605施加第一驱动力以驱动切割刀605朝向目标组织移动。然后，推钉驱动机构40推动推钉滑块60以使切割刀605随着推钉滑块60沿从第一端到第二端的方向移动，切割刀605在出刀驱动力的作用下接触目标组织并对目标组织沿从第一端到第二端的方向进行切割，如此，可简化结构，且减少切割刀605在第一端到第二端之间的往复运动，提高吻合器100的工作效率。For example, the cutting device includes a knife-carrying member and a cuttingknife 605 . The pusher slide 60 doubles as a knife-carrying member, ie the cutting device is located at the second end of theend effector 1 during the closing and pushing stages. The nail pushingdriving mechanism 40 is reused as a cutting driving mechanism; thecutting blade 605 is movably connected with thenail pushing slider 60, and thenail pushing slider 60 moves to move thecutting blade 605; in the nail pushing stage, thecutting blade 605 is at least partially located in the nail pushing stage In theslider 60 , thecutting blade 605 moves along the direction from the second end to the first end along with thestaple pushing slider 60 , and thecutting blade 605 and the target tissue sandwiched between thestaple cartridge assembly 11 and thestaple anvil 12 have The distance is preset so that thecutting blade 605 does not contact the target tissue. FIG. 20 is a schematic diagram of thestaple pushing slider 60 at the first end at the end of the staple pushing stage in thestapler 100 according to an embodiment of the present disclosure. As shown in FIG. 20 , when the nail pushing stage is over, thenail pushing slider 60 reaches the first end of theend effector 1; in the cutting stage, the nail pushingdriving mechanism 40 pushes thenail pushing slider 60 so that the cuttingknife 605 follows Thepusher slider 60 moves in the direction from the first end to the second end, and the cuttingknife 605 contacts the target tissue and cuts the target tissue in the direction from the first end to the second end under the action of the driving force of the knife. Cutting after the target tissue is sutured as a whole is beneficial to improve the accuracy of suture and cutting, and the double use of thepusher slider 60 as a knife-carrying component can simplify the structure and save space. For example, thestapler 100 includes aknife drive structure 602, the cartridge holder includes aresistance surface 503, theresistance surface 503 faces theknife drive structure 602, and theknife drive structure 602 is configured to be executed when the cutting device is driven by the cutting drive mechanism. When the first end of thetool 1 hits theresistance surface 503, theresistance surface 503 exerts a driving force for the knife outdrive structure 602, and the knife outdrive structure 602 is configured to contact the cuttingknife 605 under the action of the knife out drive force to Thecutting blade 605 applies a first driving force to drive thecutting blade 605 to move toward the target tissue. Then, the nail pushingdriving mechanism 40 pushes thenail pushing slider 60 to make thecutting blade 605 move along the direction from the first end to the second end along with thenail pushing slider 60, and thecutting blade 605 contacts the target under the action of the driving force of the blade. tissue and cut the target tissue along the direction from the first end to the second end, so that the structure can be simplified, the reciprocating movement of thecutting blade 605 between the first end and the second end can be reduced, and the working efficiency of thestapler 100 can be improved .

当然，在其他实施例中，也可以是推钉与切割互相独立，即推钉滑块60不复用作携刀部件。即切割装置包括携刀部件和切割刀605；切割刀605与携刀部件活动连接，携刀部件移动以使切割刀605移动；在推钉阶段，切割装置以及切割驱动机构位于末端执行器1的第一端；在切割阶段，切割驱动机构驱动切割装置从第一端移动至第二端以对目标组织沿从第一端到第二端的方向进行切割，携刀部件与推钉滑块60彼此独立，切割驱动机构与推钉驱动机构40彼此独立。Of course, in other embodiments, the nail pushing and cutting may be independent of each other, that is, thenail pushing slider 60 is no longer used as a knife-carrying member. That is, the cutting device includes a knife-carrying part and a cuttingknife 605; the cuttingknife 605 is movably connected with the knife-carrying part, and the knife-carrying part moves to move the cuttingknife 605; The first end; in the cutting stage, the cutting drive mechanism drives the cutting device to move from the first end to the second end to cut the target tissue along the direction from the first end to the second end, and the knife-carrying member and thenail pushing slider 60 are mutually Independent, the cutting drive mechanism and the nail pushingdrive mechanism 40 are independent of each other.

在一个示例中，如图17所示，例如，推钉驱动机构40配置为在闭合阶段与推钉滑块60不连接，在推钉阶段之前朝向末端执行器1的第二端移动以与推钉滑块60连接，并且在推钉阶段沿从第二端到第一端的方向移动以驱动推钉滑块60沿从末端执行器1的第二端到末端执行器1的第一端的方向移动。In one example, as shown in FIG. 17 , for example, the nailpush drive mechanism 40 is configured to be disconnected from thenail push slider 60 during the closing phase and to move toward the second end of theend effector 1 to communicate with the pusher before the nail push phase. Thetack block 60 is connected and moves in the direction from the second end to the first end during the push stage to drive thepush block 60 in the direction from the second end of theend effector 1 to the first end of theend effector 1 . direction move.

在另一个示例中，例如，推钉驱动机构40配置为在闭合阶段位于末端执行器1的第二端且与推钉滑块60连接，并且在推钉阶段沿从末端执行器1的第二端到末端执行器1的第一端的方向移动以驱动推钉滑块沿从末端执行器的第二端到末端执行器的第一端的方向 移动。In another example, for example, the nailpush drive mechanism 40 is configured to be located at the second end of theend effector 1 and connected to thenail push slider 60 during the closing phase, and to travel along the second end of theend effector 1 from theend effector 1 during the nail push phase. The direction of the end to the first end of theend effector 1 is moved to drive the nail push slider to move in the direction from the second end of the end effector to the first end of the end effector.

例如，在另一实施例中，在切割阶段，切割装置从末端执行器的第二端移动至末端执行器的第一端以对目标组织沿从第二端到第一端的方向进行切割。例如，推钉滑块复用作携刀部件。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 push-pin slider is reused as a knife-carrying part.

或者，在一些实施例中，在推钉阶段，切割装置以及切割驱动机构位于末端执行器的第二端；在目标组织整体被缝合之后切割装置再进行切割；并且在切割阶段，切割驱动机构驱动切割装置从第二端移动至第一端以对目标组织沿从第二端到第一端的方向进行切割，携刀部件与推钉滑块彼此独立，切割驱动机构与推钉驱动机构彼此独立。在推钉驱动机构从末端执行器的第二端到移动至末端执行器的第一端以将目标组织缝合后，推钉驱动机构再驱动推钉滑块从末端执行器的第一端移动至末端执行器的第二端以使推钉滑块与切割装置连接，然后，推钉驱动机构驱动切割装置从末端执行器的第二端移动至末端执行器的第一端，切割装置中的切割刀与目标组织接触，以沿从末端执行器的第二端移动至末端执行器的第一端的方向对目标组织进行切割，即，这一实施例中，切割装置中的切割刀始终可与目标组织接触，当其沿从末端执行器的第二端移动至末端执行器的第一端的方向移动时即可对目标组织进行切割。例如，携刀部件的靠近推钉滑块的一端具有第三连接结构，推钉滑块的靠近携刀部件的一端具有第四连接结构，该第三连接结构与该第四连接结构连接，从而使推钉滑块与切割装置连接。该第三连接结构可参考上述第一连接结构例如包括通孔，该第三连接结构可参考上述第二连接结构例如包括弹性连接件，具体请参考之前第一连接结构与第二连接结构的连接方式。Alternatively, in some embodiments, the cutting device and the cutting drive mechanism are located at the second end of the end effector during the staple pushing stage; the cutting device cuts after the entire target tissue is stapled; and during the cutting stage, the cutting drive mechanism drives The cutting device moves from the second end to the first end to cut the target tissue along the direction from the second end to the first end, the knife-carrying part and the nail-pushing slider are independent of each other, and the cutting driving mechanism and the nail-pushing driving mechanism are independent of each other . After the push staple drive mechanism moves from the second end of the end effector to the first end of the end effector to staple the target tissue, the push staple drive mechanism then drives the staple push slider to move from the first end of the end effector to the end effector. The second end of the end effector is used to connect the push nail slider with the cutting device. Then, the push nail driving mechanism drives the cutting device to move from the second end of the end effector to the first end of the end effector. Cutting in the cutting device The knife is in contact with the target tissue to cut the target tissue in a direction moving from the second end of the end effector to the first end of the end effector, i.e., in this embodiment, the cutting knife in the cutting device is always in contact with the target tissue. The target tissue contacts, and when it moves in a direction from the second end of the end effector to the first end of the end effector, cuts the target tissue. For example, the end of the knife-carrying member close to the nail-pushing slider has a third connection structure, and the end of the nail-pushing slider close to the knife-carrying member has a fourth connection structure, and the third connection structure is connected with the fourth connection structure, thereby Connect the push nail slider to the cutting device. The third connection structure can refer to the above-mentioned first connection structure, for example, it includes a through hole, and the third connection structure can refer to the above-mentioned second connection structure, for example, includes an elastic connector. For details, please refer to the connection between the first connection structure and the second connection structure. Way.

例如，在另一些实施例中，切割装置包括携刀部件和切割刀，推钉滑块复用作携刀部件，推钉驱动机构复用作切割驱动机构；切割刀与推钉滑块活动连接，推钉滑块移动以使切割刀移动。推钉阶段和切割阶段同时进行，推钉滑块沿从第二端到第一端的方向移动以依次将吻合钉推出缝合目标组织，切割刀接触目标组织且切割刀随着推钉滑块移动以对目标组织沿从第二端到第一端的方向进行切割，且切割刀和推钉滑块配置为使目标组织沿从第二端到第一端的方向依次待缝合的每个局部在被吻合钉缝合之后随即被切割刀切割。即边缝边切，对于目标组织的待缝合和切割的每个局部，切割比缝合滞后一点。For example, in other embodiments, the cutting device includes a knife-carrying part and a cutting knife, the nail-pushing slider is reused as the knife-carrying part, and the nail-pushing driving mechanism is reused as a cutting-driving mechanism; the cutting knife is movably connected with the nail-pushing slider , the push nail slider moves to make the cutter move. The staple pushing stage and the cutting stage are performed simultaneously, the staple pushing slider moves in the direction from the second end to the first end to sequentially push the staples out of the suturing target tissue, the cutting knife contacts the target tissue and the cutting knife moves with the staple pushing slider in order to cut the target tissue in the direction from the second end to the first end, and the cutting knife and the pusher slider are configured to make each part of the target tissue to be sutured in turn in the direction from the second end to the first end. After being sutured with staples, it is cut with a cutting knife. That is, cutting while sewing, for each part of the target tissue to be sutured and cut, the cutting lags behind the suture.

例如，在这种边缝边切的情况下，例如，切割刀605随着推钉滑块60沿从第二端到第一端的方向移动的过程中，推钉滑块60的靠近末端执行器1的第一端的端部最先驱动推钉片700推出吻合钉，切割刀605位于推钉滑块60的端部的靠近末端执行器1的第二端的一侧且与推钉滑块60的端部间隔开预设距离。例如，该预设距离为沿从第二端到第一端的方向连续排列的2～4个吻合钉的在从第二端到第一端方向上的宽度总和，如此，对于目标组织的待缝合和切割的每个局部，切割比缝合滞后的程度比较适合，能够保证缝合和切割的效果较好。For example, in the case of such seam cutting, for example, during the movement of the cuttingknife 605 with thepusher block 60 in the direction from the second end to the first end, the end of thepusher block 60 closes to the end. The end of the first end of theend effector 1 first drives thepusher piece 700 to push out the staples, and the cuttingknife 605 is located on the side of the end of thepusher block 60 close to the second end of theend effector 1 and is connected with the pusher block. The ends of 60 are spaced apart by a preset distance. For example, the preset distance is the sum of the widths in the direction from the second end to the first end of 2 to 4 staples continuously arranged in the direction from the second end to the first end. For each part of stitching and cutting, the degree of lag between cutting and stitching is more suitable, which can ensure a better effect of stitching and cutting.

例如，对于上述多种沿从末端执行器1的第二端到末端执行器1的第一端进行缝合的实施例，吻合器100还包括第一驱动机构10，第一驱动机构10配置为：在闭合阶段，第一驱动机构10与闭合机构可拆卸地连接以驱动闭合机构将末端执行器1闭合；在推钉阶 段，第一驱动机构10与闭合机构分离并驱动推钉组件将吻合钉从钉仓组件11中推出。吻合器100还包括第二驱动机构20，第二驱动机构20与第一驱动机构10可拆卸地连接，第二驱动机构20配置为在闭合阶段与闭合机构可拆卸地连接且配置为在第一驱动机构10的驱动下朝向末端执行器1的第二端移动而使闭合机构与钉仓组件11和钉砧12接触并对钉仓组件11和钉砧12施加压力以使末端执行器1闭合；第二驱动机构20还配置为在末端执行器1闭合之后与闭合机构分离，在第一驱动机构10的驱动下继续朝向末端执行器1的第二端移动以与推钉驱动机构40连接并继续朝向末端执行器1的第二端移动以驱动推钉驱动机构40到达末端执行器1的第二端与推钉滑块60连接；第二驱动机构20还配置为在推钉阶段，在第一驱动机构10的驱动下驱动推钉驱动机构40沿从第二端到第一端的方向移动以将目标组织缝合。第一驱动机构10、第二驱动机构20等结构具体可参考之前的实施例中的描述，在此不再重复。For example, for the various embodiments described above in which suturing is performed from the second end of theend effector 1 to the first end of theend effector 1, thestapler 100 further includes afirst drive mechanism 10 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, thefirst driving mechanism 10 is separated from the closing mechanism and drives the staple pushing assembly to remove the staples from the staples. Thestaple cartridge assembly 11 is pushed out. Thestapler 100 also includes asecond drive mechanism 20 that is removably connected to thefirst drive mechanism 10, thesecond drive mechanism 20 is configured to be removably connected to the closing mechanism during the closing phase and configured to be removably connected to thefirst drive mechanism 10. Thedriving mechanism 10 moves toward the second end of theend effector 1 so that the closing mechanism contacts thestaple cartridge assembly 11 and thestaple anvil 12 and applies pressure to thestaple cartridge assembly 11 and thestaple anvil 12 to close theend 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 toward the second end of theend effector 1 under the driving of thefirst driving mechanism 10 to connect with the nailpush driving mechanism 40 and continue Move toward the second end of theend effector 1 to drive the nail pushingdriving mechanism 40 to reach the second end of theend effector 1 and connect with thenail pushing slider 60; Thedriving mechanism 40 is driven by thedriving mechanism 10 to move in the direction from the second end to the first end to suture the target tissue. For specific structures such as thefirst driving mechanism 10 and thesecond driving mechanism 20, reference may be made to the descriptions in the previous embodiments, which will not be repeated here.

例如，对于上述多种沿从末端执行器1的第二端到末端执行器1的第一端进行缝合的实施例，切割驱动装置配置为在第一驱动机构10的驱动下驱动切割装置以对目标组织进行切割。For example, for the various embodiments described above in which suturing is performed 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 under the drive of thefirst drive mechanism 10 to stitch theend effector 1. Target tissue for cutting.

例如，对于上述多种沿从末端执行器1的第二端到末端执行器1的第一端进行缝合的实施例，闭合机构为套设于第二驱动机构20外侧的套筒2，钉仓组件11包括靠近套筒2的第一端，钉砧12包括靠近套筒2的第一端；在闭合阶段，第二驱动机构20在第一驱动机构10的驱动下朝向末端执行器1移动而驱动套筒2朝向末端执行器1移动从而使套筒2套设于钉仓组件11的第一端和钉砧12的第一端上而对钉仓组件11的第一端和钉砧12的第一端施加压力以使末端执行器1闭合。具体结构请参考之前关于套筒2将末端执行器1闭合的描述。在不冲突的情况下，本公开各个实施例的特征可以进行组合。For example, for the above-mentioned various embodiments of suturing from the second end of theend effector 1 to the first end of theend effector 1, the closing mechanism is thesleeve 2 sleeved on the outer side of thesecond driving mechanism 20, and the staple cartridge Theassembly 11 includes a first end close to thesleeve 2, and theanvil 12 includes a first end close to thesleeve 2; in the closing stage, thesecond drive mechanism 20 is driven by thefirst drive mechanism 10 to move toward theend effector 1 to move. The drivingsleeve 2 is moved toward theend effector 1 so that thesleeve 2 is sleeved on the first end of thestaple cartridge assembly 11 and the first end of thestaple anvil 12 and the first end of thestaple cartridge assembly 11 and thestaple anvil 12 . The first end applies pressure to close theend effector 1 . For the specific structure, please refer to the previous description about thesleeve 2 closing theend effector 1 . The features of various embodiments of the present disclosure may be combined without conflict.

本公开至少一实施例提供一种手柄9，该手柄9可用于吻合器100，该吻合器100可用做医疗器械，例如用于手术器械，用于加持目标组织，并对目标组织进行缝合与切割。该手柄9配置为与吻合器100的可拆卸部分3可拆卸地连接，可拆卸部分3包括末端执行器1，所述末端执行器1包括钉仓组件11和钉砧12。At least one embodiment of the present disclosure provides ahandle 9, which can be used for astapler 100, and thestapler 100 can be used as a medical instrument, such as a surgical instrument, for holding target tissue, and suturing and cutting the target tissue . Thehandle 9 is configured to be removably connected to theremovable portion 3 of thestapler 100 , theremovable portion 3 including theend effector 1 including thestaple cartridge assembly 11 and thestaple anvil 12 .

示例性地，图18A-18B为本公开一实施例提供的一种手柄的示意图，图19为拨盘和双向控制按钮的放大示意图。如图18A-18B和图19所示，所述手柄9包括拨盘93开关，拨盘93开关包括设置于所述手柄9的第一表面01上的拨盘93，拨盘93配置为可被拨动而旋转以控制末端执行器1的摆动方向和摆动角度，以实现通过该操作该拨盘93来控制末端执行器1的摆动方向和摆动角度，手术过程中操作方便，易于控制。Exemplarily, FIGS. 18A-18B are schematic diagrams of a handle provided by an embodiment of the present disclosure, and FIG. 19 is an enlarged schematic diagram of a dial and a two-way control button. 18A-18B and FIG. 19, thehandle 9 includes adial 93 switch, and thedial 93 switch includes adial 93 provided on thefirst surface 01 of thehandle 9, and thedial 93 is configured to be Turn and rotate to control the swing direction and swing angle of theend effector 1, so as to control the swing direction and swing angle of theend effector 1 by operating thedial 93, which is convenient to operate and control during the operation.

例如，拨盘93配置为可被朝向第一旋转方向拨动而朝向第一旋转方向旋转，以驱动末端执行器1朝向第一摆动方向摆动，且配置为可被朝向第二旋转方向拨动而朝向第二旋转方向旋转，以驱动末端执行器1朝向第二摆动方向摆动，第一旋转方向与第二旋转方向相反，以实现通过该操作该拨盘93来控制末端执行器1朝向不同方向摆动，手术过程中操作方便，易于控制。For example, thedial 93 is configured to be toggled toward the first rotational direction to rotate toward the first rotational direction to drive theend effector 1 to swing toward the first swing direction, and configured to be toggled toward the second rotational direction to rotate Rotate towards the second rotation direction to drive theend effector 1 to swing towards the second swing direction, the first rotation direction is opposite to the second rotation direction, so as to control theend effector 1 to swing towards different directions by operating thedial 93 , The operation is convenient and easy to control during the operation.

例如，拨盘93上具有档位标记；可根据档位标记，使用者操作拨盘93朝向第一旋转 方向每旋转一个档位，末端执行器1朝向第一摆动方向转动一个档位所对应的角度；且可根据档位标记，使用者操作拨盘93朝向第二旋转方向每旋转一个档位，末端执行器1朝向第二摆动方向转动一个档位所对应的角度，以实现通过该操作该拨盘93来调节末端执行器1朝向不同方向摆动的幅度，手术过程中操作方便，易于控制。For example, thedial 93 has a gear mark; according to the gear mark, each time the user operates thedial 93 to rotate toward the first rotation direction by one gear, theend effector 1 is rotated toward the first swing direction by one gear corresponding to and according to the gear mark, each time the user operates thedial 93 to rotate one gear towards the second rotation direction, theend effector 1 rotates towards the second swing direction by the corresponding angle of one gear, so as to realize the Thedial 93 is used to adjust the swinging amplitude of theend effector 1 in different directions, which is convenient to operate and control during the operation.

例如，如图18A-18B和图19所示，档位标记包括沿第一旋转方向和第二旋转方向排列的多个档位槽900，多个档位槽900配置为：拨盘93朝向第一旋转方向每旋转过一个档位槽900，以使末端执行器1朝向第一摆动方向转动一个档位所对应的角度；拨盘93朝向第二旋转方向每旋转过一个档位槽900，末端执行器1朝向第二摆动方向转动一个档位所对应的角度。如此，操作者可通过触感来调节转动的档位槽900的多少，以便于控制摆动末端执行器1摆动的档位。For example, as shown in FIGS. 18A-18B and FIG. 19 , the gear mark includes a plurality ofgear slots 900 arranged along the first rotation direction and the second rotation direction, and the plurality ofgear slots 900 are configured such that thedial 93 faces the first rotation direction. Each time onegear slot 900 is rotated in one rotation direction, theend effector 1 is rotated toward the first swing direction by an angle corresponding to one gear position; each time thedial 93 rotates onegear slot 900 towards the second rotation direction, the end Theactuator 1 rotates toward the second swing direction by an angle corresponding to one gear. In this way, the operator can adjust the number of therotating gear grooves 900 through tactile sensation, so as to control the swinging gear of the swingingend effector 1 .

例如，如图18A-18B和图19所示，档位槽900的延伸方向与手柄9的延伸方向一致，第一旋转方向和第二旋转方向与手柄9的延伸方向基本垂直。For example, as shown in FIGS. 18A-18B and FIG. 19 , the extending direction of thegear slot 900 is consistent with the extending direction of thehandle 9 , and the first and second rotating directions are substantially perpendicular to the extending direction of thehandle 9 .

可拆卸部分3还包括闭合机构、推钉组件和切割装置，这些结构具体可参考之前实施例中的描述。如图18A-18B所示，手柄9还包括双向控制按钮94，双向控制按钮94包括第一端941和第二端942，双向控制按钮94配置为：第一端被按压以控制闭合阶段、推钉阶段和切割阶段的依次进行；在闭合阶段，闭合机构将钉仓组件11与钉砧12对合而使末端执行器1闭合以夹持目标组织；在推钉阶段，推钉组件将吻合钉从钉仓组件11中推出以将目标组织缝合；在切割阶段，切割装置对目标组织进行切割；并且，双向控制按钮94还配置为：第二端被按压以控制闭合机构不能将钉仓组件11和钉砧12对合，钉仓组件11与钉砧12彼此远离而使末端执行器1打开。Thedetachable part 3 also includes a closing mechanism, a nail push assembly and a cutting device, and the details of these structures can be referred to the descriptions in the previous embodiments. 18A-18B, thehandle 9 further includes a two-way control button 94, the two-way control button 94 includes afirst end 941 and asecond end 942, and the two-way control button 94 is configured such that the first end is pressed to control the closing stage, push The staple stage and the cutting stage are performed in sequence; in the closing stage, the closing mechanism engages thestaple cartridge assembly 11 with thestaple anvil 12 to close theend effector 1 to clamp the target tissue; in the staple pushing stage, the staple pushing assembly will staple the staples Pushed out from thestaple cartridge assembly 11 to staple the target tissue; in the cutting stage, the cutting device cuts the target tissue; and thebidirectional control button 94 is also configured so that the second end is pressed to control the closure mechanism not to sever thestaple cartridge assembly 11 Thestaple cartridge assembly 11 and thestaple anvil 12 are separated from each other so that theend effector 1 is opened.

例如，如图18A-18B和图19所示，双向控制按钮94位于手柄9的第一表面01上，与拨盘93开关相邻，并且与拨盘93开关沿手柄9的延伸方向排列，以便于操作者对拨盘93和双向控制按钮94进行操作。例如，双向控制按钮94的第一端在手柄9的延伸方向上与双向控制按钮94的第二端相对，以进一步便于操作双向控制按钮94的第一端941和第二端942。For example, as shown in FIGS. 18A-18B and 19, the two-way control button 94 is located on thefirst surface 01 of thehandle 9, adjacent to thedial 93 switch, and is aligned with thedial 93 switch along the extension direction of thehandle 9, so that It is up to the operator to operate thedial 93 and the two-way control button 94 . For example, the first end of the two-way control button 94 is opposite the second end of the two-way control button 94 in the extending direction of thehandle 9 to further facilitate the operation of the first and second ends 941 and 942 of the two-way control button 94 .

例如，如图18A-18B和图19所示，手柄9还包括安全提示按钮95，安全提示按钮95配置为在双向控制按钮94的第一端941被按压后，且在闭合阶段正常执行完毕之后处于正常闭合提示状态，以提示操作者可继续按压双向控制按钮94的第一端941以执行推钉阶段，且配置为在推钉阶段正常执行完毕之后处于正常缝合提示状态，以提示操作者可继续按压双向控制按钮94的第一端941以执行切割阶段，且配置为在切割阶段正常执行完毕之后处于正常切割提示状态，以提示操作者可按压双向控制按钮94的第二端942以将末端执行器1打开。For example, as shown in Figures 18A-18B and Figure 19, thehandle 9 also includes asafety reminder button 95 configured to be pressed after thefirst end 941 of thebidirectional control button 94 and after the closing phase is normally performed In the normal closing prompt state to prompt the operator that thefirst end 941 of the two-way control button 94 can continue to be pressed to perform the nail push stage, and is configured to be in the normal suture prompt state after the normal execution of the nail push stage to prompt the operator to Continue to press thefirst end 941 of thebidirectional control button 94 to perform the cutting phase, and is configured to be in a normal cutting prompt state after the normal execution of the cutting phase to remind the operator that thesecond end 942 of thebidirectional control button 94 can be pressed to remove the end.Actuator 1 opens.

例如，在正常闭合提示状态、正常缝合提示状态和正常切割提示状态时，安全提示按钮95突出于手柄9的表面，否则，安全提示按钮95凹陷于手柄9的表面或与手柄9的表面基本齐平，以使得操作者在每个阶段通过观察或者触摸安全提示按钮95即可得知每个阶段是否正常进行，从而决定下一步的操作。For example, in the normal closing prompting state, the normal sewing 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 on the surface of thehandle 9 or is substantially flush with the surface of thehandle 9 level, so that the operator can know whether each stage is proceeding normally by observing or touching thesafety prompt button 95 at each stage, so as to decide the next operation.

例如，如图18A-18B和图19所示，手柄9还具有第二表面05，第二表面05与第一表面01相邻且相交，安全提示按钮95位于手柄9的第二表面05上。For example, as shown in FIGS. 18A-18B and FIG. 19 , thehandle 9 also has a second surface 05 adjacent to and intersecting thefirst surface 01 , and asafety reminder button 95 is located on the second surface 05 of thehandle 9 .

本公开至少一实施例提供一种吻合器100主体，示例性地，图20为本公开一实施例提供的一种吻合器100主体的示意图。如图20所示，该吻合器100主体包括本公开实施例提供的任意一种手柄9、以及与手柄9连接的驱动部99。驱动部99整体的延伸方向为轴向，轴向与手柄9的延伸方向相交；驱动部99的远离手柄9的一端与可拆卸部分3可拆卸地连接，且包括电动马达和后摆动驱动构件82；电动马达与拨盘93开关信号连接，拨盘93开关控制电动马达的工作；后摆动驱动构件82与电动马达连接，沿轴向延伸，电动马达配置为在拨盘93开关控制下旋转以驱动后摆动驱动构件82沿轴向移动以驱动末端执行器1摆动，从而可通过操作手柄9上的拨盘93即可控制电动马达的工作，从而控制后摆动驱动构件82的移动，以控制末端执行器1摆动的角度，操作简便。At least one embodiment of the present disclosure provides a main body of astapler 100. Exemplarily, FIG. 20 is a schematic diagram of a main body of astapler 100 provided by an embodiment of the present disclosure. As shown in FIG. 20 , the main body of thestapler 100 includes anyhandle 9 provided in the embodiment of the present disclosure, and a drivingportion 99 connected to thehandle 9 . The overall extension direction of the drivingpart 99 is the axial direction, and the axial direction intersects with the extending direction of thehandle 9; the end of the drivingpart 99 away from thehandle 9 is detachably connected to thedetachable part 3, and includes an electric motor and a rearswinging driving member 82 The electric motor is connected with the switch signal of thedial 93, and thedial 93 switches control the work of the electric motor; the rearswing drive member 82 is connected with the electric motor, extending along the axial direction, and the electric motor is configured to rotate under the control of thedial 93 to drive The rearswing driving member 82 moves 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 to control the movement of the rearswing driving member 82 to control the end effector The swing angle of thedevice 1 is easy to operate.

例如驱动部99与手柄9可拆卸地连接，对于该吻合器100主体，可更换驱动部99，也可更换把手，有利于节约成本。For example, the drivingpart 99 is detachably connected with thehandle 9 . For the main body of thestapler 100 , the drivingpart 99 and the handle can also be replaced, which is beneficial to cost saving.

例如，在拨盘93配置为可朝向第一旋转方向或第二旋转方向按档位旋转时，拨盘93朝向第一拨动方向每旋转一个档位，电动马达正向旋转一个档位以驱动后摆动驱动构件82沿轴向远离手柄9移动一个档位的距离以使末端执行器1朝向第一摆动方向转动一个档位的角度；拨盘93朝向第二拨动方向每旋转一个档位，电动马达反向旋转一个档位以驱动后摆动驱动构件82沿轴向靠近手柄9移动一个档位的距离以使末端执行器1朝向第二摆动方向转动一个档位的角度，从而可通过操作手柄9上的拨盘93实现方便地控制电动马达转动的方向和档位，从而控制后摆动驱动构件82的移动，以控制末端执行器1摆动的角度，操作简便。For example, when thedial 93 is configured to rotate by gears toward the first rotation direction or the second rotation direction, every time thedial 93 rotates toward the first rotation direction by one gear, the electric motor rotates forwardly by one gear to drive The rearswing driving member 82 moves away from thehandle 9 in the axial direction by a distance of one gear to make theend effector 1 rotate by one gear in the first swing direction; each time thedial 93 rotates in the second swing direction by one gear, The electric motor reversely rotates one gear to drive the rearswing drive member 82 to move axially close to thehandle 9 by one gear to rotate theend effector 1 toward the second swing direction by one gear, so that the handle can be operated by Thedial 93 on the 9 realizes convenient control of the rotation direction and gear of the electric motor, thereby controlling the movement of the rearswing driving member 82 to control the swing angle of theend effector 1, and the operation is simple and convenient.

例如，驱动部99还包括第一驱动机构10，第一驱动机构10与后摆动驱动构件82的延伸方向相同且并排设置，第一驱动机构10配置为：在闭合阶段，第一驱动机构10与闭合机构可拆卸地连接以驱动闭合机构将末端执行器1闭合；在闭合阶段之后的推钉阶段，第一驱动机构10与闭合机构分离并驱动推钉组件将吻合钉从钉仓组件11中推出以将目标组织缝合；在切割阶段，第一驱动机构10驱动切割装置对目标组织进行切割。关于第一驱动机构10的具体特征，请参考之前实施例中的描述，在此不再重复。For example, the drivingpart 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 such that in the closing stage, thefirst driving mechanism 10 and The closing mechanism is detachably connected to drive the closing mechanism to close theend effector 1; in the staple push stage after the closing stage, thefirst drive mechanism 10 is disengaged from the closing mechanism and drives the staple push assembly to push the staples out of thestaple cartridge assembly 11 In order to suture the target tissue; in the cutting stage, thefirst driving mechanism 10 drives the cutting device to cut the target tissue. Regarding the specific features of thefirst driving mechanism 10 , please refer to the descriptions in the previous embodiments, which will not be repeated here.

例如，如图20所示，驱动部99位于手柄9的第一表面01上，轴向与第一表面01相交；驱动部99包括与手柄9连接的第一端941和在轴向上远离手柄9的第二端942，第一表面01朝向驱动部99的第二端942，以便于操作者拨动第一表面01上的拨盘93，并且，第二表面05与第一表面01相邻且相交，便于操作者识别第二表面05上的安全提示开关。For example, as shown in FIG. 20 , the drivingpart 99 is located on thefirst surface 01 of thehandle 9 and intersects thefirst surface 01 in the axial direction; the drivingpart 99 includes afirst end 941 connected with thehandle 9 and is axially away from the handle Thesecond end 942 of the 9, thefirst surface 01 faces thesecond end 942 of the drivingpart 99, so that the operator can turn thedial 93 on thefirst surface 01, and the second surface 05 is adjacent to thefirst surface 01 And the intersection is convenient for the operator to identify the safety prompt switch on the second surface 05 .

本公开至少一实施例提供一种吻合器100，该吻合器100包括本公开实施例提供的任意一种吻合器100主体、以及可拆卸部分3。吻合器100的可拆卸部分3与吻合器100的主体部分4可拆卸地连接，可拆卸部分3还包括前摆动驱动组件，前摆动驱动组件与末端执行器1连接，可拆卸部分3与吻合器100主体可拆卸地连接以使前摆动驱动组件与后摆动驱动构件82可拆卸地连接，前摆动驱动组件在后摆动驱动构件82的驱动下驱动末端执 行器1摆动。前摆动驱动组件和后摆动构件的具体结构请参考之前实施例中的描述，在此不再重复。At least one embodiment of the present disclosure provides astapler 100 , and thestapler 100 includes any one of thestapler 100 main bodies provided in the embodiments of the present disclosure, and adetachable part 3 . Thedetachable part 3 of thestapler 100 is detachably connected with themain body part 4 of thestapler 100, and thedetachable part 3 further includes a front swing driving assembly, which is connected with theend effector 1, and thedetachable part 3 is connected with the stapler Themain body 100 is detachably connected so that the front swing driving assembly and the rearswing driving member 82 are detachably connected, and the front swing driving assembly drives theend effector 1 to swing under the driving of the rearswing driving member 82 . For the specific structures of the front swing drive assembly and the rear swing member, please refer to the descriptions in the previous embodiments, which will not be repeated here.

例如，对于包括本公开实施例提供的任一吻合器100主体的吻合器100，可拆卸部分3还包括第二驱动机构20，沿轴向延伸；可拆卸部分3与吻合器100主体连接以使第二驱动机构20与第一驱动机构10可拆卸地连接；第二驱动机构20配置为在闭合阶段与闭合机构可拆卸地连接且在第一驱动机构10的驱动下朝向末端执行器1移动而使闭合机构将末端执行器1闭合；第二驱动机构20还配置为在推钉阶段与闭合机构分离，且在第一驱动机构10的驱动下继续朝向末端执行器1的第二端942移动以驱动推钉组件将吻合钉从钉仓组件11中推出；第二驱动机构20还配置为：在切割阶段，第二驱动机构20在第一驱动机构10的驱动下驱动切割装置对目标组织进行切割。第二驱动机构20和第一驱动机构10的具体结构请参考之前实施例中的描述，在此不再重复。For example, for thestapler 100 including the main body of anystapler 100 provided in the embodiments of the present disclosure, thedetachable part 3 further includes asecond driving mechanism 20 extending in the axial direction; thedetachable part 3 is connected with the main body of thestapler 100 to make Thesecond drive mechanism 20 is detachably connected to thefirst drive mechanism 10 ; thesecond drive mechanism 20 is configured to be detachably connected to the closing mechanism during the closing phase and to move toward theend effector 1 under the drive of thefirst drive mechanism 10 . The closing mechanism is made to close theend effector 1; thesecond drive mechanism 20 is also configured to be disengaged from the closing mechanism during the nail pushing stage and continue to move towards thesecond end 942 of theend effector 1 under the drive of thefirst drive mechanism 10 to The staple pushing assembly is driven to push out the staples from thestaple cartridge assembly 11 ; thesecond driving 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 . For the specific structures of thesecond driving mechanism 20 and thefirst driving mechanism 10, please refer to the descriptions in the previous embodiments, which will not be repeated here.

以上所述仅是本发明的示范性实施方式，而非用于限制本发明的保护范围，本发明的保护范围由所附的权利要求确定。The above descriptions are only exemplary embodiments of the present invention, and are not intended to limit the protection scope of the present invention, which is determined by the appended claims.

Claims (31)

Translated fromChinese

一种吻合器，包括：A stapler comprising:末端执行器，包括钉仓组件和钉砧，其中，所述钉仓组件中设置有吻合钉；an end effector, including a staple cartridge assembly and a staple anvil, wherein the staple cartridge assembly is provided with staples;闭合机构，配置为驱动钉仓组件和所述钉砧对合以使所述末端执行器闭合；a closure mechanism configured to drive the staple cartridge assembly and the staple anvil into engagement to close the end effector;推钉组件，配置为将所述吻合钉从所述钉仓组件中推出；以及a staple pusher assembly configured to push the staples out of the staple cartridge assembly; and第一驱动机构，其中，所述第一驱动机构配置为：在闭合阶段，所述第一驱动机构与所述闭合机构可拆卸地连接以驱动所述闭合机构将所述末端执行器闭合；在闭合阶段之后的推钉阶段，所述第一驱动机构与所述闭合机构分离并驱动所述推钉组件将所述吻合钉从所述钉仓组件中推出。a first drive mechanism, wherein the first drive mechanism is configured to: in a closing stage, the first drive mechanism is detachably connected to the closing mechanism to drive the closing mechanism to close the end effector; In the staple pushing stage following the closing stage, the first drive mechanism is disengaged from the closing mechanism and drives the staple pushing assembly to push the staples out of the staple cartridge assembly.根据权利要求1所述的吻合器，其中，在所述第一驱动机构驱动所述闭合机构将所述末端执行器闭合的闭合阶段以及驱动所述推钉组件将所述吻合钉从所述钉仓组件中推出的推钉阶段，所述第一驱动机构朝向所述末端执行器移动。9. The stapler of claim 1, wherein the first drive mechanism drives the closure mechanism to close the end effector during a closure phase and drives the staple push assembly to remove the staples from the staples The first drive mechanism moves toward the end effector during the push-pin phase pushed out of the cartridge assembly.根据权利要求1所述的吻合器，还包括：The stapler of claim 1, further comprising:第二驱动机构，与所述第一驱动机构连接，在所述闭合阶段与所述闭合机构可拆卸地连接且配置为在所述第一驱动机构的驱动下朝向所述末端执行器移动而使所述闭合机构与所述钉仓组件和钉砧接触并对所述钉仓组件和钉砧施加压力以使所述末端执行器闭合；a second drive mechanism, connected to the first drive mechanism, removably connected to the closure mechanism during the closing phase and configured to move toward the end effector under the drive of the first drive mechanism to cause the closure mechanism contacts the staple cartridge assembly and the staple anvil and applies pressure to the staple cartridge assembly and the staple anvil to close the end effector;所述第二驱动机构还配置为在所述推钉阶段与所述闭合机构分离，且在所述第一驱动机构的驱动下驱动所述推钉组件将所述吻合钉从所述钉仓组件中推出。The second drive mechanism is further configured to be disengaged from the closure mechanism during the staple push stage, and to drive the staple push assembly to remove the staples from the cartridge assembly under the actuation of the first drive mechanism launched in.根据权利要求3所述的吻合器，其中，所述吻合器包括主体部分和可拆卸部分，所述可拆卸部分与所述主体部分可拆卸地连接；The stapler of claim 3, wherein the stapler includes a body portion and a detachable portion, the detachable portion being detachably connected to the body portion;所述第一驱动机构位于所述主体部分，所述第二驱动机构、所述闭合机、所述推钉组件和所述末端执行器构位于所述可拆卸部分，所述可拆卸部分与所述主体部分连接以使所述第二驱动机构与所述第一驱动机构可拆卸地连接。The first drive mechanism is located on the main body portion, the second drive mechanism, the closure machine, the push nail assembly and the end effector mechanism are located on the detachable portion, the detachable portion is connected to the The body portion is connected to removably connect the second drive mechanism to the first drive mechanism.根据权利要求4所述的吻合器，其中，所述第一驱动机构与所述第二驱动机构的延伸方向为轴向，所述第一驱动机构包括在所述轴向上远离所述末端执行器的第一端和与其第一端相对的第二端，所述第二驱动机构包括在所述轴向上的靠近所述第一驱动机构的第一端和远离所述第一驱动机构的第二端；The stapler according to claim 4, wherein the extending directions of the first driving mechanism and the second driving mechanism are axial directions, and the first driving mechanism includes performing an operation away from the distal end in the axial direction. a first end of the actuator and a second end opposite to its first end, the second drive mechanism includes a first end in the axial direction close to the first drive mechanism and a first end away from the first drive mechanism second end;所述第一驱动机构的第二端与所述第二驱动机构的第一端可拆卸地连接，所述第一驱动机构沿所述轴向移动从而驱动所述第二驱动结构沿所述轴向移动。The second end of the first drive mechanism is detachably connected to the first end of the second drive mechanism, and the first drive mechanism moves along the axis to drive the second drive mechanism along the axis to move.根据权利要求5所述的吻合器，其中，所述第一驱动机构为单一驱动杆。6. The stapler of claim 5, wherein the first drive mechanism is a single drive rod.根据权利要求5所述的吻合器，其中，所述吻合器还包括电动驱动机构，所述第一驱动机构的第一端与所述电动驱动机构连接，所述电动驱动机构驱动所述第一驱动机构沿所述轴向移动。The stapler according to claim 5, wherein the stapler further comprises an electric driving mechanism, the first end of the first driving mechanism is connected with the electric driving mechanism, and the electric driving mechanism drives the first driving mechanism The drive mechanism moves along the axial direction.根据权利要求3所述的吻合器，还包括：The stapler of claim 3, further comprising:可分离连接结构，配置为在所述闭合阶段与所述闭合机构和所述第二驱动机构连接从 而随着所述第二驱动机构的移动而朝向所述末端执行器移动，以驱动所述闭合机构朝向所述末端执行器移动以使所述末端执行器闭合，且配置为在所述闭合机构驱动所述末端执行器闭合之后与所述闭合机构分离或与所述第二驱动机构分离从而停止驱动所述闭合机构移动。A detachable connection structure configured to connect with the closure mechanism and the second drive mechanism during the closure phase to move toward the end effector with movement of the second drive mechanism to drive the closure A mechanism moves toward the end effector to close the end effector and is configured to disengage from the closing mechanism or disengage from the second drive mechanism to stop after the closing mechanism drives the end effector to close The closing mechanism is driven to move.根据权利要求8所述的吻合器，其中，所述可分离连接结构与所述第二驱动机构可拆卸地连接，且与所述闭合机构可拆卸地连接；或者，8. The stapler of claim 8, wherein the detachable connection structure is detachably connected to the second drive mechanism and to the closure mechanism; or,所述可分离连接结构与所述第二驱动机构和所述闭合机构中的一者固定连接，且与所述第二驱动机构和所述闭合机构中的另一者可拆卸连接。The detachable connection structure is fixedly connected to one of the second driving mechanism and the closing mechanism, and is detachably connected to the other of the second driving mechanism and the closing mechanism.根据权利要求8所述的吻合器，其中，所述第一驱动机构与所述第二驱动机构的延伸方向为轴向，垂直于所述轴向的方向为纵向，所述可分离连接结构包括在所述纵向上的第一端和第二端；The stapler according to claim 8, wherein the extending direction of the first driving mechanism and the second driving mechanism is an axial direction, and a direction perpendicular to the axial direction is a longitudinal direction, and the separable connecting structure comprises: first and second ends in said longitudinal direction;所述第二驱动机构包括第一连接结构，所述闭合机构包括第二连接结构；the second drive mechanism includes a first connection structure, and the closing mechanism includes a second connection structure;在所述可分离连接结构驱动所述闭合机构朝向所述末端执行器移动的过程中，所述可分离连接结构的第一端通过所述第一连接结构与所述第二驱动机构连接，所述可分离连接结构的第二端通过所述第二连接结构与所述闭合机构连接；In the process that the detachable connecting structure drives the closing mechanism to move toward the end effector, the first end of the detachable connecting structure is connected with the second driving mechanism through the first connecting structure, so the second end of the detachable connecting structure is connected with the closing mechanism through the second connecting structure;所述可分离连接结构配置为可相对于所述第一连接结构和所述第二连接结构沿所述纵向移动而使所述可分离连接结构的第二端与所述闭合机构分离或使所述可分离连接结构的第一端与所述第二驱动机构分离。The separable connecting structure is configured to be movable in the longitudinal direction relative to the first connecting structure and the second connecting structure to disengage the second end of the separable connecting structure from the closing mechanism or to cause all The first end of the detachable connection structure is detached from the second drive mechanism.根据权利要求10所述的吻合器，其中，所述吻合器还包括分离驱动结构，所述分离驱动结构配置为在所述末端执行器闭合之后给所述可分离连接结构施加沿所述纵向的驱动力以使所述可分离连接结构在所述驱动力的作用下沿所述纵向移动而使所述可分离连接结构的第二端与所述闭合机构分离或使所述可分离连接结构的第一端与所述第二驱动机构分离。11. The stapler of claim 10, wherein the stapler further comprises a disengagement drive structure configured to apply a longitudinal force to the separable connection structure after the end effector is closed A driving force to cause the separable connecting structure to move in the longitudinal direction under the action of the driving force to separate the second end of the separable connecting structure from the closing mechanism or to separate the second end of the separable connecting structure from the closing mechanism. The first end is separated from the second drive mechanism.根据权利要求11所述的吻合器，其中，所述第一连接结构为设置于所述第二驱动机构的凹槽，所述可分离连接结构包括主体部和从所述主体部的第一表面凸出的第一凸台，所述主体部的第一表面面向所述凹槽，所述第一凸台位于所述可分离连接结构的第一端；在所述闭合阶段，所述可分离连接结构的主体部驱动所述闭合机构沿所述轴向移动，所述第一凸台部分嵌设于所述凹槽中以使得所述可分离连接结构随着所述第二驱动机构的移动而朝向所述末端执行器移动；The stapler of claim 11, wherein the first connecting structure is a groove provided in the second driving mechanism, the detachable connecting structure comprising a main body portion and a first surface from the main body portion a protruding first boss, the first surface of the main body part faces the groove, the first boss is located at the first end of the separable connecting structure; in the closing stage, the separable The main part of the connecting structure drives the closing mechanism to move along the axial direction, and the first boss part is embedded in the groove so that the detachable connecting structure moves with the second driving mechanism while moving towards the end effector;所述第一凸台包括第一倾斜面，所述第一倾斜面与所述轴向和所述纵向相交；所述分离驱动结构位于所述可分离连接结构的靠近所述末端执行器的一侧；在所述可分离连接结构驱动所述闭合机构沿所述轴向朝向所述末端执行器移动以使所述末端执行器闭合之后，所述分离驱动结构与所述第一倾斜面接触从而给所述第一倾斜面施加所述沿轴向的阻力和沿所述纵向的驱动力，所述可分离连接结构在所述沿纵向的驱动力的作用下沿所述纵向移动。The first boss includes a first inclined surface, and the first inclined surface intersects the axial direction and the longitudinal direction; the separation driving structure is located at a part of the detachable connecting structure close to the end effector; side; after the detachable connecting structure drives the closing mechanism to move toward the end effector in the axial direction to close the end effector, the detachable driving structure contacts the first inclined surface to thereby The resistance in the axial direction and the driving force in the longitudinal direction are applied to the first inclined surface, and the detachable connecting structure moves in the longitudinal direction under the action of the driving force in the longitudinal direction.根据权利要求12所述的吻合器，其中，所述分离驱动结构包括第一屏障斜面，所 述第一屏障斜面与所述轴向和所述纵向相交，且配置为在所述可分离连接结构驱动所述闭合机构沿所述轴向朝向所述末端执行器移动以使所述末端执行器闭合后与所述第一凸台的所述第一倾斜面接触以给所述第一倾斜面施加所述沿轴向的阻力和所述沿纵向的驱动力，所述第一屏障斜面与所述第一倾斜面平行。13. The stapler of claim 12, wherein the separation drive structure includes a first barrier ramp, the first barrier ramp intersecting the axial direction and the longitudinal direction, and configured to be in the separable connection structure The closing mechanism is driven to move toward the end effector along the axial direction, so that the end effector is in contact with the first inclined surface of the first boss after being closed to apply pressure to the first inclined surface For the resistance in the axial direction and the driving force in the longitudinal direction, the first barrier slope is parallel to the first slope.根据权利要求13所述的吻合器，其中，所述第一倾斜面与所述轴向的夹角中靠近末端执行器的夹角为钝角，所述可分离连接结构在所述沿纵向的驱动力的作用下沿所述纵向远离所述闭合机构移动而与所述闭合机构分离；或者，The stapler according to claim 13, wherein the included angle between the first inclined surface and the axial direction close to the end effector is an obtuse angle, and the detachable connecting structure is driven in the longitudinal direction. moving away from the closure mechanism in the longitudinal direction under the action of a force to separate from the closure mechanism; or,所述第一倾斜面与所述轴向的夹角中靠近末端执行器的夹角为锐角，所述可分离连接结构在所述沿纵向的驱动力的作用下沿所述纵向靠近所述闭合机构移动而与所述第二驱动机构分离。Among the included angles between the first inclined surface and the axial direction, the included angle close to the end effector is an acute angle, and the detachable connecting structure approaches the closure along the longitudinal direction under the action of the driving force along the longitudinal direction. The mechanism moves away from the second drive mechanism.根据权利要求13所述的吻合器，其中，所述吻合器还包括固定支架，所述闭合机构设置于所述固定支架上，所述固定支架包括：The stapler according to claim 13, wherein the stapler further comprises a fixing bracket, the closing mechanism is arranged on the fixing bracket, and the fixing bracket comprises:第一滑槽，沿所述轴向延伸；以及a first chute extending along the axial direction; and第二滑槽，沿所述轴向延伸，与所述第一滑槽连通，位于所述第一滑槽的靠近所述末端执行器的一侧，且包括在横向上彼此相对的第一槽壁和第二槽壁，其中，所述横向与所述轴向和所述纵向垂直，所述第一槽壁用作所述分离驱动结构，所述第一槽壁的朝向所述可分离连接结构的面具有所述第一屏障斜面；A second chute, extending in the axial direction, communicated with the first chute, is located on a side of the first chute close to the end effector, and includes first slots opposite to each other in the lateral direction a wall and a second groove wall, wherein the transverse direction is perpendicular to the axial direction and the longitudinal direction, the first groove wall serves as the separation drive structure, and the first groove wall faces the detachable connection a face of the structure has the first barrier slope;在所述闭合阶段，所述可分离连接结构的主体部与所述闭合结构连接，随着所述第二驱动机构沿所述轴向朝向所述末端执行器移动，所述可分离连接结构的主体部在所述第一滑槽中朝向所述末端执行器移动以驱动所述闭合机构朝向所述末端执行器移动；During the closing stage, the main body portion of the separable connecting structure is connected to the closing structure, and as the second drive mechanism moves toward the end effector in the axial direction, the detachable connecting structure has a the body portion moves in the first chute toward the end effector to drive the closure mechanism toward the end effector;在所述闭合阶段之后，所述可分离连接结构的主体部的在所述轴向上的至少部分进入所述第二滑槽中以使所述第一屏障斜面与所述第一倾斜面接触。After the closing stage, at least a portion of the main body portion of the separable connection structure in the axial direction enters the second chute to bring the first barrier sloped surface into contact with the first sloped surface .根据权利要求15所述的吻合器，其中，所述可分离连接结构还包括：16. The stapler of claim 15, wherein the separable connection structure further comprises:第二凸台，从所述主体部的第二表面上凸出且位于所述可分离连接结构的第一端，包括与所述轴向和所述纵向相交的第二倾斜面，其中，所述第二表面与所述第一表面相对；A second boss, protruding from the second surface of the main body portion and located at the first end of the separable connecting structure, includes a second inclined surface intersecting the axial direction and the longitudinal direction, wherein the the second surface is opposite to the first surface;所述第二槽壁也用作所述分离驱动结构，并包括朝向所述可分离连接结构的第二屏障斜面，所述第二屏障斜面配置为与所述第二倾斜面接触以给所述第二倾斜面施加所述沿轴向的阻力和所述沿纵向的驱动力且与所述第二倾斜面平行；The second slot wall also serves as the separation drive structure and includes a second barrier ramp facing the separable connecting structure, the second barrier ramp being configured to contact the second ramp to provide the The second inclined surface applies the resistance in the axial direction and the driving force in the longitudinal direction and is parallel to the second inclined surface;在所述闭合阶段之后，所述可分离连接结构的主体部的在所述轴向上的至少部分进入所述第二滑槽中，且所述第一凸台和所述第二凸台被所述第一槽壁和所述第二槽壁阻挡于所述第二滑槽之外以使所述第一屏障斜面与所述第一倾斜面接触、以及所述第二屏障斜面与所述第二倾斜面接触。After the closing stage, at least part of the main body portion of the separable connecting structure in the axial direction enters the second chute, and the first boss and the second boss are The first slot wall and the second slot wall are blocked from the second chute so that the first barrier slope is in contact with the first slope, and the second barrier slope is in contact with the The second inclined surface contacts.根据权利要求16所述的吻合器，其中，所述第一滑槽的在所述横向上的宽度大于所述第二滑槽在所述横向上的宽度，所述第二滑槽在所述横向上的宽度大于所述主体部的宽度且小于所述第一凸台的宽度、所述主体部的宽度和所述第二凸台的宽度之和。The stapler of claim 16, wherein the width of the first chute in the lateral direction is greater than the width of the second chute in the lateral direction, the second chute being in the lateral direction The width in the lateral direction is larger than the width of the main body part and smaller than the sum of the width of the first boss, the width of the body part and the width of the second boss.根据权利要求17所述的吻合器，其中，所述第二滑槽的沿所述轴向的长度小于所 述第一滑槽的沿所述轴向的长度。The stapler of claim 17, wherein the length of the second chute in the axial direction is smaller than the length of the first chute in the axial direction.根据权利要求10-18任一所述的吻合器，其中，所述闭合机构为套设于所述第二驱动机构外侧的套筒，所述第二连接结构为贯穿所述套筒的筒壁的连接孔，所述可分离连接结构的第二端可拆卸地插接于所述连接孔中。The stapler according to any one of claims 10-18, wherein the closing mechanism is a sleeve sleeved on the outside of the second driving mechanism, and the second connecting structure is a cylindrical wall penetrating the sleeve The second end of the detachable connecting structure is detachably inserted into the connecting hole.根据权利要求3-18任一所述的吻合器，其中，所述闭合机构为套设于所述第二驱动机构外侧的套筒，所述钉仓组件包括靠近所述套筒的第一端，所述钉砧包括靠近所述套筒的第一端；The stapler according to any one of claims 3-18, wherein the closing mechanism is a sleeve sleeved on the outside of the second driving mechanism, and the staple cartridge assembly includes a first end close to the sleeve , the anvil includes a first end close to the sleeve;在所述闭合阶段，所述第二驱动机构在所述第一驱动机构的驱动下朝向所述末端执行器移动而驱动所述套筒朝向所述末端执行器移动从而使所述套筒套设于所述钉仓组件的第一端和所述钉砧的第一端上而对所述钉仓组件的第一端和所述钉砧的第一端施加压力以使所述末端执行器闭合。In the closing stage, the second driving mechanism is driven by the first driving mechanism to move toward the end effector to drive the sleeve to move toward the end effector, so that the sleeve is sleeved applying pressure to the first end of the staple cartridge assembly and the first end of the staple anvil to close the end effector .根据权利要求20所述的吻合器，其中，所述末端执行器的靠近所述套筒的一端包括引导斜面，所述引导斜面与所述轴向和所述纵向具有夹角，所述引导斜面包括在所述轴向上靠近所述套筒的第一端和远离所述套筒的第二端，在所述纵向上所述第一端也比所述第二端更靠近所述套筒；21. The stapler of claim 20, wherein an end of the end effector near the sleeve includes a guide slope, the guide slope having an included angle with the axial direction and the longitudinal direction, the guide slope including a first end proximate the sleeve in the axial direction and a second end remote from the sleeve, the first end also being closer to the sleeve than the second end in the longitudinal direction ;在所述闭合阶段，所述套筒在与所述钉仓组件和所述钉砧接触之前与所述引导斜面接触且沿所述引导斜面朝向所述钉仓组件和所述钉砧滑动。During the closing phase, the sleeve contacts and slides along the guide ramps toward the cartridge assembly and the anvil prior to contact with the cartridge assembly and the anvil.根据权利要求20所述的吻合器，其中，所述套筒的筒壁包括曲面，所述钉仓组件的第一端和所述钉砧的第一端中的至少一者包括呈曲面的受力面，所述受力面配置为与所述套筒接触并承受所述套筒所施加的压力。21. The stapler of claim 20, wherein the barrel wall of the sleeve includes a curved surface and at least one of the first end of the cartridge assembly and the first end of the staple anvil includes a curved surface A force surface, the force bearing surface is configured to be in contact with the sleeve and to withstand the pressure exerted by the sleeve.根据权利要求22所述的吻合器，其中，所述套筒包括与所述受力面接触的内表面，所述内表面为曲面；所述受力面的曲率与所述套筒的内表面的曲率相等。The stapler of claim 22, wherein the sleeve includes an inner surface in contact with the force-receiving surface, the inner surface is a curved surface; the curvature of the force-receiving surface is consistent with the inner surface of the sleeve of equal curvature.根据权利要求3-18任一所述的吻合器，其中，所述推钉组件包括：The stapler of any one of claims 3-18, wherein the staple push assembly comprises:推钉片，配置为给所述吻合钉施加压力以将所述吻合钉从所述钉仓推出；a staple pusher blade configured to apply pressure to the staples to push the staples out of the staple cartridge;推钉滑块，配置为给所述推钉片施加压力以驱动所述推钉片给所述吻合钉施加推钉压力；以及a pusher slider configured to apply pressure to the pusher blade to drive the pusher blade to apply a pusher pressure to the staples; and推钉驱动机构，配置为在所述第一驱动结构和所述第二驱动机构的驱动下沿所述轴向移动以驱动所述推钉滑块沿所述轴向移动，从而所述推钉滑块与所述推钉片接触以给所述推钉片施加所述推钉压力。A nail pushing driving mechanism configured to move along the axial direction under the driving of the first driving structure and the second driving mechanism to drive the nail pushing slider to move along the axial direction, so that the nail pushing The slider is in contact with the nail pushing piece to apply the nail pushing pressure to the nail pushing piece.根据权利要求24所述的吻合器，其中，在进行推钉之前，所述推钉驱动机构与所述第二驱动机构连接，随着所述第二驱动机构的移动而移动至与所述推钉滑块接触。The stapler according to claim 24, wherein before pushing the nail, the push nail driving mechanism is connected with the second driving mechanism, and moves to be connected with the pushing mechanism with the movement of the second driving mechanism. Nail slider contacts.根据权利要求24所述的吻合器，其中，在进行推钉之前，所述推钉驱动机构位于所述第二驱动机构的靠近所述推钉滑块的一侧且与所述第二驱动机构之间具有间隔，所述第二驱动机构沿所述轴向朝向末端执行器移动经过所述间隔之后与所述推钉滑块连接。The stapler according to claim 24, wherein before the staple pushing, the driving mechanism for driving the staple is located on a side of the second driving mechanism close to the sliding block for driving the staple and is connected with the second driving mechanism There is an interval therebetween, and the second driving mechanism moves toward the end effector along the axial direction after passing through the interval and is connected with the push nail slider.根据权利要求1-18任一所述的吻合器，其中，在所述推钉阶段之后，所述第一驱动机构还配置为驱动所述闭合机构远离所述末端执行器移动以使所述钉仓组件和所述钉砧 彼此远离从而使所述末端执行器打开。19. The stapler of any one of claims 1-18, wherein, after the staple pushing stage, the first drive mechanism is further configured to drive the closure mechanism away from the end effector to move the staples The cartridge assembly and the anvil move away from each other to open the end effector.根据权利要求27所述的吻合器，还包括：The stapler of claim 27, further comprising:第一弹性构件，与所述闭合机构连接，其中，在所述闭合阶段，所述闭合机构朝向所述末端执行器移动以使所述末端执行器闭合且使所述第一弹性构件发生弹性形变；a first elastic member connected to the closing mechanism, wherein during the closing phase, the closing mechanism moves toward the end effector to close the end effector and elastically deform the first elastic member ;在所述推钉阶段之后，所述闭合机构在发生弹性形变的所述第一弹性构件在其弹性回复力的作用下远离所述末端执行器移动。After the nail pushing stage, the closure mechanism moves away from the end effector under the action of the elastic restoring force of the elastically deformed first elastic member.根据权利要求28所述的吻合器，其中，在所述吻合器包括第二驱动机构时，所述闭合机构为套设于所述第二驱动机构外侧的套筒；所述套筒包括从所述套筒的内壁朝向所述内侧突出的卡持结构，所述第一弹性构件位于所述卡持结构的靠近所述末端执行器的一侧以配置为随着所述闭合机构朝向所述末端执行器移动而被压缩。The stapler according to claim 28, wherein when the stapler includes a second driving mechanism, the closing mechanism is a sleeve sleeved on the outside of the second driving mechanism; The inner wall of the sleeve protrudes toward the inner side of the clamping structure, the first elastic member is located on the side of the clamping structure close to the end effector to be configured to follow the closing mechanism toward the end The actuator moves and is compressed.根据权利要求28所述的吻合器，其中，在所述吻合器包括第二驱动机构时，所述闭合机构为套设于所述第二驱动机构外侧的套筒；所述套筒包括从所述套筒的内壁朝向所述内侧突出的卡持结构，所述第一弹性构件位于所述卡持结构的靠近所述末端执行器的一侧以配置为随着所述闭合机构朝向所述末端执行器移动而被拉伸。The stapler according to claim 28, wherein when the stapler includes a second driving mechanism, the closing mechanism is a sleeve sleeved on the outside of the second driving mechanism; The inner wall of the sleeve protrudes toward the inner side of the clamping structure, the first elastic member is located on the side of the clamping structure close to the end effector to be configured to follow the closing mechanism toward the end The actuator moves and is stretched.根据权利要求1-18任一所述的吻合器，其中，所述钉仓组件和钉砧对合以夹持目标组织，所述推钉组件将所述吻合钉从所述钉仓组件中推出后，所述吻合钉进入所述目标组织以将所述目标组织缝合；The stapler of any one of claims 1-18, wherein the staple cartridge assembly and the staple anvil are engaged to clamp the target tissue, and the staple pusher assembly pushes the staples out of the staple cartridge assembly Afterwards, the staples enter the target tissue to suture the target tissue;所述吻合器还包括切割装置，所述第一驱动机构还配置为驱动所述切割装置对所述目标组织进行切割。The stapler further includes a cutting device, and the first drive mechanism is further configured to drive the cutting device to cut the target tissue.

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