WO2023143313A1 - Surgical instrument - Google Patents

Abstract

A surgical instrument, comprising: an electric module; a clutch mechanism driven by the electric module, the clutch mechanism alternatively driving the movement of a jaw assembly and the movement of a cutter assembly, and the surgical instrument having a first state and a second state, wherein, in the first state, the electric module is connected to the clutch mechanism and, in the second state, the electric module is disengaged from the clutch mechanism; and a manual return mechanism, comprising a manual operating member (70) capable of moving in a first direction; the movement of the manual operating member (70) in the first direction makes the surgical instrument switch from the first state to the second state and, in the second state, the movement of the manual operating member (70) in the first direction drives the clutch mechanism to alternately drive the cutter assembly to execute a retracting action and drive the jaw assembly to execute an opening action. By means of one manual operating member (70), the present surgical instrument can implement forced reset in all cases of power failure, and operation is simple.

Description

Translated fromChinese

外科器械Surgical Instruments

相关申请related application

本申请要求于2022年1月25日提交至中国专利局、申请号为202210086078.4，申请名称为“一种外科器械”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application with the application number 202210086078.4 and the application name "A Surgical Instrument" submitted to the China Patent Office on January 25, 2022, the entire contents of which are incorporated in this application by reference.

技术领域technical field

本申请涉及医疗器械技术领域，特别是涉及一种外科器械。The present application relates to the technical field of medical instruments, in particular to a surgical instrument.

背景技术Background technique

目前，外科器械例如电动吻合器，已经在腹腔、胸腔和盆腔等体腔内手术中得到广泛应用。At present, surgical instruments such as electric staplers have been widely used in intracorporeal operations such as abdominal cavity, thoracic cavity and pelvic cavity.

电动吻合器包括电池和电机，电池为电机提供电力，电机连接并驱动传动机构，传动机构驱动端部执行器执行闭合和开启动作，并且驱动切割刀组件执行击发(包括切割和吻合)和退刀动作。The electric stapler includes a battery and a motor, the battery provides power for the motor, the motor is connected and drives the transmission mechanism, the transmission mechanism drives the end effector to perform closing and opening actions, and drives the cutting knife assembly to perform firing (including cutting and stapling) and knife retraction action.

当电动吻合器的端部执行器中夹持有组织时，如果切割刀组件位于终止位置或者位于终止位置与初始位置之间的中间位置，首先驱动切割刀组件向后移动(即退刀)至初始位置，此时可以打开端部执行器，取出被其夹持的组织。初始位置是指切割刀组件未击发时的位置，终止位置是指切割刀组件击发到底的位置。When the tissue is clamped in the end effector of the electric stapler, if the cutting knife assembly is located at the end position or at an intermediate position between the end position and the initial position, the cutting knife assembly is first driven to move backward (i.e. retract) to The initial position, at which point the end effector can be opened and the tissue held by it can be removed. The initial position refers to the position when the cutting knife assembly is not fired, and the end position refers to the position where the cutting knife assembly is fired to the bottom.

切割刀组件具有使得端部执行器保持闭合的机械结构，因此，当切割刀组件处于终止位置或中间位置时，端部执行器无法打开。在电动外科器械工作过程中，一旦发生电力方面的故障，电机无法驱动传动机构，因此切割刀组件无法自终止位置或者中间位置退回至初始位置，进而端部执行器无法打开以松开和取出其夹持的组织。The cutter assembly has a mechanical structure that keeps the end effector closed so that the end effector cannot be opened when the cutter assembly is in the end or intermediate position. During the working process of the electric surgical instrument, once a power failure occurs, the motor cannot drive the transmission mechanism, so the cutting knife assembly cannot return to the initial position from the stop position or the intermediate position, and the end effector cannot be opened to loosen and remove it. clamped tissue.

为解决上述问题，增加电动吻合器的使用安全性，现有技术中的电动吻合器具有强制复位装置，实现包括切割刀组件退刀和钳口打开(即端部执行器打开)的动作，强制复位装置包括动力脱开操作件、手动退刀操作件和手动打开钳口操作件，手动退刀操作件和手动打开钳口操作件均不通过电机而直接连接到传动机构，动力脱开操作件可将电机与传动机构之间的传动切断，以使得手动退刀操作件和手动打开钳口操作件的人工动力传输到传动机构。当发生电力故障时，首先，用户操作动力脱开操作件，使得电机与传动机构脱离，从而使得电机与传动机构不再连接；然后，用户操作手动退刀操作件以驱动传动机构执行退刀动作；最后，用户操作手动打开钳口操作件以驱动传动机构执行打开钳口动作，将夹持的组织自钳口中移除。然而，上述供手动操作的操作件为多个，布置在吻合器的不同位置，且具有明确的操作顺序，使用不便。In order to solve the above problems and increase the safety of the electric stapler, the electric stapler in the prior art has a forced reset device to realize the actions including the retraction of the cutting knife assembly and the opening of the jaws (that is, the opening of the end effector). The reset device includes a power disengaging operating part, a manual retracting operating part and a manual opening jaw operating part, both of which are directly connected to the transmission mechanism without a motor, and the power disengaging operating part The transmission between the motor and the transmission mechanism can be cut off, so that the manual power of the manual knife retracting operation part and the manual opening of the jaw operation part is transmitted to the transmission mechanism. When a power failure occurs, first of all, the user operates the power to disengage the operating member, so that the motor is separated from the transmission mechanism, so that the electric motor The machine is no longer connected to the transmission mechanism; then, the user operates the manual retraction operation part to drive the transmission mechanism to perform the retraction action; finally, the user operates the manual opening jaw operation part to drive the transmission mechanism to perform the action of opening the jaws, and the clamped Tissue is removed from the jaws. However, there are multiple operating elements for manual operation, arranged in different positions of the stapler, and have a clear sequence of operations, which is inconvenient to use.

申请内容application content

针对现有技术的不足，本申请旨在提供一种外科器械，在发生电力故障时，用户通过简单操作能实现强制复位，使得钳口组件张开，将夹持的组织自钳口中移除。Aiming at the deficiencies of the prior art, the present application aims to provide a surgical instrument. When a power failure occurs, the user can realize a forced reset through a simple operation, so that the jaw assembly is opened, and the clamped tissue is removed from the jaw.

具体的，本申请包括以下技术方案：Specifically, this application includes the following technical solutions:

一种外科器械，包括：A surgical instrument comprising:

电动模块；electric module;

钳口组件；jaw assembly;

切割刀组件；cutter assembly;

传动机构，包括离合机构，电动模块通过离合机构择一地驱动钳口组件运动和驱动切割刀组件运动；外科器械具有第一状态和第二状态，在第一状态下，电动模块与离合机构连接，在第二状态下，电动模块与离合机构脱开；The transmission mechanism includes a clutch mechanism. The electric module drives the movement of the jaw assembly and the cutting knife assembly through the clutch mechanism; the surgical instrument has a first state and a second state. In the first state, the electric module is connected to the clutch mechanism , in the second state, the electric module is disengaged from the clutch mechanism;

手动返回机构，包括能够沿第一方向运动的手动操作件；a manual return mechanism, including a manual operating member capable of moving in a first direction;

手动操作件沿第一方向运动使得外科器械从第一状态切换到第二状态，并且在第二状态下，手动操作件沿第一方向运动以驱动离合机构择一地驱动切割刀组件执行退刀动作和驱动钳口组件执行打开动作。The manual operation part moves along the first direction to switch the surgical instrument from the first state to the second state, and in the second state, the manual operation part moves along the first direction to drive the clutch mechanism to drive the cutting knife assembly to perform knife retraction The action and drive jaw assembly performs the opening action.

进一步的，传动机构还包括输入件，输入件具有第一位置和第二位置，输入件位于第一位置时，电动模块通过输入件与离合机构连接；手动操作件沿第一方向运动以驱动输入件从第一位置运动至第二位置；输入件位于第二位置时，输入件与电动模块或离合机构脱开，以使得电动模块与离合机构脱开。Further, the transmission mechanism also includes an input member, the input member has a first position and a second position, when the input member is in the first position, the electric module is connected with the clutch mechanism through the input member; the manual operation member moves along the first direction to drive the input The part moves from the first position to the second position; when the input part is in the second position, the input part is disengaged from the electric module or the clutch mechanism, so that the electric module is disengaged from the clutch mechanism.

进一步的，手动返回机构还包括返回传动组件，手动操作件通过返回传动组件驱动离合机构；Further, the manual return mechanism also includes a return transmission assembly, and the manual operation part drives the clutch mechanism through the return transmission assembly;

返回传动组件包括：The return drive assembly includes:

棘轮，与离合机构连接；The ratchet is connected with the clutch mechanism;

棘爪，与手动操作件可转动地连接；The pawl is rotatably connected with the manual operation part;

在第二状态下，手动操作件沿第一方向运动以驱动棘爪运动，棘爪通过棘轮驱动离合机构。In the second state, the manual operating part moves in the first direction to drive the pawl, and the pawl drives the clutch through the ratchet structure.

进一步的，手动返回机构还包括脱开传动组件，手动操作件通过脱开传动组件驱动输入件从第一位置运动至第二位置；Further, the manual return mechanism also includes a disengagement transmission assembly, and the manual operation member drives the input member to move from the first position to the second position through the disengagement transmission assembly;

手动操作件的沿第一方向的运动为沿第一方向绕第一转轴的转动，The movement of the manual operating member along the first direction is a rotation around the first rotating shaft along the first direction,

输入件的在第一位置和第二位置之间的运动为直线运动；the movement of the input member between the first position and the second position is a linear movement;

输入件的直线运动的方向与第一转轴平行。The direction of the linear motion of the input member is parallel to the first rotating shaft.

进一步的，脱开传动组件包括促动件、由促动件驱动的从动件；Further, the disengagement transmission assembly includes an actuator and a follower driven by the actuator;

手动操作件沿第一方向绕第一转轴转动以驱动促动件做第一运动；The manual operation part rotates around the first rotating shaft along the first direction to drive the actuator to make the first movement;

促动件做第一运动以驱动从动件做第二运动；The actuator performs the first movement to drive the follower to perform the second movement;

从动件做第二运动以驱动输入件从第一位置移动到第二位置。The driven member makes a second movement to drive the input member to move from the first position to the second position.

进一步的，促动件的第一运动为绕第二转轴的转动；从动件的第二运动为绕销轴的转动。Further, the first movement of the actuator is rotation around the second shaft; the second movement of the follower is rotation around the pin shaft.

进一步的，促动件包括运动转换机构，运动转换机构将促动件的第一运动转换为从动件的第二运动。Further, the actuator includes a motion conversion mechanism, which converts the first motion of the actuator into the second motion of the driven member.

进一步的，运动转换机构为设置在促动件的外周侧的螺旋面。Further, the motion conversion mechanism is a helical surface arranged on the outer peripheral side of the actuator.

进一步的，从动件包括绕销轴转动的杆件，第二运动为杆件的转动；Further, the follower includes a rod that rotates around the pin shaft, and the second movement is the rotation of the rod;

促动件做第一运动时螺旋面驱动杆件转动，杆件在转动时驱动输入件从第一位置运动到第二位置。When the actuator makes the first movement, the helical surface drives the rod to rotate, and the rod drives the input to move from the first position to the second position when the rod rotates.

进一步的，促动件还包括设置在促动件的外周侧的终点抵接面，终点抵接面与螺旋面的远端邻接并成角度设置；Further, the actuator further includes a terminal abutment surface arranged on the outer peripheral side of the actuator, and the terminal abutment surface is adjacent to the distal end of the helical surface and arranged at an angle;

促动件的第一运动为绕第二转轴的转动；终点抵接面与第二转轴垂直，终点抵接面用于在电动模块与离合机构脱开后锁定输入件在第二位置。The first movement of the actuator is rotation around the second rotation axis; the abutment surface at the end point is perpendicular to the second rotation axis, and the abutment surface at the end point is used to lock the input member at the second position after the electric module is disengaged from the clutch mechanism.

进一步的，在第一状态下，手动操作件与离合机构脱开，在第二状态下，手动操作件与离合机构可操作地连接。Furthermore, in the first state, the manual operation part is disengaged from the clutch mechanism, and in the second state, the manual operation part is operatively connected to the clutch mechanism.

进一步的，离合机构包括第一齿轮、中间件和第二离合件；中间件与第二离合件相连接；中间件包括第一离合结构，第一齿轮包括与第一离合结构选择性配合的第二离合结构；Further, the clutch mechanism includes a first gear, an intermediate piece and a second clutch; the intermediate piece is connected to the second clutch; the intermediate piece includes a first clutch structure, and the first gear includes a first gear that selectively cooperates with the first clutch structure. Two-clutch structure;

传动机构还包括输入件；手动返回机构还包括返回传动组件；The transmission mechanism also includes an input part; the manual return mechanism also includes a return transmission assembly;

第一齿轮用于选择性驱动钳口组件和切割刀组件中的一个组件，第一齿轮还包括第一有效转程结构和第一空转程结构；The first gear is used to selectively drive one of the jaw assembly and the cutting knife assembly, and the first gear also includes a first effective travel structure and a first idle travel structure;

第二离合件用于选择性驱动钳口组件和切割刀组件中的另一个组件，第二离合件包括第二有效转程结构和第二空转程结构；响应于第二离合件被驱动并且响应于第二有效转程结构与另一个组件相配合，第二有效转程结构驱动切割刀组件运动；响应于第二离合件被驱动并且响应于第二空转程结构与另一个组件相耦合，第二空转程结构不驱动切割刀组件运动；The second clutch is used to selectively drive the other assembly in the jaw assembly and the cutting knife assembly, and the second clutch includes a second effective rotation configuration and a second idle travel configuration; in response to the second clutch being driven and responding In the second effective transfer structure Cooperating with another component, the second active stroke structure drives the movement of the cutting knife assembly; in response to the second clutch being driven and in response to the second idle stroke structure being coupled with another component, the second idle stroke structure does not drive the cutting Knife assembly movement;

在第一状态时，钳口组件和切割刀组件被择一地驱动；电动模块与输入件相连接以驱动输入件；响应于第一有效转程结构与输入件相配合，第一有效转程结构驱动一个组件运动；响应于第一空转程结构与输入件相耦合，第一空转程结构不驱动一个组件运动；第二离合件被输入件驱动，第二有效转程结构与另一个组件相配合，或者，第二空转程结构与另一个组件相耦合；In the first state, the jaw assembly and the cutter assembly are alternatively driven; the electric module is connected to the input member to drive the input member; in response to the first effective rotation structure being matched with the input member, the first effective rotation The structure drives a component to move; in response to the first idle travel structure being coupled to the input, the first idle travel structure does not drive a component to move; the second clutch is driven by the input, and the second active travel structure is coupled to another component cooperating with, or coupling to, a second idler structure with another component;

在第二状态时，钳口组件和切割刀组件被择一地驱动；手动操作件通过返回传动组件和中间件驱动第二离合件，以驱动切割刀组件退刀，此时第一离合结构与第二离合结构相耦合以使得第一齿轮不被驱动，进而钳口组件不被驱动；手动操作件通过返回传动组件和中间件、相配合的第一离合结构和第二离合结构驱动第一齿轮以驱动钳口组件打开。In the second state, the jaw assembly and the cutting knife assembly are driven alternatively; the manual operation part drives the second clutch through the return transmission assembly and the intermediate piece to drive the cutting knife assembly to retreat. At this time, the first clutch structure and The second clutch structure is coupled so that the first gear is not driven, and thus the jaw assembly is not driven; the manual operation part drives the first gear through the return transmission assembly and the intermediate piece, the matched first clutch structure and the second clutch structure Open with drive jaw assembly.

进一步的，在第一状态下，第一离合结构和第二离合结构用于实现第一有效转程结构与输入件之间由相耦合转换为相配合。Further, in the first state, the first clutch structure and the second clutch structure are used to realize the transition from phase coupling to cooperation between the first effective rotation structure and the input member.

进一步的，在第二状态下，如果切割刀组件位于终止位置或者中间位置，手动操作件沿第一方向运动以驱动第二离合件，第二有效转程结构与另一个组件相配合以驱动切割刀组件退回至初始位置，进而中间件通过相配合的第一离合结构和第二离合结构驱动第一齿轮以驱动钳口组件打开；如果切割刀组件位于初始位置，中间件通过相配合的第一离合结构和第二离合结构驱动第一齿轮以驱动钳口组件打开。Further, in the second state, if the cutting knife assembly is at the end position or the middle position, the manual operation part moves along the first direction to drive the second clutch part, and the second effective rotation structure cooperates with another component to drive the cutting The knife assembly returns to the initial position, and then the middle piece drives the first gear through the matching first clutch structure and the second clutch structure to drive the jaw assembly to open; if the cutting knife assembly is in the initial position, the middle piece passes through the matching first The clutch structure and the second clutch structure drive the first gear to drive the jaw assembly to open.

进一步的，第一离合结构为圆弧槽和突起中的一个，第二离合结构为圆弧槽和突起中的另一个；圆弧槽包括圆弧轨道以及首端，第一离合结构与第二离合结构耦合包括突起容置于圆弧轨道中，第一离合结构与第二离合结构配合包括突起与首端相抵接。Further, the first clutch structure is one of the arc groove and the protrusion, and the second clutch structure is the other of the arc groove and the protrusion; the arc groove includes an arc track and a head end, and the first clutch structure and the second The coupling of the clutch structure includes that the protrusion is accommodated in the arc track, and the cooperation between the first clutch structure and the second clutch structure includes that the protrusion abuts against the head end.

进一步的，传动机构还包括第一输出件和第二输出件；第一输出件与钳口组件相连接，并且第一输出件与第一齿轮相连接，第二输出件与切割刀组件相连接，并且第二输出件与第二离合件配合或耦合，或者，第二输出件与钳口组件相连接，并且第二输出件与第二离合件配合或耦合，第一输出件与切割刀组件相连接，并且第一输出件与第一齿轮相连接。Further, the transmission mechanism also includes a first output member and a second output member; the first output member is connected with the jaw assembly, and the first output member is connected with the first gear, and the second output member is connected with the cutting knife assembly , and the second output part is matched or coupled with the second clutch part, or the second output part is connected with the jaw assembly, and the second output part is matched or coupled with the second clutch part, and the first output part is connected with the cutting knife assembly connected, and the first output member is connected to the first gear.

进一步的，外科器械还包括钳口驱动机构和切割驱动机构；第一输出件通过钳口驱动机构与钳口组件相连接，第二输出件通过切割驱动机构与切割刀组件相连接，或者，第二输出件通过钳口驱动机构与钳口组件相连接，第一输出件通过切割驱动机构与切割刀组件相连接。Further, the surgical instrument also includes a jaw drive mechanism and a cutting drive mechanism; the first output member is connected to the jaw assembly through the jaw drive mechanism, and the second output member is connected to the cutting knife assembly through the cutting drive mechanism, or, the first The second output part is connected with the jaw assembly through the jaw driving mechanism, and the first output part is connected with the cutting knife assembly through the cutting driving mechanism.

进一步的，第一输出件为连杆，连杆与第一齿轮可转动地连接，第二输出件为驱动齿轮，驱动齿轮与第二离合件配合或耦合。Further, the first output member is a connecting rod, and the connecting rod is rotatably connected to the first gear, and the second output member is a driving gear, and the driving gear is matched or coupled with the second clutch member.

进一步的，返回传动组件包括棘爪、棘齿轮、偏压件，棘齿轮与中间件相啮合；手动操作件与棘爪的一端可转动地连接，偏压件与手动操作件相抵接和棘爪相抵接以将棘爪的远离一端的另一端向远离手动操作件的方向偏压；响应于手动操作件沿第一方向的运动，棘爪与棘齿轮相结合并且驱动棘齿轮转动。Further, the return transmission assembly includes a ratchet, a ratchet gear, and a biasing member, and the ratchet gear meshes with the intermediate member; the manual operation The working part is rotatably connected to one end of the pawl, and the biasing part abuts against the manual operation part and the pawl to bias the other end of the pawl away from one end in a direction away from the manual operation part; in response to manual operation The movement of the member along the first direction, the pawl combines with the ratchet gear and drives the ratchet gear to rotate.

一种外科器械，包括：A surgical instrument comprising:

电动模块；electric module;

钳口组件；jaw assembly;

切割刀组件；cutter assembly;

传动机构，包括离合机构，电动模块通过离合机构择一地驱动钳口组件运动和驱动切割刀组件运动；外科器械具有第一状态和第二状态，在第一状态下，电动模块与离合机构连接，在第二状态下，电动模块与离合机构脱开；The transmission mechanism includes a clutch mechanism. The electric module drives the movement of the jaw assembly and the cutting knife assembly through the clutch mechanism; the surgical instrument has a first state and a second state. In the first state, the electric module is connected to the clutch mechanism , in the second state, the electric module is disengaged from the clutch mechanism;

动力脱开装置，包括手动操作件和由手动操作件驱动的脱开传动组件，响应于手动操作件的驱动，脱开传动组件使得电动模块和离合机构之间脱开，以使外科器械从第一状态切换到第二状态；在第二状态下，响应于手动操作件的驱动，离合机构择一地驱动切割刀组件执行退刀动作和驱动钳口组件执行打开动作。The power disengagement device includes a manual operation part and a disengagement transmission assembly driven by the manual operation part. In response to the driving of the manual operation part, the disengagement transmission assembly disengages between the electric module and the clutch mechanism, so that the surgical instrument can be disengaged from the first The first state is switched to the second state; in the second state, in response to the driving of the manual operating part, the clutch mechanism alternatively drives the cutting knife assembly to perform the retracting action and drives the jaw assembly to perform the opening action.

进一步的，传动机构还包括输入件，输入件具有第一位置和第二位置，输入件位于第一位置时，电动模块通过输入件与离合机构连接；手动操作件沿第一方向运动以驱动脱开传动组件进而驱动输入件从第一位置运动至第二位置；输入件位于第二位置时，输入件与电动模块或离合机构脱开，以使得电动模块与离合机构脱开。Further, the transmission mechanism also includes an input part, the input part has a first position and a second position, when the input part is in the first position, the electric module is connected with the clutch mechanism through the input part; the manual operation part moves along the first direction to drive the disengagement Open the transmission assembly and then drive the input part to move from the first position to the second position; when the input part is in the second position, the input part is disengaged from the electric module or the clutch mechanism, so that the electric module is disengaged from the clutch mechanism.

进一步的，手动操作件在第一方向的运动为沿第一方向绕第一转轴转动，输入件在第一位置和第二位置之间的运动为直线运动，脱开传动组件将手动操作件沿第一方向的转动转换为输入件从第一位置到第二位置的直线运动。Further, the movement of the manual operating part in the first direction is to rotate around the first rotating shaft in the first direction, the movement of the input part between the first position and the second position is a linear motion, and the manual operating part is disengaged from the transmission assembly. Rotation in the first direction is converted to linear motion of the input member from the first position to the second position.

进一步的，脱开传动组件包括第二转轴、套设于第二转轴的促动件、由促动件驱动的从动件，促动件绕第二转轴转动；手动操作件沿第一方向绕第一转轴转动能够驱动促动件绕第二转轴做第一运动，促动件做第一运动以驱动从动件做第二运动。Further, the disengagement transmission assembly includes a second rotating shaft, an actuating member sleeved on the second rotating shaft, and a driven member driven by the actuating member. The actuating member rotates around the second rotating shaft; the manual operation member rotates along the first direction The rotation of the first rotating shaft can drive the actuator to make the first movement around the second rotating shaft, and the driving member makes the first movement to drive the driven member to make the second movement.

进一步的，输入件的直线运动的方向与第一转轴的轴线平行；或第一转轴与第二转轴平行。Further, the linear movement direction of the input member is parallel to the axis of the first rotating shaft; or the first rotating shaft is parallel to the second rotating shaft.

进一步的，手动操作件包括大致沿第一转轴的径向延伸的驱动面，促动件包括滑动端，滑动端与驱动面可运动地抵接；Further, the manual operation part includes a driving surface extending substantially along the radial direction of the first rotating shaft, the actuating part includes a sliding end, and the sliding end abuts against the driving surface movably;

手动操作件沿第一方向转动，驱动面推动滑动端绕第二转轴的中心轴线沿第一方向转动，同时滑动端在驱动面上大致沿第一转轴的径向从起始端向终止端滑动。The manual operating part rotates in the first direction, and the driving surface pushes the sliding end to rotate in the first direction around the central axis of the second rotating shaft, and at the same time, the sliding end slides on the driving surface approximately along the radial direction of the first rotating shaft from the starting end to the ending end.

进一步的，促动件为圆柱凸轮，圆柱凸轮包括轴向突出的凸起柱，凸起柱为滑动端。Further, the actuator is a cylindrical cam, the cylindrical cam includes an axially protruding protruding post, and the protruding post is a sliding end.

进一步的，促动件包括运动转换机构，运动转换机构将促动件的第一运动转换为从动件的第二运动。Further, the actuator includes a motion conversion mechanism, which converts the first motion of the actuator into the second motion of the driven member.

进一步的，运动转换机构为设置在促动件的外周侧的螺旋面。Further, the motion conversion mechanism is a helical surface arranged on the outer peripheral side of the actuator.

进一步的，从动件包括绕销轴转动的杆件，第二运动为杆件的转动；Further, the follower includes a rod that rotates around the pin shaft, and the second movement is the rotation of the rod;

促动件做第一运动时螺旋面驱动杆件转动，杆件的输出端在转动时驱动输入件从第一位置运动到第二位置，且杆件的输出端在转动时具有在输入件的直线运动方向上的位移量。When the actuating member makes the first movement, the helical surface drives the rod to rotate, and the output end of the rod drives the input member to move from the first position to the second position when rotating, and the output end of the rod has Displacement in the direction of linear motion.

进一步的，杆件的第一端与螺旋面抵接。Further, the first end of the rod abuts against the helical surface.

进一步的，脱开传动组件还包括中间传动件，外科器械的机架设置有引导中间传动件直线运动的引导槽，中间传动件的第一端与螺旋面抵接，第二端与从动件的杆件抵接，促动件通过中间传动件连接并驱动从动件做第二运动。Further, the disengagement transmission assembly also includes an intermediate transmission member. The frame of the surgical instrument is provided with a guide groove for guiding the linear movement of the intermediate transmission member. The rods abut against each other, and the actuating member is connected through the intermediate transmission member and drives the driven member to perform the second movement.

进一步的，促动件还包括起点抵接面，起点抵接面与螺旋面的近端邻接并成角度设置，起点抵接面与第二转轴的中心轴线垂直，起点抵接面用于将电动模块与离合机构保持于结合状态。Further, the actuator also includes a starting point abutting surface, which is adjacent to the proximal end of the helical surface and arranged at an angle, and the starting point abutting surface is perpendicular to the central axis of the second rotating shaft, and is used to drive the motor The module and the clutch mechanism remain in a combined state.

进一步的，促动件还包括终点抵接面，终点抵接面与螺旋面的远端邻接并成角度设置，终点抵接面与第二转轴的中心轴线垂直，终点抵接面用于将电动模块与离合机构保持于脱开状态。Further, the actuator also includes a terminal abutment surface, which is adjacent to the distal end of the helical surface and arranged at an angle, the terminal abutment surface is perpendicular to the central axis of the second rotating shaft, and the terminal abutment surface is used to drive the motor The module and the clutch mechanism remain in a disengaged state.

进一步的，手动返回机构还包括返回传动组件，手动操作件通过返回传动组件驱动离合机构；Further, the manual return mechanism also includes a return transmission assembly, and the manual operation part drives the clutch mechanism through the return transmission assembly;

返回传动组件包括：The return drive assembly includes:

棘轮，与离合机构连接；The ratchet is connected with the clutch mechanism;

棘爪，与手动操作件可转动地连接；The pawl is rotatably connected with the manual operation part;

在第二状态下，手动操作件沿第一方向运动以驱动棘爪运动，棘爪通过棘轮驱动离合机构。In the second state, the manual operation part moves along the first direction to drive the ratchet, and the ratchet drives the clutch mechanism through the ratchet wheel.

一种外科器械，包括：A surgical instrument comprising:

电动模块；electric module;

钳口组件；jaw assembly;

切割刀组件；cutter assembly;

传动机构，包括输入件、离合机构和输出件，电动模块通过离合机构择一地驱动钳口组件运动和驱动切割刀组件运动；The transmission mechanism includes an input part, a clutch mechanism and an output part. The electric module drives the movement of the jaw assembly and the movement of the cutting knife assembly through the clutch mechanism;

其中，离合机构包括离合件和中间件，离合件包括有效转程结构和空转程结构，输入件通过有效转程结构与输出件连接以驱动输出件，输入件通过空转程结构与输出件耦合以不驱动输出件；Among them, the clutch mechanism includes a clutch and an intermediate piece, and the clutch includes an effective stroke structure and an idle stroke structure, and the input The component is connected to the output component through an effective travel structure to drive the output component, and the input component is coupled to the output component through an idle travel structure so as not to drive the output component;

离合件包括第一离合件和第二离合件，输出件包括第一输出件和第二输出件，第一输出件用于驱动钳口组件和切割刀组件中的一个组件运动，第二输出件用于驱动钳口组件和切割刀组件中的另一个组件运动，输入件通过第一离合件选择性驱动第一输出件，输入件通过第二离合件选择性驱动第二输出件；中间件与第一离合件和第二离合件同轴设置，且中间件与第二离合件连接并同步运动，输入件与中间件配合，通过中间件驱动第二离合件，进而选择性驱动第二输出件。The clutch includes a first clutch and a second clutch, the output includes a first output and a second output, the first output is used to drive one of the jaw assembly and the cutter assembly to move, and the second output It is used to drive the movement of another component in the jaw assembly and the cutting knife assembly, the input piece selectively drives the first output piece through the first clutch piece, and the input piece selectively drives the second output piece through the second clutch piece; the intermediate piece and the The first clutch part and the second clutch part are coaxially arranged, and the intermediate part is connected with the second clutch part and moves synchronously, the input part cooperates with the middle part, drives the second clutch part through the middle part, and then selectively drives the second output part .

进一步的，在同一部件上形成第二离合件和中间件。Further, the second clutch part and the intermediate part are formed on the same part.

进一步的，第一离合件包括第一有效转程结构和第一空转程结构，当第一有效转程结构与输入件配合，输入件驱动第一输出件；当第一空转程结构与输入件耦合，输入件不驱动第一输出件；和/或Further, the first clutch includes a first effective stroke structure and a first idle stroke structure. When the first effective stroke structure cooperates with the input piece, the input piece drives the first output piece; when the first idle stroke structure cooperates with the input piece coupled, the input does not drive the first output; and/or

第二离合件包括第二有效转程结构和第二空转程结构，当第二有效转程结构与第二输出件配合，输入件驱动第二输出件；当第二空转程结构与第二输出件耦合，输入件不驱动第二输出件。The second clutch includes a second effective stroke structure and a second idle stroke structure. When the second effective stroke structure is matched with the second output element, the input element drives the second output element; when the second idle stroke structure is matched with the second output coupled, the input does not drive the second output.

进一步的，当第一有效转程结构与输入件配合时，第二空转程结构与第二输出件耦合，使得输入件能够通过离合机构驱动第一输出件但无法驱动第二输出件；当第一空转程结构与输入件耦合时，第二有效转程结构与第二输出件配合，使得第一输入件能够通过离合机构驱动第二输出件但无法驱动第一输出件。Further, when the first effective stroke structure cooperates with the input member, the second idle stroke structure is coupled with the second output member, so that the input member can drive the first output member through the clutch mechanism but cannot drive the second output member; when the second When an idle stroke structure is coupled with the input member, the second effective stroke structure cooperates with the second output member, so that the first input member can drive the second output member through the clutch mechanism but cannot drive the first output member.

进一步的，第一离合件为第一齿轮，包括第一有齿部和第一无齿部，第一有齿部为第一有效转程结构，第一无齿部为第一空转程结构，第一有齿部与第一无齿部均位于第一齿轮的外周面，且第一有齿部与第一无齿部邻接设置。Further, the first clutch is a first gear, including a first toothed portion and a first toothless portion, the first toothed portion is a first effective stroke structure, and the first toothless portion is a first idle stroke structure, Both the first toothed portion and the first toothless portion are located on the outer peripheral surface of the first gear, and the first toothed portion and the first toothless portion are disposed adjacent to each other.

进一步的，第二离合件为第二齿轮，包括第二有齿部和第二无齿部，第二有齿部为第二有效转程结构，第二无齿部为第二空转程结构，第二有齿部与第二无齿部均位于第二离合件的外周面，且第二有齿部与第二无齿部邻接设置。Further, the second clutch is a second gear, including a second toothed portion and a second toothless portion, the second toothed portion is a second effective stroke structure, and the second toothless portion is a second idle stroke structure, Both the second toothed portion and the second toothless portion are located on the outer peripheral surface of the second clutch member, and the second toothed portion and the second toothless portion are adjacent to each other.

进一步的，中间件为第三齿轮，第三齿轮与输入件啮合连接，第三齿轮的整个外周面上均分布有齿，且第三齿轮邻接于第二离合件的上方。Further, the intermediate part is a third gear, the third gear is engaged with the input part, teeth are distributed on the entire outer peripheral surface of the third gear, and the third gear is adjacent to the upper part of the second clutch part.

进一步的，中间件包括第一离合结构，第一离合件包括第二离合结构，第一离合结构和第二离合结构相配合或耦合以选择性驱动第一输出件。Further, the intermediate part includes a first clutch structure, the first clutch part includes a second clutch structure, and the first clutch structure and the second clutch structure cooperate or couple to selectively drive the first output part.

进一步的，第一离合结构和第二离合结构中的一个为圆弧槽，另一个为突起，圆弧槽的圆心位于所在部件的转动轴线上，圆弧槽包括圆弧轨道和首端，凸起伸入圆弧轨道并与圆弧轨道可滑动地连接，突起容置于圆弧轨道中时，第一离合结构与第二离合结构相耦合以使第一输出件不被驱动；突起与首端相抵接时，第一离合结构与第二离合结构相配合以使第一输出件能够被驱动。Further, one of the first clutch structure and the second clutch structure is an arc groove, and the other is a protrusion. The center of the arc groove is located on the rotation axis of the component. The arc groove includes an arc track and a head end, and the protrusion Stretch into the arc track and It is slidably connected with the arc track. When the protrusion is accommodated in the arc track, the first clutch structure is coupled with the second clutch structure so that the first output member is not driven; when the protrusion abuts against the head end, the first The clutch structure cooperates with the second clutch structure to enable the first output member to be driven.

进一步的，中间件和第一离合件均可转动地套设于旋转轴，中间件的第一端面与第一离合件的第二端面相临近，两个端面中的一个设置有圆弧槽，另一个设置有突起。Further, the middle piece and the first clutch piece can be rotatably sleeved on the rotating shaft, the first end surface of the middle piece is adjacent to the second end surface of the first clutch piece, and one of the two end surfaces is provided with an arc groove, Another set has protrusions.

与现有技术相比，本申请的有益效果在于：外科器械通过操作一个手动操作件即能顺序地实现电动力脱开、切割刀组件退刀和钳口组件打开，即一件实现三种功能，又能顺序地实现电动力脱开和钳口组件打开，即一件两种功能，实现了对发生电力故障的电动外科器械的强制复位。对于用户而言，仅需操作一个操作件，操作简单、体验感好。Compared with the prior art, the beneficial effect of the present application is that the surgical instrument can sequentially realize the electric power disengagement, the cutting knife assembly retreat and the jaw assembly opening by operating a manual operation part, that is, one piece can realize three functions , and can sequentially realize the electric power disengagement and the opening of the jaw assembly, that is, two functions in one piece, and realize the forced reset of the electric surgical instrument that has a power failure. For the user, only one operating part needs to be operated, and the operation is simple and the experience is good.

附图说明Description of drawings

图1是本申请提供的外科器械的第一实施例的立体示意图；Fig. 1 is the three-dimensional schematic view of the first embodiment of the surgical instrument provided by the present application;

图2是图1所示的外科器械的局部内部结构的示意图；Fig. 2 is a schematic diagram of a partial internal structure of the surgical instrument shown in Fig. 1;

图3是图1所示的外科器械的局部内部结构的分解图；Fig. 3 is an exploded view of a partial internal structure of the surgical instrument shown in Fig. 1;

图4是图3所示的第一离合件的立体示意图；Fig. 4 is a schematic perspective view of the first clutch shown in Fig. 3;

图5是图3所示的中间件的立体示意图；Fig. 5 is a three-dimensional schematic diagram of the middleware shown in Fig. 3;

图6-A至图6-D是外科器械的离合机构的状态变化示意图；6-A to 6-D are schematic diagrams of state changes of the clutch mechanism of the surgical instrument;

图7是手动返回机构的结构示意图；Fig. 7 is a structural schematic diagram of the manual return mechanism;

图8是图7所示的促动件的立体示意图；Fig. 8 is a schematic perspective view of the actuator shown in Fig. 7;

图9是图7所示的促动件的局部外周面展开的示意图；Fig. 9 is a schematic diagram of the development of the partial peripheral surface of the actuator shown in Fig. 7;

图10-A至12-B是动返回机构手的状态变化示意图；10-A to 12-B are schematic diagrams of state changes of the hand of the dynamic return mechanism;

图13是本申请的第二实施例提供的外科器械的手动返回机构的结构示意图；Fig. 13 is a schematic structural view of the manual return mechanism of the surgical instrument provided by the second embodiment of the present application;

图14是手动操作件和棘爪的结构分解图；Fig. 14 is an exploded view of the structure of the manual operating part and the pawl;

图15是手动操作件的结构示意图；Fig. 15 is a schematic structural view of the manual operation part;

图16是中间传动件的结构示意图；Fig. 16 is a structural schematic diagram of the intermediate transmission member;

图17是切割驱动机构和切割刀组件的示意图；Figure 17 is a schematic diagram of a cutting drive mechanism and a cutting knife assembly;

图18是第一输出件与套管连接的示意图；Fig. 18 is a schematic diagram of the connection between the first output member and the casing;

图19至图24是套管与钳口组件连接的示意图。19 to 24 are schematic diagrams of the connection between the sleeve and the jaw assembly.

其中，上述附图包括以下附图标记：Wherein, the above-mentioned accompanying drawings include the following reference signs:

100、外科器械；110、主体；116、盖板；120、杆身组件；126、套管；128、钳口组件；130、端部执行器；133、钉仓座；134、抵钉座；140、电池包；112、头部壳体；114、手柄壳体；150、电机；152、输出齿轮；200、棘爪；202、受限部；204、第二支撑轴；205、偏压件；206、螺旋部；207、第一扭簧臂；208、第二扭簧臂；209、翼部；210、棘爪限位件；230、棘齿轮；232、棘轮；234、返回齿轮；254、本体；256、驱动管；258、第一驱动部；260、第二驱动部；262、第一从动部；264、第二从动部；266、销子；268、腰形槽；300、齿条；301、芯轴；302、刀杆；303、刀头；304、支承部；305、卡接部；100. Surgical instrument; 110. Main body; 116. Cover plate; 120. Shaft assembly; 126. Sleeve; 128. Jaw Components; 130, end effector; 133, nail bin seat; 134, abutting nail seat; 140, battery pack; 112, head shell; 114, handle shell; 150, motor; 152, output gear; 200, Pawl; 202, limited part; 204, second support shaft; 205, biasing member; 206, spiral part; 207, first torsion spring arm; 208, second torsion spring arm; 209, wing; 210, Pawl limiter; 230, ratchet gear; 232, ratchet; 234, return gear; 254, body; 256, driving tube; 258, first driving part; 260, second driving part; 262, first driven part ; 264, the second driven part; 266, the pin; 268, the waist groove; 300, the rack; 301, the mandrel; 302, the cutter bar; 303, the cutter head; ;

2、主驱动齿轮；4、销轴；5、弹性件；6、上齿轮；7、下齿轮；8、凹部；10、第一离合件；12、第一有效转程结构；14、第一空转程结构；20、第二离合件；22、第二有效转程结构；24、第二空转程结构；25、部件；32、第三有效转程结构；34、第三空转程结构；40、中间件；41、旋转轴；52、连杆；54、切割驱动齿轮；55、滑块；62、圆弧槽；64、突起；66、首端；67、圆弧轨道；70、手动操作件；71、第一转轴；74、驱动面；80、促动件；81、第二转轴；82、起点抵接面；84、螺旋面；86、终点抵接面；88、滑动端；90、从动件；92、输出端；94、中间传动件。2. Main driving gear; 4. Pin shaft; 5. Elastic member; 6. Upper gear; 7. Lower gear; 8. Recess; 10. First clutch member; 12. First effective rotation structure; 20. The second clutch; 22. The second effective travel structure; 24. The second idle travel structure; 25. Parts; 32. The third effective travel structure; 34. The third idle travel structure; 40 , middle piece; 41, rotating shaft; 52, connecting rod; 54, cutting drive gear; 55, slider; 62, arc groove; 64, protrusion; 66, head end; 67, arc track; 70, manual operation 71, the first rotating shaft; 74, the driving surface; 80, the actuator; 81, the second rotating shaft; 82, the starting point contact surface; 84, the spiral surface; , driven part; 92, output end; 94, intermediate transmission part.

具体实施方式Detailed ways

为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, not to limit the present application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

需要理解的是，本文所用术语“近侧”和“远侧”是相对于操纵吻合器的手动操作件的操作者而言的。术语“近侧”是指靠近操作者的部分，术语“远侧”则是指远离操作者的部分。即扳手为近侧，钳口组件为远侧，如某个零部件的近侧端表示相对靠近扳手的一端，远侧端则表示相对靠近钳口组件的一端。术语“上”“下”以钳口组件的抵钉座和钉仓座的相对位置为参考，具体的，抵钉座在“上”，钉仓座在“下”。然而，吻合器可以在许多方向和位置使用，因此这些表达相对位置关系的术语并不是受限和绝对的。It should be understood that the terms "proximal" and "distal" used herein are relative to the operator manipulating the manual operation part of the stapler. The term "proximal" refers to the part near the operator and the term "distal" refers to the part away from the operator. That is, the wrench is the proximal side, and the jaw assembly is the far side. For example, the proximal end of a component means the end relatively close to the wrench, and the distal end means the end relatively close to the jaw assembly. The terms "upper" and "lower" refer to the relative positions of the nail abutment seat and the staple cartridge seat of the jaw assembly, specifically, the nail anvil seat is "upper" and the staple cartridge seat is "lower". However, staplers can be used in many orientations and positions, so these terms expressing relative positional relationships are not limiting and absolute.

在本申请中，除非另有明确的规定和限定，“相连”、“连接”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸地连接，还可以是可运动地连接，或成一体；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系如抵接。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。需要说明的是，在“相连”、“连接”前有限定语时，其具有相应限定语所限定的含义，只排除明显需要排除的情形，不排除其它可能的情形，如“可拆卸地连接”指的是可拆卸式的连接，不包括成一体，但可运动连接等并不排除在外。In this application, unless otherwise specified and limited, terms such as "connected" and "connected" should be interpreted in a broad sense, for example, they can be fixedly connected, detachably connected, or movably connected , or into one Body; it can be directly connected or indirectly connected through an intermediary, it can be the internal communication of two elements or the interaction relationship between two elements such as butting. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations. It should be noted that when there are qualifiers before "connected" and "connected", it has the meaning defined by the corresponding qualifiers, and only the situations that obviously need to be excluded are excluded, and other possible situations are not excluded, such as "detachably connected" Refers to the detachable connection, does not include integrated, but the movable connection is not excluded.

图1至图12-B、图14至图24示出了本申请第一实施例的外科器械100，具体为一种电动吻合器。外科器械100包括顺次相连的主体110、杆身组件120和端部执行器130，外科器械100还包括传动机构和切割刀组件。传动机构的一部分位于主体110内，切割刀组件的一部分位于杆身组件120内，一部分位于端部执行器130内。1 to 12-B, and 14 to 24 show a surgical instrument 100 according to a first embodiment of the present application, specifically an electric stapler. The surgical instrument 100 includes a main body 110, a shaft assembly 120 and an end effector 130 connected in sequence, and the surgical instrument 100 also includes a transmission mechanism and a cutting knife assembly. A part of the transmission mechanism is located in the main body 110 , a part of the cutter assembly is located in the shaft assembly 120 , and a part is located in the end effector 130 .

主体110包括第一壳体和可拆卸地安装于第一壳体的电池包140。具体的，第一壳体包括相连的头部壳体112和手柄壳体114，电池包140可拆卸地安装于头部壳体112，头部壳体112收容一部分传动机构，手柄壳体114可供操作者握持，手柄壳体114收容电动模块，电动模块包括电机150，电机150包括与输出轴相连接的输出齿轮152。电池包140包括第二壳体(未示出)和收容于第二壳体的电池，第二壳体可拆卸地安装到头部壳体112。电池提供电能给电机150，电机150工作时输出电动力。传动机构连接至电动模块，当获得电机150输出的电动力时工作。The main body 110 includes a first casing and a battery pack 140 detachably mounted on the first casing. Specifically, the first housing includes a connected head housing 112 and a handle housing 114, the battery pack 140 is detachably mounted on the head housing 112, the head housing 112 accommodates a part of the transmission mechanism, and the handle housing 114 can be For the operator to hold, the handle housing 114 accommodates the electric module, the electric module includes a motor 150, and the motor 150 includes an output gear 152 connected with an output shaft. The battery pack 140 includes a second case (not shown), which is detachably mounted to the head case 112 , and a battery housed in the second case. The battery provides electric energy to the motor 150, and the motor 150 outputs electric power when working. The transmission mechanism is connected to the electric module, and works when the electric power output by the motor 150 is obtained.

在本实施例中，杆身组件120包括芯轴301及套设于芯轴301的套管126。同时，芯轴301是切割驱动机构的一部分，套管126是钳口驱动机构的一部分。In this embodiment, the shaft assembly 120 includes a core shaft 301 and a sleeve 126 sleeved on the core shaft 301 . While the mandrel 301 is part of the cutting drive mechanism, the sleeve 126 is part of the jaw drive mechanism.

端部执行器130包括钳口组件和钉仓组件。钳口组件包括钉仓座133和可枢转地相连于钉仓座133的抵钉座134。钉仓座133用于可操作地支撑位于其中的钉仓组件(未图示)，抵钉座134可在打开位置和闭合位置之间选择性地运动，从而与钉仓座133和钉仓组件配合而松开或夹紧组织。钉仓组件设有供切割刀组件运动的槽，切割刀组件在槽内朝向远侧运动过程中对组织进行切割，并且推动钉仓组件中容置的吻合钉出钉以对组织进行吻合。End effector 130 includes a jaw assembly and a cartridge assembly. The jaw assembly includes a staple cartridge seat 133 and a staple abutment seat 134 pivotably connected to the staple cartridge seat 133 . The staple cartridge base 133 is used to operatively support a staple cartridge assembly (not shown) located therein, and the nail abutment base 134 can selectively move between an open position and a closed position, so as to cooperate with the staple cartridge base 133 and the staple cartridge assembly Cooperate to loosen or clamp tissue. The staple cartridge assembly is provided with a groove for the movement of the cutting knife assembly. The cutting knife assembly cuts the tissue while moving in the groove toward the far side, and pushes out the staples accommodated in the staple cartridge assembly to anastomose the tissue.

电机150通过传动机构先驱动钳口组件闭合而夹紧组织，然后电机150通过传动机构驱动切割刀组件前进而切割和吻合组织(即进刀或击发)，随后电机150通过传动机构驱动切割刀组件后退(即退刀)，最后电机150通过传动机构驱动钳口组件打开而松开组织，从而实现吻合器切割及吻合的功能。The motor 150 first drives the jaw assembly to close through the transmission mechanism to clamp the tissue, then the motor 150 drives the cutting knife assembly forward through the transmission mechanism to cut and anastomose the tissue (that is, feed or fire), and then the motor 150 drives the cutting knife assembly through the transmission mechanism Retreat (that is, withdraw the knife), and finally the motor 150 drives the jaw assembly to open through the transmission mechanism to loosen the tissue, thereby realizing the functions of cutting and stapling of the stapler.

传动机构包括切换机构和驱动机构。切换机构包括输入件、离合机构、输出件。输入件由电机150驱动，输出件与驱动机构可驱动地连接。The transmission mechanism includes a switching mechanism and a driving mechanism. The switching mechanism includes an input part, a clutch mechanism and an output part. The input part is driven by the motor 150, and the output part is drivably connected to the drive mechanism.

离合机构包括离合件，离合件包括有效转程结构和空转程结构。输入件通过有效转程结构与输出件连接，以通过有效转程结构驱动输出件，从而实现电机150驱动驱动机构。输入件通过空转程结构与输出件耦合，以通过空转程结构不驱动输出件，从而实现电机150不驱动驱动机构。从而，输入件通过离合机构选择性驱动输出件，电机150通过切换机构选择性驱动驱动机构。The clutch mechanism includes a clutch part, and the clutch part includes an effective turning structure and an idle turning structure. The input part is connected with the output part through the effective rotation structure, so as to drive the output part through the effective rotation structure, so as to realize the drive mechanism driven by the motor 150 . The input element is coupled with the output element through the idle motion structure, so that the output element is not driven through the idle motion structure, so that the motor 150 does not drive the driving mechanism. Therefore, the input element selectively drives the output element through the clutch mechanism, and the motor 150 selectively drives the driving mechanism through the switching mechanism.

有以下两种方式实现离合机构选择性驱动输出件：There are two ways to realize the selective driving output of the clutch mechanism:

方式一：离合件与输入件选择性配合，离合件与输出件连接。当离合件的有效转程结构与输入件配合，离合件被驱动，离合件驱动输出件；当离合件的空转程结构与输入件耦合，离合件不被驱动，离合件不驱动输出件。Method 1: The clutch part is selectively matched with the input part, and the clutch part is connected with the output part. When the effective rotation structure of the clutch part cooperates with the input part, the clutch part is driven, and the clutch part drives the output part; when the idling travel structure of the clutch part is coupled with the input part, the clutch part is not driven, and the clutch part does not drive the output part.

方式二：离合件与输入件连接，离合件与输出件选择性配合。离合件被输入件驱动，当离合件的有效转程结构与输出件配合，离合件驱动输出件，当离合件的空转程结构与输出件耦合，离合件不驱动输出件。Method 2: the clutch part is connected to the input part, and the clutch part is selectively matched with the output part. The clutch part is driven by the input part. When the effective rotation structure of the clutch part cooperates with the output part, the clutch part drives the output part. When the idling travel structure of the clutch part is coupled with the output part, the clutch part does not drive the output part.

选择性配合包括配合和耦合。耦合，是指相互作用的部件之间由于相对位置或状态的变化，用于配合的结构缺失而使得配合终止。Selective mating includes mating and coupling. Coupling refers to the termination of cooperation due to the lack of structure for cooperation between interacting parts due to changes in relative position or state.

在本申请中，空转程是指切换机构在具有运动输入即被驱动的情况下，切换机构没有运动输出，即不驱动切割刀组件或钳口组件。空转程结构是指切换机构的部件所具有的、可实现空转程的结构。有效转程是指切换机构在具有运动输入即被驱动的情况下，切换机构具有运动输出，即驱动切割刀组件或钳口组件。有效转程结构是指切换机构的部件所具有的、可实现有效转程的结构。电机150运转时，切换机构可从电机150获得运动输入。In the present application, the idling range means that the switching mechanism is driven when it has motion input, but the switching mechanism has no motion output, that is, it does not drive the cutter assembly or the jaw assembly. The idle travel structure refers to the structure of the components of the switching mechanism that can realize the idle travel. The effective rotation range means that when the switching mechanism has a motion input, it is driven, and the switching mechanism has a motion output, that is, it drives the cutting knife assembly or the jaw assembly. The effective stroke structure refers to the structure of the components of the switching mechanism that can realize the effective stroke. The switching mechanism may receive motion input from the motor 150 while the motor 150 is running.

具体的，本实施例中，驱动机构包括钳口驱动机构和切割驱动机构。离合件包括第一离合件10和第二离合件20。输出件包括第一输出件和第二输出件，第一输出件与钳口驱动机构相连接，第二输出件与切割驱动机构相连接。输入件通过第一离合件10选择性驱动第一输出件，从而实现对于钳口驱动机构的选择性驱动。输入件通过第二离合件20选择性驱动第二输出件，从而实现对于切割驱动机构的选择性驱动。Specifically, in this embodiment, the driving mechanism includes a jaw driving mechanism and a cutting driving mechanism. The clutch includes a first clutch 10 and a second clutch 20 . The output part includes a first output part and a second output part, the first output part is connected with the jaw drive mechanism, and the second output part is connected with the cutting drive mechanism. The input part selectively drives the first output part through the first clutch part 10, so as to realize the selective driving of the jaw driving mechanism. The input part selectively drives the second output part through the second clutch part 20, so as to realize the selective driving of the cutting drive mechanism.

更具体的，本实施例中，第一离合件10采用上述方式一以实现输入件选择性驱动第一输出件，第二离合件20采用上述方式二以实现输入件选择性驱动第二输出件。More specifically, in this embodiment, the first clutch part 10 adopts the above-mentioned method 1 to realize the input part to selectively drive the first output part, and the second clutch part 20 adopts the above-mentioned method 2 to realize the input part to selectively drive the second output part. .

第一离合件10与第一输出件连接，第一离合件10与输入件选择性配合，使得输入件通过第一离合件10选择性驱动第一输出件，从而实现对于钳口驱动机构的选择性驱动。第一离合件10包括第一有效转程结构12和第一空转程结构14，当第一有效转程结构12与输入件配合，第一离合件10被驱动，第一输出件被驱动，进而钳口驱动机构被驱动，当第一空转程结构14与输入件耦合，第一离合件10不被驱动，第一输出件不被驱动，进而钳口驱动机构不被驱动，由此实现第一输出件被选择性驱动进而实现钳口驱动机构被选择性驱动。由此，第一有效转程结构驱动钳口组件运动，第一空转程结构不驱动钳口组件运动。The first clutch part 10 is connected with the first output part, and the first clutch part 10 selectively cooperates with the input part, so that the input part selectively drives the first output part through the first clutch part 10, thereby realizing the selection of the jaw drive mechanism sex drive. The first clutch member 10 includes a first effective stroke structure 12 and a first idle stroke structure 14. When the first effective stroke structure 12 cooperates with the input member, the first clutch member 10 is driven, and the first output member is driven, and then The jaw driving mechanism is driven, when the first idle travel structure 14 is coupled with the input member, the first clutch member 10 is not driven, the first output member is not driven, and the jaw driving mechanism is not driven, so that the first output member is selectively driven and thus the jaw driving mechanism is selectively driven. Thus, the first effective stroke structure drives the jaw assembly to move, and the first idle stroke structure does not drive the jaw assembly to move.

第二离合件20与输入件连接，第二离合件20与第二输出件选择性配合，使得输入件通过第二离合件20选择性驱动第二输出件，从而实现对于切割驱动机构的选择性驱动。第二离合件20包括第二有效转程结构22和第二空转程结构24，当第二有效转程结构22与第二输出件配合，第二输出件被驱动，进而切割驱动机构被驱动，当第二空转程结构24与第二输出件耦合，第二输出件不被驱动，切割驱动机构不被驱动，由此实现第二输出件被选择性驱动进而实现切割驱动机构被选择性驱动。由此，第二有效转程结构驱动切割刀组件运动，第二空转程结构不驱动切割刀组件运动。The second clutch part 20 is connected with the input part, and the second clutch part 20 is selectively matched with the second output part, so that the input part selectively drives the second output part through the second clutch part 20, thereby realizing the selectivity of the cutting drive mechanism drive. The second clutch member 20 includes a second effective stroke structure 22 and a second idle stroke structure 24. When the second effective stroke structure 22 cooperates with the second output member, the second output member is driven, and then the cutting drive mechanism is driven. When the second idle path structure 24 is coupled with the second output member, the second output member is not driven, and the cutting drive mechanism is not driven, thereby realizing the selective driving of the second output member and thus the selective driving of the cutting drive mechanism. Thus, the second effective stroke structure drives the movement of the cutting knife assembly, and the second idle stroke structure does not drive the movement of the cutting knife assembly.

进一步地，离合机构还包括中间件40，中间件40与输入件配合，中间件40与第二离合件20连接并同步转动，从而实现中间件40驱动第二离合件20。优选地，在同一部件25上形成中间件40和第二离合件20。Further, the clutch mechanism further includes an intermediate piece 40 , which cooperates with the input piece, and the intermediate piece 40 is connected with the second clutch piece 20 and rotates synchronously, so that the middle piece 40 drives the second clutch piece 20 . Preferably, the intermediate piece 40 and the second clutch piece 20 are formed on the same part 25 .

钳口驱动机构包括滑块55和与滑块55相连接的套管126，切割驱动机构包括齿条300和与齿条300相连接的芯轴301。进一步的，第一离合件10选择性驱动钳口组件，第二离合件20选择性驱动切割刀组件。The jaw driving mechanism includes a slider 55 and a sleeve 126 connected to the slider 55 , and the cutting driving mechanism includes a rack 300 and a mandrel 301 connected to the rack 300 . Further, the first clutch part 10 selectively drives the jaw assembly, and the second clutch part 20 selectively drives the cutting knife assembly.

进一步的，请重点参见图19至图24，套管126和钳口组件128的抵钉座134之间设有运动改换机构，运动改换机构将套管126的直线运动转换为抵钉座134的枢转运动，从而实现抵钉座134相对钉仓座133枢转而闭合或打开钳口组件128。具体的，套管126朝向近端运动时，运动改换机构驱动抵钉座134向上枢转而打开钳口组件128，套管126朝向远端运动时，运动改换机构驱动抵钉座134向下枢转而闭合钳口组件128。Further, please focus on Fig. 19 to Fig. 24, there is a motion conversion mechanism between the sleeve 126 and the nail anvil 134 of the jaw assembly 128, and the motion conversion mechanism converts the linear motion of the sleeve 126 into the motion of the nail anvil 134. The pivotal movement realizes that the nail anvil seat 134 pivots relative to the staple cartridge seat 133 to close or open the jaw assembly 128 . Specifically, when the sleeve 126 moves toward the proximal end, the movement changing mechanism drives the nail anvil 134 to pivot upwards to open the jaw assembly 128, and when the sleeve 126 moves toward the distal end, the motion changing mechanism drives the nail anvil 134 to pivot downward. In turn, the jaw assembly 128 is closed.

具体的，套管126包括相连的本体254和驱动管256，驱动管256驱动抵钉座134向上或向下枢转而打开或闭合钳口组件128。本体254和驱动管256通过铰链连接，也可一体成型。Specifically, the sleeve 126 includes a connected body 254 and a driving tube 256 , and the driving tube 256 drives the anvil 134 to pivot upward or downward to open or close the jaw assembly 128 . The main body 254 and the driving pipe 256 are connected by a hinge, and can also be integrally formed.

运动改换机构包括设置于驱动管256的第一驱动部258、第二驱动部260，以及设置于抵钉座134的第一从动部262和第二从动部264。The motion changing mechanism includes a first driving part 258 and a second driving part 260 disposed on the driving tube 256 , and a first driven part 262 and a second driven part 264 disposed on the nail anvil 134 .

第一驱动部258驱动抵钉座134打开，第一驱动部258为设置在驱动管256上的突部，突部沿右下方倾斜延伸。第二驱动部260驱动抵钉座134关闭，第二驱动部260为驱动管256远端的驱动面。The first driving part 258 drives the nail anvil 134 to open, and the first driving part 258 is a protrusion disposed on the driving tube 256, and the protrusion extends obliquely along the lower right. The second driving part 260 drives the nail anvil 134 to close, and the second driving part 260 is the driving surface at the distal end of the driving tube 256 .

相应的，第一从动部262可与第一驱动部258配接，第一从动部262为设置在抵钉座134上的凸部，凸部朝上延伸。第二从动部264可与第二驱动部260配接，第二从动部264为抵钉座134近端的抵接面。Correspondingly, the first driven part 262 can be matched with the first driving part 258 , the first driven part 262 is a convex part provided on the nail anvil 134 , and the convex part extends upward. The second driven part 264 can be matched with the second driving part 260 , and the second driven part 264 is the abutting surface of the proximal end of the nail anvil 134 .

抵钉座134和钉仓座133之间还设置有导向机构，导向机构包括设置在抵钉座134上的销子266，设置在钉仓座133上的腰形槽268，腰形槽268沿近端朝向远端的方向倾斜向上延伸。A guiding mechanism is also provided between the nail anvil seat 134 and the nail cartridge seat 133, and the guide mechanism includes a pin 266 arranged on the nail anvil seat 134, a waist-shaped groove 268 arranged on the nail cartridge seat 133, and the waist-shaped groove 268 along the The proximal end extends obliquely upward toward the distal end.

请参见图24至图23的状态变化，需要关闭端部执行器130时，套管126的本体254推动驱动管256朝向远端运动，驱动管256上的第二驱动部260与抵钉座134上的第二从动部264抵接，销子266从腰形槽268的近下端移动至远上端，抵钉座134向下枢转，钳口组件128关闭。Please refer to the state changes in FIGS. 24 to 23. When the end effector 130 needs to be closed, the body 254 of the sleeve 126 pushes the driving tube 256 to move toward the distal end. The pin 266 moves from the lower end of the waist-shaped groove 268 to the far upper end, the nail anvil 134 pivots downward, and the jaw assembly 128 closes.

请参见图23至图24的状态变化，需要打开钳口组件128时，套管126的本体254拉动驱动管256朝向近端运动，驱动管256上的第一驱动部258与抵钉座134上的第一从动部262抵接，销子266从腰形槽268的远上端移动至近下端，抵钉座134向上枢转，钳口组件128打开。Please refer to the state changes in FIGS. 23 to 24 . When the jaw assembly 128 needs to be opened, the body 254 of the sleeve 126 pulls the driving tube 256 to move toward the proximal end, and the first driving part 258 on the driving tube 256 is connected to the nail anvil 134 . The pin 266 moves from the far upper end of the waist-shaped slot 268 to the near lower end, the nail anvil 134 pivots upward, and the jaw assembly 128 opens.

切割刀组件与芯轴301连接以被芯轴301驱动执行击发动作或退刀动作。具体的，如图17所示，切割刀组件包括刀杆302、连接于刀杆302的刀头303。齿条300与芯轴301的近端连接，芯轴301的远端的槽与刀杆302的近端的凸起相卡接。齿条300可驱动芯轴301向前和向后运动。当安装了钉仓组件时，芯轴301的向前移动可使得切割刀组件向前移动，切割组织并推动钉仓组件的吻合钉出钉来缝合组织。芯轴301向后移动时带动切割刀组件向后移动，以恢复至初始位置。The cutting knife assembly is connected to the mandrel 301 to be driven by the mandrel 301 to perform a firing action or a knife retracting action. Specifically, as shown in FIG. 17 , the cutting knife assembly includes a knife bar 302 and a knife head 303 connected to the knife bar 302 . The rack 300 is connected to the proximal end of the mandrel 301 , and the groove at the distal end of the mandrel 301 engages with the protrusion at the proximal end of the knife rod 302 . The rack 300 can drive the spindle 301 to move forward and backward. When the staple cartridge assembly is installed, the forward movement of the mandrel 301 can cause the cutting knife assembly to move forward, cut the tissue and push the staples of the staple cartridge assembly out to staple the tissue. When the mandrel 301 moves backward, it drives the cutting knife assembly to move backward to return to the original position.

在切割和缝合的过程中，刀头303位于钳口组件的钉仓座133和抵钉座134之间形成的空间内。具体地，抵钉座134具有位于其中的抵钉座槽(图中未示出)，钉仓座133具有位于其中的钉仓座槽；钉仓座槽与抵钉座槽的位置相对应。钉仓座槽、抵钉座槽与钉仓组件的走刀槽共同为切割刀组件提供容置空间和路径导向。如图17所示，刀头303包括支承部304和卡接部305，支承部304和卡接部305形成工字型。钉仓座槽与卡接部305的形状相适配、抵钉座槽与支承部304的形状相适配，卡接部被置于钉仓座槽内，支承部进入抵钉座槽中，使得刀头303可以在上下两侧的抵钉座槽和钉仓座槽移动，从近端向远侧端运动切割和吻合人体组织。当切割刀组件受到击发力或缩回力时，支承部304在抵钉座槽内、卡接部305在钉仓座槽内可响应于施加的力进行往复运动，即切割刀组件可响应受到的击发力或缩回力在端部执行器130内往复运动。当切割刀组件位于终止位置或者位于中间位置时，刀头303的支承部304位于抵钉座槽中，卡接部305位于钉仓座槽中，被刀头303所限制，此时钳口组件无法打开。要想打开钳口组件，应当使得切割刀组件位于初始位置，此时支承部304自抵钉座槽中脱离，卡接部305自钉仓座槽中脱离，钳口组件的打开不再受刀头303的限制。During the cutting and stapling process, the cutter head 303 is located in the space formed between the staple cartridge seat 133 and the nail abutment seat 134 of the jaw assembly. Specifically, the nail anvil seat 134 has a nail anvil seat groove (not shown in the figure) therein, and the staple cartridge seat 133 has a nail cartridge seat groove therein; the position of the nail cartridge seat groove corresponds to the nail anvil seat groove. The staple cartridge seat groove, the nail abutment seat groove, and the knife feed groove of the staple cartridge assembly together provide accommodation space and path guidance for the cutting knife assembly. As shown in FIG. 17 , the cutter head 303 includes a supporting portion 304 and a locking portion 305 , and the supporting portion 304 and the locking portion 305 form an I-shape. The shape of the nail cartridge seat groove is adapted to the clamping part 305, and the shape of the nail abutting seat groove is adapted to the shape of the support part 304. The clamping part is placed in the nail cartridge seat groove, and the support part enters the nail abutment seat groove. This allows the cutter head 303 to move in the upper and lower sides of the anvil seat groove and the staple cartridge seat groove, and move from the proximal end to the distal end to cut and anastomose human tissues. When the cutting knife assembly is subjected to firing force or retraction force, the supporting part 304 can reciprocate in the nail abutment seat groove and the engaging part 305 can respond to the applied force in the nail cartridge seat groove, that is, the cutting knife assembly can respond to being received. The firing or retracting force reciprocates within the end effector 130. When the cutting knife assembly is at the end position or at the middle position, the supporting part 304 of the knife head 303 is located in the nail abutment seat groove, and the snap-in part 305 is located in the nail cartridge seat groove and is limited by the knife head 303. At this time, the jaw assembly Unable to open. If you want to open the jaw assembly, the cutting knife assembly should be in the initial position. At this time, the supporting part 304 is disengaged from the nail abutment seat groove, and the clamping part 305 is disengaged from the nail cartridge seat groove. The opening of the jaw assembly is no longer affected by the knife. Header 303 Restrictions.

进一步的，输入件运动时，离合机构择一地驱动第一输出件和第二输出件。当第一离合件10的第一有效转程结构12与第一输入件配合从而第一输入件通过离合机构驱动第一输出件时，第二离合件20的第二空转程结构与第二输出件耦合，使得第二输入件通过离合机构无法驱动第二输出件，即此时离合机构驱动第一输出件但不驱动第二输出件；当第一离合件10的第一空转程结构14与第一输入件耦合从而第一输入件通过离合机构无法驱动第一输出件时，第二离合件20的第二有效转程结构22与第二输出件配合，使得第二输入件通过离合机构驱动第二输出件，即此时离合机构驱动第二输出件但不驱动第一输出件。第一输出件和第二输出件被择一地驱动，从而实现钳口驱动机构和切割驱动机构被择一地驱动，进而钳口组件和切割刀组件被择一地驱动。优选地，第一输入件和第二输入件为同一部件。Further, when the input member moves, the clutch mechanism alternatively drives the first output member and the second output member. when the first clutch When the first effective rotation structure 12 of the member 10 is matched with the first input member so that the first input member drives the first output member through the clutch mechanism, the second idle travel structure of the second clutch member 20 is coupled with the second output member, so that The second input part cannot drive the second output part through the clutch mechanism, that is, the clutch mechanism drives the first output part but does not drive the second output part; When coupling so that the first input part cannot drive the first output part through the clutch mechanism, the second effective rotation structure 22 of the second clutch part 20 cooperates with the second output part, so that the second input part drives the second output part through the clutch mechanism , that is, at this time the clutch mechanism drives the second output member but does not drive the first output member. The first output member and the second output member are driven alternatively, so that the jaw drive mechanism and the cutting drive mechanism are alternatively driven, and then the jaw assembly and the cutting knife assembly are alternatively driven. Preferably, the first input member and the second input member are the same component.

根据外科器械100的工作方式，切割和吻合组织时，钳口组件应当保持闭合，因此切割刀组件的动作和钳口组件的动作不能同时进行，并且切割刀组件的动作与钳口组件的动作应当遵循既定的顺序，因此，择一地驱动上述两个组件是有意义的。通过上述离合机构，电机150择一地驱动切割驱动机构和钳口驱动机构，在外科器械100使用过程中，电机150要么驱动钳口组件动作，要么驱动切割刀组件动作，避免吻合器工作过程中出错。钳口组件的动作包括打开和闭合，切割刀组件的动作包括向前移动(即进刀)和向后移动(即退刀)。According to the working mode of the surgical instrument 100, when cutting and stapling tissues, the jaw assembly should be kept closed, so the actions of the cutting knife assembly and the jaw assembly cannot be performed simultaneously, and the actions of the cutting knife assembly and the jaw assembly should be Following the established order, it therefore makes sense to drive either of the above two components. Through the above-mentioned clutch mechanism, the motor 150 alternatively drives the cutting drive mechanism and the jaw drive mechanism. During the use of the surgical instrument 100, the motor 150 either drives the jaw assembly or the cutting knife assembly to avoid error. The action of the jaw assembly includes opening and closing, and the action of the cutting knife assembly includes moving forward (that is, feeding) and moving backward (that is, retracting).

可以理解的是，第一离合件10的驱动对象还可以由钳口组件更换为切割刀组件，以实现输入件通过第一离合件10选择性驱动第一输出件，进而选择性驱动切割驱动机构进而选择性驱动切割刀组件；第二离合件20的驱动对象还可以由切割刀组件更换为钳口组件，以实现输入件通过第二离合件20选择性驱动第二输出件，进而选择性驱动钳口驱动机构进而选择性驱动钳口组件。具体的，上述方案中，切割驱动机构包括芯轴，连杆52的一端与第一离合件10可转动地连接，连杆52的另一端与芯轴的一端可转动地连接，以将连杆的摆动转换为芯轴的直线运动，芯轴的另一端与切割刀组件的刀杆相连接；钳口驱动机构包括齿条300和套管126，套管126的一端与抵钉座134可驱动地连接，套管126的另一端与齿条300相连接，齿条300与第二输出件(驱动齿轮54)相啮合。It can be understood that the driving object of the first clutch part 10 can also be replaced by the jaw assembly with the cutting knife assembly, so as to realize that the input part selectively drives the first output part through the first clutch part 10, and then selectively drives the cutting drive mechanism Then selectively drive the cutting knife assembly; the driving object of the second clutch 20 can also be replaced by the cutting knife assembly to the jaw assembly, so that the input can selectively drive the second output through the second clutch 20, and then selectively drive the The jaw drive mechanism in turn selectively drives the jaw assembly. Specifically, in the above solution, the cutting drive mechanism includes a mandrel, one end of the connecting rod 52 is rotatably connected to the first clutch member 10, and the other end of the connecting rod 52 is rotatably connected to one end of the mandrel, so that the connecting rod The swing of the mandrel is converted into the linear motion of the mandrel, and the other end of the mandrel is connected with the cutter bar of the cutting knife assembly; the jaw driving mechanism includes a rack 300 and a sleeve 126, and one end of the sleeve 126 can be driven with the anvil 134 The other end of the bushing 126 is connected to the rack 300, and the rack 300 is engaged with the second output member (driving gear 54).

传动机构的运行方式为：输入件运动，第一离合件10的第一有齿部与输入件相配合，从而驱动第一离合件10运动，进而依次驱动第一输出件、钳口驱动机构和钳口组件，钳口组件被驱动以闭合或开启；第一离合件10的第一无齿部与输入件相耦合，第一离合件10不被驱动，进而第一输出件、钳口驱动机构和钳口组件不被驱动，钳口组件不被驱动而保持当前状态；输入件运动时同步驱动与其啮合的中间件40运动，中间件40带动第二离合件20运动，第二离合件20的第二有齿部与第二输出件相配合，第二输出件被驱动，从而第二输出件运动以驱动切割驱动机构，进而驱动切割刀组件前进或后退；第二离合件20的第二无齿部与第二输出件相耦合，第二输出件不被驱动，进而切割驱动机构和切割刀组件不被驱动，切割刀组件不被驱动而保持位置。进一步的，切割刀组件被驱动而进刀或退刀时，钳口组件保持在闭合状态，钳口组件被驱动而打开或闭合时，切割刀组件保持于初始位置。本段内容中的配合优选为啮合，运动优选为转动。The operation mode of the transmission mechanism is: the input part moves, the first toothed part of the first clutch part 10 cooperates with the input part, thereby driving the first clutch part 10 to move, and then driving the first output part, the jaw driving mechanism and The jaw assembly, the jaw assembly is driven to close or open; the first toothless part of the first clutch 10 is coupled with the input, the first clutch 10 is not driven, and then the first output, the jaw driving mechanism And the jaw assembly is not driven, the jaw assembly is not driven and maintains the current state; when the input piece moves, the intermediate piece 40 that is engaged with it is synchronously driven to move, and the intermediate piece 40 drives the second clutch 20 to move, and the second clutch 20 The second toothed part cooperates with the second output member, and the second output member is driven, so that the second output member moves to drive the cutting drive mechanism, and then drives the cutting knife assembly to advance or retreat; The tooth portion is coupled with the second output member, and the second output member is not driven, so that the cutting drive mechanism and the cutting knife assembly are not driven, and the cutting knife group Components are held in position without being driven. Further, when the cutting knife assembly is driven to advance or retreat, the jaw assembly remains in the closed state, and when the jaw assembly is driven to open or close, the cutting knife assembly remains at the initial position. Mating in this paragraph is preferably meshing and movement is preferably rotation.

离合机构的具体运行方式如下：第一离合件10的第一有齿部与输入件相配合，从而第一离合件10被驱动而运动，进而通过第一输出件依次驱动钳口驱动机构和钳口组件，钳口组件被驱动而闭合；在钳口组件闭合和开启的过程中，第二离合件20的第二无齿部与第二输出件相耦合，第二输出件不被驱动，进而切割驱动机构和切割刀组件不被驱动，切割刀组件不被驱动而保持位置；钳口组件闭合到位后，在切割刀组件进刀和退刀的过程中，第一离合件10的第一无齿部与输入件相耦合，第一离合件10不被驱动，进而钳口驱动机构和钳口组件不被驱动，钳口组件不被驱动而保持闭合，第二离合件20的第二有齿部与第二输出件相啮合，从而驱动第二输出件运动，进而依次驱动切割驱动机构和切割刀组件，切割刀组件被驱动以进刀，进刀到位(即击发到底)后或者进刀停止后，电机150反向转动，驱动切割刀组件退刀，直至退回至初始位置；电机150继续反向转动，第一离合件10的第一有齿部与输入件相啮合，从而第一离合件10反向转动，进而通过第一输出件依次驱动钳口驱动机构和钳口组件，钳口组件被驱动以开启。可见，离合机构使得钳口组件和切割刀组件按照顺序完成以下动作：关闭钳口组件，进刀，退刀，开启钳口组件，并且钳口组件和切割刀组件的动作不同时进行。The specific operation mode of the clutch mechanism is as follows: the first toothed part of the first clutch part 10 cooperates with the input part, so that the first clutch part 10 is driven to move, and then drives the jaw driving mechanism and the pliers sequentially through the first output part. The mouth assembly, the jaw assembly is driven to close; in the process of closing and opening the jaw assembly, the second toothless part of the second clutch 20 is coupled with the second output member, and the second output member is not driven, and then The cutting drive mechanism and the cutting knife assembly are not driven, and the cutting knife assembly is not driven but maintains its position; after the jaw assembly is closed and in place, in the process of the cutting knife assembly feeding and retreating, the first clutch of the first clutch 10 will The tooth part is coupled with the input part, the first clutch part 10 is not driven, and then the jaw driving mechanism and the jaw assembly are not driven, the jaw assembly is not driven and remains closed, and the second gear of the second clutch part 20 The part is engaged with the second output member, so as to drive the second output member to move, and then drive the cutting drive mechanism and the cutting knife assembly in turn. The cutting knife assembly is driven to feed, and the feed is in place (that is, fired to the end) or the feed stops Finally, the motor 150 rotates in the reverse direction, driving the cutter assembly to retreat until it returns to the initial position; the motor 150 continues to rotate in the reverse direction, and the first toothed part of the first clutch part 10 meshes with the input part, so that the first clutch part 10 reverse rotation, and then sequentially drive the jaw driving mechanism and the jaw assembly through the first output member, and the jaw assembly is driven to open. It can be seen that the clutch mechanism enables the jaw assembly and the cutting knife assembly to complete the following actions in sequence: closing the jaw assembly, advancing the knife, retracting the knife, and opening the jaw assembly, and the actions of the jaw assembly and the cutting knife assembly are not performed at the same time.

本实施例中，具体地，输入件为主驱动齿轮2，主驱动齿轮2与电机150的输出齿轮152相连，从而被电机150驱动。In this embodiment, specifically, the input member is the main driving gear 2 , and the main driving gear 2 is connected with the output gear 152 of the motor 150 so as to be driven by the motor 150 .

中间件40为第三齿轮，其与输入件保持啮合，中间件40的整个外周面上均分布有齿。The middle piece 40 is a third gear, which keeps meshing with the input piece, and the whole outer peripheral surface of the middle piece 40 has teeth distributed thereon.

第一离合件10为第一齿轮，具体为曲柄齿轮，外形大致为扇形，包括第一有齿部和第一无齿部，第一有齿部为第一有效转程结构12，第一无齿部为第一空转程结构14。第一有齿部与第一无齿部均位于第一齿轮的外周面，第一有齿部与第一无齿部邻接设置。The first clutch member 10 is a first gear, specifically a crank gear, which is roughly fan-shaped in shape and includes a first toothed part and a first toothless part. The first toothed part is the first effective rotation structure 12, and the first toothless part is The tooth portion is the first idle stroke structure 14 . Both the first toothed portion and the first toothless portion are located on the outer peripheral surface of the first gear, and the first toothed portion and the first toothless portion are arranged adjacent to each other.

第二离合件20为第二齿轮，包括第二有齿部和第二无齿部，第二有齿部为第二有效转程结构22，第二无齿部为第二空转程结构24。第二有齿部与第二无齿部均位于第二离合件20的外周面，第二有齿部与第二无齿部邻接设置。优选地，如图3、图5所示，中间件40和第二离合件20一体形成一个部件25，并且第三齿轮邻接于第二齿轮的上方。The second clutch 20 is a second gear, including a second geared portion and a second gearless portion, the second geared portion is a second effective stroke structure 22 , and the second gearless portion is a second idle stroke structure 24 . Both the second toothed portion and the second toothless portion are located on the outer peripheral surface of the second clutch member 20 , and the second toothed portion and the second toothless portion are disposed adjacent to each other. Preferably, as shown in FIG. 3 and FIG. 5 , the intermediate piece 40 and the second clutch piece 20 are integrally formed into one part 25 , and the third gear is adjacent to the upper part of the second gear.

第一输出件为连杆52，第二输出件为切割驱动齿轮54。连杆52的一端可转动地设置于第一离合件10的第二端面，第一离合件10带动连杆52运动，连杆52运动带动钳口驱动机构运动进而带动钳口组件打开或闭合。第二离合件20的位置与切割驱动齿轮54的位置相对应以使得第二离合件20与切割驱动齿轮54选择性配合，切割驱动齿轮54与齿条300啮合从而带动齿条300前进或后退，齿条300通过芯轴301驱动切割刀组件前进或后退。The first output is the connecting rod 52 and the second output is the cutting drive gear 54 . One end of the connecting rod 52 is rotatably arranged on the second end surface of the first clutch member 10, the first clutch member 10 drives the connecting rod 52 to move, and the movement of the connecting rod 52 drives the jaw driving mechanism to move and further drives the jaw assembly to open or close. The position of the second clutch 20 corresponds to the position of the cutting drive gear 54 so that the second clutch 20 selectively cooperates with the cutting drive gear 54, and the cutting drive gear 54 meshes with the rack 300 to drive the rack 300 forward or backward. The rack 300 drives the cutter assembly forward or backward through the mandrel 301 .

如图18所示，连杆52的一端可转动地连接于第一离合件10，连杆52的另一端可转动地连接于滑块55，滑块55固定连接于套管126。第一离合件10驱动连杆52运动，连杆52驱动滑块55运动，进而驱动套管126运动。As shown in FIG. 18 , one end of the connecting rod 52 is rotatably connected to the first clutch member 10 , the other end of the connecting rod 52 is rotatably connected to the slider 55 , and the slider 55 is fixedly connected to the sleeve 126 . The first clutch member 10 drives the connecting rod 52 to move, and the connecting rod 52 drives the slider 55 to move, and then drives the bushing 126 to move.

中间件40和第一离合件10均可转动地套设于旋转轴41，中间件40的第一端面与第一离合件10的第二端面相邻近，两个端面中的一个设置圆弧槽62，另一个设置有伸入圆弧槽62的突起64，圆弧槽62的圆心位于其所在部件的转动轴线上。突起64可在圆弧槽62内滑动。一方面，突起64与圆弧槽62配合可以使得中间件40和第一离合件10叠置；另一方面，中间件40通过第二离合件20驱动第二输出件时，突起64可在圆弧槽62内滑动，第一离合件10不随中间件40转动，此时第一空转程结构14与输入件相耦合，从而在驱动装置驱动切割刀组件移动时，第一离合件10不会驱动端部执行器130闭合或打开。具体地，如图3至图5所示，本实施例以圆弧槽62设置于中间件40，突起64设置于第一离合件10进行详细描述。The middle piece 40 and the first clutch piece 10 can be rotatably sleeved on the rotating shaft 41, the first end surface of the middle piece 40 is adjacent to the second end surface of the first clutch piece 10, and an arc groove is provided on one of the two end surfaces 62, the other is provided with a protrusion 64 extending into the arc groove 62, and the center of the arc groove 62 is located on the rotation axis of the part where it is located. The protrusion 64 can slide in the arc groove 62 . On the one hand, the protrusion 64 cooperates with the arc groove 62 to make the intermediate piece 40 and the first clutch 10 overlap; Sliding in the arc groove 62, the first clutch part 10 does not rotate with the intermediate part 40. At this time, the first idle travel structure 14 is coupled with the input part, so that when the driving device drives the cutting knife assembly to move, the first clutch part 10 will not drive The end effector 130 is closed or opened. Specifically, as shown in FIG. 3 to FIG. 5 , in this embodiment, the arc groove 62 is provided on the middle member 40 and the protrusion 64 is provided on the first clutch member 10 for detailed description.

突起64与圆弧槽62的首端66抵接时，随着输入件驱动中间件40转动，中间件40转动使得圆弧槽62的首端66带动与其抵接的突起64转动，从而带动第一离合件10转动，使得第一离合件10和输入件之间从耦合状态切换至配合状态，耦合状态即第一无齿部与输入件耦合，配合状态即第一有齿部与输入件配合。也即，突起64与圆弧槽62的配合能够使得输入件与第一空转程结构14耦合转换为输入件与第一有效转程结构12配合，从而实现了第一离合件10对第一输出件由不驱动状态转换为驱动状态。本实施例中，具体地，随着退刀过程中中间件40的转动，退刀完毕后，突起64抵接圆弧槽62的首端66，使得第一离合件10的第一有齿部的齿与中间件40的齿上下对齐，但第一有齿部与输入件尚未啮合，此时，如果电机150转动，中间件40转动时首端66带动突起64同步转动而使第一有齿部开始与输入件啮合，从而第一离合件10和中间件40可同步与输入件啮合，以保证后续端部执行器130的顺利打开而松开组织。When the protrusion 64 abuts against the head end 66 of the arc groove 62, as the input piece drives the middle piece 40 to rotate, the middle piece 40 rotates so that the head end 66 of the arc groove 62 drives the protrusion 64 abutted against it to rotate, thereby driving the first A clutch part 10 rotates, so that the first clutch part 10 and the input part are switched from a coupling state to a mating state, the coupling state is that the first toothless part is coupled with the input part, and the mating state is that the first toothed part is mated with the input part . That is to say, the cooperation between the protrusion 64 and the arc groove 62 can make the coupling between the input part and the first idle stroke structure 14 be converted into the cooperation between the input part and the first effective stroke structure 12, thereby realizing the first output of the first clutch part 10. The component changes from the non-driving state to the driving state. In this embodiment, specifically, with the rotation of the intermediate member 40 during the tool retraction process, after the tool retraction is completed, the protrusion 64 abuts against the head end 66 of the arc groove 62, so that the first toothed portion of the first clutch member 10 The teeth of the middle piece and the teeth of the middle piece 40 are aligned up and down, but the first toothed part has not yet meshed with the input piece. At this time, if the motor 150 rotates, the head end 66 drives the protrusion 64 to rotate synchronously when the middle piece 40 rotates, so that the first toothed portion The first clutch part 10 and the intermediate part 40 can be engaged with the input part synchronously, so as to ensure the smooth opening of the subsequent end effector 130 to loosen the tissue.

下面结合图6-A至图6-D描述本实施例中外科器械100正常工作时离合机构的工作过程。The working process of the clutch mechanism in this embodiment when the surgical instrument 100 works normally will be described below with reference to FIGS. 6-A to 6-D.

如图6-A所示，初始状态，端部执行器130处于打开状态，切割刀组件位于初始位置。突起64位于圆弧槽62的首端66，第一离合件10的第一有齿部和中间件40同时与主驱动齿轮2啮合。As shown in FIG. 6-A , in an initial state, the end effector 130 is in an open state, and the cutting knife assembly is in an initial position. The protrusion 64 is located at the head end 66 of the arc groove 62 , and the first toothed portion of the first clutch member 10 and the intermediate member 40 mesh with the main driving gear 2 at the same time.

此时，若操作者确定端部执行器130已对准需要切割的组织，操作者启动电机150，电机150正向转动而驱动主驱动齿轮2转动，主驱动齿轮2转动同时驱动第一离合件10和中间件40转动(在图6-A中均逆时针转动)，中间件40带动第二离合件20转动，此时第二无齿部与切割驱动齿轮54耦合。这个过程中，第一离合件10和中间件40无相对转动，因此，突起64保持在圆弧槽62的首端66。而第一离合件10的转动驱动连杆52运动，连杆52驱动钳口驱动机构，进而驱动钳口组件(端部执行器130)闭合，离合机构到达图6-B所示的位置。At this time, if the operator confirms that the end effector 130 has been aligned with the tissue to be cut, the operator starts the motor 150, and the motor 150 rotates forward to drive the main drive gear 2 to rotate, and the main drive gear 2 rotates to simultaneously drive the first clutch 10 and the middle piece 40 rotate (both rotate counterclockwise in FIG. 6-A ), the middle piece 40 drives the second clutch piece 20 to rotate, and the second toothless portion is coupled with the cutting drive gear 54 at this moment. During this process, the first clutch member 10 and the intermediate member 40 do not rotate relative to each other, therefore, the protrusion 64 remains at the head end 66 of the arc groove 62 . And the rotation of the first clutch part 10 drives the movement of the connecting rod 52, and the connecting rod 52 drives The jaw driving mechanism further drives the jaw assembly (end effector 130 ) to close, and the clutch mechanism reaches the position shown in FIG. 6-B .

在图6-B所示的位置，钳口组件闭合到底，主驱动齿轮2与第一离合件10的第一有齿部脱离啮合，随之第一无齿部与主驱动齿轮2耦合，主驱动齿轮2仅与中间件40啮合，并且第二离合件20的第二有齿部开始与切割驱动齿轮54啮合。此时，电机150继续正向转动，电机150驱动主驱动齿轮2，主驱动齿轮2通过第二离合件20的第二有齿部以及第二输出件(切割驱动齿轮54)驱动切割刀组件进刀，使切割刀组件从初始位置运动至终止位置。在这个过程中，如图6-C显示的进刀过程中某时刻的离合机构的状态，此时切割刀组件位于中间位置，第一无齿部与主驱动齿轮2耦合，第一离合件不转动，主驱动齿轮2无法驱动端部执行器130运动，即钳口组件保持在闭合状态，但中间件40转动(在图6-C中继续逆时针转动)，第二有齿部与切割驱动齿轮54啮合，主驱动齿轮2驱动切割驱动齿轮54转动，而驱动突起64在圆弧槽62内从首端66朝向末端滑动，直至到达图6-D所示的末端位置。此时，进刀过程完成。In the position shown in Figure 6-B, the jaw assembly is closed to the bottom, the main drive gear 2 is disengaged from the first toothed part of the first clutch 10, and then the first toothless part is coupled with the main drive gear 2, and the main drive gear 2 The drive gear 2 meshes only with the intermediate piece 40 and the second toothed portion of the second clutch 20 starts meshing with the cutting drive gear 54 . At this time, the motor 150 continues to rotate in the forward direction, and the motor 150 drives the main drive gear 2, and the main drive gear 2 drives the cutting knife assembly through the second toothed portion of the second clutch 20 and the second output member (cutting drive gear 54). The knife moves the cutting knife assembly from the initial position to the final position. In this process, the state of the clutch mechanism at a certain moment during the feeding process shown in Figure 6-C, at this time the cutting knife assembly is in the middle position, the first toothless part is coupled with the main drive gear 2, and the first clutch is not Rotate, the main drive gear 2 cannot drive the end effector 130 to move, that is, the jaw assembly remains in the closed state, but the middle piece 40 rotates (continues to rotate counterclockwise in Figure 6-C), the second toothed part and the cutting drive The gear 54 is engaged, the main driving gear 2 drives the cutting driving gear 54 to rotate, and the driving protrusion 64 slides in the arc groove 62 from the head end 66 to the end until reaching the end position shown in FIG. 6-D . At this point, the feeding process is complete.

在图6-D所示的位置，切割刀组件位于终止位置，组织切割和吻合完毕。此时，操作者可操作电机150反向转动，电机150通过主驱动齿轮2、第二离合件20、第二输出件驱动切割驱动机构进而驱动切割刀组件退刀，使切割刀组件从终止位置退回至初始位置，在这个过程中，第一无齿部与主驱动齿轮2耦合，第一离合件10不转动，主驱动齿轮2无法驱动端部执行器130运动，即钳口组件保持在闭合状态，但中间件40反向转动(在图6-D开始顺时针转动)，第二有齿部与切割驱动齿轮54啮合，主驱动齿轮2通过第二有齿部驱动切割驱动齿轮54反向转动，并且使得突起64在圆弧槽62内朝向首端66滑动，当突起64与圆弧槽62的首端66抵接时，第一离合件10的第一有齿部的齿和中间件40的齿上下对齐，到达图6-B所示的位置。此时，退刀过程完成。In the position shown in Fig. 6-D, the cutting knife assembly is at the end position, and the tissue cutting and anastomosis are completed. At this time, the operator can operate the motor 150 to rotate in reverse, and the motor 150 drives the cutting drive mechanism through the main drive gear 2, the second clutch member 20, and the second output member to drive the cutter assembly back, so that the cutter assembly moves from the end position Back to the initial position, during this process, the first gearless part is coupled with the main drive gear 2, the first clutch 10 does not rotate, the main drive gear 2 cannot drive the end effector 130 to move, that is, the jaw assembly remains closed state, but the middle piece 40 reversely rotates (starts to rotate clockwise in Fig. 6-D), the second toothed part meshes with the cutting drive gear 54, and the main drive gear 2 drives the cutting drive gear 54 reversely through the second toothed part Rotate, and make the protrusion 64 slide towards the head end 66 in the arc groove 62, when the protrusion 64 abuts against the head end 66 of the arc groove 62, the teeth of the first toothed part of the first clutch member 10 and the intermediate member The teeth of 40 are aligned up and down, reaching the position shown in Fig. 6-B. At this point, the tool retraction process is complete.

在图6-B所示的位置，电机150继续反向转动，中间件40转动时首端66带动突起64同步转动而使第一离合件顺时针转动，从而使得第一离合件的第一无齿部不再与主驱动齿轮2耦合，并且使得第一有齿部开始与主驱动齿轮2啮合，从而第一离合件10和中间件40同步与主驱动齿轮2啮合，实现端部执行器130的顺利打开而松开组织。在此过程中，第二无齿部与切割驱动齿轮54耦合，因此切割刀组件不被驱动从而保持在初始位置。主驱动齿轮2同时驱动第一离合件10和中间件40反向转动(在图6-B中均顺时针转动)，突起64保持在圆弧槽62的首端66位置，第一有齿部与主驱动齿轮2啮合使得第一离合件转动，第一离合件驱动连杆52进而驱动钳口驱动机构，从而驱动端部执行器130打开，回到图6-A所示的状态。由此，外科器械100实现一次完整的操作，在这个操作过程中，外科器械100依次实现端部执行器130闭合以夹持组织、切割刀组件进刀而切割和吻合组织、切割刀组件退刀、端部执行器130打开以松开组织。In the position shown in FIG. 6-B, the motor 150 continues to rotate in the reverse direction. When the middle member 40 rotates, the head end 66 drives the protrusion 64 to rotate synchronously to make the first clutch part rotate clockwise, so that the first clutch part of the first clutch part rotates clockwise. The tooth part is no longer coupled with the main drive gear 2, and the first toothed part starts to mesh with the main drive gear 2, so that the first clutch part 10 and the intermediate part 40 mesh with the main drive gear 2 synchronously, realizing the end effector 130 The smooth opening and loosening of the tissue. During this process, the second toothless portion is coupled with the cutting driving gear 54, so the cutting blade assembly is not driven to maintain the initial position. The main drive gear 2 simultaneously drives the first clutch member 10 and the intermediate member 40 to rotate in reverse (both rotate clockwise in FIG. Engaging with the main drive gear 2 makes the first clutch part rotate, and the first clutch part drives the connecting rod 52 and then drives the jaw driving mechanism, thereby driving the end effector 130 to open, returning to the state shown in FIG. 6-A . Thus, the surgical instrument 100 realizes a complete operation. During this operation, the surgical instrument 100 sequentially realizes the closing of the end effector 130 to clamp the tissue, the cutting knife assembly advances to cut and anastomose the tissue, and the cutting knife assembly retracts. , end execution The actuator 130 is opened to loosen the tissue.

在手术中发生电力故障时，电机150将无法转动，进而无法驱动离合机构来驱动切割刀组件退刀或钳口组件打开，使得钳口组件无法松开被其夹持的组织。为解决该问题，本申请的外科器械包括手动返回机构，由操作者手动操作手动返回机构，实现电动力脱开，驱动钳口组件打开，或者驱动切割刀组件退刀、钳口组件打开，实现强制复位。When a power failure occurs during the operation, the motor 150 will not be able to rotate, and then cannot drive the clutch mechanism to drive the cutter assembly to retreat or the jaw assembly to open, so that the jaw assembly cannot release the clamped tissue. In order to solve this problem, the surgical instrument of the present application includes a manual return mechanism. The operator manually operates the manual return mechanism to realize electric power disengagement, drive the jaw assembly to open, or drive the cutting knife assembly to retreat and the jaw assembly to open to realize Forced reset.

如图2所示，手动返回机构包括由用户操作的手动操作件70、由手动操作件70驱动的脱开传动组件和由手动操作件70驱动的返回传动组件。脱开传动组件使得电动模块和离合机构之间脱开，返回传动组件驱动离合机构从而实现钳口组件打开，或者实现切割刀退刀和钳口组件打开。需要说明的是，当电动模块与离合机构脱开后，钳口驱动机构、连杆52、第一离合件10均可以被钳口组件的抵钉座134驱动而运动，也就是说，当对于抵钉座134施力时，抵钉座134会相对钉仓座133枢转而使得钳口组件闭合，此时，会带动钳口驱动机构、连杆52、第一离合件10运动而不会受到电机150的牵制。抵钉座134的被施力例如将外科器械经过穿刺器套管从体腔内取出时，穿刺器套管的内壁对抵钉座134施力，使得钳口组件闭合。钳口组件闭合的外科器械可以从体腔内取出。As shown in FIG. 2 , the manual return mechanism includes a manual operation part 70 operated by a user, a disengagement transmission assembly driven by the manual operation part 70 and a return transmission assembly driven by the manual operation part 70 . Disengage the transmission assembly to disengage between the electric module and the clutch mechanism, and return the transmission assembly to drive the clutch mechanism to realize the opening of the jaw assembly, or to realize the retraction of the cutting knife and the opening of the jaw assembly. It should be noted that, when the electric module is disengaged from the clutch mechanism, the jaw driving mechanism, the connecting rod 52, and the first clutch member 10 can all be driven to move by the anvil 134 of the jaw assembly, that is to say, when the When the nail anvil 134 exerts force, the nail anvil 134 will pivot relative to the nail cartridge seat 133 to close the jaw assembly. At this time, it will drive the jaw driving mechanism, the connecting rod 52, and the first clutch 10 to move without By the pinning of the motor 150. When the anvil 134 is urged, for example, when the surgical instrument is taken out of the body cavity through the trocar sleeve, the inner wall of the trocar sleeve exerts force on the anvil 134 to close the jaw assembly. The surgical instrument with the jaw assembly closed can be removed from the body cavity.

脱开传动组件和返回传动组件具有被驱动的顺序：首先，脱开传动组件被驱动，然后返回传动组件被驱动。在电机150与离合机构不脱开的情况下，离合机构、被离合机构选择性驱动的钳口驱动机构和钳口组件、切割驱动机构和切割刀组件均与电机150相连接，手动操作的阻力比较大，无法通过手动操作件70来驱动切割刀组件和钳口组件，因此手动返回机构首先使电动模块与离合机构脱开，即脱开传动组件首先被驱动，然后驱动返回传动组件实现钳口组件打开，或者实现切割刀退刀和钳口组件打开，即然后返回传动组件被驱动。The disengagement drive assembly and the return drive assembly have a sequence of being driven: first the disengagement drive assembly is driven and then the return drive assembly is driven. Under the condition that the motor 150 is not disengaged from the clutch mechanism, the clutch mechanism, the jaw drive mechanism and jaw assembly selectively driven by the clutch mechanism, the cutting drive mechanism and the cutter assembly are all connected to the motor 150, and the resistance of manual operation It is relatively large, and it is impossible to drive the cutting knife assembly and the jaw assembly through the manual operation part 70. Therefore, the manual return mechanism first disengages the electric module from the clutch mechanism, that is, the disengagement transmission assembly is first driven, and then the return transmission assembly is driven to realize the jaw assembly. The assembly is opened, or the cutting knife is retracted and the jaw assembly is opened, that is, the return transmission assembly is then driven.

由前述内容记载，离合机构被驱动时，离合机构择一地驱动切割刀组件运动或钳口组件运动，并且顺序地先驱动切割刀组件执行退刀动作，然后驱动钳口组件执行钳口打开动作，因此，返回传动组件通过驱动离合机构可以实现切割刀组件退刀、钳口组件打开。当切割刀组件未处于初始位置时，返回传动组件通过离合机构先驱动切割刀组件退刀，再驱动钳口组件打开以松开组织；当切割刀组件处于初始位置时，返回传动组件通过离合机构驱动钳口组件打开以松开组织。钳口组件打开以松开和取出组织后，进一步地，驱动钳口组件闭合后，可将吻合器自体内取出。According to the aforementioned content, when the clutch mechanism is driven, the clutch mechanism will either drive the movement of the cutting knife assembly or the movement of the jaw assembly, and sequentially drive the cutting knife assembly to execute the retraction action, and then drive the jaw assembly to perform the jaw opening action. Therefore, the return transmission assembly can realize the withdrawal of the cutting knife assembly and the opening of the jaw assembly by driving the clutch mechanism. When the cutting knife assembly is not in the initial position, the return transmission assembly first drives the cutting knife assembly to retreat through the clutch mechanism, and then drives the jaw assembly to open to loosen the tissue; when the cutting knife assembly is in the initial position, the return transmission assembly passes through the clutch mechanism The jaw assembly is driven open to loosen tissue. After the jaw assembly is opened to loosen and take out the tissue, further, after the jaw assembly is driven to close, the stapler can be taken out of the body.

根据电动模块与传动机构之间的机械连接关系，外科器械具有第一状态和第二状态。在第一状态下，响应于电动模块的动力输出，传动机构被电动模块驱动，在第二状态下，电动模块与传动机构脱离，手动返回机构与传动机构可操作地连接，以响应于手动返回机构对于传动机构的驱动来实现切割刀组件退刀和钳口组件打开，或者，实现钳口组件打开。在第一状态下，如在前内容中记载的，用户正常使用外科器械，电动模块驱动传动机构，进而驱动切割刀组件和钳口组件执行钳口闭合、进刀、退刀和钳口打开。当第一状态下发生电力故障时，用户操作手动操作件70以驱动脱开传动组件，脱开传动组件使外科器械从第一状态转换为第二状态，使得电动模块与传动机构脱开。在第二状态下，用户操作手动操作件70，驱动返回驱动组件，从而驱动离合机构实现切割刀组件退刀和钳口组件打开，或者，驱动离合机构实现钳口组件打开。According to the mechanical connection relationship between the electric module and the transmission mechanism, the surgical instrument has a first state and a second state. In the first state, the transmission mechanism is driven by the electric module in response to the power output of the electric module, and in the second state, the electric module is disengaged from the transmission mechanism, and the manual return mechanism is operatively connected with the transmission mechanism to The mechanism drives the transmission mechanism to realize the retraction of the cutting knife assembly and the opening of the jaw assembly, or to realize the opening of the jaw assembly. In the first state, as described above, the user uses the surgical instrument normally, and the electric module drives the transmission mechanism, and then drives the cutting knife assembly and the jaw assembly to perform jaw closing, feeding, retracting, and jaw opening. When a power failure occurs in the first state, the user operates the manual operation member 70 to drive and disengage the transmission assembly, and the disengagement of the transmission assembly converts the surgical instrument from the first state to the second state, so that the electric module is disengaged from the transmission mechanism. In the second state, the user operates the manual operation part 70 to drive back the driving assembly, thereby driving the clutch mechanism to realize the retreat of the cutting knife assembly and the opening of the jaw assembly, or to drive the clutch mechanism to realize the opening of the jaw assembly.

具体地，外科器械具有第一状态和第二状态：在第一状态下，响应于电动模块的动力输出，离合机构被电动模块驱动，在第二状态下，电动模块与离合机构脱离，手动返回机构与离合机构可操作地连接，以响应于手动返回机构对于离合机构的驱动来实现切割刀组件退刀和钳口组件打开，或者，实现钳口组件打开。Specifically, the surgical instrument has a first state and a second state: in the first state, the clutch mechanism is driven by the electric module in response to the power output of the electric module, and in the second state, the electric module is disengaged from the clutch mechanism and returns manually The mechanism is operably connected with the clutch mechanism, so as to respond to the driving of the clutch mechanism by the manual return mechanism to realize the retraction of the cutting knife assembly and the opening of the jaw assembly, or to realize the opening of the jaw assembly.

进一步地，本实施例中，电动模块与离合机构脱离包括以下情形：电机150与切换机构的输入件脱离。在第一状态下，电动模块的电机150与输入件连接，响应于电机150的动力输出，输入件被驱动，进而离合机构被驱动。在第二状态下，电机150与输入件脱离，使得电机150无法通过输入件与离合机构相连接，从而离合机构的运动不再受到电机150的限制，这属于电动模块与离合机构脱离的一种情形。需要说明的是，可以将电动模块与离合机构脱离的方式替换为：传动机构的切换机构的输入件与离合机构脱离，同样可以实现离合机构的运动不再受到电动模块的限制。在此不再赘述。Further, in this embodiment, the disengagement of the electric module from the clutch mechanism includes the following situation: the motor 150 is disengaged from the input member of the switching mechanism. In the first state, the motor 150 of the electric module is connected to the input member, and in response to the power output of the motor 150, the input member is driven, and thus the clutch mechanism is driven. In the second state, the motor 150 is separated from the input member, so that the motor 150 cannot be connected to the clutch mechanism through the input member, so that the movement of the clutch mechanism is no longer restricted by the motor 150, which is a kind of separation between the electric module and the clutch mechanism situation. It should be noted that the disengagement of the electric module from the clutch mechanism can be replaced by: the input member of the switching mechanism of the transmission mechanism is separated from the clutch mechanism, so that the movement of the clutch mechanism is no longer restricted by the electric module. I won't repeat them here.

进一步的，本实施例中，手动操作件70的个数为一个，能够沿第一方向运动，手动操作件70沿第一方向运动使得外科器械从第一状态切换到第二状态，并且在第二状态下，手动操作件70在第一方向上运动驱动离合机构以择一地驱动切割刀组件运动执行退刀动作或者驱动钳口组件运动执行打开动作。在第二状态下，手动操作件70在第一方向上运动，可以通过离合机构驱动钳口组件执行打开动作，也可以通过离合机构先驱动切割刀组件执行退刀动作，再驱动钳口组件执行打开动作。Further, in this embodiment, there is one manual operating member 70, which can move along the first direction, and the manual operating member 70 moves along the first direction to switch the surgical instrument from the first state to the second state, and at the second In the second state, the manual operation part 70 moves in the first direction to drive the clutch mechanism to alternatively drive the cutting knife assembly to move to execute the retracting action or drive the jaw assembly to move to perform the opening action. In the second state, the manual operation part 70 moves in the first direction, and the jaw assembly can be driven to perform the opening action through the clutch mechanism, or the cutting knife assembly can be driven to perform the retracting action through the clutch mechanism, and then the jaw assembly can be driven to perform Open action.

当在进刀或退刀过程中发生电力故障时，通过该一个手动操作件70能够顺序地实现电动力脱开、切割刀组件退刀和钳口打开，即一件三功能：先驱动脱开传动组件使电动力脱开(即电动模块与离合机构脱离)，后驱动离合机构，离合机构被驱动时先驱动切割刀组件执行退刀工作，后驱动钳口组件执行打开动作。当在切割刀组件位于初始位置时发生电力故障，通过该一个手动操作件70能够顺序地实现电动力脱开和钳口打开，即一件两功能：先驱动脱开传动组件使电动力脱开，后驱动离合机构，离合机构驱动钳口组件执行打开动作，此过程中不驱动切割刀组件运动。综上所述，本申请中，一个手动操作件70既能顺序地实现电动力脱开、切割刀组件退刀和钳口组件打开，即一件三种功能，又能顺序地实现电动力脱开和钳口组件打开，即一件两种功能，实现了对需要手动回刀和打开钳口的任意情况下发生电力故障的外科器械的强制复位。用户只需操作一个操作件，操作简单，使用方便。When a power failure occurs in the process of feeding or withdrawing the knife, the electric power disengagement, the cutting knife assembly retreat and the opening of the jaws can be realized sequentially through the manual operation part 70, that is, three functions in one piece: first drive disengagement The transmission assembly disengages the electric power (that is, the electric module is separated from the clutch mechanism), and then drives the clutch mechanism. When the clutch mechanism is driven, it first drives the cutting knife assembly to perform the knife retraction work, and then drives the jaw assembly to perform the opening action. When a power failure occurs when the cutting knife assembly is in the initial position, the electric power disengagement and jaw opening can be realized sequentially through the manual operation part 70, that is, two functions in one piece: first drive the disengagement transmission assembly to disengage the electric power , after driving the clutch mechanism, the clutch mechanism drives the jaw assembly to perform the opening action, and does not drive the cutting knife assembly to move during this process. In summary, in this application, a manual The operating part 70 can not only sequentially realize the three functions of disengagement by electric power, withdrawal of the cutter assembly and opening of the jaw assembly, that is, three functions in one piece, but also sequentially realize disengagement by electric power and opening of the jaw assembly, that is, two functions in one piece. This function realizes the forced reset of surgical instruments that have a power failure under any circumstances that require manual return of the knife and opening of the jaws. The user only needs to operate one operating part, which is easy to operate and easy to use.

下述优选地以切割过程中发生电力故障为例，具体描述手动返回机构的运作过程。本领域技术人员能够理解的是，上述任意情况下发生电力故障时使用手动返回机构，手动操作件的运作过程相同，脱开传动组件的运作过程相同，返回传动组件的运作过程相同，仅离合机构的运作过程存在差异。离合机构的运作过程的差异具体是，先驱动切割刀组件退刀再驱动钳口组件打开，或者，驱动钳口组件打开。The following preferably takes a power failure during the cutting process as an example to describe the operation process of the manual return mechanism in detail. Those skilled in the art can understand that when a power failure occurs in any of the above situations, the manual return mechanism is used. There are differences in the operation process. The difference in the operation process of the clutch mechanism is that the cutting knife assembly is first driven to retract and then the jaw assembly is driven to open, or the jaw assembly is driven to open.

具体的，该一个手动操作件70沿第一方向运动时顺序驱动脱开传动组件和返回传动组件：首先，手动操作件70沿第一方向运动以驱动脱开传动组件，使得外科器械从第一状态切换到第二状态并且保持于第二状态；然后，手动操作件70继续沿第一方向运动，从而连接并驱动返回传动组件。也就是说，由同一个手动操作件70先后驱动脱开传动组件和返回传动组件，先驱动脱开传动组件，再驱动返回传动组件。手动操作件70沿第一方向运动至终点后，再沿与第一方向相反的第二方向运动返回至起点，沿第二方向运动时，手动操作件70与返回传动组件分离，再从起点沿第一方向运动，此时脱开传动组件被保持于第二状态，因此不再驱动脱开传动组件只连接并且驱动返回传动组件。手动操作件70与返回传动机构可操作地连接，包括手动操作件70与返回传动机构连接，还包括手动操作件70与返回传动机构分离。Specifically, when the one manual operating part 70 moves along the first direction, it sequentially drives the disengagement transmission assembly and the return transmission assembly: first, the manual operation part 70 moves along the first direction to drive the disengagement transmission assembly, so that the surgical instrument moves from the first The state is switched to the second state and maintained in the second state; then, the manual operation member 70 continues to move in the first direction, thereby connecting and driving the return transmission assembly. That is to say, the disengagement transmission assembly and the return transmission assembly are successively driven by the same manual operation part 70, and the disengagement transmission assembly is driven first, and then the return transmission assembly is driven. After the manual operation part 70 moves to the end point along the first direction, it moves back to the starting point along the second direction opposite to the first direction. Movement in the first direction, at which time the disengagement transmission assembly is maintained in the second state, so the disengagement transmission assembly is no longer driven and only connected and driven back to the transmission assembly. The manual operation part 70 is operatively connected to the return transmission mechanism, including the connection between the manual operation part 70 and the return transmission mechanism, and the separation of the manual operation part 70 from the return transmission mechanism.

具体的，手动操作件70为扳手，扳手套设于支撑轴71(第一转轴)，其能够沿第一方向和第二方向绕支撑轴71的中心轴线旋转，第一方向与第二方向相反。Specifically, the manual operation part 70 is a wrench, and the wrench set is set on the support shaft 71 (first rotating shaft), which can rotate around the central axis of the support shaft 71 along the first direction and the second direction, and the first direction is opposite to the second direction. .

依照在前内容的记载，在传动关系中，输入件位于电动模块和离合机构之间。输入件可选择地在第一位置和第二位置之间运动。输入件位于第一位置时，电动模块通过输入件与离合机构连接，此时外科器械处于第一状态，响应于电动模块的动力输出，输入件被电动模块驱动，进而离合机构被输入件驱动。输入件位于第二位置时，输入件与电动模块脱离，使得电动模块与离合机构脱开，此时外科器械处于第二状态。在第二状态下，电动模块不会对离合机构、驱动机构、被驱动对象(包括切割刀组件和钳口组件)的动作构成牵制。手动操作件70沿第一方向移动，能够驱动输入件从第一位置运动到第二位置，以使外科器械100从第一状态转换为第二状态。可替代的是，输入件位于第二位置时，也可以是输入件与离合机构脱离，此时外科器械处于第二状态。According to the previous content, in the transmission relationship, the input member is located between the electric module and the clutch mechanism. The input member is selectively movable between a first position and a second position. When the input part is in the first position, the electric module is connected to the clutch mechanism through the input part. At this time, the surgical instrument is in the first state. In response to the power output of the electric module, the input part is driven by the electric module, and then the clutch mechanism is driven by the input part. When the input member is at the second position, the input member is disengaged from the electric module, so that the electric module is disengaged from the clutch mechanism, and the surgical instrument is in the second state at this moment. In the second state, the electric module does not constrain the actions of the clutch mechanism, the driving mechanism, and the driven object (including the cutting knife assembly and the jaw assembly). The manual operation part 70 moves along the first direction, and can drive the input part to move from the first position to the second position, so that the surgical instrument 100 is converted from the first state to the second state. Alternatively, when the input member is in the second position, the input member may also be disengaged from the clutch mechanism, and the surgical instrument is in the second state at this time.

具体的，本实施例中，输入件为主驱动齿轮2，电动模块通过输入件将电动力传送至离合机构。主驱动齿轮2可轴向滑动地套设于销轴4，主驱动齿轮2能够沿着销轴4从第一位置滑动至第二位置，且主驱动齿轮2的底部设置有用于将其保持在第一位置的弹性件5，以确保在第一状态下，其传送电动力给离合机构的有效性和平稳性。如图3、图7和图10-B所示，更具体的，主驱动齿轮2为双联齿轮，包括同步转动的上齿轮6和下齿轮7，上齿轮6和下齿轮7之间形成凹部8，凹部8的直径小于上齿轮6和小于下齿轮7，凹部8将下齿轮7受到的电机的驱动力传送至上齿轮6以使得下齿轮7和上齿轮6同步转动，并且凹部8提供了容置空间，以使得脱开传动组件的输出端92能够容置在凹部8中进而能够抵接下齿轮7的上表面。主驱动齿轮2位于第一位置，上齿轮6同时与离合机构的中间件40啮合和与离合机构的第一离合件10选择性配合(包括配合和耦合)，下齿轮7与电机150的输出齿轮152啮合。如图12-B所示，主驱动齿轮2位于第二位置，弹性件5被压缩，下齿轮7与电机150的输出齿轮152脱离而不再啮合，从而电机150与离合机构脱离。在一种可选的方式中，主驱动齿轮2在第二位置时，上齿轮6与离合机构的中间件40和第一离合件10均脱离，使得主驱动齿轮2与离合机构脱离，即输入件与离合机构脱离，从而电机150与离合机构脱离。弹性件5优选为弹簧，弹簧套设于销轴4上，弹簧的一端与主驱动齿轮2的底部相连，另一端与外科器械的机架相连。上齿轮6与离合机构的第一离合件10脱离，意味着上齿轮6与第一离合件10不能配合。Specifically, in this embodiment, the input member is the main drive gear 2, and the electric module transmits electric power to the clutch mechanism through the input member. The main drive gear 2 is axially slidably sleeved on the pin shaft 4, and the main drive gear 2 can move along the pin shaft 4 Sliding from the first position to the second position, and the bottom of the main drive gear 2 is provided with an elastic member 5 for maintaining it in the first position, so as to ensure the effectiveness of transmitting electric power to the clutch mechanism in the first state and stability. As shown in Fig. 3, Fig. 7 and Fig. 10-B, more specifically, the main drive gear 2 is a duplex gear, including an upper gear 6 and a lower gear 7 that rotate synchronously, and a recess is formed between the upper gear 6 and the lower gear 7 8. The diameter of the concave portion 8 is smaller than the upper gear 6 and smaller than the lower gear 7. The concave portion 8 transmits the driving force of the motor received by the lower gear 7 to the upper gear 6 so that the lower gear 7 and the upper gear 6 rotate synchronously, and the concave portion 8 provides accommodation. There is a space, so that the output end 92 of the disengagement transmission assembly can be accommodated in the recess 8 and thus can abut against the upper surface of the lower gear 7 . The main drive gear 2 is in the first position, the upper gear 6 meshes with the intermediate piece 40 of the clutch mechanism and selectively cooperates with the first clutch member 10 of the clutch mechanism (including matching and coupling), and the lower gear 7 and the output gear of the motor 150 152 meshes. As shown in FIG. 12-B , the main drive gear 2 is in the second position, the elastic member 5 is compressed, the lower gear 7 disengages from the output gear 152 of the motor 150 and no longer meshes, so that the motor 150 disengages from the clutch mechanism. In an optional manner, when the main drive gear 2 is in the second position, the upper gear 6 is disengaged from the intermediate member 40 of the clutch mechanism and the first clutch member 10, so that the main drive gear 2 is disengaged from the clutch mechanism, that is, the input The part is disengaged from the clutch mechanism, so that the motor 150 is disengaged from the clutch mechanism. The elastic member 5 is preferably a spring, which is sheathed on the pin shaft 4, one end of the spring is connected with the bottom of the main driving gear 2, and the other end is connected with the frame of the surgical instrument. The upper gear 6 is disengaged from the first clutch member 10 of the clutch mechanism, which means that the upper gear 6 cannot cooperate with the first clutch member 10 .

手动操作件70驱动脱开传动组件进而驱动输入件从第一位置运动至第二位置，实现电动模块与离合机构脱开。The manual operation part 70 drives the disengagement transmission assembly and then drives the input part to move from the first position to the second position, so as to realize the disengagement of the electric module from the clutch mechanism.

手动操作件70的一端连接脱开传动组件并驱动脱开传动组件运动，脱开传动组件进而驱动输入件运动。手动操作件70在第一方向的运动具体为沿第一方向绕支撑轴71(第一转轴)的中心轴线转动，输入件在第一位置和第二位置之间的运动为直线运动，脱开传动组件将手动操作件70沿第一方向的转动转换为输入件从第一位置到第二位置的直线运动，输入件直线运动的方向与第一转轴的中心轴线平行。具体的，本实施例中，主驱动齿轮2沿销轴4上下直线运动。One end of the manual operation member 70 is connected to the disengagement transmission assembly and drives the disengagement transmission assembly to move, and the disengagement transmission assembly further drives the input member to move. The movement of the manual operation member 70 in the first direction is specifically to rotate around the central axis of the support shaft 71 (the first rotating shaft) along the first direction, and the movement of the input member between the first position and the second position is a linear movement. The transmission assembly converts the rotation of the manual operation part 70 along the first direction into the linear motion of the input part from the first position to the second position, and the direction of the linear motion of the input part is parallel to the central axis of the first rotating shaft. Specifically, in this embodiment, the main drive gear 2 moves linearly up and down along the pin shaft 4 .

脱开传动组件包括第二转轴81、套设于第二转轴81的促动件80、由促动件80驱动的从动件90。促动件80可以绕第二转轴81的中心轴线转动。手动操作件70沿第一方向绕第一转轴的中心轴线转动能够驱动促动件80绕第二转轴81的中心轴线做第一运动。促动件80做第一运动以驱动从动件90做第二运动。从动件90包括输出端92，从动件90做第二运动时，输出端92具有在输入件的直线运动方向上的位移量，输出端92抵接并驱动输入件从第一位置移动到第二位置。优选的，第一转轴与第二转轴81平行。The disengagement transmission assembly includes a second rotating shaft 81 , an actuating member 80 sleeved on the second rotating shaft 81 , and a driven member 90 driven by the actuating member 80 . The actuator 80 can rotate around the central axis of the second rotating shaft 81 . Rotating the manual operation member 70 along the first direction around the central axis of the first rotating shaft can drive the actuator 80 to make a first movement around the central axis of the second rotating shaft 81 . The driving member 80 makes the first movement to drive the driven member 90 to make the second movement. The follower 90 includes an output end 92. When the follower 90 makes a second movement, the output end 92 has a displacement in the linear motion direction of the input member. The output end 92 abuts and drives the input member to move from the first position to second position. Preferably, the first rotation axis is parallel to the second rotation axis 81 .

现有技术中，强制复位装置的动力脱开操作件包括扳手、与扳手同轴转动的凸轮，凸轮的凸轮面抵接与电机相连的齿轮并驱动上述齿轮运动，齿轮的运动方向与扳手的转动轴线垂直，扳手的运动方向与齿轮的运动方向大致相同，扳手与齿轮在某一方向上(例如上下方向)顺序地布置，导致吻合器在该方向上的尺寸较大，不利于吻合器的小型化设计。凸轮与齿轮也在该方向上抵接布置，进一步导致吻合器在该方向上尺寸变大，不利于吻合器的小型化设计。In the prior art, the power disengagement operating part of the forced reset device includes a wrench and a cam that rotates coaxially with the wrench. The cam surface of the cam abuts against the gear connected to the motor and drives the above-mentioned gear to move. The axis is vertical, the movement direction of the wrench is roughly the same as that of the gear, and the wrench and the gear are arranged sequentially in a certain direction (such as the up and down direction), resulting in a large size of the stapler in this direction, which is not conducive to the miniaturization of the stapler design. The cam and the gear are arranged in contact with each other in this direction, which further causes the size of the stapler to become larger in this direction, which is not conducive to the miniaturization design of the stapler.

本实施例采用的方案是，输入件的运动方向与第一转轴71平行，手动操作件70的运动方向与输入件的运动方向相垂直。如图2、7所示，手动操作件70在水平方向上旋转，输入件沿上下方向直线运动。手动操作件70的运动方向与输入件的运动方向相垂直，使得两者尺寸和运动空间的沿上下方向的叠加最小化，有利于合理利用外科器械的整体空间，有利于小型化设计。手动操作件70容置于头部壳体112内，并且在需要手动退刀和打开钳口时可以自头部壳体112内伸出以供操作者操作。具体的，考虑外科器械的方向和位置时，头部壳体112在“上”，手柄壳体114在“下”，钳口组件在“前”，主体110在“后”。The solution adopted in this embodiment is that the movement direction of the input member is parallel to the first rotating shaft 71 , and the movement direction of the manual operation member 70 is perpendicular to the movement direction of the input member. As shown in FIGS. 2 and 7 , the manual operation part 70 rotates in the horizontal direction, and the input part moves linearly in the up and down direction. The movement direction of the manual operation part 70 is perpendicular to the movement direction of the input part, so as to minimize the superposition of the two dimensions and the movement space along the vertical direction, which is beneficial to the rational use of the overall space of the surgical instrument and the miniaturization design. The manual operating part 70 is accommodated in the head housing 112, and can protrude from the head housing 112 for the operator to operate when manually retracting the knife and opening the jaws. Specifically, when considering the orientation and position of the surgical instrument, the head housing 112 is "upper", the handle housing 114 is "lower", the jaw assembly is "front", and the main body 110 is "rear".

第一转轴71和第二转轴81平行但不共轴。手动操作件70包括大致沿第一转轴71的径向延伸的、具有一定长度的驱动面74，促动件80包括滑动端88，滑动端88与驱动面74可运动地抵接。手动操作件70沿第一方向转动，驱动面74随之沿第一方向转动，驱动面74推动与其抵接的滑动端88绕第二转轴81的中心轴线沿第一方向转动，同时，滑动端88在驱动面74上大致沿第一转轴71的径向滑动，从起始端向终止端滑动。The first rotating shaft 71 and the second rotating shaft 81 are parallel but not coaxial. The manual operation member 70 includes a driving surface 74 extending substantially along the radial direction of the first rotating shaft 71 and has a certain length. The actuator 80 includes a sliding end 88 , and the sliding end 88 abuts against the driving surface 74 movably. The manual operation part 70 rotates along the first direction, and the driving surface 74 rotates along the first direction accordingly, and the driving surface 74 pushes the sliding end 88 abutting against it to rotate along the central axis of the second rotating shaft 81 along the first direction, and at the same time, the sliding end 88 slides on the driving surface 74 substantially along the radial direction of the first rotating shaft 71, and slides from the starting end to the ending end.

本实施例中，具体地，促动件80设置有运动转换机构，运动转换机构将促动件80的第一运动转换为从动件90的第二运动。运动转换机构包括设置在促动件80的外周侧的螺旋面84。螺旋面84是指围绕于促动件80的外周侧并且沿向上的方向螺旋上升的面。In this embodiment, specifically, the actuator 80 is provided with a motion conversion mechanism, which converts the first motion of the actuator 80 into the second motion of the driven member 90 . The motion conversion mechanism includes a helical surface 84 provided on the outer peripheral side of the actuator 80 . The spiral surface 84 refers to a surface that surrounds the outer peripheral side of the actuator 80 and spirals upward in the upward direction.

从动件90包括绕销轴转动的杆件，从动件90的第二运动为杆件的转动。脱开传动组件还包括中间传动件94，促动件80通过中间传动件94连接并驱动从动件90做第二运动。外科器械的机架设置有引导中间传动件94直线运动的引导槽，并且中间传动件94的直线运动方向与第一转轴71和第二转轴81平行，也可以不平行。中间传动件94的第一端抵接螺旋面84，第二端抵接杆件的第一端，杆件的第二端92位于主驱动齿轮2的凹部8，可抵接下齿轮7的上端面并推动其向下运动，从而实现输入件自第一位置运动至第二位置。The follower 90 includes a rod that rotates around a pin, and the second movement of the follower 90 is the rotation of the rod. The disengagement transmission assembly further includes an intermediate transmission member 94 through which the actuating member 80 is connected and drives the driven member 90 to perform a second movement. The frame of the surgical instrument is provided with a guide groove for guiding the linear movement of the intermediate transmission member 94 , and the linear movement direction of the intermediate transmission member 94 is parallel to the first rotating shaft 71 and the second rotating shaft 81 , or may not be parallel. The first end of the intermediate transmission member 94 abuts against the helical surface 84 , the second end abuts against the first end of the rod, and the second end 92 of the rod is located in the recess 8 of the main drive gear 2 and can abut against the top of the lower gear 7 . end face and push it to move downward, so as to realize the movement of the input member from the first position to the second position.

脱开传动组件的驱动过程：当促动件80执行第一运动，例如为沿第一方向转动，螺旋面84随之转动，使得中间传动件94的第一端在螺旋面84上相对滑动，螺旋面84驱动中间传动件94的第一端抬起，使中间传动件94直线向上运动，进而中间传动件94的第二端推动杆件的第一端使其也向上运动，由于销轴位于杆件的第一端与第二端之间，第一端向上运动使得杆件执行第二运动，例如为转动，杆件的输出端92(第二端)因杆件的第二运动而被压下，进而推动被其抵接的输入件从第一位置运动到第二位置，弹性件5被压缩。杆件的输出端92在转动中具有在输入件的直线运动方向上的位移量。The driving process of disengaging the transmission assembly: when the actuator 80 performs the first movement, such as rotating in the first direction, the helical surface 84 rotates accordingly, so that the first end of the intermediate transmission member 94 slides relatively on the helical surface 84, The helical surface 84 drives the first end of the intermediate transmission member 94 to lift, so that the intermediate transmission member 94 moves upwards in a straight line, and then the second end of the intermediate transmission member 94 pushes the first end of the rod to move upwards. between the first end and the second end of the rod, The upward movement of the first end causes the lever to perform a second movement, such as a rotation, and the output end 92 (second end) of the lever is depressed due to the second movement of the lever, thereby pushing the input member abutted by it from When the first position moves to the second position, the elastic member 5 is compressed. The output end 92 of the rod has a displacement in the direction of the linear motion of the input member during rotation.

具体的，本实施例中，促动件80为圆柱凸轮，圆柱凸轮包括轴向突出的凸起柱，凸起柱为滑动端88。手动操作件70在第一方向上转动时，驱动面74抵接凸起柱并推动凸起柱也在第一方向上转动，从而圆柱凸轮也在第一方向上转动，并且在转动过程中，凸起柱相对驱动面74从驱动面74的起始端向终止端滑动。可以理解是，促动件80还可以是方柱凸轮，促动件80的形状不限制本申请的保护范围。Specifically, in this embodiment, the actuator 80 is a cylindrical cam, and the cylindrical cam includes an axially protruding protruding post, and the protruding post is a sliding end 88 . When the manual operation part 70 rotates in the first direction, the driving surface 74 abuts the protruding post and pushes the protruding post to also rotate in the first direction, so that the cylindrical cam also rotates in the first direction, and during the rotation, The raised post slides relative to the drive surface 74 from the start end to the end end of the drive surface 74 . It can be understood that the actuator 80 may also be a square column cam, and the shape of the actuator 80 does not limit the protection scope of the present application.

促动件80还包括起点抵接面82和终点抵接面86，起点抵接面82与螺旋面84的近端邻接并成角度设置，终点抵接面86与螺旋面84的远端邻接并成角度设置。或者说，起点抵接面82与螺旋面84的下端邻接并成角度设置，终点抵接面86与螺旋面84的上端邻接并成角度设置。近端是指螺旋面84与中间传动件94的第一端首先抵接的一端，远端是指螺旋面84与中间传动件94的第一端结束抵接的一端，近端与远端之间是螺旋面与中间传动件94的第一端抵接的行程。起点抵接面82与螺旋面84之间的角度(也称为夹角)是指起点抵接面82与螺旋面84最靠近起点抵接面82的部分之间的夹角。终点抵接面86与螺旋面84之间的夹角定义类似，不再赘述。如图9所示，起点抵接面82与螺旋面84之间的夹角为钝角，终点抵接面86与螺旋面84之间的夹角为优角(大于180度且小于270度)。终点抵接面86与螺旋面84之间、起点抵接面82与螺旋面84之间均可以是平滑连接。本实施方式中，起点抵接面82与促动件80的中心轴线垂直，终点抵接面86与促动件80的中心轴线垂直。The actuator 80 also includes a start point abutment surface 82 and an end point abutment surface 86, the start point abutment surface 82 is adjacent to the proximal end of the helical surface 84 and is arranged at an angle, and the end point abutment surface 86 is adjacent to the distal end of the helical surface 84 and is arranged at an angle. Angled settings. In other words, the starting point abutting surface 82 is adjacent to the lower end of the helical surface 84 and arranged at an angle, and the end point abutting surface 86 is adjacent to the upper end of the helical surface 84 and is arranged at an angle. The proximal end refers to the end where the first end of the helical surface 84 and the intermediate transmission member 94 abuts first, and the distal end refers to the end where the helical surface 84 and the first end of the intermediate transmission member 94 end to abut. The interval is the stroke during which the helical surface abuts against the first end of the intermediate transmission member 94 . The angle between the starting point contact surface 82 and the spiral surface 84 (also referred to as included angle) refers to the angle between the starting point contact surface 82 and the part of the spiral surface 84 closest to the starting point contact surface 82 . The definition of the included angle between the contact surface 86 at the end point and the helical surface 84 is similar and will not be repeated here. As shown in FIG. 9 , the angle between the abutting surface 82 at the starting point and the helical surface 84 is an obtuse angle, and the angle between the abutting surface 86 at the end point and the helical surface 84 is a reflex angle (greater than 180 degrees and less than 270 degrees). Both the contact surface 86 at the end point and the spiral surface 84 and the contact surface 82 at the start point and the spiral surface 84 can be smoothly connected. In this embodiment, the starting point contact surface 82 is perpendicular to the central axis of the actuator 80 , and the end point contact surface 86 is perpendicular to the central axis of the actuator 80 .

本实施例中，起点抵接面82与促动件80的中心轴线(也是第二转轴81的中心轴线)垂直，起点抵接面82与中间传动件94的上下直线运动方向也垂直。起点抵接面82提供给中间传动件94的第一端一个稳定的初始起点位置，将电动模块与离合机构保持于结合状态，外科器械处于第一状态。终点抵接面86与促动件80的中心轴线(第二转轴81的中心轴线)垂直，终点抵接面86与中间传动件94的上下直线运动方向也垂直。终点抵接面86用于在电动模块与离合机构脱开后将输入件锁定在第二位置，即将电动模块与离合机构保持于脱开状态，外科器械处于第二状态。In this embodiment, the starting point abutting surface 82 is perpendicular to the central axis of the actuator 80 (also the central axis of the second rotating shaft 81 ), and the starting point abutting surface 82 is also perpendicular to the vertical linear motion direction of the intermediate transmission member 94 . The starting point abutting surface 82 provides a stable initial starting position for the first end of the intermediate transmission member 94, keeps the electric module and the clutch mechanism in a combined state, and the surgical instrument is in the first state. The terminal abutting surface 86 is perpendicular to the central axis of the actuator 80 (the central axis of the second rotating shaft 81 ), and the terminal abutting surface 86 is also perpendicular to the up-and-down linear motion direction of the intermediate transmission member 94 . The terminal contact surface 86 is used to lock the input member in the second position after the electric module is disengaged from the clutch mechanism, that is, to keep the electric module and the clutch mechanism in the disengaged state, and the surgical instrument is in the second state.

具体地，图10-B至图12B显示输入件从第一位置运动第二位置时脱开传动组件的状态变化。参见图10-B，外科器械正常工作时，弹性件5未被压缩，输入件位于第一位置，中间传动件94的第一端抵接起点抵接面82。在图10-B所示的状态下，用户操作手动操作件70沿第一方向转动，促动件80被驱动而转动，中间传动件94的第一端由起点抵接面82滑动至螺旋面84并且沿着螺旋面84朝向终点抵接面86滑动，中间传动件94的第一端被螺旋面84带动以直线向上运动，从而中间传动件94向上运动，中间传动件94的第二端也随之向上直线运动，带动从动件90的第一端也向上运动，由此从动件90绕销轴转动，从动件90的输出端92(第二端)下压，驱动与输出端92抵接的输入件向下移动，弹性件5被压缩，如图11-B所示。中间传动件94到达终点抵接面86后，其被保持于终点抵接面86，输入件也随着到达第二位置并且被保持于第二位置，弹性件5被进一步压缩，如图12-B所示。接下来，用户操作手动操作件70沿第二方向转动，驱动面74脱离并远离凸起柱，促动件80不发生转动，中间传动件94的第一端保持在终点抵接面86上，从而输入件被锁定在第二位置，保持图12-B所示的位置。后续再操作扳手沿第一方向运动，促动件80保持不动，终点抵接面86继续锁定输入件在第二位置，保持图12-B所示的位置。需要说明的是，中间传动件94的第一端在螺旋面84上的滑动为相对滑动。Specifically, FIGS. 10-B to 12B show the state changes of the disengagement transmission assembly when the input member moves from the first position to the second position. Referring to FIG. 10-B , when the surgical instrument works normally, the elastic member 5 is not compressed, the input member is at the first position, and the first end of the intermediate transmission member 94 abuts against the starting point abutting surface 82 . In the state shown in FIG. 10-B , the user operates the manual operation part 70 to rotate in the first direction, the actuating part 80 is driven to rotate, and the first end of the intermediate transmission part 94 slides from the abutting surface 82 of the starting point to the spiral surface. 84 and slides along the helical surface 84 towards the end abutment surface 86, the first end of the intermediate transmission member 94 is held by the helical surface 84 Drive to move upwards in a straight line, so that the intermediate transmission member 94 moves upwards, and the second end of the intermediate transmission member 94 also moves upwards in a straight line, driving the first end of the driven member 90 to move upwards, so that the driven member 90 winds around the pin When the shaft rotates, the output end 92 (second end) of the driven member 90 is pressed down, driving the input member abutting against the output end 92 to move downward, and the elastic member 5 is compressed, as shown in FIG. 11-B . After the intermediate transmission member 94 reaches the end abutment surface 86, it is held on the end abutment surface 86, and the input member also reaches the second position and is held in the second position, and the elastic member 5 is further compressed, as shown in Fig. 12- Shown in B. Next, the user operates the manual operation part 70 to rotate in the second direction, the driving surface 74 disengages and moves away from the protruding column, the actuating part 80 does not rotate, and the first end of the intermediate transmission part 94 remains on the terminal abutting surface 86, The input member is thus locked in the second position, maintaining the position shown in Figure 12-B. Afterwards, the wrench is operated to move in the first direction, the actuating member 80 remains stationary, and the abutting surface 86 at the end point continues to lock the input member at the second position, maintaining the position shown in FIG. 12-B . It should be noted that the sliding of the first end of the intermediate transmission member 94 on the helical surface 84 is relative sliding.

本申请提供一种用于外科器械100的、实现电动模块与传动机构动力脱开的动力脱开装置。除动力脱开装置以外，外科器械还包括电动模块、传动机构、钳口组件和切割刀组件，传动机构包括输入件、离合机构、钳口驱动机构和切割驱动机构，钳口驱动机构与钳口组件相连接，切割驱动机构与切割刀组件相连接，电动模块通过输入件和离合机构择一地驱动钳口驱动机构和切割驱动机构，钳口驱动机构被驱动以实现钳口组件打开和闭合，切割驱动机构被驱动以实现切割刀组件进刀和退刀。电动模块通过输入件与离合机构可分离地连接。输入件可选择地在第一位置和第二位置之间运动，手动操作件70通过脱开传动组件驱动输入件从第一位置运动到第二位置，从而将外科器械由第一状态转换至第二状态。输入件位于第一位置时，电动模块通过输入件与离合机构连接，输入件位于第二位置时，输入件与电动模块脱离，或者，输入件与离合机构脱离。动力脱开装置包括手动操作件70、脱开传动组件。手动操作件70可沿第一方向转动，输入件在第一位置和第二位置之间的运动为直线运动。脱开传动组件将手动操作件70的转动转换为输入件的从第一位置到第二位置的直线运动，直线运动的运动方向与第一方向垂直。进一步地，传动机构还包括输出件，电动模块通过输入件和离合机构择一地驱动输出件进而驱动钳口驱动机构和切割驱动机构。具体的，输出件包括第一输出件和第二输出件，电动模块通过输入件和离合机构择一地驱动第一输出件和第二输出件，第一输出件与钳口驱动机构相连接，第二输出件与切割驱动机构相连接。The present application provides a power disengagement device for the surgical instrument 100 to realize the power disengagement of the electric module and the transmission mechanism. In addition to the power release device, the surgical instrument also includes an electric module, a transmission mechanism, a jaw assembly and a cutting knife assembly. The transmission mechanism includes an input piece, a clutch mechanism, a jaw drive mechanism and a cutting drive mechanism. The jaw drive mechanism and the jaw The components are connected, the cutting drive mechanism is connected with the cutter assembly, the electric module drives the jaw drive mechanism and the cutting drive mechanism alternatively through the input piece and the clutch mechanism, and the jaw drive mechanism is driven to realize the opening and closing of the jaw assembly. The cutting drive mechanism is driven to realize the feeding and retracting of the cutting knife assembly. The electric module is detachably connected with the clutch mechanism through the input piece. The input member can selectively move between the first position and the second position, and the manual operation member 70 drives the input member to move from the first position to the second position by disengaging the transmission assembly, thereby converting the surgical instrument from the first state to the second position. Two states. When the input part is at the first position, the electric module is connected to the clutch mechanism through the input part; when the input part is at the second position, the input part is separated from the electric module, or the input part is separated from the clutch mechanism. The power disengagement device includes a manual operation part 70 and a disengagement transmission assembly. The manual operation part 70 can rotate along the first direction, and the movement of the input part between the first position and the second position is linear motion. Disengaging the transmission assembly converts the rotation of the manual operation part 70 into a linear motion of the input part from the first position to the second position, and the motion direction of the linear motion is perpendicular to the first direction. Further, the transmission mechanism also includes an output member, and the electric module drives the output member alternatively through the input member and the clutch mechanism to drive the jaw drive mechanism and the cutting drive mechanism. Specifically, the output member includes a first output member and a second output member, and the electric module drives the first output member and the second output member alternatively through the input member and the clutch mechanism, and the first output member is connected with the jaw drive mechanism, The second output member is connected to the cutting drive mechanism.

进一步的，手动操作件70通过返回传动组件连接离合机构从而驱动离合机构。Further, the manual operation member 70 is connected to the clutch mechanism through the return transmission assembly so as to drive the clutch mechanism.

返回传动组件包括棘爪200和棘轮232。棘爪200与手动操作件70可操作地连接，以在手动操作件70的驱动下，棘爪200驱动棘轮232沿单一方向步进转动，即通过手动操作件70来驱动棘爪200运动，进而驱动棘轮232转动。棘轮232与离合机构连接。从而，在第二状态下，手动操作件70沿第一方向运动以驱动棘爪200转动，棘爪200驱动棘轮232转动进而驱动离合机构。棘爪200与棘轮232的驱动方式，为机械领域常规技术手段，在此不做赘述。The return drive assembly includes pawl 200 and ratchet 232 . The ratchet 200 is operably connected with the manual operating member 70, so that under the drive of the manual operating member 70, the ratchet 200 drives the ratchet wheel 232 to rotate in steps in a single direction, that is, the manual operating member 70 drives the ratchet 200 to move, and then The ratchet 232 is driven to rotate. The ratchet 232 is connected with the clutch mechanism. Therefore, in the second state, the manual operation part 70 moves along the first direction to drive the pawl 200 to rotate, and the pawl 200 drives the ratchet wheel 232 rotates to drive the clutch mechanism. The driving method of the pawl 200 and the ratchet wheel 232 is a conventional technical means in the mechanical field, and will not be repeated here.

可以理解的是，在手动操作件70通过棘爪和棘轮驱动离合机构从而顺序地执行切割刀组件退刀和钳口组件打开的过程中，没有零件与第一离合件10的第一有齿部啮合从而驱动第一有齿部，因此，手动操作件70不会驱动第一离合件10的第一有齿部来执行钳口打开动作。It can be understood that, during the process of the manual operation part 70 driving the clutch mechanism through the pawl and the ratchet wheel so as to sequentially execute the retraction of the cutting knife assembly and the opening of the jaw assembly, there is no part that is in contact with the first toothed part of the first clutch part 10 Therefore, the manual operation part 70 will not drive the first toothed part of the first clutch part 10 to perform the action of opening the jaws.

离合机构包括中间件40、第二离合件20、第一齿轮10。中间件40即第三齿轮。中间件40包括第一离合结构，第一齿轮10包括第二离合结构。第一离合结构和第二离合结构相配合或耦合以选择性驱动第一输出件，从而实现对于钳口驱动机构的选择性驱动，进而实现对于钳口组件的选择性驱动。第一离合结构和第二离合结构用于被手动操作件70驱动以使得钳口组件选择性执行打开动作，钳口组件选择性执行打开动作指的是钳口执行打开动作或者钳口不执行打开动作(保持闭合状态)。The clutch mechanism includes an intermediate piece 40 , a second clutch piece 20 , and a first gear 10 . The middle piece 40 is the third gear. The intermediate piece 40 includes a first clutch structure, and the first gear 10 includes a second clutch structure. The first clutch structure cooperates or is coupled with the second clutch structure to selectively drive the first output member, thereby realizing selective driving of the jaw driving mechanism, and further realizing selective driving of the jaw assembly. The first clutch structure and the second clutch structure are used to be driven by the manual operation member 70 so that the jaw assembly selectively performs an opening action, and the jaw assembly selectively performs an opening action refers to that the jaw performs an opening action or the jaw does not perform an opening action action (keep closed).

具体地，本实施例中，在第二状态下，中间件40通过返回传动组件与手动操作件70连接，获得动力输入。中间件40与第一齿轮10选择性配合，使得中间件40通过第一齿轮10选择性驱动第一输出件，从而实现对于钳口驱动机构的选择性驱动。第一离合结构为圆弧轨道和首端，第二离合结构为突起，圆弧槽包括圆弧轨道和首端，突起容置于圆弧轨道中时第一离合结构与第二离合结构相耦合，突起与首端相抵接时第一离合结构与第二离合结构相配合。或者，第一离合结构为突起，第二离合结构为圆弧轨道和首端。当第一离合结构与第二离合结构相耦合，第一输出件不被驱动，进而钳口驱动机构不被驱动，钳口组件保持闭合状态；当第一离合结构与第二离合结构相配合，第一输出件被驱动，进而钳口驱动机构被驱动，钳口组件打开，由此实现在手动操作件70的驱动下，第一输出件被选择性驱动进而钳口驱动机构被选择性驱动。Specifically, in this embodiment, in the second state, the intermediate piece 40 is connected with the manual operation piece 70 through the return transmission assembly to obtain power input. The intermediate piece 40 selectively cooperates with the first gear 10 , so that the intermediate piece 40 selectively drives the first output piece through the first gear 10 , thereby realizing the selective driving of the jaw driving mechanism. The first clutch structure is an arc track and the head end, the second clutch structure is a protrusion, the arc groove includes the arc track and the head end, and the first clutch structure is coupled with the second clutch structure when the protrusion is accommodated in the arc track , when the protrusion abuts against the head end, the first clutch structure cooperates with the second clutch structure. Alternatively, the first clutch structure is a protrusion, and the second clutch structure is an arc track and a head end. When the first clutch structure is coupled with the second clutch structure, the first output member is not driven, and the jaw driving mechanism is not driven, and the jaw assembly remains closed; when the first clutch structure cooperates with the second clutch structure, The first output member is driven, and then the jaw driving mechanism is driven, and the jaw assembly is opened, thereby realizing that under the driving of the manual operation member 70, the first output member is selectively driven, and then the jaw driving mechanism is selectively driven.

如前所述，在第一状态下，离合机构通过第一离合件10和第二离合件20实现择一地驱动第一输出件和第二输出件，第一离合件10驱动钳口驱动机构时，第二离合件20不驱动切割驱动机构，第二离合件20驱动切割驱动机构时，第一离合件10不驱动钳口驱动机构，即电动模块择一地驱动第一有效转程结构和第二有效转程结构。在第二状态下，离合机构通过第二离合件20、第一离合结构和第二离合结构实现择一地驱动第一输出件和第二输出件，第一离合结构和第二离合结构相配合以驱动钳口驱动组件时，第二离合件20不驱动切割驱动组件，第二离合件20驱动切割驱动组件时，第一离合结构和第二离合结构相耦合不驱动钳口组件，即手动操作件在第一方向上运动时驱动第三有效转程结构和第二有效转程结构中的一个。As mentioned above, in the first state, the clutch mechanism alternately drives the first output member and the second output member through the first clutch member 10 and the second clutch member 20, and the first clutch member 10 drives the jaw drive mechanism , the second clutch 20 does not drive the cutting drive mechanism, and when the second clutch 20 drives the cutting drive mechanism, the first clutch 10 does not drive the jaw drive mechanism, that is, the electric module alternatively drives the first effective stroke structure and The second effective transfer structure. In the second state, the clutch mechanism can alternatively drive the first output member and the second output member through the second clutch member 20, the first clutch structure and the second clutch structure, and the first clutch structure and the second clutch structure cooperate When driving the jaw drive assembly, the second clutch 20 does not drive the cutting drive assembly, and when the second clutch 20 drives the cutting drive assembly, the first clutch structure and the second clutch structure are coupled and do not drive the jaw assembly, that is, manual operation One of the third effective rotation configuration and the second effective rotation configuration is driven when the member moves in the first direction.

进一步的，第二状态下，手动操作件70沿第一方向运动，通过棘爪200和棘轮232使得棘齿轮230转动时，离合机构择一地驱动第一输出件和第二输出件。当第一离合结构和第二离合结构相配合以驱动第一输出件时，第二离合件20的第二空转程结构24与第二输出件耦合，此时离合机构驱动第一输出件但不驱动第二输出件；当第一离合结构和第二离合结构相耦合以不驱动第一输出件时，第二离合件20的第二有效转程结构22与第二输出件配合，此时离合机构驱动第二输出件但不驱动第一输出件。第一输出件和第二输出件被择一地驱动，从而实现钳口驱动机构和切割驱动机构被择一地驱动，进而实现钳口组件和切割刀组件被择一地驱动。Further, in the second state, the manual operation member 70 moves along the first direction, and when the ratchet gear 230 is rotated by the pawl 200 and the ratchet wheel 232 , the clutch mechanism alternatively drives the first output member and the second output member. When the first clutch structure and When the second clutch structure cooperates to drive the first output member, the second idling structure 24 of the second clutch member 20 is coupled with the second output member, at this moment, the clutch mechanism drives the first output member but does not drive the second output member; When the first clutch structure and the second clutch structure are coupled so as not to drive the first output member, the second effective rotation structure 22 of the second clutch member 20 cooperates with the second output member, and now the clutch mechanism drives the second output member But the first output is not driven. The first output member and the second output member are alternatively driven, so that the jaw drive mechanism and the cutting drive mechanism are alternatively driven, and then the jaw assembly and the cutting knife assembly are alternatively driven.

具体的，中间件40包括圆弧槽62，圆弧槽62设置于中间件40的第一端面。圆弧槽62包括首端66和除去首端66的圆弧轨道67，首端66为第三有效转程结构32，圆弧轨道67为第三空转程结构34。第一齿轮的突起64可在圆弧槽62内滑动，第一齿轮的第二端面可转动地连接第一输出件。突起64与圆弧槽62的首端由不抵接转换为抵接使得第一离合结构与第二离合结构之间从耦合状态切换至配合状态，耦合状态为突起64位于圆弧轨道67内，配合状态为突起64位于首端66并且与首端66相抵接。可替代的是，圆弧槽62设置于第一齿轮10，突起设置于中间件40。Specifically, the middle piece 40 includes an arc groove 62 disposed on the first end surface of the middle piece 40 . The arc groove 62 includes a head end 66 and an arc track 67 excluding the head end 66 , the head end 66 is the third effective stroke structure 32 , and the arc track 67 is the third idle stroke structure 34 . The protrusion 64 of the first gear can slide in the arc groove 62, and the second end surface of the first gear is rotatably connected to the first output member. The first end of the protrusion 64 and the arc groove 62 is converted from non-abutting to abutting so that the first clutch structure and the second clutch structure are switched from a coupling state to a mating state. The coupling state is that the protrusion 64 is located in the arc track 67, The mating state is that the protrusion 64 is located at the head end 66 and abuts against the head end 66 . Alternatively, the arc groove 62 is disposed on the first gear 10 , and the protrusion is disposed on the middle piece 40 .

由此，第一离合结构和第二离合结构不仅在第二状态下能够实现上述功能，而且在第一状态下，通过突起64与第三有效转程结构32抵接能够使得外科器械的输入件与第一空转程结构14耦合转换为输入件与第一有效转程结构12配合，实现了第一离合件10对第一输出件由不驱动转为驱动状态的切换。Thus, the first clutch structure and the second clutch structure can not only realize the above-mentioned functions in the second state, but also in the first state, the input member of the surgical instrument can Coupling with the first idling stroke structure 14 is converted into an input member cooperating with the first effective stroke structure 12 to realize the switching of the first clutch member 10 from non-driving to driving state for the first output member.

可以理解的是，若圆弧槽62设置于第一齿轮10，突起64设置于中间件40，棘轮232驱动中间件40，中间件40通过第一离合结构和第二离合结构选择性驱动第一齿轮10，同样可以实现选择性驱动第一输出件，原理相同，技术手段和效果相同，不再赘述。It can be understood that, if the arc groove 62 is provided on the first gear 10, the protrusion 64 is provided on the intermediate piece 40, the ratchet 232 drives the intermediate piece 40, and the intermediate piece 40 selectively drives the first gear through the first clutch structure and the second clutch structure. The gear 10 can also selectively drive the first output member, the principle is the same, the technical means and effects are the same, and will not be repeated here.

具体的，本实施例中，返回传动组件还包括返回齿轮234，返回齿轮234和棘轮232一体形成棘齿轮230，返回齿轮234和棘轮232共轴转动。返回齿轮234与中间件40啮合连接。棘轮232通过中间件40驱动第一齿轮转动，进而实现钳口组件打开。Specifically, in this embodiment, the return transmission assembly further includes a return gear 234 , the return gear 234 and the ratchet 232 integrally form the ratchet gear 230 , and the return gear 234 and the ratchet 232 rotate coaxially. The return gear 234 is engaged with the intermediate piece 40 . The ratchet 232 drives the first gear to rotate through the intermediate piece 40, thereby realizing the opening of the jaw assembly.

下面结合图6-A至6-D描述本实施例中外科器械100的手动返回机构的工作过程。需要说明的是，图6-A至6-D为第一状态下，外科器械100的电动模块通过离合机构择一地驱动第一输出件和第二输出件的状态示意图，电动模块与离合机构处于连接状态，以下内容以图6-A至6-D中除了主驱动齿轮2与离合机构连接以外的内容来说明手动返回机构如何实现切割刀组件退刀和钳口组件打开。实际上，手动返回机构实现切割刀组件退刀和钳口组件打开之前，首先要实现电动模块与离合机构脱离，即电动力脱开。在结合图6-A至6-D进行描述的内容中，圆弧槽62设置于中间件40，突起64设置于第一齿轮10，可替代的是，圆弧槽62设置于第一齿轮10，突起64设置于中间件40。The working process of the manual return mechanism of the surgical instrument 100 in this embodiment will be described below with reference to FIGS. 6-A to 6-D. It should be noted that FIGS. 6-A to 6-D are schematic diagrams of states in which the electric module of the surgical instrument 100 alternatively drives the first output member and the second output member through the clutch mechanism in the first state. The electric module and the clutch mechanism In the connected state, the following content illustrates how the manual return mechanism implements the retraction of the cutting knife assembly and the opening of the jaw assembly in Figures 6-A to 6-D except for the connection between the main drive gear 2 and the clutch mechanism. In fact, before the manual return mechanism realizes the withdrawal of the cutter assembly and the opening of the jaw assembly, the electric module must first be disengaged from the clutch mechanism, that is, the electric power is disengaged. In the content described in conjunction with FIGS. 6-A to 6-D, the arc groove 62 is provided on the intermediate member 40, and the protrusion 64 is provided on the first gear 10. Alternatively, the arc groove 62 is provided on the first gear 10. , the protrusion 64 is disposed on the middle piece 40 .

如图6-D所示，切割刀组件位于终止位置，组织被切割吻合完毕，此时，突起64位于圆弧轨道67的末端而不位于首端66，第一离合结构与第二离合结构耦合。此时，操作者操作手动操作件70，如图10-A至11-B所示地操作，使离合机构与电机150脱开转而与返回传动组件连接达到图12-A的状态。进一步的，返回传动组件的棘爪200与棘齿轮230结合，棘爪的运动使得棘齿轮230转动以驱动中间件40反向转动(图6-D中为顺时针方向)，中间件40通过第二离合件20驱动切割刀组件退刀，使切割刀组件从终止位置退回至初始位置。图6-D示出了自终止位置退刀，实际上自中间位置退刀的过程与之类似。在退刀过程中，圆弧轨道67与第一齿轮10耦合，棘齿轮230无法通过圆弧槽62的首端66驱动钳口组件运动，但是棘齿轮230可以驱动中间件40和第二离合件20反向转动，进而通过第二离合件20的第二有效转程结构22驱动切割驱动齿轮54反向转动，而中间件40的反向转动驱动突起64在圆弧槽62内朝首端66相对移动，当突起64与圆弧槽62的首端66抵接时，中间件40通过相配合的第一离合结构与第二离合结构驱动第一齿轮10，到达图6-B所示的位置。相对移动包括：突起64不动，中间件40带动圆弧槽62反向转动，使得圆弧槽62与容置于圆弧槽62中的突起相对移动，直至突起64与首端66相抵接。As shown in Figure 6-D, the cutting knife assembly is at the end position, and the tissue has been cut and anastomosed. At this time, the protrusion 64 is located at the end of the arc track 67 and not at the head end 66, and the first clutch structure is coupled with the second clutch structure. . At this time, the operator operates the manual operation part 70, as shown in Figures 10-A to 11-B, so that the clutch mechanism is disengaged from the motor 150 and connected to the return transmission assembly to reach the state of Figure 12-A. Further, the ratchet 200 of the return transmission assembly is combined with the ratchet gear 230, and the movement of the ratchet makes the ratchet gear 230 rotate to drive the intermediate piece 40 to rotate reversely (clockwise in FIG. 6-D ), and the intermediate piece 40 passes through the first The two clutches 20 drive the cutting knife assembly to retreat, so that the cutting knife assembly returns from the end position to the initial position. Figure 6-D shows the tool retraction from the end position, in fact, the process of retracting the tool from the middle position is similar. During the tool withdrawal process, the arc track 67 is coupled with the first gear 10, the ratchet gear 230 cannot drive the movement of the jaw assembly through the head end 66 of the arc groove 62, but the ratchet gear 230 can drive the intermediate piece 40 and the second clutch 20 reverse rotation, and then drive the cutting drive gear 54 reverse rotation through the second effective rotation structure 22 of the second clutch 20, and the reverse rotation driving protrusion 64 of the intermediate member 40 is in the arc groove 62 toward the head end 66 Relatively moving, when the protrusion 64 abuts against the head end 66 of the arc groove 62, the intermediate piece 40 drives the first gear 10 through the matching first clutch structure and the second clutch structure to reach the position shown in Fig. 6-B . The relative movement includes: the protrusion 64 does not move, and the intermediate piece 40 drives the arc groove 62 to rotate in reverse, so that the arc groove 62 and the protrusion accommodated in the arc groove 62 move relative to each other until the protrusion 64 abuts against the head end 66 .

在图6-B所示的位置，操作者继续操作手动操作件70以操作返回传动组件，通过棘爪200使得棘齿轮230驱动中间件40继续反向转动，突起64保持在圆弧槽62的首端66位置，中间件40转动时首端66带动突起64同步转动从而中间件40同步驱动第一离合件10和第二离合件20反向转动，第一离合件10驱动连杆52进而驱动钳口驱动机构，从而驱动钳口组件打开，回到图6-A所示的位置。在这个过程中，第二离合件20的第二无齿部与切割驱动齿轮54耦合，切割驱动机构不被驱动。由此，外科器械100实现一次强制退刀和强制打开钳口的操作，在这个过程中，外科器械100依次实现切割刀组件退刀、钳口组件打开以松开夹持的组织。In the position shown in FIG. 6-B , the operator continues to operate the manual operation member 70 to operate the return transmission assembly, and the ratchet gear 230 drives the intermediate member 40 to continue to rotate in the reverse direction through the ratchet 200 , and the protrusion 64 remains in the arc groove 62 The position of the head end 66, when the middle piece 40 rotates, the head end 66 drives the protrusion 64 to rotate synchronously, so that the middle piece 40 synchronously drives the first clutch 10 and the second clutch 20 to rotate in reverse, and the first clutch 10 drives the connecting rod 52 to drive The jaw driving mechanism drives the jaw assembly to open and returns to the position shown in Figure 6-A. During this process, the second toothless portion of the second clutch member 20 is coupled with the cutting drive gear 54, and the cutting drive mechanism is not driven. In this way, the surgical instrument 100 implements an operation of forcibly withdrawing the knife and forcibly opening the jaws. During this process, the surgical instrument 100 sequentially implements the retraction of the cutting knife assembly and the opening of the jaw assembly to loosen the clamped tissue.

由此可见，在钳口组件闭合的情况下，无论切割刀组件处于中间位置还是终止位置，手动返回机构都能够实现电动力脱开、切割刀组件退刀和钳口组件打开。具体的，手动操作件驱动脱开传动组件实现电动模块与离合机构脱离，然后，手动操作件驱动返回传动组件进而通过离合机构驱动切割刀组件退刀，接着，手动操作件驱动返回传动组件进而通过离合机构驱动钳口组件打开。在钳口组件闭合的情况下，如果切割刀组件处于初始位置，手动返回机构能够实现电动力脱开和钳口组件打开。具体的，手动操作件驱动脱开传动组件实现电动模块与离合机构脱离，然后，手动操作件驱动返回传动组件进而通过离合机构驱动钳口组件打开。It can be seen that, when the jaw assembly is closed, no matter whether the cutting knife assembly is in the middle position or the end position, the manual return mechanism can realize the electric power disengagement, the cutting knife assembly retracts and the jaw assembly opens. Specifically, the manual operation part is driven to disengage the transmission assembly to realize the disengagement of the electric module from the clutch mechanism. Then, the manual operation part is driven to return to the transmission assembly, and then the cutting knife assembly is driven back through the clutch mechanism. Then, the manual operation part is driven to return to the transmission assembly and then passed The clutch mechanism drives the jaw assembly to open. When the jaw assembly is closed, if the cutting knife assembly is in the initial position, the manual return mechanism can realize the electric power disengagement and the opening of the jaw assembly. Specifically, the manual operation part is driven to disengage the transmission assembly to realize the disengagement of the electric module from the clutch mechanism, and then the manual operation part is driven back to the transmission assembly to drive the jaw assembly to open through the clutch mechanism.

可以理解的是，一方面，为了避免电动模块正常运转时，棘爪200与棘轮232配合而限制棘齿轮230的转动，从而干涉离合机构的正常运转，另一方面，为了避免在操作者操作手动操作件70使外科器械从第一状态转换为第二状态的过程中，离合机构与电机150未完全脱开而使得离合机构的运动受到电动模块的牵制，从而造成离合机构无法被棘爪200与棘轮232的配合而驱动，本实施例中，在电机150与离合机构脱开之后，即吻合器从第一状态切换到第二状态之后，棘爪200才会与棘轮232接触。It can be understood that, on the one hand, in order to avoid the normal operation of the electric module, the ratchet 200 and the ratchet 232 are limited. The rotation of the ratchet gear 230 is prevented to interfere with the normal operation of the clutch mechanism. The movement of the clutch mechanism is restrained by the electric module because it is not completely disengaged, so that the clutch mechanism cannot be driven by the cooperation of the ratchet 200 and the ratchet wheel 232. In this embodiment, after the motor 150 is disengaged from the clutch mechanism, it is matched The ratchet 200 will not contact the ratchet 232 until the switch is switched from the first state to the second state.

优选地，返回传动组件还包括棘爪限位件210，以避免棘爪200与棘轮232意外地接触配合。在电机150与离合机构脱开之前，棘爪200被棘爪限位件210支撑以限位，使得棘爪200不与棘轮232接触。在首次操作手动操作件70在第一方向上运动时，棘爪200沿着棘爪限位件210的表面滑动，当电机150与离合机构脱开后，棘爪200脱离棘爪限位件210，并与棘轮232接触配合，以通过往复摆动手动操作件70，使棘爪200驱动棘轮232单向运动，从而使离合机构带动切割刀组件退刀和钳口组件打开。棘爪限位件210设置于机架，棘爪200包括受限部202。受限部202抵接棘爪限位件210并滑动，使得棘爪200沿着棘爪限位件210滑动。具体的，如图2所示，棘爪限位件210为从机架延伸的柱体，受限部202为突出于棘爪200主体一侧的结构，受限部202抵接棘爪限位件210并且沿着棘爪限位件210滑动，以使得棘爪限位件210限制棘爪200与棘轮232相接触配合。棘爪200的一端与手动操作件70可转动地连接，另一端可操作地与棘轮232相配合。受限部202靠近棘爪200的另一端的端部与棘爪200的主体之间形成有缺口，随着棘爪200的滑动，棘爪限位件210自缺口处滑出，与棘爪200的受限部202脱离，从而不再对棘爪200构成限制。在手动操作件70向其初始位置运动的过程中，手动操作件70带动棘爪200运动的幅度较小，不会使得棘爪限位件210再次对棘爪200构成限制。在初始位置时，棘爪200容置于手动操作件70的主体形成的U形槽中，并且棘爪200与手动操作件70大致平行。由此可见，棘爪限位件210通过与棘爪200的受限部202的配合，实现了在棘爪200自其初始位置开始的一段行程中的限位，避免棘爪200在上述行程中意外地与棘轮232接触配合。可选地，棘爪限位件210为形成于机架的凹陷，上述凹陷沿受限部202的运动方向延伸从而具有一定长度，在棘爪200自其初始位置开始的一段行程中，受限部202与上述凹陷的底部抵接并且沿着底部滑动，同样可以阻止棘爪200在上述行程中意外地与棘轮232接触配合。Preferably, the return transmission assembly further includes a pawl limiter 210 to prevent the pawl 200 from contacting and mating with the ratchet wheel 232 accidentally. Before the motor 150 is disengaged from the clutch mechanism, the pawl 200 is supported by the pawl limiter 210 to limit the position, so that the pawl 200 does not contact the ratchet wheel 232 . When the manual operation part 70 is operated for the first time to move in the first direction, the pawl 200 slides along the surface of the pawl limiter 210 , and when the motor 150 is disengaged from the clutch mechanism, the pawl 200 disengages from the pawl limiter 210 , and contact and cooperate with the ratchet 232, so that the ratchet 200 drives the ratchet 232 to move in one direction by reciprocating the manual operation part 70, so that the clutch mechanism drives the cutter assembly to retreat and the jaw assembly to open. The pawl limiter 210 is disposed on the frame, and the pawl 200 includes a restricted portion 202 . The restricted portion 202 abuts against the pawl limiting member 210 and slides, so that the ratchet 200 slides along the pawl limiting member 210 . Specifically, as shown in FIG. 2 , the pawl limiter 210 is a cylinder extending from the frame, the restricted portion 202 is a structure protruding from one side of the main body of the ratchet 200 , and the restricted portion 202 abuts against the pawl to limit the position. 210 and slide along the pawl limiter 210 , so that the pawl limiter 210 limits the contact and cooperation between the ratchet 200 and the ratchet 232 . One end of the ratchet 200 is rotatably connected to the manual operation member 70 , and the other end is operatively engaged with the ratchet 232 . A gap is formed between the end of the restricted portion 202 near the other end of the ratchet 200 and the main body of the ratchet 200 , and as the ratchet 200 slides, the ratchet limiter 210 slides out from the gap, and the ratchet 200 The restricted portion 202 is disengaged, so that the ratchet 200 is no longer constrained. During the movement of the manual operation member 70 to its initial position, the manual operation member 70 drives the ratchet 200 to move in a small range, so that the ratchet limiting member 210 will not constrain the ratchet 200 again. At the initial position, the pawl 200 is accommodated in the U-shaped groove formed by the main body of the manual operation part 70 , and the pawl 200 is substantially parallel to the manual operation part 70 . It can be seen that, by cooperating with the limited portion 202 of the ratchet 200, the pawl limiter 210 realizes the restriction in a stroke of the ratchet 200 from its initial position, preventing the ratchet 200 from moving in the above-mentioned stroke. Accidental engagement with ratchet 232 . Optionally, the pawl limiter 210 is a depression formed on the frame, the above-mentioned depression extends along the movement direction of the restricted part 202 to have a certain length, and is limited during a stroke of the pawl 200 from its initial position. The portion 202 abuts against the bottom of the above-mentioned recess and slides along the bottom, which can also prevent the ratchet 200 from accidentally contacting the ratchet wheel 232 during the above-mentioned stroke.

手动操作件70通过第一支撑轴71(第一转轴)可转动地设置于机架，在外力作用下沿第一方向和第二方向绕第一支撑轴71旋转。棘爪200通过第二支撑轴204可转动地设置于手动操作件70。返回传动组件还包括偏压件205，用于使棘爪200脱离棘爪限位件210后朝向棘轮232运动并接触棘轮232，并在接触时将棘爪200向棘轮232偏压使得棘爪200与棘轮232配合，避免棘爪200跳齿或脱离棘轮232。The manual operation member 70 is rotatably disposed on the frame through a first support shaft 71 (first rotating shaft), and rotates around the first support shaft 71 in a first direction and a second direction under the action of an external force. The pawl 200 is rotatably disposed on the manual operation member 70 via the second support shaft 204 . The return transmission assembly also includes a biasing member 205, which is used to make the ratchet 200 move toward the ratchet 232 and contact the ratchet 232 after detaching from the ratchet limiter 210, and bias the ratchet 200 to the ratchet 232 when in contact so that the ratchet 200 Cooperate with the ratchet 232 to prevent the ratchet 200 from jumping teeth or disengaging from the ratchet 232 .

操作手动操作件70驱动棘爪200进而带动棘轮232运动，具体地，操作手动操作件70沿着第一方向运动以驱动棘爪200，棘爪200通过与棘轮232的其中一个齿槽配合以驱动棘轮232运动，继续操作手动操作件70沿着第二方向驱动棘爪200沿上述齿槽的斜面移出该齿槽(该过程中棘爪200与手动操作件70相互靠近)并进入与该齿槽相邻的下一个齿槽，进而带动棘轮232继续运动，如此反复直至实现切割刀组件回到初始位置。棘爪200与棘轮232的驱动方式，为机械领域常规技术手段，在此不再赘述。Operating the manual operation part 70 drives the ratchet 200 to drive the ratchet 232 to move. Specifically, the manual operation part 70 is operated to move along the first direction to drive the ratchet 200. The ratchet 200 is driven by cooperating with one of the tooth grooves of the ratchet 232 The ratchet 232 moves, and continues to operate the manual operation part 70 to drive the ratchet 200 along the slope of the above-mentioned tooth groove to move out of the tooth groove (in this process, the ratchet 200 and the manual operation part 70 are close to each other) and enter into the tooth groove along the second direction. The adjacent next tooth groove further drives the ratchet wheel 232 to continue to move, and so on until the cutting knife assembly returns to the initial position. The driving method of the pawl 200 and the ratchet wheel 232 is a conventional technical means in the mechanical field, and will not be repeated here.

在本实施例中，偏压件为扭簧205，扭簧205包括螺旋部206和连接在螺旋部206两侧的第一扭簧臂207和第二扭簧臂208，螺旋部206套设于第二支撑轴204，第一扭簧臂207与手动操作件70的内壁抵接，第二扭簧臂208与棘爪200侧部延伸的翼部209抵接。In this embodiment, the biasing member is a torsion spring 205. The torsion spring 205 includes a helical part 206 and a first torsion spring arm 207 and a second torsion spring arm 208 connected to both sides of the helical part 206. The helical part 206 is sleeved on The second support shaft 204 , the first torsion spring arm 207 abuts against the inner wall of the manual operation member 70 , and the second torsion spring arm 208 abuts against the wing 209 extending from the side of the ratchet 200 .

为了防止对手动操作件70误操作，外科器械还包括盖板116。盖板116可拆卸地与头部壳体112相连接，例如通过卡扣连接。在第一状态下，盖板116连接至头部壳体112，盖板116的内表面与手动操作件70相抵接，以将手动操作件70保持于其初始位置。并且，盖板116将手动操作件70隐藏起来，避免对其误操作。当吻合器发生电力故障而停机时，取下盖板116，手动操作件70自盖板116所在的位置露出，可以进行操作。In order to prevent misoperation of the manual operation part 70 , the surgical instrument further includes a cover plate 116 . The cover plate 116 is detachably connected to the head housing 112, for example, through a buckle connection. In the first state, the cover plate 116 is connected to the head housing 112 , and the inner surface of the cover plate 116 abuts against the manual operation part 70 to keep the manual operation part 70 at its initial position. Moreover, the cover plate 116 hides the manual operation part 70 to avoid misoperation thereof. When the stapler has a power failure and stops, the cover plate 116 is removed, and the manual operation part 70 is exposed from the position where the cover plate 116 is located, and can be operated.

可以理解的是，在第一状态下，电机通过输入件与离合机构连接，手动操作件与离合机构脱离，具体的：输入件在第一位置，输入件与离合机构的中间件40连接，输入件与离合机构的第一离合件选择性配合，返回传动组件的棘爪200与棘轮232脱离。在第二状态下，电机与离合机构脱开，手动操作件与离合机构连接，具体的：输入件在第二位置，棘爪232受手动操作件70的驱动而间歇连接棘轮200以驱动棘轮200，手动操作件70通过棘爪200、棘轮232、返回齿轮234与离合机构的中间件40连接。由此，同一时刻，电机150和手动操作件70中的一个与离合机构连接，另一个与离合机构脱离，电机150和手动操作件70的动力不会相互干扰。用户未操作手动操作件70前，电动吻合器处于第一状态，当操作手动操作件70后，手动操作件70驱动脱开传动组件运动，输入件离开第一位置，直至到达第二位置，外科器械由第一状态转换为第二状态。It can be understood that, in the first state, the motor is connected to the clutch mechanism through the input piece, and the manual operation piece is disengaged from the clutch mechanism. Specifically: the input piece is in the first position, and the input piece is connected to the intermediate piece 40 of the clutch mechanism. The member selectively cooperates with the first clutch member of the clutch mechanism, and the ratchet 200 of the return transmission assembly is disengaged from the ratchet wheel 232 . In the second state, the motor is disengaged from the clutch mechanism, and the manual operation part is connected to the clutch mechanism. Specifically: the input part is in the second position, and the pawl 232 is driven by the manual operation part 70 to intermittently connect the ratchet wheel 200 to drive the ratchet wheel 200 , the manual operation member 70 is connected with the intermediate member 40 of the clutch mechanism through the pawl 200 , the ratchet wheel 232 , and the return gear 234 . Thus, at the same moment, one of the motor 150 and the manual operation member 70 is connected to the clutch mechanism, and the other is disengaged from the clutch mechanism, so that the power of the motor 150 and the manual operation member 70 will not interfere with each other. Before the user operates the manual operation part 70, the electric stapler is in the first state. After the manual operation part 70 is operated, the manual operation part 70 drives the disengagement transmission assembly to move, and the input part leaves the first position until it reaches the second position. The instrument transitions from the first state to the second state.

本申请还提供第二实施例。第二实施例与第一实施例的不同之处在于，脱开传动组件不包括中间传动件94和机架上的引导槽，杆件的一端直接抵接螺旋面84。相比第一实施例，第二实施例的脱开传动组件简单且能实现相同功能。The present application also provides a second embodiment. The difference between the second embodiment and the first embodiment is that the disengagement transmission assembly does not include the intermediate transmission member 94 and the guide groove on the frame, and one end of the rod directly abuts against the helical surface 84 . Compared with the first embodiment, the disengagement transmission assembly of the second embodiment is simpler and can achieve the same function.

脱开传动组件的驱动过程：参见图13，当促动件80被手动操作件70驱动从而做第一运动即沿第一方向转动，杆件的第一端在螺旋面84上相对滑动，螺旋面84驱动杆件的第一端向上运动，使杆件做第二运动即转动，杆件的输出端92(第二端)因转动而被压下，进而抵接并推动输入件从第一位置到第二位置，弹性件5被压缩。The driving process of disengaging the transmission assembly: Referring to Figure 13, when the actuator 80 is driven by the manual operation member 70 to make the first movement, that is, to rotate in the first direction, the first end of the rod slides relatively on the helical surface 84, and the helical The surface 84 drives the first end of the rod to move upward, so that the rod does the second movement, that is, to rotate, and the output end 92 (the second end) of the rod is pressed down due to the rotation, and then abuts and pushes the input member from the first position to the second position, the elastic member 5 is compressed.

在第二实施例中，除了在第二实施例中已描述的技术特征以外，第二实施例中的其它技术特征与第一实施例相同，不再赘述。In the second embodiment, except for the technical features already described in the second embodiment, other technical features in the second embodiment are the same as those in the first embodiment, and will not be repeated here.

本申请中的一件三功能以及一件两功能的技术方案，可以应用至具有钳口组件、钳口驱动机构、切割刀组件、切割驱动机构、离合机构的其它外科器械，而不仅仅限制于电动吻合器。The one-piece three-function and one-piece two-function technical solutions in this application can be applied to other surgical instruments with jaw assembly, jaw drive mechanism, cutting knife assembly, cutting drive mechanism, clutch mechanism, and are not limited to Electric stapler.

综上所述，本申请中，根据切割刀组件所处位置的不同，一个手动操作件能顺序地实现动力脱开、切割刀组件退刀和钳口组件打开，即一件实现三种功能，又能顺序地实现动力脱开和钳口组件打开，即一件两种功能，实现了对发生电力故障的外科器械的强制复位。对于用户而言仅需操作一个操作件，操作简单、体验感好，并且，产品结构设计简单。To sum up, in this application, according to the different positions of the cutting knife assembly, one manual operation part can sequentially realize the power disengagement, the cutting knife assembly retracting and the opening of the jaw assembly, that is, one piece can realize three functions, It can also sequentially realize the power disengagement and the opening of the jaw assembly, that is, two functions in one piece, and realize the forced reset of the surgical instrument that has a power failure. For the user, only one operation part is required, the operation is simple, the experience is good, and the product structure design is simple.

应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施方式中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。It should be understood that although this description is described according to implementation modes, not each implementation mode only contains an independent technical solution, and this description in the description is only for clarity, and those skilled in the art should take the description as a whole, and each The technical solutions in the embodiments can also be properly combined to form other embodiments that can be understood by those skilled in the art.

尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型，上述变化、修改、替换和变型后的技术方案均在本申请的保护范围内。Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present application, and those skilled in the art can make the above-mentioned The embodiments are changed, modified, replaced and modified, and the technical solutions after the above changes, modified, replaced and modified are all within the protection scope of the present application.

Claims (44)

Translated fromChinese

一种外科器械，其特征在于，包括：A surgical instrument, characterized in that it comprises:电动模块；electric module;钳口组件；jaw assembly;切割刀组件；cutter assembly;传动机构，包括离合机构，所述电动模块通过所述离合机构择一地驱动所述钳口组件运动和驱动所述切割刀组件运动；所述外科器械具有第一状态和第二状态，在所述第一状态下，所述电动模块与所述离合机构连接，在所述第二状态下，所述电动模块与所述离合机构脱开；The transmission mechanism includes a clutch mechanism through which the electric module alternatively drives the movement of the jaw assembly and the movement of the cutting knife assembly; the surgical instrument has a first state and a second state. In the first state, the electric module is connected to the clutch mechanism, and in the second state, the electric module is disengaged from the clutch mechanism;手动返回机构，包括能够沿第一方向运动的手动操作件；a manual return mechanism, including a manual operating member capable of moving in a first direction;所述手动操作件沿所述第一方向运动使得所述外科器械从所述第一状态切换到所述第二状态，并且在所述第二状态下，所述手动操作件沿所述第一方向运动以驱动所述离合机构择一地驱动所述切割刀组件执行退刀动作和驱动所述钳口组件执行打开动作。Movement of the manual operating member in the first direction causes the surgical instrument to switch from the first state to the second state, and in the second state, the manual operating member moves along the first direction. direction movement to drive the clutch mechanism to alternatively drive the cutting knife assembly to execute the retracting action and drive the jaw assembly to perform the opening action.根据权利要求1所述的外科器械，其特征在于，所述传动机构还包括输入件，所述输入件具有第一位置和第二位置，所述输入件位于所述第一位置时，所述电动模块通过所述输入件与所述离合机构连接；所述手动操作件沿所述第一方向运动以驱动所述输入件从所述第一位置运动至所述第二位置；所述输入件位于所述第二位置时，所述输入件与所述电动模块或所述离合机构脱开，以使得所述电动模块与所述离合机构脱开。The surgical instrument according to claim 1, wherein the transmission mechanism further comprises an input member, the input member has a first position and a second position, and when the input member is in the first position, the The electric module is connected with the clutch mechanism through the input member; the manual operation member moves along the first direction to drive the input member to move from the first position to the second position; the input member When located at the second position, the input member is disengaged from the electric module or the clutch mechanism, so that the electric module is disengaged from the clutch mechanism.根据权利要求2所述的外科器械，其特征在于，所述手动返回机构还包括返回传动组件，所述手动操作件通过所述返回传动组件驱动所述离合机构；The surgical instrument according to claim 2, wherein the manual return mechanism further comprises a return transmission assembly, and the manual operation member drives the clutch mechanism through the return transmission assembly;所述返回传动组件包括：The return drive assembly includes:棘轮，与所述离合机构连接；ratchet, connected with the clutch mechanism;棘爪，与所述手动操作件可转动地连接；a pawl rotatably connected to the manual operation member;在所述第二状态下，所述手动操作件沿所述第一方向运动以驱动所述棘爪运动，所述棘爪通过所述棘轮驱动所述离合机构。In the second state, the manual operation member moves along the first direction to drive the pawl, and the pawl drives the clutch mechanism through the ratchet.根据权利要求2所述的外科器械，其特征在于，所述手动返回机构还包括脱开传动组件，所述手动操作件通过所述脱开传动组件驱动所述输入件从所述第一位置运动至所述第二位置；The surgical instrument according to claim 2, wherein the manual return mechanism further comprises a disengagement transmission assembly, and the manual operation member drives the input member to move from the first position through the disengagement transmission assembly to said second location;所述手动操作件的沿所述第一方向的运动为沿第一方向绕第一转轴的转动，The movement of the manual operating member along the first direction is a rotation around the first rotation axis along the first direction,所述输入件的在所述第一位置和所述第二位置之间的运动为直线运动；the movement of the input member between the first position and the second position is a linear movement;所述输入件的直线运动的方向与所述第一转轴平行。The direction of linear motion of the input member is parallel to the first rotation axis.根据权利要求4所述的外科器械，其特征在于，所述脱开传动组件包括促动件、由所述促动件驱动的从动件；The surgical instrument according to claim 4, wherein the disengagement transmission assembly comprises an actuator, a follower driven by the actuator;所述手动操作件沿所述第一方向绕所述第一转轴转动以驱动所述促动件做第一运动；The manual operation member rotates around the first rotating shaft along the first direction to drive the actuator to make a first movement;所述促动件做所述第一运动以驱动所述从动件做第二运动；the actuator performs the first movement to drive the follower to perform the second movement;所述从动件做所述第二运动以驱动所述输入件从所述第一位置移动到所述第二位置。The driven member makes the second movement to drive the input member to move from the first position to the second position.根据权利要求5所述的外科器械，其特征在于，所述促动件的所述第一运动为绕第二转轴的转动；所述从动件的所述第二运动为绕销轴的转动。The surgical instrument according to claim 5, wherein the first movement of the actuator is a rotation around a second axis of rotation; the second movement of the follower is a rotation around a pin .根据权利要求5所述的外科器械，其特征在于，所述促动件包括运动转换机构，所述运动转换机构将所述促动件的所述第一运动转换为所述从动件的所述第二运动。The surgical instrument of claim 5, wherein said actuator member includes a motion conversion mechanism that converts said first motion of said actuator member to said driven member. Describe the second movement.根据权利要求7所述的外科器械，其特征在于，所述运动转换机构为设置在所述促动件的外周侧的螺旋面。The surgical instrument according to claim 7, wherein the motion conversion mechanism is a helical surface provided on the outer peripheral side of the actuator.根据权利要求8所述的外科器械，其特征在于，所述从动件包括绕销轴转动的杆件，所述第二运动为所述杆件的转动；The surgical instrument according to claim 8, wherein the follower comprises a rod rotating about a pin, and the second movement is the rotation of the rod;所述促动件做所述第一运动时所述螺旋面驱动所述杆件转动，所述杆件在转动时驱动所述输入件从所述第一位置运动到所述第二位置。When the actuator makes the first movement, the helical surface drives the rod to rotate, and the rod drives the input to move from the first position to the second position when the rod rotates.根据权利要求8所述的外科器械，其特征在于，所述促动件还包括设置在所述促动件的外周侧的终点抵接面，所述终点抵接面与所述螺旋面的远端邻接并成角度设置；The surgical instrument according to claim 8, wherein the actuator further includes a terminal abutment surface disposed on the outer peripheral side of the actuator, and the terminal abutment surface is far from the helical surface. ends abutting and set at an angle;所述促动件的所述第一运动为绕第二转轴的转动；所述终点抵接面与所述第二转轴垂直，所述终点抵接面用于在所述电动模块与所述离合机构脱开后锁定所述输入件在所述第二位置。The first movement of the actuator is a rotation around the second rotation axis; the end abutment surface is perpendicular to the second rotation axis, and the end abutment surface is used to connect and disengage the electric module with the clutch The mechanism locks the input member in the second position after disengagement.根据权利要求1、2任一项所述的外科器械，其特征在于，在所述第一状态下，所述手动操作件与所述离合机构脱开，在所述第二状态下，所述手动操作件与所述离合机构可操作地连接。The surgical instrument according to any one of claims 1 and 2, characterized in that, in the first state, the manual operation part is disengaged from the clutch mechanism, and in the second state, the The manual operating part is operatively connected with the clutch mechanism.根据权利要求11所述的外科器械，其特征在于，所述离合机构包括第一齿轮、中间件和第二离合件；所述中间件与所述第二离合件相连接；所述中间件包括第一离合结构，所述第一齿轮包括与所述第一离合结构选择性配合的第二离合结构；The surgical instrument according to claim 11, wherein the clutch mechanism comprises a first gear, an intermediate piece and a second clutch; the intermediate piece is connected with the second clutch; the intermediate piece comprises a first clutch structure, the first gear includes a second clutch structure selectively matched with the first clutch structure;所述传动机构还包括输入件；所述手动返回机构还包括返回传动组件；The transmission mechanism also includes an input member; the manual return mechanism also includes a return transmission assembly;所述第一齿轮用于选择性驱动所述钳口组件和所述切割刀组件中的一个组件，所述第一齿轮还包括第一有效转程结构和第一空转程结构；The first gear is used to selectively drive one of the jaw assembly and the cutting knife assembly, and the first gear also includes a first effective stroke structure and a first idle stroke structure;所述第二离合件用于选择性驱动所述钳口组件和所述切割刀组件中的另一个组件，所述第二离合件包括第二有效转程结构和第二空转程结构；响应于所述第二离合件被驱动并且响应于所述第二有效转程结构与所述另一个组件相配合，所述第二有效转程结构驱动所述切割刀组件运动；响应于所述第二离合件被驱动并且响应于所述第二空转程结构与所述另一个组件相耦合，所述第二空转程结构不驱动所述切割刀组件运动；The second clutch is used to selectively drive the other of the jaw assembly and the cutting knife assembly, and the second clutch includes a second effective stroke structure and a second idle stroke structure; in response to The second clutch is driven and sounds In response to the cooperation between the second effective rotation structure and the other component, the second effective rotation structure drives the movement of the cutting knife assembly; in response to the driving of the second clutch and in response to the A second idle travel structure is coupled to the other assembly, and the second idle travel structure does not drive the cutter assembly to move;在所述第一状态时，所述钳口组件和所述切割刀组件被择一地驱动；所述电动模块与所述输入件相连接以驱动所述输入件；响应于所述第一有效转程结构与所述输入件相配合，所述第一有效转程结构驱动所述一个组件运动；响应于所述第一空转程结构与所述输入件相耦合，所述第一空转程结构不驱动所述一个组件运动；所述第二离合件被所述输入件驱动，所述第二有效转程结构与所述另一个组件相配合，或者，所述第二空转程结构与所述另一个组件相耦合；In the first state, the jaw assembly and the cutter assembly are driven alternatively; the electric module is connected to the input member to drive the input member; in response to the first effective a pivot structure cooperating with the input member, the first effective pivot structure drives the movement of the one component; The one component is not driven to move; the second clutch is driven by the input, and the second effective stroke structure cooperates with the other component, or, the second idle stroke structure cooperates with the coupled with another component;在所述第二状态时，所述钳口组件和所述切割刀组件被择一地驱动；所述手动操作件通过所述返回传动组件和所述中间件驱动所述第二离合件，以驱动所述切割刀组件退刀，此时所述第一离合结构与所述第二离合结构相耦合以使得所述第一齿轮不被驱动，进而钳口组件不被驱动；所述手动操作件通过所述返回传动组件和所述中间件、相配合的所述第一离合结构和所述第二离合结构驱动所述第一齿轮以驱动所述钳口组件打开。In the second state, the jaw assembly and the cutting knife assembly are driven alternatively; the manual operation part drives the second clutch part through the return transmission assembly and the intermediate part, so as to Drive the cutting knife assembly to retreat, at this time, the first clutch structure is coupled with the second clutch structure so that the first gear is not driven, and thus the jaw assembly is not driven; the manual operation part The first gear is driven by the return transmission assembly and the intermediate piece, the matched first clutch structure and the second clutch structure to drive the jaw assembly to open.根据权利要求12所述的外科器械，其特征在于，在所述第一状态下，所述第一离合结构和所述第二离合结构用于实现所述第一有效转程结构与所述输入件之间由相耦合转换为相配合。The surgical instrument according to claim 12, characterized in that, in the first state, the first clutch structure and the second clutch structure are used to realize the first effective rotation structure and the input The components are converted from phase coupling to coordination.根据权利要求12所述的外科器械，其特征在于，在所述第二状态下，如果所述切割刀组件位于终止位置或者中间位置，所述手动操作件沿所述第一方向运动以驱动所述第二离合件，所述第二有效转程结构与所述另一个组件相配合以驱动所述切割刀组件退回至初始位置，进而所述中间件通过相配合的所述第一离合结构和所述第二离合结构驱动所述第一齿轮以驱动所述钳口组件打开；如果所述切割刀组件位于初始位置，所述中间件通过相配合的所述第一离合结构和所述第二离合结构驱动所述第一齿轮以驱动所述钳口组件打开。The surgical instrument according to claim 12, characterized in that, in the second state, if the cutting knife assembly is at the end position or the middle position, the manual operation member moves along the first direction to drive the The second clutch member, the second effective rotation structure cooperates with the other component to drive the cutting knife assembly back to the initial position, and then the intermediate member passes through the matched first clutch structure and The second clutch structure drives the first gear to drive the jaw assembly to open; if the cutting knife assembly is in the initial position, the intermediate piece passes through the matched first clutch structure and the second The clutch structure drives the first gear to drive the jaw assembly to open.根据权利要求12所述的外科器械，其特征在于，所述第一离合结构为圆弧槽和突起中的一个，所述第二离合结构为圆弧槽和突起中的另一个；所述圆弧槽包括圆弧轨道以及首端，所述第一离合结构与所述第二离合结构耦合包括所述突起容置于所述圆弧轨道中，所述第一离合结构与所述第二离合结构配合包括所述突起与所述首端相抵接。The surgical instrument according to claim 12, wherein the first clutch structure is one of an arc groove and a protrusion, and the second clutch structure is the other of an arc groove and a protrusion; the circle The arc groove includes an arc track and a head end, the coupling between the first clutch structure and the second clutch structure includes that the protrusion is accommodated in the arc track, and the first clutch structure is connected to the second clutch structure. The structural fit includes the protrusion abutting against the head end.根据权利要求12所述的外科器械，其特征在于，所述传动机构还包括第一输出件和第二输出件；所述第一输出件与所述钳口组件相连接，并且所述第一输出件与所述第一齿轮相连接，所述第二输出件与所述切割刀组件相连接，并且所述第二输出件与所述第二离合件配合或耦合，或者，所述第二输出件与所述钳口组件相连接，并且所述第二输出件与所述第二离合件配合或耦合，所述第一输出件与所述切割刀组件相连接，并且所述第一输出件与所述第一齿轮相连接。The surgical instrument according to claim 12, wherein the transmission mechanism further comprises a first output member and a second output member; the first output member is connected with the jaw assembly, and the first output member The output member is connected with the first gear, the second output member is connected with the cutting knife assembly, and the second output member is matched or coupled with the second clutch member, or the second output member is an output member is connected to the jaw assembly, and the second output member is connected to the first The two clutch parts are matched or coupled, the first output part is connected with the cutting knife assembly, and the first output part is connected with the first gear.根据权利要求16所述的外科器械，其特征在于，所述外科器械还包括钳口驱动机构和切割驱动机构；所述第一输出件通过所述钳口驱动机构与所述钳口组件相连接，所述第二输出件通过所述切割驱动机构与所述切割刀组件相连接，或者，所述第二输出件通过所述钳口驱动机构与所述钳口组件相连接，所述第一输出件通过所述切割驱动机构与所述切割刀组件相连接。The surgical instrument according to claim 16, characterized in that, the surgical instrument further comprises a jaw driving mechanism and a cutting driving mechanism; the first output member is connected with the jaw assembly through the jaw driving mechanism , the second output member is connected to the cutter assembly through the cutting drive mechanism, or the second output member is connected to the jaw assembly through the jaw drive mechanism, the first An output member is connected to the cutter assembly through the cutter drive mechanism.根据权利要求16所述的外科器械，其特征在于，所述第一输出件为连杆，所述连杆与所述第一齿轮可转动地连接，所述第二输出件为驱动齿轮，所述驱动齿轮与所述第二离合件配合或耦合。The surgical instrument according to claim 16, wherein the first output member is a connecting rod, the connecting rod is rotatably connected to the first gear, and the second output member is a driving gear, so The driving gear cooperates or couples with the second clutch.根据权利要求12所述的外科器械，其特征在于，所述返回传动组件包括棘爪、棘齿轮、偏压件，所述棘齿轮与所述中间件相啮合；所述手动操作件与所述棘爪的一端可转动地连接，所述偏压件与所述手动操作件相抵接和所述棘爪相抵接以将所述棘爪的远离所述一端的另一端向远离所述手动操作件的方向偏压；响应于所述手动操作件沿所述第一方向的运动，所述棘爪与所述棘齿轮相结合并且驱动所述棘齿轮转动。The surgical instrument according to claim 12, wherein the return transmission assembly includes a pawl, a ratchet gear, and a biasing member, and the ratchet gear is engaged with the intermediate member; the manual operation member is connected to the One end of the ratchet is rotatably connected, and the biasing member abuts against the manual operation member and the ratchet to move the other end of the ratchet away from the one end away from the manual operation member In response to the movement of the manual operating member along the first direction, the pawl combines with the ratchet gear and drives the ratchet gear to rotate.一种外科器械，其特征在于，包括：A surgical instrument, characterized in that it comprises:电动模块；electric module;钳口组件；jaw assembly;切割刀组件；cutter assembly;传动机构，包括离合机构，所述电动模块通过所述离合机构择一地驱动所述钳口组件运动和驱动所述切割刀组件运动；所述外科器械具有第一状态和第二状态，在所述第一状态下，所述电动模块与所述离合机构连接，在所述第二状态下，所述电动模块与所述离合机构脱开；The transmission mechanism includes a clutch mechanism through which the electric module alternatively drives the movement of the jaw assembly and the movement of the cutting knife assembly; the surgical instrument has a first state and a second state. In the first state, the electric module is connected to the clutch mechanism, and in the second state, the electric module is disengaged from the clutch mechanism;动力脱开装置，包括手动操作件和由所述手动操作件驱动的脱开传动组件，响应于所述手动操作件的驱动，所述脱开传动组件使得所述电动模块和所述离合机构之间脱开，以使所述外科器械从所述第一状态切换到所述第二状态；在所述第二状态下，响应于所述手动操作件的驱动，所述离合机构择一地驱动所述切割刀组件执行退刀动作和驱动所述钳口组件执行打开动作。The power release device includes a manual operating part and a disengagement transmission assembly driven by the manual operation part. In response to the driving of the manual operation part, the disengagement transmission assembly makes the connection between the electric module and the clutch mechanism In the second state, in response to the driving of the manual operation member, the clutch mechanism is alternatively driven The cutter assembly executes the retracting action and drives the jaw assembly to perform the opening action.根据权利要求20所述的外科器械，其特征在于，所述传动机构还包括输入件，所述输入件具有第一位置和第二位置，所述输入件位于所述第一位置时，所述电动模块通过所述输入件与所述离合机构连接；所述手动操作件沿第一方向运动以驱动所述脱开传动组件进而驱动所述输入件从所述第一位置运动至所述第二位置；所述输入件位于所述第二位置时，所述输入件与所述电动模块或所述离合机构脱开，以使得所述电动模块与所述离合机构脱开。The surgical instrument according to claim 20, wherein the transmission mechanism further comprises an input member, the input member has a first position and a second position, and when the input member is in the first position, the The electric module is connected with the clutch mechanism through the input member; the manual operation member moves in the first direction to drive the disengagement transmission assembly and then drives the input member to move from the first position to the second position. position; when the input member is in the second position, the The input member is disengaged from the electric module or the clutch mechanism, so that the electric module is disengaged from the clutch mechanism.根据权利要求21所述的外科器械，其特征在于，所述手动操作件在所述第一方向的运动为沿所述第一方向绕第一转轴转动，所述输入件在所述第一位置和所述第二位置之间的运动为直线运动，所述脱开传动组件将所述手动操作件沿所述第一方向的转动转换为所述输入件从所述第一位置到所述第二位置的直线运动。The surgical instrument according to claim 21, wherein the movement of the manual operation member in the first direction is to rotate around a first rotation axis in the first direction, and the input member is in the first position The movement between the second position and the second position is a linear movement, and the disengagement transmission assembly converts the rotation of the manual operation member along the first direction into the input member from the first position to the second position. Two-position linear motion.根据权利要求22所述的外科器械，其特征在于，所述脱开传动组件包括第二转轴、套设于所述第二转轴的促动件、由所述促动件驱动的从动件，所述促动件绕所述第二转轴转动；所述手动操作件沿所述第一方向绕所述第一转轴转动能够驱动所述促动件绕所述第二转轴做第一运动，所述促动件做所述第一运动以驱动所述从动件做第二运动。The surgical instrument according to claim 22, wherein the disengagement transmission assembly comprises a second rotating shaft, an actuator sleeved on the second rotating shaft, and a follower driven by the actuator, The actuator rotates around the second axis; the manual operation element rotates in the first direction around the first axis to drive the actuator to make a first movement around the second axis. The actuating member performs the first movement to drive the driven member to perform the second movement.根据权利要求23所述的外科器械，其特征在于，The surgical instrument of claim 23, wherein,所述输入件的直线运动的方向与所述第一转轴的轴线平行；或the direction of linear motion of the input member is parallel to the axis of the first shaft; or所述第一转轴与所述第二转轴平行。The first rotation axis is parallel to the second rotation axis.根据权利要求23所述的外科器械，其特征在于，所述手动操作件包括大致沿第一转轴的径向延伸的驱动面，所述促动件包括滑动端，所述滑动端与所述驱动面可运动地抵接；The surgical instrument according to claim 23, wherein said manual operation member includes a drive surface extending substantially radially of the first rotation axis, said actuator member includes a sliding end, said sliding end is connected to said drive The surfaces are movably abutting;所述手动操作件沿所述第一方向转动，所述驱动面推动所述滑动端绕所述第二转轴的中心轴线沿所述第一方向转动，同时所述滑动端在所述驱动面上大致沿所述第一转轴的径向从起始端向终止端滑动。The manual operation member rotates in the first direction, the driving surface pushes the sliding end to rotate in the first direction around the central axis of the second rotating shaft, and at the same time, the sliding end is on the driving surface Sliding from the start end to the end end roughly along the radial direction of the first rotating shaft.根据权利要求25所述的外科器械，其特征在于，所述促动件为圆柱凸轮，所述圆柱凸轮包括轴向突出的凸起柱，所述凸起柱为所述滑动端。The surgical instrument according to claim 25, wherein the actuator is a cylindrical cam, the cylindrical cam includes an axially protruding protruding post, and the protruding post is the sliding end.根据权利要求23所述的外科器械，其特征在于，所述促动件包括运动转换机构，所述运动转换机构将所述促动件的所述第一运动转换为所述从动件的所述第二运动。The surgical instrument of claim 23, wherein said actuator member includes a motion conversion mechanism that converts said first motion of said actuator member to said second motion of said follower member. Describe the second movement.根据权利要求27所述的外科器械，其特征在于，所述运动转换机构为设置在所述促动件的外周侧的螺旋面。The surgical instrument according to claim 27, wherein the motion conversion mechanism is a helical surface provided on the outer peripheral side of the actuator.根据权利要求28所述的外科器械，其特征在于，所述从动件包括绕销轴转动的杆件，所述第二运动为所述杆件的转动；The surgical instrument of claim 28, wherein said follower comprises a rod that rotates about a pin, and said second motion is rotation of said rod;所述促动件做所述第一运动时所述螺旋面驱动所述杆件转动，所述杆件的输出端在转动时驱动所述输入件从所述第一位置运动到所述第二位置，且所述杆件的输出端在转动时具有在所述输入件的直线运动方向上的位移量。When the actuator makes the first movement, the helical surface drives the rod to rotate, and the output end of the rod drives the input to move from the first position to the second when the rod rotates. position, and the output end of the rod has a displacement in the linear motion direction of the input part when it is rotated.根据权利要求29所述的外科器械，其特征在于，所述杆件的第一端与所述螺旋面抵接。29. The surgical instrument of claim 29, wherein the first end of the rod abuts the helical surface.根据权利要求28所述的外科器械，其特征在于，所述脱开传动组件还包括中间传动件，所述外科器械的机架设置有引导所述中间传动件直线运动的引导槽，所述中间传动件的第一端与所述螺旋面抵接，第二端与所述从动件的杆件抵接，所述促动件通过所述中间传动件连接并驱动所述从动件做所述第二运动。The surgical instrument according to claim 28, wherein the disengagement transmission assembly further comprises an intermediate transmission member, the frame of the surgical instrument is provided with a guide groove for guiding the linear movement of the intermediate transmission member, and the intermediate The first end of the transmission part abuts against the helical surface, the second end abuts against the rod of the driven part, and the actuating part is connected through the intermediate transmission part and drives the driven part to do the following. Describe the second movement.根据权利要求28所述的外科器械，其特征在于，所述促动件还包括起点抵接面，所述起点抵接面与所述螺旋面的近端邻接并成角度设置，所述起点抵接面与所述第二转轴的中心轴线垂直，所述起点抵接面用于将所述电动模块与所述离合机构保持于结合状态。The surgical instrument according to claim 28, wherein the actuator further comprises an origin abutment surface, the origin abutment surface is adjacent to the proximal end of the helical surface and is angled, and the origin abutment surface The connecting surface is perpendicular to the central axis of the second rotating shaft, and the starting point abutting surface is used to keep the electric module and the clutch mechanism in a combined state.根据权利要求28所述的外科器械，其特征在于，所述促动件还包括终点抵接面，所述终点抵接面与所述螺旋面的远端邻接并成角度设置，所述终点抵接面与第二转轴的中心轴线垂直，所述终点抵接面用于将所述电动模块与所述离合机构保持于脱开状态。The surgical instrument of claim 28, wherein said actuator further comprises a terminal abutment surface adjoining and angled to a distal end of said helical surface, said terminal abutment surface The connecting surface is perpendicular to the central axis of the second rotating shaft, and the terminal abutting surface is used to keep the electric module and the clutch mechanism in a disengaged state.根据权利要求20所述的外科器械，其特征在于，所述手动返回机构还包括返回传动组件，所述手动操作件通过所述返回传动组件驱动所述离合机构；The surgical instrument according to claim 20, wherein the manual return mechanism further comprises a return transmission assembly, and the manual operation part drives the clutch mechanism through the return transmission assembly;所述返回传动组件包括：The return drive assembly includes:棘轮，与所述离合机构连接；ratchet, connected with the clutch mechanism;棘爪，与所述手动操作件可转动地连接；a pawl rotatably connected to the manual operation member;在所述第二状态下，所述手动操作件沿所述第一方向运动以驱动所述棘爪运动，所述棘爪通过所述棘轮驱动所述离合机构。In the second state, the manual operation member moves along the first direction to drive the pawl, and the pawl drives the clutch mechanism through the ratchet.一种外科器械，其特征在于，包括：A surgical instrument, characterized in that it comprises:电动模块；electric module;钳口组件；jaw assembly;切割刀组件；cutter assembly;传动机构，包括输入件、离合机构和输出件，所述电动模块通过所述离合机构择一地驱动所述钳口组件运动和驱动所述切割刀组件运动；The transmission mechanism includes an input member, a clutch mechanism and an output member, and the electric module alternatively drives the movement of the jaw assembly and the movement of the cutting knife assembly through the clutch mechanism;其中，所述离合机构包括离合件和中间件，所述离合件包括有效转程结构和空转程结构，所述输入件通过所述有效转程结构与所述输出件连接以驱动所述输出件，所述输入件通过所述空转程结构与输出件耦合以不驱动所述输出件；Wherein, the clutch mechanism includes a clutch part and an intermediate part, the clutch part includes an effective rotation structure and an idle travel structure, and the input part is connected with the output part through the effective rotation structure to drive the output part , the input member is coupled to the output member through the idle travel structure so as not to drive the output member;所述离合件包括第一离合件和第二离合件，所述输出件包括第一输出件和第二输出件，所述第一输出件用于驱动钳口组件和所述切割刀组件中的一个组件运动，所述第二输出件用于驱动钳口组件和所述切割刀组件中的另一个组件运动，所述输入件通过所述第一离合件选择性驱动所述第一输出件，所述输入件通过所述第二离合件选择性驱动所述第二输出件；所述中间件与所述第一离合件和所述第二离合件同轴设置，且所述中间件与所述第二离合件连接并同步运动，所述输入件与所述中间件配合，通过所述中间件驱动所述第二离合件，进而选择性驱动所述第二输出件。The clutch includes a first clutch and a second clutch, the output includes a first output and a second output, and the first output is used to drive the jaw assembly and the cutter assembly one assembly moves, the second output member is used to drive the movement of the other of the jaw assembly and the cutting knife assembly, the input member selectively drives the first output member through the first clutch member, The input member selectively drives the second output member through the second clutch member; the intermediate member is arranged coaxially with the first clutch member and the second clutch member, and the intermediate member is coaxial with the second clutch member. The second clutch The input part cooperates with the intermediate part, drives the second clutch part through the intermediate part, and then selectively drives the second output part.根据权利要求35所述的外科器械，其特征在于，在同一部件上形成所述第二离合件和所述中间件。35. The surgical instrument of claim 35, wherein said second clutch member and said intermediate member are formed on the same component.根据权利要求35所述的外科器械，其特征在于，The surgical instrument of claim 35, wherein,所述第一离合件包括第一有效转程结构和第一空转程结构，当所述第一有效转程结构与所述输入件配合，所述输入件驱动所述第一输出件；当所述第一空转程结构与所述输入件耦合，所述输入件不驱动所述第一输出件；和/或The first clutch member includes a first effective stroke structure and a first idle stroke structure. When the first effective stroke structure cooperates with the input member, the input member drives the first output member; said first lost motion structure is coupled to said input member, said input member not driving said first output member; and/or所述第二离合件包括第二有效转程结构和第二空转程结构，当第二有效转程结构与所述第二输出件配合，所述输入件驱动所述第二输出件；当所述第二空转程结构与所述第二输出件耦合，所述输入件不驱动所述第二输出件。The second clutch member includes a second effective stroke structure and a second idle stroke structure. When the second effective stroke structure cooperates with the second output member, the input member drives the second output member; The second idle travel structure is coupled to the second output member, and the input member does not drive the second output member.根据权利要求37所述的外科器械，其特征在于，当所述第一有效转程结构与所述输入件配合时，所述第二空转程结构与所述第二输出件耦合，使得所述输入件能够通过所述离合机构驱动所述第一输出件但无法驱动所述第二输出件；当所述第一空转程结构与所述输入件耦合时，所述第二有效转程结构与所述第二输出件配合，使得所述第一输入件能够通过所述离合机构驱动所述第二输出件但无法驱动所述第一输出件。The surgical instrument of claim 37, wherein when said first effective travel configuration is engaged with said input member, said second idle travel configuration is coupled to said second output member such that said The input part can drive the first output part through the clutch mechanism but cannot drive the second output part; when the first idle travel structure is coupled with the input part, the second effective travel structure and The second output member cooperates such that the first input member can drive the second output member through the clutch mechanism but cannot drive the first output member.根据权利要求37所述的外科器械，其特征在于，所述第一离合件为第一齿轮，包括第一有齿部和第一无齿部，所述第一有齿部为所述第一有效转程结构，所述第一无齿部为所述第一空转程结构，所述第一有齿部与所述第一无齿部均位于所述第一齿轮的外周面，且所述第一有齿部与所述第一无齿部邻接设置。The surgical instrument according to claim 37, wherein the first clutch is a first gear, comprising a first toothed portion and a first toothless portion, and the first toothed portion is the first The effective stroke structure, the first toothless portion is the first idle stroke structure, the first toothed portion and the first toothless portion are both located on the outer peripheral surface of the first gear, and the The first toothed portion is adjacent to the first toothless portion.根据权利要求37所述的外科器械，其特征在于，所述第二离合件为第二齿轮，包括第二有齿部和第二无齿部，所述第二有齿部为所述第二有效转程结构，所述第二无齿部为所述第二空转程结构，所述第二有齿部与所述第二无齿部均位于所述第二离合件的外周面，且所述第二有齿部与所述第二无齿部邻接设置。The surgical instrument according to claim 37, wherein the second clutch is a second gear, comprising a second toothed portion and a second toothless portion, and the second toothed portion is the second The effective stroke structure, the second gearless portion is the second idle stroke structure, the second geared portion and the second gearless portion are both located on the outer peripheral surface of the second clutch member, and the The second toothed portion is adjacent to the second non-toothed portion.根据权利要求37所述的外科器械，其特征在于，所述中间件为第三齿轮，所述第三齿轮与所述输入件啮合连接，所述第三齿轮的整个外周面上均分布有齿，且所述第三齿轮邻接于所述第二离合件的上方。The surgical instrument according to claim 37, wherein the intermediate member is a third gear, the third gear is meshed with the input member, and teeth are evenly distributed on the entire outer peripheral surface of the third gear , and the third gear is adjacent to the upper part of the second clutch.根据权利要求35所述的外科器械，其特征在于，所述中间件包括第一离合结构，所述第一离合件包括第二离合结构，所述第一离合结构和所述第二离合结构相配合或耦合以选择性驱动所述第一输出件。The surgical instrument according to claim 35, wherein the intermediate member includes a first clutch structure, the first clutch member includes a second clutch structure, and the first clutch structure is in contact with the second clutch structure. Cooperated or coupled to selectively drive the first output member.根据权利要求42所述的外科器械，其特征在于，所述第一离合结构和所述第二离合结构中的一个为圆弧槽，另一个为突起，所述圆弧槽的圆心位于所在部件的转动轴线上，所述圆弧槽包括圆弧轨道和首端，所述凸起伸入所述圆弧轨道并与所述圆弧轨道可滑动地连接，所述突起容置于所述圆弧轨道中时，所述第一离合结构与所述第二离合结构相耦合以使所述第一输出件不被驱动；所述突起与所述首端相抵接时，所述第一离合结构与所述第二离合结构相配合以使所述第一输出件能够被驱动。The surgical instrument according to claim 42, wherein said first clutch structure and said second clutch One of the structures is an arc groove, and the other is a protrusion. The center of the arc groove is located on the rotation axis of the component. The arc groove includes an arc track and a head end, and the protrusion extends into the The arc track is slidably connected with the arc track, and when the protrusion is accommodated in the arc track, the first clutch structure is coupled with the second clutch structure so that the first The output member is not driven; when the protrusion abuts against the head end, the first clutch structure cooperates with the second clutch structure to enable the first output member to be driven.根据权利要求43所述的外科器械，其特征在于，所述中间件和所述第一离合件均可转动地套设于旋转轴，所述中间件的第一端面与所述第一离合件的第二端面相临近，两个端面中的一个设置有所述圆弧槽，另一个设置有所述突起。The surgical instrument according to claim 43, characterized in that, both the intermediate piece and the first clutch piece are rotatably sleeved on the rotating shaft, and the first end surface of the middle piece is connected to the first clutch piece The second end surface is adjacent to each other, one of the two end surfaces is provided with the arc groove, and the other is provided with the protrusion.