Surgical instrument

Abstract

This application provides a surgical instrument, including an end effector, a cutting blade, and an actuation assembly. The end effector includes a first clamp and a second clamp, which are capable of opening and closing. The first clamp and / or the second clamp have a blade groove. The cutting blade is adapted to the shape of the blade groove and is movable relative to the end effector between a cutting position and a retracted position. When the cutting blade is in the cutting position, it extends beyond the edge of the blade groove; when the cutting blade is in the retracted position, it does not extend beyond the edge of the blade groove. The actuation assembly is connected to the cutting blade and configured to actuate the cutting blade to move between the cutting position and the retracted position. The movement path of the cutting blade is relatively short. The up-and-down movement of the cutting blade can be operated through a simple mechanical structure, making it convenient and easy to control. The actuation assembly drives the cutting blade mechanically, ensuring stable and reliable actuation.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically to a surgical instrument. Background Technology

[0002] Currently, surgical instruments typically employ a sliding cut method. A forward-backward advancing cut method might require more complex mechanical structures and control systems. In some cases, this could be less intuitive or convenient, increasing the difficulty and complexity of the surgical procedure.

[0003] Therefore, there is a need to provide a surgical instrument that can at least partially solve the above problems. Summary of the Invention

[0004] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] To at least partially solve the above problems, this application provides a surgical instrument comprising:

[0006] An end effector, the end effector including a first clamp and a second clamp, the first clamp and the second clamp being capable of opening and closing, the first clamp and / or the second clamp having a cutting groove;

[0007] A cutting blade, the cutting blade being adapted to the shape of the groove, the cutting blade being movable relative to the end effector between a cutting position and a retracted position, wherein when the cutting blade is in the cutting position, the cutting blade extends beyond the edge of the groove, and when the cutting blade is in the retracted position, the cutting blade does not extend beyond the edge of the groove; and

[0008] An actuation component is connected to the cutting blade and configured to actuate the cutting blade to move between the cutting position and the storage position.

[0009] According to the surgical instrument of this application, the cutting blade is capable of "cutting" tissue, and the movement path of the cutting blade is relatively shorter than that of a sliding cutter. The up-and-down moving cutting blade can be operated through a simple mechanical structure, making it convenient and easy to control. The actuation component drives the cutting blade mechanically, and the actuation method is stable and reliable.

[0010] Optionally, the actuation component includes:

[0011] Putter;

[0012] A lever, configured to rotate relative to the first clamp about a first pivot, includes a first end and a second end opposite in direction of its length, the first end being connected to the push rod and the second end being connected to the cutting blade; wherein...

[0013] The push rod can drive the lever to rotate around the first pivot, thereby moving the cutting blade between the cutting position and the storage position.

[0014] Optionally, the lever includes a first track surface and a second track surface arranged opposite to each other, the first track surface and the second track surface constraining the formation of a track groove, the push rod includes a traction end, the traction end is located in the track groove and can abut against the first track surface and the second track surface respectively, the first track surface and the second track surface convert the translational motion of the traction end into the rotational motion of the lever.

[0015] Optionally, the trajectory groove includes a component along the direction of movement parallel to the traction end and a component perpendicular to the direction of movement of the traction end.

[0016] Optionally, the cutting blade has a first connecting portion, and the lever has a second connecting portion, wherein the first connecting portion and the second connecting portion are rotatably connected; wherein,

[0017] At least a portion of one of the first connecting portion and the second connecting portion is configured as a pin, and at least a portion of the other of the first connecting portion and the second connecting portion is configured as a groove, the groove being capable of accommodating the pin and allowing the pin to move.

[0018] Optionally, the first clamp has a limiting groove, the extending direction of the limiting groove includes a component perpendicular to the mating surface, and the limiting groove communicates with the blade groove;

[0019] The cutting blade is integrally provided with a pin and a limiting block. The pin moves within the limiting groove along the extending direction of the limiting groove. The cutting blade and the pin are connected through the limiting block, which includes a limiting surface that mates with the limiting groove.

[0020] Optionally, the blade groove extends through both sides of the first clamp.

[0021] Optionally, the lever is constructed as a rod with a bend, and the first pivot is located near the bend.

[0022] Optionally, at least a portion of the lever is located within the blade groove, and at least a portion of the lever is located below the cutting blade.

[0023] Optionally, the end effector includes an anastomosis surface for contacting wound tissue; wherein,

[0024] At least a portion of the cutting blade located at the cutting position is above the mating surface;

[0025] The cutting blade located at the storage position is below the mating surface.

[0026] Optionally, the end effector includes the main body and the electrode, the groove is formed on the insulating seat and the electrode, and the mating surface is formed on the electrode.

[0027] Optionally, the cutting blade is arc-shaped. Attached Figure Description

[0028] The following drawings, illustrating embodiments of this application, are incorporated herein by reference and are used to understand this application. The drawings illustrate embodiments of this application and their descriptions, serving to explain the principles of this application. In the drawings,

[0029] Figure 1 This is a top view schematic diagram of a preferred embodiment of the patient-side operation device of this application;

[0030] Figure 2 This is a front view schematic diagram of a preferred embodiment of the patient-side operation device of this application;

[0031] Figure 3 This is a front view schematic diagram of a surgical instrument according to a preferred embodiment of this application;

[0032] Figure 4 This is a perspective view of an end effector according to a preferred embodiment of this application;

[0033] Figure 5 This is a perspective view of an operator according to a preferred embodiment of this application;

[0034] Figure 6 This is a perspective view of a portion of the structure of an end effector according to a preferred embodiment of this application.

[0035] Figure 7 for Figure 6 An enlarged schematic diagram of part A in the diagram;

[0036] Figure 8 This is a front view schematic diagram of a partial structure of an end effector according to a preferred embodiment of this application. In the figure, the solid line portion of the cutting blade is the storage position, and the dashed line portion of the cutting blade is the cutting position.

[0037] Figure 9 This is a front view schematic diagram of a partial structure of an end effector according to a preferred embodiment of this application;

[0038] Figure 10 for Figure 9 An enlarged schematic diagram of part B in the diagram;

[0039] Figure 11 for Figure 9 An enlarged schematic diagram of part C in the diagram;

[0040] Figure 12 This is a perspective view of a portion of the structure of an end effector according to a preferred embodiment of this application.

[0041] Figure 13 This is a perspective view of a cutting blade according to a preferred embodiment of this application; and

[0042] Figure 14 This is a perspective view of a first clamp according to a preferred embodiment of this application.

[0043] Explanation of reference numerals in the attached figures

[0044] 1: Patient-side operating equipment

[0045] 2: Surgical instruments

[0046] 10: End effector

[0047] 20: Mid-range actuator

[0048] 30: Operator

[0049] 110: First clamp

[0050] 111: Ontology

[0051] 112: Electrode components

[0052] 113: Limiting groove

[0053] 120: Second clamp

[0054] 101: Tool Groove

[0055] 102: Anastomosing surface

[0056] 130: Base

[0057] 200: Cutting blade

[0058] 210: First connecting part / pin

[0059] 220: Limiting block

[0060] 230: Limiting surface

[0061] 300: Actuation Component

[0062] 310: Putter

[0063] 311: Traction end

[0064] 320: Leverage

[0065] 321: First end

[0066] 322: Second end

[0067] 323: Track slot

[0068] 324: Second connecting part / groove

[0069] 330: First pivot Detailed Implementation

[0070] In the following description, numerous specific details are set forth to provide a more thorough understanding of this application. However, it will be apparent to those skilled in the art that embodiments of this application may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with embodiments of this application.

[0071] In this document, ordinal numbers such as “first” and “second” used in this application are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term “first component” does not imply the existence of a “second component”, and the term “second component” does not imply the existence of a “first component”.

[0072] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0073] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0074] The terms "distal" and "proximal" used in this application are directional terms commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the operator during the procedure, while "proximal" refers to the end closest to the operator. In a master-slave remote-controlled medical system, the operator can be understood as someone operating the device.

[0075] The terms “parallel” / “perpendicular” and similar expressions used in this application include absolute parallel / perpendicular relationships and approximately parallel / perpendicular relationships (e.g., relationships that differ from absolute parallel / perpendicular relationships by a range of -5° to +5°), and have equivalent effects.

[0076] Unless otherwise stated, the numerical ranges in this document include not only the entire range within its two endpoints, but also the subranges contained therein.

[0077] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0078] The surgical robot according to the embodiments of this application is a robot that can be remotely controlled to complete surgery. The surgical robot may include a surgical console, a robotic arm system (patient-side operating device 1), and a vision system.

[0079] The surgical control console is the core component of the surgical robot, allowing surgeons to remotely operate it. The console typically features a high-definition display screen, enabling doctors to monitor the surgical area in real time. It also includes various operation buttons and handles for precise control of the robot's movements and the motion of surgical instruments, facilitating human-machine interaction.

[0080] The imaging system is the "eyes" of a surgical robot. It transmits real-time images of the surgical area to a display screen on the surgical console, allowing the surgeon to clearly see the situation in the surgical area. An imaging system typically includes a camera and an image transmission device. The camera captures images of the surgical area, while the image transmission device transmits the images to the console in real time.

[0081] Reference Figures 1-2The patient-side operating device 1, typically a surgical cart equipped with a robotic arm, is an important component of the surgical robot. The robotic arm is the core mechanical structure of the surgical cart, used to hold the surgical instruments 2 on the patient's side to perform surgical procedures. The patient-side operating device 1 may include at least one robotic arm, which has several connecting arms. Adjacent connecting arms move relative to each other with specific degrees of freedom, allowing the end effector of the robotic arm to achieve multi-degree-of-freedom movement. The end effector of the robotic arm is equipped with a holding arm, on which the surgical instruments 2 are detachably mounted. The surgical instruments 2 can be replaced and used as needed for the surgery. The surgical instruments 2 can be instruments used to perform surgical procedures, such as electrocautery devices, clamps, and vascular occluders; cameras used for image acquisition of the surgical area, such as endoscopes; or other auxiliary surgical instruments, such as uterine manipulators. A cannula may be provided on the holding arm, operably mounted to it. The surgical instruments 2 pass through the cannula into the patient's body, thus the cannula provides some support to the axis of the surgical instruments 2. In the initial stage of the surgery, first determine the position of the cannula relative to the human body, that is, first determine the direction in which the surgical instrument 2 enters the human body, and then drag the instrument holding mechanism to dock with the cannula.

[0082] The movements of several connecting arms of the robotic arm can be coupled mechanically or via software control, enabling the robotic arm to drive the surgical instrument 2 mounted on the holding arm to move around a remote center of motion (RCM). For example, in laparoscopic surgery, the RCM is selected as the port through which the surgical instrument 2 enters the patient's abdominal cavity during the procedure. During the surgery, the surgical instrument 2 enters the patient's body through this port and can perform movements such as pitching, yawing, insertion, and rotation around the central point. This ensures that the movement of the surgical instrument 2 does not deviate from the preset trajectory, thereby avoiding unnecessary harm to the patient.

[0083] Reference Figure 3 The surgical instrument 2 of this application includes an end effector 10, a mid-range actuator 20, and a manipulator 30. The end effector 10 is the part of the surgical instrument 2 closest to the surgical site and directly participates in surgical operations, such as cutting, suturing, grasping, or clamping tissue. The mid-range actuator 20 serves to connect and transmit force within the surgical instrument 2. It connects the end effector 10 and the manipulator 30, ensuring that the force or movement applied by the surgeon on the manipulator 30 is accurately and smoothly transmitted to the end effector 10. (See reference...) Figure 5 The operator 30 is the part of the surgical instrument 2 that is directly operated by the doctor, and can be a manual lever, foot pedal, touch screen or other form of controller.

[0084] Optionally, the end effector 10 includes a jaw portion capable of opening and closing. The jaw portion of the end effector 10 can perform operations such as tissue cutting and anastomosis under the control of the manipulator 30. The joint portion of the intermediate effector 20 can rotate under the control of the manipulator 30 to adapt to surgical needs at different locations and angles. Since the end effector 10 is connected to the intermediate effector 20, the end effector 10 can rotate along with the intermediate effector 20 when the joint portion rotates.

[0085] Reference Figure 4 The end effector 10 includes a first clamp 110 and a second clamp 120, which are capable of opening and closing.

[0086] In one example, both the first clamp 110 and the second clamp 120 are movable and can be opened and closed by a structure such as a spring or lever 320.

[0087] In one example, the first clamp 110 is a fixed clamp, meaning that the first clamp 110 is fixed relative to the base 130, while the second clamp 120 is pivotally movable about one degree of freedom relative to both the first clamp 110 and the base 130. For example, the first clamp 110 can act as a fulcrum, and the second clamp 120 can perform pitch motion around it.

[0088] In this design, the first clamp 110 is fixed, while the second clamp 120 can pitch around the first clamp 110. Specifically, the first clamp 110 includes a body 111 and an electrode 112. The body 111 may include a conductive portion and an insulating portion. An anastomosis surface 102 is formed on the electrode 112. The second clamp 120 also includes a body 111 and an electrode 112, and the electrode 112 of the second clamp 120 also includes an anastomosis surface 102. When the first clamp 110 and the second clamp 120 are in a clamping state, the anastomosis surfaces 102 of the first clamp 110 and the second clamp 120 are facing each other, that is, the tissue is located between the anastomosis surfaces 102 of the first clamp 110 and the second clamp 120.

[0089] Reference Figures 6-7In the embodiments of this application, the surgical instrument 2 further includes a cutting blade 200, which can move within a blade groove 101 before, during, or after the first clamp 110 and the second clamp 120 are closed. Taking the first clamp 110 as a fixed clamp as an example, a blade groove 101 is provided in the first clamp 110. The direction of the blade groove 101 can be from the distal end to the proximal end of the first clamp 110. Correspondingly, the shape or direction of the cutting blade 200 can be adapted to the shape or direction of the blade groove 101. Furthermore, the second clamp 120 can also have a blade groove 101, and the direction of the blade groove 101 of the second clamp 120 is the same as that of the blade groove 101 of the first clamp 110. Furthermore, the cutting groove 101 is formed on the body 111 and the electrode 112. The cutting groove 101 and the anastomosis surface 102 are respectively disposed on the body 111 and the electrode 112, realizing the integration of multiple functions such as cutting and sealing, enabling the end effector 10 to complete more tasks during the operation and improving the efficiency of the operation.

[0090] In some embodiments, the cutting blade 200 is movable relative to the end effector 10 between a cutting position and a retracted position, with the cutting position located above the retracted position. The vertical movement of the cutting blade 200 allows for more efficient use of vertical space, enabling it to "cut" tissue with a relatively short path. The vertically moving cutting blade 200 can be operated with a simple mechanical structure, making it convenient and easy to control.

[0091] Reference Figure 6 and Figure 8 The cutting blade 200, located in the cutting position, has at least a portion above the anastomotic surface 102, ensuring that it can directly and accurately contact and cut the wound tissue during surgery. The cutting blade 200, located in the storage position, is below the anastomotic surface 102, avoiding the risk of accidental exposure of the cutting blade 200 to surrounding tissues and organs during surgery and improving surgical safety. The cutting blade 200 in the end effector 10 of this application can quickly switch between the cutting and storage positions, allowing for seamless integration of cutting and suturing steps during surgery, thus improving surgical efficiency.

[0092] Reference Figure 6 and Figure 8When the cutting blade 200 is in the cutting position, it extends beyond the edge of the blade groove 101; when it is in the retracted position, it does not extend beyond the edge of the blade groove 101. This rapid switching between the cutting and retracted positions makes operation more convenient. The cutting blade 200 can be moved from the retracted position to the cutting position to perform a cutting operation, and then moved back to the retracted position after completing the cutting action. The fact that the cutting blade 200 does not extend beyond the edge of the blade groove 101 when in the retracted position greatly reduces the risk of accidental cuts when not in operation.

[0093] Surgical instrument 2 also includes an actuation component 300, which is connected to the cutting blade 200 and configured to actuate the cutting blade 200 to move between a cutting position and a retracted position. The rapid response and precise control of the actuation component 300 enable the cutting blade 200 to move quickly between the cutting and retracted positions, thereby shortening surgical time and improving surgical efficiency. The actuation component 300 drives the cutting blade 200 mechanically, providing a stable and reliable actuation method with minimal dependence on power supply or electronic systems, thus improving the reliability and durability of surgical instrument 2.

[0094] Optionally, one end of the actuation component 300 is connected to the cutting blade 200, and the other end extends to the manipulator 30. The doctor can directly control the movement of the cutting blade 200 through the manipulator 30. The cutting blade 200 can respond quickly to the doctor's operation, reducing system response time and making the surgical operation smoother and more comfortable.

[0095] Reference Figures 6-12 The actuation assembly 300 includes a push rod 310 and a lever 320. The lever 320 is configured to rotate relative to the first clamp 110 about a first pivot 330. The first pivot 330 is a rod-shaped structure that is fixedly or rotatably connected to the end effector 10 and is located between the jaws and the brake actuation assembly 300. The lever 320 includes a first end 321 and a second end 322 that are opposite in length to the lever 320. The first end 321 is connected to the push rod 310, and the second end 322 is connected to the cutting blade 200. The push rod 310 can drive the lever 320 to rotate about the first pivot 330, thereby moving the cutting blade 200 between a cutting position and a retracted position. The connection between the push rod 310 and the lever 320 makes the force transmission more efficient. Through the precise movement of the push rod 310, the rotation angle of the lever 320 about the first pivot 330 can be precisely controlled, thereby precisely controlling the movement of the cutting blade 200 between the cutting position and the retracted position, thus ensuring the accuracy and safety of cutting. With the cooperation of push rod 310 and lever 320, the movement is simple and the action path is short. Compared with other complex mechanical structures, it saves more space and the transmission is more efficient.

[0096] In some embodiments of this application, the lever 320 includes a first trajectory surface and a second trajectory surface arranged opposite to each other. The first trajectory surface and the second trajectory surface define a trajectory groove 323. The trajectory groove 323 is used to connect with the push rod 310. The trajectory groove 323 restricts the movement path of the push rod 310, allowing it to move only along a specific trajectory. The push rod 310 includes a traction end 311, which is located within the trajectory groove 323 and can abut against the first trajectory surface and the second trajectory surface respectively. The arrangement of the first trajectory surface and the second trajectory surface ensures precise guidance of the traction end 311 of the push rod 310 during movement, thereby ensuring the accuracy and predictability of the lever 320's action.

[0097] Optionally, the first and second trajectory surfaces convert the translational motion of the traction end 311 into the rotational motion of the lever 320. By controlling the translational motion of the push rod 310, the doctor can precisely control the rotational angle and speed of the lever 320. The force acting on the push rod 310 is guided by the trajectory groove 323 and converted into the torque required for the rotation of the lever 320. This mechanical transmission method is simple and efficient, and can quickly respond to the doctor's operating commands.

[0098] Optionally, considering the wrist mechanism that may be present in the surgical instrument 2, the arrangement of the push rod 310 needs to be more flexible to accommodate complex anatomical structures and surgical needs. Wrist mechanisms are typically used to provide additional degrees of freedom, such as rotation, pitch, and yaw, to adjust the orientation and position of the cutting blade 200 or other surgical instruments during surgery. Therefore, the design of the push rod 310 must consider not only its linear motion but also the bending or deformation it may experience due to the wrist mechanism. Although the push rod 310 as a whole may bend due to the wrist mechanism, the arrangement of the track groove 323 still ensures translation of the traction end 311 in a specific direction, thereby maintaining the precision of the surgical operation.

[0099] In some embodiments of this application, the trajectory groove 323 includes a component parallel to the direction of movement of the traction end 311 and a component perpendicular to the direction of movement of the traction end 311. By introducing the component parallel to the direction of movement of the push rod 310, it is ensured that the push rod 310 can move smoothly along its linear trajectory, and the force of this linear motion is transmitted to the lever 320. By introducing the component perpendicular to the direction of movement of the push rod 310, a torque can be generated to rotate the lever 320 about its axis, thereby driving the lever 320 to rotate and realizing the conversion from linear motion to rotational motion. The arrangement of the trajectory groove 323 reduces deviations and uncertainties during the movement process and improves the accuracy of surgical operations.

[0100] In some embodiments of this application, reference is made to Figure 10The cutting blade 200 has a first connecting portion 210, and the lever 320 has a second connecting portion 324. The first connecting portion 210 and the second connecting portion 324 are rotatably connected. At least a portion of one of the first connecting portion 210 and the second connecting portion 324 is a pin 210, and at least a portion of the other is a groove 324. The groove 324 can accommodate the pin 210 and allow it to move. Through the engagement of the groove 324 and the pin 210, the lever 320 can move the cutting blade 200 between a cutting position and a storage position. Furthermore, the tight engagement of the pin 210 and the groove 324 helps reduce wobbling and loosening between the connecting parts, and facilitates the assembly and disassembly of the cutting blade 200 and the lever 320, thereby improving the stability and applicability of the entire surgical instrument 2.

[0101] For example, pin 210 is formed in cutting blade 200, and groove 324 is formed in lever 320. Specifically, the end of lever 320 is configured as a hook, and groove 324 is defined as an enclosing space formed within the hook-shaped structure, thereby facilitating assembly with pin 210. Optionally, since groove 324 is formed by a hook-shaped structure, the relative movement between pin 210 and groove 324 is not only rotation, but also a certain amount of translation.

[0102] In some embodiments of this application, reference is made to Figure 14 The first clamp 110 has a limiting groove 113. The limiting groove 113 is used to cooperate with the cutting blade 200 to ensure that the cutting blade 200 moves along a predetermined trajectory, so that the cutting edge of the cutting blade 200 is always parallel to the mating surface 102. Optionally, the extension direction of the limiting groove 113 includes a component perpendicular to the mating surface 102. At the same time, the extension direction of the limiting groove 113 is perpendicular to the cutting edge of the cutting blade 200. Therefore, the cutting blade 200 can achieve "cutting" at a suitable angle. Optionally, the extension direction of the limiting groove 113 is at least tangent to a circle centered on the first rotating shaft 330.

[0103] Based on the above embodiments, referring to Figure 13 The cutting blade 200 is integrally provided with a pin 210 and a limiting block 220. The pin 210 moves within the limiting groove 113 along the extending direction of the limiting groove 113, and the cutting blade 200 is connected to the pin 210 via the limiting block 220. The limiting block 220 includes a limiting surface 230 that mates with the limiting groove 113. The limiting groove 113 communicates with the blade groove 101. Therefore, the cutting blade 200 can be simultaneously located within both the limiting groove 113 and the blade groove 101, ensuring smooth movement of the cutting blade 200. The setting of the limiting block 220 and the limiting groove 113 ensures that the movement path of the cutting blade 200 within the blade groove 101 is unique.

[0104] Furthermore, as previously described, the cutting blade 200 has a pin 210, and the lever 320 has a groove 324. The pin 210 is connected to the body 111 of the cutting blade 200 via a limiting block 220. That is, the pin 210 is spaced apart from the body 111 of the cutting blade 200. The pin 210, the limiting block 220, and the body 111 of the cutting blade 200 form a receiving space. The hook-shaped structure at the end of the lever 320 engages with the pin 210, and the hook-shaped structure can extend into the receiving space. Therefore, the rotation of the lever 320 can be limited.

[0105] In some embodiments of this application, the cutting groove 101 extends through both sides of the first clamp 110. That is, the cutting groove 101 extends through the clamping surface of the first clamp 110 and the side opposite to the clamping surface. Therefore, the cutting blade 200 can be quickly installed and removed directly from the back of the first clamp 110. This quick-release structure also facilitates regular inspection and maintenance of the cutting blade 200 and the clamp, extending the service life of the instrument.

[0106] In some embodiments of this application, the lever 320 is constructed as a rod with a bend, and the first pivot 330 is located near the bend. The bend in the lever 320 design allows for full utilization of the force and lever arm relationship generated after bending, flexibly setting the range of action at both ends of the lever 320. Optionally, the first end 321 is located on the side of the end effector 10 near the middle effector 20. The second end 322 extends below the cutting blade 200.

[0107] In some embodiments of this application, at least a portion of the lever 320 is located within the cutter groove 101, and at least a portion of the lever 320 is located below the cutting blade 200. The lever 320's location below the cutting blade 200 provides support, making the cutting blade 200 more stable during operation, reducing vibration and wobbling, and improving cutting precision and accuracy. Combined with the aforementioned limiting groove 113 and limiting block 220, the rotation of the lever 320 can drive the limiting block 220 to move within the limiting groove 113. The overall structure has low manufacturing cost and low complexity.

[0108] In some embodiments of this application, the cutting blade 200 is arc-shaped. The surgical instrument 2 is able to cut along an ideal cutting path, reducing unnecessary tissue damage.

[0109] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Terms such as “setup” appearing herein can refer to either a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment herein may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0110] This application has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Those skilled in the art will understand that many more variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A surgical instrument, characterized in that, include: An end effector, the end effector including a first clamp and a second clamp, the first clamp and the second clamp being capable of opening and closing, the first clamp and / or the second clamp having a cutting groove; A cutting blade adapted to the shape of the groove, the cutting blade being movable relative to the end effector between a cutting position and a retracted position, wherein when the cutting blade is in the cutting position, the cutting blade extends beyond the edge of the groove, and when the cutting blade is in the retracted position, the cutting blade does not extend beyond the edge of the groove; as well as An actuation component is connected to the cutting blade and configured to actuate the cutting blade to move between the cutting position and the storage position.

2. The surgical instrument according to claim 1, characterized in that, The actuation component includes: Putter; A lever, configured to rotate relative to the first clamp about a first pivot, includes a first end and a second end opposite in direction of its length, the first end being connected to the push rod and the second end being connected to the cutting blade; wherein... The push rod can drive the lever to rotate around the first pivot, thereby moving the cutting blade between the cutting position and the storage position.

3. The surgical instrument according to claim 2, characterized in that, The lever includes a first track surface and a second track surface arranged opposite to each other. The first track surface and the second track surface restrict the formation of a track groove. The push rod includes a traction end. The traction end is located in the track groove and can abut against the first track surface and the second track surface respectively. The first track surface and the second track surface convert the translational motion of the traction end into the rotational motion of the lever.

4. The surgical instrument according to claim 3, characterized in that, The trajectory groove includes a component along the direction of movement parallel to the traction end and a component perpendicular to the direction of movement of the traction end.

5. The surgical instrument according to claim 2 or 3, characterized in that, The cutting blade has a first connecting portion, and the lever has a second connecting portion; the first connecting portion and the second connecting portion are rotatably connected. At least a portion of one of the first connecting portion and the second connecting portion is configured as a pin, and at least a portion of the other of the first connecting portion and the second connecting portion is configured as a groove, the groove being capable of accommodating the pin and allowing the pin to move.

6. The surgical instrument according to claim 2, characterized in that, The first clamp has a limiting groove, the extending direction of which includes a component perpendicular to the mating surface, and the limiting groove is connected to the blade groove; The cutting blade is integrally provided with a pin and a limiting block. The pin moves within the limiting groove along the extending direction of the limiting groove. The cutting blade and the pin are connected through the limiting block, which includes a limiting surface that mates with the limiting groove.

7. The surgical instrument according to claim 1 or 6, characterized in that, The blade groove extends through both sides of the first clamp.

8. The surgical instrument according to claim 2, characterized in that, The lever is constructed as a rod with a bend, and the first pivot is located near the bend.

9. The surgical instrument according to claim 2 or 8, characterized in that, At least a portion of the lever is located within the blade groove, and at least a portion of the lever is located below the cutting blade.

10. The surgical instrument according to claim 1, characterized in that, The end effector includes an anastomotic surface for contacting wound tissue; wherein... At least a portion of the cutting blade located at the cutting position is above the mating surface; The cutting blade located at the storage position is below the mating surface.

11. The surgical instrument according to claim 10, characterized in that, The end effector includes a body and an electrode, the groove is formed on the body and the electrode, and the mating surface is formed on the electrode.

12. The surgical instrument according to claim 1, 6, or 10, characterized in that, The cutting blade is arc-shaped.

Images