Surgical instrument with an interlocking function

Abstract

A surgical instrument (50, 50A) with an interlocking function, comprising an end effector (10), an elongate body (20) and a handle portion (30); both ends of the elongate body (20) are respectively connected to the end effector (10) and the handle portion (30), and the handle portion (30) includes: a handle housing (301, 401); a rotary head (350, 450), the rotary head (350, 450) is arranged at the distal end of the handle portion (30) and can reciprocate along the length direction of the elongate body (20); and a locking assembly (370, 470), including at least one sliding tooth (371, 471) and an anti-rotation tooth (372, 472), the sliding tooth (371, 471) is arranged between the rotary head (350, 450) and the handle housing (301, 401), axially fixed to the rotary head (350, 450), can reciprocate with the rotary head (350, 450) to selectively cooperate with the anti-rotation tooth (372, 472), and the sliding tooth (371, 471) is circumferentially locked to the handle portion (30); the anti-rotation tooth (372, 472) is fixedly installed at the proximal end of the elongate body (20). The structural stability and working stability between each component are relatively high, thereby improving the safety performance of the surgical instrument.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a surgical instrument with an interlocking function. Background Art

[0002] Surgical instruments under laparoscopy cause less trauma to patients during operation, have good surgical effects, and can greatly reduce the pain brought to surgical patients.

[0003] A surgical instrument includes an operating handle, a slender body, and an end effector. The operating handle has a fixed handle for the operator to hold. The distal end of the operating handle (the end closer to the user during operation is the proximal end, and the end away from the user is the distal end) is connected to the end effector through the slender body.

[0004] Currently, surgical instruments have three functions: bending, rotating, and closing, and can adjust the working angle and working position of the end effector. To ensure safety during surgery, it is necessary to ensure that the instrument cannot perform a rotating operation when performing a bending operation, cannot perform a bending operation when performing a rotating operation, and cannot perform a bending operation or a rotating operation when performing a closing operation, thereby improving the operability of surgical medical devices and avoiding the risk of accidents caused by misoperation during surgery.

[0005] A set of locking components is required in surgical instruments to enable the surgical instruments to achieve the above three lockings. However, currently, the locking methods used in surgical instruments are mostly damping lockings, that is, the locking is achieved through the damping force provided by a damping module, and then the surgical instrument is locked in a certain functional state.

[0006] However, in the locking components that use damping to achieve locking, when the driving force of the surgical instrument exceeds a certain value, the damping force provided by the damping module will fail, and it is easy to bring risks to the surgical process due to misoperation, resulting in relatively low safety performance of the surgical instrument. Summary of the Invention

[0007] The present invention provides a surgical instrument with an interlocking function, which has relatively high working stability, and can thereby improve the safety performance of the surgical instrument.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] A surgical instrument includes an end effector, a slender body, and a handle portion. The two ends of the slender body are respectively connected to the end effector and the handle portion. The handle portion includes: a handle housing; a rotating head disposed at the distal end of the handle portion and capable of reciprocating along the length direction of the slender body; and a locking assembly including at least one sliding tooth and an anti-rotation tooth. The sliding tooth is disposed between the rotating head and the handle housing, axially fixed to the rotating head, capable of reciprocating with the rotating head to selectively cooperate with the anti-rotation tooth, and circumferentially locked to the handle housing. The anti-rotation tooth is fixedly installed at the proximal end of the slender body.

[0010] Preferably, the handle portion further includes a rotating sleeve disposed at the distal end of the handle portion and rigidly connected to the proximal end of the slender body. The rotating head can selectively cooperate with the rotating sleeve.

[0011] Preferably, the sliding tooth is axially fixedly installed in the rotating head and can rotate relative to the rotating head.

[0012] Preferably, the rotating head is provided with an annular groove for accommodating the circumferential sliding of the sliding tooth.

[0013] Preferably, a slender groove is provided at the distal end of the handle housing of the handle portion to circumferentially lock the sliding tooth.

[0014] Preferably, the number of sliding teeth is set to two, three, or four and is circumferentially evenly distributed in the rotating head.

[0015] Preferably, the anti-rotation tooth is connected to the slender body through a key groove and a key embedded in the key groove.

[0016] Preferably, teeth are respectively provided on the rotating sleeve and the rotating head, and the rotating head can selectively cooperate with the rotating sleeve through the teeth.

[0017] Preferably, the handle portion further includes a bending transmission assembly, and the rotating head can selectively cooperate with the bending transmission assembly to drive the end effector to bend.

[0018] Preferably, the bending transmission assembly includes a bending drive gear assembly, a drive screw, and a drive rod assembly. The output of the bending drive gear assembly is rigidly connected to the drive screw. The drive rod assembly is respectively connected to the drive screw and the end effector. The rotating head reciprocates along the length direction of the slender body to disable or enable the bending drive gear assembly.

[0019] Preferably, the bending drive gear assembly is a planetary gear set.

[0020] Preferably, the handle portion further includes a handle and a closing trigger, wherein the closing trigger is pivotally mounted on the handle housing and is connected to a closing drive assembly disposed within the handle housing, and the elongated body is driven by the closing drive assembly to reciprocate to open or close the end effector.

[0021] Preferably, the handle portion further includes a closing locking assembly that rigidly cooperates with the closing drive assembly. When the closing trigger is closed, the closing locking assembly can move distally under the push of the closing drive assembly.

[0022] Preferably, the closing locking assembly is provided as a safety piece, and the safety piece is disposed between the anti-rotation tooth and the bending drive gear assembly. When the safety piece moves distally, it can push the anti-rotation tooth to move distally; or when the safety piece moves distally, it can push the anti-rotation tooth and the sliding tooth to move distally.

[0023] Preferably, the safety piece and the bending drive gear assembly are provided as an integral structure.

[0024] Preferably, the safety piece is provided as an annular piece, and the outer diameter of the annular piece is greater than the outer diameter of the anti-rotation tooth.

[0025] To achieve the above object, the present invention also provides the following technical solutions:

[0026] A surgical instrument includes an end effector, an elongated body, and a handle portion. The two ends of the elongated body are respectively connected to the end effector and the handle portion. The handle portion includes: a handle housing; a rotating head disposed at the distal end of the handle portion and capable of reciprocating along the length direction of the elongated body; and a locking assembly including a sliding tooth and an anti-rotation tooth. The sliding tooth is disposed between the rotating head and the handle housing, is axially fixed to the rotating head, can reciprocate with the rotating head to selectively cooperate with the anti-rotation tooth, and the sliding tooth is circumferentially locked with the elongated body; the anti-rotation tooth is fixedly installed within the handle housing.

[0027] Preferably, the sliding tooth is circumferentially fixedly sleeved on the proximal end of the elongated body, and a flange is provided at the distal end of the sliding tooth to be snap-fitted with the rotating head.

[0028] Preferably, a plurality of teeth are provided at the proximal end of the sliding tooth, and when the sliding tooth moves proximally, it can cooperate with the anti-rotation tooth.

[0029] Preferably, the anti-rotation tooth is fixedly disposed at the distal end of the handle housing of the handle portion.

[0030] Preferably, the handle portion further includes a rotating sleeve, the rotating sleeve is disposed at the distal end of the handle portion and is rigidly connected to the elongated body, the rotating head selectively cooperates with the rotating sleeve, teeth are respectively provided on the rotating sleeve and the rotating head, and the rotating head can selectively cooperate with the rotating sleeve through the teeth.

[0031] Preferably, the handle portion further includes a bending transmission assembly, and the rotating head is selectively engaged with the bending transmission assembly to drive the end effector to bend.

[0032] Preferably, the bending transmission assembly includes a bending drive gear assembly, a drive screw, and a drive rod assembly; the output of the bending drive gear assembly is rigidly connected to the drive screw; the drive rod assembly is respectively connected to the drive screw and the end effector; the rotating head reciprocates along the length direction of the elongated body to disable or enable the bending drive gear assembly.

[0033] Preferably, the bending drive gear assembly is a planetary gear set.

[0034] Preferably, the handle portion further includes a handle and a closing trigger, wherein the closing trigger is pivotally mounted on the handle housing and is connected to a closing drive assembly disposed within the handle housing, and the elongated body is driven to reciprocate by the closing drive assembly to open or close the end effector.

[0035] Preferably, the handle portion further includes a closing locking assembly, which is rigidly engaged with the closing drive assembly. When the closing trigger is closed, the closing locking assembly can move distally under the push of the closing drive assembly.

[0036] Preferably, the closing locking assembly is a closing locking tooth disposed on the elongated body, and the closing locking tooth is disposed proximal to the sliding tooth.

[0037] Preferably, the closing locking tooth is aligned with the teeth proximal to the sliding tooth. Brief Description of the Drawings

[0038] Figure 1 is a schematic structural diagram of the surgical instrument provided by an embodiment of the present invention;

[0039] Figure 2 is a schematic structural diagram of the surgical instrument provided by an embodiment of the present invention when in the rotating station;

[0040] Figure 3 is a schematic structural diagram of the surgical instrument provided by an embodiment of the present invention when in the bending station;

[0041] Figure 4 is a schematic structural diagram of the cooperation structure between the drive screw and the drive rod assembly in the surgical instrument provided by an embodiment of the present invention;

[0042] Figure 5 is a schematic structural diagram of the cooperation structure between the bending drive gear assembly and the drive screw in the surgical instrument provided by an embodiment of the present invention;

[0043] Figure 6Schematic diagram of the structure of the sliding tooth in a surgical instrument provided by an embodiment of the present invention;

[0044] Figure 7 For Figure 2 Schematic diagram of the cooperation structure between the sliding tooth of the structure shown and the rotating head;

[0045] Figure 8 For Figure 2 Schematic diagram of the cooperation structure between the sliding tooth of the structure shown and the operating handle housing;

[0046] Figure 9 Schematic diagram of a partial structure of the closing drive assembly of a surgical instrument provided by an embodiment of the present invention;

[0047] Figure 10 Schematic diagram of the structure of the closing drive assembly of a surgical instrument provided by an embodiment of the present invention;

[0048] Figure 11 Schematic diagram of the structure of the closing drive assembly of a surgical instrument provided by an embodiment of the present invention;

[0049] Figure 12 Schematic diagram of the structure of the closing locking assembly of a surgical instrument provided by an embodiment of the present invention;

[0050] Figure 13 Schematic diagram of the structure of the handle part of a surgical instrument provided by another embodiment of the present invention;

[0051] Figure 14 Exploded schematic diagram of the handle part of a surgical instrument provided by another embodiment of the present invention;

[0052] Figure 15 For Figure 14 Schematic diagram of the cooperation structure between the sliding tooth of the structure shown and the rotating head;

[0053] Figure 16 Schematic diagram of the structure of the sliding tooth of a surgical instrument provided by another embodiment of the present invention;

[0054] Figure 17 Schematic diagram of the structure of the sliding tooth and the closing locking assembly of a surgical instrument provided by another embodiment of the present invention;

[0055] Figure 18 Schematic diagram of the structure of a surgical instrument provided by another embodiment of the present invention after closing when in the rotating station;

[0056] Figure 19 Schematic diagram of the structure of a surgical instrument provided by another embodiment of the present invention after closing when in the bending station. Detailed implementation manners

[0057] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0058] In each embodiment of the present invention, the "distal end" refers to the end of the surgical instrument that is far from the user when the surgical instrument is operated, and the "proximal end" refers to the end of the surgical instrument that is close to the user when the surgical instrument is operated.

[0059] The embodiments of the present invention provide a surgical instrument with an interlocking function. Specifically, as Figure 1 shown, the surgical instrument 50 described in the embodiments of the present invention includes an end effector 10, a elongate body 20, and a handle portion 30. Among them, the proximal end 201 of the elongate body 20 is connected to the handle portion 30, and the distal end 202 of the elongate body 20 is connected to the end effector 10. The end effector 10 includes an anvil assembly 110 and a staple cartridge assembly 120. The anvil assembly 110 is pivotally mounted on the staple cartridge assembly 120; the handle portion 30 includes a handle housing 301, a handle 302, a closure trigger 303, and a firing trigger 304. Among them, the closure trigger 303 is adapted to drive the anvil assembly 110 to pivot relative to the staple cartridge assembly 120 through a closure drive assembly, so as to realize the closure and opening of the end effector 10 (detailed later); the firing trigger 304 is adapted to fire the staples arranged in the staple cartridge assembly 120 after the end effector 10 is closed, so as to realize the suturing of tissues. The surgical instrument described in any embodiment of the present invention has a bending and rotating function, that is, it can perform a rotating operation and / or a bending operation on the end effector 10 according to the actual surgical tissue site during use, so as to better place the end effector 10 to clamp tissues to complete cutting and suturing, or complete corresponding surgical operations. The following will elaborate in detail on the manner in which the surgical instrument described in the embodiments of the present invention realizes the bending operation and / or the rotating operation with reference to the accompanying drawings.

[0060] It should be noted that the surgical instrument described in any embodiment of the present invention is not limited to the linear cutter stapler described in the specification. That is, for the surgical instrument described in any embodiment of the present invention, the structure of its end effector 10 is not limited to the structure of the above linear cutter stapler. For example, the structures of the anvil assembly 110 and the staple cartridge assembly 120. For the surgical instrument described in any embodiment of the present invention, the end effector 10 can also be an instrument for performing other surgical operations. For example, the end effector 10 can be a clamp, scissors, the jaws of a high-frequency electrotome, etc.

[0061] Rotary drive assembly

[0062] As shown Figure 1 in the above embodiments of the present invention, the surgical instrument 50 includes a rotary drive assembly. Specifically, the rotary drive assembly includes a rotary sleeve 310 disposed at the distal end of the handle housing 301, and its distal end is circumferentially and fixedly connected to the proximal end of the elongate body housing 200 of the elongate body 20. When the rotary sleeve 310 is rotated, the elongate body housing 200 and the end effector 10 connected to the distal end of the elongate body housing 200 can be driven to rotate, realizing the rotation function of the surgical instrument 50 in this embodiment. Preferably, the rotary sleeve 310 is rigidly connected to the elongate body housing 200. For example, the fixed connection between the rotary sleeve 310 and the elongate body housing 200 can be achieved by any means that can realize rigid connection, such as by snap connection.

[0063] Bending drive assembly

[0064] Referring Figures 1 to 4 to, the surgical instrument 50 according to any embodiment of the present invention further includes a rotary head 350 disposed on the handle housing 301 and a bending drive assembly that can be connected and cooperated with the rotary head 350, which is suitable for performing a bending operation on the end effector 10. Specifically, the bending drive assembly includes a bending drive gear assembly 360, a drive screw 320 connected to the bending drive gear assembly 360, and a drive rod assembly 330 disposed in the elongate body housing 200 and connected to the drive screw 320 and the end effector 10 respectively. By rotating the rotary head 350, the bending drive gear assembly 360 can be driven to move, and then the end effector 10 can be driven to bend.

[0065] Specifically, as an implementation manner of the bending drive assembly of the surgical instrument 50 according to any embodiment of the present invention, as Figure 4 shown, two thread portions with opposite helix directions are provided on the drive screw 320. For example, a first thread portion 3201 and a second thread portion 3202 are provided on the drive screw 320, and the thread helix directions of the first thread portion 3201 and the second thread portion 3202 are opposite. The drive rod assembly 330 includes a first drive rod 331a and a second drive rod 331b. Among them, the first drive rod 331a is connected to the first thread portion 3201 through a first pin 332a, and the second drive rod 331b is connected to the second thread portion 3202 through a second pin 332b, and vice versa. During operation, by rotating the drive screw 320, the first drive rod 331a and the second drive rod 331b can be driven to move in opposite directions, thereby driving the end effector 10 disposed at its distal end to bend.

[0066] Preferably, in the above embodiment, the bending drive gear assembly 360 is implemented by a planetary gear set for transmission. For example, as Figure 5As shown, the bending drive gear assembly 360 includes a sun gear 361, a plurality of planet gears 362, a ring gear 363, and a planet carrier 364. Preferably, in this embodiment, the number of planet gears 362 is three, and the ring gear 363 is fixedly installed in the rotating head 350, that is, the ring gear 363 is axially fixed to the rotating head 350 and can rotate with the rotation of the rotating head 350. Further, the sun gear 361 is rigidly connected to the proximal end of the drive screw 320, and the planet carrier 364 is fixedly installed in the handle housing 301. By rotating the ring gear 363, the sun gear 361 can be driven to rotate. Since the sun gear 361 is rigidly connected to the proximal end of the drive screw 320, the drive screw 320 also rotates with the rotation of the sun gear 361, so that the first drive rod 331a and the second drive rod 331b move in opposite directions, realizing the bending of the end effector 10.

[0067] It should be noted that the manner of realizing the bending of the end effector 10 by the surgical instrument 50 described in the embodiments of the present invention is not limited to the manner disclosed in the above embodiments. The Chinese patent application document with the publication number CN105433989A and the invention name "Bending device and surgical instrument of surgical instrument" discloses another way to realize the bending of the end effector 10, which is incorporated herein by reference.

[0068] In order to realize the switching between the rotation operation and the bending operation of the surgical instrument described in any embodiment of the present invention, and make the surgical instrument unable to perform the bending operation during the rotation operation, and unable to perform the rotation operation during the bending operation. On the basis of the above embodiment, a plurality of teeth 311 are provided at the proximal end of the rotating sleeve 310, as Figure 2 shown, the rotating head 350 can reciprocate along the length direction of the elongated body 20, and correspondingly, a plurality of teeth 351 that cooperate with the teeth 311 at the proximal end of the rotating sleeve 310 are provided on the inner wall at the distal end of the rotating head 350 (see Figure 7 ). As Figure 2 shown, when the rotating head 350 is in its distal position, the teeth 351 at the distal end of the rotating head 350 are engaged with the teeth 311 at the proximal end of the rotating sleeve 310. Therefore, when the rotating head 350 is rotated, the rotating sleeve 310 can be caused to rotate, thereby driving the rotation of the end effector 10. The distal position where the rotating head 350 is located at this time is also called the rotation station. As Figure 3As shown, when the rotating head 350 is in its proximal position, the teeth 351 at the distal end of the rotating head 350 are disengaged from the teeth 311 at the proximal end of the rotating sleeve 310. Since the toothed ring 363 of the bending drive gear assembly 360 is fixedly installed in the rotating head 350, when the rotating head 350 moves proximally, the toothed ring 363 also moves proximally and thus engages with the multiple planet gears 362 of the bending drive gear assembly 360. When the rotating head 350 is rotated, the toothed ring 363 of the bending drive gear assembly 360 also rotates accordingly, thereby realizing the bending of the end effector 10. At this time, the proximal position where the rotating head 350 is located is also called the bending station.

[0069] Based on the above description, when the rotating head 350 is in its proximal position, i.e., the bending station, since the teeth 351 at the distal end of the rotating head 350 are disengaged from the teeth 311 at the proximal end of the rotating sleeve 310, at this time, rotating the rotating head 350 can only perform the bending operation on the end effector 10 and cannot perform the rotating operation. However, during actual operation, to prevent misoperation by the user. For example, when the rotating head 350 is placed at the bending station for bending operation, if the rotating sleeve 310 or the slender body 20 is accidentally touched, causing the end effector 10 to rotate. Based on the above embodiments of the present invention, as Figure 2 or Figure 3 shown, the surgical instrument 50 further includes a locking assembly 370. The locking assembly 370 is disposed in the rotating head 350 and includes at least one sliding tooth 371 and a rotation stopping tooth 372. The sliding tooth 371 is disposed between the distal ends of the rotating head 350 and the handle housing 301. Specifically, as Figure 6 shown, the sliding tooth 371 is generally a T-shaped structure, including a wing portion 3711 and a mating portion 3712. A plurality of transverse teeth 3713 are provided at the bottom of the mating portion 3712. Correspondingly, as Figure 8 shown, a slender groove 3011 extending in the direction of the axis A is provided at the distal end of the handle housing 301, which is adapted to accommodate the mating portion 3712 of the sliding tooth 371 in the slender groove 3011 of the handle housing 301. Due to the function of the slender groove 3011, the sliding tooth 371 can only move axially relative to the handle housing 301 and is circumferentially locked, that is, the sliding tooth 371 can only slide in the slender groove 3011 of the handle housing 301. Further, an annular groove 352 for accommodating the wing portion 3711 of the sliding tooth 371 is provided inside the rotating head 350. As Figure 7 shown, for example, the axial length of the annular groove 352 is equal to or slightly greater than the axial length of the wing portion 3711 of the sliding tooth 371. Due to the axial limit of the annular groove 352 on the sliding tooth 371, the sliding tooth 371 cannot move axially relative to the rotating head 350, that is, the sliding tooth 371 can move proximally or distally together with the rotating head 350.

[0070] The anti-rotation gear 372 is sleeved on the proximal end of the slender body housing 200. For example, the anti-rotation gear 372 and the slender body housing 200 can be connected by a keyway and a key inserted into the keyway. As Figure 2 , Figure 3 and Figure 9 shown, it is fixedly connected to the slender body housing 200, and the anti-rotation gear 372 is provided with teeth that can cooperate with the transverse teeth 3713 of the mating portion 3712 of the sliding gear 371. During operation, when the rotating head 350 is placed in the bending station, as Figure 3 shown, the transverse teeth 3713 of the sliding gear 371 mesh with the anti-rotation gear 372. At this time, when the rotating head 350 rotates, since the sliding gear 371 is circumferentially fixed in the slender groove 3011 of the handle housing 301, it cannot rotate with the rotation of the rotating head 350, and the anti-rotation gear 372 meshing with it also cannot rotate, thus realizing the locking of the rotation operation during the bending operation.

[0071] Correspondingly, when the rotating head 350 moves distally and is placed in the rotation station, as Figure 2 shown, the sliding gear 371 can move with the movement of the rotating head 350 due to the axial limit of the annular groove 352 of the rotating head 350, that is, the sliding gear 371 moves distally with the rotating head 350 and disengages from the anti-rotation gear 372. At this time, rotating the rotating head 350 will drive the rotating sleeve 310 and the slender body 20 to rotate, and further drive the end effector 10 to rotate.

[0072] As an alternative embodiment, on the basis of the above embodiment, the locking assembly 370 of the surgical instrument 50 may include a plurality of sliding gears 371. Preferably, the plurality of sliding gears 371 are evenly distributed circumferentially at the distal end of the handle housing 301. Correspondingly, a plurality of slender grooves 3011 are provided at the distal end of the handle housing 301 for respectively accommodating the corresponding sliding gears 371. Preferably, the number of sliding gears 371 is set to two, and two corresponding slender grooves 3011 are provided at the distal end of the handle housing 301.

[0073] Closing drive assembly

[0074] Referring to Figure 10 , the surgical instrument 50 described in the embodiment of the present invention further includes a closing drive assembly. The closing drive assembly includes a closing trigger 303, a transmission assembly 380 connected to the proximal end of the slender body housing 200, and a link mechanism 305. The proximal end of the link mechanism 305 is pivotally connected to the closing trigger 303, and the distal end of the link mechanism 305 is pivotally connected to the transmission assembly 380. To further ensure the stability of transmission, preferably, the link mechanism 305 includes a first link and a second link placed in parallel (not shown in the figure), which are respectively connected to both sides of the top of the closing trigger 303 (according to Figure 10is pivotally connected to both sides of the proximal end of the transmission assembly 380 in the direction shown.

[0075] The distal end of the transmission assembly 380 can be connected to the proximal end of the elongate body 200 in a variety of ways. For example, preferably, as Figure 10 shown, the transmission assembly 380 includes a connecting portion 381 adapted to be pivotally connected to the linkage mechanism 305, and a connecting plate 382 rigidly connected to the distal end of the connecting portion 381. The distal end of the connecting plate 382 is rigidly connected to the proximal end of the elongate body housing 200. Preferably, in order to make the transmission of the transmission assembly 380 more stable and reliable, a plurality of connecting plates 382 can be provided. For example, two connecting plates 382a, 382b are provided (see Figure 9 ).

[0076] To facilitate the rigid connection between the distal end of the transmission assembly 380 and the proximal end of the elongate body housing 201, preferably, as an alternative embodiment, as Figure 11 shown, a push plate assembly is further provided between the bending gear assembly 360 and the connecting plate 382, including a push plate 383 and a plurality of push rods 384. The distal end of the connecting plate 382 is rigidly connected to the push plate 383. A through hole 365 adapted for the push rod 384 to pass through is provided on the bending gear assembly 360, as Figure 9 and Figure 12 shown, so that the push rod 384 can pass through the bending gear assembly 360 and be connected to the elongate body housing 200, or be rigidly connected to the anti-rotation tooth 372. Since the anti-rotation tooth 372 is fixedly installed at the proximal end of the elongate body housing 200, the rigid connection between the transmission assembly 380 and the elongate body housing 201 is achieved.

[0077] During actual operation, when the closing trigger 303 is closed, the closing trigger 303 rotates counterclockwise around its pivot axis, thereby pushing the transmission assembly 380 to move distally through the linkage mechanism 305, and further pushing the elongate body housing 200 to move distally to achieve the closing of the end effector 10.

[0078] It should be noted that the implementation manner of the transmission assembly 380 includes, but is not limited to, the implementation manner described in the above embodiments, and other implementation methods commonly used by those skilled in the mechanical setting can also be adopted. For example, the connecting plate 382 of the transmission assembly 380 can also adopt the structure of a sleeve, or the structure of a push rod, etc.

[0079] To further improve the safety of the surgical process and avoid misoperation of the surgical instrument, on the basis of the above embodiments, the surgical instrument 50 according to any embodiment of the present invention further includes a closing and locking assembly, so that the end effector 10 of the surgical instrument 50 cannot perform bending operation and / or rotation operation after being closed. Specifically, as Figure 12As shown, a safety piece 390 is further provided between the anti-rotation tooth 372 and the bending gear assembly 360. Preferably, the safety piece 390 is arranged as an annular piece, and the proximal side of its proximal end is fixedly connected to the distal end of the push rod 384 of the transmission assembly 380 of the closing drive assembly. Therefore, when a closing operation is performed, the transmission assembly 380 of the closing drive assembly moves distally and pushes the safety piece 390 to move distally together, and then pushes the anti-rotation tooth 372 to move distally. Preferably, the outer diameter of the safety piece 390 is slightly larger than the outer diameter of the anti-rotation tooth 372.

[0080] During actual operation, when the surgical instrument 50 is in its rotation station, that is, the rotating head 310 is in its distal position and the end effector 10 is in the open state, at this time the sliding tooth 371 is disengaged from the anti-rotation tooth 372, and the end effector 10 can be rotated. After closing the closing trigger 303, the transmission assembly 380 of the closing transmission assembly moves distally and drives the safety piece 390 to move distally, so that under the push of the safety piece 390, the anti-rotation tooth 372 moves distally together and meshes with the sliding tooth 371, realizing that when the surgical instrument 50 according to any embodiment of the present invention is in the closed state of the end effector 10, rotation operation cannot be performed.

[0081] Furthermore, when the surgical instrument 50 is in its bending station, that is, the rotating head 350 is in its proximal position and the end effector 10 is in the open state, at this time the sliding tooth 371 meshes with the anti-rotation tooth 372, and the tooth ring 363 of the bending drive gear assembly 360 meshes with the planet gear 362, and the end effector 10 can be bent. After closing the closing trigger 303, the transmission assembly 380 of the closing transmission assembly moves distally and drives the safety piece 390 to move distally. Since the outer diameter of the safety piece 390 is slightly larger than the outer diameter of the anti-rotation tooth 372, therefore, under the push of the safety piece 390, the anti-rotation tooth 372 and the sliding tooth 371 can be driven to move distally together. Since the sliding tooth 371 is axially fixed to the rotating head 310, when the sliding tooth 371 moves distally, it can drive the rotating head 310 to move distally together, so that the tooth ring 363 of the bending drive gear assembly 360 is disengaged from the planet gear 362, making the bending operation function ineffective, realizing that when the surgical instrument 50 according to any embodiment of the present invention is in the closed state of the end effector 10, bending operation cannot be performed.

[0082] As an alternative embodiment, the safety piece 390 and the anti-rotation tooth 372 are of an integral structure.

[0083] As an alternative embodiment, Figure 13 shows another implementation of the surgical instrument 50 described in the above embodiment. As Figure 13As shown, the surgical instrument 50A includes a rotating head 450 and a rotating sleeve 410 disposed within the rotating head 450. Among them, the rotating sleeve 410 is rigidly connected to the elongate body housing 200 of the elongate body 20, and the rotating head 450 can reciprocate relative to the elongate body 20 along its length direction. For ease of installation, preferably, the head 453 of the rotating head 450 and the rotating head body can be designed as a split structure. A plurality of teeth 411 are provided at the proximal end of the rotating sleeve 410, and correspondingly, teeth 451 adapted to cooperate with the teeth 411 at the proximal end of the rotating sleeve 410 are provided on the inner wall of the rotating head 450. Specifically, when the rotating head 450 is in its distal position, i.e., the rotating station, the teeth 451 of the rotating head 450 are engaged with the teeth 411 of the rotating sleeve 410. Therefore, when the rotating head 450 is rotated, the rotating sleeve 410 rotates accordingly, and further drives the elongate body 20 and the end effector 10 to rotate. The surgical instrument 50A described in this embodiment uses the same bending transmission assembly as the surgical instrument 50 described in the above embodiment. Therefore, the implementation manner of the bending operation will not be described in detail. When the rotating head 450 is in its proximal position, i.e., the bending station, the teeth 451 of the rotating head 450 are disengaged from the teeth 411 of the rotating sleeve 410. Since the toothed ring of the bending drive gear assembly (not shown in the figure) is fixedly installed within the rotating head 450, when the rotating head 450 moves proximally, the toothed ring also moves proximally and thus engages with a plurality of planet gears of the bending drive gear assembly. When the rotating head 450 is rotated, the toothed ring of the bending drive gear assembly also rotates accordingly, thereby realizing the bending of the end effector 10. Further, on the basis of the above embodiment, referring to Figure 13 and Figure 14 , the surgical instrument 50A further includes a locking assembly 470. The locking assembly 470 is disposed within the rotating head 450 and includes a sliding tooth 471 and a rotation-stopping tooth 472. The sliding tooth 471 is sleeved on the elongate body housing 200 of the elongate body 20, and the rotation-stopping tooth 472 is disposed at the distal end of the handle housing 401. As Figure 15 shown, a flange 4711 is provided at the distal end of the sliding tooth 471, which is adapted to be snap-connected to the distal end of the rotating head 450, that is, axially fixed to the rotating head 450 and circumferentially rotatable relative to the rotating head 450 by means of snap connection. Of course, other common methods can also be used for the axial fixation of the sliding tooth 471 and the rotating head 450, such as through a slider-chute structure, etc.

[0084] As Figures 13 to 17As shown, the sliding tooth 471 further includes an annular connecting portion 4712 extending proximally from the flange 4711, and at least one limiting groove 4713 is provided on the annular connecting portion 4712. Correspondingly, at least one elongated groove 203 is provided on the elongated body housing 200, and at least one protrusion 412 is provided inside the rotating sleeve 410, so that the protrusion 412 of the rotating sleeve 410 penetrates through the limiting groove 4713 of the sliding tooth 471 and the elongated groove 203 of the elongated body housing 200, realizing the circumferential locking and axial relative movement of the sliding tooth 471, the elongated body housing 200, and the rotating sleeve 410. Further, the sliding tooth 471 further includes a plurality of teeth 4714 extending proximally from the annular connecting portion 4712, which are adapted to cooperate with the anti-rotation teeth 472 provided at the distal end of the handle housing 401.

[0085] Specifically, when the rotating head 450 is in its rotating station, the sliding tooth 471 and the rotating head 450 are both in the distal position. At this time, the teeth 4714 at the proximal end of the sliding tooth 471 are disengaged from the anti-rotation teeth 472, so that when the rotating head 450 is rotated, the rotating sleeve 410, the elongated body 20, and the end effector 10 can be driven to rotate together. And at this time, the gear ring 463 is disengaged from the planetary gear 462, and the bending function fails. When the rotating head 450 is moved proximally to place it in the bending station, the sliding tooth 471 is driven to move proximally together with the rotating head 450, so that the teeth 4714 of the sliding tooth 471 are engaged with the anti-rotation teeth 472. Thus, when the rotating head 450 is rotated, since the sliding tooth 471 is circumferentially fixed and cannot rotate together with the rotating head 450, the locking of the rotating operation during the bending operation is achieved.

[0086] Further, the surgical instrument 50A described in this embodiment adopts the same structure as the closing drive assembly of the surgical instrument 50 described in the above embodiment to realize the closing / opening of the end effector 10, and the closing locking assembly is realized by the closing locking teeth 490 provided on the elongated body housing 200. Specifically, as Figure 17 shown, a plurality of closing locking teeth 490 are provided between the proximal end of the elongated body housing 200 and the sliding tooth 471, and their distal ends are aligned with the proximal ends of the teeth 4714 of the sliding tooth 471.

[0087] In actual operation, when the surgical instrument 50A is in its rotation station, that is, the rotating head 450 is in its distal position and the end effector 10 is in the open state, at this time, the sliding tooth 471 is disengaged from the anti-rotation tooth 472, and the end effector 10 can be rotated. After closing the closing trigger 303, the closing drive assembly 380 moves distally and pushes the elongate body housing 200 of the elongate body 20 to move distally. The closing locking tooth 490 provided on the elongate body housing 200 also moves distally accordingly, so as to engage with the anti-rotation tooth 472, realizing that when the surgical instrument 50A described in this embodiment is in the closed state of the end effector 10, as Figure 18 shown, the rotation operation cannot be performed.

[0088] When the surgical instrument 50A is in its bending station, that is, the rotating head 450 is in its proximal position and the end effector 10 is in the open state, at this time, the sliding tooth 471 is engaged with the anti-rotation tooth 471, and the tooth ring 463 of the bending drive gear assembly 460 is engaged with the planet gear 462, and the end effector 10 can be bent. After closing the closing trigger 303, the closing drive assembly moves distally and drives the elongate body housing 200 of the elongate body 20 to move distally. Since the closing locking tooth 490 provided on the elongate body housing 200 is aligned with the tooth 4714 of the sliding tooth 471, therefore, when the closing locking tooth 490 moves distally with the elongate body housing 200, it pushes the sliding tooth 471 to move distally, driving the rotating head 450 to move distally, so that the tooth ring 463 is disengaged from the planet gear 462. At the same time, the closing locking tooth 490 is engaged with the anti-rotation tooth 472, as Figure 19 shown, realizing that when the surgical instrument 50A described in this embodiment is in the closed state of the end effector 10, the bending and rotation operations cannot be performed.

[0089] It should be noted that for the surgical instrument 50A described in the embodiment of the present invention, the number of teeth of the sliding tooth 471, the anti-rotation tooth 472 and the closing locking tooth 490 is not limited, as long as the cooperation relationship described in the above embodiment can be satisfied among them.

[0090] In the above locking assembly, the transmission connection and cooperation between the components are all realized through mechanical structures, and the connection stability is relatively high.

[0091] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these changes and modifications.

Claims

1. A surgical instrument, comprising an end effector, an elongate body, and a handle portion, wherein two ends of the elongate body are respectively connected to the end effector and the handle portion, characterized in that, The handle portion includes: a handle housing; a rotating head which is arranged at the distal end of the handle housing and can reciprocate along the length direction of the elongate body; a rotation transmission assembly which is rigidly connected to the proximal end of the elongate body; and a locking assembly including at least one sliding tooth and a rotation stopping tooth, the sliding tooth is arranged between the rotating head and the handle housing, axially fixed to the rotating head, can reciprocate with the rotating head to selectively cooperate with the rotation stopping tooth, and the sliding tooth is circumferentially locked with the handle housing; the rotation stopping tooth is fixedly installed at the proximal end of the elongate body.

2. The surgical instrument according to claim 1, characterized in that, The rotation transmission assembly includes a rotating sleeve which is arranged at the distal end of the handle portion; the rotating head can selectively cooperate with the rotating sleeve.

3. The surgical instrument according to claim 1, wherein The sliding tooth is axially fixedly installed in the rotating head and can rotate relative to the rotating head.

4. The surgical instrument according to claim 3, characterized in that, The rotating head is provided with an annular groove for accommodating the circumferential sliding of the sliding tooth.

5. The surgical instrument according to claim 3, characterized in that, At the distal end of the handle housing of the handle portion, an elongate groove is provided to circumferentially lock the sliding tooth.

6. The surgical instrument according to claim 1, wherein, The locking assembly includes a plurality of the sliding teeth which are circumferentially evenly distributed in the rotating head.

7. The surgical instrument according to claim 1, wherein The rotation stopping tooth and the elongate body are connected by a key groove and a key embedded in the key groove.

8. The surgical instrument according to claim 2, characterized in that, Teeth are respectively arranged on the rotating sleeve and the rotating head, and the rotating head can selectively cooperate with the rotating sleeve through the teeth.

9. The surgical instrument according to any one of claims 1-8, characterized in that, The handle portion further includes a bending transmission assembly, the rotating head and the bending transmission assembly can selectively cooperate to drive the end effector to bend; wherein, the bending transmission assembly includes a bending drive gear assembly, a drive screw and a drive rod assembly; the output of the bending drive gear assembly is rigidly connected to the drive screw; the drive rod assembly is respectively connected to the drive screw and the end effector; the rotating head reciprocates along the length direction of the elongate body to disable or enable the bending drive gear assembly.

10. The surgical instrument according to claim 9, characterized in that, The drive screw is provided with a first thread portion and a second thread portion with opposite helix directions; the drive rod assembly includes a first drive rod and a second drive rod, the first drive rod and the second drive rod respectively cooperate with the first thread portion and the second thread portion of the drive screw, so that the rotation of the drive screw drives the first drive rod and the second drive rod to make reciprocating motions in opposite directions to drive the end effector to bend.

11. The surgical instrument according to claim 9, wherein, The bending drive gear assembly includes a sun gear, a plurality of planet gears, a ring gear and a planet carrier, the ring gear is fixedly installed in the rotating head, the sun gear is rigidly connected to the proximal end of the drive screw, and the planet carrier is fixedly installed in the handle housing.

12. The surgical instrument according to any one of claims 1-8, characterized in that, The handle portion further includes a handle and a closing trigger, wherein the closing trigger is pivotally mounted on the handle housing and is connected to a closing drive assembly disposed within the handle housing. The closing drive assembly drives the elongate body to reciprocate to open or close the end effector. The handle portion further includes a closing locking assembly that rigidly cooperates with the closing drive assembly. When the closing trigger is closed, the closing locking assembly can move distally under the push of the closing drive assembly.

13. The surgical instrument according to claim 9, characterized in that, The handle portion further includes a handle and a closing trigger, wherein the closing trigger is pivotally mounted on the handle housing and is connected to a closing drive assembly disposed within the handle housing. The closing drive assembly drives the elongate body to reciprocate to open or close the end effector. The handle portion further includes a closing locking assembly that rigidly cooperates with the closing drive assembly. When the closing trigger is closed, the closing locking assembly can move distally under the push of the closing drive assembly.

14. The surgical instrument according to claim 10 or 11, characterized in that, The handle portion further includes a handle and a closing trigger, wherein the closing trigger is pivotally mounted on the handle housing and is connected to a closing drive assembly disposed within the handle housing. The closing drive assembly drives the elongate body to reciprocate to open or close the end effector. The handle portion further includes a closing locking assembly that rigidly cooperates with the closing drive assembly. When the closing trigger is closed, the closing locking assembly can move distally under the push of the closing drive assembly.

15. The surgical instrument according to claim 13, characterized in that, The closing locking assembly is provided as a safety tab, and the safety tab is disposed between the anti-rotation tooth and the bending drive gear assembly. When the safety tab moves distally, it can push the anti-rotation tooth to move distally; or when the safety tab moves distally, it can push the anti-rotation tooth and the sliding tooth to move distally.

16. The surgical instrument according to claim 14, wherein, The closing locking assembly is provided as a safety tab, and the safety tab is disposed between the anti-rotation tooth and the bending drive gear assembly. When the safety tab moves distally, it can push the anti-rotation tooth to move distally; or when the safety tab moves distally, it can push the anti-rotation tooth and the sliding tooth to move distally.

17. The surgical instrument according to claim 15 or 16, characterized in that, The safety tab and the bending drive gear assembly are provided as an integral structure.

18. The surgical instrument according to claim 15 or 16, characterized in that, The safety tab is provided as an annular piece, and the outer diameter of the annular piece is larger than the outer diameter of the anti-rotation tooth.

19. The surgical instrument according to claim 17, characterized in that, The safety tab is provided as an annular piece, and the outer diameter of the annular piece is larger than the outer diameter of the anti-rotation tooth.

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