End effector, method of condition monitoring, staple cartridge, and stapling instrument

Abstract

The application discloses a terminal actuator, a state monitoring method, a nail bin and an anastomat instrument. The terminal actuator comprises a nail bin clamping piece, a push-knife piece and a locking structure. The nail bin clamping piece is provided with a nail bin mounting seat. The push-knife piece is installed on the nail bin clamping piece and connected with a driving mechanism. The push-knife piece is provided with a firing direction towards the nail bin mounting seat. The locking structure is installed on the nail bin clamping piece. In the firing locking state, the locking structure is arranged in the firing direction of the push-knife piece. The locking structure can be pushed away by a transmission piece of the nail bin to form a firing unlocking state. In the firing unlocking state, the push-knife piece can drive the transmission piece to move along the firing direction under the driving of the driving mechanism. The application can ensure that the push-knife piece cannot be fired whether the nail bin clamping piece is not provided with a nail bin or is provided with a used nail bin. The application can judge whether the terminal actuator is in a state of being unable to fire or a state of normal firing, and realize state monitoring of the terminal actuator.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular, to an end effector, a status monitoring method, a staple cartridge, and an anastomosis device. Background Technology

[0002] Surgical instruments capable of clamping and cutting, such as anastomosis instruments, have end effectors. These end effectors include clamps for holding tissue and cutting blades for cutting the clamped tissue. Typically, during a surgery, the staple cartridge of the anastomosis instrument is changed multiple times to complete the anastomosis operation. Before each use, an unused staple cartridge needs to be fitted onto the staple cartridge holder. Then, a firing operation separates the clamped tissue with the cutting blade while simultaneously stapled for effective anastomosis. However, if a used staple cartridge is fitted onto the staple cartridge holder, triggering the firing operation can cause the tissue to be accidentally cut open without effective anastomosis. Conversely, if no staple cartridge is fitted onto the staple cartridge holder, triggering the firing operation can cause damage to the tissue by the pusher on the end effector.

[0003] In the prior art, when the staple cartridges installed on the staple cartridge holder of the anastomosis device are used staple cartridges, or when no staple cartridges are installed on the staple cartridge holder, the end effector cannot be locked to prevent it from being accidentally fired, nor can it provide intelligent prompts, nor can the execution status of the end effector be monitored in real time, and thus it is impossible to determine whether the anastomosis action has been effectively completed. Summary of the Invention

[0004] The purpose of this invention is to provide an end effector and an anastomosis device to solve the technical problem that when the staple cartridge mounted on the staple cartridge holder is a used staple cartridge, or when no staple cartridge is mounted on the staple cartridge holder, the end effector cannot be locked to prevent accidental firing.

[0005] Another objective of this invention is to provide a method for monitoring the status of an end effector, in order to solve the technical problem that it is currently impossible to monitor the execution status of an end effector in real time.

[0006] Another object of the present invention is to provide a staple cartridge to solve the technical problem that the current staple cartridge has an unstable structure, which causes it to be unable to unlock the locking structure properly after being installed on the end effector.

[0007] The above-mentioned objectives of the present invention can be achieved by the following technical solutions:

[0008] This invention provides an end effector, comprising: a staple cartridge holder having a staple cartridge mounting base for mounting a staple cartridge; a pusher mounted on the staple cartridge holder and connected to a drive mechanism, the pusher having a firing direction facing the staple cartridge mounting base; and a locking structure mounted on the staple cartridge holder, the locking structure having a firing locked state and a firing unlocked state; wherein, in the firing locked state, the locking structure blocks the pusher in the firing direction; the locking structure can be pushed open by a transmission member of the staple cartridge to form the firing unlocked state, and in the firing unlocked state, the pusher can push the transmission member to move along the firing direction under the drive of the drive mechanism.

[0009] The present invention also provides a state monitoring method for an end effector, applied to the aforementioned end effector. The state monitoring method includes the following steps: monitoring the firing drive parameters when the drive mechanism drives the pusher to fire; when the firing drive parameter is greater than a first parameter value, determining that the staple cartridge installed in the end effector is either a used staple cartridge or no staple cartridge is installed, and the end effector is in a state where it cannot fire; when the firing drive parameter is less than a second parameter value, and the second parameter value is less than the first parameter value, determining that the end effector is in a state where it fires normally.

[0010] This invention also provides a state monitoring method for an end effector, applied to an end effector. The state monitoring method includes the following steps: monitoring the firing drive parameters and the position parameters of the pusher when the drive mechanism drives the pusher to fire; when the firing drive parameter increases to a fifth parameter value, determining whether the position parameters of the pusher have changed; if so, determining that the end effector is in a normal firing state, causing the drive mechanism to drive the pusher to continue firing, and the firing drive parameter is lower than a sixth parameter value; if not, determining that the staple cartridge installed in the end effector is a used staple cartridge or no staple cartridge is installed, and the end effector is in a state where it cannot fire; wherein, when the end effector fires normally, the firing drive parameter of the drive mechanism is lower than the sixth parameter value, and the fifth parameter value is less than the sixth parameter value.

[0011] The present invention also provides a staple cartridge, comprising: a cutting member; a transmission member for driving the cutting member to move along a cutting direction under the push of an end effector; a staple cartridge seat having a groove along the cutting direction for slidingly engaging with the transmission member; and a staple cartridge cover having two limiting portions, the two limiting portions being able to extend into the groove and provide an elastic restoring force toward the outside of the groove.

[0012] The present invention also provides an anastomosis device, including the aforementioned end effector.

[0013] The features and advantages of this invention are:

[0014] The end effector and anastomosis device of the present invention, by setting a locking structure, and by using the transmission component on the staple cartridge when it is installed on the staple cartridge holder to push the locking structure away from the firing direction of the pusher, so that the locking structure changes from the firing locked state to the firing unlocked state. Furthermore, the transmission component can move along the firing direction under the pusher during firing. That is to say, when a staple cartridge that has been fired and used is installed on the staple cartridge holder, it cannot use its transmission component to push the locking structure away. Therefore, the present invention can ensure that the pusher cannot be fired, whether the staple cartridge holder is not installed with a staple cartridge or has a used staple cartridge installed.

[0015] The end effector status monitoring method of the present invention utilizes the difference in the driving force required for the pusher in the firing locked state and the firing unlocked state of the locking structure. By monitoring the firing driving parameters when the drive mechanism drives the pusher to fire, it can determine whether the end effector is in a state of being unable to fire or in a normal firing state, thereby realizing the status monitoring of the end effector. Furthermore, based on the monitoring results of the unfiring state, the end effector can be monitored and dealt with in a timely manner, such as replacing it with an unused staple cartridge.

[0016] Because the staple cartridge seat tends to shrink and deform towards the inside of the groove after demolding, the transmission components that slide with the groove also shrink and deform towards the inside of the groove, resulting in dimensional instability. This makes it impossible to fully push open the locking structure when installed in the end effector, thus preventing the firing unlock state and preventing normal firing. The staple cartridge of this invention, by adding a staple cartridge cover, uses two limiting parts on the staple cartridge cover to extend into the groove and use their elastic restoring force to open the walls on both sides of the groove on the staple cartridge seat. This prevents the transmission components that slide with the groove from being squeezed and deformed by the walls on both sides of the groove, ensuring that the locking structure is fully pushed open when the staple cartridge is installed in the end effector, allowing the end effector to fire normally. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the anastomosis device of the present invention and a conventional staple cartridge.

[0019] Figure 2 This is a schematic diagram of the end effector of the present invention.

[0020] Figure 3This is a schematic diagram of the structure of the spike cartridge before use in this invention.

[0021] Figure 4 This is a schematic diagram of the structure after the staple cartridge of the present invention has been used.

[0022] Figure 5 This is a schematic diagram of the end effector in the firing locked state in the first embodiment of the present invention.

[0023] Figure 6 This is a schematic diagram of the end effector in the firing and unlocking state in the first embodiment of the present invention (the pusher component is omitted).

[0024] Figure 7 This is a schematic diagram of the locking structure and the pusher in the firing locked state in the first embodiment of the present invention.

[0025] Figure 8 This is a schematic diagram of the locking structure and the pusher during the firing or retraction process in the first embodiment of the present invention.

[0026] Figure 9 This is a schematic diagram of the locking structure in the firing lock state and the retracting lock state in the first embodiment of the present invention.

[0027] Figure 10 This is a schematic diagram of the locking structure in the firing and unlocking state in the first embodiment of the present invention.

[0028] Figure 11 This is a schematic diagram of the locking slider in the first embodiment of the present invention.

[0029] Figure 12 This is a schematic diagram of the staple cartridge structure in the first embodiment of the present invention.

[0030] Figure 13 This is a schematic diagram of the staple cartridge and pusher component in the first embodiment of the present invention.

[0031] Figure 14 This is a schematic diagram of the locking structure in the firing lock state and the retracting lock state in the second embodiment of the present invention.

[0032] Figure 15 This is a schematic diagram of the locking structure in the firing unlock state and the rewind unlock state in the second embodiment of the present invention.

[0033] Figure 16 This is a schematic diagram of the end effector in the firing locked state in the second embodiment of the present invention.

[0034] Figure 17 This is a disassembled diagram of the end effector in the second embodiment of the present invention.

[0035] Figure 18 This is a schematic diagram of the staple cartridge and end effector in the second embodiment of the present invention.

[0036] Figure 19 This is a schematic diagram of the staple cartridge structure in the second embodiment of the present invention.

[0037] Figure 20 This is a disassembled diagram of the nail cartridge seat and transmission component in the second embodiment of the present invention.

[0038] Figure 21 This is a schematic diagram of the end effector in the firing locked state in the third embodiment of the present invention (the pusher component is omitted).

[0039] Figure 22 This is a schematic diagram of the end effector in the firing and unlocking state in the third embodiment of the present invention (the pusher component is omitted).

[0040] Figure 23 This is a schematic diagram of the end effector in the firing locked state in the fourth embodiment of the present invention (the pusher component is omitted).

[0041] Figure 24 This is a schematic diagram of the end effector in the firing and unlocking state in the fourth embodiment of the present invention (the pusher component is omitted).

[0042] Figure 25 This is a schematic diagram of the locking structure in the firing lock state and the retraction lock state in the fifth embodiment of the present invention.

[0043] Figure 26 This is a schematic diagram of the locking structure in the firing unlock state and the rewind unlock state in the fifth embodiment of the present invention.

[0044] Figure 27 This is a schematic diagram of the locking structure in the firing lock state and the retracting lock state in the sixth embodiment of the present invention.

[0045] Figure 28 This is a schematic diagram of the locking structure in the firing unlock state and the rewind unlock state in the sixth embodiment of the present invention.

[0046] Figure 29 This is a flowchart of the end effector status monitoring method according to Embodiment 3 of the present invention.

[0047] Figure 30 This is a curve showing the change in firing drive parameters according to Embodiment 4 of the present invention;

[0048] Figure 31 This is a disassembly diagram of the staple cartridge in the first embodiment of the fourth embodiment of the present invention;

[0049] Figure 32This is a schematic diagram of the assembly of the staple cartridge and the staple cartridge clamping component in the first embodiment of the fourth embodiment of the present invention;

[0050] Figure 33 This is a schematic diagram of the staple cartridge cover in the first embodiment of the fourth embodiment of the present invention;

[0051] Figure 34 This is an enlarged view of the assembly in the unlocked state of the staple cartridge in the first embodiment of the fourth embodiment of the present invention;

[0052] Figure 35 This is a large-scale image of the disassembly process in the unlocked state of the staple cartridge in the first embodiment of the fourth embodiment of the present invention;

[0053] Figure 36 This is an enlarged view of the assembly in the nail cartridge locked state in the first embodiment of the fourth embodiment of the present invention;

[0054] Figure 37 This is a large-scale disassembly view of the staple cartridge in the locked state in the first embodiment of the fourth embodiment of the present invention;

[0055] Figure 38 This is a diagram showing the engagement of the staple cartridge and the pusher in the unlocked state in the first embodiment of the fourth embodiment of the present invention.

[0056] Figure 39 This is a diagram showing the engagement of the staple cartridge and the pusher in the locked state in the first embodiment of the fourth embodiment of the present invention.

[0057] Figure 40 This is a disassembly diagram of the staple cartridge in the second embodiment of the fourth embodiment of the present invention;

[0058] Figure 41 This is a schematic diagram of the staple cartridge cover in the second embodiment of the fourth embodiment of the present invention;

[0059] Figure 42 This is a schematic diagram of the proximal end of the staple cartridge cover in the second embodiment of the fourth embodiment of the present invention;

[0060] Figure 43 This is a diagram showing the engagement of the staple cartridge and the pusher in the unlocked state in the second embodiment of the fourth embodiment of the present invention;

[0061] Figure 44 This is a diagram showing the engagement of the staple cartridge and the pusher in the locked state in the second embodiment of the fourth embodiment of the present invention. Detailed Implementation

[0062] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0063] Implementation Method 1

[0064] like Figure 1 , Figure 2 as well as Figure 3 As shown, the present invention provides an end effector 1, comprising: a staple cartridge holder 101 having a staple cartridge mounting base 119 for mounting a staple cartridge 2; a pusher 102 mounted on the staple cartridge holder 101 and connected to a drive mechanism 3, the pusher 102 having a firing direction A directed toward the staple cartridge mounting base 119; and a locking structure 103 mounted on the staple cartridge holder 101, the locking structure 103 having a firing locked state and a firing unlocked state.

[0065] Among them, such as Figure 5 As shown, in the firing locked state, the locking structure 103 blocks the firing direction A of the pusher member 102; as Figure 3 and Figure 6 As shown, the locking structure 103 can be pushed open by a transmission member 203 of the nail magazine 2 to form a firing unlock state. In the firing unlock state, as... Figure 2 , Figure 3 as well as Figure 4 As shown, the pusher 102 can push the transmission 203 to move along the firing direction A under the drive of the drive mechanism 3.

[0066] like Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, the end effector 1 of the present invention, by setting a locking structure 103, and by using the transmission member 203 on the staple cartridge 2 when it is installed on the staple cartridge holder 101, pushes the locking structure 103 away from the firing direction A of the pusher member 102, so that the locking structure 103 changes from the firing locked state to the firing unlocked state. In addition, the transmission member 203 can move along the firing direction A under the push of the pusher member 102 during the firing process. That is to say, when the staple cartridge 2 that has been fired is installed on the staple cartridge holder 101, it cannot use its transmission member 203 to push the locking structure 103 away. Therefore, the present invention can ensure that the pusher member 102 cannot be fired, whether the staple cartridge 2 is not installed on the staple cartridge holder 101 or a staple cartridge 2 that has been fired is installed.

[0067] like Figure 1As shown, the end effector 1 of the present invention is applied to an anastomosis instrument. The anastomosis instrument is provided with an operating member 4 for controlling the drive mechanism 3 to drive it. The drive mechanism 3 is connected to the pusher member 102 via a drive flexible shaft 301. For ease of description, the end of each component furthest from the patient is defined as the proximal end of each component, and the end closest to the patient is defined as the distal end of each component.

[0068] Specifically, such as Figure 1 As shown, the end effector 1 also includes an anvil clamping member 104. The proximal end of the anvil clamping member 104 and the proximal end of the staple cartridge clamping member 101 are rotatably mounted on the anastomosis instrument to clamp tissue. The proximal end of the staple cartridge clamping member 101 is provided with a clamping mounting seat 118 for connection with the drive mechanism 3. The distal end of the staple cartridge clamping member 101 is provided with a staple cartridge mounting seat 119 for mounting a staple cartridge 2, and the staple cartridge mounting seat 119 is provided with a staple cartridge mounting groove 121 for receiving the staple cartridge 2. The staple cartridge clamping member 101 has a locking mounting groove 122 and a sliding groove 120. The locking mounting groove 122 is used to receive a locking structure 103, and the staple cartridge mounting groove 121 extends from the distal end of the staple cartridge clamping member 101 to the locking mounting groove 122 and is connected thereto. Figure 2 and Figure 8 As shown, the slide groove 120 is set according to the firing stroke of the pusher 102, and the bottom end of the pusher 102 slides in cooperation with the firing slide groove 120 through its sliding part 117.

[0069] like Figure 2 As shown, in an embodiment of the present invention, the pusher 102 also has a retraction direction B opposite to the firing direction A, such as... Figure 22 as well as Figure 23 As shown, when the pusher 102 has completed firing, the locking structure 103 can block the pusher 102 in the retraction direction B to form a retraction locking state; as Figure 5 , Figure 16 , Figure 21 as well as Figure 24As shown, the pusher 102 can push open the locking structure 103 under the drive of the drive mechanism 3, thus making the locking structure 103 retract and unlocked. Because the locking structure 103 blocks the pusher 102 in the retraction direction B, forming a retraction locked state, and the pusher 102 can push open the locking structure 103 under the drive of the drive mechanism 3, the locking structure 103 does not completely prevent the pusher 102 from retracting. Instead, it applies a certain resistance when the pusher 102 retracts, causing changes in the drive mechanism 3, its driving force, and related driving parameters. Therefore, the retraction state of the pusher 102 can be monitored using the changes in the driving force and / or related driving parameters. Specifically, after the pusher 102 completes firing, there is a certain gap between the pusher 102 and the locking structure 103 in the rearward locking state. The driving force required for the pusher 102 to move along the retraction direction B to contact the locking structure 103 is relatively small. When the pusher 102 abuts against the locking structure 103 and pushes the locking structure 103 open, the required driving force increases. When the pusher 102 continues to move along the retraction direction B and disengages from the locking structure 103, the required driving force decreases again.

[0070] like Figure 5 , Figure 6 as well as Figure 10 As shown, in an embodiment of the present invention, the locking structure 103 includes at least one locking slider 105. The locking slider 105 is slidably engaged with the staple cartridge holder 101 along its unlocking direction C. The locking slider 105 is provided with a firing unlocking surface 106. In the firing locked state, the firing unlocking surface 106 extends into the staple cartridge mounting base 119. During the process of mounting the staple cartridge 2 on the staple cartridge mounting base 119, the transmission member 203 can slide against the firing unlocking surface 106 and push the locking slider 105 to slide along the unlocking direction C to form a firing unlocking state.

[0071] like Figure 3 , Figure 4 as well as Figure 13 As shown, the staple cartridge 2 includes a staple cartridge seat 201, a cutter 202, and a transmission member 203. The staple cartridge seat 201 is used to mount multiple staples. The cutter 202 is mounted on the staple cartridge seat 201 via the transmission member 203. The transmission member 203 can cooperate with the pusher member 102 to push the cutter 202 to cut the clamped tissue. Therefore, the staple cartridge 2 equipped with the end effector 1 of the present invention can be a staple cartridge used in the prior art, or it can be adapted to the locking structure 103 and the transmission member 203 to make it easier to push open the locking structure 103 during installation. Figure 12 , Figure 19 As shown, the transmission component 203 is provided with a mating surface 204 that slides against the firing unlocking surface 106.

[0072] In addition, such as Figure 3 , Figure 4 as well as Figure 20 As shown, the staple cartridge seat 201 is provided with a positioning protrusion 205, and the transmission member 203 is provided with a matching positioning groove 206. When the staple cartridge 2 is not in use, the transmission member 203 is limited to the near end of the staple cartridge seat 201 by the limiting effect between the positioning protrusion 205 and the positioning groove 206. When the pusher 102 fires, the transmission member 203 can overcome the limiting effect between the positioning protrusion 205 and the positioning groove 206 under the pusher 102, so that the positioning groove 206 separates from the positioning protrusion 205 and moves along the firing direction A.

[0073] like Figure 7 , Figure 8 , Figure 9 as well as Figure 10 As shown, to ensure the stability of the locking structure 103, in this embodiment of the invention, there are two locking sliders 105, which are symmetrically arranged relative to the pusher member 102. Optionally, there may be only one locking slider.

[0074] To ensure consistent force distribution on the two locking sliders 105, such as Figure 7 , Figure 8 , Figure 9 as well as Figure 10 As shown, in an embodiment of the present invention, two locking sliders 105 are connected by an elastic reset structure 107. Under the elastic restoring force of the elastic reset structure 107, the two locking sliders 105 move closer to each other, that is, they move in the locking direction D, which is opposite to the unlocking direction C. Specifically, as... Figure 5 and Figure 6 As shown, the inner bottom surface of the clamping mounting base 118 is provided with an elastic limiting groove 114, and the clamp abuts against the groove wall surface of the elastic limiting groove 114, thus limiting the elastic reset structure 107. The distal end of the elastic reset structure 107 can abut against the locking slider 105, or it can be directly connected as a whole. The elastic reset structure 107 adopts a generally U-shaped elastic clamp, and the two elastic arms of the elastic clamp are connected to the two locking sliders 105. Figure 17As shown, guide portions 127 are provided on the two elastic arms. In the firing locked state, a channel is formed between the two guide portions 127 that slides with the pusher 102 along the firing direction A. The present invention connects two locking sliders 105 with elastic clips to form a locking structure 103, which has a simple structure, is easy to process and assemble, and has good stability, making it less prone to locking failure. Optionally, the two locking sliders can be connected to the clamping assembly by elastic elements such as springs or spring sheets. The elastic reset structure 107 is located at the proximal end as defined throughout the text relative to the anvil clamping member 104. It should be noted that the elastic reset structure 107 and the elastic structure such as the locking spring sheet 218 described below can be replaced with springs, elastic colloids, or repulsive magnets if space permits.

[0075] To ensure the reliability of the locking structure 103 in the fired locked state, such as Figure 7 , Figure 8 , Figure 9 as well as Figure 10 As shown, in an embodiment of the present invention, two locking sliders 105 have inner surfaces disposed opposite to each other. Each inner surface of the two locking sliders 105 is provided with at least one stop protrusion 108, and the stop protrusions 108 on the two locking sliders 105 overlap and engage in the height direction H of the pusher member 102. A stop surface 109 is provided at the end of the stop protrusion 108 away from the staple cartridge mounting base 119 (i.e., the far end of the stop protrusion 108), and the stop surface 109 extends perpendicularly to the firing direction A. Specifically, the stop protrusions 108 are disposed near the proximal end of the locking sliders 105, and the distance between the two opposite end faces of the two stop protrusions 108 and the center of symmetry of the two locking sliders 105 is L. The thickness of the pushing portion 116 of the pusher member 102, which cooperates with the transmission member 203, is d. Preferably, to ensure the reliability of the stop protrusions 108, L ≥ 0.25d. To ensure that the pusher 102 is not interfered with by the locking slider 105 during firing, in the firing unlocked state, the distance between the two opposing end faces of the two stop protrusions 108 is S, and the distance S is greater than the thickness d of the pusher 116. Optionally, the stop protrusions 108 on the same locking slider 105 can be simplified and merged with the unlocking protrusions 115 into a single protrusion structure, with the stop surface 109 and the retraction unlocking surface 110 at the two ends of this protrusion structure in the firing direction, respectively.

[0076] like Figure 7 , Figure 8 , Figure 9 as well as Figure 10As shown, each of the two locking sliders 105 has at least one unlocking protrusion 115 on its inner side, and the unlocking protrusions 115 on the two locking sliders 105 overlap and engage in the height direction of the pusher 102. The blocking protrusion 108 and the unlocking protrusion 115 are spaced apart along the firing direction. One end of the unlocking protrusion 115 near the staple cartridge mounting base 119 (i.e., the far end of the unlocking protrusion 115) has a retraction unlocking surface 110. The retraction unlocking surface 110 extends obliquely toward the inner side of the two locking sliders 105 along the retraction direction of the pusher 102. The pusher 102 slides against the retraction unlocking surface 110 and pushes the locking slider 105 to slide along the unlocking direction B to form a retraction unlocked state. Specifically, as shown... Figure 9 As shown, the distance between the far ends of the two retraction unlocking surfaces 110 is t. To ensure that the locking structure 103 can be unlocked smoothly when the pusher 102 retracts, the distance t is greater than the thickness d of the pusher 116.

[0077] like Figure 16 , Figure 17 as well as Figure 18 As shown, in an embodiment of the present invention, the staple cartridge holder 101 is provided with at least one guide structure 111, and the locking slider 105 is provided with a guide groove 112 along the unlocking direction. The guide groove 112 and the guide structure 111 slide in cooperation along the unlocking direction. The end effector 1 also includes a fixed baffle 113. One end of the fixed baffle 113 is connected to the staple cartridge holder 101, and the other end of the fixed baffle 113 is connected to the guide structure 111. The locking slider 105 is limited between the fixed baffle 113 and the staple cartridge holder 101.

[0078] Specifically, such as Figure 16 , Figure 17 as well as Figure 18 As shown, the staple cartridge holder 101 is provided with guide structures 111 corresponding to the two locking sliders 105. The fixing baffle 113 is formed by bending a single piece to form two distal ends and a bent portion. The two distal ends of the fixing baffle 113 are connected to the two guide structures 111 from both sides of the pusher 102. The bent portion is limited on the clamping mounting base 118 by two limiting blocks 129 and is located below the drive flexible shaft 301, so it will not interfere with the movement of the pusher 102. The fixing baffle 113 has two first baffles 124 and a second baffle 125 connecting the two first baffles 124. The two first baffles 124 are used to limit the two locking sliders 105, and the second baffle 125 is used to limit the elastic reset structure 107, thereby preventing the elastic reset structure 107 from dislodging from the staple cartridge holder 101. The guide structure 111 includes at least one guide post. The guide structure 111 is provided with a second slot 128 that is inserted into the distal end of the fixed baffle 113.

[0079] like Figures 5 to 11As shown, in the first embodiment, the unlocking direction C is set perpendicular to the firing direction A, and the firing unlocking surface 106 is set at an angle relative to the unlocking direction C. Specifically, as... Figure 7 As shown, the distance between the distal ends of the firing and unlocking surfaces 106 of the two locking sliders 105 is n, as... Figure 12 As shown, the width of the proximal end of the transmission member 203 is m, and to ensure smooth unlocking, n > m. Preferably, the angle between the firing unlocking surface 106 and the firing direction A is 15 degrees to 60 degrees.

[0080] like Figures 14 to 18 As shown, in the second embodiment, the firing unlocking surface 106 is set perpendicular to the firing direction A, and the unlocking direction C is set at an angle relative to the firing unlocking surface 106. Preferably, the angle θ between the unlocking direction C and the retraction direction B is 15 degrees to 60 degrees. Because the length of the staple cartridge 2 is relatively long, and the staple cartridge 2 has a groove for the sliding of the transmission member 203, after demolding, the walls on both sides of the groove easily shrink and deform inwards, causing pressure on the transmission member 203 that slides with the groove, and also shrinking and deforming inwards, resulting in a reduction in the width of the transmission member 203. In this embodiment, the firing unlocking surface 106 is perpendicular to the firing direction A. Therefore, the stroke of the two locking sliders 105 pushed by the transmission member 203 on the staple cartridge 2 along its unlocking direction C is not affected by the width of the transmission member 203, avoiding a reduction in the width of the transmission member 203 that would cause the stroke when pushing the two locking sliders 105 along the unlocking direction C to be too small, resulting in incomplete unlocking.

[0081] like Figures 21 to 22 As shown, in the third embodiment, the firing unlocking surface 106 is set perpendicular to the firing direction A, and the unlocking direction C is the rotation direction around a center.

[0082] like Figures 5 to 11 as well as Figures 14 to 18 As shown in the first and second embodiments, the number of guide posts is one, and the guide post is generally waist-shaped.

[0083] like Figures 21 to 22 , Figures 23 to 24 As shown in the third and fourth embodiments, each guide structure 111 has two guide posts, which are generally cylindrical in shape. The two guide posts are spaced apart along the unlocking direction, which can reduce the sliding contact area between the guide structure 111 and the guide groove 112.

[0084] like Figures 5 to 11 As shown, in the first embodiment, the two locking sliders 105 are provided with a first slot 123 for engaging with the distal end of the elastic reset structure 107.

[0085] like Figures 14 to 18 as well as Figures 21 to 22As shown, in the second and third embodiments, the distal end of the elastic reset structure 107 directly abuts against the proximal end face of the locking slider 105.

[0086] like Figures 25 to 26 As shown, in the fifth embodiment, the shape of the locking slider 105 is the same as that of the locking slider 105 in the first embodiment. The difference is that the elastic reset structure 107 and the two locking sliders 105 are an integral structure.

[0087] like Figure 27 , Figure 28 As shown, in the sixth embodiment, the structure of the locking slider 105 is the same as the shape of the locking slider 105 in the second embodiment. The difference is that the elastic reset structure 107 and the two locking sliders 105 are an integral structure.

[0088] Implementation Method 2

[0089] Combination Figure 29 As shown, the present invention also provides a state monitoring method for an end effector, applied to an end effector 1. The end effector in this embodiment has the same specific structure, working principle, and beneficial effects as the end effector 1 in Embodiment 1, and will not be repeated here. The state monitoring method includes the following steps: monitoring the firing drive parameters when the drive mechanism 3 drives the pusher 102 to fire; when the firing drive parameter is greater than a first parameter value, determining that the staple cartridge 2 installed in the end effector 1 is either a used staple cartridge 2 or no staple cartridge 2 is installed, and the end effector 1 is in a state where it cannot fire; when the firing drive parameter is less than a second parameter value, and the second parameter value is less than the first parameter value, determining that the end effector 1 is in a normal firing state. Specifically, the first parameter value and the second parameter value are both preset threshold values.

[0090] The state monitoring method for the end effector 1 of the present invention utilizes the difference in driving force required for the pusher 102 in the firing locked state and firing unlocked state of the locking structure 103. By monitoring the firing driving parameters when the drive mechanism 3 drives the pusher 102 to fire, it can determine whether the end effector 1 is in a state where it cannot fire or a normal firing state, thereby achieving state monitoring of the end effector 1. Furthermore, based on the monitoring results of the state where it cannot fire, the end effector 1 can be monitored and dealt with in a timely manner, such as replacing it with an unused staple cartridge 2. In addition, compared with the state monitoring method in Embodiment 4, the state monitoring method of this embodiment requires fewer parameters and is easier to determine.

[0091] In an embodiment of the present invention, the state monitoring method further includes the following steps: monitoring the retraction drive parameters when the drive mechanism 3 drives the pusher 102 to retract; when the retraction drive parameters have a third parameter value and a fourth parameter value, and the third parameter value is less than the second parameter value, and the fourth parameter value is greater than the third parameter value and less than the first parameter value, it is determined that the end effector 1 is in a normal retraction state. Specifically, the third parameter value and the fourth parameter value are not limited to specific values, but are parameter values ​​generated by the change in the retraction drive parameters due to the locking structure 103 blocking the retraction direction B of the pusher 102. Among them, the fourth parameter value is the peak value, i.e., the maximum value, of the retraction drive parameters during the retraction of the pusher 102.

[0092] In this embodiment, there is a gap between the endpoint position of the pusher after completing the entire firing stroke and the locking structure 103. The pusher 102 retracts to its initial position, which also has a gap with the locking structure 103. Therefore, the retraction drive parameter of the pusher 102 before contacting the locking structure 103 from its endpoint position is the third parameter value; the retraction drive parameter when pushing open the locking structure 103 is the fourth parameter value; and the retraction drive parameter from the locking structure 103 to its initial position is the fifth parameter value. The fifth parameter value is equal to or close to the third parameter value.

[0093] Because the locking structure 103 can change from a firing locked state to a firing unlocked state, and from a retraction locked state to a retraction unlocked state, the driving force required for the pusher to move along the firing direction A and the driving force required to move along the retraction direction B will change. Therefore, the driving force provided by the drive mechanism 3 and the operating parameters related to the driving force will also change accordingly. Therefore, the firing drive parameters and retraction drive parameters referred to in this invention can include the driving force, or they can include torque or other operating parameters related to the driving force. It should be noted that the firing drive parameters and retraction drive parameters can be directly measured parameters or parameters calculated based on relevant parameters. In this embodiment, the drive mechanism 3 includes a drive motor, which drives the pusher 102 to fire along the firing direction A or retract along the retraction direction B via the drive flexible shaft 301. The firing drive parameters and retraction drive parameters are both the output torque of the drive motor.

[0094] Furthermore, the firing and retraction drive parameters may also include the position information of the encoder of the drive motor. The stroke of the pusher 102 can be determined based on the position information of the encoder. Therefore, when the pusher 102 fires and retracts, by jointly judging based on the output torque of the drive motor and the position information of the encoder, it is possible to obtain status information such as whether the firing stroke of the pusher 102 is correct, whether the pusher 102 has moved to the position of the locking structure 103, and whether the pusher 102 has retracted to the initial position.

[0095] Specifically, when the surgical robot receives the firing command, it controls the drive motor to drive the pusher 102 to fire; it monitors the output torque of the drive motor and determines whether the output torque has reached its threshold, i.e., the preset first torque value; if so, it controls the drive motor to stop driving and prompts "the staple cartridge is used or there is no staple cartridge"; if not, the drive motor drives the pusher 102 with an output torque lower than the second torque value to push the transmission component 203 to the far end of the staple cartridge 2; it controls the drive motor to retract and monitors the output torque of the drive motor to be the third torque value; it determines whether the pusher 102 has retracted to the position of the locking structure 103 based on the position information of the encoder, and determines whether the output torque of the drive motor has reached a fourth torque value, i.e., the peak torque generated when the output torque increases from the third torque value to the fourth torque value and then decreases; if not, it controls the drive motor to stop driving and checks the end effector 1; if so, it controls the drive motor to drive the pusher 102 to retract to the initial position.

[0096] Implementation Method 3

[0097] Combination Figure 30 As shown, the present invention also provides another state monitoring method for the end effector 1, applied to the end effector 11. The state monitoring method includes the following steps: monitoring the firing drive parameters and position parameters of the pusher 102 when the drive mechanism 3 drives the pusher 102 to fire; when the firing drive parameter increases to the fifth parameter value M5, determining whether the position parameters of the pusher 102 have changed; if yes, determining that the end effector 1 is in a normal firing state, causing the drive mechanism 3 to drive the pusher 102 to continue firing, and the firing drive parameter is lower than the sixth parameter value M6; if no, determining that the staple cartridge 2 installed in the end effector 1 is a used staple cartridge 2 or no staple cartridge 2 installed, and the end effector 1 is in a state where it cannot fire; wherein, when the end effector 1 fires normally, the firing drive parameter of the drive mechanism 3 is lower than the sixth parameter value, and the fifth parameter value M5 is less than the sixth parameter value M6. Furthermore, the fifth parameter value M5 is slightly larger than the firing drive parameter value required in the first stage S1 of the normal firing process, that is, the process in which the pusher 102 passes through the locking structure 103 from the starting position to contact the transmission member 203 of the staple cartridge 2. The normal firing process also includes a second stage S2, that is, the process in which the pusher 102 pushes the transmission member 203 from the proximal end of the staple cartridge 2 to the distal end of the staple cartridge 2.

[0098] In this embodiment, the driving mechanism 3 includes a driving motor. The position parameters of the pusher 102 are obtained based on the position information of the encoder of the driving motor. That is, when the output shaft of the driving motor rotates, the position of the encoder changes, and therefore the pusher 102 moves. Optionally, the position parameters of the pusher 102 can be directly obtained through other position sensors.

[0099] like Figure 30As shown, in the embodiment of the present invention, the following steps are also included: monitoring the retraction drive parameters when the drive mechanism 3 drives the pusher 102 to retract (i.e., retraction process S3); when the retraction drive parameter changes from the seventh parameter value M7 to the eighth parameter value M8, and the eighth parameter value M8 is greater than the seventh parameter value M7 and less than the sixth parameter value M6, it is determined that the end effector 1 is in a normal retraction state.

[0100] The monitoring of the rollback state in this embodiment can be implemented with reference to the monitoring of the rollback state in Embodiment 3, and will not be repeated here. The difference between this embodiment and Embodiment 3 lies in the detection of the firing state, specifically:

[0101] Combination Figure 30 As shown, in this embodiment, the sixth parameter value M6 is equal to the second parameter value in embodiment three, both being threshold values ​​for the firing drive parameters set during normal firing. In this embodiment, the fifth parameter value M5 is less than this threshold, while in embodiment three, the first parameter value is greater than this threshold. When the pusher 102 cannot fire due to locking by the locking structure 103, in this embodiment, the firing drive parameter only needs to be increased to the fifth parameter value M5, which is less than the threshold, to determine that firing is impossible and thus stop the drive; while in embodiment three, the firing drive parameter needs to be increased to the first parameter value, which is greater than the threshold, to determine that firing is impossible and thus stop the drive. Therefore, the state monitoring method of this embodiment, compared to the state monitoring method of embodiment three, can avoid the excessive driving force of the drive mechanism 3 in the state of being unable to fire, which could damage the end effector 1, and can also reduce the damage to the drive mechanism 3 itself, extending the service life of the anastomosis device.

[0102] Implementation Method 4

[0103] like Figure 31 and Figure 40 As shown, the present invention also provides a staple cartridge 2, comprising: a cutting member 202; a transmission member 203 for driving the cutting member 202 to move along a cutting direction under the push of an end effector; a staple cartridge seat 201, having a groove 213 along the cutting direction for slidingly engaging with the transmission member 203; and a staple cartridge cover 208 having two limiting portions 211, the two limiting portions 211 being able to extend into the groove 213 and generate elastic restoring force toward both sides of the groove 213.

[0104] Combination Figure 32As shown, after the staple cartridge 201 is demolded, the walls on both sides of the slide groove 213 tend to shrink and deform inward towards the inside of the slide groove 213, causing compression on the transmission component 203 that slides with the slide groove 213. This causes the transmission component 203 to also shrink and deform inward towards the inside of the slide groove 213, resulting in unstable dimensions of the transmission component 203. Consequently, when installed on the end effector, it cannot fully push open the locking structure 103 to form a firing unlock state, thus preventing normal firing. In contrast, the staple cartridge 2 of the present invention, compared to the actual... In embodiment one, the staple cartridge is equipped with a staple cartridge cover 208. The two limiting parts 211 on the staple cartridge cover 208 extend into the slide groove 213 and use their elastic restoring force to open the walls on both sides of the slide groove 213 on the staple cartridge seat 201. This prevents the transmission component 203, which slides with the slide groove 213, from being squeezed and deformed by the walls on both sides of the slide groove 213. This ensures that when the staple cartridge 2 is installed in the end effector, the locking structure 103 is fully pushed open so that the end effector can fire normally.

[0105] Specifically, such as Figure 33 and Figure 41 As shown, the staple cartridge cover 208 is generally a U-shaped shell structure with a bottom wall and opposing side walls. The bottom wall serves as a barrier to prevent the staples installed in the staple cartridge seat 201 from falling out. Matching snap-fit ​​structures are provided between the side walls of the staple cartridge cover 208 and the side walls of the staple cartridge 2. Two limiting parts 211 are connected to the proximal ends of the side walls and are generally U-shaped. The staple cartridge cover 208 is integrally formed by sheet metal stamping and bending, giving the limiting parts 211 elastic deformation force. The proximal ends of the side walls of the slide groove 213 are respectively inserted into the grooves of the two limiting parts 211. The cutting direction is also the firing direction of the end effector.

[0106] like Figure 31 , Figure 34 , Figure 35 , Figure 36 as well as Figure 37 As shown, in an embodiment of the present invention, the proximal end of the staple cartridge seat 201 is provided with an inlet 216 of a groove 213, and a locking part 210 is provided between the two limiting parts 211. The locking part 210 has an unlocked state and a locked state; wherein, in the locked state, the locking part 210 can block the inlet 216 of the groove 213 to form a locked state; the transmission member 203 is installed at the proximal end of the staple cartridge seat 201 and pushes the locking part 210 away from the inlet 216 of the groove 213 to form an unlocked state. Figure 38 and Figure 39As shown, when the transmission member 203 is installed at the proximal end of the staple cartridge 201, the locking part 210 is in the unlocked state, allowing the pusher member 102 of the end effector to extend into the slide 213 from the inlet 216 and push the transmission member 203 to move along the cutting direction to the distal end of the staple cartridge 201, so that the cutting member 202 completes the cutting operation under the drive of the transmission member 203. When the pusher member 102 completes firing but does not retract, the locking structure 103 is pushed away by the pusher member 102 and remains in the unlocked state. When the pusher member 102 retracts, the locking structure 103 blocks the inlet 216 to form a locked state, thereby preventing the pusher member 102 from re-entering the slide 213 and accidentally firing. That is, after the staple cartridge 2 has been used once, if it is installed on the end effector, it can prevent the end effector from firing. Therefore, the staple cartridge 2 of the present invention can be installed on an existing end effector to avoid the end effector from firing when the staple cartridge 2 is a used staple cartridge 2.

[0107] like Figure 34 , Figure 35 , Figure 36 as well as Figure 37 As shown, the locking part 210 includes at least one locking spring 218. The locking spring 218 can be pressed by the transmission member 203 and moved outward toward the entrance 216 to form an unlocked state; when the pressing of the transmission member 203 is removed, the locking spring 218 returns to the inward of the entrance 216 to form a locked state. The structure and assembly of the staple cartridge seat 201 and the transmission member 203 can be the same as those in Embodiment 1, and will not be described again here. After the transmission member 203 is installed on the staple cartridge seat 201, the staple cartridge seat 201 is inserted into the staple cartridge cover 208, and the walls on both sides of the slide groove 213 are correspondingly inserted into the limiting grooves 217 of the two limiting parts 211, and the transmission member 203 presses the locking spring 218 to unlock it.

[0108] like Figure 34 , Figure 35 , Figure 36 as well as Figure 37 As shown, the proximal end of the transmission member 203 has a pressure-receiving part 219 for abutting against the pusher member 102. The structure and position of the locking part 210 can be set according to the shape of the pressure-receiving part 219, so that the transmission member 203 does not need to be structurally modified. The locking structure 103 is pushed open by the pressure-receiving part 219 to achieve unlocking.

[0109] like Figure 34 , Figure 35 , Figure 38 as well as Figure 39As shown, in an embodiment of the present invention, the slide 213 includes a first slide 214 and a second slide 215 that are vertically arranged and connected. The pressure-receiving part 219 also has a first pressure-receiving part 220 and a second pressure-receiving part 221 correspondingly. The pusher member 102 of the end effector also has a first pusher part 116 and a second pusher part 130 correspondingly. Figure 38 and Figure 39 As shown, the second pushing part 130 is disposed on the sliding part 117 of the pusher member 102, and combined with Figure 32 and Figure 33 As shown, a connecting groove 212 is provided on the bottom wall of the staple cartridge cover 208 along the cutting direction. The second sliding groove 215 is connected to the sliding groove 120 on the staple cartridge clamping member 101 of the end effector through the connecting groove 212, which is used to slide and engage with the sliding part 117 of the pusher member 102. This prevents the staple cartridge cover 208 from obstructing the normal firing of the pusher member 102 when the locking part 210 is in the unlocked state.

[0110] In the first embodiment of the present invention, there are two locking spring pieces 218. The two locking spring pieces 218 are arranged opposite each other in the width direction of the first slide groove 214 and located at the entrance of the first slide groove 214. The two locking spring pieces 218 are close to each other to form a locked state, and are far apart from each other to form an unlocked state. Specifically, the two locking spring pieces 218 can elastically deform along the width direction of the first slide groove 214. The width of the first pushing part 116 is smaller than the width of the first slide groove 214, and the width of the first pushing part 116 is smaller than the distance p between the two locking spring pieces 218 in the unlocked state but larger than the distance p between the two locking spring pieces 218 in the locked state. In this embodiment, the two locking spring pieces 218 abut against each other in the locked state, with a distance of 0.

[0111] like Figure 40 and Figure 41 As shown, in the first embodiment of the present invention, the staple cartridge 2 is installed in the staple cartridge mounting slot 121 of the end effector (in... Figure 32 As shown in the diagram, the locking spring 218 is positioned relative to the bottom surface of the staple cartridge mounting slot 121, that is, relative to the bottom wall of the staple cartridge cover 208. The locking spring 218 is in a locked state when close to the bottom surface of the staple cartridge mounting slot 121, and in an unlocked state when far away from the bottom surface of the staple cartridge mounting slot 121. Specifically, as... Figure 42 , Figure 43 as well as Figure 44 As shown, the two locking springs 218 are located in the first slide groove 214 (in Figure 35 and Figure 37 (as shown in the image) on both sides and from the second groove 215 (in Figure 35 and Figure 37(As shown in the diagram) The upper part of the pusher 102 extends into the entrance of the second slide groove 215, and the distance u between the two locking springs 218 is greater than the width of the first slide groove 214, allowing the first pushing part 116 of the pusher 102 to be smoothly pushed into the first slide groove 214. The second pushing part 130 of the pusher 102 is provided with a ramp boss 131. The height of the ramp boss 131 gradually decreases from its far end to its near end, and the height h of the far end of the ramp boss 131 is less than the distance e between the locking spring 218 and the bottom surface of the second slide groove 215 in the unlocked state, but greater than the distance f between the locking spring 218 and the bottom surface of the second slide groove 215 in the locked state. The width q of the ramp boss 131 is less than the width of the second slide groove 215.

[0112] Implementation Method 5

[0113] like Figure 1 , Figure 2 , Figure 7 as well as Figure 8 As shown, the present invention also provides an anastomosis device, including an end effector 1. The end effector in this embodiment has the same specific structure, working principle, and beneficial effects as the end effector 1 in Embodiment 1, and will not be described again here. Specifically, the anastomosis device also includes a drive mechanism 3 and an operating component 4. The drive mechanism 3 has a drive flexible shaft 301, which is connected to the pusher component 102. The operator controls the drive mechanism 3 to drive it through the operating component 4. The more specific structures of the drive mechanism 3 and the operating component 4 are the same as those in the prior art, and will not be described again here.

[0114] In this embodiment of the invention, the staple cartridge installed on the anastomosis instrument can be the staple cartridge described in Embodiment 1 or the staple cartridge described in Embodiment 4, and will not be described again.

[0115] The above descriptions are merely a few embodiments of the present invention. Those skilled in the art can make various modifications or variations to the embodiments of the present invention based on the content disclosed in the application documents without departing from the spirit and scope of the present invention.

Claims

1. An end effector, characterized in that, include: A staple cartridge holder with a staple cartridge mounting base for mounting the staple cartridge; A pusher is mounted on the staple cartridge holder and connected to the drive mechanism. The pusher has a firing direction facing the staple cartridge mounting base. A locking structure is installed on the staple cartridge holder, and the locking structure has a firing locking state and a firing unlocking state; In the firing locked state, the locking structure blocks the firing direction of the pusher; the locking structure can be pushed open by a transmission member of the nail magazine to form the firing unlocked state; in the firing unlocked state, the pusher can push the transmission member to move along the firing direction under the drive of the drive mechanism. The locking structure includes two locking sliders, which are symmetrically arranged relative to the pusher member. Each locking slider has an inner surface disposed opposite to it. Each inner surface of the two locking sliders has at least one stop protrusion, which overlaps with the pusher member in the height direction. The end of the stop protrusion away from the staple cartridge mounting base has a stop surface extending perpendicular to the firing direction. Each inner surface of the two locking sliders has at least one unlocking protrusion, which is spaced apart from the firing direction. The pusher also has a retraction direction opposite to the firing direction. When the pusher has completed firing, the locking structure can block the pusher in the retraction direction to form a retraction locked state. The pusher can push open the locking structure under the drive of the drive mechanism to form a retraction unlocked state. The unlocking protrusion has a retraction unlocking surface at one end near the staple cartridge mounting base. The pusher slides against the retraction unlocking surface and pushes the locking slider to slide along its unlocking direction to form the retraction unlocked state. The locking structure can apply resistance when the pusher retracts to monitor the retraction state of the pusher by utilizing changes in the driving force and / or related driving parameters.

2. The end effector according to claim 1, characterized in that, The unlocking direction is set to the side of the pusher, the locking slider and the staple cartridge holder are slidably engaged along the unlocking direction, and the locking slider is provided with a firing unlocking surface; In the firing locked state, the firing unlocking surface extends into the staple cartridge mounting base; during the process of installing the staple cartridge in the staple cartridge mounting base, the transmission member can slide against the firing unlocking surface and push the locking slider to slide along the unlocking direction to form the firing unlocking state.

3. The end effector according to claim 2, characterized in that, The unlocking direction is perpendicular to the firing direction, and the firing unlocking surface is inclined relative to the unlocking direction; or The firing unlocking surface is arranged perpendicular to the firing direction, and the unlocking direction is inclined relative to the firing unlocking surface; or The firing unlocking surface is set perpendicular to the firing direction, and the unlocking direction is the rotational direction around a center.

4. The end effector according to claim 1, characterized in that, The locking structure also includes an elastic reset structure, and the two locking sliders are connected through the elastic reset structure. Under the action of the elastic restoring force of the elastic reset structure, the two locking sliders move closer to each other.

5. The end effector according to claim 2, characterized in that, The unlocking protrusions on the two locking sliders overlap and engage with the pusher in the height direction, and the retraction unlocking surface extends obliquely toward the inside of the two locking sliders along the retraction direction of the pusher.

6. The end effector according to claim 2, characterized in that, The staple cartridge holder is provided with at least one guide structure, and the locking slider is provided with a guide groove along the unlocking direction. The guide groove and the guide structure slide in cooperation along the unlocking direction. The end effector also includes a fixed baffle. One end of the fixed baffle is connected to the staple cartridge holder, and the other end of the fixed baffle is connected to the guide structure. The locking slider is limited between the fixed baffle and the staple cartridge holder.

7. A method for monitoring the state of an end effector, characterized in that, The state monitoring method, applied to the end effector according to any one of claims 1-6, comprises the following steps: Monitor the firing drive parameters when the drive mechanism drives the pusher component to fire; When the firing drive parameter is greater than the first parameter value, it is determined whether the pin cartridge installed in the end effector is a used pin cartridge or no pin cartridge is installed, and the end effector is in a state where it cannot fire. When the firing drive parameter is less than the second parameter value, and the second parameter value is less than the first parameter value, the end effector is determined to be in a normal firing state.

8. The method for monitoring the state of an end effector according to claim 7, characterized in that, It also includes the following steps: Monitor the retraction drive parameters when the drive mechanism drives the pusher to retract; When the back-off drive parameter changes from a third parameter value to a fourth parameter value, and the third parameter value is less than the second parameter value, and the fourth parameter value is greater than the third parameter value and less than the first parameter value, it is determined that the end effector is in a normal back-off state.

9. A method for monitoring the state of an end effector, characterized in that, The state monitoring method, applied to the end effector according to any one of claims 1-6, comprises the following steps: The firing drive parameters and the position parameters of the pusher component are monitored when the drive mechanism drives the pusher component to fire. When the firing drive parameter increases to the fifth parameter value, it is determined whether the position parameter of the pusher component has changed; If so, determine that the end effector is in a normal firing state, and cause the drive mechanism to drive the pusher to continue firing, and the firing drive parameter is lower than the sixth parameter value; If not, determine whether the pin cartridge installed on the end effector is a used pin cartridge or no pin cartridge is installed, and the end effector is in a state where it cannot be fired; When the end effector fires normally, the firing drive parameter of the drive mechanism is lower than the sixth parameter value, and the fifth parameter value is lower than the sixth parameter value.

10. The method for monitoring the state of an end effector according to claim 9, characterized in that, It also includes the following steps: Monitor the retraction drive parameters when the drive mechanism drives the pusher to retract; When the back-off drive parameter changes from the seventh parameter value to the eighth parameter value, and the eighth parameter value is greater than the seventh parameter value and less than the sixth parameter value, it is determined that the end effector is in a normal back-off state.

11. An anastomosis device, characterized in that, Includes the end effector as described in any one of claims 1-6.

12. The anastomosis device according to claim 11, characterized in that, The anastomosis device also includes a staple cartridge.

13. The anastomosis device according to claim 12, characterized in that, The staple cartridge includes: Cutting parts; A transmission component is used to drive the cutting component to move along a cutting direction under the push of the end effector. The staple cartridge seat has a groove along the cutting direction for sliding engagement with the transmission component; The staple cartridge cover has two limiting parts that can extend into the slide groove and provide an elastic restoring force toward the outside of the slide groove.

14. The anastomosis device according to claim 13, characterized in that, The near end of the staple cartridge seat is provided with the inlet of the slide groove, and a locking part is provided between the two limiting parts. The locking part has an unlocked state and a locked state. In the locked state, the locking part can block the entrance of the slide to form the locked state; the transmission member is installed at the proximal end of the nail cartridge seat and pushes the locking part away from the entrance of the slide to form the unlocked state.

15. The anastomosis device according to claim 14, characterized in that, The locking part includes at least one locking spring, which can move outward from the entrance under the pressure of the transmission member to form the unlocked state; the locking spring resets inward from the entrance when the pressure of the transmission member is removed to form the locked state.

16. The anastomosis device according to claim 15, characterized in that, The number of locking springs is two. The two locking springs are arranged opposite each other in the width direction of the slide and located at the entrance of the slide. The two locking springs are close to each other to form the locked state, and the two locking springs are far apart from each other to form the unlocked state.

17. The anastomosis device according to claim 15, characterized in that, The staple cartridge is installed in the staple cartridge mounting slot of the end effector. The locking spring is disposed relative to the bottom surface of the staple cartridge mounting slot. The locking spring is close to the bottom surface of the slot to form the locked state, and the locking spring is far away from the bottom surface of the slot to form the unlocked state.

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