End-of-line instruments, surgical instruments, and robots

Abstract

This specification provides an end instrument, a surgical instrument, and a robot. The surgical instrument includes a drive device, a drive tube, and an end instrument. The drive tube extends along a longitudinal direction and has a first end and a second end. The first end is mounted on the end instrument, and the second end is used to couple with the drive device. The first end of the drive tube has a tube hook protruding along the longitudinal direction. The end instrument has a first instrument end and a second instrument end along the longitudinal direction. The first end of the instrument is provided with an end effector, and a limiting groove is provided in an area of ​​the end instrument near the second end. The limiting groove is used to cooperate with the tube hook to constrain the relative position of the drive tube and the end instrument along the longitudinal direction. The surgical instrument has good mechanical stability.

Description

Technical Field

[0001] This specification relates to the field of medical instruments, and in particular to an end instrument, a surgical instrument for installing the end instrument, and a surgical robot using the surgical instrument. Background Art

[0002] Minimally invasive surgery is a surgical procedure performed inside the human body using modern medical devices such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery.

[0003] With technological advancements, minimally invasive surgical robotics have matured and are now widely used. These robots typically consist of a master control console and slave devices. The master console sends commands to the slave devices based on the surgeon's actions, controlling the slave devices. The slave devices respond to these commands and perform the corresponding surgical procedures.

[0004] A surgical instrument that is detachable from the slave operating device is connected to the slave operating device. The surgical instrument includes a driving device and an end instrument for performing surgery, as well as an operating arm for connecting the end instrument and the driving device. The driving device is used to connect the surgical instrument to the slave operating device and receive driving force from the slave operating device to drive the end instrument to move.

[0005] It can be seen that higher requirements are placed on the stability of the mechanical connection between the operating arm and the end effector of the surgical instrument. Summary of the Invention

[0006] The embodiments of this specification are dedicated to providing an end instrument, a surgical instrument, and a robot with better mechanical properties.

[0007] An embodiment of the present specification provides a surgical instrument, comprising a drive device, a drive tube and an end instrument, wherein the drive tube extends along a longitudinal direction and has a first end and a second end, the first end being mounted with the end instrument, and the second end being used to couple with the drive device, the first end of the drive tube having a tube hook protruding along the longitudinal direction, and the end instrument having an instrument first end and an instrument second end along the longitudinal direction, wherein the first end of the instrument is provided with an end effector, and a limiting groove is provided in an area of ​​the end instrument near the second end of the instrument, and the limiting groove is used to cooperate with the tube hook to constrain the relative positions of the drive tube and the end instrument along the longitudinal direction.

[0008] An embodiment of the present specification provides a surgical instrument, including a driving device and a self-rotating tube, wherein the self-rotating tube extends along the longitudinal direction and has a first end and a second end; the first end is used to install an end instrument, and the second end is used to couple with the driving device; the first end of the self-rotating tube has a pipe hook protruding along the longitudinal direction, and the pipe hook has a first hook stop surface facing the second end, and the first hook stop surface is used to prevent the end instrument from moving away from the second end relative to the self-rotating tube along the longitudinal direction.

[0009] An embodiment of the present specification provides an end instrument, which has a first end and a second end along the longitudinal direction; wherein the first end of the instrument is provided with an end effector, and the second end of the instrument is used to couple to a driving tube of a surgical instrument; wherein a limiting groove is provided in an area of ​​the end instrument near the second end of the instrument; the limiting groove is used to constrain the relative position of the end instrument and the driving tube along the longitudinal direction of the end instrument.

[0010] An embodiment of the present specification provides a surgical robot, which includes a main operating console and a slave operating device. The slave operating device performs surgical operations on the human body according to the instructions of the main operating console. The slave operating device is detachably equipped with the surgical instrument described in the above embodiment.

[0011] The surgical instrument provided in the embodiments of this specification has a tube hook provided on the rotating tube to securely hook the end instrument through the tube hook to prevent the end instrument from detaching from the rotating tube. This improves the mechanical stability of the medical instrument used in surgery and thus improves the safety of the surgical instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 Shown is a three-dimensional schematic diagram of the main operating console provided in the embodiment of this specification;

[0013] Figure 2 Shown is a three-dimensional schematic diagram of a usage scenario of a slave operating device provided in an embodiment of this specification;

[0014] Figure 3 Shown is a three-dimensional schematic diagram of a surgical instrument provided in an embodiment of this specification;

[0015] Figure 4 Shown is an exploded schematic diagram of the top plate, bottom plate, and support frame of the driving device provided in an embodiment of this specification;

[0016] Figure 5 FIG2 is a schematic diagram of the internal three-dimensional structure of the driving device provided in the embodiment of this specification;

[0017] Figure 6The figure shows an exploded schematic diagram of the installation structure of the self-rotating tube, the base plate and the driven wheel provided in the embodiment of this specification;

[0018] Figure 7 Shown is a partially exploded perspective view of a long shaft assembly provided in an embodiment of this specification;

[0019] Figure 8 FIG2 is a schematic cross-sectional view of a driving device provided in an embodiment of the present disclosure along the axis X of the long axis assembly;

[0020] Figure 9 Shown is a three-dimensional exploded schematic diagram of some components in the driving device provided in an embodiment of this specification;

[0021] Figure 10 FIG2 is a schematic cross-sectional view of a driving device provided in an embodiment of the present disclosure along the axis X of the long axis assembly;

[0022] Figure 11 Shown Figure 8 A schematic cross-sectional view of the drive device along line YY is provided;

[0023] Figure 12 Shown is a perspective schematic diagram of a drive device and a long shaft assembly provided in an embodiment of this specification;

[0024] Figure 13 The figure shows a three-dimensional schematic diagram of a pipe hook provided in an embodiment of this specification;

[0025] Figure 14 The figure shows a perspective schematic diagram of the end instrument provided in the embodiment of this specification;

[0026] Figure 15 Shown is a cross-sectional schematic diagram of the end instrument provided in an embodiment of this specification;

[0027] Figure 16 Shown is a partial perspective schematic diagram of a tool holder and a tool pusher provided in an embodiment of this specification;

[0028] Figure 17 Shown is a partial perspective schematic diagram of a firing rod provided in an embodiment of this specification;

[0029] Figure 18 Shown is a partial cross-sectional schematic diagram of an end instrument provided in an embodiment of this specification;

[0030] Figure 19 Shown is a partial cross-sectional schematic diagram of an end instrument provided in an embodiment of this specification;

[0031] Figure 20Shown is a partial perspective schematic diagram of an end instrument provided in an embodiment of this specification;

[0032] Figure 21 Shown is a partial perspective schematic diagram of a driving rod provided in an embodiment of this specification;

[0033] Figure 22 Shown is a perspective schematic diagram of a fastening tube provided in an embodiment of this specification;

[0034] Figure 23 The figure shows a three-dimensional structural diagram of the internal structure of the driving device provided in the embodiment of this specification;

[0035] Figure 24 FIG2 is a partially exploded perspective view of a firing rod provided in an embodiment of the present specification;

[0036] Figure 25 Shown is a three-dimensional structural diagram of the internal structure of the driving device provided in the embodiment of this specification.

[0037] Master operation console 100 Slave operation device 200 Robotic arm 210

[0038] Actuating device 220 Surgical instrument 300 Driving device 310

[0039] Long shaft assembly 320 first end 351 end instrument 321

[0040] Second end 353 End 357 End effector 340

[0041] First driving rod 355 First flange 363 First surface 359

[0042] Second surface 361 Groove wall 369 First annular groove 365

[0043] First driving unit 367 First center hole 377a First shift fork 371

[0044] First drive shaft assembly 373 First connecting assembly 376 First center hole 377b

[0045] First driving shaft 374 through hole 382 First connecting shaft 378

[0046] First driving member 380 Bearing 386 Through hole 384

[0047] First fork cover 385 First annular groove 387 Housing 381

[0048] First fork body 383 nut 388 bottom surface 389

[0049] Surface 391 Axis fixing member 394 First connecting member body 390

[0050] Shaft fixing member 392 Second driving rod 393 Bearing 396

[0051] Third surface 397 Second flange 401 End 395

[0052] Fourth surface 399 Second drive unit 405 Second annular groove 403

[0053] Second shift fork 409 Second drive shaft assembly 411 Groove wall 407

[0054] Second center hole 415b Second fork body 417 Second center hole 415a

[0055] Second annular groove 421 bottom surface 423 second fork cover plate 419

[0056] Rotating tube 427 Driving rod stopper 430 Surface 425

[0057] Second through hole 433 Firing rod assembly 435 First through hole 431

[0058] Second section 439 driving wheel 475 first section 437

[0059] Rotating tube drive shaft assembly 473 Top plate 481 Rotating tube drive unit 471

[0060] Transmission member 479 Second connecting shaft 416 Driven wheel 477

[0061] Support frame 485 Second connecting component 414 Bottom plate 483

[0062] Second drive shaft 412 through hole 420 through hole 422

[0063] Second driving member 418 Nut 426 Second connecting member body 428

[0064] Bearing 424 Shaft fixing member 432 Through hole 436

[0065] Shaft fixing member 429 Bearing 440 Driven wheel body 442

[0066] Bearing 438 Firing rod limiter 446 Firing rod driver 448

[0067] Rotating tube fixing member 444 Gear portion 452 Driving member extension portion 454

[0068] Firing rod 450 Bearing 456 Bearing 458

[0069] Outer tube connector 460 Guide shaft assembly 462 First guide hole 464

[0070] First guide shaft 468 Base 472 First guide seat 474

[0071] Second guide shaft 476 Second guide hole 478 Second guide seat 480

[0072] Third through hole 482 Hook connection portion 564 Pipe hook 560

[0073] First hook stop surface 562 Second hook connection portion 570 Hook limiting hole 566

[0074] First hook connection portion 568 Glue injection hole 576 Joint portion 572

[0075] Spacing groove 574 Second hook arm 582 Hook guide hole 578

[0076] First hook arm 580 Instrument first end 588 Second hook stop surface 584

[0077] Hook arm groove 586 Nail seat 596 Instrument second end 590

[0078] Limiting slot 594 Tool holder 602 Anvil 598

[0079] Limiting groove wall 600 First groove section 608 Pushing rod 604

[0080] Outer tube 606 Flange step 614 Second groove section 610

[0081] Circumferential flange 612 Tool bar connector 620 Flange side 616

[0082] Arbor groove 618 Nail seat top surface 700 Connecting groove 622

[0083] First tie rod 704 Second tie rod 706 Swing tie rod assembly 702

[0084] Fourth tie rod 710 First pin 712 Third tie rod 708

[0085] Third pin 718 Fourth pin 720 Second pin 716

[0086] First outer tube section 724 Second outer tube section 726 Fifth pin shaft 722

[0087] Arc groove 800, protruding pin 802, outer tube joint 728

[0088] Rotating flange 804 Outer tube groove 808 Third section 803

[0089] Drive rod slot 812 Fastening tube 814 Rotation tube guide hole 810

[0090] Drive pinion 820 Intermediate pinion 822 Shaft extension 818

[0091] Second manual shaft 825 Second manual large gear 826 Intermediate large gear 824

[0092] Second knob 823 Limiting member mounting portion 830 Second limiting frame 828

[0093] Firing rod connecting piece 834 Firing rod driving gear 836 Limiting piece extension 832

[0094] Drive gear shaft 840 First transition gear 842 Firing drive unit 838

[0095] Third drive shaft gear 846 Third connecting assembly 848 Third drive shaft assembly 844

[0096] Third driving member 852 Third connecting member body 854 Third driving shaft 850

[0097] Shaft fixing part 858 Third drive shaft gear shaft 860 Shaft fixing part 856

[0098] Second transition gear 864 First manual wheel assembly 866 Manual drive unit 862

[0099] First manual shaft 870 Wedge 835 First knob 868

[0100] First manual gear 872 DETAILED DESCRIPTION

[0101] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the embodiments described are only part of the embodiments, not all of the embodiments. Based on the embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this invention.

[0102] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0103] It should be noted that the naming method of "first", "second", etc. used in this article for component naming is only used to distinguish the names and does not limit the specific quantity.

[0104] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0105] In some embodiments, a minimally invasive surgical robot generally includes a slave operating device and a master operating console. Figure 1 Shown is a main operating console 100 according to one embodiment of the present specification. Figure 2 The slave operating device 200 of one embodiment of the present specification is shown. The surgeon can perform relevant control operations on the slave operating device 200 on the main operating console 100, and the slave operating device 200 performs surgical operations on the human body according to the input instructions of the main operating console 100. The main operating console 100 and the slave operating device 200 can be placed in the same operating room, or in different rooms, or even the main operating console 100 and the slave operating device 200 can be far apart. For example, the main operating console 100 and the slave operating device 200 are located in different cities. The main operating console 100 and the slave operating device 200 can transmit data by wire or by wireless. For example, the main operating console 100 and the slave operating device 200 are located in the same operating room, and data is transmitted between the two by wire. For another example, the main operating console 100 and the slave operating device 200 are located in different cities, and long-distance data transmission is performed between the two via 5G wireless signals.

[0106] The slave operating device 200 includes a robotic arm 210 and an actuator 220 disposed at the distal end of the robotic arm 210. The surgical instrument 300 used to perform a surgical operation is connected to the actuator 220, and the actuator 220 drives the surgical instrument 300 to move through multiple actuators inside it. In some embodiments, multiple surgical instruments 300 can be connected to one actuator 220, and the distal ends of multiple surgical instruments 300 enter the human body through one incision, thereby reducing the number of surgical incisions and making postoperative recovery faster. Of course, in some embodiments, the slave operating device 200 can also have multiple robotic arms, and multiple surgical instruments 300 can also be installed on different robotic arms, and the end instruments 300 of different surgical instruments 300 can enter the human body through different incisions.

[0107] In some embodiments, see Figure 3The surgical instrument 300 may include a drive unit 310, a long shaft assembly 320, and an end instrument 321. The long shaft assembly 320 may include a rotating tube 427 extending in a longitudinal direction, a firing rod assembly 435 at least partially housed within the rotating tube 427, and a drive rod. The long shaft assembly 320 has a first end 351 and a second end 353 along the longitudinal direction. The end instrument 321 may be mounted on the first end 351 of the long shaft assembly 320, and the second end 353 of the long shaft assembly 320 is coupled to the drive unit 310. The end instrument 321 may include a wrist and / or an end effector 340. The drive unit 310 may be coupled to the actuator 220. Multiple drive units within the drive unit 310 may manipulate the wrist and / or end effector 340 via the long shaft assembly 320. The end effector 340 may be an instrument that performs functions such as cauterization, shearing, cutting, clamping, or imaging, and may also include a blade within the jaws. In some other embodiments, the first end 351 of the long shaft assembly 320 can be connected only to the wrist, and the movement of the wrist can be used to perform actions such as pressing or lifting tissue.

[0108] Please also refer to Figure 3 and Figure 4 In some embodiments, the housing 381 of the driving device 310 can provide stable support for the internal structure. Specifically, the housing 381 of the driving device 310 can mainly include a top plate 481, a bottom plate 483, a support frame 485, and a shell connected to the top plate 481 and the bottom plate 483 ( Figure 4 Not shown, as Figure 3 The support frame 485 is fixedly connected to the top plate 481 and the bottom plate 483.

[0109] Please also refer to Figure 5 In some embodiments, the self-rotating tube 427 extends along the longitudinal direction to form the first end 351 and the second end 353. The self-rotating tube 427 is hollow as a whole to form a hollow pipe, which can be used as a driving pipe.

[0110] In some embodiments, the drive device 310 can provide a rotational driving force to the rotation tube 427. Thus, the rotation tube 427 can rotate under the action of the rotational driving force. Specifically, the drive device 310 can be provided with a rotation tube drive unit 471 for driving the rotation tube 427 to rotate. The rotation tube drive unit 471 can include: a rotation tube drive shaft assembly 473, a driving wheel 475 sleeved on the rotation tube drive shaft assembly 473, a driven wheel 477 fixedly connected to the rotation tube 427, and a transmission member 479 wrapped around the driving wheel 475 and the driven wheel 477.

[0111] The rotating tube drive shaft assembly 473 can rotate under the drive of the actuator of the actuator device 220. Since the driving wheel 475 is fixedly connected to the rotating tube drive shaft assembly 473, the driving wheel 475 can rotate along with the rotating tube drive shaft assembly 473. The rotation of the driving wheel 475 drives the transmission member 479, which in turn drives the driven wheel 477 to rotate. The driven wheel 477 is fixedly connected to the rotating tube 427, so the driven wheel 477 can drive the rotating tube 427 to rotate together. This enables the rotating tube drive unit 471 to drive the rotating tube 427 to rotate.

[0112] Please also refer to Figure 6 The driven wheel 477 may include a driven wheel body 442 and a rotation tube fixing member 444. The driven wheel body 442 may be sleeved on the rotation tube 427, and the rotation tube fixing member 444 may be fixedly connected to the driven wheel body 442 to secure the driven wheel 477 to the rotation tube 427. Furthermore, the rotation tube fixing member 444 may be fixedly connected to the driven wheel body 442 by screws or rivets.

[0113] The transmission member 479 has a certain degree of flexibility and can be wound around the driving wheel 475 and the driven wheel 477. The material of the transmission member 479 can be a steel wire, a belt, etc. No specific limitation is given here.

[0114] See also Figures 7 to 9 In some embodiments, a first driving rod 355 for driving the end instrument 321 is provided in the long shaft assembly 320 ; a first surface 359 facing the first end 351 and a second surface 361 facing away from the first end 351 are formed at an end 357 of the first driving rod 355 away from the first end 351 .

[0115] The driving device 310 is coupled to the second end 353 of the long shaft assembly 320. The driving device 310 can apply a force to the first surface 359 and / or the second surface 361 to move the first driving rod 355 along the longitudinal direction.

[0116] Specifically, when the driving device 310 applies a force to the first surface 359 of the first driving rod 355, the first driving rod 355 can move away from the first end 351 along the longitudinal direction. When the driving device 310 applies a force to the second surface 361 of the first driving rod 355, the first driving rod 355 can move closer to the first end 351 along the longitudinal direction. In this way, the first driving rod 355 can be stably driven to move along the longitudinal direction. In this way, the first driving rod 355 can further drive the corresponding functions of the end effector 321.

[0117] In some embodiments, the first drive rod 355 can be circumferentially limited relative to the rotating tube 427. Specifically, the rotating tube 427 can be driven by the drive device 310 to rotate relative to the axis X of the rotating tube 427. This can drive the end instrument 321 to rotate, thereby adjusting the position and angle of the end effector 340 to facilitate the surgical procedure. The first drive rod 355 can be circumferentially limited relative to the rotating tube 427. That is, when the rotating tube 427 rotates relative to its axis X, the first drive rod 355 will rotate along with it around the axis X of the rotating tube 427.

[0118] Thus, when the rotating tube 427 rotates, the first driving rod 355 can rotate along with it around the axis X of the rotating tube 427. The relative position of the first driving rod 355 in the rotating tube 427 can be stably maintained, thereby improving the stability of the surgical instrument 300.

[0119] In some embodiments, the end portion 357 of the first driving rod 355 away from the first end 351 is provided with a first flange 363 deviating from the longitudinal direction. The first flange 363 has the first surface 359 and the second surface 361 .

[0120] The extension direction of the first flange 363 can deviate from the longitudinal direction of the rotation tube 427. This allows the extension direction of the first flange 363 to form an acute angle or a right angle with the longitudinal direction of the rotation tube 427. Thus, the first flange 363 has two surfaces: one surface generally facing the first end 351 of the rotation tube 427, namely the first surface 359; and the other surface generally facing away from the first end 351 of the rotation tube 427, namely the second surface 361.

[0121] By forming the first flange 363 on the first driving rod 355 and forming the first surface 359 and the second surface 361 on the first flange 363, it is structurally convenient to drive the first driving rod 355 to move along the longitudinal direction of the rotation tube 427.

[0122] In some embodiments, the first flange 363 can be integrally formed with the first drive rod 355. This allows for a better connection between the two. Of course, in some embodiments, the first flange 363 and the first drive rod 355 can also be independent components connected by an appropriate connection method.

[0123] In some embodiments, the end 357 of the first driving rod 355 away from the first end 351 may be provided with a groove (not shown in the figure). In this way, the surface of the groove side wall facing the first end 351 can serve as the first surface 359, and the surface of the groove side wall facing away from the first end 351 can serve as the second surface 361. Alternatively, the end surface of the first driving rod 355 away from the first end 351 can serve as the second surface 361. Of course, those skilled in the art can make other changes based on the inspiration of the embodiments of this specification, but as long as the functions and effects achieved are the same or similar to the functions and effects disclosed in multiple embodiments of the specification, they should all be covered within the scope of protection of the claims of this case.

[0124] In some embodiments, the driving device 310 may have a first annular groove 365 extending along the circumference of the rotating tube 427. The first flange 363 of the first driving rod 355 is at least partially received in the first annular groove 365, so that the driving device 310 can drive the first driving rod 355 to move along the longitudinal direction.

[0125] A driving unit 367 of the driving device 310 can be provided with a first annular groove 365 for at least partially accommodating the first flange 363. In this manner, a force can be applied to the second surface 361 of the first flange 363 via the groove wall 369 of the first annular groove 365, causing the first driving rod 355 to move along the longitudinal direction of the rotating tube 427 toward the first end 351. Alternatively, a force can be applied to the first surface 359 of the first flange 363 via the groove wall 369 of the first annular groove 365, causing the first driving rod 355 to move along the longitudinal direction of the rotating tube 427 toward the second end 353.

[0126] The portion of the first flange 363 protruding from the first driving rod 355 can partially extend into the first annular groove 365. Of course, the portion of the first flange 363 protruding from the first driving rod 355 can also be completely received in the first annular groove 365.

[0127] In some embodiments, the drive device 310 can drive the rotating tube 427 to rotate circumferentially, causing the first flange 363 of the first drive rod 355 to move along the first annular groove 365. The first annular groove 365 provides space for the first flange 363 to move along the circumference of the rotating tube 427. This arrangement ensures that each function is independent of each other and minimizes interference, ensuring stable functional implementation. That is, when the drive device 310 drives the rotating tube 427 to rotate, the first drive rod 355 can rotate along with it without affecting its position along the longitudinal direction of the rotating tube 427. Furthermore, the drive device 310 can simultaneously drive the first drive rod 355 to move along the longitudinal direction of the rotating tube 427 while driving the rotating tube 427 to rotate. This can improve the efficiency of the operation of multiple surgical instruments 300 and reduce surgical time to a certain extent.

[0128] In some embodiments, for ease of description, among the multiple drive units included in the drive device 310, the drive unit 367 provided with the first annular groove 365 is referred to as the first drive unit 367. The first drive unit 367 may include: a first shift fork 371 provided with the first annular groove 365, and a first drive shaft assembly 373 rotatably coupled to the first shift fork 371. Driven by the first drive shaft assembly 373, the first shift fork 371 can move axially along the first drive shaft assembly 373, thereby driving the first drive rod 355 to move along the longitudinal direction.

[0129] The first shift fork 371 is sleeved on the first drive shaft assembly 373, and a first transmission structure is provided between the first drive shaft assembly 373. The first transmission structure can convert the rotation of the first drive shaft assembly 373 into the linear motion of the first shift fork 371. Specifically, the first transmission structure can adopt a threaded structure. Of course, the first transmission structure can also be set as a structure in which a cam cooperates with a cam groove. That is, a cam groove is provided on the first drive shaft assembly 373, and a cam that can slide along the cam groove is provided on the first shift fork 371. In this way, the first transmission structure can convert the rotation of the first drive shaft assembly 373 into the linear motion of the first shift fork 371 through the cooperation of the cam and the cam groove.

[0130] The first shift fork 371 is provided with a first center hole 377a corresponding to the center of the first annular groove 365. The first center hole 377a of the first shift fork 371 is mounted on the firing rod driver 448. The first shift fork 371 and the firing rod driver 448 are movable relative to each other along the longitudinal direction of the long shaft assembly 320. The firing rod driver 448 is restrained by the top plate 481 of the drive device 310. Thus, the first shift fork 371 is mounted on both the first drive shaft assembly 373 and the firing rod driver 448. When the first drive shaft assembly 373 drives the first shift fork 371 to move, the firing rod driver 448 blocks the first shift fork 371 from rotating relative to the first drive shaft assembly 373. Of course, the first drive rod 355 can also prevent the first shift fork 371 from rotating relative to the first drive shaft assembly 373.

[0131] The first shift fork 371 includes a first shift fork body 383 and a first shift fork cover plate 385. The first shift fork body 383 is formed with a first annular groove 387, and a first center hole 377a is located at the center of the first annular groove 387. The first and second annular grooves 387 may have similar centerlines. The first shift fork cover plate 385 mates with the first shift fork body 383 to form a first annular groove 365. The first shift fork cover plate 385 has a first center hole 377b at its center. This allows the first shift fork 371 to be mounted on the firing rod driver 448. Furthermore, the diameter of the first center hole 377b in the first shift fork cover plate 385 is larger than the outer diameter of the firing rod driver 448. This creates an annular space between the first shift fork cover plate 385 and the firing rod driver 448. Furthermore, the first driving rod 355 can extend from this annular space into the first annular groove 365, so that the first flange 363 is at least partially received within the first annular groove 365. Furthermore, when the rotating tube 427 rotates, the first driving rod 355 can move along the annular space, so that the first driving rod 355 rotates together with the rotating tube 427 .

[0132] The first shift fork cover 385 and the first shift fork body 383 can be fixedly connected. Specifically, screws, rivets, or snap-fit ​​structures can be used to achieve positional limits for the two. Of course, glue can also be used to bond the two.

[0133] When the first flange 363 of the first drive rod 355 is at least partially received in the first annular groove 365, the second surface 361 can contact the bottom surface 389 of the first annular groove 387, and the first surface 359 can contact the surface 391 of the first fork cover 385 facing the bottom surface 389 of the first annular groove 387. This allows the first drive rod 355 and the first fork 371 to be positioned longitudinally along the rotation tube 427. Furthermore, when the first fork 371 is driven to move longitudinally along the rotation tube 427, it can also move the first drive rod 355. This allows the first drive rod 355 to operate to trigger the end effector 321.

[0134] In some embodiments, the axial direction of the first drive shaft assembly 373 is parallel to the longitudinal direction. Since the first shift fork 371 is sleeved on the first drive shaft assembly 373, when the first drive shaft assembly 373 drives the first shift fork 371 to move, the first shift fork 371 moves along the first drive shaft assembly 373. Since the first drive shaft assembly 373 is parallel to the longitudinal direction of the rotation tube 427, the first shift fork 371 drives the first drive rod 355 to move along the longitudinal direction of the rotation tube 427.

[0135] The first drive shaft assembly 373 is mounted on the drive device 310 . Specifically, the first drive shaft assembly 373 may mainly include a first drive shaft 374 , a first connecting assembly 376 , a first connecting shaft 378 and a first driving member 380 .

[0136] The first drive shaft 374 passes through the through hole 382 of the first fork body 383, so that the first fork 371 is sleeved on the first drive shaft assembly 373. The top plate 481 is provided with a through hole 384 corresponding to the first drive shaft 374, and the first drive shaft 374 is mounted to the through hole 384 through a bearing 386. In this way, the first drive shaft 374 can rotate relative to the top plate 481. The portion of the first drive shaft 374 extending out of the through hole 384 is connected to a nut 388. The portion of the first drive shaft 374 that contacts the bearing 386 is provided with a step surface. Furthermore, through the cooperation of the step surface, the bearing 386 and the nut 388, the position of the first drive shaft 374 relative to the top plate 481 is limited, and the first drive shaft 374 is allowed to rotate relative to the top plate 481.

[0137] The first connecting assembly 376 may include a first connecting member body 390, a shaft fixing member 392, and a shaft fixing member 394. The first connecting assembly 376 may be used to connect the first drive shaft 374 and the first connecting shaft 378. Specifically, the shaft fixing member 392 may securely connect the first drive shaft 374 to the first connecting member body 390. The shaft fixing member 394 may securely connect the first connecting shaft 378 to the first connecting member body 390. The aforementioned secure connection method may include, but is not limited to, screws or rivets. In this manner, the first drive shaft 374 and the first connecting shaft 378 are securely connected.

[0138] The first connecting shaft 378 can be mounted in the through hole 398 of the bottom plate 483 via a bearing 396. This allows the first connecting shaft 378 to rotate relative to the bottom plate 483, thereby enabling the first drive shaft assembly 373 to rotate relative to the top plate 481 and the bottom plate 383. This also defines the position of the first drive shaft assembly 373 along the longitudinal direction of the rotation tube 427.

[0139] The first driving member 380 is fixedly connected to the first connecting shaft 378. The first driving member 380 can be used to receive power input from the actuator of the actuating device 220. Thus, the first driving shaft assembly 373 is driven to rotate.

[0140] In some embodiments, the first surface 359 and the second surface 361 of the first driving rod 355 may be simultaneously subjected to forces exerted by the first fork 371. In this case, under the combined force of the forces exerted on the first surface 359 and the second surface 361, the first driving rod 355 moves along the longitudinal direction of the rotation tube 427.

[0141] Please also refer to Figure 7 、 Figure 8 and Figure 10 In some embodiments, a second driving rod 393 for driving the end instrument 321 is disposed in the self-rotating tube 427 ; an end 395 of the second driving rod 393 away from the first end 351 is formed with a third surface 397 facing the first end 351 and a fourth surface 399 facing away from the first end 351 .

[0142] The driving device 310 can apply force to the third surface 397 and / or the fourth surface 399 to move the second driving rod 393 along the longitudinal direction.

[0143] Specifically, when the driving device 310 applies a force to the third surface 397 of the second driving rod 393, the second driving rod 393 can move away from the first end 351 along the longitudinal direction. When the driving device 310 applies a force to the fourth surface 399 of the second driving rod 393, the second driving rod 393 can move closer to the first end 351 along the longitudinal direction. In this manner, the second driving rod 393 can be stably driven to move along the longitudinal direction. In this manner, the second driving rod 393 can further activate the corresponding function of the end instrument 321.

[0144] In some embodiments, the second drive rod 393 is circumferentially limited relative to the rotating tube 427. Specifically, the rotating tube 427 can be driven by the drive device 310 to rotate relative to the axis of the rotating tube 427, thereby causing the end instrument 321 to swing, thereby adjusting the position and angle of the end instrument 321 to facilitate the surgical procedure. The second drive rod 393 can be circumferentially limited relative to the rotating tube 427. That is, when the rotating tube 427 rotates relative to its axis X, the second drive rod 393 will rotate along with it around the axis X of the rotating tube 427.

[0145] In this way, when the rotating tube 427 rotates, the second driving rod 393 can rotate along with it around the axis of the rotating tube 427. The relative position of the second driving rod 393 in the rotating tube 427 can be stably maintained, thereby improving the stability of the surgical instrument 300.

[0146] In some embodiments, the end portion 395 of the second driving rod 393 away from the first end 351 is provided with a second flange 401 deviating from the longitudinal direction; the second flange 401 has the third surface 397 and the fourth surface 399 .

[0147] The extension direction of the second flange 401 can deviate from the longitudinal direction of the rotating tube 427. This allows the extension direction of the second flange 401 to form an acute angle or a right angle with the longitudinal direction of the rotating tube 427. Thus, the second flange 401 has two surfaces: one surface generally facing the first end 351 of the rotating tube 427, namely the third surface 397; and the other surface generally facing away from the first end 351 of the rotating tube 427, namely the fourth surface 399.

[0148] By forming the second flange 401 on the second driving rod 393 and forming the third surface 397 and the fourth surface 399 on the second flange 401, it is structurally convenient to drive the second driving rod 393 to move along the longitudinal direction of the rotation tube 427.

[0149] In some embodiments, the second flange 401 can be integrally formed with the second drive rod 393. This allows for a better integration between the two. Of course, in some embodiments, the second flange 401 and the second drive rod 393 can also be independent components connected by an appropriate connection method.

[0150] In some embodiments, the end 395 of the second drive rod 393 away from the first end 351 may be provided with a groove (not shown). Thus, the surface of the groove sidewall facing the first end 351 may serve as the third surface 397, and the end surface of the second drive rod 393 away from the first end 351 may serve as the fourth surface 399. Of course, those skilled in the art may make other modifications based on the embodiments of this specification. However, as long as the functions and effects achieved are the same or similar to those disclosed in the various embodiments of this specification, they shall be covered by the scope of protection of the present claims.

[0151] In some embodiments, the driving device 310 has a second annular groove 403 extending along the circumference of the rotating tube 427, and the second flange 401 of the second driving rod 393 is at least partially accommodated in the second annular groove 403, so that the driving device 310 can drive the second driving rod 393 to move along the longitudinal direction.

[0152] Each of the multiple drive units included in the drive device 310 can be configured to perform a corresponding drive function. Specifically, one drive unit 405 of the drive device 310 can be provided with a second annular groove 403 for at least partially accommodating the second flange 401. In this manner, a force can be applied to the fourth surface 399 of the second flange 401 via the groove wall 407 of the second annular groove 403, causing the second drive rod 393 to move along the longitudinal direction of the rotation tube 427 toward the first end 351. Alternatively, a force can be applied to the third surface 397 of the second flange 401 via the groove wall 407 of the second annular groove 403, causing the second drive rod 393 to move along the longitudinal direction of the rotation tube 427 toward the second end 353.

[0153] The portion of the second flange 401 protruding from the second driving rod 393 can partially extend into the second annular groove 403. Of course, the portion of the second flange 401 protruding from the second driving rod 393 can also be completely accommodated in the second annular groove 403.

[0154] In some embodiments, the drive device 310 can drive the rotating tube 427 to rotate circumferentially, causing the second flange 401 of the second drive rod 393 to move along the second annular groove 403. In some embodiments, the drive device 310 can drive the rotating tube 427 to rotate circumferentially, causing the second flange 401 of the second drive rod 393 to move along the second annular groove 403. The second annular groove 403 provides space for the second flange 401 to move along the circumference of the rotating tube 427. This arrangement ensures that each function is independent of each other and minimizes interference, ensuring stable functional implementation. That is, when the drive device 310 drives the rotating tube 427 to rotate, the second drive rod 393 can rotate along with it without affecting its position along the longitudinal direction of the rotating tube 427. Furthermore, the drive device 310 can simultaneously drive the second drive rod 393 to move along the longitudinal direction of the rotating tube 427 while driving the rotating tube 427 to rotate. In this way, the execution efficiency of multiple surgical instruments 300 can be improved, and the operation time can be reduced to a certain extent.

[0155] In some embodiments, the driving device 310 includes a second driving unit 405, the second driving unit 405 includes a second fork 409 provided with a second annular groove 403, and a second driving shaft assembly 411 rotatably connected to the second fork 409; the second fork 409 can be driven by the second driving shaft assembly 411 to move along the axial direction of the second driving shaft assembly 411 to drive the second driving rod 393 to move along the longitudinal direction.

[0156] The second shift fork 409 is sleeved on the second drive shaft assembly 411, and a second transmission structure 413 is provided between the second drive shaft assembly 411. The second transmission structure 413 can convert the rotation of the second drive shaft assembly 411 into the linear motion of the second shift fork 409. Specifically, the second transmission structure 413 can be a threaded structure. Of course, the second transmission structure 409 can also be set as a structure in which a cam cooperates with a cam groove. That is, a cam groove is provided on the second drive shaft assembly 411, and a cam that can slide along the cam groove is provided on the second shift fork 409. In this way, the second transmission structure 413 can convert the rotation of the second drive shaft assembly 411 into the linear motion of the second shift fork 409 through the cooperation of the cam and the cam groove.

[0157] The second shift fork 409 corresponds to the center of the second annular groove 403 and is provided with a second center hole 415a. The second center hole 415a of the second shift fork 409 is mounted on the firing rod driver 448. The second shift fork 409 and the firing rod driver 448 are movable relative to each other along the longitudinal direction of the rotation tube 427. In this manner, the second shift fork 409 is mounted on both the second drive shaft assembly 411 and the firing rod driver 448. When the second drive shaft assembly 411 drives the second shift fork 409 to move, the firing rod driver 448 blocks the second drive shaft assembly 411 from rotating relative to the second drive shaft assembly 411. Of course, the second drive rod 393 can also prevent the second shift fork 409 from rotating relative to the second drive shaft assembly 411.

[0158] The second shift fork 409 can include a second shift fork body 417 and a second shift fork cover plate 419. The second shift fork body 417 is formed with a second annular groove 421, and the second center hole 415a is located at the center of the second annular groove 421. The two may have similar centerlines. The second shift fork cover plate 419 mates with the second shift fork body 417 to form a second annular groove 403. The second shift fork cover plate 419 has a second center hole 415b at its center. This allows the second shift fork 409 to be mounted on the firing rod driver 448. Furthermore, the center hole diameter of the second shift fork cover plate 419 is larger than the outer diameter of the firing rod driver 448. This creates an annular space between the second shift fork cover plate 419 and the firing rod driver 448. Furthermore, the second driving rod 393 can extend from this annular space into the second annular groove 403, so that the second flange 401 is at least partially accommodated within the second annular groove 403. Furthermore, when the rotating tube 427 rotates, the second driving rod 393 can move along the annular space, so that the second driving rod 393 rotates together with the rotating tube 427 .

[0159] The second fork cover plate 419 and the second fork body 417 can be fixedly connected. Specifically, screws, rivets, or buckle structures can be used to limit the position of the two, and glue can also be used to bond the two.

[0160] When the second flange 401 of the second drive rod 393 is at least partially received in the second annular groove 421, the third surface 397 can contact the bottom surface 423 of the second annular groove 421, and the fourth surface 399 can contact the surface 425 of the second fork cover 419 facing the bottom surface 423 of the second annular groove 421. This allows the second drive rod 393 and the second fork 409 to be positioned longitudinally along the rotation tube 427. Furthermore, when the second fork 409 is driven to move longitudinally along the rotation tube 427, it can also move the second drive rod 393. This allows the second drive rod 393 to operate to trigger the end effector 321.

[0161] Please also refer to Figures 3 to 6 and Figure 8 In some embodiments, the second drive shaft assembly 411 is mounted on the drive device 310 . Specifically, the second drive shaft assembly 411 may mainly include a second drive shaft 412 , a second connecting assembly 414 , a second connecting shaft 416 , and a second driving member 418 .

[0162] The second drive shaft 412 passes through the through hole 420 of the second fork body 417, so that the second fork 409 is sleeved on the second drive shaft assembly 411. The top plate 481 is provided with a through hole 422 corresponding to the second drive shaft 412, and the second drive shaft 411 is mounted to the through hole 422 through a bearing 424. In this way, the second drive shaft 411 can rotate relative to the top plate 481. The portion of the second drive shaft 411 extending out of the through hole 422 is connected with a nut 426. The portion of the second drive shaft 411 that contacts the bearing 424 is provided with a step surface. Furthermore, through the cooperation of the step surface, the bearing 424 and the nut 426, the position of the second drive shaft 411 relative to the top plate 481 is limited, and the second drive shaft 411 is allowed to rotate relative to the top plate 481.

[0163] The second connecting assembly 414 may include a second connecting member body 428, a shaft fixing member 430, and a shaft fixing member 432. The second connecting assembly 414 may be used to connect the second drive shaft 412 and the second connecting shaft 416. Specifically, the shaft fixing member 430 may securely connect the second drive shaft 412 to the second connecting member body 428. The shaft fixing member 432 may securely connect the second connecting shaft 416 to the second connecting member body 428. The aforementioned secure connection method may include, but is not limited to, screws or rivets. In this manner, the second drive shaft 412 and the second connecting shaft 416 are securely connected.

[0164] The second connecting shaft 416 can be mounted in the through hole 436 of the bottom plate 483 via the bearing 396. This allows the second connecting shaft 416 to rotate relative to the bottom plate 483, thereby enabling the second drive shaft assembly 411 to rotate relative to the top plate 481 and the bottom plate 383. This also defines the position of the second drive shaft assembly 411 along the longitudinal direction of the rotation tube 427.

[0165] The second driving member 418 is fixedly connected to the second connecting shaft 416. The second driving member 418 can be used to receive power input from the actuator of the actuating device 220, thereby driving the second driving shaft assembly 411 to rotate.

[0166] In some embodiments, the axial direction of the second drive shaft assembly 411 is parallel to the longitudinal direction. Since the second shift fork 409 is sleeved on the second drive shaft assembly 411, when the second drive shaft assembly 411 drives the second shift fork 409 to move, the second shift fork 409 moves along the second drive shaft assembly 411. Since the second drive shaft assembly 411 is parallel to the longitudinal direction of the rotation tube 427, the second shift fork 409 drives the second drive rod 393 to move along the longitudinal direction of the rotation tube 427.

[0167] In some embodiments, the third surface 397 and the fourth surface 399 of the second driving rod 393 may be simultaneously subjected to forces exerted by the second fork 409. In this case, under the combined force of the forces exerted on the third surface 397 and the fourth surface 399, the second driving rod 393 moves along the longitudinal direction of the rotation tube 427.

[0168] In some embodiments, the first drive rod 355 and the second drive rod 393 are each used to trigger different functions of the end effector 321. Specifically, for example, the first drive rod 355 can be used to trigger the swing function of the end effector 321, and the second drive rod 393 can be used to trigger the clamping function of the end effector 321. Of course, the first drive rod 355 and the second drive rod 393 can also be used to trigger other functions, which are not specifically limited here.

[0169] In some embodiments, the first driving unit 367 of the driving device 310 includes a first shift fork 371 provided with the first annular groove 365 , and the first shift fork 371 and the second shift fork 409 are arranged along the longitudinal direction.

[0170] The first shift fork 371 and the second shift fork 409 can both be mounted on the firing rod driving member 448. In this way, the first shift fork 371 and the second shift fork 409 will be arranged along the longitudinal direction. Furthermore, the first shift fork 371 and the second shift fork 409 can both be driven to move along the longitudinal direction of the rotation tube 427. Furthermore, the first shift fork 371 and the second shift fork 409 will have a certain amount of overlapping stroke relative to the displacement space of the firing rod driving member 448. It can be understood that at the operational level, the first shift fork 371 and the second shift fork 409 will usually not be used with the overlapping stroke, so that such a design improves the space utilization rate within the driving device 310 and can reduce the volume of the driving device 310 to a certain extent.

[0171] Accordingly, when the first shift fork 371 is positioned relative to the second shift fork 409 and closer to the first end 351 of the rotation tube 427, the annular space between the walls of the first central holes 377a, 377b of the first shift fork 371 and the firing rod driver 448 must be large enough to accommodate the second driving rod 393. Similarly, when the second shift fork 409 is positioned relative to the first shift fork 371 and closer to the first end 351 of the rotation tube 427, the annular space between the walls of the second central holes 415a, 415b of the second shift fork 409 and the firing rod driver 448 must be large enough to accommodate the first driving rod 355.

[0172] See also Figure 5 and Figure 11 In some embodiments, in order to enable the first shift fork 371 to move more stably along the longitudinal direction of the rotation tube 427 , a guide shaft assembly 462 may be further provided in the driving device 310 .

[0173] A first guide hole 464 is provided between the first center hole 377a of the first fork body 383 and the through hole 382. The first guide hole 464 may be a through hole that passes through the first fork body 383.

[0174] The guide shaft assembly 462 may include a first guide shaft 468 and a base 472. The first guide shaft 468 passes through the first guide hole 464 and is loosely fitted with the first guide hole 464. The first guide shaft 468 is fixedly connected to the top plate 481. The end of the first guide shaft 468 away from the top plate 481 is connected to the base 472. In this manner, the first guide shaft 468 is constrained between the top plate 481 and the base 472. When the first shift fork 371 is driven to move along the longitudinal direction of the rotation tube 427, the fit between the first guide hole 464 and the first guide shaft 468 enables the first shift fork 371 to move along the first guide shaft 468. Furthermore, the axial direction of the first guide shaft 468 is parallel to the longitudinal direction of the rotation tube 427. This ensures that the first guide shaft 468 guides the first shift fork 371, allowing the first shift fork 371 to move more stably along the longitudinal direction of the rotation tube 427.

[0175] The base 472 can be fixedly connected to the bottom plate 483 so that the base 472 can support the first guide shaft 468 more stably.

[0176] In order to make the positional relationship between the first shift fork 371 and the first guide shaft 468 more stable and reduce the relative tilt or shaking between the first shift fork body 383 and the first guide shaft 468, a first guide seat 474 can be sleeved on the first guide shaft 468, and the two can slide relative to each other. The first guide seat 474 is fixedly connected to the first shift fork body 383. The first guide seat 474 can be a hollow cylindrical shape as a whole. In this way, the first guide seat 474 is sleeved on the first guide shaft 468 and fixedly connected to the first shift fork body 383. To a certain extent, it is equivalent to increasing the contact area between the first shift fork body 383 and the first guide shaft 468. In this way, when the first shift fork 371 moves relative to the first guide shaft 468, it can be more stable and reduce shaking or tilting between the two. Furthermore, in some embodiments, to reduce friction between the first guide shaft 468 and the first shift fork body 383 and the first guide seat 474, a relatively smooth first sleeve may be provided between the first shift fork body 383, the first guide seat 474, and the first guide shaft 468. The first sleeve may be made of a relatively smooth material. Of course, the first sleeve may be omitted, and the first shift fork body 383 and / or the first guide seat 474 may be made of a relatively smooth material.

[0177] In some embodiments, the guide shaft assembly 462 may further include a second guide shaft 476. A second guide hole 478 is provided between the second center hole 415a of the second fork body 417 and the through hole 420. The second guide shaft 476 passes through the second guide hole 478 and is loosely fitted with the second guide hole 478. The second guide shaft 476 may be fixedly connected to the top plate 481. The end of the second guide shaft 476 away from the top plate 481 is connected to the base 472. In this way, the second guide shaft 476 is confined between the top plate 481 and the base 472. When the second fork 409 is driven to move along the longitudinal direction of the rotation tube 427, the second guide hole 478 and the second guide shaft 476 cooperate to enable the second fork 409 to move along the second guide shaft 476. Furthermore, the axial direction of the second guide shaft 476 tends to be parallel to the longitudinal direction of the rotation tube 427. In this way, the second guide shaft 476 guides the second fork 409 , so that the second fork 409 can be displaced more stably along the longitudinal direction of the rotation tube 427 .

[0178] In order to make the positional relationship between the second fork 409 and the second guide shaft 476 more stable and reduce the relative tilt or shaking between the second fork body 417 and the second guide shaft 476, a second guide seat 480 can be sleeved on the second guide shaft 476, and the two can slide relative to each other. The second guide seat 480 is fixedly connected to the second fork body 417. The second guide seat 480 is in the shape of a hollow cylinder as a whole. In this way, the second guide seat 480 is sleeved on the second guide shaft 476 and fixedly connected to the second fork body 417. To a certain extent, it is equivalent to increasing the contact area between the second fork body 417 and the second guide shaft 476. In this way, when the second fork 409 moves relative to the second guide shaft 476, it can be more stable and reduce shaking or tilting between the two. Furthermore, in some embodiments, to reduce friction between the second guide shaft 476 and the second fork body 417 and the second guide seat 480, a relatively smooth second sleeve may be provided between the second fork body 417, the second guide seat 480, and the second guide shaft 476. The second sleeve may be made of a relatively smooth material. Of course, the second sleeve may be omitted, and the second fork body 417 and / or the second guide seat 480 may be made of a relatively smooth material.

[0179] In some embodiments, the guide shaft assembly 462 of the drive device 310 may be provided only with structures related to guiding the first shift fork 371. Of course, the guide shaft assembly 462 of the drive device 310 may also be provided only with structures related to guiding the second shift fork 409. Of course, in some embodiments, the guide shaft assembly 462 may be provided with structures related to guiding both the first shift fork 371 and the second shift fork 409.

[0180] Please also refer to Figures 3 to 6 and Figure 8 In some embodiments, the second driving rod 393 and the first driving rod 355 are both partially received in the rotating tube 427 and are circumferentially limited relative to the rotating tube 427 .

[0181] The first drive rod 355 and the second drive rod 393 extend from the drive device 310 into the rotation tube 427. Specifically, the first drive rod 355 and the second drive rod 393 are respectively provided with the first flange 363 and the second flange 401, which are located outside the rotation tube 427, so that they can cooperate with the first fork 371 or the second fork 409.

[0182] The portions of the first drive rod 355 and the second drive rod 393 that extend into the rotation tube 427 are circumferentially limited relative to the rotation tube 427, but allow for longitudinal displacement of the first and second drive rods 355, 393 relative to the rotation tube 427. Specifically, a drive rod stopper 430 having multiple through-holes is disposed within the rotation tube 427. The drive rod stopper 430 has a first through-hole 431 corresponding to the first drive rod 355 and a second through-hole 433 corresponding to the second drive rod 393. The first drive rod 355 passes through the first through-hole 431, and the second drive rod 393 passes through the second through-hole 433. The drive rod stopper 430 is fixedly connected to the rotation tube 427, allowing the drive rod stopper 430 to move with the rotation tube 427. When the rotation tube 427 is driven to rotate in the longitudinal direction, the drive rod stopper 430 rotates with it. At this time, the driving rod stopper 430 drives the first driving rod 355 and the second driving rod 393 to rotate together through the first through hole 431 and the second through hole 433 .

[0183] The number of drive rod stoppers 430 can be one or more. Generally, when there are two or more drive rod stoppers 430, the stop effect achieved is better than when there is only one drive rod stopper 430. In some embodiments, two adjacent drive rod stoppers 430 can be connected by a connecting rod 438, which makes the stop of the two adjacent drive rod stoppers 430 more secure and the positioning more accurate.

[0184] The rotating tube 427 is mounted on the base plate 369 via bearings 438 and 440. The rotating tube 427 is positioned longitudinally relative to the base plate 369, allowing for circumferential rotation. The portion of the rotating tube 427 that extends into the drive unit 310 is fixedly connected to the driven wheel 477. This ensures that when the driven wheel 477 is driven, the rotating tube 427 rotates along with it.

[0185] Please also refer to Figure 3 、 Figure 8 and Figure 24 In some embodiments, the firing rod assembly 435 may include a firing rod stopper 446 , a firing rod driver 448 , and a firing rod 450 .

[0186] The firing rod stopper 446 extends along the longitudinal direction and is fixedly connected to the housing 381 of the drive device 310. Specifically, for example, the firing rod stopper 446 can be fixedly connected to the top plate 481 of the drive device 310, so that the firing rod stopper 446 does not move relative to the top plate 481.

[0187] The firing rod 450 can be sleeved on the firing rod limiter 446 and circumferentially limited relative to the firing rod limiter 446. The firing rod 450 has a hollow section that accommodates at least a portion of the firing rod limiter 446, and the firing rod limiter 446 and the firing rod 450 can be relatively displaced along the longitudinal direction of the rotation tube 427. The firing rod limiter 446 limits the firing rod 450 from rotating in the circumferential direction. Specifically, for example, a guide flange extending along the longitudinal direction can be provided on the firing rod limiter 446, and a corresponding guide groove extending along the longitudinal direction can be provided on the firing rod 450. By accommodating the guide flange in the guide groove, the relative circumferential position of the firing rod limiter 446 and the firing rod 450 is limited, while allowing relative movement between the two along the longitudinal direction.

[0188] In some embodiments, the firing rod 450 is located between the first drive rod 355 and the second drive rod 393; when the rotation tube 427 is driven to rotate by the drive device 310, the first drive rod 355 and the second drive rod 393 rotate around the firing rod 450.

[0189] The firing rod 450 can be located at the center of the rotation tube 427. Specifically, for example, the centerline of the firing rod 450 and the centerline of the rotation tube 427 tend to coincide. This allows the firing rod 450 and the rotation tube 427 to be coaxially arranged. The first drive rod 355 and the second drive rod 393 are located on either side of the firing rod 450, respectively. When the rotation tube 427 is driven to rotate, the rotation tube 427 can rotate along the circumference of the firing rod 450. The first drive rod 355 and the second drive rod 393 can rotate around the firing rod 450. The rotation of the rotation tube 427 relative to the firing rod 450 can be understood as the rotation of the rotation tube 427. The rotation of the first drive rod 355 and the second drive rod 393 around the firing rod 450 can be understood as the orbital revolution of the first drive rod 355 and the second drive rod 393 relative to the firing rod 450.

[0190] The firing rod driver 448 can drive the firing rod 450 to move along the longitudinal direction relative to the firing rod stopper 446. The firing rod driver 448 can be rotatably connected to the top plate 481 of the drive device 310. Thus, the firing rod driver 448 can rotate relative to the firing rod stopper 446. The firing rod driver 448 contacts the firing rod 450, so that when the firing rod driver 448 is driven to rotate, the firing rod 450 can be driven to move along the longitudinal direction. Specifically, for example, the firing rod 450 can have a plurality of annular grooves on its outer surface. The firing rod driver 448 can be a gear with an axis extending perpendicular to the longitudinal direction. The teeth of the gear can extend into the annular grooves of the firing rod 450. Thus, when the firing rod driver 448 rotates, the firing rod 450 can be driven to move along the longitudinal direction relative to the firing rod stopper 446.

[0191] In this embodiment, a firing rod stopper 446 is provided, which is fixed to the housing 381 of the drive device 310, so that the firing rod stopper 446 can achieve circumferential limitation and longitudinal guidance of the firing rod 450. A firing rod driver 448 can be mounted on the drive device 310, and the firing rod 450 can move longitudinally relative to the rotating tube 427, thereby directly triggering the end effector 321. Specifically, in some embodiments, the longitudinal movement of the firing rod 450 relative to the rotating tube 427 can push the blade of the end effector 321 to achieve a cutting function.

[0192] In some embodiments, the distance that the firing rod 450 can move along the longitudinal direction is less than the length of the firing rod stopper 446 along the longitudinal direction. The length of the firing rod stopper 446 along the longitudinal direction may be g, and the distance that the firing rod 450 can move along the longitudinal direction when driven by the firing rod driver 448 may be G. It is necessary to maintain G < g to prevent the firing rod 450 from disengaging from the firing rod stopper 446 and losing the circumferential restraint on the firing rod 450.

[0193] In some embodiments, the firing rod 450 includes a first section 437 in the shape of a hollow cylinder and a second section 439 connected to the first section 437 ; wherein the first section 437 accommodates at least a portion of the firing rod stopper 446 .

[0194] The firing rod 450 may include a first section 437 and a second section 439. The first section 437 may have a hollow portion. Specifically, the first section 437 may be entirely hollow, so that the first section 437 can accommodate the firing rod stop 446. This prevents the first section 437 of the firing rod 450 from rotating relative to the circumferential direction. This ensures that when the firing rod driver 448 rotates and drives the firing rod 450, the firing rod 450 as a whole can move relative to the drive rod stop 430.

[0195] The first section 437 and the second section 439 can be fixedly connected. The connection can be made according to the materials of the first section 437 and the second section 439. Specifically, for example, the first section 437 and the second section 439 can be connected by welding, bonding, riveting, or interference fit.

[0196] In some embodiments, the firing rod stopper 446 includes a stopper mounting portion 830 fixedly connected to the housing 381 of the drive device 310, and a stopper extension portion 832 housed within the housing 381 of the drive device 310 and extending into the first section 437. The stopper mounting portion 830 and the stopper extension portion 832 are fixedly connected. Of course, in some embodiments, the firing rod stopper 446 may include only the stopper extension portion 832, which is directly fixedly connected to the housing 381 of the drive device 310. Specifically, for example, depending on the material used, the stopper extension portion 832 may be connected using welding, adhesive bonding, a snap-fit ​​structure, or other methods. Alternatively, an opening may be provided in the housing 381 of the drive device 310, and the stopper extension portion 832 may be fixedly connected to the housing 381 of the drive device 310 by interference fit with the opening.

[0197] The position-limiting member extension 832 limits the firing rod 450 circumferentially and allows the firing rod 450 to move relative to the position-limiting member extension 832 along the longitudinal direction.

[0198] In some embodiments, the internal cross-section of the first section 437 perpendicular to the longitudinal direction is non-circular, and the outer shape of the limiter extension 832 matches the shape of the internal cross-section. In this way, it is difficult for the first section 437 and the drive rod limiter 430 to rotate relative to the circumference around the longitudinal direction. The first section 437 is hollow, and the cross-section of the inner surface of the first section 437 perpendicular to the longitudinal direction is the internal cross-section. The shape of the internal cross-section can be an irregular shape. For example, the internal cross-section can be a singular shape. Of course, the shape of the internal cross-section can also be regular, but non-circular. For example, the shape of the internal cross-section can also be a polygon. Specifically, for example, a triangle, a square, a pentagon, etc.

[0199] The outer shape of the limiter extension 832 matches the shape of the internal cross-section. It can be that after the limiter extension 832 extends into the interior of the first section 437, it can contact the inner surface of the first section 437. Therefore, the limiter extension 832 can limit the circumferential rotation of the first section 437 of the central tube by contacting the inner surface of the first section 437. Specifically, for example, the cross-sectional shape of the outer surface of the limiter extension 832 is perpendicular to the longitudinal direction and is similar to the internal cross-sectional shape of the first section 437. Alternatively, the cross-sectional shape of the limiter extension 832 and the shape of the internal cross-section of the first section 437 may be different or similar, but as long as the limiter extension 832 and the first section 437 are adapted in shape to achieve circumferential limitation of the two, it will be sufficient.

[0200] In some embodiments, the firing rod 450 may further include a third section 803 rotatably connected to the second section 439. This prevents the firing rod stopper 446 from restricting the circumferential rotation of the third section 803. This allows the third section 803 to rotate circumferentially along with the rotation tube 427. This allows the end effector 321 to rotate along with the rotation tube 427 to adjust its posture angle without affecting the firing rod 450's ability to trigger the end effector 321.

[0201] Specifically, in some embodiments, the firing rod 450 can be used to trigger the cutting function of the end instrument 321. Thus, when the rotation tube 427 rotates, the end instrument 321 can rotate along with the rotation tube 427. Furthermore, the third section 803 can be connected to the end instrument 321 and rotate together with the end instrument 321, and the third section 803 and the second section 439 can rotate relative to each other. In this way, the rotation of the rotation tube 427 does not affect the coordination between the firing rod 450 and the firing rod stop 446, nor does it affect the coordination between the firing rod 450 and the firing rod driver 448.

[0202] In some embodiments, the second section 439 and the third section 803 are rotatably connected via a firing rod connector 834. Specifically, the firing rod connector 834 can be rotatably connected to both the second section 439 and the third section 803. Alternatively, the firing rod connector 834 can be rotatably connected to only one of the second section 439 or the third section 803. Specifically, for example, the firing rod connector 834 can be hollow cylindrical in shape, with two annular flanges disposed therein. Annular grooves can be provided where the second section 439 and the third section 803 mate with the firing rod connector 834. Thus, the annular flanges extend into the annular grooves of the second section 439 and the third section 803, respectively, thereby connecting the firing rod connector 834 to the second section 439 and the third section 803. The annular flanges can slide along the annular grooves, thereby enabling relative rotation between the second section 439 and the third section 803. Of course, there may be other embodiments for connecting and realizing the rotational connection between the second section 439 and the third section 803. For example, an annular flange is provided inside the second section 439 and an annular groove is provided in the third section 803 directly at the position where the second section 439 and the third section 803 are connected. In this way, the second section 439 and the third section 803 are limitedly connected by the annular flange and the annular groove, and the relative position of the second section 439 and the third section 803 is limited along the longitudinal direction, but relative circumferential rotation between the second section 439 and the third section 803 is allowed.

[0203] In some embodiments, the firing rod connector 834 may be formed into an annular groove that partially surrounds the second section 439 and the third section 803. A wedge 835 may also be provided between the firing rod connector 834 and the rotation tube 427. The wedge 835 can abut against the firing rod connector 834 to prevent the firing rod connector 834 from disengaging from the second section 439 and the third section 803. Those skilled in the art may also make other modifications based on the technical essence of the embodiments of this specification. However, as long as the functions and effects achieved by such modifications are the same or similar to those of the embodiments provided in this specification, they shall be included within the scope of protection of this application.

[0204] In some embodiments, the firing rod driver 448 is generally cylindrical and extends along the longitudinal direction, with the firing rod 450 at least partially housed within the firing rod driver 448. In some embodiments, the firing rod driver 448 is sleeved within the first section 437 of the firing rod 450. The firing rod driver 448 and the firing rod 450 are provided with a matching motion conversion structure. This motion conversion structure can convert the rotation of the firing rod driver 448 into movement of the firing rod 450 along the longitudinal direction of the rotation tube 427. Specifically, for example, the motion conversion structure can be implemented by providing a threaded structure between the firing rod driver 448 and the firing rod 450. Alternatively, the motion conversion structure can be implemented by providing a cam on the surface of the center nut 448 facing the firing rod 450, and providing a cam groove on the outer surface of the firing rod 450.

[0205] In some embodiments, a gear portion 452 is provided at the end of the firing rod driver 448 distal from the first end 351, so that the firing rod driver 448 is driven to rotate via the gear portion 452. Specifically, for example, the firing rod driver 448 may include a gear portion 452 and a driver extension 454. The gear portion 452 can be driven to rotate the firing rod driver 448. The driver extension 454 is integrally sleeved on the outer surface of the firing rod 450. Furthermore, the length of the firing rod driver 448 limits the longitudinal displacement of the firing rod 450 relative to the rotation tube 427. That is, without disengaging the firing rod driver 448, the maximum longitudinal displacement of the firing rod 450 relative to the rotation tube 427 tends to approach the length of the firing rod driver 448.

[0206] The firing rod assembly 435 can be driven to displace along the longitudinal direction of the rotating tube 427, so as to trigger the end instrument 321 to perform a corresponding function. Specifically, for example, the firing rod assembly 435 can be used to trigger the cutting function of the end instrument 321.

[0207] Please also refer to Figure 8 、 Figure 24 and Figure 25 In some embodiments, the drive device 310 is provided with a firing rod driving gear 836 that meshes with the gear portion 452. A firing drive unit 838 is provided within the housing 381 of the drive device 310 to drive the firing rod driving gear 836 to rotate. The firing drive unit 838 can receive power from the actuator of the actuating device 220 to drive the firing rod 450 to move.

[0208] The firing rod drive gear 836 can be mounted on the top plate 481 of the drive device 310 and can rotate relative to the top plate 481. The firing rod drive gear 836 can be driven to rotate by the firing drive unit 838. In this way, by engaging with the gear portion 452 of the firing rod driver 448, the firing rod driver 448 is driven to rotate, thereby driving the firing rod 450 to move in the longitudinal direction of the long axis assembly. Specifically, the firing rod drive gear 836 can be mounted on the top plate 481 of the drive device 310 via a drive gear shaft 840. A bearing can be provided between the drive gear shaft 840 and the top plate 481, thereby enabling the firing rod drive gear 836 to rotate relative to the top plate 481.

[0209] A firing drive unit 838 for driving the firing rod drive gear 836 may be disposed within the drive device 310. The firing drive unit 838 may rotate by driving the firing rod drive gear 836, thereby further driving the firing rod 450 to move along the longitudinal direction. The firing drive unit 838 may include a first transition gear 842 sleeved on the drive gear shaft 840 and a third drive shaft assembly 844.

[0210] The first transition gear 842 can be fixedly connected to the drive gear shaft 840. In this way, when the first transition gear 842 rotates, it can drive the drive gear shaft 840 to rotate together. The first transition gear 842 can be driven to rotate by the third drive shaft assembly 844.

[0211] The third drive shaft assembly 844 is mounted on the drive device 310 . Specifically, the third drive shaft assembly 844 may mainly include: a third drive shaft gear 846 , a third connecting assembly 848 , a third drive shaft 850 and a third driving member 852 .

[0212] The third drive shaft gear 846 can mesh with the first transition gear 842. Thus, when the third drive shaft gear 846 is driven to rotate, it can also drive the first transition gear 842 to rotate. The third drive shaft gear shaft 860 of the third drive shaft gear 846 can be fixedly connected to the third drive shaft 850 via a third connecting assembly 848.

[0213] The third connecting assembly 848 may include a third connecting member body 854, a shaft fixing member 856, and a shaft fixing member 858. The third connecting assembly 848 may be used to connect the third drive shaft 850 and the third drive shaft gear 846. Specifically, the shaft fixing member 856 may securely connect the third drive shaft 850 to the third connecting member body 854. The shaft fixing member 858 may securely connect the third drive shaft gear 860 to the third connecting member body 854. The aforementioned secure connection method may include, but is not limited to, screws or rivets. In this manner, the third drive shaft 850 is securely connected to the third drive shaft gear 846.

[0214] The third driving member 852 is fixedly connected to the third driving shaft 850. The third driving member 852 can be used to receive power input from the actuator of the actuating device 220. Thereby, the third driving shaft assembly 844 is driven to rotate.

[0215] In some embodiments, a manual drive unit 862 is disposed outside the housing 381 of the drive device 310 and is capable of driving the firing rod drive gear 836 to rotate. The manual drive unit 862 can be used to manually drive the firing rod 450 to move. The manual drive unit 862 can primarily include: a second transition gear 864 sleeved on the drive gear shaft 840 and a first manual wheel assembly 866.

[0216] The second transition gear 864 is located outside the driving device, so that the firing rod driving gear 836 can be located between the first transition gear 842 and the second transition gear 864, and the three are coaxially arranged.

[0217] The first manual wheel assembly 866 may include a first knob 868, a first manual shaft 870, and a first manual gearwheel 872. The first knob 868 is fixedly connected to the first manual shaft 870. Thus, the first knob 868 can be manually rotated, thereby driving the first manual shaft 870 to rotate. The first manual gearwheel 872 is sleeved on the first manual shaft 870 and circumferentially limited to the first manual shaft 870. Thus, when the first manual shaft 870 rotates, it can drive the first manual gearwheel 872 to rotate together. The first manual gearwheel 872 meshes with the second transition gear 864. Thus, when the first manual gearwheel 872 rotates, it can drive the second transition gear 864 to rotate, thereby driving the firing rod drive gear 836 to rotate, thereby further driving the firing rod drive member 448 to drive the firing rod 450.

[0218] In some embodiments, the drive rod limiter 430 is provided with a third through hole 482 corresponding to the firing rod 450. The rotation tube 427 can rotate around the firing rod 450. The firing rod 450 passes through the third through hole 482. The inner diameter of the third through hole 482 is larger than the outer diameter of the firing rod 450, so that the drive rod limiter 430 does not restrict the movement of the firing rod 450 along the longitudinal direction. Furthermore, when the rotation tube 427 rotates, the rotation tube 427 and the drive rod limiter 430 can both rotate around the firing rod 450. The first section 437 and the second section 439 of the firing rod 450 will not rotate circumferentially, and the third section 874 can rotate circumferentially together with the rotation tube 427. In this way, the internal space of the rotation tube is more reasonably utilized, while also ensuring the stable execution of each function.

[0219] In some embodiments, the portion of the second drive rod 393 housed within the rotation tube 427 is provided with an outer tube connector 460. The rotation tube 427 has a through-hole 462 at a position corresponding to the outer tube connector 460. The outer tube connector 460 can extend from the through-hole 462. Furthermore, the outer tube connector 460 can be connected to the instrument outer tube 606 of the end instrument 321. In this manner, the outer tube connector 460 positions the second drive rod 393, the rotation tube 427, and the instrument outer tube 606. This allows the rotation of the rotation tube 427 circumferentially, driving the instrument outer tube 606 to rotate along with it, thereby also rotating the end instrument 321.

[0220] See also Figure 12 In some embodiments, the rotating tube 427 extends in a longitudinal direction and is formed with a first end 351 and a second end 353 of the rotating tube 427 .

[0221] The first end 351 has a pipe hook 560 protruding along the longitudinal direction. The pipe hook 560 has a first hook stop surface 562 facing the second end 353. The first hook stop surface 562 is used to prevent the end tool 321 from moving away from the second end 353 relative to the self-rotating tube along the longitudinal direction.

[0222] In this embodiment, a pipe hook 560 is provided on the rotating tube 427 to limit the connection between the long shaft assembly 320 and the end instrument 321. Specifically, the first hook stop surface 562 of the pipe hook 560 limits the longitudinal position of the long shaft assembly 320 and the end instrument 321, thereby preventing the rotating tube 427 and the end instrument 321 from separating in the longitudinal direction.

[0223] Please also refer to Figure 12 and Figure 13 In some embodiments, the pipe hook 560 includes a hook connection portion 564 received in the self-rotating pipe 427 and fixedly connected to the self-rotating pipe 427 .

[0224] The hook connection portion 564 can connect the pipe hook 560 to the rotation tube 427. The hook connection portion 564 can be bonded to the rotation tube 427 using glue. In some embodiments, the hook connection portion 564 can employ an interference fit with the rotation tube 427. Specifically, the inner diameter of the rotation tube 427 is slightly smaller than the outer diameter of the hook connection portion 564. Thus, when the hook connection portion 564 is installed in the rotation tube 427, the positional relationship between the hook connection portion 564 and the rotation tube 427 can be defined by the interference fit. In some embodiments, after the hook connection portion 564 is inserted into the rotation tube 427, it can be deformed by squeezing the rotation tube 427, causing the deformed rotation tube 427 to press against the hook connection portion 564.

[0225] In some embodiments, the hook connection portion 564 is provided with a hook limiting hole 566 at the center position corresponding to the rotation tube 427, and the firing rod 450 passes through the hook limiting hole 566; the hook limiting hole 566 allows the firing rod 450 to be displaced along the longitudinal direction relative to the hook connection portion 564, and prevents the firing rod 450 from rotating relative to the hook connection portion 564 in the circumferential direction.

[0226] The size of the hook limiting hole 566 is slightly larger than the size of the firing rod 450, so that the firing rod 450 can pass through the hook limiting hole 566, and the two can move relative to each other. Specifically, for example, there can be a clearance fit between the hook limiting hole 566 and the firing rod 450.

[0227] Furthermore, the hook limiting hole 566 and the firing rod 450 are shaped correspondingly so that the two cannot rotate relative to each other. In this way, when the rotation tube 427 rotates, the firing rod 450 can be driven to rotate together through the hook limiting hole 566.

[0228] In some embodiments, the cross-section of the opening of the hook limiting hole 566 is non-circular. When the object rotates, the outer contour will form a circular trajectory. The cross-section of the opening of the hook limiting hole 566 is non-circular, which further helps to limit the relative position between the hook limiting hole 566 and the firing rod 450. The cross-section of the opening can be a cross-section along the extension direction of the hook limiting hole 566. Specifically, in some embodiments, the shape of the cross-section of the opening is selected from polygons, ellipses, or irregular shapes. Specifically, for example, the polygon can be selected from triangles, quadrilaterals, ... octagons, etc.

[0229] In some embodiments, the hook connection portion 564 may include a first hook connection portion 568, a second hook connection portion 570, and a coupling portion 572 connecting the first hook connection portion 568 and the second hook connection portion 570. The coupling portion 572 forms a spacing groove 574 between the first hook connection portion 568 and the second hook connection portion 570. Glue may be disposed in the spacing groove 574 to bond the hook connection portion 564 to the rotation tube 427.

[0230] By forming a spacing groove 574 in the hook connection portion 564, the space between the hook connection portion 564 and the rotation tube 427 for accommodating glue is increased, allowing the hook connection portion 564 to be stably connected to the rotation tube 427 via glue. To facilitate the injection of glue into the spacing groove 574, a glue injection hole 576 may be provided on the first hook connection portion 568. Thus, when the hook connection portion 564 and the rotation tube 427 are assembled together, glue can be injected into the spacing groove 574 through the glue injection hole 576. This facilitates the installation and fixing of the hook connection portion 564 to the rotation tube 427. Of course, in some embodiments, the glue injection hole 576 may not be required; after glue is injected into the spacing groove 574, the hook connection portion 564 can be installed into the rotation tube 427.

[0231] In some embodiments, the hook connection portion 564 has a hook guide hole 578 extending longitudinally through the hook connection portion 564. The hook guide hole 578 is located in an area of ​​the hook connection portion 564 near the inner wall of the rotation tube 427. The drive rod of the long shaft assembly 320 passes through the hook guide hole 578 and, under the drive of the drive device 310, drives the end instrument 321.

[0232] The hook guide hole 578 provides guidance for the drive rod. The drive rod can be displaced longitudinally relative to the hook guide hole 578. Specifically, the drive rod is driven longitudinally by the drive device 310 to actuate the end effector 321. The drive rod must pass through the hook connection portion 564 to engage with the end effector 321. Specifically, the hook guide hole 578 can extend through both the first hook connection portion 568 and the second hook connection portion 570.

[0233] In some embodiments, the hook guide hole 578 can provide circumferential positioning for the drive rod. Specifically, the drive rod is restricted from rotating relative to the hook guide hole 578. Specifically, the cross-sectional shape of the opening of the hook guide hole 578 can be non-circular. Specifically, in some embodiments, the cross-sectional shape of the opening can be selected from polygonal, elliptical, or irregular shapes. Specifically, for example, the polygonal shape can be selected from triangles, quadrilaterals, octagons, and the like.

[0234] In some embodiments, the pipe hook 560 may include a first hook arm 580 and a second hook arm 582. The first hook arm 580 and the second hook arm 582 are respectively fixedly connected to the area of ​​the hook connection portion 564 surrounding the hook limiting hole 566.

[0235] The first hook arm 580 and the second hook arm 582 extend respectively from the first end 351 of the rotation tube. After the end instrument 321 is mounted on the long shaft assembly 320, the first hook arm 580 and the second hook arm 582 can work together to hook the end instrument 321, preventing the end instrument 321 from being separated from the long shaft assembly 320 along the longitudinal direction.

[0236] The first hook arm 580 and the second hook arm 582 may be respectively formed with a first hook stop surface 562 facing the second end 353. In this way, the displacement of the end instrument 321 away from the second end 353 along the longitudinal direction will be blocked by the first hook stop surface 562.

[0237] The first hook arm 580 and the second hook arm 582 can be integrally formed with the hook connection portion 564. Of course, the first hook arm 580 and the second hook arm 582 can also be fixedly connected to the hook connection portion 564 using other fixing methods. Specifically, for example, the first hook arm 580 and the second hook arm 582 can be bonded together using glue, screws, rivets, etc., which will not be described in detail.

[0238] In some embodiments, the first hook arm 580 and the second hook arm 582 are respectively formed with the first hook stop surface 562, and each further has a second hook stop surface 584 facing the first hook stop surface 562. The second hook stop surface 584 is used to prevent the end instrument 321 from approaching the second end 353 relative to the rotation tube 427 along the longitudinal direction.

[0239] The first hook stop surface 562 and the second hook stop surface 584 are disposed opposite each other, and a certain distance may be present between them. When the end effector 321 is mounted on the long shaft assembly 320, a portion of the end effector 321 may be located between the first hook stop surface 562 and the second hook stop surface 584. Thus, the first hook stop surface 562 and the second hook stop surface 584 of the pipe hook 560 define the relative position of the long shaft assembly 320 and the end effector 321 along the longitudinal direction.

[0240] A hook arm groove 586 is provided on the portion of the first hook arm 580 away from the rotation tube 427. This hook arm groove 586 has two opposing surfaces along its longitudinal direction: the surface facing the second end 353 is the first hook stop surface 562, and the surface facing the first hook stop surface 562 is the second hook stop surface 584. Similarly, the second hook arm 582 has the same structure as the first hook arm 580 and will not be further described.

[0241] In some embodiments, a first section is formed between the first hook arm 580 and the second hook arm 582, extending from the second hook stop surface 584 to the hook connection portion 564. A second section is formed between the first hook stop surface 562 and the second hook stop surface 584. A third section is formed between the first hook stop surface 562 and the end surface of the pipe hook 560 away from the rotation tube 427. The distance between the first hook arm 580 and the second hook arm 582 in the third section is greater than the distance between the first hook arm 580 and the second hook arm 582 in the first section. The distance between the first hook arm 580 and the second hook arm 582 in the third section is less than the distance between the first hook arm 580 and the second hook arm 582 in the second section.

[0242] In this embodiment, the space between the first hook arm 580 and the second hook arm 582 is divided into multiple sections for the convenience of expression. In actual structure, they may not have substantial distinguishing features.

[0243] In different intervals, the distance between the first hook arm 580 and the second hook arm 582 can refer to the minimum distance between the first hook arm 580 and the second hook arm 582 in the three-dimensional structure, or it can refer to the average distance between the first hook arm 580 and the second hook arm 582. In some embodiments, multiple planes perpendicular to the longitudinal direction can be constructed to measure the distance between the cross-sections formed by these planes on the first hook arm 580 and the second hook arm 582. Of course, those skilled in the art can make other modifications based on the technical essence of this embodiment, which will not be detailed here.

[0244] In the first section, the distance between the first hook arm 580 and the second hook arm 582 is greater than the distance between the first hook arm 580 and the second hook arm 582 in the third section. This allows the structure of the end effector 321 corresponding to the pipe hook 560 to extend from the first section into the space between the first hook arm 580 and the second hook arm 582. Furthermore, because the distance between the first hook arm 580 and the second hook arm 582 is smaller in the third section, the structure corresponding to the end effector 321 and the pipe hook 560 can be blocked by the second hook stop surface 584. Thus, by dividing the space between the first hook arm 580 and the second hook arm 582 into different sections, different sections can be used to perform different functions.

[0245] In some embodiments, the area of ​​the second hook stop surface 584 is larger than that of the first hook stop surface 562. This allows the second hook stop surface 584 to protrude beyond the first hook stop surface 562 in the space between the first hook arm 580 and the second hook arm 582. When projected onto a plane perpendicular to the longitudinal direction of the first hook stop surface 562, the second hook stop surface 584, and the centerline of the rotation tube 427, the distance between the projection of the first hook stop surface 562 and the centerline is greater than the distance between the projection of the second hook stop surface 584 and the centerline.

[0246] In some embodiments, the first hook arm 580 and the second hook arm 582 are symmetrically arranged relative to the axis of the rotation tube 427.

[0247] The first hook arm 580 and the second hook arm 582 can have substantially the same structure and are both fixedly connected to the hook connection portion 564. Thus, the first hook arm 580 and the second hook arm 582 can be symmetrically arranged relative to the axis, so that the forces exerted by the first hook arm 580 and the second hook arm 582 on the end effector 321 are relatively uniform. This helps stabilize the positional relationship between the end effector 321 and the rotation tube 427.

[0248] In some embodiments, the surfaces of the first hook arm 580 and the second hook arm 582 facing each other are at least partially arcuate.

[0249] A portion of the end effector 321 extends between the first hook arm 580 and the second hook arm 582, and in some cases, the portion extending between the first hook arm 580 and the second hook arm 582 may rotate. Thus, the first hook arm 580 and the second hook arm 582 are provided with curved surfaces to facilitate the rotation of the portion of the end effector 321 extending between the first hook arm 580 and the second hook arm.

[0250] In some embodiments, see Figure 14 and Figure 15 . The end instrument 321 as a whole has an instrument first end 588 and an instrument second end 590 along the longitudinal direction. The instrument first end 588 is provided with an end effector 340, and the instrument second end 590 is used to couple to the long axis assembly 320. The end instrument 321 is provided with a limiting groove 594 in the area near the instrument second end 590. The limiting groove 594 can be used to constrain the relative position of the end instrument 321 and the rotation tube 427 along the longitudinal direction of the end instrument 321. In some embodiments, after the end instrument 321 is installed on the rotation tube 427, the longitudinal direction of the end instrument 321 is substantially the same as the longitudinal direction of the rotation tube 427.

[0251] The end instrument 321 can be any medical instrument that can be used in the surgical instrument 300 . In some embodiments, the end effector 340 can include a staple holder 596 and an anvil 598 .

[0252] The second end 590 of the instrument is coupled to the rotation tube 427, such that the second end 590 is provided with an interface structure for connecting with the rotation tube 427. In this manner, the end instrument 321 can be connected to the rotation tube 427 via the second end 590. A limiting groove 594 can be provided at the second end 590 of the end instrument 321. The limiting groove 594 has a limiting groove wall 600 facing the first end 588 of the instrument. In this manner, the limiting groove wall 600 can constrain the relative position of the end instrument 321 and the rotation tube 427 along the longitudinal direction of the end instrument 321. Specifically, after the end instrument 321 is mounted on the longitudinal shaft assembly 320, the limiting groove wall 600 can cooperate with the end instrument 321 to prevent the end instrument 321 from separating from the rotation tube 427.

[0253] In some embodiments, the end instrument 321 may include a nail holder 596, a nail anvil 598, a knife holder 602, a knife push rod 604, a blade (not shown in the figure), an instrument outer tube 606 and a swing pull rod assembly 702, etc.

[0254] The limiting groove 594 can be formed on the tool holder 602 of the end instrument 321. Specifically, the limiting groove 594 is provided at the end of the tool holder 602 near the second end 590 of the instrument. In some embodiments, the limiting groove 594 can be a groove provided on the circumferential surface of the tool holder 602, extending in a spiral shape along the longitudinal direction. In this way, after the end instrument 321 is installed on the rotation tube 427, the pipe hook 560 of the rotation tube 427 can cooperate with the limiting groove 594. The first hook stop surface 562 cooperates with the limiting groove wall 600 of the limiting groove 594 to prevent the rotation tube 427 and the end instrument 321 from moving away from each other along the longitudinal direction.

[0255] In some embodiments, the limiting groove 594 may have a first groove section 608 extending along the longitudinal direction, and a second groove section 610 extending along the circumference of the end instrument 321 .

[0256] In this embodiment, the second groove section 610 has a limiting groove wall 600 facing the first end 588 of the instrument. During the installation of the end instrument 321 into the rotation tube 427, the first hook arm 580 and the second hook arm 582 of the pipe hook 560 will engage with the limiting groove 594. Specifically, the end instrument 321 is first docked with the rotation tube 427 along its longitudinal direction. The portions of the first hook arm 580 and the second hook arm 582 in the third section will pass through the first groove section 608 and reach the second groove section 610. At this time, the end instrument 321 is rotated relative to the rotation tube 427, causing the portions of the first hook arm 580 and the second hook arm 582 in the third section to move along the second groove section 610. At this time, the first hook stop surfaces 562 of the first hook arm 580 and the second hook arm 582 face the limiting groove wall 600. In this way, when the end tool 321 is moved away from the rotation tube 427 , the first hook stop surface 562 abuts against the limiting groove wall 600 to stop the end tool 321 and the rotation tube 427 and prevent them from separating.

[0257] In some embodiments, please refer to Figures 14 to 16 . The blade holder 602 of the end instrument 321 is housed in the outer tube 606 of the instrument. An annular groove extending along the circumference of the blade holder 602 is provided at the end of the blade holder 602 away from the first end 588 of the instrument. The annular groove can serve as the second groove section 610 of the limiting groove 594. The end of the blade holder 602 is divided by the annular groove to form a circumferential flange 612. At least two first groove sections 608 are formed on the circumferential flange 612. At least two first groove sections 608 can correspond to the first hook arm 580 and the second hook arm 582 respectively. In this way, the first hook arm 580 and the second hook arm 582 can extend into the first groove section 608, and when the end instrument 321 rotates relative to the rotation tube 427, the first hook arm 580 and the second hook arm 582 are located in the first interval and move along the second groove section 610.

[0258] Specifically, the distance between the first hook stop surface 562 and the second hook stop surface 584 can be slightly greater than the thickness of the circumferential flange 612 along the longitudinal direction. This allows the circumferential flange 612 to enter the hook arm groove 586. Thus, the first hook stop surface 562 and the second hook stop surface 584 are in a clearance fit with the circumferential flange 612, defining the relative position of the end instrument 321 and the rotation tube 427 along the longitudinal direction.

[0259] In some embodiments, the portion of the circumferential flange 612 adjacent to the first slot section 608 is formed with a flange step 614 and a flange side surface 616 facing the first slot section 608. The flange step 614 can be received in the hook arm groove 586, thereby allowing the first hook arm 580 and the second hook arm 582 to rotate relative to the circumferential flange 612. Furthermore, after the first hook arm 580 and the second hook arm 582 rotate relative to the circumferential flange 612 past the flange step 614, they will respectively abut against the flange side surface 616. Thus, the flange side surface 616 can limit the rotational range of the pipe hook 560 relative to the tool holder 602.

[0260] After the end instrument 321 is installed with the rotation tube 427 , the first hook arm 580 and the second hook arm 582 are in the structure of the first interval, at least partially accommodated in the second groove section 610 , and the hook arm groove 586 corresponding to the second interval accommodates part of the circumferential flange 612 .

[0261] In some embodiments, the blade holder 602 is housed within the instrument outer tube 606. Specifically, the portion of the blade holder 602 provided with the circumferential flange 612 is housed within the instrument outer tube 606. This provides a certain degree of protection for the internal structure of the blade holder 602. In some embodiments, the instrument outer tube 606 can move relative to the blade holder 602 along the longitudinal direction of the end instrument 321. That is, the instrument outer tube 606 can be driven by the long shaft assembly 320 to trigger the function of the end instrument 321. It can be seen that housing the blade holder 602 within the instrument outer tube 606 provides a certain spatial distance along the longitudinal direction, which provides design convenience for the spatial structure of the pipe hook 560 and the blade holder 602, as well as the spatial structure of the mechanical outer tube 606 and the long shaft assembly 320.

[0262] In some embodiments, please refer to Figures 14 to 17 The knife holder 602 is hollowed along the longitudinal direction of the end instrument 321 , and a knife push rod 604 of the end instrument 321 is accommodated in the knife holder 602 , and the knife push rod 604 extends out of the knife holder 602 .

[0263] The blade pusher rod 604 can be used to push the blade (not shown) of the end instrument 321. The end of the blade pusher rod 604 near the first end 588 of the instrument is configured to engage the blade. The end of the blade pusher rod 604 extending from the blade holder 602 is configured to engage the firing rod 450. Specifically, the end of the blade pusher rod 604, located away from the first end 588 of the instrument, is provided with a circumferentially extending blade rod taper 618. The circumferential outer diameter of the portion of the blade pusher rod 604 adjacent to the blade taper 618 is greater than the outer diameter of the blade taper 618. The blade taper 618 forms a portion at the end of the blade pusher rod 604 to form a blade rod connector 620. The blade rod connector 620 can engage with the connecting groove 622 of the firing rod 450. This allows the blade pusher rod 604 and the firing rod 450 to be longitudinally limited. This allows the firing rod 450 to push the blade pusher rod 604, thereby pushing the blade.

[0264] In some embodiments, see Figure 14 and Figure 15 The tool holder 602 of the end instrument 321 is rotatably connected to the end effector 340. Specifically, the end effector 340 is connected to the end of the tool holder 602. That is, the end effector 340 is disposed at the end of the tool holder 602 near the first end 588 of the instrument.

[0265] The nail seat 596 of the end effector 340 has a nail seat top surface 700 facing the nail anvil 598. When the end instrument 321 is applied to work, the object to be operated will be clamped between the nail seat top surface 700 and the nail anvil 598. The axis about which the tool holder 602 and the end effector 340 can rotate relative to each other intersects with the nail seat top surface 700 in space. Specifically, for example, the nail seat top surface 700 can be abstracted into a plane, and there is an intersection between the plane and the axis. Preferably, the axis can be perpendicular to the plane. Of course, in some embodiments, there can also be an intersection between the axis and the plane, but the two are not perpendicular. In this way, the needs of some uses can be met.

[0266] Please also refer to Figure 14 、 Figure 15 、 Figure 18 and Figure 19 The end instrument 321 may include a swinging rod assembly 702 for driving the end effector 340 to swing relative to the tool holder 602. Specifically, the swinging rod assembly 702 may include: a first rod 704 rotatably connected to the end effector 340; a second rod 706 rotatably connected to the first rod 704 and the tool holder 602; and a third rod 708 rotatably connected to the second rod 706, wherein the tool holder 602 is located between the first rod 704 and the third rod 708, and the third rod 708 is used to connect to the drive rod of the long axis assembly 320.

[0267] Specifically, in some embodiments, the third tie rod 708 can be connected to the first drive rod 355 of the long axis assembly 320. Thus, when the first drive rod 355 is driven to move along the longitudinal direction of the rotation tube 427, it can drive the third tie rod 708 to move along with it, which in turn can drive the second tie rod 706 to rotate relative to the tool holder 602. Consequently, under the action of the second tie rod 706, the first tie rod 704 moves in a direction opposite to that of the third tie rod 708, thereby driving the end effector 340 to rotate relative to the tool holder 602. This allows the end effector 340 to swing relative to the tool holder 602, thereby adjusting the angle of the end effector 340 relative to the tool holder 602. Furthermore, after the end instrument 321 is mounted on the long axis assembly 320, the position of the tool holder 602 and the rotation tube 427 of the long axis assembly 320 is fixed relative to each other. Thus, after adjusting the angle of the end effector 340 relative to the tool holder 602, the angle of the end effector 340 relative to the rotation tube 427 is also adjusted. In some embodiments, when the rotation tube 427 is rotated by the drive device 310, the swing link assembly 702 rotates along with the rotation tube 427. In this way, in addition to adjusting the angle of the end effector 340 via the swing link assembly 702, the angle of the end effector 340 can be adjusted circumferentially by driving the rotation tube 427 to rotate.

[0268] In some embodiments, to ensure that the swing lever assembly 702 can exert a more stable force on the end effector 321, the swing lever assembly 702 may further include a fourth lever 710 rotatably connected to the end effector 321 and the second lever 706. The fourth lever 710 and the first lever 704 are symmetrically arranged relative to the tool holder 602.

[0269] The fourth tie rod 710 and the first tie rod 704 are positioned symmetrically relative to the tool holder 602. This ensures that the forces exerted on the end effector 340 by the fourth tie rod 710 and the first tie rod 704 are more evenly distributed. Furthermore, structurally, when the end effector 340 is maintained at a certain angle relative to the tool holder 602, any external forces acting on it are absorbed by the first tie rod 704 and the fourth tie rod 710, effectively maintaining the angle between the end effector 340 and the tool holder 602.

[0270] In some embodiments, the second pull rod 706 , the third pull rod 708 , and the fourth pull rod 710 are connected via a first pin 712 .

[0271] Thus, by pulling the third pull rod 708, the second pull rod 706 and the fourth pull rod 712 can be caused to move simultaneously. Specifically, the second pull rod 706 can further pull the first pull rod 704. In this way, simply pulling the third pull rod 708 can drive the first pull rod 704 and the fourth pull rod 712 to apply opposite forces to the end effector 340, thereby driving the end effector 340 to rotate relative to the tool holder 602.

[0272] In some embodiments, the first pull rod 704 and the fourth pull rod 712 are connected to the end effector 340 via a second pin 716 and a third pin 718 , respectively.

[0273] When opposite forces are applied to the first and fourth pull rods 704, 712, causing them to move in opposite directions along the longitudinal extension of the tool holder 602, forces can be applied to the end effector 340 via the second and third pins 716, 718, respectively, thereby achieving the swing function of the end instrument 321 relative to the rotation tube 427.

[0274] In some embodiments, the first pull rod 704 and the second pull rod 706 are connected via a fourth pin 720 , and the second pull rod 706 and the tool holder 602 are connected via a fifth pin 722 .

[0275] Of course, in some embodiments, the third tie rod 708 can also be connected to the first tie rod 704 and the second tie rod 706 via the fourth pin 720. In this way, when the third tie rod 708 is pulled along the longitudinal extension direction of the tool holder 602, it drives the first tie rod 704 in the same direction via the fourth pin 720, and also drives the second tie rod 706 to rotate relative to the fifth pin 722, thereby driving the fourth tie rod 710 in the opposite direction relative to the first tie rod 704. In this way, the first tie rod 704 applies a force to the end effector 340 via the second pin 716, and the fourth tie rod 710 applies a force to the end effector 340 via the third pin 718, thereby causing the end effector 340 to rotate relative to the tool holder 602. In some embodiments, the fifth pin 722 can be located midway between the second tie rod 706 and the tool holder 602. This ensures that the torques of the third tie rod 708 and the first tie rod 704 relative to the fifth pin 722 are more balanced.

[0276] In some embodiments, the first pull rod 708 , the second pull rod 706 , the third pull rod 708 , and the fourth pull rod 712 may be made of a relatively strong material.

[0277] In some embodiments, the portion where the end effector 340 is connected to the first rod 704 and the fourth rod 710 defines a first indicator line, and the extending direction of the second rod 706 defines a second indicator line; the first indicator line and the second indicator line are parallel.

[0278] In this embodiment, the end effector 340 is connected to the first tie rod 704 via the second pin 716 and to the fourth tie rod 710 via the third pin 718. Thus, a line formed by the axis lines of the second and third pins 716, 718 can serve as the first indicator line. Of course, the first indicator line is not limited to the above configuration. For example, the end effector 340 may have two pin holes for mounting the second and third pins 716, 718. A tangent line drawn on the same side of the two pin holes, tangent to both pin holes, can also serve as the first indicator line.

[0279] Through structural configuration, the first indicator line and the second indicator line are arranged to be parallel. This allows the end effector 340 to have a larger swing angle relative to the rotation tube 427, making it more widely applicable to various usage requirements. Of course, those skilled in the art will understand that the first indicator line and the second indicator line are lines formed by the mechanical structure and are used here merely to clearly illustrate the structural features. In practice, it is difficult to achieve an absolutely parallel relationship between the first and second indicator lines formed by the mechanical structure.

[0280] The second tie rod 706 can extend longitudinally as a whole. To optimize space utilization, the second tie rod 706 can be relatively flat. Furthermore, to conform to the outer tube 606 of the distal end instrument 321, the second tie rod 706 can have a curvature that matches the outer tube 606. This can relatively reduce the internal space occupied by the outer tube 606.

[0281] In some embodiments, the instrument outer tube 606 of the end instrument 321 may include: a first outer tube segment 724 mounted on the end effector 340, a second outer tube segment 726 mounted on the tool holder 602, and an outer tube coupling 728 rotatably connected to the first outer tube segment 724 and the second outer tube segment 726 respectively.

[0282] Both the first outer tube segment 724 and the second outer tube segment 726 can rotate relative to the outer tube assembly 728. Thus, the outer tube assembly 728 can be positioned adjacent to the portion where the end effector 340 connects to the first tie rod 704. Thus, when the first tie rod 704 drives the end effector 340 to rotate relative to the tool holder 602, the first outer tube segment 724, which is mounted on the end effector 340, can rotate relative to the second outer tube segment 726. This structure prevents the outer tube 606 from obstructing the swinging function of the end effector 321.

[0283] In some embodiments, the first tie rod 704 and the fourth tie rod 710 define a reference plane. The projections of the second pin 716 and the third pin 718 on the reference plane are within the projection range of the outer tube assembly 728 along the longitudinal extension direction of the tool holder.

[0284] The reference plane can be jointly determined by the same side surface of the first and fourth pull rods 704, 710. It can be understood that the reference plane can simultaneously pass through two surfaces on the same side of the first and fourth pull rods 704, 710. Of course, the plane coplanar with the center lines of the first and fourth pull rods 704, 710 can also serve as the reference plane. Of course, those skilled in the art can make other modifications based on the disclosure of the embodiments of this specification, and all of these modifications should be included within the scope of protection of the claims of this case.

[0285] The blade holder 602 is extended longitudinally as a whole to form a longitudinal extension direction of the blade holder 602. After the end instrument 321 is mounted to the long shaft assembly 320, the longitudinal extension direction of the blade holder 602 can be the same direction as the longitudinal direction of the long shaft assembly 320.

[0286] The projection of the outer tube assembly 728 on this reference plane can form a certain projection range. Specifically, it may form a pattern that defines a certain length range along the longitudinal extension of the tool holder 602. This length range can be used as the projection range along the longitudinal extension of the tool holder 602. To reduce interference of the instrument outer tube 606 with the swinging function of the end instrument 321, the structure can be configured to ensure that the connection between the first and fourth tie rods 704, 710 and the end effector 340 is within this projection range.

[0287] The end effector 321 can have an initial state. In this initial state, the anvil 598 and the nail holder 596 are in an open position, and the angle between the end effector 340 and the tool holder 602 can be 180°. Thus, when the outer tube 606 of the end effector does not move relative to the tool holder 602, the first and fourth pull rods 704, 710 are driven to pull the end effector 340 to rotate a certain angle relative to the tool holder 602. At this time, the outer tube assembly 728 rotates at least relative to the first outer tube segment 724, allowing the first outer tube segment 724, which is mounted on the end effector 340, to rotate with the end effector 340.

[0288] In some cases, the instrument outer tube 606 can be moved along the longitudinal extension of the tool holder 602 toward the end effector 340, thereby triggering the clamping function of the end effector 340. Specifically, the movement of the instrument outer tube 606 toward the end effector 340 can force the anvil 598 and the nail base 596 to move relatively close together, thereby achieving the clamping function of the end instrument 321.

[0289] At this time, when the clamping function is executed, the second outer tube segment 726 is driven toward the end effector 340, thereby pushing the outer tube connector 728. Because the end effector 340 has already rotated an angle relative to the tool holder 602, the outer tube connector 728 rotates relative to both the first outer tube segment 724 and the second outer tube segment 726. This allows the first outer tube segment 724 to be pushed to bring the anvil 598 and the nail holder 596 closer together, ultimately reaching a closed state, thereby achieving the clamping function of the end instrument 321. During this process, the outer tube connector 728 shifts in position, causing its projection on the reference plane to also shift. In the initial state, the projection of the outer tube connector 728 on the reference plane forms a continuous projection range until the anvil 598 and the nail holder 596 are in the closed state. Through the structural arrangement, the projections of the first and fourth tie rods 704, 710 on the reference plane are always within the projection range. This allows the first outer tube segment 724, outer tube connector 728, and second outer tube segment 726 to provide better adaptation to the rotational capability of the end effector 340 relative to the tool holder 602. In other words, when the end effector 340 rotates relative to the tool holder 602 by a certain angle (not 180°), the clamping function of the end effector 321 driven by the instrument outer tube 606 can still be achieved to a certain extent.

[0290] See also Figure 3 、 Figure 7 、 Figure 14 、 Figure 15 and Figure 20In some embodiments, the outer tube 606 of the instrument can be driven by the driving device 310 to move relative to the rotating tube 427 along the longitudinal direction of the rotating tube 427 to drive the anvil 598 of the end instrument 321 to open or close relative to the nail seat 596.

[0291] The outer tube 606 of the instrument can be sleeved with the rotating tube 427 , and the two can move relative to each other along the longitudinal direction of the rotating tube 427 .

[0292] The anvil 598 and the nail seat 596 are rotatably connected, so that the anvil 598 can be opened or closed relative to the nail seat 596 by relative rotation between the anvil 598 and the nail seat 596. In this way, the clamping function of the end instrument 321 is achieved.

[0293] By setting the outer tube 606 of the end instrument 321 to be movable relative to the rotation tube 427, the clamping function of the end instrument 321 is driven. In terms of overall structure, the design is relatively reasonable and the overall space arrangement is very compact.

[0294] Specifically, the nail base 596 has two arcuate slots 800, and the anvil 598 has two protruding pins 802 corresponding to the arcuate slots 800. This allows the anvil 598 to move within the arcuate slots 800 via the protruding pins 802 and to rotate relative to the nail base 596. Furthermore, the anvil 598 is provided with a rotating flange 804, which is adjacent to the protruding pins 802 and is configured to engage with the instrument outer tube 606. Specifically, the portion of the anvil 598 provided with the protruding pins 802 and the rotating flange 804 extends into the instrument outer tube 606. The rotating flange 804 engages with the instrument outer tube 606, so that when the instrument outer tube 606 moves relative to the blade holder 602, it pushes the rotating flange 804, thereby causing the anvil 598 to slide along the arcuate slots 800 via the protruding pins 802. During this sliding process, the anvil 598 rotates relative to the nail base 596. In some specific embodiments, when the outer tube 606 moves relative to the rotation tube 427 toward the first end 351, the outer tube 606 pushes the anvil 598 toward the base 596, causing the anvil 598 and the base 596 to close, thereby enabling the end instrument 321 to clamp an object. When the outer tube 606 moves relative to the rotation tube 427 toward the second end 353, the outer tube 606 pulls the anvil 598 away from the base 596, causing the space between the anvil 598 and the base 596 to open.

[0295] In some embodiments, the blade holder 602 of the end instrument 321 is housed within the instrument outer tube 606. This provides the end instrument 321 with a relatively regular overall appearance, making it easier to package and transport. Furthermore, the blade holder 602 is housed within the instrument outer tube 606, and the blade push rod 604 and swing lever assembly 702 mounted on the blade holder 602 can also be housed within the instrument outer tube 606, or at least a majority of them. The instrument outer tube 606 thus forms the outer shell 381 of the end instrument 321, providing a certain degree of protection for the internal structure. Furthermore, it also prevents, to a certain extent, possible interference of the external environment with the internal transmission of the end instrument 321.

[0296] Furthermore, the self-rotating tube 427 needs to be coupled to the blade holder 602. The self-rotating tube 427 partially extends into the interior of the instrument outer tube 606, thereby achieving coupling between the self-rotating tube 427 and the blade holder 602. In other words, the instrument outer tube 606 can partially accommodate the self-rotating tube 427, thereby connecting the self-rotating tube 427 to the blade holder 602.

[0297] In some embodiments, the outer tube 606 of the instrument is sleeved on a portion of the rotation tube 427 and is provided with a connection structure connected to a driving rod inside the rotation tube 427, so that the outer tube 606 of the instrument can move relative to the rotation tube 427 along the longitudinal direction of the rotation tube 427 under the drive of the second driving rod 393.

[0298] The instrument outer tube 606 is connected to the second drive rod 393 of the long shaft assembly 320 via a connecting structure. As a result, when the second drive rod 393 is driven to move, it drives the instrument outer tube 606 along with it through the connecting structure. This allows the drive device 310 to drive the second drive rod 393, which in turn drives the instrument outer tube 606. Finally, the instrument outer tube 606 drives the anvil 598 relative to the nail base 596, allowing the anvil 598 and nail base 596 to open and close, thus achieving the clamping function of the end instrument 321.

[0299] In some embodiments, the connection structure of the device outer tube 606 includes an outer tube groove 808 of the device outer tube 606, which can accommodate the outer tube connector 460 extending from the rotation tube 427. The portion of the outer tube connector 460 located within the rotation tube 427 is connected to the second driving rod 393.

[0300] The outer tube groove 808 can be a blind hole formed in the outer tube 606 of the device. Of course, the outer tube groove 808 can also be a through hole formed on the outer tube 606 of the device. The outer tube connector 460 can be connected to the second drive rod 393 and the outer tube groove 808 respectively. Figure 21As shown, the second drive rod 393 can be provided with a drive rod slot 812. The outer tube connector 460 can extend into the drive rod slot 812 of the second drive rod 393 and the outer tube slot 808 of the instrument outer tube 606, respectively. This spatial arrangement sandwiches the outer tube connector 460 between the second drive rod 393 and the instrument outer tube 606, thereby firmly connecting the second drive rod 393 to the instrument outer tube 606.

[0301] The outer tube connector 460 passes through the tube wall of the self-rotating tube 427. In this way, the outer tube connector 460 extends from the self-rotating tube 427 and extends into the outer tube groove 808 of the outer tube 606 of the instrument.

[0302] In some embodiments, the outer portion of the device outer tube 606 where it is connected to the outer tube connector 460 is sheathed with a fastening tube 814 made of heat shrinkable material. Specifically, for example, the position of the device outer tube 606 corresponding to the outer tube groove 808 is sheathed with a fastening tube 814. Figure 22 As shown, the fastening tube 814 is fastened to the surface of the device outer tube 606. In some embodiments, the outer tube groove 808 may be a through hole. In this case, the fastening tube 814 can reinforce the positional relationship between the outer tube connector 460 and the outer tube groove 808. In some embodiments, the fastening tube 814 can have a certain degree of elasticity so that it can be elastically compressed against the device outer tube 606. In some embodiments, the fastening tube 814 can be made of a material with heat-shrinkable properties.

[0303] In some embodiments, the outer tube 606 of the device is circumferentially limited relative to the rotating tube 427 by the connecting structure 806. In this way, when the rotating tube 427 is driven to rotate, the outer tube 606 of the device can rotate along with it.

[0304] In some embodiments, the tube wall of the self-rotating tube 427 corresponds to the area of ​​the outer tube connector 460, and is provided with a self-rotating tube guide hole 816 extending along the longitudinal direction, and the second driving rod 393 can drive the outer tube connector 460 to move along the self-rotating tube guide hole 816.

[0305] The outer tube connector 460 passes through the self-rotating tube guide hole 816 and has a clearance fit with the self-rotating tube guide hole 810. This allows the outer tube connector 460 to move relative to the self-rotating tube guide hole 810. Thus, when the second drive rod 393 is driven by the drive device 310, the outer tube connector 460 can move along with the second drive rod 393 along the self-rotating tube guide hole 810. Furthermore, the outer tube connector 460 can drive the instrument outer tube 606 to move together.

[0306] See also Figure 23In some embodiments, the second drive rod 393 may include a manual drive assembly. The manual drive assembly can be manually operated to rotate the anvil 598 relative to the nail base 596 to achieve a clamping or opening function. The manual drive assembly may include a shaft extension 818, a drive pinion 820, an intermediate gear set, and a second manual wheel assembly.

[0307] The shaft extension 818 can be connected to the second drive shaft 412 and have a rotation axis that is close to the same axis. One end of the shaft extension 818 accommodates the end of the second drive shaft 412 away from the rotation tube 427. The shaft extension 818 and the second drive shaft 412 are circumferentially limited so that when one of them is driven to rotate, the other will rotate accordingly. Specifically, for example, the end surface of the shaft extension 818 has an opening with a non-circular cross-section, and the end of the second drive shaft 412 that extends into the opening has a contour shape that is compatible with the shape and size of the opening. Alternatively, the end of the second drive shaft 412 can be provided with a strip groove, and the shaft extension 818 can have an extension protrusion that can extend into the strip groove. The strip groove is compatible with the cross-sectional shape of the extension protrusion, so that the second drive shaft 412 and the shaft extension 818 are circumferentially limited.

[0308] The drive pinion 820 is sleeved on the shaft extension 818, and the two are circumferentially limited. Thus, when the drive pinion 820 is driven, it can drive the shaft extension 818 to rotate together. A nut 388 is mounted on the end of the shaft extension 818 away from the second drive shaft 412 to prevent the drive pinion 820 from separating axially from the shaft extension 818.

[0309] The intermediate gear set may include an intermediate pinion 822 and an intermediate gear 824. The intermediate pinion 822 and the intermediate gear 824 may be coaxially arranged. Thus, when the intermediate pinion 822 is driven to rotate by the second manual wheel assembly, the intermediate gear 824 rotates with it. The intermediate gear 824 may mesh with the drive pinion 820. Thus, when the intermediate gear 824 is driven to rotate, it also drives the drive pinion 820 to rotate.

[0310] The second manual wheel assembly may include a second knob 823, a second manual shaft 825, and a second manual gearwheel 826. The second knob 823 is fixedly connected to the second manual shaft 825. In this way, the second knob 823 can be manually operated to rotate, thereby driving the second manual shaft 825 to rotate. The second manual gearwheel 826 is sleeved on the second manual shaft 825 and is circumferentially limited with the second manual shaft 825. In this way, when the second manual shaft 825 rotates, it can drive the second manual gearwheel 826 to rotate together. The second manual gearwheel 826 is meshed with the intermediate pinion 822. In this way, when the second manual gearwheel 826 rotates, it can drive the intermediate pinion 822 to rotate, and drive the drive pinion 820 to rotate through the intermediate gearwheel 824, thereby driving the second drive shaft 412 to rotate. The rotation of the second drive shaft 412 can drive the second fork 409 to move axially relative to the second drive shaft 412, thereby driving the second drive rod 393 to move along the longitudinal direction of the long axis assembly 320, so as to drive the anvil 598 and the nail seat 596 of the end instrument 321 to rotate relative to each other to achieve opening or closing.

[0311] A second retaining bracket 828 is provided on the top plate 481 of the drive device 310. The second manual shaft 825 of the second manual wheel assembly passes through the second retaining bracket 828 and is connected to the top plate 481 via a bearing. The second manual shaft 825 is rotatable relative to the second retaining bracket 828. Similarly, the rotating shaft of the intermediate gear set also passes through the mounting bracket 828 and is connected to the top plate 481 via a bearing. The rotating shaft of the intermediate gear set is rotatable relative to the second retaining bracket 828. Similarly, the shaft extension 818 also passes through the mounting bracket 828 and is rotatable relative to the second retaining bracket 828.

[0312] The components and materials used in the various embodiments disclosed in this specification all comply with medical standards or regulations.

[0313] The various embodiments of this specification are described in a progressive manner, and the same parts are not repeated. Those skilled in the art will appreciate that any possible combination of the various embodiments of this specification is within the scope of this specification.

[0314] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A surgical instrument, characterized in that: The invention comprises a driving device, a driving tube and an end instrument, wherein the driving tube extends along the longitudinal direction and has a first end and a second end, the first end is mounted with the end instrument, and the second end is used to couple with the driving device, the first end of the driving tube has a tube hook protruding along the longitudinal direction, and the end instrument has an instrument first end and an instrument second end along the longitudinal direction, wherein the first end of the instrument is provided with an end effector, and the area of ​​the end instrument close to the second end of the instrument is provided with a limiting groove, and the limiting groove is used to cooperate with the tube hook to constrain the driving tube and the end instrument from being relative to each other along the longitudinal direction. For the position, the driving tube is a self-rotating tube, which receives the drive of the driving device and rotates and is used to drive the end instrument to rotate. The tube hook has a hook connecting part housed in the self-rotating tube and fixedly connected to the self-rotating tube. The hook connecting part is provided with a hook limiting hole corresponding to the center position of the self-rotating tube. The surgical instrument includes a center rod extending from the driving device to the self-rotating tube, and the center rod passes through the hook limiting hole; the hook limiting hole allows the center rod to be displaced along the longitudinal direction relative to the hook connecting part, and prevents the center rod from rotating relative to the hook connecting part in the circumferential direction.

2. The surgical instrument according to claim 1, wherein: The cross section of the opening of the hook limiting hole is non-circular.

3. The surgical instrument according to claim 2, characterized in that The shape of the opening cross section is selected from polygonal, elliptical or irregular shapes.

4. The surgical instrument according to claim 1, wherein: The hook connection part includes a first hook connection part, a second hook connection part, and a connecting part connecting the first hook connection part and the second hook connection part together; wherein, the connecting part forms a spacing groove between the first hook connection part and the second hook connection part, and glue for bonding the first hook connection part to the rotation tube is provided in the spacing groove.

5. The surgical instrument according to claim 1, wherein: The hook connecting portion has a hook guide hole that passes through the hook connecting portion along the longitudinal direction, and the hook guide hole is located in the area of ​​the hook connecting portion close to the inner wall of the rotating tube; the surgical instrument includes a driving rod extending from the driving device to the rotating tube, and the driving rod passes through the hook guide hole and triggers the end instrument under the drive of the driving device.

6. The surgical instrument according to claim 1, wherein: The pipe hook includes a first hook arm and a second hook arm; the first hook arm and the second hook arm are respectively fixedly connected to the area of ​​the hook connecting part surrounding the hook limiting hole.

7. The surgical instrument according to claim 6, characterized in that: The first hook arm and the second hook arm are respectively formed with the first hook stop surface, and respectively have a second hook stop surface facing the first hook stop surface; the second hook stop surface is used to prevent the end instrument from approaching the second end relative to the rotation tube along the longitudinal direction.

8. The surgical instrument according to claim 7, wherein: The area of ​​the second hook stopping surface is larger than that of the first hook stopping surface.

9. The surgical instrument according to claim 7, characterized in that: A first section from the second hook stop surface to the hook connecting part is formed between the first hook arm and the second hook arm, a second section is formed between the first hook stop surface and the second hook stop surface, and a third section is formed between the first hook stop surface and the end surface of the pipe hook away from the rotation tube; wherein, in the third section, the distance between the first hook arm and the second hook arm is greater than the distance between the first hook arm and the second hook arm in the first section, and the distance between the first hook arm and the second hook arm in the third section is less than the distance between the first hook arm and the second hook arm in the second section.

10. The surgical instrument according to claim 6, wherein: The first hook arm and the second hook arm are arranged symmetrically relative to the axis of the rotation tube.

11. The surgical instrument according to claim 10, characterized in that: At least a portion of the surfaces of the first hook arm and the second hook arm facing each other are arcuate surfaces.

12. The surgical instrument according to claim 1, wherein: The end instrument comprises an instrument outer tube and a tool holder arranged in the instrument outer tube, the limiting groove is formed on the tool holder, and the end effector is arranged at the end of the tool holder.

13. The surgical instrument according to claim 1, wherein: The limiting groove has a first groove section extending along the longitudinal direction and a second groove section extending along the circumference of the end instrument.

14. The surgical instrument according to claim 12, wherein: The instrument outer tube can move relative to the knife holder along the longitudinal direction of the end instrument.

15. The surgical instrument according to claim 12, wherein: A firing rod is provided in the driving tube; the knife holder is hollow along the longitudinal direction of the end instrument, and a knife pushing rod is accommodated in the knife holder. The knife pushing rod extends out of the knife holder and is connected to the firing rod.

16. A surgical instrument, characterized in that: The cam is adapted to engage said end of the guide rail and to engage said end of the guide rail, wherein the cam is adapted to engage said end of the guide rail, wherein the cam is adapted to engage said end of the guide rail.

17. A terminal instrument, characterized in that: The end instrument has a first end and a second end along the longitudinal direction; wherein the first end of the instrument is provided with an end effector, and the second end of the instrument is used to couple to a driving tube of a surgical instrument; wherein the area of ​​the end instrument near the second end of the instrument is provided with a limiting groove; the limiting groove is used to constrain the relative position of the end instrument and the driving tube along the longitudinal direction of the end instrument, the driving tube is a self-rotating tube, the first end of the driving tube has a tube hook protruding along the longitudinal direction, the limiting groove is used to cooperate with the tube hook, the tube hook has a hook connecting portion accommodated in the self-rotating tube and fixedly connected to the self-rotating tube, the hook connecting portion includes a first hook connecting portion, a second hook connecting portion, and a connecting portion connecting the first hook connecting portion and the second hook connecting portion together, and a spacing groove is formed between the first hook connecting portion and the second hook connecting portion by the connecting portion.

18. A surgical robot comprising a master operating console and a slave operating device, wherein the slave operating device performs a surgical operation on a human body according to instructions from the master operating console, characterized in that: The slave operating device is detachably mounted with the surgical instrument according to any one of claims 1 to 16.

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