Surgical instruments, master operating devices, and robots

Abstract

This specification provides a surgical instrument, an operating device, and a robot. The surgical instrument includes a driving device, a long shaft assembly, and an end effector; the long shaft assembly includes a self-rotating tube and a driving rod at least partially received within the self-rotating tube; the driving rod can be driven by the driving device to move along the longitudinal direction; the end effector extends along the longitudinal direction and has a first end and a second end; the first end of the end effector is provided with an end effector, and the second end of the end effector is matingly connected to the first end of the long shaft assembly; the end effector includes a tool holder and a swing pull rod assembly; the swing pull rod assembly includes: a first pull rod rotatably connected to the end effector; a second pull rod rotatably connected to the first pull rod and the tool holder; a third pull rod rotatably connected to the second pull rod, the tool holder is located between the first pull rod and the third pull rod, and the third pull rod is connected to the driving rod. The surgical instrument can have good mechanical stability.

Description

Technical Field

[0001] This specification relates to the field of medical devices, and particularly to a surgical instrument, a slave operating device using the surgical instrument, and a surgical robot having the slave operating device. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

[0003] With the progress of technology, minimally invasive surgical robot technology has gradually matured and been widely used. A minimally invasive surgical robot usually includes a master operation console and a slave operating device. The master operation console is used to send control commands to the slave operating device according to the doctor's operation to control the slave operating device, and the slave operating device is used to respond to the control commands sent by the master operation console and perform corresponding surgical operations.

[0004] A surgical instrument detachably connected to the slave operating device includes a driving device, a distal instrument for performing surgery, and a long shaft assembly for connecting the distal instrument and the driving device. The driving device is used to connect the surgical instrument to the slave operating device and receive the driving force from the slave operating device to drive the distal instrument to move. In some cases, the distal instrument may have a swinging function to adjust the angle of the end effector.

[0005] Obviously, higher requirements are put forward for the mechanical structure stability of the distal instrument to maintain the swinging function. Summary of the Invention

[0006] Embodiments of this specification are committed to providing a surgical instrument, a slave operating device, and a robot with better mechanical properties.

[0007] The embodiments of the present specification provide a surgical instrument, which includes a driving device, a long shaft assembly, and an end effector; the long shaft assembly extends along the longitudinal direction and has a first end and a second end; the first end is used to mount the end effector, and the second end is used to be coupled with the driving device; the long shaft assembly includes a rotating tube and a driving rod at least partially received in the rotating tube; the driving rod can be driven by the driving device to move along the longitudinal direction; the end effector extends along the longitudinal direction and has an instrument first end and an instrument second end; the instrument first end is provided with an end effector, and the instrument second end is mated with the first end of the long shaft assembly; the end effector includes a tool holder and a swing pull rod assembly; wherein, the swing pull rod assembly includes: a first pull rod rotatably connected to the end effector; a second pull rod rotatably connected to the first pull rod and the tool holder; a third pull rod rotatably connected to the second pull rod, the tool holder is located between the first pull rod and the third pull rod, and the third pull rod is connected to the driving rod; the third pull rod moves along the longitudinal direction together with the driving rod to drive the end effector to swing relative to the tool holder.

[0008] The embodiments of the present specification provide a slave operating device, which includes at least one robotic arm. The robotic arm includes a plurality of joints and an actuating device. The plurality of joints are linked to realize the movement of multiple degrees of freedom of the actuating device. The surgical instrument described in the foregoing embodiments is detachably mounted on the actuating device.

[0009] The embodiments of the present specification provide a surgical robot, which includes a master operation console and the slave operating device described in the foregoing embodiments. The slave operating device performs surgical operations on the human body according to the instructions of the master operation console.

[0010] The surgical instrument provided by the embodiments of the present specification realizes that the end effector can be stably driven to rotate relative to the tool holder or the angle between the end effector and the tool holder can be maintained by setting a plurality of pull rod structures. Good mechanical stability is provided. Description of the Drawings

[0011] Figure 1 The figure shows a three-dimensional schematic diagram of the master operation console provided by the embodiments of the present specification;

[0012] Figure 2 The figure shows a three-dimensional schematic diagram of the usage scenario of the slave operating device provided by the embodiments of the present specification;

[0013] Figure 3 The figure shows a three-dimensional schematic diagram of the surgical instrument provided by the embodiments of the present specification;

[0014] Figure 4The figure shows an exploded view of the top plate, bottom plate and support frame of the driving device provided by the embodiment of the present specification;

[0015] Figure 5 The figure shows a three-dimensional structure diagram inside the driving device provided by the embodiment of the present specification;

[0016] Figure 6 The figure shows an exploded view of the installation structure of the rotating tube, bottom plate and driven wheel provided by the embodiment of the present specification;

[0017] Figure 7 The figure shows a partial three-dimensional exploded view of the long shaft assembly provided by the embodiment of the present specification;

[0018] Figure 8 The figure shows a sectional view of the driving device provided by the embodiment of the present specification along the axis X of the long shaft assembly;

[0019] Figure 9 The figure shows a three-dimensional exploded view of some components inside the driving device provided by the embodiment of the present specification;

[0020] Figure 10 The figure shows a sectional view of the driving device provided by the embodiment of the present specification along the axis X of the long shaft assembly;

[0021] Figure 11 The figure shows Figure 8 a sectional view of the driving device provided along the straight line Y-Y;

[0022] Figure 12 The figure shows a three-dimensional diagram of the driving device and the long shaft assembly provided by the embodiment of the present specification;

[0023] Figure 13 The figure shows a three-dimensional diagram of the pipe fitting hook provided by the embodiment of the present specification;

[0024] Figure 14 The figure shows a three-dimensional diagram of the end effector provided by the embodiment of the present specification;

[0025] Figure 15 The figure shows a sectional view of the end effector provided by the embodiment of the present specification;

[0026] Figure 16 The figure shows a partial three-dimensional diagram of the tool holder and the knife pushing rod provided by the embodiment of the present specification;

[0027] Figure 17 The figure shows a partial three-dimensional diagram of the firing rod provided by the embodiment of the present specification;

[0028] Figure 18The figure shows a partial cross-sectional schematic view of the end effector provided by the embodiments of the present specification;

[0029] Figure 19 The figure shows a partial cross-sectional schematic view of the end effector provided by the embodiments of the present specification;

[0030] Figure 20 The figure shows a partial three-dimensional schematic view of the end effector provided by the embodiments of the present specification;

[0031] Figure 21 The figure shows a partial three-dimensional schematic view of the drive rod provided by the embodiments of the present specification;

[0032] Figure 22 The figure shows a three-dimensional schematic view of the fastening tube provided by the embodiments of the present specification;

[0033] Figure 23 The figure shows a three-dimensional structural schematic view of the internal part of the drive device provided by the embodiments of the present specification;

[0034] Figure 24 The figure shows a partial three-dimensional exploded schematic view of the firing rod provided by the embodiments of the present specification;

[0035] Figure 25 The figure shows a three-dimensional structural schematic view of the internal part of the drive device provided by the embodiments of the present specification.

[0036] Main operation console 100, Slave operation device 200, Robotic arm 210

[0037] Actuating device 220, Surgical instrument 300, Drive device 310

[0038] Longitudinal axis assembly 320, First end 351, End effector 321

[0039] Second end 353, End portion 357, End effector 340

[0040] First drive rod 355, First flange 363, First surface 359

[0041] Second surface 361, Groove wall 369, First annular groove 365

[0042] First drive unit 367, First central hole 377a, First fork 371

[0043] First drive shaft assembly 373, First connection assembly 376, First central hole 377b

[0044] First drive shaft 374, Through hole 382, First connection shaft 378

[0045] The first driving member 380, bearing 386, through hole 384

[0046] The first fork cover plate 385, the first annular groove 387, the housing 381

[0047] The first fork body 383, nut 388, bottom surface 389

[0048] Surface 391, shaft fixing member 394, the first connecting member body 390

[0049] Shaft fixing member 392, the second driving rod 393, bearing 396

[0050] The third surface 397, the second flange 401, end 395

[0051] The fourth surface 399, the second driving unit 405, the second annular groove 403

[0052] The second fork 409, the second driving shaft assembly 411, groove wall 407

[0053] The second central hole 415b, the second fork body 417, the second central hole 415a

[0054] The second annular groove 421, bottom surface 423, the second fork cover plate 419

[0055] The self-rotating tube 427, the driving rod limiting member 430, surface 425

[0056] The second through hole 433, the firing rod assembly 435, the first through hole 431

[0057] The second section 439, the driving wheel 475, the first section 437

[0058] The self-rotating tube driving shaft assembly 473, the top plate 481, the self-rotating tube driving unit 471

[0059] The transmission member 479, the second connecting shaft 416, the driven wheel 477

[0060] The support frame 485, the second connecting assembly 414, the bottom plate 483

[0061] The second driving shaft 412, through hole 420, through hole 422

[0062] The second driving member 418, nut 426, the second connecting member body 428

[0063] Bearing 424, shaft fixing member 432, through hole 436

[0064] Shaft fixing member 429, bearing 440, driven wheel body 442

[0065] Bearing 438, firing rod limiting member 446, firing rod driving member 448

[0066] Self-rotating tube fixing member 444, gear part 452, driving member extension part 454

[0067] Firing rod 450, bearing 456, bearing 458

[0068] Outer tube connecting member 460, guide shaft assembly 462, first guide hole 464

[0069] First guide shaft 468, base 472, first guide seat 474

[0070] Second guide shaft 476, second guide hole 478, second guide seat 480

[0071] Third through hole 482, hook connection part 564, pipe fitting hook 560

[0072] First hook stop surface 562, second hook connection part 570, hook limit hole 566

[0073] First hook connection part 568, glue injection hole 576, joint part 572

[0074] Spacer groove 574, second hook arm 582, hook guide hole 578

[0075] First hook arm 580, first end of the instrument 588, second hook stop surface 584

[0076] Hook arm groove 586, nail seat 596, second end of the instrument 590

[0077] Limit groove 594, knife rest 602, anvil 598

[0078] Limit groove wall 600, first groove section 608, knife pushing rod 604

[0079] Instrument outer tube 606, flange step 614, second groove section 610

[0080] Circumferential flange 612, knife rod connection head 620, flange side surface 616

[0081] Knife rod groove 618, nail seat top surface 700, connection groove 622

[0082] First pull rod 704, second pull rod 706, swing pull rod assembly 702

[0083] Fourth pull rod 710, First pin shaft 712, Third pull rod 708

[0084] Third pin shaft 718, Fourth pin shaft 720, Second pin shaft 716

[0085] First outer pipe section 724, Second outer pipe section 726, Fifth pin shaft 722

[0086] Arc-shaped groove 800, Convex pin 802, Outer pipe fitting 728

[0087] Rotating flange 804, Outer pipe groove 808, Third section 803

[0088] Drive rod slot 812, Fastening pipe 814, Self-rotating pipe guide hole 810

[0089] Drive pinion 820, Intermediate pinion 822, Shaft extension 818

[0090] Second manual shaft 825, Second manual large gear 826, Intermediate large gear 824

[0091] Second knob 823, Limiting part mounting portion 830, Second limiting bracket 828

[0092] Firing rod connecting piece 834, Firing rod drive gear 836, Limiting part extension 832

[0093] Drive gear shaft 840, First intermediate gear 842, Firing drive unit 838

[0094] Third drive shaft gear 846, Third connecting assembly 848, Third drive shaft assembly 844

[0095] Third drive part 852, Third connecting piece body 854, Third drive shaft 850

[0096] Shaft fixing part 858, Third drive shaft gear shaft 860, Shaft fixing part 856

[0097] Second intermediate gear 864, First manual wheel assembly 866, Manual drive unit 862

[0098] First manual shaft 870, Wedge 835, First knob 868

[0099] First manual large gear 872 Detailed implementation mode

[0100] The following will clearly and completely describe the technical solutions in the embodiments of this specification in conjunction with the accompanying drawings in the embodiments of this specification. Obviously, the described embodiments are only a part of the embodiments, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this specification without creative efforts belong to the scope of protection of the present invention.

[0101] It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0102] It should be noted that the naming method of "first", "second",... for the elements in this article is only used for the distinction of names and does not limit the specific quantity.

[0103] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this technology belongs. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0104] In some embodiments, a minimally invasive surgical robot generally includes a slave operating device and a master operating console. Figure 1 Shown is the master operating console 100 in an embodiment of this specification. Figure 2 Shown is the slave operating device 200 in an embodiment of this specification. A surgeon can perform relevant control operations on the slave operating device 200 on the master operating console 100, and the slave operating device 200 performs a surgical operation on the human body according to the input instructions of the master operating console 100. The master operating console 100 and the slave operating device 200 can be placed in one operating room, or can be placed in different rooms. Even the master operating console 100 and the slave operating device 200 can be far apart. For example, the master operating console 100 and the slave operating device 200 are located in different cities respectively. The master operating console 100 and the slave operating device 200 can transmit data in a wired manner or in a wireless manner. For example, the master operating console 100 and the slave operating device 200 are located in one operating room, and data is transmitted between them in a wired manner. Another example is that the master operating console 100 and the slave operating device 200 are in different cities respectively, and long-distance data transmission is carried out between them through 5G wireless signals.

[0105] The slave operating device 200 includes a robotic arm 210 and an actuating device 220 provided at the distal end of the robotic arm 210. A surgical instrument 300 for performing a surgical operation is connected to the actuating device 220, and the actuating device 220 drives the surgical instrument 300 to move through a plurality of actuators inside it. In some embodiments, a plurality of surgical instruments 300 can be connected to one actuating device 220, and the distal ends of the plurality of surgical instruments 300 enter the human body through one incision, so that the number of surgical incisions can be reduced and the postoperative recovery can be faster. Of course, in some embodiments, the slave operating device 200 can also have a plurality of robotic arms, and a plurality of 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.

[0106] In some embodiments, referring to Figure 3 , the surgical instrument 300 can include a driving device 310, a long shaft assembly 320, and an end instrument 321. The long shaft assembly 320 can include a self-rotating tube 427 extending in the longitudinal direction, a firing rod assembly 435 at least partially received in the self-rotating tube 427, and a driving rod. The long shaft assembly 320 has a first end 351 and a second end 353 along the longitudinal direction. The first end 351 of the long shaft assembly 320 can be installed with the end instrument 321, and the second end 353 of the long shaft assembly 320 is coupled to the driving device 310. The end instrument 321 can include a wrist and / or an end effector 340. The driving device 310 can be engaged with the actuating device 220. A plurality of driving units inside the driving device 310 can manipulate the wrist and / or the end effector 340 through the long shaft assembly 320. The end effector 340 can be an instrument for performing functions such as cauterization, shearing, cutting, clamping, or imaging, and blades or the like can also be provided inside the clamp. In some other embodiments, the first end 351 of the long shaft assembly 320 can be only connected to the wrist, and actions such as pressing or lifting tissues are performed through the movement of the wrist.

[0107] Please 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 housing connected to the top plate 481 and the bottom plate 483 ( Figure 4 not shown, as Figure 3 shown). The support frame 485 is fixedly connected to the top plate 481 and the bottom plate 483.

[0108] Please refer to Figure 5, in some embodiments, the rotating tube 427 extends along the longitudinal direction to form the first end 351 and the second end 353. The rotating tube 427 is integrally hollow to form a hollow pipe fitting, and the pipe fitting can be used as a driving pipe fitting.

[0109] In some embodiments, the driving device 310 can provide a rotational driving force to the rotating tube 427. Thus, the rotating tube 427 can rotate under the action of the rotational driving force. Specifically, a rotating tube driving unit 471 for driving the rotating tube 427 to rotate can be provided in the driving device 310. The rotating tube driving unit 471 can include: a rotating tube driving shaft assembly 473, a driving wheel 475 sleeved on the rotating tube driving shaft assembly 473, a driven wheel 477 fixedly connected to the rotating tube 427, and a transmission member 479 wound around the driving wheel 475 and the driven wheel 477.

[0110] The rotating tube driving shaft assembly 473 can rotate under the actuation of the actuator of the actuating device 220. Since the driving wheel 475 is fixedly connected to the rotating tube driving shaft assembly 473. Thus, the driving wheel 475 can rotate together with the rotating tube driving shaft assembly 473. The rotation of the driving wheel 475 will drive the transmission member 479, and then the transmission member 479 can drive the driven wheel 477 to rotate. The driven wheel 477 is fixedly connected to the rotating tube 427, so that the driven wheel 477 can drive the rotating tube 427 to rotate together. Furthermore, the rotating tube driving unit 471 drives the rotating tube 427 to rotate.

[0111] Please refer to Figure 6 , the driven wheel 477 can include a driven wheel body 442 and a rotating tube fixing member 444. The driven wheel body 442 can be sleeved on the rotating tube 427, and the rotating tube fixing member 444 can be fixedly connected to the driven wheel body 442 to fasten the driven wheel 477 to the rotating tube 427. Further, the rotating tube fixing member 444 can be fixedly connected to the driven wheel body 442 by means of screws or rivets, etc.

[0112] The transmission member 479 has a certain flexibility and can be wound around the driving wheel 475 and the driven wheel 477. The material of the transmission member 479 can be steel wire, belt, etc. There is no specific limitation here.

[0113] Please refer to 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 the end 357 of the first driving rod 355 away from the first end 351.

[0114] 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.

[0115] 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, stable driving of the first driving rod 355 to move along the longitudinal direction can be achieved. In this way, the first driving rod 355 can further drive the corresponding functions of the end effector 321.

[0116] In some embodiments, the first driving rod 355 can be circumferentially limited with respect to the rotating tube 427. Specifically, the rotating tube 427 can be driven by the driving device 310 to rotate relative to the axis X of the rotating tube 427. In this way, driving the end effector 321 to rotate can be achieved, and further the position and angle of the end effector 340 can be adjusted to facilitate the operation. The first driving rod 355 can be circumferentially limited with respect to the rotating tube 427. That is, when the rotating tube 427 rotates relative to its axis X, the first driving rod 355 will rotate around the axis X of the rotating tube 427 along with it.

[0117] In this way, when the rotating tube 427 rotates, the first driving rod 355 can rotate around the axis X of the rotating tube 427 along with it. The relative position of the first driving rod 355 within the rotating tube 427 can be stably maintained, improving the stability of the surgical instrument 300.

[0118] In some embodiments, a first flange 363 deviating from the longitudinal direction is provided at the end 357 of the first driving rod 355 away from the first end 351. The first flange 363 has the first surface 359 and the second surface 361.

[0119] The extending direction of the first flange 363 can deviate from the longitudinal direction of the rotating tube 427. So that, the extending direction of the first flange 363 can have an acute angle or a right angle with the longitudinal direction of the rotating tube 427. In this way, the first flange 363 will have two surfaces. One surface generally faces the first end 351 of the rotating tube 427, which is the first surface 359. One surface generally faces away from the first end 351 of the rotating tube 427, which is the second surface 361.

[0120] By forming a first flange 363 on the first drive rod 355 and forming a first surface 359 and a second surface 361 on the first flange 363. In this way, structurally, it is convenient to drive the first drive rod 355 to move along the longitudinal direction of the rotation tube 427.

[0121] In some embodiments, the first flange 363 can be integrally formed with the first drive rod 355. In this way, a good combination between the two is achieved. Of course, in some embodiments, the first flange 363 and the first drive rod 355 can also be independent elements and are connected by an appropriate connection method.

[0122] In some embodiments, a groove (not shown in the figure) can be provided at the end 357 of the first drive rod 355 away from the first end 351. In this way, the surface of the groove side wall facing the first end 351 can be used as the first surface 359, and the surface of the groove side wall facing away from the first end 351 can be used as the second surface 361. Or, the end face of the first drive rod 355 away from the first end 351 can be used as the second surface 361. Of course, those skilled in the art can also make other changes under 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.

[0123] In some embodiments, the driving device 310 can have a first annular groove 365 extending along the circumferential direction of the rotation tube 427. At least a part of the first flange 363 of the first drive rod 355 is received in the first annular groove 365, so that the driving device 310 can drive the first drive rod 355 to move along the longitudinal direction.

[0124] A driving unit 367 of the driving device 310 can be provided with a first annular groove 365 for at least partially receiving the first flange 363. In this way, a force can be applied to the second surface 361 of the first flange 363 through the groove wall 369 of the first annular groove 365, so that the first drive rod 355 moves along the longitudinal direction of the rotation tube 427 towards the first end 351. A force can also be applied to the first surface 359 of the first flange 363 through the groove wall 369 of the first annular groove 365, so that the first drive rod 355 moves along the longitudinal direction of the rotation tube 427 towards the second end 353.

[0125] The part of the first flange 363 protruding from the first drive rod 355 can have a part extending into the first annular groove 365. Of course, the part of the first flange 363 protruding from the first drive rod 355 can also be completely received in the first annular groove 365.

[0126] In some embodiments, the driving device 310 can drive the rotating tube 427 to rotate circumferentially, so that the first flange 363 of the first driving rod 355 moves along the first annular groove 365. The first annular groove 365 can provide a moving space for the first flange 363 along the circumferential direction of the rotating tube 427. With such an arrangement, each function is independent of each other and there is little interference, ensuring the stability of function implementation. That is, when the driving device 310 drives the rotating tube 427 to rotate, the first driving rod 355 can rotate along with it without affecting the position of the first driving rod 355 along the longitudinal direction of the rotating tube 427. Further, the driving device 310 can drive the rotating tube 427 to rotate and at the same time drive the first driving rod 355 to move along the longitudinal direction of the rotating tube 427. 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.

[0127] In some embodiments, for the convenience of description, among the multiple driving units included in the driving device 310, the driving unit 367 provided with the first annular groove 365 is named the first driving unit 367. The first driving unit 367 may include: a first fork 371 provided with the first annular groove 365, and a first driving shaft assembly 373 rotatably coupled to the first fork 371. The first fork 371 can move along the axial direction of the first driving shaft assembly 373 under the drive of the first driving shaft assembly 373 to drive the first driving rod 355 to move along the longitudinal direction.

[0128] The first fork 371 is sleeved on the first driving shaft assembly 373, and a first transmission structure is provided between the first fork 371 and the first driving shaft assembly 373. The first transmission structure can convert the rotation of the first driving shaft assembly 373 into a linear motion of the first 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 of a cam cooperating with a cam groove. That is, a cam groove is provided on the first driving shaft assembly 373, and a cam that can slide along the cam groove is provided on the first fork 371. In this way, the first transmission structure can convert the rotation of the first driving shaft assembly 373 into a linear motion of the first fork 371 through the cooperation of the cam and the cam groove.

[0129] The first fork 371 corresponds to the center of the first annular groove 365 and is provided with a first central hole 377a. The first central hole 377a of the first fork 371 is sleeved on the firing rod driving member 448. The first fork 371 and the firing rod driving member 448 can move relative to each other along the longitudinal direction of the long shaft assembly 320. The firing rod driving member 448 is limited on the top plate 481 of the driving device 310. In this way, the first fork 371 is sleeved on the first drive shaft assembly 373 and the firing rod driving member 448 at the same time. When the first drive shaft assembly 373 drives the first fork 371 to move, due to the blocking of the firing rod driving member 448, the first fork 371 will not rotate relative to the first drive shaft assembly 373. Of course, the first drive rod 355 can also prevent the first fork 371 from rotating relative to the first drive shaft assembly 373.

[0130] The first fork 371 may include a first fork body 383 and a first fork cover plate 385. The first fork body 383 is formed with a first annular groove 387. The first central hole 377a is located at the central position of the first annular groove 387, and the two may have the same center line. The first fork cover plate 385 is mated with the first fork body 383 to form the first annular groove 365. The central position of the first fork cover plate 385 has a first central hole 377b. In this way, the first fork 371 can be sleeved on the firing rod driving member 448. Further, the aperture of the first central hole 377b of the first fork cover plate 385 is larger than the outer diameter of the firing rod driving member 448. An annular space is formed between the first fork cover plate 385 and the firing rod driving member 448. Further, the first drive rod 355 can extend into the first annular groove 365 from the annular space, so that at least part of the first flange 363 is received in the first annular groove 365. Moreover, when the rotating tube 427 rotates, the first drive rod 355 can move along the annular space, realizing that the first drive rod 355 rotates together with the rotating tube 427.

[0131] The first fork cover plate 385 and the first fork body 383 can be fixedly connected. Specifically, screws, rivets, or snap structures can be used to limit the positions of the two. Of course, the two can also be bonded with glue.

[0132] 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 plate 385 facing the bottom surface 389 of the first annular groove 387. In this way, the first drive rod 355 and the first fork 371 are limited along the longitudinal direction of the rotating tube 427. Further, when the first fork 371 is driven to move along the longitudinal direction of the rotating tube 427, the first drive rod 355 can be driven to move together. Furthermore, the corresponding functions of the end effector 321 that can be operated by the first drive rod 355 can be realized.

[0133] In some embodiments, the axial direction of the first drive shaft assembly 373 tends to be parallel to the longitudinal direction. Since the first fork 371 is sleeved on the first drive shaft assembly 373, when the first drive shaft assembly 373 drives the first fork 371 to move, the first fork 371 will move along the first drive shaft assembly 373. Since the first drive shaft assembly 373 is parallel to the longitudinal direction of the rotating tube 427, the first fork 371 is further enabled to drive the first drive rod 355 to move along the longitudinal direction of the rotating tube 427.

[0134] 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 connection assembly 376, a first connection shaft 378, and a first drive member 380.

[0135] 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. A nut 388 is connected to the portion of the first drive shaft 374 extending out of the through hole 384. A stepped surface is provided on the portion of the first drive shaft 374 in contact with the bearing 386. Further, through the cooperation of the stepped surface, the bearing 386, and the nut 388, the position of the first drive shaft 374 relative to the top plate 481 is defined, and the first drive shaft 374 is allowed to rotate relative to the top plate 481.

[0136] The first connection assembly 376 may include a first connection member body 390, a shaft fixing member 392, and a shaft fixing member 394. The first connection assembly 376 can be used to connect the first drive shaft 374 and the first connection shaft 378. Specifically, the shaft fixing member 392 can fixedly connect the first drive shaft 374 to the first connection member body 390. The shaft fixing member 394 can fixedly connect the first connection shaft 378 to the first connection member body 390. The aforementioned fixed connection methods can include but are not limited to methods such as screws or rivets. In this way, the first drive shaft 374 and the first connection shaft 378 are fixedly connected.

[0137] The first connection shaft 378 can be installed in the through hole 398 of the bottom plate 483 through a bearing 396. So that the first connection shaft 378 can rotate relative to the bottom plate 483, and further the first drive shaft assembly 373 can rotate relative to the top plate 481 and the bottom plate 383. And the position of the first drive shaft assembly 373 along the longitudinal direction of the self-rotating tube 427 is defined.

[0138] The first drive member 380 is fixedly connected to the first connection shaft 378. The first drive member 380 can be used to receive the power input of the actuator of the actuating device 220. Thus, the first drive shaft assembly 373 is driven to rotate.

[0139] In some embodiments, the first surface 359 and the second surface 361 of the first drive rod 355 may be simultaneously subjected to the force exerted by the first fork 371. At this time, under the combined action of the forces received by the first surface 359 and the second surface 361, the first drive rod 355 moves along the longitudinal direction of the self-rotating tube 427.

[0140] Please refer to Figure 7 、 Figure 8 and Figure 10 . In some embodiments, a second drive rod 393 for driving the end instrument 321 is provided in the self-rotating tube 427; a third surface 397 facing the first end 351 and a fourth surface 399 facing away from the first end 351 are formed at the end 395 of the second drive rod 393 away from the first end 351.

[0141] The drive device 310 can apply a force to the third surface 397 and / or the fourth surface 399 to move the second drive rod 393 along the longitudinal direction.

[0142] 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 way, stable driving of the second driving rod 393 to move along the longitudinal direction can be achieved. In this way, the second driving rod 393 can further activate the corresponding functions of the distal instrument 321.

[0143] In some embodiments, the second driving rod 393 is circumferentially limited with respect to the rotating tube 427. Specifically, the rotating tube 427 can be driven by the driving device 310 to rotate relative to the axis of the rotating tube 427. In this way, driving the distal instrument 321 to swing can be achieved, and further the position and angle of the distal instrument 321 can be adjusted to facilitate the operation. The second driving rod 393 can be circumferentially limited with respect to the rotating tube 427. That is, when the rotating tube 427 rotates relative to its axis X, the second driving rod 393 will rotate around the axis X of the rotating tube 427 along with it.

[0144] In this way, when the rotating tube 427 rotates, the second driving rod 393 can rotate around the axis of the rotating tube 427 along with it. The relative position of the second driving rod 393 within the rotating tube 427 can be stably maintained, improving the stability of the surgical instrument 300.

[0145] In some embodiments, a second flange 401 deviating from the longitudinal direction is provided at the end 395 of the second driving rod 393 away from the first end 351; the second flange 401 has the third surface 397 and the fourth surface 399.

[0146] The extending direction of the second flange 401 can deviate from the longitudinal direction of the rotating tube 427. So that, the extending direction of the second flange 401 can have an acute angle or a right angle with the longitudinal direction of the rotating tube 427. In this way, the second flange 401 will have two surfaces, one surface generally faces the first end 351 of the rotating tube 427, which is the third surface 397. One surface generally faces away from the first end 351 of the rotating tube 427, which is the fourth surface 399.

[0147] 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. In this way, in terms of structure, it is convenient to drive the second driving rod 393 to move along the longitudinal direction of the rotating tube 427.

[0148] In some embodiments, the second flange 401 can be integrally formed with the second driving rod 393. In this way, a better bond is achieved between the two. Of course, in some embodiments, the second flange 401 and the second driving rod 393 can also be independent elements and are connected by an appropriate connection method.

[0149] In some embodiments, a groove (not shown in the figure) can be provided at the end 395 of the second driving rod 393 away from the first end 351. In this way, the surface of the groove side wall facing the first end 351 can serve as the third surface 397, and the end surface of the second driving rod 393 away from the first end 351 can serve as the fourth surface 399. Of course, those skilled in the art can also make other changes under 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.

[0150] In some embodiments, the driving device 310 has a second annular groove 403 extending along the circumferential direction of the rotating tube 427, and at least a part of the second flange 401 of the second driving rod 393 is received 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.

[0151] Among the multiple driving units included in the driving device 310, each driving unit can be used to perform corresponding driving functions. Specifically, a driving unit 405 of the driving device 310 can be provided with a second annular groove 403 for at least partially receiving the second flange 401. In this way, a force can be applied to the fourth surface 399 of the second flange 401 through the groove wall 407 of the second annular groove 403, so that the second driving rod 393 moves along the longitudinal direction of the rotating tube 427 towards the first end 351. A force can also be applied to the third surface 397 of the second flange 401 through the groove wall 407 of the second annular groove 403, so that the second driving rod 393 moves along the longitudinal direction of the rotating tube 427 towards the second end 353.

[0152] The part of the second flange 401 protruding from the second driving rod 393 can partly extend into the second annular groove 403. Of course, the part of the second flange 401 protruding from the second driving rod 393 can also be completely received in the second annular groove 403.

[0153] In some embodiments, the driving device 310 can drive the rotating tube 427 to rotate circumferentially, so that the second flange 401 of the second driving rod 393 moves along the second annular groove 403. In some embodiments, the driving device 310 can drive the rotating tube 427 to rotate circumferentially, so that the second flange 401 of the second driving rod 393 moves along the second annular groove 403. The second annular groove 403 can provide a moving space for the second flange 401 along the circumferential direction of the rotating tube 427. With such an arrangement, each function is independent of each other and there is little interference, ensuring the stability of function implementation. That is, when the driving device 310 drives the rotating tube 427 to rotate, the second driving rod 393 can rotate along with it without affecting the position of the second driving rod 393 along the longitudinal direction of the rotating tube 427. Further, the driving device 310 can drive the rotating tube 427 to rotate and at the same time drive the second driving rod 393 to move along the longitudinal direction of the rotating tube 427. 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.

[0154] 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 the second annular groove 403 and a second driving shaft assembly 411 rotatably engaged with the second fork 409. The second fork 409 can move along the axial direction of the second driving shaft assembly 411 under the drive of the second driving shaft assembly 411 to drive the second driving rod 393 to move along the longitudinal direction.

[0155] The second fork 409 is sleeved on the second driving shaft assembly 411, and a second transmission structure 413 is provided between the second fork 409 and the second driving shaft assembly 411. The second transmission structure 413 can convert the rotation of the second driving shaft assembly 411 into a linear motion of the second 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 of a cam cooperating with a cam groove. That is, a cam groove is provided on the second driving shaft assembly 411, and a cam that can slide along the cam groove is provided on the second fork 409. In this way, the second transmission structure 413 can convert the rotation of the second driving shaft assembly 411 into a linear motion of the second fork 409 through the cooperation of the cam and the cam groove.

[0156] The second fork 409 corresponds to the center of the second annular groove 403 and is provided with a second central hole 415a. The second central hole 415a of the second fork 409 is sleeved on the firing rod driving member 448. The second fork 409 and the firing rod driving member 448 can relatively move along the longitudinal direction of the rotation tube 427. In this way, the second fork 409 is sleeved on the second drive shaft assembly 411 and the firing rod driving member 448 at the same time. When the second drive shaft assembly 411 drives the second fork 409 to move, due to the block of the firing rod driving member 448, the second drive shaft assembly 411 will not rotate relative to the second drive shaft assembly 411. Of course, the second drive rod 393 can also prevent the second fork 409 from rotating relative to the second drive shaft assembly 411.

[0157] The second fork 409 may include a second fork body 417 and a second fork cover plate 419. The second fork body 417 is formed with a second annular groove 421. The second central hole 415a is located at the central position of the second annular groove 421, and the two may have the same center line. The second fork cover plate 419 is mated with the second fork body 417 to form the second annular groove 403. The central position of the second fork cover plate 419 has a second central hole 415b. In this way, the second fork 409 can be sleeved on the firing rod driving member 448. Further, the central hole diameter of the second fork cover plate 419 is larger than the outer diameter of the firing rod driving member 448. An annular space is formed between the second fork cover plate 419 and the firing rod driving member 448. Furthermore, the second drive rod 393 can extend into the second annular groove 403 from the annular space, so that at least part of the second flange 401 is received in the second annular groove 403. Moreover, when the rotation tube 427 rotates, the second drive rod 393 can move along the annular space, so that the second drive rod 393 rotates together with the rotation tube 427.

[0158] The second fork cover plate 419 and the second fork body 417 can be fixedly connected. Specifically, screws, rivets, or snap structures can be used to limit the positions of the two, and glue can also be used to bond the two.

[0159] When at least part of the second flange 401 of the second drive rod 393 is 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 plate 419 facing the bottom surface 423 of the second annular groove 421. In this way, the second drive rod 393 and the second fork 409 are limited along the longitudinal direction of the rotation tube 427. Further, when the second fork 409 is driven to displace along the longitudinal direction of the rotation tube 427, the second drive rod 393 can be driven to move together. Furthermore, the corresponding function of the second drive rod 393 to operably trigger the end instrument 321 can be realized.

[0160] Please refer to Figures 3 to 6 and Figure 8 as well. 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 connection assembly 414, a second connection shaft 416, and a second drive member 418.

[0161] 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. A nut 426 is connected to the portion of the second drive shaft 411 extending out of the through hole 422. A stepped surface is provided at the portion of the second drive shaft 411 in contact with the bearing 424. Furthermore, through the cooperation of the stepped surface, the bearing 424, and the nut 426, the position of the second drive shaft 411 relative to the top plate 481 is defined, and the second drive shaft 411 is allowed to rotate relative to the top plate 481.

[0162] The second connection assembly 414 may include a second connection member body 428, a shaft fixing member 430, and a shaft fixing member 432. The second connection assembly 414 can be used to connect the second drive shaft 412 and the second connection shaft 416. Specifically, the shaft fixing member 430 can fixedly connect the second drive shaft 412 to the second connection member body 428. The shaft fixing member 430 can fixedly connect the second connection shaft 416 to the second connection member body 428. The aforementioned fixed connection methods may include but are not limited to methods such as screws or rivets. In this way, the second drive shaft 412 and the second connection shaft 416 are fixedly connected.

[0163] The second connection shaft 416 can be mounted in the through hole 436 of the bottom plate 483 through a bearing 396. So that the second connection shaft 416 can rotate relative to the bottom plate 483, and further the second drive shaft assembly 411 can rotate relative to the top plate 481 and the bottom plate 383. And the position of the second drive shaft assembly 411 along the longitudinal direction of the self-rotating tube 427 is defined.

[0164] The second drive member 418 is fixedly connected to the second connection shaft 416. The second drive member 418 can be used to receive the power input from the actuator of the actuating device 220, and further the second drive shaft assembly 411 is driven to rotate.

[0165] In some embodiments, the axial direction of the second drive shaft assembly 411 tends to be parallel to the longitudinal direction. Since the second fork 409 is sleeved on the second drive shaft assembly 411, when the second drive shaft assembly 411 drives the second fork 409 to move, the second fork 409 will move along the second drive shaft assembly 411. Since the second drive shaft assembly 411 is parallel to the longitudinal direction of the self-rotating tube 427, the second fork 409 is further enabled to drive the second drive rod 393 to move along the longitudinal direction of the self-rotating tube 427.

[0166] In some embodiments, the third surface 397 and the fourth surface 399 of the second drive rod 393 may be simultaneously subjected to the force applied by the second fork 409. At this time, under the combined action of the forces received by the third surface 397 and the fourth surface 399, the second drive rod 393 is caused to move along the longitudinal direction of the self-rotating tube 427.

[0167] In some embodiments, the first drive rod 355 and the second drive rod 393 are respectively used to trigger different functions of the end effector 321. Specifically, for example, the first drive rod 355 can be used to trigger the swinging 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 respectively implement other functions, which are not specifically limited herein.

[0168] In some embodiments, the first drive unit 367 of the drive device 310 includes a first fork 371 provided with the first annular groove 365, and the first fork 371 and the second fork 409 are arranged along the longitudinal direction.

[0169] Both the first fork 371 and the second fork 409 can be sleeved on the firing rod driver 448. In this way, the first fork 371 and the second fork 409 will be arranged along the longitudinal direction. Further, both the first fork 371 and the second fork 409 can be driven to move along the longitudinal direction of the self-rotating tube 427. Moreover, there will be a certain overlap in the displacement space of the first fork 371 and the second fork 409 relative to the firing rod driver 448. It can be understood that in terms of operation, generally, the first fork 371 and the second fork 409 will not use the overlapping stroke at the same time, so such a design improves the space utilization rate in the drive device 310 and can reduce the volume of the drive device 310 to a certain extent.

[0170] Correspondingly, when the first fork 371 is closer to the first end 351 of the rotating tube 427 than the second fork 409, the annular space between the hole walls of the first central holes 377a and 377b of the first fork 371 and the firing rod driver 448 needs to be large enough to allow the second drive rod 393 to pass through. Similarly, when the second fork 409 is closer to the first end 351 of the rotating tube 427 than the first fork 371, the annular space between the hole walls of the second central holes 415a and 415b of the second fork 409 and the firing rod driver 448 needs to be large enough to allow the first drive rod 355 to pass through.

[0171] Please refer to Figure 5 and Figure 11 . In some embodiments, in order to enable the first fork 371 to move more stably along the longitudinal direction of the rotating tube 427, a guide shaft assembly 462 may also be provided in the drive device 310.

[0172] A first guide hole 464 is provided between the first central hole 377a of the first fork body 383 and the through hole 382. The first guide hole 464 may be a through hole that penetrates the first fork body 383.

[0173] 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 in clearance fit 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 way, the first guide shaft 468 is limited between the top plate 481 and the base 472. When the first fork 371 is driven to move along the longitudinal direction of the rotating tube 427, through the cooperation between the first guide hole 464 and the first guide shaft 468, the first fork 371 can move along the first guide shaft 468. Further, the axial direction of the first guide shaft 468 tends to be parallel to the longitudinal direction of the rotating tube 427. In this way, the guiding effect of the first guide shaft 468 on the first fork 371 is realized, so that the first fork 371 can displace more stably along the longitudinal direction of the rotating tube 427.

[0174] The base 472 may be fixedly connected to the bottom plate 483, so that the base 472 can stably support the first guide shaft 468.

[0175] To make the positional relationship between the first fork 371 and the first guide shaft 468 more stable and reduce the relative inclination or wobbling between the first fork body 383 and the first guide shaft 468. A first guide seat 474 can be sleeved on the first guide shaft 468, and they can slide relative to each other. The first guide seat 474 is fixedly connected to the first fork body 383. The first guide seat 474 can be integrally in the shape of a hollow cylinder. In this way, by sleeving the first guide seat 474 on the first guide shaft 468 and fixedly connecting it to the first fork body 383, to a certain extent, it is equivalent to increasing the contact area between the first fork body 383 and the first guide shaft 468. In this way, when the first fork 371 moves relative to the first guide shaft 468, it can be more stable and reduce the wobbling or inclination between the two. Further, in some embodiments, in order to reduce the frictional force between the first guide shaft 468, the first fork body 383, and the first guide seat 474, a relatively smooth first shaft sleeve can be provided between the first fork body 383 and the first guide seat 474 and the first guide shaft 468. The first shaft sleeve can be made of a material with a relatively smooth surface. Of course, the first shaft sleeve can also not be provided, and the first fork body 383 and / or the first guide seat 474 can be made of a material with a relatively smooth surface.

[0176] In some embodiments, the guide shaft assembly 462 can further include a second guide shaft 476. A second guide hole 478 is provided between the second central 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 in clearance fit with the second guide hole 478. The second guide shaft 476 can 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 limited between the top plate 481 and the base 472. When the second fork 409 is driven to move along the longitudinal direction of the rotating tube 427, through the cooperation between the second guide hole 478 and the second guide shaft 476, the second fork 409 can move along the second guide shaft 476. Further, the axial direction of the second guide shaft 476 tends to be parallel to the longitudinal direction of the rotating tube 427. In this way, the guiding function of the second guide shaft 476 on the second fork 409 is realized, so that the second fork 409 can displace more stably along the longitudinal direction of the rotating tube 427.

[0177] To make the positional relationship between the second fork 409 and the second guide shaft 476 more stable and reduce the relative inclination or wobbling 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 integrally in the shape of a hollow cylinder. In this way, by sleeving the second guide seat 480 on the second guide shaft 476 and fixedly connecting it 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 the wobbling or inclination between the two. Further, in some embodiments, in order to reduce the frictional force between the second guide shaft 476, the second fork body 417 and the second guide seat 480, a relatively smooth second shaft sleeve can be provided between the second fork body 417 and the second guide seat 480 and the second guide shaft 476. The second shaft sleeve can be made of a material with a relatively smooth surface. Of course, the second shaft sleeve can also be not provided, and the second fork body 417 and / or the second guide seat 480 can be made of a material with a relatively smooth surface.

[0178] In some embodiments, the guide shaft assembly 462 of the drive device 310 can be provided only with relevant structures for guiding the first fork 371. Of course, the guide shaft assembly 462 of the drive device 310 can also be provided only with relevant structures for guiding the second fork 409. Of course, in some embodiments, the guide shaft assembly 462 can be provided with relevant structures for guiding both the first fork 371 and the second fork 409 at the same time.

[0179] Please refer to Figures 3 to 6 and Figure 8 . In some embodiments, both the second drive rod 393 and the first drive rod 355 are partially received in the rotating tube 427 and are circumferentially limited relative to the rotating tube 427.

[0180] The first drive rod 355 and the second drive rod 393 extend from the drive device 310 into the rotating tube 427. Specifically, the portions of the first drive rod 355 and the second drive rod 393 respectively provided with the first flange 363 and the second flange 401 are located outside the rotating tube 427, so that they can cooperate with the first fork 371 or the second fork 409.

[0181] The first drive rod 355 and the second drive rod 393 extending into the rotation tube 427 are circumferentially limited relative to the rotation tube 427, but the first drive rod 355 and the second drive rod 393 are allowed to be displaced along the longitudinal direction relative to the rotation tube 427. Specifically, a drive rod stopper 430 having a plurality of through holes is provided in the rotation tube 427. The drive rod stopper 430 is provided with 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. 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. As a result, the drive rod stopper 430 moves with the rotation tube 427. When the rotation tube 427 is driven to rotate with the longitudinal direction as the axial 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 .

[0182] The number of the driving rod stopper 430 may be one or more. Generally, when there are two or more driving rod stoppers 430, the stopper effect achieved is better than when there is only one driving rod stopper 430. In some embodiments, two adjacent driving rod stoppers 430 may be connected by a connecting rod 438, so that the stopper of the two adjacent driving rod stoppers 430 is more secure and the position positioning is more accurate.

[0183] The self-rotating tube 427 is mounted on the bottom plate 369 through the bearing 438 and the bearing 440. The self-rotating tube 427 is limited relative to the bottom plate 369 along the longitudinal direction, and the self-rotating tube 427 is allowed to rotate in the circumferential direction. The portion of the self-rotating tube 427 extending into the driving device 310 is fixedly connected to the driven wheel 477. In this way, when the driven wheel 477 is driven to rotate, the self-rotating tube 427 will rotate together with the driven wheel 477.

[0184] Please also read 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 driving member 448 , and a firing rod 450 .

[0185] The firing rod stopper 446 extends along the longitudinal direction and is fixedly connected to the housing 381 of the driving device 310. Specifically, for example, the firing rod stopper 446 can be fixedly connected to the top plate 481 of the driving device 310 so that the firing rod stopper 446 will not be displaced relative to the top plate 481.

[0186] The firing lever 450 can be sleeved on the firing lever stopper 446 and is circumferentially limited relative to the firing lever stopper 446. The firing lever 450 has a hollow section that houses at least part of the firing lever stopper 446, and relative displacement can occur between the firing lever stopper 446 and the firing lever 450 along the longitudinal direction of the rotating tube 427. The firing lever stopper 446 restricts the firing lever 450 from rotating circumferentially. Specifically, for example, a guiding flange extending along the longitudinal direction can be provided on the firing lever stopper 446, and a corresponding guiding groove extending along the longitudinal direction can be provided on the firing lever 450. By housing the guiding flange in the guiding groove, the relative circumferential positions of the firing lever stopper 446 and the firing lever 450 are defined, while allowing relative movement between the two along the longitudinal direction.

[0187] In some embodiments, the firing lever 450 is located between the first driving lever 355 and the second driving lever 393; when the rotating tube 427 is driven to rotate by the driving device 310, the first driving lever 355 and the second driving lever 393 rotate around the firing lever 450.

[0188] The firing lever 450 can be located at the central position of the rotating tube 427. Specifically, for example, the center line of the firing lever 450 tends to coincide with the center line of the rotating tube 427. Thus, the firing lever 450 and the rotating tube 427 tend to be coaxially arranged. The first driving lever 355 and the second driving lever 393 are respectively located on both sides of the firing lever 450. When the rotating tube 427 is driven to rotate, the rotating tube 427 can rotate along the circumferential direction of the firing lever 450. The first driving lever 355 and the second driving lever 393 can rotate around the firing lever 450. The rotation of the rotating tube 427 relative to the firing lever 450 can be understood as the self-rotation of the rotating tube 427. The rotation of the first driving lever 355 and the second driving lever 393 around the firing lever 450 can be understood as the revolution of the first driving lever 355 and the second driving lever 393 relative to the firing lever 450.

[0189] The firing lever driving member 448 can drive the firing lever 450 to move relative to the firing lever limiting member 446 along the longitudinal direction. The firing lever driving member 448 can be rotatably connected to the top plate 481 of the driving device 310. In this way, the firing lever driving member 448 can rotate relative to the firing lever limiting member 446. The firing lever driving member 448 is in contact with the firing lever 450. Thus, when the firing lever driving member 448 is driven to rotate, the firing lever 450 can be driven to move along the longitudinal direction. Specifically, for example, the outer surface of the firing lever 450 can have a plurality of annular grooves, and the firing lever driving member 448 can be a gear whose axis extends perpendicular to the longitudinal direction. The teeth of the gear can extend into the annular grooves of the firing lever 450. In this way, when the firing lever driving member 448 rotates, the firing lever 450 can be driven to move relative to the firing lever limiting member 446 along the longitudinal direction.

[0190] In this embodiment, by providing the firing lever limiting member 446 fixed to the housing 381 of the driving device 310, the firing lever limiting member 446 can achieve circumferential limitation and longitudinal guidance for the firing lever 450. The firing lever driving member 448 can be installed in the driving device 310. The firing lever 450 can move relative to the self-rotating tube 427 along the longitudinal direction and can directly trigger the end instrument 321. Specifically, in some embodiments, the movement of the firing lever 450 relative to the longitudinal direction of the self-rotating tube 427 can push the knife rod of the end instrument 321 to achieve the cutting function.

[0191] In some embodiments, the distance that the firing lever 450 can move along the longitudinal direction is less than the length of the firing lever limiting member 446 along the longitudinal direction. The length of the firing lever limiting member 446 along the longitudinal direction can be g, and the distance that the firing lever 450 is driven by the firing lever driving member 448 to move along the longitudinal direction can be G. It is necessary to maintain G < g to prevent the firing lever 450 from disengaging from the firing lever limiting member 446 and losing the circumferential limitation of the firing lever 450.

[0192] In some embodiments, the firing lever 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 houses at least a part of the firing lever limiting member 446.

[0193] The firing lever 450 can include a first section 437 and a second section 439. Among them, the first section 437 has the hollow section. That is, the first section 437 can be hollow inside as a whole. In this way, the first section 437 can house the firing lever limiting member 446. So that the first section 437 of the firing lever 450 will not rotate circumferentially. It is achieved that when the firing lever driving member 448 rotates to drive the firing lever 450, the firing lever 450 can move relative to the driving lever limiting member 430 as a whole.

[0194] The first section 437 and the second section 439 may 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.

[0195] In some embodiments, the firing rod limiting member 446 includes a limiting member mounting portion 830 fixedly connected to the housing 381 of the driving device 310, and a limiting member extending portion 832 received in the housing 381 of the driving device 310 and extending into the first section 437. The limiting member mounting portion 830 and the limiting member extending portion 832 are fixedly connected. Of course, in some embodiments, the firing rod limiting member 446 may only include the limiting member extending portion 832, and directly fixedly connect the limiting member extending portion 832 to the housing 381 of the driving device 310. Specifically, for example, according to the materials used, the limiting member extending portion 832 can be connected by welding, bonding, snap structures, etc. Or, an opening can be provided on the housing 381 of the driving device 310, and the limiting member extending portion 832 can be fixedly connected to the housing 381 of the driving device 310 by an interference fit between the limiting member extending portion 832 and the opening.

[0196] The limiting member extending portion 832 circumferentially limits the firing rod 450 and allows the firing rod 450 to move relative to the limiting member extending portion 832 along the longitudinal direction.

[0197] 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 limiting member extending portion 832 matches the shape of the internal cross-section. In this way, it is difficult for relative rotation to occur between the first section 437 and the driving rod limiting member 430 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 strange 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.

[0198] The outer shape of the limiting member extension 832 is matched with the shape of the internal cross-section. It is possible that after the limiting member extension 832 extends into the interior of the first section 437, it can contact the inner surface of the first section 437. Thus, the limiting member extension 832 can restrict 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 pattern of the outer surface of the limiting member extension 832 perpendicular to the longitudinal direction is similar to the shape of the internal cross-section of the first section 437. Or, the cross-sectional pattern of the limiting member extension 832 and the shape of the internal cross-section of the first section 437 may not be the same or similar, but as long as the circumferential limitation between the limiting member extension 832 and the first section 437 is achieved through shape adaptation.

[0199] In some embodiments, the firing rod 450 may further include a third section 803 rotatably connected to the second section 439. Such that the firing rod limiting member 446 does not restrict the circumferential rotation of the third section 803. Thus, the third section 803 can rotate circumferentially together with the rotating tube 427. It realizes that on the basis of not affecting the corresponding function that the firing rod 450 can trigger the end instrument 321, the end instrument 321 can rotate together with the rotating tube 427 to adjust the attitude angle of the end instrument 321.

[0200] Specifically, in some embodiments, the firing rod 450 can be used to fire the cutting function of the end instrument 321. Such that when the rotating tube 427 rotates, the end instrument 321 can rotate together with the rotating tube 427. Moreover, the third section 803 can be connected to the end instrument 321 and rotate together with the end instrument 321, and there is relative rotation between the third section 803 and the second section 439. Thus, the rotation of the rotating tube 427 does not affect the cooperation between the firing rod 450 and the firing rod limiting member 446, nor does it affect the cooperation between the firing rod 450 and the firing rod driving member 448.

[0201] In some embodiments, between the second section 439 and the third section 803, they are rotatably connected through a firing lever connecting member 834. Specifically, the firing lever connecting member 834 can be rotatably connected to both the second section 439 and the third section 803. Of course, the firing lever connecting member 834 can also be rotatably connected to only one of the second section 439 or the third section 803. Specifically, for example, the firing lever connecting member 834 can be in the shape of a hollow cylinder, and two annular flanges can be provided inside the firing lever connecting member 834. Annular grooves can be provided at the positions where the second section 439 and the third section 803 are mated with the firing lever connecting member 834. In this way, by inserting the annular flanges into the annular grooves of the second section 439 and the third section 803 respectively, the connection between the firing lever connecting member 834 and the second section 439 and the third section 803 is realized. The annular flanges can slide along the annular grooves, so that relative rotation between the second section 439 and the third section 803 can be realized. Of course, there can also be other embodiments to realize the rotational connection between the second section 439 and the third section 803. For example, directly at the connection position of the second section 439 and the third section 803, an annular flange is provided inside the second section 439, and an annular groove is provided in the third section 803. In this way, the second section 439 and the third section 803 are connected and limited through the annular flange and the annular groove, and the relative positions of the second section 439 and the third section 803 are defined along the longitudinal direction, but relative circumferential rotation between the second section 439 and the third section 803 is allowed.

[0202] In some embodiments, the firing lever connecting member 834 can semi-surround the annular grooves of the second section 439 and the third section 803. And a wedge 835 can be provided between the firing lever connecting member 834 and the self-rotating tube 427. The wedge 835 can abut against the firing lever connecting member 834 to prevent the firing lever connecting member 834 from disengaging from the abutment with the second section 439 and the third section 803. Those skilled in the art can also make other changes under the inspiration of the technical essence of the embodiments of this specification. However, as long as the functions and effects achieved are the same or similar to those provided in the embodiments of this specification, they should all be covered within the protection scope of this case.

[0203] In some embodiments, the firing rod driver 448 is generally cylindrical and extends along the longitudinal direction, and the firing rod 450 is at least partially received within the firing rod driver 448. In some embodiments, the firing rod driver 448 is sleeved on 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 the movement of the firing rod 450 along the longitudinal direction of the self-rotating tube 427. Specifically, for example, the implementation manner of the motion conversion structure can be that a threaded structure is provided between the firing rod driver 448 and the firing rod 450. Or, the implementation manner of the motion conversion structure can be that a cam is provided on the surface of the central nut 448 facing the firing rod 450, and a cam groove is provided on the outer surface of the firing rod 450.

[0204] In some embodiments, a gear portion 452 is provided at the end of the firing rod driver 448 away from the first end 351, so that the firing rod driver 448 is driven to rotate through the gear portion 452. Specifically, for example, the firing rod driver 448 can have a gear portion 452 and a driver extension portion 454. The gear portion 452 can be used to receive driving to drive the firing rod driver 448 to rotate. The driver extension portion 454 is generally sleeved on the outer surface of the firing rod 450. Further, the length of the firing rod driver 448 limits the displacement of the firing rod 450 relative to the longitudinal direction of the self-rotating tube 427. That is, without the firing rod 450 disengaging from the cooperation with the firing rod driver 448, the maximum displacement of the firing rod 450 relative to the longitudinal direction of the self-rotating tube 427 tends to approach the length of the firing rod driver 448.

[0205] The firing rod assembly 435 can be driven to displace along the longitudinal direction of the self-rotating tube 427, so that the end instrument 321 can be actuated to perform corresponding functions. Specifically, for example, the firing rod assembly 435 can be used to fire the cutting function of the end instrument 321.

[0206] Please refer to Figure 8 、 Figure 24 and Figure 25 together. In some embodiments, the drive device 310 is provided with a firing rod drive gear 836 that meshes with the gear portion 452, and a firing drive unit 838 that can drive the firing rod drive gear 836 to rotate is provided inside the housing 381 of the drive device 310. The firing drive unit 838 can receive the power of the actuator of the actuating device 220 to drive the firing rod 450 to move.

[0207] The firing lever 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 lever drive gear 836 can be driven to rotate by a firing drive unit 838. In this way, by engaging with the gear portion 452 of the firing lever drive member 448, the firing lever drive member 448 is driven to rotate, and further drives the firing lever 450 to move relative to the longitudinal direction of the long shaft assembly. Specifically, the firing lever drive gear 836 can be mounted on the top plate 481 of the drive device 310 through a drive gear shaft 840. A bearing can be provided between the drive gear shaft 840 and the top plate 481, so as to realize that the firing lever drive gear 836 can rotate relative to the top plate 481.

[0208] A firing drive unit 838 for driving the firing lever drive gear 836 can be provided in the drive device 310. The firing drive unit 838 can drive the firing lever drive gear 836 to rotate to further drive the firing lever 450 to move along the longitudinal direction. The firing drive unit 838 can include: a first intermediate gear 842 sleeved on the drive gear shaft 840 and a third drive shaft assembly 844.

[0209] The first intermediate gear 842 can be fixedly connected to the drive gear shaft 840. In this way, when the first intermediate gear 842 rotates, the drive gear shaft 840 can be driven to rotate together. The first intermediate gear 842 can be driven to rotate by the third drive shaft assembly 844.

[0210] The third drive shaft assembly 844 is mounted on the drive device 310. Specifically, the third drive shaft assembly 844 can mainly include: a third drive shaft gear 846, a third connection assembly 848, a third drive shaft 850, and a third drive member 852.

[0211] The third drive shaft gear 846 can be engaged with the first intermediate gear 842. In this way, when the third drive shaft gear 846 is driven to rotate, the first intermediate gear 842 can be driven to rotate together. The third drive shaft gear shaft 860 of the third drive shaft gear 846 can be fixedly connected to the third drive shaft 850 through the third connection assembly 848.

[0212] The third connection assembly 848 can include a third connection member body 854, a shaft fixing member 856, and a shaft fixing member 858. The third connection assembly 848 can be used to connect the third drive shaft 850 and the third drive shaft gear 846 shaft. Specifically, the shaft fixing member 856 can fixedly connect the third drive shaft 850 to the third connection member body 854. The shaft fixing member 858 can fixedly connect the third drive shaft gear shaft 860 to the third connection member body 854. The aforementioned fixed connection methods can include but are not limited to methods such as screws or rivets. In this way, the third drive shaft 850 and the third drive shaft gear 846 shaft are fixedly connected.

[0213] The third driving member 852 is fixedly connected to the third driving shaft 850. The third driving member 852 can be used to receive the power input of the actuator of the actuating device 220. Thus, the third driving shaft assembly 844 is driven to rotate.

[0214] In some embodiments, a manual driving unit 862 capable of driving the firing lever driving gear 836 to rotate is disposed outside the housing 381 of the driving device 310. The manual driving unit 862 can be used for manually operating to drive the firing lever 450 to move. The manual driving unit 862 mainly includes: a second intermediate gear 864 sleeved on the driving gear shaft 840 and a first manual wheel assembly 866.

[0215] The second intermediate gear 864 is located outside the driving device, so that the firing lever driving gear 836 can be located between the first intermediate gear 842 and the second intermediate gear 864, and the three are coaxially arranged.

[0216] The first manual wheel assembly 866 can include a first knob 868, a first manual shaft 870, and a first manual large gear 872. The first knob 868 is fixedly connected to the first manual shaft 870. Thus, the first knob 868 can be manually operated to rotate, and then drive the first manual shaft 870 to rotate. The first manual large gear 872 is sleeved on the first manual shaft 870 and is circumferentially limited to the first manual shaft 870. Thus, when the first manual shaft 870 rotates, it can drive the first manual large gear 872 to rotate together. The first manual large gear 872 meshes with the second intermediate gear 864. Thus, when the first manual large gear 872 rotates, it can drive the second intermediate gear 864 to rotate, and then drive the firing lever driving gear 836 to rotate, so as to further drive the firing lever driving member 448 to drive the firing lever 450.

[0217] In some embodiments, the driving rod limiting member 430 is provided with a third through hole 482 corresponding to the firing lever 450. The self-rotating tube 427 can rotate around the firing lever 450. The firing lever 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 lever 450, so that the driving rod limiting member 430 does not limit the firing lever 450 to move along the longitudinal direction. Further, when the self-rotating tube 427 rotates, both the self-rotating tube 427 and the driving rod limiting member 430 can rotate around the firing lever 450. The first section 437 and the second section 439 of the firing lever 450 do not undergo circumferential rotation, and the third section 874 can rotate circumferentially together with the self-rotating tube 427. Thus, a more reasonable utilization of the internal space of the self-rotating tube is achieved, and at the same time, the stable execution of each function can be ensured.

[0218] In some embodiments, a part of the second drive rod 393 received in the self-rotating tube 427 is provided with an outer tube connector 460. At a position of the self-rotating tube 427 corresponding to the outer tube connector 460, there is a through hole 462. The outer tube connector 460 can protrude from the through hole 462. Further, the outer tube connector 460 can be connected to the instrument outer tube 606 of the end effector 321. In this way, the outer tube connector 460 positions the second drive rod 393, the self-rotating tube 427, and the instrument outer tube 606. So that when the self-rotating tube 427 rotates circumferentially, it can drive the instrument outer tube 606 to rotate together, and thus the end effector 321 can also rotate accordingly.

[0219] Please refer to Figure 12 . In some embodiments, the self-rotating tube 427 extends along the longitudinal direction, forming a first end 351 and a second end 353 of the self-rotating tube 427.

[0220] The first end 351 has a pipe fitting hook 560 protruding along the longitudinal direction. The pipe fitting 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 effector 321 from moving away from the second end 353 relative to the self-rotating tube along the longitudinal direction.

[0221] In this embodiment, by providing the pipe fitting hook 560 on the self-rotating tube 427, the long shaft assembly 320 and the end effector 321 can be position-limited and connected through the pipe fitting hook 560. That is, through the first hook stop surface 562 of the pipe fitting hook 560, the positions of the long shaft assembly 320 and the end effector 321 along the longitudinal direction are restricted. To prevent the self-rotating tube 427 and the end effector 321 from separating along the longitudinal direction.

[0222] Please refer to Figure 12 and Figure 13 . In some embodiments, the pipe fitting hook 560 has a hook connecting portion 564 received in the self-rotating tube 427 and fixedly connected to the self-rotating tube 427.

[0223] The hook connecting portion 564 can connect the pipe fitting hook 560 to the self-rotating tube 427. The hook connecting portion 564 and the self-rotating tube 427 can be adhesively bonded with glue. In some embodiments, the hook connecting portion 564 and the self-rotating tube 427 can adopt an interference fit. Specifically, the inner diameter of the self-rotating tube 427 is slightly smaller than the outer diameter of the hook connecting portion 564. In this way, when the hook connecting portion 564 is installed into the self-rotating tube 427, the positional relationship between the hook connecting portion 564 and the self-rotating tube 427 can be defined by the interference fit. In some embodiments, after the hook connecting portion 564 is inserted into the self-rotating tube 427, the self-rotating tube 427 can be deformed by extrusion, so that the deformed self-rotating tube 427 presses against the hook connecting portion 564.

[0224] In some embodiments, a hook limiting hole 566 is provided at a position corresponding to the center of the self-rotating tube 427 in the hook connecting portion 564, and the firing rod 450 passes through the hook limiting hole 566; the hook limiting hole 566 allows the firing rod 450 to displace relative to the hook connecting portion 564 along the longitudinal direction and prevents the firing rod 450 from rotating circumferentially relative to the hook connecting portion 564.

[0225] The size of the hook limiting hole 566 is slightly larger than that 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 may be a clearance fit between the hook limiting hole 566 and the firing rod 450.

[0226] Furthermore, the hook limiting hole 566 and the firing rod 450 are correspondingly shaped so that they cannot rotate relative to each other. In this way, when the self-rotating tube 427 rotates, the firing rod 450 can be driven to rotate together through the hook limiting hole 566.

[0227] In some embodiments, the cross-section of the opening of the hook limiting hole 566 is non-circular. When an object rotates, its outer contour will form a circular trajectory. The non-circular cross-section of the opening of the hook limiting hole 566 is more helpful for restricting the relative position between the hook limiting hole 566 and the firing rod 450. The cross-section of the opening may be a cross-section along the extending 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 figures. Specifically, for example, the polygon may be selected from triangles, quadrilaterals,... octagons, etc.

[0228] In some embodiments, the hook connecting portion 564 may include a first hook connecting portion 568, a second hook connecting portion 570, and a connecting portion 572 connecting the first hook connecting portion 568 and the second hook connecting portion 570. Wherein, an interval groove 574 is formed between the first hook connecting portion 568 and the second hook connecting portion 570 by the connecting portion 572. Glue for bonding the hook connecting portion 564 to the self-rotating tube 427 may be provided in the interval groove 574.

[0229] By forming the spacing groove 574 at the hook connecting part 564, the space for accommodating glue between the hook connecting part 564 and the self-rotating tube 427 is increased, so that the hook connecting part 564 can be stably connected to the self-rotating tube 427 through glue. To facilitate injecting glue into the spacing groove 574, a glue injection hole 576 can be provided on the first hook connecting part 568. In this way, when assembling the hook connecting part 564 and the self-rotating tube 427 together, glue can be injected into the spacing groove 574 through the glue injection hole 576. Thus, it is convenient to install and fix the hook connecting part 564 to the self-rotating tube 427. Of course, in some embodiments, the glue injection hole 576 may not be provided, and after injecting glue into the spacing groove 574, the hook connecting part 564 is then inserted into the self-rotating tube 427.

[0230] In some embodiments, the hook connecting part 564 has a hook guiding hole 578 that runs through the hook connecting part 564 along the longitudinal direction. The hook guiding hole 578 is located in the area of the hook connecting part 564 close to the inner wall of the self-rotating tube 427. The driving rod of the long axis assembly 320 passes through the hook guiding hole 578 and drives the end instrument 321 under the drive of the driving device 310.

[0231] The hook guiding hole 578 can provide a guiding function for the driving rod. The driving rod can displace along the longitudinal direction relative to the hook guiding hole 578. Specifically, the driving rod is driven by the driving device 310 to move along the longitudinal direction to drive the end instrument 321. The driving rod needs to pass through the hook connecting part 564 so as to be mated with the end instrument 321. Specifically, the hook guiding hole 578 can correspondingly run through the first hook connecting part 568 and the second hook connecting part 570.

[0232] In some embodiments, the hook guiding hole 578 can circumferentially limit the driving rod. That is, the driving rod is restricted from rotating relative to the hook guiding hole 578. Specifically, the shape of the opening cross-section of the hook guiding hole 578 can be non-circular. Specifically, in some embodiments, the shape of the opening cross-section is selected from polygons, ellipses or irregular shapes. Specifically, for example, the polygon can be selected from triangles, quadrilaterals,... octagons, etc.

[0233] In some embodiments, the pipe fitting hook 560 can 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 connecting 564 part around the hook limiting hole 566.

[0234] The first hook arm 580 and the second hook arm 582 respectively extend from the first end 351 of the rotating tube. After the distal instrument 321 is mounted to the long shaft assembly 320, the first hook arm 580 and the second hook arm 582 can cooperate to hook the distal instrument 321, preventing the distal instrument 321 from detaching from the long shaft assembly 320 along the longitudinal direction.

[0235] The first hook arm 580 and the second hook arm 582 can respectively be formed with a first hook stop surface 562 facing the second end 353. In this way, the displacement of the distal instrument 321 away from the second end 353 along the longitudinal direction will be blocked by the first hook stop surface 562.

[0236] The first hook arm 580 and the second hook arm 582 can be integrally formed with the hook connecting portion 564. Of course, the first hook arm 580 and the second hook arm 582 can also be fixedly connected to the hook connecting portion 564 by other fixing means. Specifically, for example, they are adhesively bonded with glue, fixedly connected by screws, rivets, etc., which will not be elaborated here.

[0237] 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 also respectively have a second hook stop surface 584 facing the first hook stop surface 562. The second hook stop surface 584 is used to prevent the distal instrument 321 from approaching the second end 353 relative to the rotating tube 427 along the longitudinal direction.

[0238] The first hook stop surface 562 and the second hook stop surface 584 are arranged facing each other, and there can be a certain interval between the two. After the distal instrument 321 is mounted to the long shaft assembly 320, some structures can be located between the first hook stop surface 562 and the second hook stop surface 584. In this way, the relative position of the long shaft assembly 320 and the distal instrument 321 along the longitudinal direction is defined by the first hook stop surface 562 and the second hook stop surface 584 of the pipe fitting hook 560.

[0239] A part of the first hook arm 580 away from the rotating tube 427 is provided with a hook arm groove 586. The hook arm groove 586 has two facing surfaces along the longitudinal direction, wherein 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, which will not be elaborated here.

[0240] In some embodiments, a first interval from the second hook stop surface 584 to the hook connection portion 564 is formed between the first hook arm 580 and the second hook arm 582, a second interval is formed between the first hook stop surface 562 and the second hook stop surface 584, and a third interval is formed between the first hook stop surface 562 and the end face of the pipe fitting hook 560 away from the rotating pipe 427. Among them, the distance between the first hook arm 580 and the second hook arm 582 in the third interval is greater than the distance between the first hook arm 580 and the second hook arm 582 in the first interval. The distance between the first hook arm 580 and the second hook arm 582 in the third interval is less than the distance between the first hook arm 580 and the second hook arm 582 in the second interval.

[0241] In this embodiment, the space between the first hook arm 580 and the second hook arm 582 is divided into multiple intervals for the convenience of expression. In the actual structure, there may be no substantial distinguishing features.

[0242] In different intervals, the distance between the first hook arm 580 and the second hook arm 582 may refer to the minimum distance between the three-dimensional structures of the first hook arm 580 and the second hook arm 582; it may also 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, and the distance between the cross-sections formed by this plane on the first hook arm 580 and the second hook arm 582. Of course, those skilled in the art can also make other changes under the inspiration of the technical essence of this embodiment, which will not be elaborated here.

[0243] In the first interval, 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 interval. Thus, the structure of the end effector 321 corresponding to the pipe fitting hook 560 can extend into the space between the first hook arm 580 and the second hook arm 582 from the first interval. Furthermore, since the distance between the first hook arm 580 and the second hook arm 582 in the third interval is smaller, the structure of the end effector 321 corresponding to the pipe fitting hook 560 can be blocked by the second hook stop surface 584. In this way, by dividing different intervals between the first hook arm 580 and the second hook arm 582, different functions can be realized in different intervals.

[0244] In some embodiments, the area of the second hook stop surface 584 is larger than that of the first hook stop surface 562. Thus, in the space between the first hook arm 580 and the second hook arm 582, the second hook stop surface 584 protrudes from the first hook stop surface 562. In the projection of the first hook stop surface 562, the second hook stop surface 584, and the center line of the rotating tube 427 on a plane perpendicular to the longitudinal direction, the distance between the projection of the first hook stop surface 562 and the projection of the center line is greater than the distance between the projection of the second hook stop surface 584 and the projection of the center line.

[0245] In some embodiments, the first hook arm 580 and the second hook arm 582 are symmetrically arranged with respect to the axis of the rotating tube 427.

[0246] The structures of the first hook arm 580 and the second hook arm 582 can be substantially the same, and both are fixedly connected to the hook connecting portion 564. Thus, the first hook arm 580 and the second hook arm 582 can be symmetrically arranged with respect 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 can be more uniform. This helps to stabilize the positional relationship between the end effector 321 and the rotating tube 427.

[0247] In some embodiments, at least part of the surfaces of the first hook arm 580 and the second hook arm 582 facing each other are arc-shaped.

[0248] Part of the structure of the end effector 321 extends into the space between the first hook arm 580 and the second hook arm 582, and in some cases, the part extending into the space between the first hook arm 580 and the second hook arm 582 rotates. Thus, the arc-shaped surfaces of the first hook arm 580 and the second hook arm 582 facilitate the rotation of the part of the end effector 321 extending between the first hook arm 580 and the second hook arm.

[0249] In some embodiments, please refer to Figure 14 and Figure 15 . The end effector 321 has an instrument first end 588 and an instrument second end 590 along the longitudinal direction as a whole. Among them, the instrument first end 588 is provided with an end effector 340, and the instrument second end 590 is used to be coupled to the long shaft assembly 320. Among them, a limiting groove 594 is provided in the region of the end effector 321 near the instrument second end 590. The limiting groove 594 can be used to restrict the relative position of the end effector 321 and the rotating tube 427 along the longitudinal direction of the end effector 321. In some embodiments, after the end effector 321 is installed on the rotating tube 427, the longitudinal direction of the end effector 321 is substantially the same as the longitudinal direction of the rotating tube 427.

[0250] The end effector 321 can be any medical device applicable to the surgical instrument 300. In some embodiments, the end effector 340 can include a staple cartridge 596 and an anvil 598.

[0251] The second end 590 of the instrument is coupled to the rotating tube 427 such that the second end 590 of the instrument is provided with an interface structure connected to the rotating tube 427. Thus, the end effector 321 can be connected to the rotating tube 427 through the second end 590 of the instrument. The second end 590 of the end effector 321 can be provided with a limiting groove 594. The limiting groove 594 has a limiting groove wall 600 facing the first end 588 of the instrument. Thus, the end effector 321 can constrain the relative position of the end effector 321 and the rotating tube 427 along the longitudinal direction of the end effector 321 through the limiting groove wall 600. That is, after the end effector 321 is installed on the long axis assembly 320, the limiting groove wall 600 can cooperate with the end effector 321 to prevent the end effector 321 from separating from the rotating tube 427.

[0252] In some embodiments, the end effector 321 can include a staple cartridge 596, an anvil 598, a knife holder 602, a knife pushing rod 604, a blade (not shown in the figure), an outer tube 606 of the instrument, a swing pull rod assembly 702, etc.

[0253] The limiting groove 594 can be formed on the knife holder 602 of the end effector 321. Specifically, a limiting groove 594 is provided at the end of the knife holder 602 close to 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 knife holder 602 and extending in a spiral shape along the longitudinal direction. Thus, after the end effector 321 is installed on the rotating tube 427, the pipe fitting hook 560 of the rotating tube 427 can cooperate with the limiting groove 594, and cooperate with the limiting groove wall 600 of the limiting groove 594 through the first hook stop surface 562 to prevent the rotating tube 427 and the end effector 321 from moving away from each other along the longitudinal direction.

[0254] In some embodiments, the limiting groove 594 can have a first groove section 608 extending along the longitudinal direction and a second groove section 610 extending along the circumferential direction of the end effector 321.

[0255] In this embodiment, the second slot section 610 has a limiting slot wall 600 facing the first end 588 of the instrument. During the installation of the distal instrument 321 into the rotating tube 427, the first hook arm 580 and the second hook arm 582 of the pipe fitting hook 560 cooperate with the limiting slot 594. Specifically, first, the distal instrument 321 and the rotating tube 427 are docked along the longitudinal direction. The portions of the first hook arm 580 and the second hook arm 582 in the third interval pass through the first slot section 608 to reach the second slot section 610. At this time, the distal instrument 321 is rotated relative to the rotating tube 427, so that the portions of the first hook arm 580 and the second hook arm 582 in the third interval move along the second slot section 610. At this time, the first hook stop surface 562 of the first hook arm 580 and the second hook arm 582 faces the limiting slot wall 600. In this way, when the distal instrument 321 is moved in a direction away from the rotating tube 427, the first hook stop surface 562 abuts against the limiting slot wall 600 to stop the distal instrument 321 and the rotating tube 427 and prevent them from separating.

[0256] In some embodiments, please also refer to Figures 14 to 16 . The tool holder 602 of the distal instrument 321 is received in the instrument outer tube 606. An annular groove extending along the circumferential direction of the tool holder 602 is provided at the end of the tool holder 602 away from the first end 588 of the instrument. This annular groove can serve as the second slot section 610 of the limiting slot 594. The end of the tool holder 602 is partitioned by the annular groove to form a circumferential flange 612. At least two first slot sections 608 are formed on the circumferential flange 612. The at least two first slot 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 slot section 608, and when the distal instrument 321 rotates relative to the rotating tube 427, the portions of the first hook arm 580 and the second hook arm 582 in the first interval move along the second slot section 610.

[0257] 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. In this way, the circumferential flange 612 can enter the hook arm groove 586. In this way, the first hook stop surface 562 and the second hook stop surface 584 are in clearance fit with the circumferential flange 612 to define the relative position of the distal instrument 321 and the rotating tube 427 along the longitudinal direction.

[0258] In some embodiments, a flange step 614 and a flange side surface 616 facing the first groove section 608 are formed on a portion of the circumferential flange 612 adjacent to the first groove 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. Further, 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 rotation range of the pipe fitting hook 560 relative to the tool rest 602 can be defined by the flange side surface 616.

[0259] After the end effector 321 is installed on the rotating tube 427, the first hook arm 580 and the second hook arm 582 in the structure of the first interval are at least partially received in the second groove section 610, and the hook arm groove 586 corresponding to the second interval receives a portion of the circumferential flange 612.

[0260] In some embodiments, the tool rest 602 is received in the instrument outer tube 606. Specifically, the portion of the tool rest 602 provided with the circumferential flange 612 is received inside the instrument outer tube 606. Thus, a certain protection can be provided for the internal structure of the tool rest 602. In some embodiments, the instrument outer tube 606 can move relative to the tool rest 602 along the longitudinal direction of the end effector 321. That is, the instrument outer tube 606 can be driven by the long shaft assembly 320 to trigger the function of the end effector 321. It can be seen that receiving the tool rest 602 inside the instrument outer tube 606 provides a certain space distance along the longitudinal direction, facilitating the design of the spatial structure between the pipe fitting hook 560 and the tool rest 602, and the spatial structure between the mechanical outer tube 606 and the long shaft assembly 320.

[0261] In some embodiments, please refer to Figures 14 to 17 . The tool rest 602 is hollow along the longitudinal direction of the end effector 321, and the push rod 604 of the end effector 321 is received in the tool rest 602, and the push rod 604 extends out of the tool rest 602.

[0262] The push knife rod 604 can be used to push the blade (not shown in the figure) of the end effector 321. The end of the push knife rod 604 near the first end 588 of the instrument is used to cooperate with the blade. The end of the push knife rod 604 extending out of the knife holder 602 is used to mate with the firing rod 450. Specifically, at the end of the push knife rod 604 near the end away from the first end 588 of the instrument, a knife rod diameter reduction 618 extending circumferentially is provided. The outer diameter of the part of the push knife rod 604 adjacent to the knife rod diameter reduction 618 is larger than the outer diameter of the knife rod diameter reduction 618. A part is spaced out at the end of the push knife rod 604 by the knife rod diameter reduction 618 as the knife rod connector 620. The knife rod connector 620 can be snap-fitted with the connection groove 622 of the firing rod 450. In this way, the push knife rod 604 and the firing rod 450 are limited in the longitudinal direction. In this way, the push knife rod 604 can be pushed by the firing rod 450, and then the blade can be pushed.

[0263] In some embodiments, please refer to Figure 14 and Figure 15 . The knife holder 602 of the end effector 321 is rotatably connected to the end effector 340. Specifically, the end effector 340 is connected to the end of the knife holder 602. That is, the end effector 340 is arranged at the end of the knife holder 602 near the first end 588 of the instrument.

[0264] The staple cartridge 596 of the end effector 340 has a staple cartridge top surface 700 facing the anvil 598. When the end effector 321 is applied with work, the object to be operated will be clamped between the staple cartridge top surface 700 and the anvil 598. The axis about which the knife holder 602 and the end effector 340 can rotate relative to each other intersects the staple cartridge top surface 700 in space. Specifically, for example, the staple cartridge top surface 700 can be abstracted into a plane, and this plane has an intersection point with this axis. Preferably, the axis can be perpendicular to the plane. Of course, in some embodiments, there may also be an intersection point between the axis and the plane, but the two are not perpendicular. In this way, the needs of some uses can be met.

[0265] Please refer to Figure 14 , Figure 15 , Figure 18 and Figure 19 . The end effector 321 can have a swing pull rod assembly 702 for driving the end effector 340 to swing relative to the knife holder 602. Specifically, the swing pull rod assembly 702 can include: a first pull rod 704 rotatably connected to the end effector 340; a second pull rod 706 rotatably connected to the first pull rod 704 and the knife holder 602; a third pull rod 708 rotatably connected to the second pull rod 706. The knife holder 602 is located between the first pull rod 704 and the third pull rod 708, and the third pull rod 708 is used to connect with the drive rod of the long shaft assembly 320.

[0266] Specifically, in some embodiments, the third pull rod 708 can be used to connect to the first drive rod 355 of the long shaft assembly 320. Thus, when the first drive rod 355 is driven to move along the longitudinal direction of the rotating tube 427, it can drive the third pull rod 708 to move together. The third pull rod 708 can drive the second pull rod 706 to rotate relative to the tool holder 602. Consequently, the first pull rod 704, under the action of the second pull rod 706, has a moving direction opposite to that of the third pull rod 708. In this way, the first pull rod 704 can drive the end effector 340 to rotate relative to the tool holder 602. Through the above description, the swinging of the end effector 340 relative to the tool holder 602 is achieved, that is, the process of adjusting the angle of the end effector 340 relative to the tool holder 602. Further, after the end instrument 321 is installed on the long shaft assembly 320, the positions of the tool holder 602 and the rotating tube 427 of the long shaft assembly 320 are relatively fixed. 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 rotating tube 427 is also adjusted. In some embodiments, when the rotating tube 427 is driven to rotate by the driving device 310, the swinging pull rod assembly 702 rotates together with the rotating tube 427. In this way, on the basis of adjusting the angle of the end effector 340 by the swinging pull rod assembly 702, by driving the rotating tube 427 to rotate, the angle of the end effector 340 can be adjusted along the circumferential direction.

[0267] In some embodiments, in order to make the force that the swinging pull rod assembly 702 can exert on the end effector 321 more stable. The swinging pull rod assembly 702 may further include a fourth pull rod 710 that is respectively rotatably connected to the end effector 321 and the second pull rod 706. The fourth pull rod 710 is symmetrically arranged with respect to the tool holder 602 relative to the first pull rod 704.

[0268] The fourth pull rod 710 and the first pull rod 704 are symmetrically arranged with respect to the tool holder 602. In this way, the forces exerted by the fourth pull rod 710 and the first pull rod 704 on the end effector 340 are more uniform. Moreover, structurally, when the end effector 340 is maintained at a certain angle relative to the tool holder 602 and is subjected to an external force, the stress will be borne by the first pull rod 704 and the fourth pull rod 710, achieving better maintenance of the angle between the end effector 340 and the tool holder 602.

[0269] In some embodiments, the second pull rod 706, the third pull rod 708, and the fourth pull rod 710 are connected by a first pin shaft 712.

[0270] Thus, by pulling the third pull rod 708, the second pull rod 706 and the fourth pull rod 712 can be made to tend to move simultaneously. Specifically, the second pull rod 706 can further pull the first pull rod 704. Thus, it is realized that by only pulling the third pull rod 708, the first pull rod 704 and the fourth pull rod 712 can be driven to apply forces in opposite directions to the end effector 340, thereby realizing driving the end effector 340 to rotate relative to the tool rest 602.

[0271] In some embodiments, the first pull rod 704 and the fourth pull rod 712 are respectively connected to the end effector 340 through a second pin shaft 716 and a third pin shaft 718.

[0272] When opposite forces are applied to the first pull rod 704 and the fourth pull rod 712, causing them to move in opposite directions along the longitudinal extension direction of the tool rest 602, forces that cause the end effector 340 to rotate can be respectively applied through the second pin shaft 716 and the third pin shaft 718. Further, the swinging function of the end instrument 321 relative to the self-rotating tube 427 is realized.

[0273] In some embodiments, the first pull rod 704 and the second pull rod 706 are connected through a fourth pin shaft 720. Between the second pull rod 706 and the tool rest 602, they are connected through a fifth pin shaft 722.

[0274] Of course, in some embodiments, the third pull rod 708 can also be connected to the first pull rod 704 and the second pull rod 706 through the fourth pin shaft 720. Thus, when the third pull rod 708 is pulled to move along the longitudinal extension direction of the tool rest 602, it will drive the first pull rod 704 to move in the same direction through the fourth pin shaft 720, and also drive the second pull rod 706 to rotate relative to the fifth pin shaft 722, thereby driving the fourth pull rod 710 to move in the opposite direction relative to the first pull rod 704. Thus, the first pull rod 704 applies a force to the end effector 340 through the second pin shaft 716, and the fourth pull rod 710 applies a force to the end effector 340 through the third pin shaft 718. Further, the end effector 340 is made to rotate relative to the tool rest 602. In some embodiments, the fifth pin shaft 722 can be located at the middle position of the second pull rod 706 along the extension direction of the second pull rod 706. This makes the torques of the third pull rod 708 and the first pull rod 704 relative to the fifth pin shaft 722 more balanced.

[0275] In some embodiments, the first pull rod 708, the second pull rod 706, the third pull rod 708, and the fourth pull rod 712 can be made of relatively strong materials.

[0276] In some embodiments, a portion of the end effector 340 connected to the first pull rod 704 and the fourth pull rod 710 defines a first indication line, and an extending direction of the second pull rod 706 defines a second indication line; the first indication line and the second indication line tend to be parallel.

[0277] In this embodiment, the end effector 340 is connected to the first pull rod 704 through a second pin shaft 716 and connected to the fourth pull rod 710 through a third pin shaft 718. In this way, a connection line formed by the positions of the axes of the second pin shaft 716 and the third pin shaft 718 is the first indication line. Of course, the first indication line is not limited to the above construction method. For example, the end effector 340 has two pin holes for installing the second pin shaft 716 and the third pin shaft 718. A tangent line tangent to both of the two pin holes is made on the same side of the two pin holes, and this tangent line can also be used as the first indication line.

[0278] Through structural settings, the formed first indication line and the second indication line tend to be parallel. In this way, a relatively large swing angle of the end effector 340 relative to the rotating tube 427 can be achieved. It can be more widely applicable to more usage requirements. Of course, those skilled in the art can understand that the first indication line and the second indication line are lines formed by mechanical structures and are only used to clearly express structural features here. In fact, it is difficult to achieve an absolutely parallel relationship for the first indication line and the second indication line formed by mechanical structures.

[0279] The second pull rod 706 can extend longitudinally as a whole. For a reasonable use of space, the second pull rod 706 can adopt a relatively flat shape as a whole. Further, in order to fit the instrument outer tube 606 of the end instrument 321, the second pull rod 706 can have a curvature adapted to the instrument outer tube 606. In this way, the internal space occupied by the instrument outer tube 606 can be relatively reduced.

[0280] In some embodiments, the instrument outer tube 606 of the end instrument 321 may include: a first outer tube section 724 sleeved on the end effector 340, a second outer tube section 726 sleeved on the tool rest 602, and an outer tube coupling 728 rotatably connected to the first outer tube section 724 and the second outer tube section 726 respectively.

[0281] Both the first outer tube section 724 and the second outer tube section 726 can rotate relative to the outer tube fitting 728. Thus, the position of the outer tube fitting 728 can be set near the part where the end effector 340 is connected to the first pull rod 704. Thus, when the first pull rod 704 drives the end effector 340 to rotate relative to the tool holder 602, the first outer tube section 724 sleeved on the end effector 340 can rotate relative to the second outer tube section 726. Structurally, this avoids the instrument outer tube 606 from hindering the swinging function of the end instrument 321.

[0282] In some embodiments, the first pull rod 704 and the fourth pull rod 710 define a reference plane. The projections of the second pin shaft 716 and the third pin shaft 718 on the reference plane are within the projection range of the outer tube fitting 728 along the longitudinal extension direction of the tool holder.

[0283] The reference plane can be jointly determined by the same side surfaces of the first pull rod 704 and the fourth pull rod 710. It can be understood that the reference plane can pass through the two same side surfaces of the first pull rod 704 and the fourth pull rod 710 at the same time. Of course, it can also be the plane where the center lines of the first pull rod 704 and the fourth pull rod 710 are coplanar, as the reference plane. Of course, those skilled in the art can also make other changes under the inspiration of the disclosure of the embodiments of this specification, and all should be covered within the scope of protection of the claims of this case.

[0284] The tool holder 602 extends longitudinally as a whole to form the longitudinal extension direction of the tool holder 602. After the end instrument 321 is installed on the long shaft assembly 320, the longitudinal extension direction of the tool holder 602 can tend to be the same as the longitudinal direction of the long shaft assembly 320.

[0285] The projection of the outer tube fitting 728 on this reference plane can form a certain projection range. Specifically, it may form a figure such that it forms a certain length range in the longitudinal extension direction of the tool holder 602, and this length range can be used as the projection range along the longitudinal extension direction of the tool holder 602. In order to reduce the interference of the instrument outer tube 606 on the swinging function of the end instrument 321, the connection parts of the first pull rod 704 and the fourth pull rod 710 with the end effector 340 can be arranged within this projection range through structural settings.

[0286] The end effector 321 may have an initial state. In the initial state, the anvil 598 and the staple cartridge 596 are in an open position, and the angle between the end effector 340 and the tool carrier 602 may be 180°. Thus, when the outer tube 606 of the instrument does not move relative to the tool carrier 602, the first pull rod 704 and the fourth pull rod 710 are driven to pull the end effector 340 to rotate by an angle relative to the tool carrier 602. At this time, the outer tube assembly 728 will rotate at least relative to the first outer tube section 724, so that the first outer tube section 724 sleeved on the end effector 340 can rotate with the end effector 340.

[0287] In some cases, the outer tube 606 of the instrument can move along the longitudinal extension direction of the tool carrier 602 towards the end effector 340, which can trigger the clamping function of the end effector 340. Specifically, when the outer tube 606 of the instrument moves towards the end effector 340, it can cause the anvil 598 and the staple cartridge 596 to move closer to each other. Thus, the clamping function of the end effector 321 is realized.

[0288] At this time, when the clamping function is executed, the second outer tube section 726 is driven to move towards the end effector 340. Thus, the outer tube assembly 728 is pushed. Since the end effector 340 has rotated by an angle relative to the tool carrier 602, the outer tube assembly 728 will rotate relative to both the first outer tube section 724 and the second outer tube section 726. So that the first outer tube section 724 can be pushed to make the anvil 598 and the staple cartridge 596 move closer to each other and can finally be in a closed state, realizing the clamping function of the end effector 321. During this process, the position of the outer tube assembly 728 will move, so that the projection on the reference plane also moves. In the initial state, the projection of the outer tube assembly 728 on the reference plane, until the anvil 598 and the staple cartridge 596 are in the closed state, the projection of the outer tube assembly 728 on the reference plane forms a continuous projection range. Through the structural setting, the projections of the first pull rod 704 and the fourth pull rod 710 on this reference plane are always within the projection range, realizing that the first outer tube section 724, the outer tube assembly 728 and the second outer tube section 726 can provide better adaptability for the rotation ability of the end effector 340 relative to the tool carrier 602. That is, when the end effector 340 rotates by a certain angle relative to the tool carrier 602 (the angle between them is not 180°), to a certain extent, the clamping function of the end effector 321 can be driven by the outer tube 606 of the instrument.

[0289] Please refer to Figure 3 、 Figure 7 、 Figure 14 、 Figure 15 and Figure 20。In some embodiments, the outer instrument tube 606 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, so as to drive the anvil 598 of the end effector 321 to open or close relative to the staple cartridge 596.

[0290] The outer instrument tube 606 can be sleeved on the rotating tube 427, and the two can move relative to each other along the longitudinal direction of the rotating tube 427.

[0291] The anvil 598 is rotatably connected to the staple cartridge 596, so that the anvil 598 can open or close relative to the staple cartridge 596 through the relative rotation between the anvil 598 and the staple cartridge 596. In this way, the clamping function of the end effector 321 is realized.

[0292] By setting that the outer instrument tube 606 of the end effector 321 can move relative to the rotating tube 427, the clamping function of the end effector 321 is driven. In terms of the overall structure, the design is relatively reasonable, and the overall space arrangement is very compact.

[0293] Specifically, the staple cartridge 596 has two arc-shaped grooves 800, and the anvil 598 has two protruding pins 802 corresponding to the arc-shaped grooves 800. In this way, the anvil 598 can move through the protruding pins 802 in the arc-shaped grooves 800, and the anvil 598 can rotate relative to the staple cartridge 596. Further, the anvil 598 is also provided with a rotating flange 804, which is adjacent to the protruding pins 802 and is used to cooperate with the outer instrument tube 606. Specifically, the part of the anvil 598 provided with the protruding pins 802 and the rotating flange 804 extends into the outer instrument tube 606. The rotating flange 804 will be engaged with the outer instrument tube 606, so that when the outer instrument tube 606 moves relative to the tool holder 602, it will push the rotating flange 804, and then the anvil 598 will slide along the arc-shaped groove 800 through the protruding pins 802, and during the sliding process, the anvil 598 will rotate relative to the staple cartridge 596. In some specific embodiments, when the outer instrument tube 606 moves relative to the rotating tube 427 towards the first end 351, the outer instrument tube 606 will push the anvil 598 close to the staple cartridge 596, so that the anvil 598 and the staple cartridge 596 are closed, and then the end effector 321 can clamp an object. When the outer instrument tube 606 moves relative to the rotating tube 427 towards the second end 353, the outer instrument tube 606 will pull the anvil 598 away from the staple cartridge 596, so that the anvil 598 and the staple cartridge 596 are opened.

[0294] In some embodiments, the tool holder 602 of the distal instrument 321 is received within the instrument outer tube 606. In this way, the overall exterior of the distal instrument 321 is relatively regular, facilitating packaging and transportation. Further, with the tool holder 602 received within the instrument outer tube 606, the push rod 604 and the swing rod assembly 702, etc. mounted on the tool holder 602 can also be received within the instrument outer tube 606, or at least mostly received within the instrument outer tube 606. In this way, the instrument outer tube 606 can form the outer housing 381 of the distal instrument 321, providing a certain degree of protection to the internal structure. Moreover, it also avoids, to a certain extent, the possible interference of the external environment with the internal transmission of the distal instrument 321.

[0295] Further, the rotating tube 427 needs to be mated with the tool holder 602. Such that, a part of the rotating tube 427 extends into the interior of the instrument outer tube 606 to achieve the mating of the rotating tube 427 with the tool holder 602. That is, the instrument outer tube 606 can receive a part of the rotating tube 427 to connect the rotating tube 427 with the tool holder 602.

[0296] In some embodiments, the part of the instrument outer tube 606 sleeved on the rotating tube 427 is provided with a connection structure connected to the drive rod inside the rotating tube 427, such that the instrument outer tube 606 can move relative to the rotating tube 427 along the longitudinal direction of the rotating tube 427 under the drive of the second drive rod 393.

[0297] The instrument outer tube 606 is connected to the second drive rod 393 of the long shaft assembly 320 through the connection structure. In this way, when the second drive rod 393 is driven to move, it will drive the instrument outer tube 606 to move together through the connection structure. In this way, it can be realized that the second drive rod 393 is driven by the drive device 310, the instrument outer tube 606 is driven by the second drive rod 393, and finally the anvil 598 is driven by the instrument outer tube 606 to move relative to the staple cartridge 596, so that the anvil 598 and the staple cartridge 596 can open and close, realizing the clamping function of the distal instrument 321.

[0298] In some embodiments, the connection structure of the instrument outer tube 606 includes the outer tube groove 808 of the instrument outer tube 606, and the outer tube groove 808 can receive the outer tube connector 460 extending out of the rotating tube 427. The part of the outer tube connector 460 located within the rotating tube 427 is connected to the second drive rod 393.

[0299] The outer tube groove 808 can be a blind hole formed in the instrument outer tube 606. Of course, the outer tube groove 808 can also be a through hole formed in the instrument outer tube 606. The outer tube connector 460 can be respectively connected to the second drive rod 393 and the outer tube groove 808. Specifically, such as 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. In this way, through the spatial arrangement, the outer tube connector 460 is clamped between the second drive rod 393 and the instrument outer tube 606. Thus, the second drive rod 393 is firmly connected to the instrument outer tube 606.

[0300] The outer tube connector 460 passes through the tube wall of the rotating tube 427. In this way, the outer tube connector 460 extends out of the rotating tube 427 and extends into the outer tube slot 808 of the instrument outer tube 606.

[0301] In some embodiments, a fastening tube 814 made of heat-shrinkable material is sleeved on the outside of the instrument outer tube 606 where it is mated with the outer tube connector 460. Specifically, for example, the fastening tube 814 is sleeved at the position of the instrument outer tube 606 corresponding to the outer tube slot 808. As Figure 22 shown. The fastening tube 814 is fastened to the surface of the instrument outer tube 606. In some embodiments, the outer tube slot 808 can be a through hole. At this time, the fastening tube 814 can strengthen the positional relationship between the outer tube connector 460 and the outer tube slot 808. In some embodiments, the fastening tube 814 can have a certain elasticity, so that it can be elastically pressed on the instrument outer tube 606. In some embodiments, the fastening tube 814 can be made of a material with heat-shrinkable properties.

[0302] In some embodiments, the instrument outer tube 606 is circumferentially limited relative to the rotating tube 427 by the connecting structure 806. Thus, when the rotating tube 427 is driven to rotate, the instrument outer tube 606 can rotate together.

[0303] In some embodiments, a rotating tube guide hole 816 extending along the longitudinal direction is provided in the tube wall of the rotating tube 427 corresponding to the area of the outer tube connector 460, and the second drive rod 393 can drive the outer tube connector 460 to move along the rotating tube guide hole 816.

[0304] The outer tube connector 460 passes through the rotating tube guide hole 816, and there is a clearance fit between the outer tube connector 460 and the rotating tube guide hole 810. So that the outer tube connector 460 can move relative to the rotating tube guide hole 810. In this way, when the second drive rod 393 is driven to move by the driving device 310, the outer tube connector 460 can move along the rotating tube guide hole 810 together with the second drive rod 393. Further, the outer tube connector 460 can drive the instrument outer tube 606 to move together.

[0305] Please refer to Figure 23. In some embodiments, the second drive rod 393 may have a manual drive assembly. The manual drive assembly may be used for manual operation to drive the anvil 598 to rotate relative to the staple base 596 to achieve the 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.

[0306] The shaft extension 818 may be connected to the second drive shaft 412 and have a rotation axis that tends to be the same. One end of the shaft extension 818 houses the end of the second drive shaft 412 away from the self-rotating tube 427. There is a circumferential limit between the shaft extension 818 and the second drive shaft 412, so that when one of them is driven to rotate, the other will rotate along with it. Specifically, for example, the end face of the shaft extension 818 has an opening with a non-circular cross-section, and the end of the second drive shaft 412 extending into the opening has a contour shape that matches the shape and size of the opening. Alternatively, a strip-shaped groove may be provided at the end of the second drive shaft 412, and the shaft extension 818 may have an extension protrusion that can extend into the strip-shaped groove. The cross-sectional shape of the strip-shaped groove matches that of the extension protrusion, so that the second drive shaft 412 and the shaft extension 818 are circumferentially limited.

[0307] The drive pinion 820 is sleeved on the shaft extension 818, and there is a circumferential limit between the two. Thus, when the drive pinion 820 is driven, it can drive the shaft extension 818 to rotate together. A nut 388 is installed at the end of the shaft extension 818 away from the second drive shaft 412 to prevent the drive pinion 820 from separating from the shaft extension 818 along the axial direction.

[0308] 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 will rotate together. The intermediate gear 824 may be meshed with the drive pinion 820. Thus, when the intermediate gear 824 is driven to rotate, it can drive the drive pinion 820 to rotate together.

[0309] The second manual wheel assembly may include a second knob 823, a second manual shaft 825, and a second manual large gear 826. The second knob 823 is fixedly connected to the second manual shaft 825. Thus, the second knob 823 can be manually rotated, thereby driving the rotation of the second manual shaft 825. The second manual large gear 826 is sleeved on the second manual shaft 825 and is circumferentially limited to the second manual shaft 825. Thus, when the second manual shaft 825 rotates, it can drive the second manual large gear 826 to rotate together. The second manual large gear 826 meshes with the intermediate small gear 822. Thus, when the second manual large gear 826 rotates, it can drive the intermediate small gear 822 to rotate, drive the drive small gear 820 to rotate through the intermediate large gear 824, and then drive the rotation of the second drive shaft 412. The rotation of the second drive shaft 412 can drive the axial movement of the second fork 409 relative to the second drive shaft 412, thereby driving the second drive rod 393 to move along the longitudinal direction of the long shaft assembly 320 to drive the relative rotation between the anvil 598 and the staple cartridge 596 of the end effector 321 to achieve opening or closing.

[0310] A second limit bracket 828 is provided on the top plate 481 of the drive device 310. After the second manual shaft 825 of the second manual wheel assembly passes through the second limit bracket 828, it is connected to the top plate 481 through a bearing. The second manual shaft 825 can rotate relative to the second limit 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 through a bearing. The rotating shaft of the intermediate gear set can rotate relative to the second limit bracket 828. Similarly, the shaft extension 818 also passes through the mounting bracket 828, and the two can rotate relative to each other.

[0311] The materials used for the components disclosed in multiple embodiments of this specification all comply with medical-related standards or regulations.

[0312] Among multiple embodiments of this specification, a progressive approach is adopted for description and introduction, and the same parts are not repeated. Those skilled in the art can know that any possible combination among multiple embodiments of this specification is within the scope disclosed in this specification.

[0313] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A surgical instrument, characterized in that, The surgical instrument includes a drive device, a long shaft assembly, and an end effector; The long shaft assembly extends in the longitudinal direction and has a first end and a second end; the first end is used to mount the end effector, and the second end is used to be coupled with the drive device; the long shaft assembly includes a pipe fitting and a drive rod at least partially received in the pipe fitting; the drive rod can be driven by the drive device to move along the longitudinal direction; The end effector extends in the longitudinal direction and has a first end of the instrument and a second end of the instrument; a distal end effector is provided at the first end of the instrument, and the second end of the instrument is mated with the first end of the long shaft assembly; the end effector further includes a tool holder and a swing pull rod assembly; wherein, the swing pull rod assembly includes: a first pull rod rotatably connected to the distal end effector; a second pull rod rotatably connected to the first pull rod and the tool holder; a third pull rod rotatably connected to the second pull rod, the tool holder is located between the first pull rod and the third pull rod, and the third pull rod is connected to the drive rod; the third pull rod moves along the longitudinal direction together with the drive rod to drive the distal end effector to swing relative to the tool holder.

2. The surgical instrument according to claim 1, wherein The swing pull rod assembly further includes a fourth pull rod rotatably connected to the distal end effector and the second pull rod respectively; the fourth pull rod is symmetrically arranged with respect to the tool holder relative to the first pull rod.

3. The surgical instrument according to claim 2, characterized in that, A portion of the distal end effector connected to the first pull rod and the fourth pull rod defines a first indication line, and the extending direction of the second pull rod defines a second indication line; the first indication line and the second indication line tend to be parallel.

4. The surgical instrument according to claim 2, wherein, The second pull rod, the third pull rod, and the fourth pull rod are connected by a first pin shaft.

5. The surgical instrument according to claim 2, characterized in that, The first pull rod and the fourth pull rod are respectively connected to the distal end effector by a second pin shaft and a third pin shaft.

6. The surgical instrument according to claim 5, wherein The end effector has an instrument outer tube, and the instrument outer tube includes: a first outer tube section sleeved on the distal end effector, a second outer tube section sleeved on the tool holder, and an outer tube connector respectively rotatably connected to the first outer tube section and the second outer tube section.

7. The surgical instrument according to claim 6, wherein, The first pull rod and the fourth pull rod define a reference plane, and the projections of the second pin shaft and the third pin shaft on the reference plane are within the projection range of the outer tube connector on the reference plane along the longitudinal extension direction of the tool holder.

8. The surgical instrument according to claim 1, wherein, The pipe fitting is a self-rotating pipe, and when the self-rotating pipe is driven to rotate by the drive device, the swing pull rod assembly rotates together with the self-rotating pipe.

9. The surgical instrument according to claim 1, characterized in that, The drive rod forms a flange, and the drive device applies a force to the flange to make the drive rod move along the longitudinal reverse direction.

10. The surgical instrument according to claim 9, characterized in that, The pipe fitting is a self-rotating pipe having an axis X, the drive device is provided with an annular groove, when the self-rotating pipe rotates around the axis X, the drive rod moves along the annular groove through the flange to realize rotation around the axis X, the annular groove is formed by a combination of a fork body and a fork cover body, and the drive device applies a force to the flange by driving the fork body and the fork cover body to move so as to make the drive rod move along the longitudinal direction.

11. An operating device, comprising at least one robotic arm, the robotic arm including a plurality of joints and an actuating device, the plurality of joints being linked to achieve movement of the actuating device with a plurality of degrees of freedom, characterized in that: The surgical instrument according to any one of claims 1 to 10 is detachably mounted on the actuating device.

12. A surgical robot, characterized in that: It includes a main operation console and the slave operation device according to claim 11, and the slave operation device performs a surgical operation on the human body according to the instructions of the main operation console.

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