Surgical instrument

Abstract

The present invention discloses a surgical instrument, which includes a jaw assembly, a cannula assembly, an angle steering member, an angle connection assembly, and a cutting knife assembly. The jaw assembly is rotatably connected to the cannula assembly through the angle steering member; the angle connection assembly includes a first angle connecting member and a second angle connecting member; the surgical instrument further includes a sliding member, which is slidably connected to the cannula assembly, and the proximal end of the second angle connecting member is rotatably connected to the sliding member; in response to the rotation of the angle steering member, the angle connection assembly rotates to push the sliding member to slide along the axial direction of the cannula assembly. When the jaw assembly rotates relative to the cannula assembly, the proximal end of the second angle connecting member slides proximally along the axial direction of the cannula assembly, so that the proximal end of the second receiving groove corresponds to the distal end of the straight portion receiving groove, and the portion of the cutter bar located between the straight portion receiving groove and the second receiving groove extends linearly and can enter the second receiving groove without bending, ensuring the normal progress of knife insertion and the knife insertion efficiency.

Description

Technical Field

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

[0002] A surgical cutting stapler is a commonly used medical instrument to replace manual suturing. Its main working principle is to use a cutting knife to sever tissue and use titanium staples to anastomose tissue, similar to a stapler. According to the applicable different body parts, it can be divided into various staplers. For a surgical cutting stapler, its working principle is to enter the patient's body through the cannula of a trocar precisely positioned at the surgical site, then create a longitudinal incision in the tissue and apply anastomosis staples on the opposite side of the incision, so as to sever and anastomose the tissue.

[0003] A surgical instrument includes a jaw assembly, a cannula assembly, a cutting knife assembly, and an operating assembly. The jaw assembly and the cannula assembly are rotatably connected, and an angle connecting member is provided at the rotational connection. When performing surgery with the jaw assembly, medical staff will operate the operating assembly to rotate the jaw assembly to a suitable angle. The shank of the cutting knife assembly will bend accordingly. The angle connecting member receives and limits the shank to prevent local curling of the shank. In a surgical instrument with a relatively large turning angle, the angle connecting member at least includes two rotatably connected angle connecting members. The relative rotation of the two angle connecting members allows a larger rotation angle of the jaw assembly. Each angle connecting member is provided with a receiving groove. The shank extends from the straight part receiving groove. When the jaw assembly rotates and moves relative to the cannula assembly through the receiving grooves of each angle connecting member, driving each angle connecting member to rotate, the relative rotation of each angle connecting member may cause lateral movement, resulting in the misalignment of the receiving groove of the angle connecting member and the straight part receiving groove, causing a large bend of the shank. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention aims to provide a surgical instrument that can avoid the misalignment of the receiving groove of the angle connecting member and the straight part receiving groove when the jaw assembly turns, so as to prevent a large bend of the shank.

[0005] The present invention is realized through the following technical solutions: including: a surgical instrument, including a jaw assembly, a cannula assembly, an angle turning member, an angle connecting assembly, and a cutting knife assembly. The jaw assembly is rotatably connected to the cannula assembly through the angle turning member; the cutting knife assembly includes a shank and a knife head connected to the distal end of the shank;

[0006] The angle connecting assembly includes a first angle connecting member and a second angle connecting member. The distal end of the first angle connecting member is rotatably connected to the angle turning member, and the proximal end of the first angle connecting member is rotatably connected to the distal end of the second angle connecting member;

[0007] The sleeve assembly is provided with a straight part receiving groove along the axial direction. The first angle connecting member is provided with a first receiving groove, and the second angle connecting member is provided with a second receiving groove. The cutter bar is received in the straight part receiving groove, the second receiving groove, and the first receiving groove in sequence from near to far. When the jaw assembly is in the straight punching state, the length direction of the jaw assembly is collinear with the axis of the sleeve assembly, and the near-side opening of the second receiving groove is aligned with the far-side opening of the straight part receiving groove.

[0008] The surgical instrument further includes a sliding member slidably connected to the sleeve assembly along the axial direction of the sleeve assembly. The proximal end of the second angle connecting member is rotatably connected to the sliding member. In response to the rotation of the angle turning member, the jaw assembly rotates relative to the sleeve assembly so that the jaw assembly is in the bent punching state, and the angle connecting assembly rotates to push the sliding member to slide proximally along the axial direction of the sleeve assembly, so that the near-side opening of the second receiving groove remains aligned with the far-side opening of the straight part receiving groove.

[0009] Further, the sleeve assembly includes a cutter holder and a thimble seat connected to the cutter holder. The straight part receiving groove includes a cutter holder receiving groove opened in the cutter holder, and the angle turning member is rotatably connected to the thimble seat.

[0010] Further, the sliding member is disposed between the second angle connecting member and the cutter holder. The straight part receiving groove further includes a third receiving groove opened in the sliding member. The cutter bar is received in the cutter holder receiving groove, the third receiving groove, the second receiving groove, and the first receiving groove in sequence from near to far. When the jaw assembly is in the straight punching state, the near-side opening of the second receiving groove is aligned with the far-side opening of the third receiving groove. When the jaw assembly is in the bent punching state, the near-side opening of the second receiving groove remains aligned with the far-side opening of the third receiving groove.

[0011] Further, the cutter bar includes an exposed section located between the cutter holder receiving groove and the third receiving groove.

[0012] The surgical instrument further includes a limiting assembly disposed on the sleeve assembly and the sliding member. When the jaw assembly is in the straight punching state or the bent punching state, the limiting assembly laterally limits and stops the exposed section on both sides of the exposed section.

[0013] Further, the limiting assembly includes a first limiting portion disposed on the sleeve assembly and a second limiting portion disposed on the sliding member. The first limiting portion is provided with a first limiting groove, and the second limiting portion is provided with a second limiting groove. Both the first limiting groove and the second limiting groove laterally limit and stop the exposed section.

[0014] Furthermore, the first limiting portion and the second limiting portion are offset in the height direction of the tool bar.

[0015] Furthermore, the limiting assembly includes a first limiting portion disposed on the sleeve assembly and a second limiting portion disposed on the sliding member. The first limiting portion is located on one side of the exposed section along its thickness direction, and the second limiting portion is located on the other side of the exposed section along its thickness direction.

[0016] At least a part of the exposed section is transversely limited and blocked by the first limiting portion and the second limiting portion simultaneously.

[0017] Furthermore, a sliding groove is formed in the thimble seat along the axial direction of the sleeve assembly. The sliding member includes a slider that is slidably disposed in the sliding groove. When the jaw assembly is in the straight-striking state, the proximal opening of the second receiving groove is aligned with the distal opening of the tool rest receiving groove. When the jaw assembly is in the bent-striking state, the proximal opening of the second receiving groove remains aligned with the distal opening of the tool rest receiving groove.

[0018] Compared with the prior art, the beneficial effect of the present invention is that when the jaw assembly rotates relative to the sleeve assembly from the straight-striking state, the first angle connecting member and the second angle connecting member rotate. Under the action of the sliding member, the proximal end of the second angle connecting member slides proximally along the axial direction of the sleeve assembly, so that the proximal opening of the second receiving groove is aligned with the distal opening of the straight portion receiving groove, and the part of the tool bar located between the straight portion receiving groove and the second receiving groove will not be bent significantly. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic structural view of a surgical instrument according to the first embodiment of the present invention;

[0020] Figure 2 is a schematic structural view of the rotatable connection between the jaw assembly and the sleeve assembly according to the first embodiment of the present invention;

[0021] Figure 3 is a schematic structural view of the angle connection assembly according to the first embodiment of the present invention;

[0022] Figure 4 is a schematic structural view of the jaw assembly in the straight-striking state according to the first embodiment of the present invention;

[0023] Figure 5 is a schematic structural view of the jaw assembly rotating a certain angle relative to the sleeve assembly according to the first embodiment of the present invention;

[0024] Figure 6 is a schematic structural view of the sliding member according to the first embodiment of the present invention;

[0025] Figure 7 It is a schematic structural diagram of the first-angle connecting member, the second-angle connecting member and the sliding member of the first embodiment of the present invention;

[0026] Figure 8 It is a schematic structural diagram of the first-angle connecting member, the second-angle connecting member and the sliding member of the angle turning member of the first embodiment of the present invention;

[0027] Figure 9 It is a schematic structural diagram of the jaw assembly in the straight-drilling state of the first embodiment of the present invention;

[0028] Figure 10 It is a schematic structural diagram of the jaw assembly rotating at the maximum angle relative to the sleeve assembly in the first embodiment of the present invention;

[0029] Figure 11 It is a schematic structural diagram of the sliding member and the second limiting portion of the first embodiment of the present invention;

[0030] Figure 12 It is a schematic structural diagram of the tool rest and the first limiting portion of the first embodiment of the present invention;

[0031] Figure 13 It is a schematic structural diagram of the first limiting portion and the second limiting portion when the jaw assembly is in the straight-drilling state in the first embodiment of the present invention;

[0032] Figure 14 It is a schematic structural diagram of the exposed section when the jaw assembly is in the straight-drilling state in the first embodiment of the present invention;

[0033] Figure 15 It is a schematic structural diagram of the exposed section when the jaw assembly is in the bent-drilling state in the first embodiment of the present invention;

[0034] Figure 16 It is a schematic structural diagram of the exposed section when the jaw assembly rotates to the maximum angle relative to the sleeve assembly in the first embodiment of the present invention;

[0035] Figure 17 It is a schematic structural diagram of the steering drive structure of the first embodiment of the present invention;

[0036] Figure 18 It is a schematic structural diagram of the lever assembly when the outer sleeve is in the proximal position in the first embodiment of the present invention;

[0037] Figure 19 It is a schematic structural diagram of the lever assembly when the outer sleeve is in the distal position in the first embodiment of the present invention;

[0038] Figure 20 It is a schematic structural diagram of the locking member in the unlocked state in the first embodiment of the present invention;

[0039] Figure 21 It is a schematic structural view of the locking member in the locked state of the first embodiment of the present invention;

[0040] Figure 22 It is a schematic structural view of the angle turning member of the first embodiment of the present invention;

[0041] Figure 23 It is a top view of the angle turning member of the first embodiment of the present invention;

[0042] Figure 24 It is a schematic structural view of the lever member when the outer sleeve tube of the first embodiment of the present invention is in the proximal position;

[0043] Figure 25 It is a schematic structural view of the lever member when the outer sleeve tube of the first embodiment of the present invention is in the distal position;

[0044] Figure 26 It is an exploded schematic view of the motion conversion structure of the first embodiment of the present invention;

[0045] Figure 27 It is a cross-sectional view of the motion conversion structure of the first embodiment of the present invention;

[0046] Figure 28 It is a schematic structural view of the lever member when the outer sleeve tube of another embodiment of the first embodiment of the present invention is in the proximal position;

[0047] Figure 29 It is a schematic structural view of the lever member when the outer sleeve tube of another embodiment of the first embodiment of the present invention is in the distal position;

[0048] Figure 30 It is a schematic structural view of the unlocking assembly of the first embodiment of the present invention, with the link assembly in the second position;

[0049] Figure 31 It is a schematic structural view of the unlocking assembly of the first embodiment of the present invention, with the link assembly in the first position;

[0050] Figure 32 It is an exploded view of the inner sleeve tube, the angle connection assembly, and the sliding member of the second embodiment of the present invention.

[0051] Wherein:

[0052] 100, jaw assembly; 130, locking member; 140, first angle connecting member; 150, second angle connecting member; 141, first receiving groove; 151, second receiving groove; 152, hinge portion;

[0053] 210. Angle steering member; 211. Wall portion; 2111. Groove; 212. Fitting portion; 213. Steering hole; 214. Outer peripheral surface; 215. Middle arc surface; 216. First side surface; 217. Second side surface; 218. Left abutting portion; 219. Right abutting portion;

[0054] 300. Sliding member; 310. Third receiving groove; 320. Second limiting portion; 321. Second limiting groove; 330. Slide block; 340. Connecting portion;

[0055] 400. Sleeve assembly; 410. Inner sleeve; 411. Thimble seat; 4111. Slide groove; 412. Sliding groove; 413. Tool holder; 4131. Fitting groove; 414. Straight portion receiving groove; 415. First limiting portion; 416. First limiting groove; 417. Tool holder receiving groove; 420. Outer sleeve; 421. First driving portion; 422. Second driving portion; 423. First moving groove; 430. Spring; 440. Pusher block;

[0056] 500. Motion conversion structure; 511. Lever member; 512. Rotating portion; 513. First connecting portion; 5131. First end rod; 514. Second connecting portion; 5141. Second end rod; 5142. Waist-shaped groove;

[0057] 600. Frame; 610. Link assembly; 611. First link; 612. Second link;

[0058] 700. Steering drive assembly; 710. Steering knob; 720. Steering drive member; 730. Fixing portion; 740. Gear assembly; 741. Left gear portion; 742. Right gear portion; 750. Push rod assembly; 751. Left push rod; 752. Right push rod; 760. Transmission member;

[0059] 800. Operation assembly; 810. Handle; 811. Supporting portion;

[0060] 900. Cutting tool assembly; 910. Tool bit; 920. Tool rod; 921. Exposed section; 9211. First part; 9212. Second part;

[0061] 1010. Release button; 1011. Driving rod; 1020. Unlocking rod;

[0062] O. First axis; P. Second axis. Detailed implementation manner

[0063] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0064] It should be understood that the terms "proximal" and "distal" used herein are relative to the clinician operating the handle of the stapler. The term "proximal" refers to the part close to the clinician, and the term "distal" refers to the part away from the clinician. That is, the handle is proximal and the jaw assembly is distal. For example, the proximal end of a component means the end relatively close to the handle, and the distal end means the end relatively close to the jaw assembly. The terms "upper" and "lower" refer to the relative positions of the anvil and the cartridge holder of the jaw assembly. Specifically, the anvil is "upper" and the cartridge holder is "lower". However, the stapler can be used in many directions and positions, so these terms expressing relative positional relationships are not restrictive and absolute.

[0065] In the present invention, unless otherwise clearly specified and limited, terms such as "connected" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, a movable connection, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, and can be the internal communication of two components or the interaction relationship between two components such as abutment. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. It should be noted that when there are limiting words before "connected" and "coupled", they have the meanings defined by the corresponding limiting words, only excluding the obvious cases that need to be excluded, and not excluding other possible cases. For example, "detachably connected" means a detachable connection, excluding being integrated, but a movable connection and the like are not excluded.

[0066] Embodiment 1

[0067] The first embodiment of the present invention discloses a surgical instrument, which can be a stapler, as Figures 1 to 3 shown, the surgical instrument includes a jaw assembly 100, a cannula assembly 400, an angle turning member 210, an angle connection assembly, and a cutter assembly 900. When the surgical instrument works, part of it extends into the human body. The medical staff controls the rotation of the jaw assembly 100 until the jaw assembly 100 rotates to a suitable position, then controls the jaw assembly 100 to close to clamp the human tissue, and then controls the cutter assembly 900 to fire to cut the human tissue. After the cutting is completed, the jaw assembly 100 is opened to release the tissue, and after the jaw assembly 100 is rotated to the initial state, the surgical instrument is removed from the human body to complete the surgical operation.

[0068] Among them, the jaw assembly 100 is rotatably connected to the sleeve assembly 400 through the angle turning member 210, so that the jaw assembly 100 can rotate relative to the sleeve assembly 400. The cutting tool assembly 900 includes a tool head 910 and a tool rod 920. The tool head 910 is arranged in the jaw assembly 100 for cutting tissues, and the tool rod 920 is connected to the tool head 910 for driving the tool head 910 to advance and / or retreat. The tool rod 920 extends along the direction of the sleeve assembly 400 and is driven to move relative to the sleeve assembly 400 to drive the tool head 910 to move. When the jaw assembly 100 rotates, it swings relative to the sleeve assembly 400. The tool rod 920 has a certain flexibility and swings with the jaw assembly 100. The angle connection assembly includes a first angle connecting member 140 and a second angle connecting member 150. The distal end of the first angle connecting member 140 is rotatably connected to the angle turning member 210, and the distal end of the second angle connecting member 150 is connected to the proximal end of the first angle connecting member 140. The angle connection assembly is arranged between the jaw assembly 100 and the sleeve assembly 400. When the jaw assembly 100 rotates relative to the sleeve assembly 400, the angle connection assembly is driven by the angle turning member 210 to swing. The angle connection assembly includes at least two angle connecting members, and adjacent angle connecting members can rotate relative to each other. In this embodiment, when the jaw assembly 100 rotates relative to the sleeve assembly 400 by the maximum angle, the included angle between the axis of the jaw assembly 100 and the axis of the sleeve assembly 400 is greater than or equal to 70°. In other embodiments, the angle connection assembly may include a third angle connecting member. One end of the third angle connecting member is rotatably connected to the first angle connecting member 140, and the other end is rotatably connected to the second angle connecting member 150. Of course, the number of angle connecting members can be more. The first angle connecting member 140 and the second angle connecting member 150 are two angle connecting members located at the head end and the tail end. The third angle connecting member and more angle connecting members may or may not be provided with a receiving groove. In this embodiment, only the case where the angle connection assembly includes the first angle connecting member 140 and the second angle connecting member 150, and the distal end of the second angle connecting member 150 is rotatably connected to the proximal end of the first angle connecting member 140 is taken as an example for illustration, excluding the case of other numbers of angle connecting members, and also excluding the case where other numbers of angle connecting members have receiving grooves. When there are a third angle connecting member and more angle connecting members, the "connection" in "the distal end of the second angle connecting member 150 is rotatably connected to the proximal end of the first angle connecting member 140" is an indirect connection. The third angle connecting member and more angle connecting members are rotatably connected between the second angle connecting member and the first angle connecting member. If the third angle connecting member and more angle connecting members have other receiving grooves for accommodating the tool rod, then "the tool rod is accommodated in the straight part receiving groove, the second receiving groove and the first receiving groove from near to far" includes the case where other receiving grooves are located between the second receiving groove and the first receiving groove.

[0069] Such asFigure 4 and Figure 5 As shown, the sleeve assembly 400 is provided with a straight portion receiving groove 414 along the axial direction. The first angle connecting member 140 is provided with a first receiving groove 141, and the second angle connecting member 150 is provided with a second receiving groove 151. The tool bar 92 passes through the straight portion receiving groove 414, the second receiving groove 151, and the first receiving groove 141 from near to far. The portion of the tool bar 92 received in the straight portion receiving groove 414 is laterally limited and blocked by the straight portion receiving groove 414, so that the portion of the tool bar 92 located in the straight portion receiving groove 414 extends along the axis of the sleeve assembly 400 without bending or curling. The jaw assembly 100 extends along the first axis O, and the axis of the sleeve assembly 400 is the second axis P. When the jaw assembly 100 is in the straight punching state, the first axis O and the second axis P are collinear, and both the first angle connecting member 140 and the second angle connecting member 150 extend along the direction of the second axis P, so that the tool bar 92 passes through the straight portion receiving groove 414, the second receiving groove 151, and the first receiving groove 141 along the second axis P. The near-side opening of the second receiving groove 151 is aligned with the far-side opening of the straight portion receiving groove 414. The meaning of alignment is: there is no misalignment laterally. Both the first receiving groove 141 and the second receiving groove 151 limit the tool bar 92 to prevent the portion of the tool bar 92 in the first receiving groove 141 and the portion located in the second receiving groove 151 from curling when the tool bar 92 advances or retreats, resulting in poor transmission of the feed force. The term "limiting" here means that the first receiving groove 141 laterally limits and blocks the tool bar 92, restricting the portion of the tool bar 92 located in the first receiving groove 141 to move along the length direction of the first receiving groove 141. The same applies to the limiting of the tool bar 92 by the second receiving groove 151. "Laterally" refers to the direction along the X-axis.

[0070] When the jaw assembly 100 rotates relative to the sleeve assembly 400, the first axis O and the second axis P form a certain angle with each other. The first angle connecting member 140 and the second angle connecting member 150 swing with the jaw assembly 100, driving the tool bar 92 to bend. There is always a part of the tool bar 92 received in the first receiving groove 141 and the second receiving groove 151, and the part of the tool bar 92 in the first receiving groove 141 and the second receiving groove 151 will not show local curling or other situations.

[0071] The proximal end of the angular turning member 210 is rotatably connected to the sleeve assembly 400, and the distal end is fixedly connected to the jaw assembly 100, so that the rotation of the angular turning member 210 can drive the jaw assembly 100 to rotate relative to the sleeve assembly 400. The first angular connecting member 140 is connected to the distal end of the angular turning member 210. When the angular turning member 210 rotates, it drives the first angular connecting member 140 to rotate. The first angular connecting member 140 drives the second angular connecting member 150 to rotate. The distal end of the first angular connecting member 140 is displaced in both the X direction and the Y direction, and the X direction and the Y direction are perpendicular to each other. The rotation of the first angular connecting member 140 will drive the second angular connecting member 150 to rotate and displace in the X direction and the Y direction, while the rotation of the second angular connecting member 150 will cause the proximal end of the second receiving groove 151 not to be located on the second axis P, as Figure 5 shown, the proximal end of the second receiving groove 151 is offset from the distal end of the straight portion receiving groove 414, so that the portion of the tool bar 920 located between the second receiving groove 151 and the straight portion receiving groove 414 will not be bent significantly.

[0072] To solve the above problems, in the embodiment of the present application, the sleeve assembly 400 is provided with a sliding member 300, as Figures 6 to 8 shown, the sliding member 300 is slidably connected to the sleeve assembly 400, and the sliding member 300 is rotatably connected to the proximal end of the second angular connecting member 150. The sliding member 300 can only slide along the axis (second axis P) direction of the sleeve assembly 400. Specifically, the second angular connecting member 150 has a hinge portion 152 and is rotatably connected to the sliding member 300 through the hinge portion 152. The hinge portion 152 is provided at the proximal end of the second angular connecting member 150.

[0073] As Figure 9 and Figure 10 shown, in response to the rotation of the angular turning member 210, the angular connection assembly rotates, wherein the proximal end (hinge portion 152) of the second angular connecting member 150 is rotatably connected to the sliding member 300, and can only slide in the direction of the second axis P, and drives the sliding member 300 to displace along the direction of the second axis P. The proximal end of the second angular connecting member 150 cannot move laterally, so that the proximal opening of the second receiving groove 151 is always aligned with the distal opening of the straight portion receiving groove 414. Avoid the problem that when the jaw assembly 100 rotates relative to the sleeve assembly 100, the proximal opening of the second receiving groove 151 is laterally offset from the distal opening of the straight portion receiving groove 141. Furthermore, the tool bar 920 will not be bent additionally, and the transmission of the feed force during feeding is not affected, ensuring smooth feeding.

[0074] Among them, as Figure 1 、 Figure 6 and Figure 12As shown, the sleeve assembly 400 includes an inner sleeve 410 and an outer sleeve 420. The outer sleeve 420 is sleeved outside the inner sleeve 410 and can slide relative to the inner sleeve 410. The sliding member 300 is slidably connected to the inner sleeve 410. The inner sleeve 410 includes a tool holder 413 and a thimble seat 411 connected to the tool holder 413. The tool holder 413 and the thimble seat 411 are stacked in the Z direction, and the Z direction is perpendicular to the X direction and the Y direction. The tool holder 413 is provided with a tool holder receiving groove 417. The straight portion receiving groove 414 includes the tool holder receiving groove 417. The angle turning member 210 is rotatably connected to the thimble seat 411. Specifically, the distal end of the thimble seat 411 is rotatably connected to the proximal end of the angle turning member 210. One of the thimble seat 411 and the angle turning member 210 is provided with a turning hole 213, and the other is provided with a turning shaft. The turning shaft cooperates with the turning hole 213 to enable the angle turning member 210 to rotate relative to the thimble seat 411. As Figure 6 shown, the first angle connecting member 140 and the second angle connecting member 150 are generally at the same height as the tool holder 413 in the Z direction, so that the bottoms of the first receiving groove 141, the second receiving groove 151 and the tool holder receiving groove 417 are at the same height. The tool bar 920 can pass through the straight portion receiving groove 417, the second receiving groove 151 and the first receiving groove 141. The height of the thimble seat 411 in the Z direction is lower than that of the tool holder 413, the first angle connecting member 140 and the second angle connecting member 150. In a preferred embodiment, the sliding member 300 is slidably connected to the thimble seat 411. The thimble seat 411 is provided with a sliding groove 4111 along the second axis P direction. The sliding member 300 includes a slider 330. The slider 330 is movably received in the sliding groove 4111, so that the sliding member 300 is slidably connected to the sliding groove 4111 and can slide along the second axis P direction.

[0075] As Figure 6 shown, the sliding member 300 is disposed between the second angle connecting member 150 and the tool holder 413. The sliding member 300 is provided with a third receiving groove 310. The third receiving groove 310 extends along the second axis P. The straight portion receiving groove 414 further includes the third receiving groove 310. The bottom of the third receiving groove 310 is at the same height as the bottom of the tool holder receiving groove 417. The tool bar 920 is connected to the tool head 910 through the tool holder receiving groove 417, the third receiving groove 310, the second receiving groove 151 and the first receiving groove 141.

[0076] As Figure 6 、 Figure 9 and Figure 10, when the jaw assembly 100 rotates relative to the cannula assembly 400, the proximal opening of the second receiving groove 151 is aligned with the distal opening of the straight portion receiving groove 414. Specifically, the proximal opening of the second receiving groove 151 is aligned with the distal opening of the third receiving groove 310, so that when the jaw assembly 100 rotates relative to the cannula assembly 400, the proximal opening of the second receiving groove 151 and the distal opening of the third receiving groove 310 do not shift laterally, resulting in the tool bar 920 not being bent significantly between the second receiving groove 151 and the third receiving groove 310. The jaw assembly 100 has a straight punching state and a bent punching state. When the jaw assembly 100 is in the straight punching state, the longitudinal direction of the jaw assembly 100 is collinear with the axis of the cannula assembly 400; when the jaw assembly 100 is in the bent punching state, the longitudinal direction of the jaw assembly 100 forms a certain angle with the axis of the cannula assembly 400; when the jaw assembly 100 is in the straight punching state, as Figure 9 shown, the sliding member 300 and the tool rest 413 are separated from each other and spaced apart by a certain distance, providing space for the second angle connecting member 150 to drive the sliding member 300 to displace proximally. The above-mentioned certain distance separates the tool rest receiving groove 417 from the third receiving groove 310, and the tool bar 920 forms an exposed section 921 between the tool rest receiving groove 417 and the third receiving groove 310. When the jaw assembly 100 rotates relative to the cannula assembly 400 and is in the bent punching state, the sliding member 300 moves proximally, reducing the distance between the sliding member 300 and the tool rest 413, and reducing the length of the exposed section 921. Since the exposed section 921 is not limited, the exposed section 921 may curl when the tool bar 920 advances, affecting the smooth progress of the feed, especially in the straight punching state.

[0077] The surgical instrument further includes a limiting assembly, which is provided on the cannula assembly 400 and the sliding member 300. When the jaw assembly 100 is in the straight punching state or the bent punching state, the limiting assembly limits and stops the exposed section 921 on both sides of the exposed section 921. Whether the jaw assembly 100 is in the straight punching state or the bent punching state, the limiting assembly can limit and stop the exposed section 921 to prevent the exposed section 921 from curling during the feed.

[0078] As Figures 11 to 12 shown, the limiting assembly includes a first limiting portion 415 provided on the cannula assembly 400 and a second limiting portion 320 provided on the sliding member 300. The first limiting portion 415 is provided with a first limiting groove 416, and the second limiting portion 320 is provided with a second limiting groove 321. Combining Figure 10 , both the first limiting groove 416 and the second limiting groove 321 are opened along the second axis P.

[0079] Both the first limiting groove 416 and the second limiting groove 321 limit and stop the exposed section 921 laterally, including the following situations.

[0080] AsFigures 11 to 15 As shown, when the jaw assembly 100 is in the straight-drilling state, a part of the exposed section 921 is laterally limited and blocked by the first limiting groove 416, and the other part is laterally limited and blocked by the second limiting groove 321. The entire exposed section 921 is laterally limited and blocked by the first limiting groove 416 and the second limiting groove 321, realizing the limitation of the exposed section 921. The limitation here refers to restricting the extension and movement of the exposed section 921 along the direction of the second axis P, and it will not curl or bend. When the jaw assembly 100 is in the straight-drilling state, the exposed section 921 includes a first part 9211 and a second part 9212. A part of the first part 9211 is located in the first limiting groove 416 and is laterally limited and blocked by the first limiting groove 416, and the first limiting groove 416 realizes the limitation and blocking of the first part 9211. A part of the second part 9212 is located in the second limiting groove 321 and is laterally limited and blocked by the second limiting groove 321, and the second limiting groove 321 realizes the limitation and blocking of the second part 9212, thereby realizing the lateral limitation of the entire exposed section 921.

[0081] In a preferred embodiment, when the jaw assembly 100 is in the straight-drilling state, a part of the exposed section 921 is jointly limited and blocked by the first limiting groove 416 and the second limiting groove 321.

[0082] As Figure 15 and Figure 16 shown, in response to the rotation of the angle turning member 210, the jaw assembly 100 switches to the turning state. The angle connection assembly pushes the sliding member 300 to slide proximally. When the jaw assembly 100 rotates relative to the sleeve assembly 400 to the maximum angle, the exposed section 921 is jointly laterally limited and blocked by the first limiting groove 416 and the second limiting groove 321 to realize the limitation of the exposed section 921.

[0083] Furthermore, the first limiting portion 415 and the second limiting portion 320 are offset in the height direction of the tool bar 920. When the sliding member 300 drives the second limiting portion 320 to move proximally, the first limiting portion 415 and the second limiting portion 320 are arranged one above the other and are offset from each other, and no interference will occur.

[0084] In this embodiment, the case where the second limiting portion 320 is located above the first limiting portion 415 is taken as an example for illustration. In other embodiments, the first limiting portion 415 may also be located above the second limiting portion 320. As Figures 13 to 16 shown, when the jaw assembly 100 is in the straight-drilling state, the lower part of the second part 9212 of the exposed section 921 is located in the second limiting groove 321, and the upper part of the first part 9211 is located in the first limiting groove 416, so that the limiting assembly realizes the limitation of the exposed section 921. When the jaw assembly 100 rotates relative to the sleeve assembly 400 to the maximum angle, as Figure 15As shown, the entire exposed section 921 is simultaneously located in the first limiting groove 416 and the second limiting groove 321.

[0085] As Figures 9 to 12 shown, a mating groove 4131 is formed on the tool rest 413. The mating groove 4131 is formed by extending upward from the first limiting portion 415. When the jaw assembly 100 is in the straight punching state, a part of the second limiting portion 320 is located in the mating groove 4131. When the jaw assembly 100 rotates by the maximum angle relative to the sleeve assembly 400, the second limiting portion 320 is displaced proximally to be completely embedded in the mating groove 4131. The setting of the mating groove 4131 further improves the sliding stability of the sliding member 300 and enables the first limiting portion 415 and the second limiting portion 320 to be better combined.

[0086] In another embodiment, as Figure 16 shown, when the jaw assembly 100 is in the straight punching state, the limiting assembly includes a first limiting portion 415 and a second limiting portion 320. The first limiting portion 415 is provided on the sleeve assembly 400, specifically on the tool rest 413, and the second limiting portion 320 is provided on the sliding member 300. The first limiting portion 415 and the second limiting portion 320 are respectively located on both sides of the exposed section 921. When the jaw assembly 100 is in the straight punching state or the bent punching state, at least a part of the exposed section 921 is limited and blocked by the first limiting portion 415 and the second limiting portion 320 to achieve the limitation of the exposed section 921.

[0087] The first limiting portion 415 and the second limiting portion 320 are respectively located on both sides of the exposed section 921 in the thickness direction. When the jaw assembly 100 is in the straight punching state, the first limiting portion 415 and the second limiting portion 320 are partially stacked in the thickness direction of the exposed section 921, so that a part of the exposed section 921 is simultaneously limited and blocked by the first limiting portion 415 and the second limiting portion 320. When the jaw assembly 100 rotates relative to the sleeve assembly 400 and is in the bent punching state, the stacked part of the first limiting portion 415 and the second limiting portion 320 in the thickness direction of the exposed section 921 increases, so that the part of the exposed section 921 simultaneously limited and blocked by the first limiting portion 415 and the second limiting portion 320 increases. Optionally, when the jaw assembly 100 rotates to the maximum angle relative to the sleeve assembly 400, the first limiting portion 415 and the second limiting portion 320 are completely stacked in the thickness direction of the exposed section 921, so that the entire exposed section 921 is simultaneously limited and blocked by the first limiting portion 415 and the second limiting portion 320.

[0088] Furthermore, as Figure 1 、 Figure 17As shown, the surgical instrument further includes a steering drive structure 700. The operating assembly 800 includes a frame 600. The steering drive structure 700 is provided on the frame 600. Medical staff can rotate the jaw assembly 100 by operating the steering drive structure 700. The steering drive structure 700 includes an operating handle 710 and a transmission assembly. The transmission assembly includes a first transmission member 760, a second transmission member, and a push rod assembly 750. The first transmission member 760 is connected to the second transmission member. The second transmission member is connected to the angle steering member 210 through the push rod assembly 750. The operating handle 710 is slidably connected to the first transmission member 760. When the operating handle 710 is moved, it slides relative to the first transmission member 760 to switch from the locked position to the unlocked position. In response to the rotation of the operating handle 710, the first transmission member 760 is driven by the operating handle 710 to rotate, and the push rod assembly 750 is driven to move through the second transmission member. The operating handle 710 can slide relative to the first transmission member 760 and can drive the first transmission member 760 to rotate. The second transmission member converts the torque applied by the medical staff on the operating handle 710 into a force for driving the linear movement of the push rod assembly 750.

[0089] Specifically, the second transmission member includes a gear assembly 740. The first transmission member 760 meshes with the gear assembly 740. The gear assembly 740 meshes with the push rod assembly 750. In response to the rotation of the operating handle 710, the first transmission member 760 drives the gear assembly 740 to rotate, and the gear assembly 740 drives the push rod assembly 750 to move, thereby pushing the angle steering member 210 to rotate. In this embodiment, the push rod assembly 750 includes a left push rod 751 and a right push rod 752. The left push rod 751 and the right push rod 752 are respectively connected to both sides of the angle steering member 210. The gear assembly 740 includes a left gear portion 741 and a right gear portion 742. The left gear portion 741 and the right gear portion 742 are rotatably connected to the frame 600 and are respectively provided on both sides of the first transmission member 760. Both the left gear portion 741 and the right gear portion 742 include two coaxially arranged gears up and down. The left push rod 751 meshes with the lower gear of the left gear portion 741, and the right push rod 752 meshes with the lower gear of the right gear portion 742. The first transmission member 760 meshes with the upper gear of the left gear portion 741 and the upper gear of the right gear portion 742 at the same time. When the medical staff rotates the operating handle 710, the left gear portion 741 and the right gear portion 742 are driven to rotate by the first transmission member 760. The rotation directions of the left gear portion 741 and the right gear portion 742 are opposite, so that the movement directions of the left push rod 751 and the right push rod 752 are opposite. The left push rod 751 and the right push rod 752 both extend along the length direction of the sleeve assembly 400. The distal ends of the left push rod 751 and the right push rod 752 are connected to the angle steering member 210. Specifically, as Figure 2As shown, the angle turning member 210 includes a left abutting portion 218 and a right abutting portion 219. The left push rod 751 abuts against the left abutting portion 218, and the right push rod 752 abuts against the right abutting portion 219. When the operating handle 710 rotates to drive the displacement of the left push rod 751 and the right push rod 752, for example, when the operating handle 710 is rotated clockwise, the left push rod 751 moves towards the distal end, and the right push rod 752 moves towards the proximal end. The left push rod 751 pushes the left abutting portion 218 of the angle turning member 210 to move towards the distal end, causing the angle turning member 210 to rotate to the right, and the right abutting portion 219 is driven to move towards the proximal end and always abuts against the right push rod 752. When the steering knob 710 is rotated counterclockwise, causing the left push rod 751 to move towards the proximal end and the right push rod 752 to move towards the distal end, similarly, the angle turning member 210 rotates to the left so that the push rod assembly 750 can drive the angle turning member 210 to rotate, and further drive the jaw assembly 100 to rotate.

[0090] The operating assembly 800 further includes a handle 810. After the steering is completed, the medical staff actuates the handle 810 to move the outer sleeve 420 from the distal position to the proximal position, causing the jaw assembly 100 to close. The actuation of the handle 810 to move the outer sleeve 420 from the distal position to the proximal position is achieved through the following structure:

[0091] As Figure 18 and Figure 19 As shown, the frame 600 is provided with a link assembly 610. The link assembly 610 includes a first link 611 and a second link 612. The distal end of the first link 611 is connected to the proximal end of the outer sleeve 420. The distal end of the outer sleeve 420 is connected to the jaw assembly 100. The proximal end of the second link 612 is rotatably connected to the frame 600, and the distal end is rotatably connected to the proximal end of the first link 611. The handle 810 can engage with the link assembly 610 and drive the link assembly 610 to move when actuated. The link assembly 610 has a first position and a second position. When the link assembly 610 is in the first position, the first link 611 and the second link 612 form an angle with each other, and the outer sleeve 420 is in the proximal position. When the link assembly 610 is in the second position, the first link 611 and the second link 612 are collinear or substantially collinear, causing the link assembly 610 to be self-locked in the second position, and the outer sleeve 420 is in the distal position. Under the action of the self-locking of the link assembly 610, the outer sleeve 420 is held in the distal position.

[0092] Collinear means that the first link 611 and the second link 612 are on the same straight line, and the included angle between them is 180°. Generally collinear means that the first link 611 and the second link 612 pass through the dead center position, and the included angle between the first link 611 and the second link 612 is greater than 0° and less than 5°. When the link assembly 610 is at the dead center (corresponding to collinear) or approximately at the dead center (corresponding to generally collinear), the pressure angle between the first link 611 and the second link 612 is approximately equal to 90°. When an external force is applied to the first link 611 or the second link 612, the moment on the other link is zero, making the link assembly 610 unable to move, and the link assembly 610 is self-locked in the second position. As a result, the jaw assembly 100 is locked in the closed position.

[0093] During the process of the link assembly 610 switching from the first position to the second position, the hinge point gradually moves upward (the side away from the grip portion of the handle 810). Since the proximal end of the second link 612 is connected to the frame 600, the hinge point at the distal end of the second link 612 moves distally. At the same time, the rotation of the first link 611 causes the distal end of the first link 611 to move distally. As known above, the distal end of the first link 611 is connected to the proximal end of the outer sleeve 420, and the distal end of the outer sleeve 420 is connected to the jaw assembly 100. Therefore, the link assembly 610 can drive the outer sleeve 420 to move distally, so that the outer sleeve 420 is located at the distal position.

[0094] Among them, the handle 810 is provided with a supporting portion 811. The supporting portion 811 is located below the link assembly 610. During the process of the link assembly 610 switching from the first position to the second position, the handle 810 supports the first link 611 or the second link 612 through the supporting portion 811 to operably engage with the link assembly 610. When the link assembly 610 is in the second position and is locked in the second position, the supporting portion 811 of the handle 810 separates from the link assembly 610 when the handle 810 rebounds in reset. When the handle 810 is actuated subsequently, the handle 810 switches from the initial position to the pressing position, and the supporting portion 811 moves with the movement of the handle 810. The supporting portion 811 only contacts the link assembly 610 in the second position when the handle 810 reaches the pressing position (the end point of the movement track of the supporting portion 811), that is, the supporting portion 811 does not contact the link assembly 610 during the movement process. Therefore, the handle 810 cannot drive the link assembly 610 during subsequent actuation. Specifically, the supporting portion 811 is a rod body, and the handle 810 operably engages with the link assembly 610 by the supporting portion 811 abutting against the second link 612. During the rotation of the second link 612, the supporting portion 811 can always abut against the second link 612.

[0095] The outer sleeve 420 is located at the distal position, and the link assembly 610 is self-locked in the second position, locking the outer sleeve 420 at the distal position.

[0096] The surgical instrument further includes a jaw locking structure. The jaw locking structure includes a locking member 130. The outer sleeve 420 is connected to the locking member 130. The locking member 130 has a locked state and an unlocked state. In the locked state, the locking member 130 locks with the angle steering member 210 to prevent the jaw assembly 100 from rotating relative to the cannula assembly 400. In the unlocked state, the locking member 130 unlocks from the angle steering member 210, and in response to the rotation of the operating handle 710, the jaw assembly 100 rotates relative to the cannula assembly 400. The outer sleeve 420 can move along the axial direction of the cannula assembly 400. When the outer sleeve 420 is in the proximal position, the jaw assembly 100 is in the open state and the locking member 130 is in the unlocked state. When the outer sleeve 420 moves from the proximal position to the distal position, it drives the jaw assembly 100 to switch from the open state to the closed state, and drives the locking member 130 to move so that the locking member 130 switches to the locked state. That is, when the jaw assembly 100 switches to the closed state, the jaw assembly 100 is locked and cannot rotate.

[0097] The outer sleeve 420 moves from the distal position to the proximal position to lock the angle steering member 210 by the following method:

[0098] As Figure 22 and Figure 23 shown, the angle steering member 210 has an outer peripheral surface 214. The outer peripheral surface 214 is arranged around the rotation axis of the angle steering member 210 on the outer periphery of the angle steering member 210, and specifically includes a middle arc surface 215, a first side surface 216 and a second side surface 217. The first side surface 216 and the second side surface 217 are respectively located on both sides of the middle arc surface 215. The angle steering member 210 further includes a mating portion 212 and a wall portion 211. The wall portion 211 has a certain thickness. The mating portion 212 is arranged inside the wall portion 211. The outer peripheral surface 214 is located outside the wall portion 211. The wall portion 211 separates the mating portion 212 from the outer peripheral surface 214.

[0099] In one embodiment, as Figures 20 to 27As shown, the jaw locking structure further includes a motion conversion structure 500. The motion conversion structure 500 includes a lever member 511, a rotating portion 512, a first connecting portion 513, and a second connecting portion 514. The lever member 511 is connected to the rotating portion 512 and is rotatably connected to the frame 600 through the rotating portion 512. The first connecting portion 513 and the second connecting portion 514 are respectively located on both sides of the rotating portion 512. The first connecting portion 513 is connected to the outer sleeve 420, and the second connecting portion 514 is connected to the locking member 130. The movement of the outer sleeve 420 drives the movement of the first connecting portion 513, and then drives the lever member 511 to rotate. When the lever member 511 rotates, the movement of the second connecting portion 514 drives the movement of the locking member 130. The movement directions of the first connecting portion 513 and the second connecting portion 514 are opposite. In response to the movement of the outer sleeve 420 in the first direction, the locking member 130 moves in the second direction. The first direction is opposite to the second direction, and both the first direction and the second direction are parallel or collinear with the axial direction of the sleeve assembly 400. As Figure 24 and Figure 25 shown, when the outer sleeve 420 moves proximally, the first connecting portion 513 rotates clockwise, and the second connecting portion 514 rotates counterclockwise, driving the locking member 130 to move distally. When the outer sleeve 420 moves distally, the first connecting portion 513 rotates counterclockwise, and the second connecting portion 514 rotates clockwise, driving the locking member 130 to move proximally.

[0100] Preferably, the distance between the second connecting portion 514 and the rotating portion 512 is less than the distance between the first connecting portion 513 and the rotating portion 512. In the lever structure, the distance between the first connecting portion 513 and the rotating portion 512 is the power arm, and the distance between the second connecting portion 514 and the rotating portion 512 is the resistance arm. During the process of the outer sleeve 420 driving the lever member 511 to rotate and driving the locking member 130 to move, the power arm is longer and the resistance arm is shorter. The lever structure is a labor-saving lever, making it easier for the outer sleeve 420 to drive the locking member 130 to move. At the same time, when the locking member 130 is in the locked position, the outer sleeve 420 is locked at the distal position by the operating assembly 800. The locking force received by the outer sleeve 420 provides a greater locking force to the locking member 130 through the lever member 511, enabling the locking member 130 to better maintain the locked position.

[0101] In this embodiment, two lever members 511 are formed. The rotation axes of the two lever members 511 are coaxially arranged. The first connection portions 513 of the two lever members 511 are connected by a first end rod 5131, and the second connection portions 514 of the two lever members 511 are connected by a second end rod 5141, so that the two lever members 511 move synchronously. The two lever members 511 are connected by the first end rod 5131 and the second end rod 5141 to form a frame as a whole. When the lever members 511 rotate, the two lever members 511 rotate synchronously, improving the rotation stability of the lever members 511. The first end rod 5131 is connected to the outer sleeve 420, so that the first connection portion 513 of the two lever members 511 is connected to the outer sleeve 420; the second end rod 5141 is connected to the locking member 130, so that the second connection portion 514 of the two lever members 511 is connected to the locking member 130. Of course, in other embodiments, only one lever member 511 may be provided. The connection structure for connecting the first connection portion 513 of the lever member 511 to the outer sleeve 420 may be a rod or a hole, and the connection structure for connecting the second connection portion 514 of the lever member 511 to the locking member 130 may be a rod or a hole, etc., which are not specifically limited in this embodiment.

[0102] The outer sleeve 420 moves along the axial direction of the sleeve assembly 400, and the movement path is a straight line. When the lever member 511 rotates, its first connection portion 513 rotates around the rotation portion 512, and the movement path is an arc. The linearly moving outer sleeve 420 is connected to the first connection portion 513 moving along an arc. Since the movement path of the outer sleeve 420 is different from the movement path of the first connection portion 513 of the lever member 511, the first connection portion 513 is likely to get stuck during the movement. To solve this problem, in this embodiment, the outer sleeve 420 and the first connection portion 513 are movably connected through a guiding structure. When the outer sleeve 420 moves in the first direction, the first connection portion 513 is driven to rotate around the rotation portion 512 of the lever member 511 through the guiding structure. The first direction is parallel or collinear with the axial direction of the sleeve assembly 400.

[0103] The direction of the axis of the sleeve assembly 400 is the X direction, and the Y direction is perpendicular to the X direction. The outer sleeve 420 can only move along the X direction to push the lever member 511 to rotate, so that the first connection portion 513 makes a rotational movement. The rotation of the first connection portion 513 generates displacements in both the X direction and the Y direction. In the X direction, the first connection portion 513 moves with the outer sleeve 420. In the Y direction, the first connection portion 513 moves relative to the outer sleeve 420 through the guiding structure and is always connected to the outer sleeve 420, so that the first connection portion 513 can rotate smoothly while maintaining the connection with the outer sleeve 420, avoiding the situation of rotation jamming.

[0104] When the lever member 511 is driven to rotate, the movement path of the second connecting portion 514 is an arc. The second connecting portion 514 is connected to and drives the locking member 130 to move only in the X direction. In order to enable the second connecting portion 514 to drive the locking member 130 to move only in the X direction, the second connecting portion 514 and the locking member 130 are movably connected through a guiding structure. When the second connecting portion 514 rotates around the rotating portion 512, displacements occur in both the X direction and the Y direction. In the X direction, the locking member 130 moves with the second connecting portion 514; in the Y direction, the locking member 130 moves relative to the second connecting portion 514 through the guiding structure, so that the second connecting portion 514 is always connected to the locking member 130, and the second connecting portion 514 drives the locking member 130 to move through the guiding structure.

[0105] The guiding structure includes a moving rod and a moving groove 320. One of the outer sleeve 420 and the first connecting portion 513 is provided with the moving rod, and the other has the moving groove 320. The moving rod is located in the first moving groove 423. When the outer sleeve 420 moves in the first direction, it drives the first connecting portion 513 to move in the first direction (X direction) through the guiding structure. The moving rod slides along the length direction of the moving groove 320 (i.e., the Y direction), so that the first connecting portion 513 moves relative to the outer sleeve 420, thereby allowing the first connecting portion 513 to displace in the Y direction.

[0106] In the guiding structure for connecting the first connecting portion 513 and the outer sleeve 420, the moving rod is connected to the first connecting portion 513, specifically the first end rod 5131. The outer sleeve 420 is provided with a first driving portion 421 and a second driving portion 422. The first driving portion 421 and the second driving portion 422 are provided on the lower side of the outer sleeve 420 and extend substantially in the Y direction. A moving groove 320 is formed between the first driving portion 421 and the second driving portion 422. The moving groove 320 extends substantially in the Y direction. The first end rod 5131 is located in the moving groove 320 and can move along the length direction of the moving groove 320 (substantially the Y direction).

[0107] In the guiding structure where the second connecting part 514 is connected to the locking part 130, the moving rod is the second end rod 5141. The second end rod 5141 is connected to the locking part 130. A clamping groove is provided at the proximal end of the locking part 130. The locking part 130 is clamped with the second end rod 5141 through the clamping groove, so that the second end rod 5141 can drive the locking part 130 to move towards the proximal end or the distal end. The inner sleeve 410 is provided with a sliding groove 412. The second end rod 5141 is arranged in the sliding groove 412, and the second end rod 5141 can only move along the X direction in the sliding groove 412. A moving groove 320 is provided on the lever part 511, specifically a kidney-shaped groove 5142. Both ends of the second end rod 5141 are respectively placed in the kidney-shaped grooves 5142 of the two lever parts 511. The kidney-shaped groove 5142 extends along the Y direction. When the lever part 511 rotates, both ends of the second end rod 5141 are respectively located in the kidney-shaped grooves 5142 of the two lever parts 511 and slide along the length direction of the kidney-shaped groove 5142 (displace along the Y direction), so that the second connecting part 514 can only drive the locking part 130 to move in the X direction. In an embodiment where the transmission structure only has one lever part 511, the lever part 511 is arranged on one side of the sleeve assembly 400. One end of the second end rod 5141 is fixedly connected to the locking part 130, and the other end is located in the moving groove 320.

[0108] In another embodiment, as Figure 28 and Figure 29 shown, the mating part 212 is provided on the distal side of the angle turning part 210. Both the first connecting part 513 and the second connecting part 514 are arranged on one side of the rotating part 512. When the outer sleeve 420 is switched from the proximal position to the proximal position, the locking part 130 is driven to move towards the distal end through the lever part 511 to cooperate with the mating part 212 to lock the angle turning part 210.

[0109] In another embodiment, the motion conversion structure 500 includes a gear and two racks (not shown in the figure). The gear is rotatably arranged on the frame 600. The two racks are the first rack and the second rack respectively. The first rack and the second rack are respectively arranged on both sides of the gear and are both engaged with the gear. When the gear rotates, the moving directions of the two racks are opposite. Among them, the first rack is connected to the outer sleeve 420, and the second rack is connected to the locking part 130. The outer sleeve 420 drives the lever part 511 and the first rack to move along the first direction to drive the gear to rotate, and then drives the second rack to move along the second direction. The first direction is opposite to the second direction. When the outer sleeve 420 moves towards the distal end, it drives the first rack to move towards the distal end, so that the gear rotates, thereby driving the second rack and the locking part 130 to move towards the proximal end. When the outer sleeve 420 moves towards the proximal end, it drives the first rack to move towards the proximal end, so that the gear rotates, thereby driving the second rack and the locking part 130 to move towards the distal end.

[0110] After closing the jaw assembly 100 and locking the angular turning member 210, the cutting blade assembly moves distally for feed, cuts tissue and fires the suture assembly. After the feed is completed, the cutting blade assembly moves proximally for retraction. The surgical instrument further includes a motor assembly and a main control module. The main control module is electrically connected to the motor assembly, and the motor assembly is connected to the cutting blade assembly. The main control module controls the operation of the motor assembly according to the position of the handle 810 and the position of the cutting blade assembly to realize the feed and retraction of the cutting blade assembly. For the specific implementation of the feed and retraction, reference can be made to the applicant's prior application CN202310399540.0, which will not be elaborated herein.

[0111] After the retraction is completed, the medical staff opens the jaw assembly 100. The surgical instrument further includes an unlocking assembly, as Figure 30 and Figure 31 shown. The unlocking assembly includes a release button 910 provided outside the housing of the operation assembly 800 and an unlocking lever 920 located inside the housing of the operation assembly 800 and abutting against the link assembly 610 in the second position. The unlocking lever 920 is linked with the release button 910. The release button 910 has a driving rod 911. When the medical staff operates the release button 910, specifically when pushing the release button 910, the release button 910 and the driving rod 911 rotate synchronously. The rotating driving rod 911 acts on the release rod, causing the unlocking lever 920 to rotate. The unlocking lever 920 abuts against one end of the link assembly 610 and moves downward to push the link assembly 610, causing the link assembly 610 to return to the first position, and the jaw assembly 100 opens to release the human tissue. When the release button 910 is not operated, the unlocking lever 920 is located above the link assembly 610, and the link assembly 610 is self-locked in the second position. When the medical staff operates the release button 910, the unlocking lever 920 rotates, and one end of the unlocking lever 920 moves downward to push the link assembly 610, causing the link assembly 610 to no longer be in the second position, so as to release the self-locking state of the link assembly 610. A spring 430 is sleeved on the outer sleeve 420. One end of the spring 430 is connected to the frame 600, and the other end is connected to the push block 440. The push block 440 is connected to the first link 611. When the link assembly 610 is in the second position, the spring 430 is in a compressed state, and the outer sleeve 420 is in the distal position. When the link assembly 610 is in the first position, the spring 430 is in a released state. When the medical staff operates the release button 910 to make the link assembly 610 no longer in the second position, the spring 430 is released, pushing the push block 440 to move proximally. The link assembly 610 moves to the first position, causing the jaw assembly 100 to open, and at the same time causing the outer sleeve 420 to move to the proximal position, thereby driving the locking member 130 to move to the unlocked state. After the retraction is completed, the medical staff operates the release button 910 to open the jaw assembly 100, then operates and pushes the operating handle 710 to rotate the jaw assembly 100 to the straight-strike state, and finally removes the jaw assembly 100 from the human body.

[0112] Example 2

[0113] The second embodiment of the present application discloses a surgical instrument, which is generally the same as the first embodiment, and the main difference lies in the position and structure of the sliding member 300.

[0114] As Figure 32 shown, the thimble seat 411 is provided with a sliding groove 4111 along the axial direction of the sleeve assembly, and the sliding member 300 is connected to the sliding groove 4111. Specifically, the sliding member 300 includes a slider 330 and a connecting portion 340. The slider 330 is disposed in the sliding groove 4111, and the connecting portion 340 is located between the thimble seat 411 and the tool holder 413. The hinge portion 152 is disposed at the proximal bottom of the second angle connecting member 150 and is rotatably connected to the sliding member 300. The sliding member 300 is entirely located below the tool holder 413, and the straight portion receiving groove 414 only includes the tool holder receiving groove 417.

[0115] When the jaw assembly 100 rotates relative to the sleeve assembly 400 from the straight punching state, the first angle connecting member 140 and the second angle connecting member 150 rotate, causing the sliding member 300 to move proximally along the sliding groove 4111, and the hinge portion 152 to move proximally along the second axis P, so that the proximal end of the second angle connecting member 150 is always located in the axial direction of the sleeve assembly 400. Furthermore, the proximal opening of the second receiving groove 151 is aligned with the distal opening of the straight portion receiving groove 414, and the proximal opening of the second receiving groove 151 and the distal opening of the third receiving groove 310 will not be laterally offset, resulting in the tool bar 920 not being bent significantly between the second receiving groove 151 and the third receiving groove 310. When feeding, it does not affect the transmission of the feeding force, ensuring the smooth progress of feeding.

[0116] It should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0117] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present invention, and they are not intended to limit the protection scope of the present invention. Any equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A surgical instrument, comprising a jaw assembly, a cannula assembly, an angle turning member, an angle connecting assembly, and a cutting tool assembly. The jaw assembly is rotatably connected to the cannula assembly through the angle turning member. The cutting tool assembly includes a tool rod and a tool tip connected to the distal end of the tool rod. It is characterized in that the angle connecting assembly includes a first angle connecting member and a second angle connecting member. The distal end of the first angle connecting member is rotatably connected to the angle turning member, and the proximal end of the first angle connecting member is rotatably connected to the distal end of the second angle connecting member. The cannula assembly is provided with a straight portion receiving groove along the axial direction. The first angle connecting member is provided with a first receiving groove, and the second angle connecting member is provided with a second receiving groove. The tool rod is received in the straight portion receiving groove, the second receiving groove, and the first receiving groove from near to far. When the jaw assembly is in the straight punching state, the length direction of the jaw assembly is collinear with the axis of the cannula assembly, and the near-side opening of the second receiving groove is aligned with the far-side opening of the straight portion receiving groove. The surgical instrument further includes a sliding member, which is slidably connected to the cannula assembly along the axial direction of the cannula assembly. The proximal end of the second angle connecting member is rotatably connected to the sliding member. In response to the rotation of the angle turning member, the jaw assembly rotates relative to the cannula assembly so that the jaw assembly is in the bent punching state, and the angle connecting assembly rotates to push the sliding member to slide proximally along the axial direction of the cannula assembly, so that the near-side opening of the second receiving groove remains aligned with the far-side opening of the straight portion receiving groove.

2. The surgical instrument according to claim 1, wherein, The cannula assembly includes a tool holder and a thimble seat connected to the tool holder. The straight portion receiving groove includes a tool holder receiving groove opened in the tool holder, and the angle turning member is rotatably connected to the thimble seat.

3. The surgical instrument according to claim 2, wherein, The sliding member is disposed between the second angle connecting member and the tool holder. The straight portion receiving groove further includes a third receiving groove opened in the sliding member. The tool rod is received in the tool holder receiving groove, the third receiving groove, the second receiving groove, and the first receiving groove from near to far. When the jaw assembly is in the straight punching state, the near-side opening of the second receiving groove is aligned with the far-side opening of the third receiving groove. When the jaw assembly is in the bent punching state, the near-side opening of the second receiving groove remains aligned with the far-side opening of the third receiving groove.

4. The surgical instrument according to claim 3, wherein The tool rod includes an exposed section located between the tool holder receiving groove and the third receiving groove. The surgical instrument further includes a limiting assembly, which is disposed on the cannula assembly and the sliding member. When the jaw assembly is in the straight punching state or the bent punching state, the limiting assembly laterally limits and stops the exposed section on both sides of the exposed section.

5. The surgical instrument according to claim 4, wherein The limiting assembly includes a first limiting portion disposed on the cannula assembly and a second limiting portion disposed on the sliding member. The first limiting portion is provided with a first limiting groove, and the second limiting portion is provided with a second limiting groove. Both the first limiting groove and the second limiting groove laterally limit and stop the exposed section.

6. The surgical instrument according to claim 5, wherein, The first limiting portion and the second limiting portion are staggered in the height direction of the tool bar.

7. The surgical instrument according to claim 4, wherein The limiting assembly includes a first limiting portion provided on the sleeve assembly and a second limiting portion provided on the sliding member. The first limiting portion is located on one side of the exposed section along its thickness direction, and the second limiting portion is located on the other side of the exposed section along its thickness direction. At least a part of the exposed section is laterally limited and blocked by the first limiting portion and the second limiting portion at the same time.

8. The surgical instrument according to claim 2, wherein, The ejector pin seat is provided with a sliding groove along the axial direction of the sleeve assembly. The sliding member includes a slider, and the slider is slidably arranged in the sliding groove. When the jaw assembly is in the straight punching state, the near-side opening of the second receiving groove is aligned with the far-side opening of the tool rest receiving groove. When the jaw assembly is in the bent punching state, the near-side opening of the second receiving groove remains aligned with the far-side opening of the tool rest receiving groove.

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