A surgical instrument

Abstract

The application discloses a surgical instrument, belonging to the field of medical instruments. It comprises a handle assembly, an elongated body assembly and an end execution assembly connected in sequence from proximal end to distal end. The end execution assembly is used for manipulating tissue. The handle assembly can operatively provide driving force to the end execution assembly. The elongated body assembly defines a longitudinal axis and transmits the driving force of the handle assembly to the end execution assembly. The handle assembly comprises a driving mechanism and a force detection device. The driving mechanism comprises a motor assembly and a transmission assembly. The output part of the transmission assembly is connected with a transmission rod of the elongated body assembly, so as to convert the torque output by the motor assembly into linear motion of the transmission rod. The transmission assembly comprises at least one rotating part capable of bearing axial force. The force detection device comprises a force sensor for detecting the axial force borne by the rotating part. The surgical instrument can accurately acquire the firing force of the end execution assembly.

Description

Technical Field

[0001] This invention relates to the field of surgical instruments, and particularly to a clamping, cutting, and anastomotic surgical instrument. Background Technology

[0002] Linear clamping, cutting, and anastomosis surgical instruments can be used in surgical procedures to remove tissue. Traditional linear clamping, cutting, and anastomosis surgical instruments include a handle assembly, an elongated body, and an end effector. The end effector includes a pair of gripping members that clamp the tissue to be anastomosed. One of the gripping members includes a staple cartridge receiving area and a mechanism for driving the staples through the tissue and abutting against an anvil portion on the other gripping member. The end effector also includes a firing member for cutting the tissue, driven by a drive mechanism located on the handle assembly side and a transmission mechanism located within the handle assembly and the elongated body. In the case of an electrically fired mechanism, the user can control the drive mechanism to activate and move the firing member to cut the tissue by triggering a firing button on the handle assembly.

[0003] During the use of a surgical stapler, the firing force is one of the key technical indicators. The firing force typically refers to the force exerted on the instrument's firing component by a load (such as the end-effector holding the tissue) during the stapler's operation (e.g., during firing or closing). With the increasing electrification and intelligence of surgical instruments, real-time acquisition of this firing force data can provide parameter support for tissue thickness identification, firing speed adjustment, and end-effector anomaly detection. Therefore, accurately obtaining this firing force has become a technical problem that those skilled in the art need to solve. Summary of the Invention

[0004] Therefore, this invention proposes a surgical instrument capable of acquiring the firing force of the firing component in real time.

[0005] To address the aforementioned technical problems, the present invention provides the following technical solution:

[0006] A surgical instrument includes: a handle assembly, an elongated body assembly, and an end effector assembly sequentially operably connected from proximal to distal; the end effector assembly is used to manipulate tissue, the handle assembly operably provides a driving force to the end effector assembly, the elongated body assembly defines a longitudinal axis and transmits the driving force of the handle assembly to the end effector assembly; the handle assembly includes a drive mechanism and a force detection device; the drive mechanism includes a motor assembly and a transmission assembly, the output of the transmission assembly is connected to a transmission rod of the elongated body assembly to transmit the power output by the motor assembly to the transmission rod, the transmission assembly includes at least one rotating portion subjected to an axial force; the force detection device includes a force sensor that detects the axial force on the rotating portion.

[0007] In some embodiments of the present invention, the force detection device further includes a control unit, which determines the driving force received by the end effector component based on the detection signal from the force sensor.

[0008] In some embodiments of the present invention, the rotating part is provided with transmission teeth, and the force sensor detects the axial force acting on the transmission teeth.

[0009] In some embodiments of the present invention, when the transmission teeth transmit power, the contact line of the meshing is not parallel to the axis of the rotating part.

[0010] In some embodiments of the present invention, a thrust bearing is further provided between the rotating part of the transmission assembly and the force sensor, and the axial force of the rotating part is applied to the force sensor through the thrust bearing.

[0011] In some embodiments of the present invention, the handle assembly includes a frame, the frame including a first receiving cavity extending in a first direction and a second receiving cavity extending in a second direction, the first receiving cavity and the second receiving cavity communicating, the output portion of the transmission assembly being slidably connected in the first receiving cavity, at least the rotating portion of the transmission assembly being mounted in the second receiving cavity, and the motor assembly being mounted on the outer surface of the second receiving cavity.

[0012] In some embodiments of the present invention, the frame includes a first sidewall and a second sidewall disposed opposite to each other, a through hole is formed in the first sidewall, the motor assembly is mounted on the outer side of the first sidewall, and the output shaft extends into the second receiving cavity of the frame along the through hole and is connected to the transmission part.

[0013] In some embodiments of the present invention, one side of the force sensor abuts against the thrust bearing, and the other side of the force sensor abuts against the inner side of the first sidewall or the second sidewall.

[0014] In some embodiments of the present invention, one end of the rotating part away from the output shaft of the motor assembly is rotatably connected to the frame.

[0015] In some embodiments of the present invention, a limiting ring is provided at one end of the rotating part away from the output shaft of the motor assembly, and the limiting ring abuts against the inner side of the second side wall of the frame.

[0016] In some embodiments of the present invention, a limiting ring is provided at one end of the rotating part away from the output shaft of the motor assembly, one side of the force sensor abuts against the limiting ring, and the other side of the force sensor abuts against the inner side of the second sidewall.

[0017] In some embodiments of the present invention, the limiting ring is fixedly connected to the rotating part or integrally formed with the rotating part.

[0018] In some embodiments of the present invention, the transmission assembly includes a helical gear and rack transmission group, the helical gear and rack transmission group includes a helical gear and a helical rack, the rotating part is a helical gear, the output part is a helical rack, and the force sensor detects the axial force on the helical gear.

[0019] In some embodiments of the present invention, the helical gear is connected to the output shaft of the motor assembly via a first thrust bearing, one side of the force sensor abuts against the first thrust bearing, and the other side of the force sensor abuts against the inner side of the first sidewall.

[0020] In some embodiments of the present invention, one end of the helical gear away from the output shaft of the motor assembly is connected to the frame via a second thrust bearing, one side of the force sensor abuts against the second thrust bearing, and the other side of the force sensor abuts against the inner side of the second sidewall.

[0021] In some embodiments of the present invention, the transmission assembly includes a bevel gear transmission group and a gear and rack transmission group. The bevel gear transmission group includes a first bevel gear connected to the output shaft of the motor assembly and a second bevel gear meshing with the first bevel gear. The gear and rack transmission group includes a gear coaxially connected to the second bevel gear and a rack meshing with the gear. The rotating part is the first bevel gear and / or the second bevel gear, the output part is the first rack, and the force sensor detects the axial force acting on the first bevel gear and / or the second bevel gear.

[0022] In some embodiments of the present invention, the transmission assembly includes a worm gear transmission group and a rack and pinion transmission group. The worm gear transmission group includes a worm connected to the output shaft of the motor assembly and a turbine meshing with the worm. The rack and pinion transmission group includes a gear coaxially connected to the turbine and a rack meshing with the gear. The rotating part is the worm and / or the turbine, the output part is the gear, and the force sensor detects the axial force acting on the worm and / or the turbine.

[0023] In some embodiments of the present invention, the axial force of the worm gear acts on the force sensor through a first thrust bearing. A connecting hole is provided at the first side end of the worm gear, and the output shaft of the motor assembly extends into the connecting hole and connects to the worm gear. The first thrust bearing and the force sensor are located between the first side end of the worm gear and the first side wall of the frame.

[0024] In some embodiments of the present invention, the worm gear is connected to the output shaft of the motor assembly via a first thrust bearing, one side of the force sensor abuts against the first thrust bearing, and the other side of the force sensor abuts against the inner side of the first sidewall.

[0025] In some embodiments of the present invention, the end of the worm gear away from the output shaft is rotatably connected to the frame.

[0026] In some embodiments of the present invention, a limiting ring is provided at the end of the worm gear away from the output shaft, and the limiting ring abuts against the inner side of the second side wall of the frame.

[0027] In some embodiments of the present invention, a limiting ring is provided at the end of the worm gear away from the output shaft, one side of the force sensor abuts against the limiting ring, and the other side of the force sensor abuts against the inner side of the second sidewall.

[0028] In some embodiments of the present invention, the limiting ring is fixedly connected to the worm gear or integrally formed with the worm gear.

[0029] In some embodiments of the present invention, the end of the worm gear away from the output shaft is connected to the frame via a second thrust bearing, one side of the force sensor abuts against the second thrust bearing, and the other side of the force sensor abuts against the inner side of the second sidewall.

[0030] In some embodiments of the present invention, the transmission assembly further includes a manual unlocking structure, which is operable to trigger the transmission assembly to move the transmission rod to an initial position.

[0031] In some embodiments of the present invention, the manual unlocking structure includes a connecting portion disposed on the end of the transmission assembly away from the motor assembly, the connecting portion being adapted to cooperate with a rotary wrench to drive the rotating portion of the transmission assembly to rotate.

[0032] In some embodiments of the present invention, the connecting portion includes a plug-in groove disposed at one end of the transmission assembly.

[0033] In some embodiments of the present invention, the handle assembly further includes a position detection device for detecting the position of the transmission rod and an indicator device for indicating that the transmission rod is in an initial position, and the control unit controls the indicator device according to the detection signal of the position detection device.

[0034] The present invention also provides a surgical instrument, comprising: a handle assembly, an elongated body assembly, and an end effector assembly sequentially operably connected from proximal to distal end; the end effector assembly is used to manipulate tissue, the handle assembly operably provides a driving force to the end effector assembly, the elongated body assembly defines a longitudinal axis and transmits the driving force of the handle assembly to the end effector assembly; the handle assembly includes a drive mechanism and a force sensor; the drive mechanism includes a motor assembly and a transmission assembly, the transmission assembly includes a worm gear transmission assembly and a rack and pinion transmission assembly, the worm gear transmission assembly includes a worm connected to the output shaft of the motor assembly and a turbine meshing with the worm, the rack and pinion transmission assembly includes a gear coaxially connected to the turbine and a rack meshing with the gear, and the force sensor detects the axial force on the worm gear and / or the turbine.

[0035] The technical solution of the present invention has the following technical effects compared with the prior art:

[0036] The surgical instrument provided by this invention offers greater design flexibility by incorporating a force detection device on the transmission assembly on the handle assembly side, facilitating the installation and fixation of the force detection device. Furthermore, by using a force sensor to detect the axial force of the rotating part, the problem of interference with other components caused by the signal line of the force sensor moving with the actuator and / or the elongated body assembly, which would otherwise require the force sensor to be placed on the end actuation assembly and / or the transmission assembly side, must be avoided. Moreover, designing the force sensor on the handle assembly side reduces the requirements for its size and strength, thereby lowering the cost of the force sensor element. Attached Figure Description

[0037] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, which will help to understand the purpose and advantages of the present invention, wherein:

[0038] Figure 1 This is a schematic diagram of a specific embodiment of the surgical instrument of the present invention;

[0039] Figure 2 This is a schematic diagram of a specific embodiment of the end effector component in the surgical instrument of the present invention;

[0040] Figure 3 This is a schematic diagram of a specific embodiment of the staple cartridge assembly in the surgical instrument of the present invention;

[0041] Figure 4 This is a cross-sectional view of a specific embodiment of the handle assembly and elongated body assembly in the surgical instrument of the present invention;

[0042] Figure 5 An exploded view of some components of the handle assembly in one embodiment of the surgical instrument of the present invention;

[0043] Figure 6 This is a partial cross-sectional view of the handle assembly portion in one embodiment of the surgical instrument of the present invention.

[0044] Figure 7 This is a partial cross-sectional view of the drive mechanism and force detection device in one embodiment of the surgical instrument of the present invention.

[0045] Figure 8 This is another partial cross-sectional view of the drive mechanism and force detection device in one embodiment of the surgical instrument of the present invention.

[0046] Figure 9 This is a schematic diagram illustrating the installation and engagement of the drive mechanism and the force sensor in one embodiment of the surgical instrument of the present invention.

[0047] Figure 10 This is a schematic diagram showing the installation and cooperation of the drive mechanism and the torque sensor in another embodiment of the surgical instrument of the present invention.

[0048] Figure 11 This is a schematic diagram showing the installation and cooperation of the drive mechanism and the torque sensor in another embodiment of the surgical instrument of the present invention.

[0049] Figure 12 This is a schematic diagram showing the installation and cooperation of the drive mechanism and the torque sensor in another embodiment of the surgical instrument of the present invention.

[0050] Figure 13 This is a schematic diagram of the force distribution of the worm gear transmission assembly in one embodiment of the surgical instrument of the present invention.

[0051] Figure 14 This is a schematic diagram of the force distribution of a bevel gear transmission assembly in one embodiment of the surgical instrument of the present invention. Detailed Implementation

[0052] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0054] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0055] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0056] In various embodiments of the present invention, "distal / side" refers to the end of the surgical instrument that is far from the operator during operation, while "proximal / side" refers to the end / side of the surgical instrument that is close to the operator during operation.

[0057] The following is a specific embodiment of the surgical instrument. Generally, the surgical instruments described herein are endoscopic surgical cutting and anastomosis instruments. However, it should be noted that the surgical instruments can also be non-endoscopic surgical cutting and anastomosis instruments, such as open surgical instruments used in open surgery.

[0058] In various embodiments of the present invention, "distal / side" refers to the end of the surgical instrument that is far from the operator during operation, while "proximal / side" refers to the end / side of the surgical instrument that is close to the operator during operation.

[0059] The following is a specific embodiment of the surgical instrument. Generally, the surgical instruments described herein are endoscopic surgical cutting and anastomosis instruments. However, it should be noted that the surgical instruments can also be non-endoscopic surgical cutting and anastomosis instruments, such as open surgical instruments used in open surgery.

[0060] Specifically, Figure 1The surgical instrument shown includes a handle assembly 10, an elongated body assembly 20, and an end effector assembly 30 connected sequentially from proximal to distal. The end effector assembly 30 is used to manipulate tissue to perform specific surgical procedures, such as tissue clamping, suturing / anastomosis, and cutting.

[0061] Reference Figure 2 As shown, the end effector 30 includes a cartridge assembly 31 and an anvil assembly 32, which are movable relative to each other to close the jaws and grip tissue. In one specific embodiment, the anvil assembly 32 of the end effector 30 is operably pivoted toward the cartridge assembly 31 until the jaws of the end effector 30 are closed to grip tissue; the anvil assembly 32 is pivoted toward a direction away from the cartridge assembly 31 until the jaws of the end effector 30 are opened to release tissue. Alternatively, the cartridge assembly 31 of the end effector 30 may be operably pivoted toward the anvil assembly 32 until the jaws of the end effector 30 are closed to grip tissue; and the cartridge assembly 31 may be operably pivoted toward a direction away from the cartridge assembly 31 until the jaws of the end effector 30 are opened to release tissue. Furthermore, a movable firing member 35 for performing surgical actions is provided within the end-effector 30. The firing member 35 can be operatively reciprocated. For example, when the firing member 35 is driven to move from the proximal end to the distal end, a corresponding surgical operation is performed, such as cutting and anastomosing tissue.

[0062] Specifically, such as Figure 2 and Figure 3 As shown, the proximal side of the end effector 30 includes an elongated outer tube 33, an inner tube 34 disposed within the outer tube 33, and a slidable firing member 35 disposed within the inner tube 34; the distal side of the end effector 30 includes a relatively movable staple cartridge assembly 31 and an anvil assembly 32; the staple cartridge assembly 31 includes a staple cartridge 310, a staple cartridge base 311, and a slider 312 disposed within the staple cartridge 310 and slidable along the longitudinal axis; the firing member 35 slides / moves along the longitudinal axis to perform corresponding surgical operations. Furthermore, the firing member 35 abuts against the slider 312 and can slide / move integrally along the longitudinal axis to perform corresponding surgical operations.

[0063] like Figure 1As shown, at least a portion of the handle assembly 10 is held by the operator, enabling the operator to manipulate the surgical instrument. For example, the handle assembly 10 includes a handle housing 11 that can be held by the user. In one specific embodiment, the handle assembly 10 of the surgical instrument 100 is provided with a trigger, which the user operates to operate the end effector 30 to perform closing and firing actions; or, in an alternative embodiment, the surgical instrument can also operate the end effector 30 to perform closing and / or firing actions by means of a push knob, button, etc. provided on the handle housing 11; or, in an alternative embodiment, the surgical instrument can also operate the jaws of the end effector to open to release tissue by means of a trigger, push knob, button, etc. provided on the handle housing 11.

[0064] like Figure 1 , Figure 4 As shown, the elongated body assembly 20 includes a tubular housing 21 that defines a longitudinal axis C; a transmission rod 22 is disposed within the tubular housing 21, the proximal end of which is connected to the output end of the drive mechanism 12 within the handle assembly 10, and the distal end of which is connected to the firing member 35 of the end actuation assembly 30, for transmitting the driving force of the drive mechanism 12 to the firing member 35.

[0065] like Figure 4 As shown, the handle assembly 10 includes a handle housing 11 and a drive mechanism 12 housed inside the handle housing 11 for providing driving force to the elongated body assembly 20 and the end effector assembly 30. For example, the drive mechanism 12 drives the transmission rod 22 of the elongated body assembly 20 to reciprocate the firing member 35 of the end effector assembly 30, thereby realizing the closing and opening operation of the jaws of the end effector assembly 30, and the cutting and merging operation of the tissue clamped in the jaws. In an alternative embodiment, the drive mechanism 12 drives the elongated body assembly 20, such as the tubular housing 21, to realize the closing and opening operation of the jaws of the end effector assembly 30, and the drive mechanism 12 drives the transmission rod 22 of the elongated body assembly 20 to reciprocate the firing member 35 of the end effector assembly 30 to cut and merge the tissue clamped in the jaws.

[0066] like Figure 5 As shown, the handle housing 11 includes a first half-housing 11a and a second half-housing 11b, which can be detachably connected by means of snap-fit ​​connection, fastener connection, etc. The handle housing 11 is generally T-shaped, including a main body extending along the longitudinal axis C and a gripping part extending in a direction generally perpendicular to the longitudinal axis C or inclined at a certain angle relative to the longitudinal axis C. The main body and the gripping part form the installation space of the drive mechanism 12.

[0067] like Figure 5 As shown, the drive mechanism 12 includes a motor assembly 121 and a transmission assembly 120. The transmission assembly 120 is operably connected between the motor assembly 121 and the transmission rod 22 of the elongated body assembly 20. The transmission assembly 120 includes at least one rotating part capable of withstanding axial force and an output part connected to the transmission rod 22 of the elongated body assembly 20 to convert the torque output by the motor assembly 121 into linear motion of the transmission rod 22, and to move the transmission rod 22 linearly along the longitudinal axis C, thereby realizing the firing action of the firing member 35. Specifically, in an optional embodiment, the axial direction of the output shaft of the motor assembly 121 forms an angle with the longitudinal axis C; more specifically, the motor assembly 121 is located in the mounting space inside the grip portion, so that the center of gravity of the handle assembly 10 is close to the area held by the user.

[0068] To accurately obtain the force (e.g., firing force or closing force) acting on the firing member 35 when the surgical instrument is operated to close or fire, the handle assembly 10 further includes a force detection device, which includes a force sensor 13 that detects the axial force acting on the rotating part of the transmission assembly. When the drive mechanism 12 drives the firing member 35 to fire, the torque output by the motor assembly 121 is converted into a force acting on the firing member 35 along the longitudinal axis direction through the transmission assembly 120. By detecting the magnitude of the axial force acting on the rotating part of the transmission assembly capable of bearing the axial force, the magnitude of the firing force acting on the firing member 35 can be indirectly obtained.

[0069] By placing the force sensor 13 on the transmission assembly on the handle assembly 10 side, the installation and fixation of the force detection device are facilitated. Since the rotating part capable of bearing axial force does not move axially, detecting the axial force of this rotating part by the force sensor 13 avoids the problem of interference to other components caused by the force sensor signal line moving with the actuator (e.g., firing member 35) and / or transmission element (e.g., transmission rod 22) if the force sensor is placed on the end actuator assembly 30 and / or the elongated body assembly 20 side. Furthermore, designing the force sensor 13 on the handle assembly 10 side provides more design flexibility, reduces the requirements for the size and strength of the force sensor 13, and thus reduces the cost of the force sensor element.

[0070] Furthermore, the force detection device further includes a control unit 19, which determines the firing force of the firing member 35 based on the detection signal from the force sensor 13. Specifically, the control unit 18 includes a memory and a processor. The memory stores a force conversion model, which is a force conversion model between the axial force on the rotating part of the transmission assembly and the firing force of the firing member 35. The processor determines the force acting on the firing member 35 along the longitudinal axis direction, i.e., the firing force of the firing member 35, based on the force conversion model and the detection signal from the force sensor 13.

[0071] Specifically, such as Figures 4-9 As shown, in a surgical instrument 100 according to an embodiment of the present invention, the transmission assembly 120 includes a worm gear transmission assembly 122 and a gear and rack transmission assembly 123, as follows: Figure 5 As shown, the worm gear transmission assembly 122 includes a worm 122a connected to the output shaft of the motor assembly 121, and a turbine 122b cooperating with the worm 122a; further, the gear and rack transmission assembly 123 includes a rack 123a operably connected to the transmission rod 22 of the elongated body assembly 20, and a gear 123b cooperating with the rack 123a; the turbine 122b and the gear 123b are respectively fixedly connected to the same transmission shaft 128.

[0072] When the motor assembly 121 is activated, the worm gear 122a rotates along its axis with the output shaft of the motor assembly 121, driving the turbine 122b to rotate around its axis of rotation. The gear 123b rotates synchronously with the turbine 122b, driving the rack 123a to reciprocate along the longitudinal axis, pushing or pulling the transmission rod 22 to reciprocate synchronously, thereby driving the firing member 35 to move. For example, when the motor assembly 121 rotates in the first direction, causing the rack 123a to move from the proximal end to the distal end along the longitudinal axis, it drives the firing member 35 to move from the proximal end to the distal end along the longitudinal axis, thereby operating the end actuation component 30 of the surgical instrument to complete the closing or firing operation for clamping, suturing, and cutting tissue. When the motor assembly 121 rotates in the second direction, causing the rack 123a to move from the distal end to the proximal end along the longitudinal axis, it drives the firing member 35 to move from the distal end to the proximal end along the longitudinal axis, thereby operating the end actuation assembly 30 of the surgical instrument to complete the retraction and opening operation to release the clamped tissue.

[0073] In one embodiment, the worm 122a is the rotating part of the transmission assembly 120, the rack 123a is the output part of the transmission assembly 120, and the force sensor 13 is used to detect the axial force on the worm 122a. In other alternative embodiments, the rotating part of the transmission assembly 120 is the turbine 122b, the output part of the transmission assembly 120 is the rack 123a, and the force sensor 13 is used to detect the axial force on the turbine 122b. In yet another alternative embodiment, two sets of force sensors 13 are provided, and the two sets of force sensors 13 respectively detect the axial force on the worm 122a and the turbine 122b of the transmission assembly 120.

[0074] Next, taking the axial force on the worm gear 122a detected by the force sensor 13 as an example, the force conversion model of this force detection device is explained, that is, the force F acting on the rack 123a along the longitudinal axis C. R The axial force F of the worm 122a a1 The relationship.

[0075] refer to Figure 13 The axial force F of the worm 122a a1 The force is directly obtained from the force sensor 13, that is, the force measured by the force sensor 13. M =Axial force F of worm 122a a1 ;

[0076] According to the principle of interaction of forces, the axial force F acting on the turbine 122b and the worm 122a is... a1 =F t2 =F M F t2 The force acting on the worm 122a along its circumference;

[0077] F G R is the circumferential force on gear 123b. G The pitch circle radius of gear 123b meshing with rack 123a (i.e., the actual meshing radius; if gear 123b is an involute gear, R) G R1 is the involute radius, R2 is the pitch circle radius of turbine 122b, gear 123b and turbine 122b can rotate as a single unit, and their torques are the same. Therefore, F... t2 / R2=F G / R G F G =F t2 *R G / R2;

[0078] Forces act in pairs; the striking force that moves rack 123a is the same as the axial force on gear 123b.

[0079] It can be concluded that: F R =F G =F t2 *R G / R2.

[0080] Furthermore, when turbine 122b is a helical turbine 122b, and force sensor 13 is in contact with helical turbine 122b and can measure the axial force of helical turbine 122b;

[0081] The force sensor 13 directly measures the F. M =Axial force F of spiral turbine 122b a2 ;

[0082] Furthermore, the helix angle of the spiral turbine 122b is γ (the helix angle refers to the angle between the teeth of the helical gear and the axis), F t2 F is the force exerted by the spiral turbine 122b along its circumference. a2 =F t2 *tanγ,F t2 =F a2 / tanγ;

[0083] F G R is the circumferential force on gear 123b. G The pitch circle radius of the gear 123b that meshes with rack 123a (this is the actual meshing radius; if the gear is an involute gear, R...). G R1 is the involute radius, R2 is the pitch circle radius of the helical turbine 122b, and the gear 123b and the helical turbine 122b can rotate as a single unit, with the same torque. Therefore, F... t2 / R2=F G / R G ,

[0084] F G =F t2 *R G / R2=F a2 *R G / tanγ*R2;

[0085] Forces act in pairs; the striking force that moves rack 123a is the same as the axial force on gear 123b.

[0086] It can be concluded that: F R =F G =F t2 *R G / R2=F a2 *R G / tanγ*R2.

[0087] In one optional embodiment, a first thrust bearing 126 is provided between the worm gear 122a and the force sensor 13, and the axial force acting on the worm gear 122a is transmitted to the force sensor 13 through the first thrust bearing 126.

[0088] Specifically, such as Figures 6-8 As shown, the worm gear 122a is connected to the output shaft of the motor assembly 121. When the motor assembly 121 drives the worm gear 122a to rotate, the worm gear 122a simultaneously exhibits an axial (arrow A) tendency to move. The first thrust bearing 126 is adapted to bear the axial load brought by the worm gear 122a. In one specific embodiment, the force sensor 13 is located at the end of the first thrust bearing 126 away from the worm gear 122a. The axial force of the worm gear 122a acts on the force sensor 13 through the first thrust bearing 126. When the motor assembly 121 rotates in the first direction, causing the rack 123a to move from the proximal end to the distal end along the longitudinal axis, the axial force of the worm gear 122a is directed towards the output shaft of the motor assembly 121 by designing the rotation direction of the worm gear 122a. At this time, the axial force of the worm gear 122a acts on the force sensor 13 through the first thrust bearing 126. Since the axial working surface of the first thrust bearing 126 is an annular surface, it can act on the force sensor 13 more evenly, thereby improving the detection accuracy.

[0089] Furthermore, the surgical instrument 100 described in one embodiment of the present invention, such as... Figure 7As shown, the handle assembly 10 further includes a frame 18 for mounting the drive mechanism 12. The frame 18 includes a first receiving cavity 18a extending in a first direction and a second receiving cavity 18b extending in a second direction, the first receiving cavity 18a and the second receiving cavity 18b communicating. More specifically, the first direction extends in the same direction as the longitudinal axis, and the second direction is perpendicular to the first direction. The first receiving cavity 18a is used to receive at least a portion of the transmission assembly of the drive mechanism 12. For example, the first receiving cavity 18a is used to receive the rack 123a, such that the rack 123a is slidably mounted in the first receiving cavity 18a and operably connected to the transmission rod 22 on the distal side of the frame 18. At least a portion of the transmission assembly 120 is received in the second receiving cavity 18b. For example, the worm gear drive assembly 122 and the gear 123b of the rack and pinion drive assembly 123 are housed within the second receiving cavity 18b. The worm 122a extends along a second direction, and the gear 123b and worm gear 122b are respectively connected to a drive shaft 128 extending along a third direction, which is perpendicular to both the second and first directions. The motor assembly 121 is mounted on the outside of the second receiving cavity 18b, and the output shaft of the motor assembly 121 extends along the second direction.

[0090] Further as Figure 7 As shown, the frame 18 includes a first sidewall 181 and a second sidewall 182 disposed opposite to each other. A through hole is formed in the first sidewall 181. The motor assembly 121 is mounted on the outer side of the first sidewall 181. The output shaft of the motor assembly 121 extends along the through hole into the second receiving cavity 18b of the frame 18 and connects to the worm gear 122a. More specifically, the motor assembly 121 includes a cylindrical main body. A mounting plate 121a is provided on the side of the cylindrical main body near the output shaft. The diameter of the mounting plate 121a is larger than the diameter of the cylindrical main body. The mounting plate 121a has four mounting holes, and the motor assembly 121 is mounted and fixed by fastening screws passing through the mounting holes and the screw holes on the first sidewall 181 of the frame 18.

[0091] Furthermore, one side of the force sensor 13 abuts against the first thrust bearing 126, and the other side of the force sensor 13 abuts against the inner side of the first sidewall 181. The force sensor 13 is formed as an annular cylinder, which surrounds the output shaft of the motor assembly 121, and there is a gap between the two to prevent the force sensor 13 from rotating and causing inaccurate axial force measurement.

[0092] Specifically, the connection method between the output shaft of the motor assembly 121 and the worm gear 122a is not unique; in one embodiment, such as... Figure 7 As shown, the end of the worm gear 122a has a connecting hole, and the output shaft of the motor assembly 121 extends into the connecting hole and connects to the worm gear 122a. Specifically, the connecting hole is a square hole, and the end of the output shaft of the motor assembly 121 is a square shaft, which is inserted into the square hole to achieve an anti-rotation connection between the two. The first thrust bearing 126 and the force sensor 13 are located between the first side end of the worm gear 122a and the first sidewall 181 of the frame 18. In another embodiment, the worm gear 122a and the output shaft of the motor assembly 121 are connected by the first thrust bearing 126. The worm gear 122a and the output shaft of the motor assembly 121 are interference-fitted with the bearing ring of the first thrust bearing 126. The bearing ring of the first thrust bearing 126 abuts against one side of the force sensor 13, and the other side of the force sensor 13 abuts against the inner side of the first sidewall 181.

[0093] like Figure 8 As shown, in one optional embodiment, the end of the worm gear 122a away from the output shaft is rotatably connected to the frame 18. Specifically, the end of the worm gear 122a away from the output shaft is formed as a cylindrical shaft end, and a rotating hole is provided on the second sidewall 182 of the frame 18, to which the cylindrical shaft end of the worm gear 122a is rotatably connected. A limiting ring 14 is provided at the end of the worm gear 122a away from the output shaft, and the limiting ring 14 abuts against the inner side of the second sidewall 182 of the frame 18 to achieve axial limiting of the worm gear 122a. Specifically, the limiting ring 14 is fixedly connected to the worm gear 122a, for example, by means of a threaded connection or integrally formed with the limiting ring 14 and the worm gear 122a.

[0094] In one optional embodiment, when the firing member 35 fires, and the axial force of the worm gear 122a is directed away from the output shaft of the motor assembly 121, the force sensor 13 can be installed as follows: a limiting ring 14 is provided at the end of the worm gear 122a away from the output shaft; one side of the force sensor 13 abuts against the limiting ring 14, and the other side of the force sensor 13 abuts against the inner side of the second sidewall 182. The axial force of the worm gear 122a is then applied to the force sensor 13 through the limiting ring 14. Specifically, the limiting ring 14 is fixedly connected to the worm gear 122a, for example, by a threaded connection or integrally formed with the limiting ring 14 and the worm gear 122a. The force sensor 13 is formed as a circular cylinder, which surrounds the end of the worm gear 122a, with a gap between them to prevent inaccurate axial force measurement caused by the force sensor 13 rotating with the worm gear 122a. When the firing component 35 fires, the axial force on the worm gear 122a is applied to the force sensor 13 through the limiting ring 14.

[0095] When the firing member 35 fires, and the axial force of the worm 122a is directed away from the output shaft of the motor assembly 121, the force sensor 13 can also be installed in the following specific manner: the end of the worm 122a away from the output shaft is rotatably connected to the frame 18 via a second thrust bearing. Specifically, the inner side of the second sidewall 182 of the frame 18 is provided with a bushing for connecting the second thrust bearing. The bearing race of the second thrust bearing is fitted onto the bushing, and the bearing race is connected to the shaft end of the worm 122a. The force sensor 13 is fitted onto the bushing, with one side of the force sensor 13 abutting against the second thrust bearing, and the other side abutting against the inner side of the second sidewall 182. When the firing member 35 fires, the axial force on the worm 122a is applied to the force sensor 13 via the second thrust bearing.

[0096] The aforementioned transmission assembly 120 employs a worm gear drive group 122 in conjunction with a rack and pinion drive group 123. The transmission assembly 120 has a large transmission ratio, resulting in lower torque output requirements for the motor assembly 121, which facilitates the selection of a smaller diameter motor. The worm gear drive group 122 has self-locking properties, which helps maintain the closed position of the surgical instrument's end actuator after closure. The axial separation of the worm 122b is small, and the reaction force of the worm 122b on the worm 122a is mainly concentrated in the axial direction of the worm 122a, which is beneficial for the capture by the force sensor 13. Furthermore, the entire transmission assembly 120 has a compact structure, facilitating installation and fixation.

[0097] As an alternative implementation, the transmission assembly can also be designed to include a helical gear rack assembly or a bevel gear transmission assembly in conjunction with a gear rack transmission.

[0098] For example, such as Figure 10 As shown, in one specific embodiment, the transmission assembly 130 includes a helical gear and rack transmission group 132, which includes a helical rack 132a and a helical gear 132b. The rotating part of the transmission assembly 130 is the helical gear 132b, and the output part of the transmission assembly 130 is the helical rack 132a. The force sensor 13 detects the axial force on the helical gear 132b. Using the helical gear and rack transmission group 132 requires only two transmission components to achieve reliable transmission. The structure is simple and compact, and the axial force on the helical gear 132b can be adjusted by setting the helix angle, allowing the force sensor 13 to accurately obtain the axial force of the helical gear 132b. The force analysis of the helical gear and rack transmission group 132 is similar to that of the worm gear transmission group 122, and will not be repeated here.

[0099] Similar to the aforementioned embodiments, a first thrust bearing 126 may be provided between the helical gear 132b and the force sensor 13. Furthermore, a limiting ring 14 may be provided at the end of the helical gear 132b away from the output shaft of the motor assembly 121, the limiting ring 14 abutting against the inner side of the second sidewall 182 of the frame 18 (not shown in the figure). Alternatively, in an alternative embodiment, the end of the helical gear 132b away from the output shaft of the motor assembly 121 is connected to the frame 18 via a second thrust bearing, one side of the force sensor 13 abuts against the second thrust bearing, and the other side of the force sensor abuts against the inner side of the second sidewall 182.

[0100] like Figure 11 , Figure 12 As shown, in one specific embodiment, the transmission assembly 140 includes a bevel gear transmission group 142 and a gear and rack transmission group 143. The bevel gear transmission group 142 includes a first bevel gear 142a connected to the output shaft of the motor assembly 121 and a second bevel gear 142b meshing with it. The gear and rack transmission group 143 includes a gear 143b coaxially connected to the second bevel gear 142b and a rack 143a meshing with the gear 143b. In this embodiment, the transmission assembly 140 uses a bevel gear transmission group 142 and a gear and rack transmission group 143, which is convenient and simple to install, operates smoothly, and has low noise.

[0101] In this embodiment, the rotating part of the transmission assembly 140 is a first bevel gear 142a and / or a second bevel gear 142b, and the output part of the transmission assembly 140 is a rack 143a. Figure 11 As shown, the force sensor 13 is used to detect the axial force acting on the first bevel gear 142a; other alternative embodiments include, for example... Figure 12 As shown, the force sensor 13 is used to detect the axial force on the second bevel gear 142b. In another alternative embodiment, two sets of force sensors 13 are provided, and the two sets of force sensors 13 respectively detect the axial force on the first bevel gear 142a and the second bevel gear 142b.

[0102] The following example illustrates the force conversion model of the force detection device using the force sensor 13 detecting the axial force on the first bevel gear 142a, i.e., the force F acting on the rack 143a along the longitudinal axis C. R Axial force F with the first bevel gear 142a x1 The relationship.

[0103] The force F measured by force sensor 13 M =Axial force F of the first bevel gear 142a x1 ;

[0104] Its force analysis is as follows Figure 14 As shown, according to the interaction of forces, the axial force F of the first bevel gear 142a x1 =Circumferential force F of the second bevel gear 142b r2 F x2 F is the axial force of the second bevel gear 142b. r1 F is the radial force of the first bevel gear 142a. tm T1 is the tangential force on the pitch circle at the midpoint of the tooth width, and T2 is the torque of the second bevel gear 142b;

[0105] F r2 =F tm / (tanα*cosδ2), F tm =F r2 / (tanα*cosδ2);

[0106] F tm =2T2 / d m2 =Fr2 / (tanα*cosδ2), T2=F r2 *d m2 / (tanα*cosδ2*2);

[0107] F G R is the circumferential force on gear 143b. G The pitch circle radius of gear 143b (i.e., the actual meshing radius; if the gear is an involute gear, R) GR1 is the involute radius, R2 is the pitch circle radius of the second bevel gear 142b. Since the gears rotate as a unit and the second bevel gear 142b have the same torque, we can derive: F G / R G =F r2 *d m2 / (tanα*cosδ2*2), F G =F r2 *d m2 *R G / (tanα*cosδ2*2);

[0108] Forces are reciprocal. The resistance at the end of rack 143a (i.e., the striking force of the rack) is the same as the resistance of gear 143b, so we can deduce: F R =F G

[0109] Forces act in pairs; the striking force that moves rack 143a is the same as the axial force on gear 143b.

[0110] It can be concluded that: F R =F G =F r2 *d m2 *R G / (tanα*cosδ2*2).

[0111] Furthermore, such as Figure 12 As shown, the force sensor 13 is axially in contact with the second bevel gear 142b and can measure the axial force of the second bevel gear 142b, directly acquiring the force F measured by the force sensor 13. M =Axial force F of the second bevel gear 142b x2 ;

[0112] Its force analysis is as follows Figure 14 As shown, according to the interaction of forces, the axial force F of the first bevel gear 142a x1 =Circumferential force F of the second bevel gear 142b r2 F x2 F is the axial force of the second bevel gear 142b. r1 F is the radial force of the first bevel gear 142a. tm T1 is the tangential force on the pitch circle at the midpoint of the tooth width, and T2 is the torque of the second bevel gear 142b;

[0113] F r2 =F tm / (tanα*cosδ2), F tm =F r2 / (tanα*cosδ2);

[0114] F tm=2T2 / d m2 =F r2 / (tanα*cosδ2),T2=F r2 *d m2 / (tanα*cosδ2*2);

[0115] F G R is the circumferential force on the gear. G The pitch circle radius of the gear meshing with the rack (the actual meshing radius; if the gear is an involute gear, R...). G (where the radius is the involute radius), the gear and the second bevel gear 142b rotate as a unit, and their torques are the same, so we can derive: F G / R G =F r2 *d m2 / (tanα*cosδ2*2), F G =F r2 *d m2 *R G / (tanα*cosδ2*2);

[0116] Forces act in pairs; the striking force that moves the rack is the same as the axial force on the gear.

[0117] It can be concluded that: F R =F G =F x1 *d m2 *R G / (tanα*cosδ2*2).

[0118] In one embodiment of the surgical instrument 100 of the present invention, the handle assembly 10 is further provided with a manual unlocking structure, which is used to operably trigger the transmission assemblies 120, 130, 140 to move the transmission rod 22 to the initial position when the motor assembly 121 malfunctions or loses power and is forced to stop. Specifically, in an optional embodiment, when the transmission assembly 120 includes a worm gear transmission assembly 122, such as... Figure 8 As shown, the manual unlocking structure includes a connecting portion 15 located on the end of the worm gear 122a away from the motor assembly 121. The connecting portion 15 is adapted to cooperate with a rotary wrench. Rotating the rotary wrench in a first direction drives the worm gear 122a to rotate, thereby causing the rack 123a to move towards the proximal end and retracting the firing member 35 to its initial position. Specifically, the connecting portion 15 includes a insertion groove provided at the end of the worm gear 122a. The insertion groove is anti-rotationally connected to the rotary wrench. For example, the insertion groove is formed as an internal hexagonal socket, and the rotary wrench is an internal hexagonal socket wrench. It is inserted into the internal hexagonal socket to realize the reverse rotation of the worm gear 122a and drive the rack 123a to retract towards the proximal end.

[0119] In another optional embodiment, when the transmission assembly 130 includes a helical gear and rack transmission group 132, the manual unlocking structure includes a insertion slot on the end of the helical gear 132b away from the motor assembly 121. The insertion slot is connected to the rotary wrench to prevent rotation. For example, the insertion slot is formed as an internal hexagonal slot, and the rotary wrench is an internal hexagonal wrench. It is inserted into the internal hexagonal slot to realize the reverse rotation of the helical gear 132b and drive the helical rack 132a to retract to the proximal side. Similarly, when the transmission assembly 140 includes a bevel gear transmission group 142, the manual unlocking structure includes a insertion slot on the end of the first bevel gear 142a away from the motor assembly 121. The rotary wrench is inserted into the insertion slot to realize the retraction of the rack 143a to the proximal side.

[0120] The handle assembly 10 also includes a position detection device for detecting the position of the transmission rod 22 of the elongated body assembly, and an indicator device for indicating that the transmission rod 22 is in its initial position. The control unit controls the indicator device according to the detection signal from the position detection device. The indicator device is specifically an indicator light, an indicator sound, or other indicator device that can be easily perceived by the operator and is located on the outside of the handle. When the transmission rod 22 moves to the initial position, the control indicator device is activated, allowing the user to perceive that the transmission rod 22 has returned to its original position.

[0121] In one optional embodiment, the position detection device is a contact switch mounted on a circuit board; the output part of the transmission component is provided with a protruding structure, and when the output part of the transmission component retracts to the correct position, the protruding structure triggers the contact switch to operate and generate a detection signal. At this time, the control unit detects that the output part of the transmission component has retracted to the correct position.

[0122] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A surgical instrument, comprising: The handle assembly, the elongated body assembly, and the end effector assembly are operable and connected sequentially from the proximal end to the distal end. An end effector is used to manipulate tissue, the handle assembly operably provides driving force to the end effector, and the elongated body assembly defines a longitudinal axis and transmits the driving force of the handle assembly to the end effector; characterized in that, The handle assembly includes a drive mechanism and a force detection device; the drive mechanism includes a motor assembly and a transmission assembly, the output part of the transmission assembly is connected to the transmission rod of the elongated body assembly to transmit the power output by the motor assembly to the transmission rod, the transmission assembly includes at least one rotating part that bears axial force; the force detection device includes a force sensor that detects the axial force on the rotating part; a thrust bearing is also provided between the rotating part of the transmission assembly and the force sensor, and the axial force of the rotating part acts on the force sensor through the thrust bearing.

2. The surgical instrument according to claim 1, characterized in that: The force detection device further includes a control unit, which determines the driving force on the end effector component based on the detection signal from the force sensor.

3. The surgical instrument according to claim 1, characterized in that: The rotating part is provided with transmission teeth, and the force sensor detects the axial force acting on the transmission teeth.

4. The surgical instrument according to claim 3, characterized in that: When the transmission teeth transmit power, the contact line of the meshing is not parallel to the axis of the rotating part.

5. The surgical instrument according to claim 1, characterized in that: The handle assembly includes a frame, the frame including a first receiving cavity extending in a first direction and a second receiving cavity extending in a second direction, the first receiving cavity and the second receiving cavity communicating, the output portion of the transmission assembly being slidably connected in the first receiving cavity, at least the rotating portion of the transmission assembly being mounted in the second receiving cavity, and the motor assembly being mounted on the outer surface of the second receiving cavity.

6. A surgical instrument according to claim 5, characterized in that: The frame includes a first sidewall and a second sidewall disposed opposite to each other. A through hole is formed in the first sidewall. The motor assembly is mounted on the outer side of the first sidewall. The output shaft of the motor assembly extends into the second receiving cavity of the frame along the through hole and is connected to the transmission part.

7. The surgical instrument according to claim 6, characterized in that: One side of the force sensor abuts against the thrust bearing, and the other side of the force sensor abuts against the inner side of the first sidewall or the second sidewall.

8. The surgical instrument according to claim 6, characterized in that: The end of the rotating part away from the output shaft of the motor assembly is rotatably connected to the frame.

9. The surgical instrument according to claim 6, characterized in that: A limiting ring is provided at one end of the rotating part away from the output shaft of the motor assembly, and the limiting ring abuts against the inner side of the second side wall of the frame.

10. The surgical instrument according to claim 6, characterized in that: A limiting ring is provided at one end of the rotating part away from the output shaft of the motor assembly. One side of the force sensor abuts against the limiting ring, and the other side of the force sensor abuts against the inner side of the second sidewall.

11. The surgical instrument according to claim 9 or 10, characterized in that: The limiting ring is fixedly connected to the rotating part or integrally formed with the rotating part.

12. The surgical instrument according to any one of claims 6-10, characterized in that: The transmission assembly includes a helical gear and rack transmission group, which includes a helical gear and a helical rack. The rotating part is a helical gear, the output part is a helical rack, and the force sensor detects the axial force on the helical gear.

13. The surgical instrument according to claim 12, characterized in that: The helical gear is connected to the output shaft of the motor assembly via a first thrust bearing. One side of the force sensor abuts against the first thrust bearing, and the other side of the force sensor abuts against the inner side of the first sidewall.

14. The surgical instrument according to claim 12, characterized in that: The end of the helical gear away from the output shaft of the motor assembly is connected to the frame via a second thrust bearing. One side of the force sensor abuts against the second thrust bearing, and the other side of the force sensor abuts against the inner side of the second sidewall.

15. The surgical instrument according to any one of claims 6-10, characterized in that: The transmission assembly includes a bevel gear transmission group and a rack and pinion transmission group. The bevel gear transmission group includes a first bevel gear connected to the output shaft of the motor assembly and a second bevel gear meshing with the first bevel gear. The rack and pinion transmission group includes a gear coaxially connected to the second bevel gear and a rack meshing with the gear. The rotating part is the first bevel gear and / or the second bevel gear, the output part is the first rack, and the force sensor detects the axial force on the first bevel gear and / or the second bevel gear.

16. The surgical instrument according to any one of claims 6-10, characterized in that: The transmission assembly includes a worm gear transmission group and a rack and pinion transmission group. The worm gear transmission group includes a worm connected to the output shaft of the motor assembly and a turbine meshing with the worm. The rack and pinion transmission group includes a gear coaxially connected to the turbine and a rack meshing with the gear. The rotating part is the worm and / or the turbine, the output part is the gear, and the force sensor detects the axial force on the worm and / or the turbine.

17. The surgical instrument according to claim 16, characterized in that: The axial force of the worm gear is applied to the force sensor through the first thrust bearing. The first side end of the worm gear is provided with a connecting hole. The output shaft of the motor assembly extends into the connecting hole and connects to the worm gear. The first thrust bearing and the force sensor are located between the first side end of the worm gear and the first side wall of the frame.

18. The surgical instrument according to claim 16, characterized in that: The worm gear is connected to the output shaft of the motor assembly via a first thrust bearing. One side of the force sensor abuts against the first thrust bearing, and the other side of the force sensor abuts against the inner side of the first sidewall.

19. The surgical instrument according to claim 18, characterized in that: The end of the worm gear away from the output shaft is rotatably connected to the frame.

20. The surgical instrument according to claim 19, characterized in that: The end of the worm gear away from the output shaft is provided with a limiting ring, which abuts against the inner side of the second side wall of the frame.

21. The surgical instrument according to claim 19, characterized in that: The worm gear is provided with a limiting ring at one end away from the output shaft. One side of the force sensor abuts against the limiting ring, and the other side of the force sensor abuts against the inner side of the second sidewall.

22. A surgical instrument according to claim 20 or 21, characterized in that: The limiting ring is fixedly connected to the worm or integrally formed with the worm.

23. The surgical instrument according to claim 16, characterized in that: The end of the worm gear away from the output shaft is connected to the frame via a second thrust bearing. One side of the force sensor abuts against the second thrust bearing, and the other side of the force sensor abuts against the inner side of the second sidewall.

24. The surgical instrument according to claim 1, characterized in that: The transmission assembly also includes a manual unlocking mechanism that can operatively trigger the transmission assembly to move the transmission rod to its initial position.

25. The surgical instrument according to claim 24, characterized in that: The manual unlocking structure includes a connecting portion disposed on the end of the transmission assembly away from the motor assembly, the connecting portion being adapted to cooperate with a rotary wrench to drive the rotating portion of the transmission assembly to rotate.

26. The surgical instrument according to claim 25, characterized in that: The connecting part includes a plug-in groove disposed at one end of the transmission component.

27. The surgical instrument according to claim 24, characterized in that: The handle assembly also includes a position detection device for detecting the position of the transmission rod and an indicator device for indicating that the transmission rod is in an initial position. The control unit controls the indicator device according to the detection signal from the position detection device.

28. A surgical instrument comprising: The handle assembly, the elongated body assembly, and the end effector assembly are operable and connected sequentially from the proximal end to the distal end. An end effector is used to manipulate tissue, the handle assembly operably provides driving force to the end effector, and the elongated body assembly defines a longitudinal axis and transmits the driving force of the handle assembly to the end effector; characterized in that: The handle assembly includes a drive mechanism and a force sensor; the drive mechanism includes a motor assembly and a transmission assembly, the transmission assembly includes a worm gear transmission group and a rack and pinion transmission group, the worm gear transmission group includes a worm connected to the output shaft of the motor assembly and a worm gear meshing with the worm, the rack and pinion transmission group includes a gear coaxially connected to the worm gear and a rack meshing with the gear, the worm gear and / or the worm gear is provided with a thrust bearing, and the force sensor detects the axial force on the worm gear and / or the worm gear.

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