Surgical instrument and surgical extractor

Abstract

The application discloses a surgical instrument and a surgical extractor, and the surgical instrument comprises an operating assembly and an end effector, and the operating assembly comprises a shaft assembly. The surgical instrument further comprises a torque limiting mechanism arranged on the shaft assembly. When the torque applied to the torque limiting mechanism in a first direction is less than a preset value, the torque limiting mechanism drives the shaft assembly to rotate in the first direction, so that the shaft assembly is threadedly connected with the end effector. When the torque applied to the torque limiting mechanism in the first direction reaches or exceeds the preset value, the torque limiting mechanism interrupts the driving of the shaft assembly, so that the rotation of the shaft assembly is stopped. The torque limiting mechanism is arranged to assemble the shaft assembly and the end effector, so that the threaded structure between the shaft assembly and the end effector is prevented from being damaged due to overload stress, and thus the operation efficiency is improved and the operation risk is reduced.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a surgical instrument and surgical retrieving device. Background Technology

[0002] A split clamp is an auxiliary instrument used in surgical procedures. A split clamp consists of an operating assembly and an end effector. Manipulating the operating assembly allows the end effector to perform opening or closing actions. The operating assembly includes a lever assembly, which is connected to the end effector via a threaded connection.

[0003] When assembling the rod assembly and end effector, rotate the rod assembly to achieve a threaded connection between the rod assembly and the end effector.

[0004] Existing split clamps have the problem that excessive rotation of the lever assembly can damage the threaded structure between the lever assembly and the end effector due to overload. Damage to the threaded structure can lead to an unstable connection between the lever assembly and the end effector, or make it impossible to disassemble the lever assembly and the end effector, causing inconvenience to use, reducing surgical efficiency, and increasing surgical risks.

[0005] Based on the above, it is necessary to improve the existing split-type clamps. Summary of the Invention

[0006] In view of the shortcomings of the prior art, the present invention aims to provide a surgical instrument and surgical retrieval device, which solves the problem that the threaded structure between the shaft assembly and the end effector of the surgical instrument is damaged due to overload.

[0007] The present invention is achieved through the following technical solution: a surgical instrument, comprising an operating component and an end effector, wherein the operating component comprises a rod assembly; the surgical instrument has a first state and a second state; in the first state, the rod assembly is detachably connected to the end effector via a threaded structure, and in the second state, the rod assembly is detached from the end effector;

[0008] The surgical instrument also includes a torque limiting mechanism disposed on the shaft assembly, the torque limiting mechanism selectively transmitting torque to the shaft assembly;

[0009] When the torque applied to the torque limiting mechanism in the first direction is less than a preset value, the torque limiting mechanism drives the rod assembly to rotate in the first direction, so that the rod assembly and the end effector are threadedly connected, thereby placing the surgical instrument in the first state;

[0010] When the torque applied to the torque limiting mechanism in the first direction reaches or exceeds the preset value, the torque limiting mechanism interrupts the drive of the rod assembly, causing the rod assembly to stop rotating.

[0011] Furthermore, the torque limiting mechanism includes an operating member, a passive member, and a transmission assembly disposed between the operating member and the passive member; the passive member is circumferentially fixed to the rod assembly, the operating member is circumferentially fixed to the transmission assembly, and the transmission assembly is movably connected to the passive member.

[0012] Furthermore, the passive component is provided with a stop portion;

[0013] When the torque applied to the operating member in the first direction is less than the preset value, the transmission assembly abuts against the stop portion, so that the operating member transmits torque to the driven member through the transmission assembly, thereby driving the rod assembly to rotate in the first direction, so that the rod assembly and the end actuator are threadedly connected.

[0014] When the torque applied to the operating member in the first direction reaches or exceeds the preset value, the transmission component slips relative to the stop portion to interrupt the torque transmission between the operating member and the driven member, causing the rod assembly to stop rotating.

[0015] Furthermore, a plurality of stop portions are provided on the end face of the passive component, and the plurality of stop portions are arranged along the circumference;

[0016] When the torque applied to the operating member in the first direction reaches or exceeds the preset value, the transmission component slips relative to the stop portion it abuts, and can rotate along the end face of the driven member to slip relative to the adjacent stop portion.

[0017] Furthermore, the stop portion has a first guide surface, and the transmission assembly has a supporting end;

[0018] When the torque applied to the operating member in the first direction is less than the preset value, the abutting end of the transmission component abuts against the first guide surface; when the torque applied to the operating member in the first direction reaches or exceeds the preset value, the abutting end of the transmission component moves along the first guide surface to disengage from the stop portion, causing the abutting end of the transmission component to slip relative to the stop portion.

[0019] Furthermore, the stop portion also has a second guide surface;

[0020] When the torque applied to the operating member in the second direction is less than the preset value, the abutting end of the transmission assembly abuts against the second guide surface, so that the operating member transmits torque to the passive member through the transmission assembly, so that the rod assembly rotates in the second direction to disengage from the end effector, thereby placing the surgical instrument in the second state;

[0021] When the torque applied to the operating member in the second direction reaches or exceeds the preset value, the abutting end of the transmission component moves along the second guide surface to disengage from the stop portion, causing the abutting end of the transmission component to slip relative to the stop portion.

[0022] The first direction is opposite to the second direction.

[0023] Furthermore, the stop portion is a groove, and both the first guide surface and the second guide surface are the inner walls of the groove.

[0024] Furthermore, the stop portion is a protrusion, and both the first guide surface and the second guide surface are the outer walls of the protrusion.

[0025] Furthermore, the transmission assembly includes a cylinder, an elastic element, and a limiting element. The cylinder is circumferentially fixed to the operating member. The limiting element is disposed in the cylinder and its end extends out of the cylinder and can abut against the stop portion. The elastic element biases the limiting element toward the driven member. The end of the limiting element constitutes the abutting end of the transmission assembly.

[0026] Furthermore, when the torque applied to the operating member in the first direction reaches or exceeds the preset value, the limiting element overcomes the biasing force of the elastic element and moves into the cylinder so that it slips relative to the stop portion it abuts against.

[0027] Furthermore, the rod assembly includes an operating rod and a sleeve fitted onto the operating rod; the end effector includes a gripper assembly, a moving part, and a sleeve, the gripper assembly being pivotally connected to the sleeve, and the moving part being disposed in the sleeve and drivably connected to the gripper assembly;

[0028] The sleeve is detachably connected to the bushing;

[0029] The operating lever is detachably connected to the moving part to drive the moving part to move, thereby driving the gripper assembly to open or close.

[0030] Furthermore, the operating lever and the moving part are connected by a threaded structure, the torque limiting mechanism is disposed on the operating lever, and the passive part is circumferentially fixed to the operating lever.

[0031] Furthermore, the sleeve and the bushing are connected by a threaded structure, the torque limiting mechanism is disposed on the sleeve, and the passive member is circumferentially fixed to the sleeve.

[0032] Furthermore, the operating component also includes a handle assembly, the handle assembly comprising:

[0033] A fixed handle is provided, which is connected to the proximal end of the sleeve.

[0034] A movable handle, wherein the movable handle is connected to the proximal end of the operating lever;

[0035] The movable handle is pivotally connected to the fixed handle. In response to a force applied to the movable handle, the movable handle rotates relative to the fixed handle, causing the operating lever to move relative to the sleeve.

[0036] The present invention also provides a surgical retrieval device, comprising a bag body and surgical instruments, wherein the end effector is sealed to the bag body and disposed inside the bag body, and the rod assembly is detachably connected to the end effector outside the bag body via a threaded structure.

[0037] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention uses a torque limiting mechanism to assemble the rod assembly and the end effector, which can protect the threaded structure between the rod assembly and the end effector, limiting the torque applied to the threaded structure to within its tolerable range, thereby avoiding damage to the threaded structure due to overload, making the connection between the rod assembly and the end effector more stable, and the rod assembly and the end effector can be disassembled after connection, making it more convenient to use, improving surgical efficiency and reducing surgical risks. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the surgical instrument provided in a specific embodiment of the present invention from a first angle;

[0039] Figure 2A This is a first cross-sectional schematic diagram of the torque limiting mechanism provided by the present invention, wherein the stop portion is a protrusion;

[0040] Figure 2B This is a schematic diagram of the cooperation between the limiting element and the stop portion of the torque limiting mechanism provided by the present invention, wherein the stop portion is a protrusion;

[0041] Figure 2C This is a cross-sectional schematic diagram of the torque limiting mechanism provided by the present invention, wherein the stop portion is a groove;

[0042] Figure 3AThis is a schematic diagram of the passive component provided by the present invention, wherein the stop portion is a protrusion;

[0043] Figure 3B This is a schematic diagram of the passive component provided by the present invention, wherein the stop portion is a groove;

[0044] Figure 4 This is a schematic diagram of the structure of the operating component provided by the present invention;

[0045] Figure 5 This is a first cross-sectional schematic diagram of the end effector provided in a specific embodiment of the present invention;

[0046] Figure 6 This is a second cross-sectional schematic diagram of the end effector provided in a specific embodiment of the present invention;

[0047] Figure 7 This is a cross-sectional schematic diagram of a portion of the surgical instrument provided in a specific embodiment of the present invention;

[0048] Figure 8 yes Figure 7 Enlarged view of region A in the middle;

[0049] Figure 9 This is a schematic diagram of the structure of the first operating component provided in a specific embodiment of the present invention;

[0050] Figure 10 yes Figure 7 Enlarged view of region B in the middle;

[0051] Figure 11 This is a schematic diagram of the structure of the second operating element provided in a specific embodiment of the present invention;

[0052] Figure 12 This is a schematic diagram of the surgical instrument provided in a specific embodiment of the present invention from a second angle.

[0053] Figure 13 This is a structural schematic diagram of the surgical instrument provided in a specific embodiment of the present invention from a third angle;

[0054] Figure 14 This is a schematic diagram of the end effector provided in a specific embodiment of the present invention, wherein the gripper assembly is in the open state;

[0055] Figure 15 This is a schematic diagram of the end effector provided in a specific embodiment of the present invention, wherein the gripper assembly is in a closed state;

[0056] Figure 16 This is a schematic diagram of the structure of the surgical retrieval device provided in a specific embodiment of the present invention, wherein the bag body is in an unfolded state;

[0057] Figure 17 This is a schematic diagram of the structure of the surgical retrieval device provided in a specific embodiment of the present invention, wherein the bag is in a stored state;

[0058] Figure 18 This is a schematic diagram of the surgical retrieval device provided in a specific embodiment of the present invention, wherein the bag body is not shown;

[0059] Figure 19 This is a cross-sectional schematic diagram of the surgical retrieval device provided in a specific embodiment of the present invention, wherein the cross-section is mainly generated in the bag body to show the cooperation between the end effector and the bag body;

[0060] Reference numerals in the above figures: 1-Lever assembly; 100-Operating lever; 101-Stop block; 110-Sleeve; 2-End actuator; 201-First gripper; 2011-First pivoting part; 2012-First claw-shaped part; 202-Second gripper; 2021-Second pivoting part; 2022-Second claw-shaped part; 210-Moving component; 211-First mounting hole; 212-Second mounting hole; 220-Sleeve; 230-First connecting rod; 240-Second connecting rod; 3-Second pin; 4-Operating component; 5-Passive component; 500-End face; 510-Groove; 520-Protrusion; 6-Transmission assembly; 600-Cylinder; 610-Elastic element; 620-Restricting element; 7-First pin; 8-First torque limiting mechanism; 800-First operating member; 801-First receiving groove; 802-First protrusion; 810-First passive member; 811-First end face; 812-First groove; 9-Second torque limiting mechanism; 900-Second operating member; 901-Second receiving groove; 910-Second passive member; 911-Second protrusion; 912-Second end face; 913-Second groove; 10-Fixed handle; 1010-Second grip; 1020-Second main body; 1031-Seat; 1032-Connecting sleeve; 11-Modible handle; 1110-First grip; 1120-First main body; 1130-First mounting part; 1131-Stop groove; 12-Bag body; 13-Push rod; 14-Actuation handle; 15-Elastic support arm; 16-Receiving cylinder. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0062] It is important to understand that the terms "proximal" and "distal" used in this article are relative to the clinician manipulating the handle assembly of the split clamp. "Proximal" refers to the part closer to the clinician, and "distal" refers to the part farther from the clinician. That is, the handle assembly is the proximal end, and the gripper assembly is the distal end. For example, the proximal end of a component refers to the end relatively closer to the handle assembly, and the distal end refers to the end relatively closer to the gripper assembly. However, split clamps can be used in many orientations and positions, so these terms expressing relative positional relationships are not limited or absolute.

[0063] In this invention, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, a movable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication of two elements or the interaction between two elements, such as contact. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. It should be noted that when there is a qualifier before "connection," it has the meaning defined by that qualifier, excluding only obviously excluded cases, but not other possible cases. For example, "detachable connection" refers to a detachable connection, excluding an integral part, but movable connections are not excluded.

[0064] The term "axial" as used in this article refers to the length direction of the sleeve 110. The "longitudinal axis" of the operating lever is the axis along its length.

[0065] Please see Figure 1 This embodiment provides a surgical instrument, specifically a split-type clamp, which includes an operating component and an end effector 2. The operating component includes a handle assembly and a shaft assembly 1. The handle assembly is located at the proximal end of the shaft assembly 1, and the end effector 2 is located at the distal end of the shaft assembly 1. By manipulating the handle assembly, the end effector 2 can perform a grasping or releasing action (details will be described below).

[0066] This embodiment of the split clamp has a first state and a second state. In the first state, the lever assembly 1 of the split clamp is detachably connected to the end effector 2 via a threaded structure. In the second state, the lever assembly 1 is detached from the end effector 2.

[0067] Before use, the split-type clamp is in its second state, with the end effector 2 separated from the lever assembly 1. During use, the end effector 2 is assembled with the lever assembly 1, allowing them to be detachably connected via a threaded connection; at this point, the split-type clamp is in its first state. This split design allows for reusability of the operating components; only the end effector needs to be replaced each time, improving instrument utilization and reducing costs.

[0068] The split-type clamp also includes a torque limiting mechanism disposed on the lever assembly 1. By manipulating the torque limiting mechanism, the lever assembly 1 can be driven to rotate in a first direction or in a second direction. Specifically, applying torque in the first direction to the torque limiting mechanism drives the lever assembly 1 to rotate in the first direction, causing the lever assembly 1 to be detachably connected to the end effector 2 via a threaded structure, thus placing the split-type clamp in a first state. Applying torque in the second direction to the torque limiting mechanism drives the lever assembly 1 to rotate in the second direction, causing the lever assembly 1 to disengage from the end effector 2, thus placing the split-type clamp in a second state. The first and second directions are opposite directions; specifically, one of the first and second directions is clockwise, and the other is counterclockwise.

[0069] During the installation of the rod assembly 1 and the end effector 2, when the torque applied to the torque limiting mechanism in the first direction is less than a preset value, the torque limiting mechanism drives the rod assembly 1 to rotate, thus achieving a threaded connection between the rod assembly 1 and the end effector 2. When the torque applied to the torque limiting mechanism in the first direction reaches or exceeds the preset value, the torque limiting mechanism interrupts the drive of the rod assembly 1, causing the rod assembly 1 to stop rotating. This prevents damage to the threaded structure between the rod assembly 1 and the end effector 2 during installation. Specifically:

[0070] When the torque applied to the torque limiting mechanism in the first direction is less than a preset value, the torque borne by the threaded structure between the rod assembly 1 and the end actuator 2 is within its tolerable range, and the threaded structure will not be damaged. When the torque applied to the torque limiting mechanism in the first direction reaches or exceeds the preset value, if the torque transmission is not disconnected in time, the torque borne by the threaded structure between the rod assembly 1 and the end actuator 2 will exceed its tolerable range, resulting in damage to the threaded structure due to overload. Therefore, in this embodiment, when the torque applied to the torque limiting mechanism in the first direction reaches or exceeds the preset value, the torque limiting mechanism interrupts the drive of the rod assembly 1, causing the rod assembly 1 to stop rotating. This protects the threaded structure between the end actuator 2 and the rod assembly 1, limiting the torque applied to the threaded structure within its tolerable range, preventing damage to the threaded structure due to overload, and ensuring a stable connection and disassembly between the end actuator 2 and the rod assembly 1.

[0071] During the installation of the lever assembly 1 and the end effector 2, the installation resistance between the lever assembly 1 and the end effector 2 gradually increases. Therefore, the torque applied to the torque limiting mechanism also needs to gradually increase to overcome the gradually increasing installation resistance and continuously drive the lever assembly 1 to rotate. When the lever assembly 1 and the end effector 2 are assembled, if a torque less than a preset value in the first direction is applied to the torque limiting mechanism, the lever assembly can no longer be driven to rotate. However, if the applied torque in the first direction reaches or exceeds the preset value, the torque limiting mechanism will interrupt the drive of the lever assembly 1. Therefore, after the lever assembly 1 and the end effector 2 are assembled, the operating torque limiting mechanism will no longer drive the lever assembly 1 to move in the first direction, thereby preventing damage to the threaded structure between the end effector 2 and the lever assembly 1 due to overload.

[0072] In summary, whether during the assembly of the rod assembly 1 and the end effector 2 or after assembly, the torque limiting mechanism in this embodiment can prevent the threaded structure between the end effector 2 and the rod assembly 1 from being damaged due to overload.

[0073] refer to Figure 2A-4 The torque limiting mechanism includes an operating member 4, a driven member 5, and a transmission assembly 6 disposed between the operating member 4 and the driven member 5. The driven member 5 is circumferentially fixed to the rod assembly 1, meaning there is no relative rotation between the driven member 5 and the rod assembly 1. The operating member 4 is circumferentially fixed to the transmission assembly 6, meaning there is no relative rotation between the operating member 4 and the transmission assembly 6. The driven member 5 is movably connected to the transmission assembly 6, meaning there is relative movement between the transmission assembly 6 and the driven member 5.

[0074] When the torque applied to the operating member 4 in the first direction is less than the preset value, there is no relative movement between the transmission assembly 6 and the passive member 5. The operating member 4 transmits torque to the passive member 5 through the transmission assembly 6, causing the passive member 5 to rotate to drive the rod body assembly 1 to rotate in the first direction, thereby enabling the rod body assembly 1 to achieve a threaded connection with the end actuator 2.

[0075] When the torque applied to the operating member 4 in the first direction reaches or exceeds the preset value, the transmission component 6 moves relative to the driven member 5. The transmission component 6 cuts off the torque transmission between the operating member 4 and the driven member 5, so that the driven member 5 stops rotating, and thus the rod assembly 1 stops rotating. This avoids damage to the threaded structure between the end actuator 2 and the rod assembly 1.

[0076] When the torque applied to the operating member 4 in the second direction is less than the preset value, there is no relative movement between the transmission assembly 6 and the passive member 5. The operating member 4 transmits torque to the passive member 5 through the transmission assembly 6, causing the passive member 5 to rotate to drive the rod assembly 1 to rotate in the second direction, thereby disassembling the rod assembly 1 from the end actuator 2.

[0077] When the torque applied to the operating member 4 in the second direction reaches or exceeds the preset value, the transmission component 6 moves relative to the driven member 5. The transmission component 6 cuts off the torque transmission between the operating member 4 and the driven member 5, so that the driven member 5 stops rotating, and thus the rod assembly 1 stops rotating. This avoids damage to the threaded structure between the end actuator 2 and the rod assembly 1.

[0078] The passive component 5 has an end face 500, and a stop portion is provided on the end face 500 of the passive component 5.

[0079] When the torque applied to the operating member 4 in the first direction is less than the preset value, the transmission assembly 6 abuts against the stop part, so that the operating member 4 transmits torque to the driven member 5 through the transmission assembly 6, thereby driving the driven member 5 to rotate, thereby driving the rod body assembly 1 to rotate in the first direction, so that the rod body assembly 1 and the end actuator 2 are threadedly connected.

[0080] When the torque applied to the operating member 4 in the first direction reaches or exceeds the preset value, the transmission component 6 slips relative to the stop part to interrupt the torque transmission between the operating member 4 and the driven member, so that the operating member 4 can no longer drive the driven member 5 to rotate, and the rod body assembly 1 stops rotating.

[0081] Slippage occurs when the transmission assembly 6 cannot stably engage with the stop, preventing the transmission assembly 6 from transmitting torque to the driven member 5. Specifically, driven by the operating member 4, the transmission assembly 6 moves continuously. During this movement, the transmission assembly 6 disengages from the stop, then moves back to engage with it again, and then disengages again, repeating this process. Essentially, the transmission assembly 6 slips relative to the driven member 5.

[0082] The transmission assembly 6 has a supporting end. The stop portion has a first guide surface, which is inclined. When the torque applied to the operating member 4 in a first direction is less than a preset value, the supporting end of the transmission assembly 6 abuts against the first guide surface of the stop portion. When the torque applied to the operating member 4 in the first direction reaches or exceeds the preset value, the transmission assembly 6 moves along the first guide surface to disengage from the stop portion it abuts against, causing the transmission assembly 6 to slip relative to the stop portion.

[0083] The stop portion also has a second guide surface. When the torque applied to the operating member 4 in the second direction is less than a preset value, the abutting end of the transmission assembly 6 abuts against the second guide surface of the stop portion, causing the operating member 4 to transmit torque to the driven member 5 through the transmission assembly 6, thereby causing the rod assembly 1 to rotate in the second direction to disengage from the end actuator 2. When the torque applied to the operating member 4 in the second direction reaches or exceeds the preset value, the transmission assembly 6 moves along the second guide surface to disengage from the stop portion it abuts against, causing the transmission assembly 6 to slip relative to the stop portion.

[0084] refer to Figure 2A-2Band Figure 3A In some optional embodiments, the stop is a protrusion 520, and both the first guide surface and the second guide surface are the outer walls of the protrusion 520. When the torque applied to the operating member 4 in the first direction is less than a preset value, the abutting end of the transmission assembly 6 abuts against the outer wall of the protrusion 520. When the torque applied to the operating member 4 in the first direction reaches or exceeds the preset value, the abutting end of the transmission assembly 6 moves along the outer wall of the protrusion 520 and passes over the protrusion 520, thereby disengaging from the protrusion 520. When the torque applied to the operating member 4 in the second direction is less than the preset value, the abutting end of the transmission assembly 6 abuts against the outer wall of the protrusion 520, causing the operating member 4 to transmit torque to the driven member 5 through the transmission assembly 6, thereby causing the rod assembly 1 to rotate in the second direction to disengage from the end actuator 2. When the torque applied to the operating member 4 in the second direction reaches or exceeds the preset value, the abutting end of the transmission assembly 6 moves along the outer wall of the protrusion 520 and passes over the protrusion 520, thereby disengaging from the protrusion 520.

[0085] refer to Figure 2C and Figure 3B In some other alternative embodiments, the stop is a groove 510, and both the first guide surface and the second guide surface are the inner walls of the groove 510. The abutting end of the transmission assembly 6 can abut against the inner wall of the groove 510. The abutting end of the transmission assembly 6 can also move along the inner wall of the groove 510 to disengage from the groove 510.

[0086] refer to Figure 2A-2C and Figure 4 Each transmission assembly 6 includes a cylinder 600, an elastic element 610, and a limiting element 620. The elastic element 610 may be a spring. The cylinder 600 is connected to the operating member 4 and the two are circumferentially fixed, that is, there is no relative rotation between the cylinder 600 and the operating member 4. The elastic element 610 is disposed in the cylinder 600. The limiting element 620 is also disposed in the cylinder 600 and connected to the elastic element 610. The end of the limiting element 620 extends from the cylinder 600 and can be movably received in the groove 510. The elastic element 610 can bias the limiting element 620 toward the groove 510 on the driven member 5, so that the limiting element 620 can be movably received in the groove 510. The transmission assembly 6 has a supporting end, specifically, the end of the limiting element 620 constitutes the supporting end of the transmission assembly 6.

[0087] In this embodiment, the end of the limiting element 620 is spherical, which allows the limiting element 620 to better fit with the groove 510, and the limiting element 620 can slide out along the inner wall surface of the groove 510. The end of the limiting element 620 can abut against the inner wall of the groove 510, and the end of the limiting element 620 can move along the inner wall of the groove 510 until it disengages from the groove 510.

[0088] When the torque applied to the operating member 4 is less than a preset value, the operating member 4 rotates to drive the limiting element 620 to rotate. The limiting element 620 is movably located within a groove 510 to drive the driven member 5 to rotate. When the torque applied to the operating member 4 reaches or exceeds the preset value, the operating member 4 rotates to drive the limiting element 620 to rotate. Under the force of the groove 510, the limiting element 620 overcomes the biasing force of the elastic element 610 and moves into the cylinder 600, causing the limiting element 620 to disengage from the groove 510 and no longer be able to drive the driven member 5 to rotate.

[0089] When a torque is applied to the operating member 4, the groove 510 exerts a force on the abutting end of the transmission assembly 6 (i.e., the end of the limiting element 620). When the torque applied to the operating member 4 in the first direction is less than a preset value, the operating member 4 rotates in the first direction to drive the transmission assembly 6 to rotate in the first direction. At this time, the force exerted by the groove 510 on the abutting end of the transmission assembly 6 is insufficient to disengage the abutting end of the transmission assembly 6 from the groove 510. The abutting end of the transmission assembly 6 is movably accommodated in the groove 510 so as to transmit torque to the driven member 5, causing the driven member 5 to rotate in the first direction, thereby causing the rod assembly 1 to rotate in the first direction and be threadedly connected to the end actuator 2.

[0090] When the torque applied to the operating member 4 in the first direction reaches or exceeds the preset value, the abutting end of the transmission component 6 disengages from the groove 510 under the force of the groove 510 in which it is located, thereby interrupting the torque transmission between the operating member 4 and the passive member 5. At this time, the operating member 4 can drive the transmission component 6 to rotate, but the passive member 5 no longer rotates, so that the rod body component 1 no longer rotates.

[0091] When the torque applied to the operating member 4 in the second direction is less than a preset value, the operating member 4 rotates in the second direction, causing the rod assembly 1 to rotate in the second direction. Specifically, the transmission assembly 6 rotates in the second direction under the drive of the operating member 4. The abutting end of the transmission assembly 6 is movably accommodated in the groove 510. The operating member 4 transmits torque to the driven member 5 through the transmission assembly 6, causing the driven member 5 to rotate in the second direction, thereby causing the rod assembly 1 to rotate in the second direction and disassemble from the end effector 2.

[0092] When the torque applied to the operating member 4 in the second direction reaches or exceeds the preset value, the abutting end of the transmission component 6 disengages from the groove 510 under the force of the groove 510 it is in, thereby interrupting the torque transmission between the operating member 4 and the passive member 5. At this time, the operating member 4 can drive the transmission component 6 to rotate, but the passive member 5 no longer rotates, so that the rod assembly 1 no longer rotates.

[0093] Referring to Figure 3, the end face 500 of the passive component 5 is provided with multiple grooves 510, which are arranged circumferentially. When a torque of a preset value or higher is continuously applied to the operating component 4, the transmission assembly 6 slips and rotates freely. Specifically, the abutting end of the transmission assembly 6 can disengage from its groove 510 and continue to rotate on the end face 500 of the passive component 5. When the abutting end of the transmission assembly 6 rotates into an adjacent groove 510, it will disengage from the groove 510 again. That is, the abutting end of the transmission assembly 6 can rotate along the end face 500 and enter an adjacent groove 510. When the abutting end of the transmission assembly 6 enters an adjacent groove 510, it will collide with the inner wall of the groove 510, producing an impact sound to remind the doctor that the rod assembly 1 and the end effector 2 have been installed. Multiple transmission assemblies 6 can be provided. When the abutting end of one of the transmission components 6 is located in one of the grooves 510, the abutting ends of the other transmission components 6 are also located in different grooves 510. When the abutting end of one of the transmission components 6 is disengaged from its groove 510, the abutting ends of the other transmission components 6 are also disengaged from their respective grooves 510.

[0094] The preset value is a value set by those skilled in the art according to design requirements. When the torque applied to the operating component 4 is less than the preset value, it ensures a stable connection between the rod assembly 1 and the end actuator 2, while preventing overload of the threaded structure between the rod assembly 1 and the end actuator 2. Those skilled in the art can adjust the specific value of the preset value by adjusting the elastic force of the elastic element 610 of the transmission assembly 6, the inclination angle of the inner wall of the groove 510 or the outer wall of the protrusion 520, and the coefficient of friction between the abutting end of the transmission assembly 6 and the inner wall of the groove 510 or the outer wall of the protrusion 520.

[0095] refer to Figure 1 , Figure 5-6 The lever assembly 1 includes an operating lever 100 and a sleeve 110 fitted onto the operating lever 100. The end effector 2 includes a gripper assembly, a movable member 210, and a sleeve 220. The gripper assembly is pivotally connected to the sleeve 220, and the movable member 210 is disposed in the sleeve 220 and drivably connected to the gripper assembly, and the movable member 210 can drive the gripper assembly to open or close.

[0096] The sleeve 110 and the sleeve 220 are detachably connected via a threaded structure. Specifically, the distal end of the sleeve 110 is provided with a first external thread, and the proximal end of the sleeve 220 is provided with a first internal thread adapted to the first external thread. The distal end of the sleeve 110 can be inserted into the sleeve 220 from the proximal end of the sleeve 220, so that the first external thread and the first internal thread are connected, thereby realizing the threaded connection between the sleeve 110 and the sleeve 220.

[0097] The proximal end of the operating lever 100 is provided with a second external thread, and the movable member 210 has an inner hole with a second internal thread adapted to the second external thread. The proximal end of the operating lever 100 extends from the sleeve 110 and is inserted into the inner hole of the movable member 210, so that the second external thread and the second internal thread are connected, thereby realizing the threaded connection between the operating lever 100 and the movable member 210. The operating lever 100 can drive the movable member 210 to move to drive the gripper assembly to open or close, so that the gripper assembly performs a release action or a gripping action.

[0098] refer to Figure 1 , Figure 7 The handle assembly includes a fixed handle 10 and a movable handle 11. The movable handle 11 is rotatably connected to the fixed handle 10 via a first pin 7. The fixed handle 10 is sleeved on the operating lever 100, which is capable of rotating relative to the fixed handle 10 about the longitudinal axis of the operating lever 100 and moving axially.

[0099] The movable handle 11 is rotatably connected to the operating lever 100, and the movable handle 11 and the operating lever 100 are axially fixed. For details, refer to... Figure 7-8 , Figure 12 The operating lever 100 includes a spherical stop block 101. The movable handle 11 includes a first main body 1120, a first grip portion 1110 for user operation disposed at one end of the first main body 1120, and a first mounting portion 1130 disposed at the other end of the first main body. A stop groove 1131 is provided in the first mounting portion 1130, and the inner wall of the stop groove 1131 is an arc surface that conforms to the stop block 101. The proximal end of the operating lever 100 passes through the movable handle 11, and the stop block 101 of the operating lever 100 is located in the stop groove 1131 of the movable handle 11. The stop block 101 can stop the movement of the lever 100. The stop groove 1131 rotates around the longitudinal axis of the operating rod 100, and the stop groove 1131 can limit the stop block 101 in the longitudinal axis direction of the operating rod 100, so that the stop block 101 has no relative movement with the stop groove 1131 in the longitudinal axis direction of the operating rod 100. Thus, the operating rod 100 can rotate relative to the movable handle 11 about the longitudinal axis of the operating rod 100 as the central axis. At the same time, by driving the movable handle 11 to rotate relative to the fixed handle 10, the operating rod 100 can be driven to move axially relative to the sleeve 110.

[0100] In this embodiment, two torque limiting mechanisms are disposed on the rod assembly 1. To more clearly describe the technical solution of this embodiment, the two torque limiting mechanisms are named the first torque limiting mechanism 8 and the second torque limiting mechanism 9, respectively. The passive component 5, the end face 500, the groove 510, and the operating component 4 in the first torque limiting mechanism 8 are named the first passive component 810, the first end face 811, the first groove 812, and the first operating component 800, respectively. The passive component 5, the end face 500, the groove 510, and the operating component 4 in the second torque limiting mechanism 9 are named the second passive component 910, the second end face 912, the second groove 913, and the second operating component 900, respectively. It should be noted that the groove 510 in the first torque limiting mechanism 8 and the second torque limiting mechanism 9 can also be a protrusion 520.

[0101] refer to Figure 7 The first torque limiting mechanism 8 is disposed on the operating lever 100 and is used to drive the operating lever 100 to rotate. The second torque limiting mechanism 9 is disposed on the sleeve 110 and is used to drive the sleeve 110 to rotate.

[0102] refer to Figure 8-9 , Figure 13 The first passive member 810 is integrally formed with the proximal end of the operating lever 100, and the first operating member 800 is rotatably sleeved on the first passive member 810. Specifically, the first operating member 800 has a first receiving groove 801, in which a first protrusion 802 is provided. The first passive member 810 is installed in the first receiving groove 801 of the first operating member 800, and the first protrusion 802 is inserted into the first passive member 810. When torque is applied to the first operating member 800, the first protrusion 802 can rotate in the first passive member 810.

[0103] A plurality of transmission components 6 are provided in the first receiving groove 801, and the plurality of transmission components 6 are symmetrically arranged with the first protrusion 802 as the center. The cylindrical body 600 of each transmission component 6 is fixed to the first operating member 800, and the abutting end of each transmission component 6 is movably received in the first groove 812 of the first passive member 810.

[0104] When the torque applied to the first operating member 800 in the first direction is less than a preset value, the first operating member 800 transmits torque to the first passive member 810 through the transmission assembly 6, causing the first passive member 810 to rotate to drive the operating lever 100 to rotate in the first direction, thereby enabling the operating lever 100 to achieve a threaded connection with the moving member 210.

[0105] When the torque applied to the first operating member 800 in the first direction reaches or exceeds a preset value, the transmission assembly 6 cuts off the torque transmission between the first operating member 800 and the first driven member 810. At this time, the first operating member 800 can drive the transmission assembly 6 to continue rotating, while the first driven member 810 no longer rotates, and the operating lever 100 no longer rotates. This can protect the threaded structure between the operating lever 100 and the moving member 210, limiting the torque applied to the threaded structure between the operating lever 100 and the moving member 210 to within its bearable range, thus preventing the threaded structure from being overloaded and damaged.

[0106] When the torque applied to the first operating member 800 in the second direction is less than a preset value, the first operating member 800 transmits torque to the first driven member 810 through the transmission assembly 6, causing the first driven member 810 to rotate and drive the operating lever 100 to rotate in the second direction, thereby disassembling the operating lever 100 from the moving member 210. When the torque applied to the first operating member 800 in the second direction reaches or exceeds the preset value, the transmission assembly 6 cuts off the torque transmission between the first operating member 800 and the first driven member 810, the first driven member 810 stops rotating, and the operating lever 100 also stops rotating, thereby protecting the threaded structure between the operating lever 100 and the moving member 210.

[0107] See again Figure 7 The fixed handle 10 includes a second main body 1020, a second gripping part 1010 for user operation disposed at one end of the second main body 1020, and a second mounting part disposed at the other end of the second main body. The second mounting part includes a base 1031 and a connecting sleeve 1032.

[0108] refer to Figure 10 , 12 -13, the second passive member 910 is sleeved on the outside of the seat body 1031 and can rotate relative to the seat body 1031. A connecting sleeve 1032 is sleeved on the outside of the second passive member 910. The proximal end of the connecting sleeve 1032 is fixed to the seat body 1031. The second passive member 910 can rotate in the connecting sleeve 1032.

[0109] refer to Figure 10-13 The second passive member 910 has a second protrusion 911 extending toward the far end on its second end face 912, and a plurality of second grooves 913 of the second passive member 910 surround the second protrusion 911.

[0110] The second operating member 900 is rotatably sleeved on the outside of the connecting sleeve 1032. Specifically, the second operating member 900 has a second receiving groove 901, in which both the connecting sleeve 1032 and the second passive member 910 are disposed. A second protrusion 911 on the second passive member 910 passes through the second operating member 900 and is fixed to the proximal end of the sleeve 110. When torque is applied to the second operating member 900, the second protrusion 911 can rotate within the second operating member 900.

[0111] The second receiving groove 901 of the second operating member 900 is provided with a plurality of transmission components 6. The cylinder 600 of the transmission component 6 is fixed to the second operating member 900, and the abutting end of the transmission component 6 is movably received in the second groove 913 of the second passive member 910.

[0112] When the torque applied to the second operating member 900 in the first direction is less than the preset value, the second operating member 900 transmits the torque to the second passive member 910 through the transmission assembly 6, causing the second passive member 910 to rotate to drive the sleeve 110 to rotate relative to the sleeve 220 in the first direction, thereby achieving a threaded connection between the sleeve 110 and the sleeve 220.

[0113] When the torque applied to the second operating member 900 in the first direction reaches or exceeds a preset value, the transmission assembly 6 cuts off the torque transmission between the second operating member 900 and the second driven member 910. At this time, the second operating member 900 can drive the transmission assembly 6 to continue rotating, while the second driven member 910 no longer rotates, and the sleeve 110 no longer rotates. This can protect the threaded structure between the sleeve 110 and the sleeve 220, limiting the torque applied to the threaded structure between the sleeve 110 and the sleeve 220 to within its bearable range, thus preventing the threaded structure from being overloaded and damaged.

[0114] When the torque applied to the second operating member 900 in the second direction is less than the preset value, the second operating member 900 transmits the torque to the second passive member 910 through the transmission assembly 6, causing the second passive member 910 to rotate to drive the sleeve 110 to rotate relative to the sleeve 220 in the second direction, thereby disassembling the sleeve 110 from the sleeve 220.

[0115] When the torque applied to the second operating member 900 in the second direction reaches or exceeds the preset value, the transmission assembly 6 cuts off the torque transmission between the second operating member 900 and the second passive member 910, so that the sleeve 110 no longer rotates, thereby protecting the threaded structure between the sleeve 110 and the sleeve 220.

[0116] refer to Figure 5-6 , Figure 14-15The end effector 2 also includes two linkage assemblies. The gripper assembly includes a first gripper 201 and a second gripper 202, which are pivotally connected by a second pin 3. Specifically, the first gripper 201 includes a first claw-shaped portion 2012 and a first pivoting portion 2011, and the second gripper 202 includes a second claw-shaped portion 2022 and a second pivoting portion 2021. Both the first claw-shaped portion 2012 and the second claw-shaped portion 2022 are located outside the sleeve 220, and the first claw-shaped portion 2012 cooperates with the second claw-shaped portion 2022 to achieve the gripping function. The first pivot portion 2011 and the second pivot portion 2021 are both at least partially disposed inside the sleeve 220. The second pin 3 passes through the first pivot portion 2011 and the second pivot portion 2021 in sequence, and both ends of the second pin 3 are fixed to the sleeve 220, so that the first gripper 201 and the second gripper 202 can rotate relative to the sleeve 220 around the second pin 3.

[0117] The first gripper 201 is drivably connected to the moving member 210 via a linkage assembly, and the second gripper 202 is drivably connected to the moving member 210 via another linkage assembly. Thus, when the moving member 210 moves axially, it can drive each linkage assembly to move, thereby causing each gripper to move and realize the opening or closing of the gripper assembly.

[0118] Each linkage assembly includes a pivotally connected first link 230 and second link 240, wherein the first link 230 is rotatably connected to the movable member 210, and the second link 240 is connected to a corresponding gripper. When the movable member 210 moves axially, the first link 230 and the second link 240 swing in opposite directions.

[0119] by Figure 6 Taking the placement angle of the split-type clamp as a reference, the moving part 210 has a first side and a second side in a direction perpendicular to the paper plane. The moving part 210 is provided with a first mounting hole 211 and a second mounting hole 212 in the up and down directions, with the first mounting hole 211 located below the second mounting hole 212. The first claw-shaped portion 2012 of the first gripper 201 is below the second claw-shaped portion 2022 of the second gripper 202.

[0120] One of the first links 230 is disposed on the first side of the moving member 210, with its proximal end connected to the first mounting hole 211 via a first rotating shaft, and its distal end pivotally connected to one of the second links 240, which is connected to the first gripper 201.

[0121] Another first link 230 is disposed on the second side of the moving member 210, with its proximal end connected to the second mounting hole 212 via a second rotating shaft, and its distal end pivotally connected to another second link 240, which is connected to the second gripper 202.

[0122] refer to Figure 15 In response to the movement of the movable member 210 toward the proximal end (i.e., rearward), the first link 230 located on the first side of the movable member 210 rotates counterclockwise, and the corresponding second link 240 rotates clockwise, causing the first gripper 201 to rotate upward; at the same time, the first link 230 located on the second side of the movable member 210 rotates clockwise, and the corresponding second link 240 rotates counterclockwise, causing the second gripper 202 to rotate downward, thereby closing the gripper assembly to perform the grasping action.

[0123] refer to Figure 14 In response to the movement of the movable member 210 to the distal end (i.e. forward), the first link 230 located on the first side of the movable member 210 rotates clockwise, and the corresponding second link 240 rotates counterclockwise, causing the first gripper 201 to rotate downward; at the same time, the first link 230 located on the second side of the movable member 210 rotates counterclockwise, and the corresponding second link 240 rotates clockwise, causing the second gripper 202 to rotate upward, thereby opening the gripper assembly to perform a release action.

[0124] In laparoscopic surgery, surgical retrieval instruments are often used to hold surgically removed tissue. Utilizing the aforementioned separate clamps can further improve retrieval efficiency and safety. (Reference) Figure 16-19 The surgical retrieval device in this embodiment includes a pushing device, a receiving tube 16, a bag body 12, and a split clamp.

[0125] The actuating device includes a push rod 13 and an actuating handle 14. The push rod 13 is movably disposed within the receiving cylinder 16. The push rod 13 has opposing first and second ends along a third direction. Figure 16 The placement angle of the surgical retrieval device is used as a reference, with the third direction being from right to left. The first end of the push rod 13 is connected to two elastic support arms 15. The second end of the push rod 13 is connected to the actuation handle 14, which is located outside the receiving cylinder 16.

[0126] The bag body 12 has a bag opening. The bag opening of the bag body 12 is detachably connected to two elastic support arms 15. Specifically, the bag opening has a circumferentially arranged channel, which is annular and starts from a point on the bag opening, circles the bag opening, and returns to the starting point, forming two channel openings. One elastic support arm 15 is inserted into the channel through one channel opening, and the other elastic support arm 15 is inserted into the channel through the other channel opening, thereby opening the bag opening and making the bag body in an unfolded state.

[0127] In the initial state, the two elastic support arms 15 can be compressed by the inner wall of the receiving tube 16 and stored in the receiving tube 16, and the bag body 12 is stored in the receiving tube 16, so that the bag body is in the stored state.

[0128] When using the surgical retrieval instrument, the container 16 is placed in the abdominal cavity. The actuation handle 14 is manipulated to move the push rod 13 in the opposite direction to the third direction. As a result, the two elastic support arms 15 extend from the container 16 and gradually open, thereby unfolding the bag body 12. Then, the two elastic support arms 15 are detached from the bag body 12. The actuation handle 14 is then manipulated to move the push rod 13 in the third direction, causing the two elastic support arms 15 to be retracted into the container 16. The container 16 is then removed from the abdominal cavity, thus placing the bag body 12 in the abdominal cavity.

[0129] refer to Figure 19 The end actuator 2 of the split clamp is connected to the bag body 12. Specifically, the sleeve 220 of the end actuator 2 passes through the bag body 12, and the outer wall of the bag body 12 is sealed to the sleeve 220. The gripper assembly is located inside the bag body 12.

[0130] When in use, the bag 12 is placed in the abdominal cavity, and the excised material separated from the normal tissue is placed into the bag 12 through the bag opening. Then the bag opening of the bag 12 is pulled out of the abdominal cavity.

[0131] After the bag opening of the bag body 12 is pulled out of the abdominal cavity, the rod assembly 1 is inserted into the abdominal cavity. The first torque limiting mechanism 8 and the second torque limiting mechanism 9 are both located outside the abdominal cavity. At this point, a common clamp or other instrument can be used to fix the end effector 2 inside the abdominal cavity. Torque is applied to the second operating member 900 of the second torque limiting mechanism 9 outside the abdominal cavity, causing the sleeve 110 to rotate and threadedly connect with the sleeve 220. After the sleeve 110 and sleeve 220 are fully assembled, torque is then applied to the first operating member 800 of the first torque limiting mechanism 8, causing the operating rod 100 to threadedly connect with the moving member 210, thus completing the assembly of the rod assembly 1 and the end effector 2. In actual operation, there is no fixed order for connecting the sleeve 110 or the operating rod 100 first; the doctor can choose according to their usage habits.

[0132] After the rod assembly 1 and the end effector 2 are assembled, the handle assembly is actuated, causing the gripper assembly to grasp the cut-off material in the bag body 12. The rotary cutter is inserted into the bag body 12 from the bag opening, and with the assistance of the split clamp, the rotary cutter breaks up the cut-off material and removes the broken cut-off material from the bag body 12 to the outside.

[0133] After the excised material is removed, the rotary cutter is taken out. The first torque limiting mechanism and the second torque limiting mechanism 9 are operated respectively to disassemble the operating rod 100 from the moving part 210 and the sleeve 110 from the sleeve 220, and then the rod assembly 1 is removed from the abdominal cavity.

[0134] After the rod assembly 1 is removed from the abdominal cavity, the bag 12 is removed from the abdominal cavity. The auxiliary clamping of the split clamp facilitates the crushing and removal of tissues. Furthermore, since the jaw assembly of the split clamp remains inside the bag 12 and does not need to be removed, it also avoids the contamination of other tissues in the abdominal cavity by tissue fluid adhering to the jaw assembly.

[0135] In summary, in this embodiment, by setting a torque limiting mechanism to assemble the rod assembly 1 and the end effector 2, the threaded structure between the rod assembly 1 and the end effector 2 can be protected, so that the torque applied to the threaded structure is limited to its tolerable range, thereby avoiding damage to the threaded structure due to overload. This can improve the efficiency of the operation, reduce surgical risks, and the operating components can be reused. Only the end effector needs to be replaced each time it is used, which improves the utilization rate of the instrument and reduces costs.

[0136] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. 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.

[0137] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A surgical instrument, characterized in that, The surgical instrument includes an operating component and an end effector, the operating component including a rod assembly; the surgical instrument has a first state and a second state; in the first state, the rod assembly is detachably connected to the end effector via a threaded structure, and in the second state, the rod assembly is detached from the end effector; The surgical instrument further includes a torque limiting mechanism disposed on the shaft assembly, the torque limiting mechanism selectively transmitting torque to the shaft assembly; the torque limiting mechanism includes an operating member, a passive member, and a transmission assembly disposed between the operating member and the passive member; the passive member is circumferentially fixed to the shaft assembly, the operating member is circumferentially fixed to the transmission assembly, and the transmission assembly is movably connected to the passive member; When the torque applied to the operating member in the first direction is less than a preset value, there is no relative movement between the transmission component and the passive component. The operating member transmits torque to the passive component through the transmission component, causing the passive component to rotate to drive the rod assembly to rotate in the first direction, so that the rod assembly and the end effector are threadedly connected, thereby placing the surgical instrument in the first state. When the torque applied to the operating member in the first direction reaches or exceeds the preset value, the transmission component moves relative to the passive member, and the transmission component cuts off the torque transmission between the operating member and the passive member, so that the passive member stops rotating to interrupt the drive of the rod assembly, and the rod assembly stops rotating.

2. The surgical instrument according to claim 1, characterized in that, The passive component is provided with a stop part; When the torque applied to the operating member in the first direction is less than the preset value, the transmission assembly abuts against the stop portion, so that the operating member transmits torque to the driven member through the transmission assembly, thereby driving the rod assembly to rotate in the first direction, so that the rod assembly and the end actuator are threadedly connected. When the torque applied to the operating member in the first direction reaches or exceeds the preset value, the transmission component slips relative to the stop portion to interrupt the torque transmission between the operating member and the driven member, causing the rod assembly to stop rotating.

3. The surgical instrument according to claim 2, characterized in that, The passive component has a plurality of stop portions provided on its end face, and the plurality of stop portions are arranged along the circumference; When the torque applied to the operating member in the first direction reaches or exceeds the preset value, the transmission component slips relative to the stop portion it abuts, and can rotate along the end face of the driven member to slip relative to the adjacent stop portion.

4. The surgical instrument according to claim 2, characterized in that, The stop portion has a first guide surface, and the transmission assembly has a supporting end; When the torque applied to the operating member in the first direction is less than the preset value, the abutting end of the transmission component abuts against the first guide surface; when the torque applied to the operating member in the first direction reaches or exceeds the preset value, the abutting end of the transmission component moves along the first guide surface to disengage from the stop portion, causing the abutting end of the transmission component to slip relative to the stop portion.

5. The surgical instrument according to claim 4, characterized in that, The stop portion also has a second guide surface; When the torque applied to the operating member in the second direction is less than the preset value, the abutting end of the transmission assembly abuts against the second guide surface, so that the operating member transmits torque to the passive member through the transmission assembly, so that the rod assembly rotates in the second direction to disengage from the end effector, thereby placing the surgical instrument in the second state; When the torque applied to the operating member in the second direction reaches or exceeds the preset value, the abutting end of the transmission component moves along the second guide surface to disengage from the stop portion, causing the abutting end of the transmission component to slip relative to the stop portion. The first direction is opposite to the second direction.

6. The surgical instrument according to claim 5, characterized in that, The stop portion is a groove, and the first guide surface and the second guide surface are both inner walls of the groove.

7. The surgical instrument according to claim 5, characterized in that, The stop portion is a protrusion, and the first guide surface and the second guide surface are both the outer walls of the protrusion.

8. The surgical instrument according to claim 5, characterized in that, The transmission assembly includes a cylinder, an elastic element, and a limiting element. The cylinder is circumferentially fixed to the operating member. The limiting element is disposed in the cylinder and its end extends out of the cylinder and can abut against the stop portion. The elastic element biases the limiting element toward the driven member. The end of the limiting element constitutes the abutting end of the transmission assembly.

9. The surgical instrument according to claim 8, characterized in that, When the torque applied to the operating member in the first direction reaches or exceeds the preset value, the limiting element overcomes the biasing force of the elastic element and moves into the cylinder so that it slips relative to the stop portion that abuts against it.

10. The surgical instrument according to claim 1, characterized in that, The rod assembly includes an operating rod and a sleeve fitted onto the operating rod; the end effector includes a gripper assembly, a moving part, and a sleeve, the gripper assembly being pivotally connected to the sleeve, and the moving part being disposed in the sleeve and drivably connected to the gripper assembly. The sleeve is detachably connected to the bushing; The operating lever is detachably connected to the moving part to drive the moving part to move, thereby driving the gripper assembly to open or close.

11. The surgical instrument according to claim 10, characterized in that, The operating lever and the moving part are connected by a threaded structure, the torque limiting mechanism is disposed on the operating lever, and the passive part is circumferentially fixed to the operating lever.

12. The surgical instrument according to claim 10, characterized in that, The sleeve and the bushing are connected by a threaded structure, the torque limiting mechanism is disposed on the sleeve, and the passive component is circumferentially fixed to the sleeve.

13. The surgical instrument according to claim 10, characterized in that, The operating component further includes a handle assembly, the handle assembly comprising: A fixed handle is provided, which is connected to the proximal end of the sleeve. A movable handle, wherein the movable handle is connected to the proximal end of the operating lever; The movable handle is pivotally connected to the fixed handle. In response to a force applied to the movable handle, the movable handle rotates relative to the fixed handle, causing the operating lever to move relative to the sleeve.

14. A surgical retrieval device, characterized in that, The device includes a bag body and a surgical instrument as described in any one of claims 1-13, wherein the end effector is sealed to the bag body, the end effector is disposed inside the bag body, and the rod assembly is detachably connected to the end effector outside the bag body via a threaded structure.

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