End effector assembly, initial position retainer and surgical instrument

Abstract

The present invention discloses an end effector assembly, an initial position retaining member and a surgical instrument adapted for a surgical instrument, and belongs to the field of medical instruments. The end effector assembly of the surgical instrument comprises: a proximal main body portion, defining a longitudinal axis; a distal effector portion for manipulating tissue, pivotally connected to the proximal main body portion via a joint assembly, the joint assembly being provided with a pivot shaft; the proximal main body portion comprises a bending transmission member, the joint assembly being provided with a bending drive shaft, the bending transmission member acting on the bending drive shaft to provide a bending drive force to the joint assembly, so that the distal effector portion bends relative to the longitudinal axis of the proximal main body portion; when the end effector assembly is in a position to be loaded, the distal effector portion forms an angle other than 0° relative to the longitudinal axis. The distal effector portion of the surgical instrument of the present invention can achieve large-angle bending.

Description

Technical Field

[0001] The present invention relates to the field of surgical instruments, and in particular to an end-actuating assembly for clamping, cutting and anastomosing tissues, an initial position retaining piece and a surgical instrument. Background Art

[0002] Laparoscopic surgical anastomosis instruments are commonly used surgical instruments in laparoscopic surgery and are suitable for anastomosis and cutting of tissues. This type of instrument usually includes a handle assembly, a slender body assembly, and an end effector assembly. When used during surgery, a part of the slender body assembly and the end effector assembly enter the patient's body through the passage established by the puncture device. The doctor can operate the handle assembly to bend the end effector assembly to a certain angle relative to the slender body assembly to adapt to different tissue cutting and anastomosis positions. In certain specific laparoscopic surgical environments or procedures, the end effector assembly is often required to provide a larger bending angle. For example, for mid- and low-position rectal cancers that are 4 to 10 cm away from the anus, surgery is still the main treatment method, and the main procedure is low anterior resection (LAR). Due to the physiological and anatomical characteristics of the human body, the pelvic space is small, and the pelvic cavity is rich in nerve plexuses and blood vessels. When performing a low anterior resection, the end effector assembly is required to provide a larger bending angle and a smaller bending radius to complete the one-cut separation of the rectum (reference Fig.25 ), thereby achieving smaller incisions, fewer staple locations, and reducing the probability of anastomotic leakage and the occurrence of postoperative complications.

[0003] The end effector assembly 50 of the prior art, referring to FIGS. 1-2 , comprises a proximal body portion 50a and a distal effector portion 50b, which are pivotally connected via a joint assembly 50c. The distal effector portion 50b can be bent to the left (LA) or to the right (RA) at a certain angle relative to the longitudinal axis C defined by the proximal body portion 50a. This joint design that provides symmetrical bending angles is limited by the structure of the joint assembly 50c, such as mechanical interference of parts, and its maximum bending angle is usually not more than 50 degrees. In addition, the end effector assembly in the prior art that achieves large-angle bending through double joints or even multiple joints, although it can provide a larger bending angle due to the use of multiple pivot axes for progressive bending, increases the length of the joint portion and increases the bending radius of the end effector assembly, and still cannot adapt to narrow surgical environments such as the pelvic cavity. Summary of the invention

[0004] To this end, the present invention proposes an end effector assembly of a surgical instrument and a surgical instrument capable of achieving a large bending angle.

[0005] In view of the above technical problems, the present invention provides the following technical solutions:

[0006] An end effector assembly adapted for a surgical instrument includes: a proximal body portion defining a longitudinal axis;

[0007] A distal actuator for manipulating tissue, wherein the distal actuator is pivotally connected to the proximal main body via a joint assembly, and a pivot axis is defined on the joint assembly; the proximal main body includes a bending transmission member, and the joint assembly is provided with a bending drive shaft, the bending transmission member is pivotally connected to the bending drive shaft, and the bending transmission member can be operated to perform reciprocating motion along the longitudinal axis to drive the bending drive shaft to pivot around the pivot axis and drive the distal actuator to pivot around the pivot axis; and when the end actuator is in the loading position, the distal actuator forms an angle other than 0° with respect to the longitudinal axis.

[0008] In some embodiments of the present invention, when the distal end actuator extends along the longitudinal axis, an angle other than 0° is formed between a line connecting the axes of the bending drive axis and the pivot axis and the longitudinal axis.

[0009] In some embodiments of the present invention, when the distal end actuator extends along the longitudinal axis, the bending drive shaft is located at the proximal end or the distal end of the pivot shaft.

[0010] In some embodiments of the present invention, when the end effector assembly is in the loading position, the joint assembly is pivoted until a line connecting the axes of the bending drive shaft and the pivot axis is perpendicular to the longitudinal axis.

[0011] In some embodiments of the present invention, when the bending transmission member is operated to move from the starting position to the end position, the distal end actuator is driven to pivot around the pivot axis and gradually move away from the longitudinal axis.

[0012] In some embodiments of the present invention, when the bending and rotating member is in the starting position, the distal execution portion extends along the longitudinal axis.

[0013] In some embodiments of the present invention, when the end effector assembly is in the waiting-for-loading position, the bending transmission member is in an intermediate position during the movement from the starting position to the end position.

[0014] In some embodiments of the present invention, there is also a limiting channel for limiting the bending position of the firing member when the firing member fires when the distal actuator is in a bent state. The limiting channel is located in the matching area between the proximal main body and the joint assembly, and the firing member is located inside the limiting channel and moves along its extension direction.

[0015] In some embodiments of the present invention, the limiting channel is formed by a first limiting portion and a second limiting portion respectively located on two sides of the firing component.

[0016] In some embodiments of the present invention, the first limiting portion includes a first limiting protrusion disposed on the bending transmission member, the first limiting protrusion having an inner concave arc surface matching the maximum bending outer arc surface of the firing component; the second limiting portion includes a second limiting protrusion disposed on the joint assembly, the second limiting protrusion having an outer convex arc surface matching the maximum bending inner arc surface of the firing component.

[0017] In some embodiments of the present invention, the first limiting portion includes a limiting piece arranged on the proximal main body portion, the limiting piece having an inner concave arc surface matching the maximum bending outer arc surface of the firing component, and the second limiting portion is an outer convex arc surface arranged at the distal end of the bending transmission member, the outer convex arc surface matching the maximum bending inner arc surface of the firing component.

[0018] In some embodiments of the present invention, a distal region on the firing member is provided with a receiving groove, and when the bending angle of the distal actuator is less than a set value, a partial region of the first limiting portion is received in the receiving groove.

[0019] In some embodiments of the present invention, the joint assembly includes a first connecting member and a second connecting member, the pivot axis is arranged on the first connecting member and / or the second connecting member, the first connecting member and the second connecting member are connected by two connecting shafts located on opposite sides of the pivot axis, and one of the connecting shafts is a bending drive shaft suitable for cooperating with the bending transmission member.

[0020] Some embodiments of the present invention further include an initial position retaining member, which is used to support the distal execution portion and the proximal main body portion so that the distal execution portion is maintained in an initial bending state with a set angle with the proximal main body portion.

[0021] In some embodiments of the present invention, the initial position retaining member includes a supporting body with a set bending angle, the supporting body includes a first holding arm cooperating with the proximal main body and a second holding arm cooperating with the distal execution part; and also includes a supporting beam connected between the first holding arm and the second holding arm.

[0022] In some embodiments of the present invention, the initial position retaining member is provided with a limiting structure for cooperating with the firing member, and the limiting structure is suitable for cooperating with the working part of the firing member to limit the position of the firing member.

[0023] In some embodiments of the present invention, the distal execution portion includes a nail magazine assembly and anvil assembly that are pivotally connected, and the distal ends of the nail magazine assembly and the nail anvil assembly are respectively provided with mutually cooperating positioning structures, and the positioning structures are used to limit the width direction positions of the nail magazine assembly and the nail anvil assembly when the distal execution portion is in a closed position.

[0024] In some embodiments of the present invention, the positioning structure includes a positioning protrusion provided on one of the nail magazine assembly and the nail anvil assembly, and a positioning groove provided on the other of the nail magazine assembly and the nail anvil assembly.

[0025] The present invention also provides an end effector assembly adapted for surgical instruments, comprising a proximal main body portion defining a longitudinal axis; a distal effector portion for manipulating tissue, the distal effector portion being pivotally connected to the proximal main body portion via a joint assembly, the joint assembly defining a pivot axis; comprising a bending transmission member, the joint assembly being provided with a bending drive shaft, the bending transmission member acting on the bending drive shaft to provide a bending drive force to the joint assembly, so that the distal effector portion is unilaterally bent relative to the longitudinal axis of the proximal main body portion; the distal effector portion deflects in a unilateral direction away from the longitudinal axis, and can be switched between a straight position, an intermediate bending angle position and a maximum bending angle position; the distal effector portion being located at the intermediate bending angle position is a loading position of the end effector assembly.

[0026] The present invention also provides a surgical instrument, including a main body and the above-mentioned end execution component selectively connected to the main body.

[0027] The present invention also provides a surgical instrument, including a slender body assembly that defines a longitudinal axis; a distal actuator for manipulating tissue, which is pivotally connected to the slender body assembly via a joint assembly, and the joint assembly is provided with a pivot axis; including a bending transmission member, and the joint assembly is provided with a bending drive shaft, and the bending transmission member acts on the bending drive shaft to provide a bending driving force to the joint assembly, so that the distal actuator is bent relative to the longitudinal axis of the proximal main body; when the distal actuator extends along the longitudinal axis, the bending drive shaft is located at the proximal end or distal end of the pivot axis.

[0028] The present invention also provides a surgical instrument, including a slender body component that defines a longitudinal axis; a distal actuator for manipulating tissue, which is pivotally connected to the slender body component via a joint component, and the joint component is provided with a pivot axis; including a bending transmission member, and the joint component is provided with a bending drive shaft, and the bending transmission member acts on the bending drive shaft to provide a bending driving force to the joint component, so that the distal actuator is unilaterally bent relative to the longitudinal axis of the proximal main body; the distal actuator deflects unilaterally in a direction away from the longitudinal axis, and can be switched between a straight position, an intermediate bending angle position and a maximum bending angle position; the distal actuator is located at the intermediate bending angle position as the initial position of the end actuator.

[0029] The present invention also provides an initial position retaining member adapted for surgical instruments, comprising a supporting body with a set bending angle, so that the distal end execution portion of the end execution assembly is maintained in an initial bending state with a set angle to the longitudinal axis.

[0030] In some embodiments of the present invention, the support body is used to cooperate with the end execution assembly of a surgical instrument, and includes a first holding arm that cooperates with the proximal main body of the end execution assembly, and a second holding arm that cooperates with the distal execution portion of the end execution assembly; the angle between the first holding arm and the second holding arm is an obtuse angle.

[0031] In some embodiments of the present invention, the supporting body is used to cooperate with the end execution assembly and the slender body assembly of the surgical instrument, and includes a first holding arm that cooperates with the proximal main body of the end execution assembly, and a second holding arm that cooperates with the slender body assembly; the angle between the first holding arm and the second holding arm is an obtuse angle.

[0032] The technical solution of the present invention has the following technical effects compared with the prior art:

[0033] In the surgical instrument and its end effector assembly provided by the present invention, the proximal main body and the distal effector are pivotally connected via a joint assembly, and the bending transmission member located on the proximal main body acts on the bending drive shaft to provide a bending drive force to the joint assembly, so that the distal effector is bent relative to the longitudinal axis of the proximal main body; when the distal effector extends along the longitudinal axis, the bending drive shaft is located at the proximal or distal end of the pivot shaft. This can increase the moving distance of the bending transmission member, since the moving distance of the bending transmission member is positively correlated with the bending angle of the distal effector. The above structure of the present invention can make the bending angle of the distal effector reach 0-90°, which is particularly suitable for laparoscopic surgery that requires a larger bending angle of the end effector. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] 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 objects and advantages of the present invention, wherein:

[0035] FIG1 is a schematic structural diagram of an end effector assembly of a surgical instrument in the prior art;

[0036] FIG2A is a schematic structural diagram of three bending states of the end effector assembly of a surgical instrument in the prior art;

[0037] 2B-C are diagrams showing the moving distance of the bending transmission member of the surgical instrument end effector assembly from the initial loading position to the maximum bending angle in the longitudinal axis direction in the prior art;

[0038] Figure 3 A schematic diagram of the structure of a surgical instrument provided by a specific embodiment of the present invention;

[0039] Figure 4 A schematic structural diagram of the main body of a surgical instrument provided in a specific embodiment of the present invention;

[0040] Figure 5 A schematic diagram of the connection relationship between the end-effector assembly and the main body provided in a specific embodiment of the present invention;

[0041] Figure 6 A schematic diagram of the structure of an end-effector assembly provided in a specific embodiment of the present invention;

[0042] Figure 7 An exploded view of a portion of an elongated body assembly of a surgical instrument provided by a specific embodiment of the present invention;

[0043] Figure 8 An exploded view of some components of a surgical instrument elongated body assembly and a handle assembly provided in a specific embodiment of the present invention;

[0044] Fig. 9 An exploded view of an end-effector assembly provided in a specific embodiment of the present invention;

[0045] Fig.10 An exploded view of the joint assembly and the firing component part of the end effector assembly provided in a specific embodiment of the present invention;

[0046] Fig.11A -B is a schematic diagram of the structure of the distal end execution part and the proximal end main body part of the end execution assembly provided by a specific embodiment of the present invention extending in the same direction;

[0047] Fig. 12A -B is a schematic structural diagram of an end-effector assembly provided in a specific embodiment of the present invention in an initial state (position to be loaded);

[0048] Fig.13A-B is a schematic structural diagram of the distal end execution portion of the end execution assembly provided by a specific embodiment of the present invention when the distal end execution portion is at the maximum bending angle;

[0049] Fig.14A Another structural schematic diagram of the distal end execution part and the proximal end main body part of the end execution assembly provided by the specific embodiment of the present invention extending in the same direction;

[0050] Fig. 14B Another structural schematic diagram of the initial state (position to be loaded) of the end effector assembly provided in a specific embodiment of the present invention;

[0051] Fig. 14C Another structural schematic diagram of the distal end execution portion of the end execution assembly provided by a specific embodiment of the present invention when the distal end execution portion is located at the maximum bending angle;

[0052] Fig.15A The moving distance of the bending transmission member along the longitudinal axis when the end effector assembly provided in the specific embodiment of the present invention moves from the initial state (the position to be loaded) to the maximum bending angle;

[0053] Fig. 15B The moving distance of the bending transmission member along the longitudinal axis direction when the end effector assembly provided in the specific embodiment of the present invention moves from the initial state (the position to be loaded) to the straightened state;

[0054] Fig.16A A schematic diagram of the structure of the distal end execution part and the proximal end main body part of the end execution assembly provided by another specific embodiment of the present invention extending in the same direction;

[0055] Fig. 16B A schematic structural diagram of an end effector assembly in an initial state (position to be loaded) provided in another specific embodiment of the present invention;

[0056] Fig. 16C A schematic structural diagram of a distal end effector of another specific embodiment of the present invention when the distal end effector is at a maximum bending angle;

[0057] Fig.17A The moving distance of the bending transmission member along the longitudinal axis direction when the end effector assembly provided in another specific embodiment of the present invention moves from the initial state (the position to be loaded) to the maximum bending angle;

[0058] Fig. 17B The moving distance of the bending transmission member along the longitudinal axis direction when the end effector assembly provided in another specific embodiment of the present invention moves from the initial state (the position to be loaded) to the straightened state;

[0059] Fig.18 A schematic diagram of the structure of an initial position retaining member provided in a specific embodiment of the present invention;

[0060] Fig.19 A top view of an initial position retaining member provided in a specific embodiment of the present invention;

[0061] Fig. 20 for Fig.19 Middle AA section view;

[0062] Fig.21 An assembly diagram of an end-effector assembly provided for a specific embodiment of the present invention;

[0063] Fig. 22 for Fig.21 A magnified view of part A;

[0064] Fig.23 A schematic structural diagram of a nail magazine base and a nail anvil base in an end-effector assembly provided in a specific embodiment of the present invention;

[0065] Fig.24 A schematic structural diagram of a surgical instrument provided in another specific embodiment of the present invention;

[0066] Fig.25 This is a schematic diagram of the LAR surgical operation; DETAILED DESCRIPTION

[0067] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0068] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0069] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0070] In addition, 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.

[0071] In various embodiments of the present invention, the “distal end / side” refers to the end of the surgical instrument that is away from the operator when being operated, and the “proximal end / side” refers to the end / side of the surgical instrument that is close to the operator when being operated.

[0072] The following is a specific embodiment of the surgical instrument. Generally speaking, the embodiment of the surgical instrument described herein is an endoscopic surgical cutting and stapling instrument. However, it should be noted that the surgical instrument can also be a non-endoscopic surgical cutting and stapling instrument, such as an open surgical instrument for open surgery.

[0073] Specifically, Figure 3 An embodiment of a surgical instrument 100 is shown, and the surgical instrument 100 includes a handle assembly 10, an elongated body assembly 20, and an end effector assembly 30, which are sequentially arranged from the proximal end to the distal end, wherein the elongated body assembly 20 defines a longitudinal axis C and extends distally from the distal end of the handle assembly 10, and the end effector assembly 30 is engaged with the distal end of the elongated body assembly 20 in a detachable or non-detachable manner. The handle assembly 10 is suitable for enabling an operator to manipulate the surgical instrument 100, and the handle assembly 10 can control the end effector assembly 30 through the elongated body assembly 20 to perform surgical operations, such as clamping / closing, suturing / anastomosis, cutting, etc. of tissue. The handle assembly 10 includes a handle body that can be held by an operator in a conventional manner. In a specific embodiment, the surgical instrument 100 controls the closing and firing of the end effector assembly by a trigger; alternatively, the surgical instrument 100 can also control the closing and firing of the end effector assembly by means of a push-twist, button, etc. provided on the handle body, so that the end effector assembly 30 performs cutting and suturing operations; the slender body assembly 20 is in the shape of a slender tube, suitable for transmitting the driving force provided by the handle assembly to the distal end of the surgical instrument 100.

[0074] It should be noted that although the embodiments of the surgical instruments described herein are configured with an end effector assembly for cutting and stapling tissue, in alternative embodiments, other techniques for cutting and stapling tissue may also be configured. For example, an end effector that utilizes radio frequency (RF) energy or adhesives to staple tissue may also be used.

[0075] The surgical instrument 100 described in the embodiment of the present invention also includes a rotating head 25, which is installed on the distal side of the handle assembly 10 and is arranged at the proximal end of the slender body assembly 20. When the rotating head 25 is operated to rotate around the longitudinal axis C of the surgical instrument 100, it can drive the slender body assembly 20 and the end execution assembly 30 to rotate together.

[0076] In order to achieve the bending of the end effector assembly 30 relative to the longitudinal axis C of the slender body assembly 20 to set the angle, the end effector assembly 30 includes a proximal body portion 30a and a distal effector portion 30b, and the proximal body portion 30a and the distal effector portion 30b are pivotally connected through a joint assembly 30c. Accordingly, the surgical instrument 100 also includes a bending drive assembly 21 and a bending transmission assembly 23 for driving the joint assembly 30c to bend. Figure 7 As shown, the bending transmission assembly 23 includes a bending transmission frame 231 and a bending connecting rod 232. The bending transmission frame 231 is connected to the proximal end of the bending connecting rod 232 and is operably connected to the bending drive assembly 21. The bending drive assembly 21 includes a bending knob 210 mounted on the rotating head 25 and a bending driving member 211. The bending driving member 211 is connected to the bending transmission frame 231. The operator manipulates the bending knob 210 to rotate, which can drive the bending driving member 211 to move. Specifically, when the bending knob 210 is manipulated to rotate clockwise from the initial position, the bending driving member 211 drives the bending connecting rod 232 to move toward the distal end; when the bending knob 210 is manipulated to rotate counterclockwise from the initial position, the bending driving member 211 drives the bending connecting rod 232 to move toward the proximal end; and vice versa.

[0077] The surgical instrument 100 can also manipulate the closing and firing of the distal end execution portion 30b by means of a button 101 disposed on the handle assembly 10, so that the distal end execution portion 30b can perform cutting and suturing operations on tissues. Figure 7 and Figure 8 As shown, the handle assembly 10 includes a driving mechanism 12 disposed in a handle housing 11, which provides output power for the surgical instrument 100; the elongated body assembly 20 includes a sleeve 201, and a firing rod 22 is disposed in the sleeve 201. The firing rod 22 is operably engaged with the driving mechanism 12, so as to be driven by the driving mechanism 12 to reciprocate along the longitudinal axis C, thereby realizing the firing (advance) and retraction functions of the surgical instrument 100. More specifically, the elongated body assembly 20 includes a supporting member 202 for slidably supporting the firing rod 22 and the bending connecting rod 232, and the distal end of the supporting member 202 is provided with a tubular housing, which is used to engage the proximal connecting end of the end effector assembly 30. Figure 5 The proximal end of the bending transmission member 36 of the end effector assembly 30 is provided with a connecting piece 361, which cooperates with the connecting hook 2321 at the distal end of the bending connecting rod 232, and the proximal end of the firing member 35 in the end effector assembly 30 is provided with a connecting portion 353, which cooperates with the distal end of the firing rod 22, so as to realize the rotational engagement and locking of the end effector assembly 30 and the elongated body assembly 20. In addition, the handle assembly 10 also includes a power supply 13, which provides electrical energy to the driving mechanism 12. The power supply 30 may be replaceable and / or rechargeable.

[0078] Next, combine Fig. 9 and Fig.10 , a specific embodiment of the end effector assembly 30 of the surgical instrument 100 of the present invention is described in detail, and the end effector assembly 30 is detachably mounted on the distal end of the slender body assembly 20 of the surgical instrument 100. As mentioned above, the end effector assembly 30 includes a proximal main body portion 30a and a distal effector portion 30b, and the proximal main body portion 30a and the distal effector portion 30b are pivotally connected by a joint assembly 30c. The proximal main body portion 30a of the end effector assembly 30 can be inserted into the slender body assembly 20 by plugging, and rotated relative to the housing of the slender body assembly 20 to lock the end effector assembly 30 thereon. The distal effector portion 30b includes a staple cartridge assembly 31 and a staple anvil assembly 32, and the staple cartridge assembly 31 and the staple anvil assembly 32 can move relative to each other to close the jaws and thus clamp the tissue jaws. In a specific embodiment, the anvil assembly 32 can be operably pivoted toward the staple cartridge assembly 31 until the jaws of the end effector assembly 30 are closed to clamp the tissue; the anvil assembly 32 is pivoted in a direction away from the staple cartridge assembly 31 until the jaws of the end effector assembly 30 are opened to release the tissue. As an alternative embodiment, the staple cartridge assembly 31 of the end effector assembly 30 can be operably pivoted toward the anvil assembly 32 until the jaws of the end effector assembly 30 are closed to clamp the tissue; the staple cartridge assembly 31 is operably pivoted in a direction away from the staple cartridge assembly 31 until the jaws of the end effector assembly 30 are opened to release the tissue.

[0079] The nail magazine assembly 31 includes a nail magazine base 311, a nail magazine 312, and a push slider 316 placed in a cavity between the nail magazine 312 and the nail magazine base 311. Specifically, the nail magazine base 311 is connected to the joint assembly 30c, and the nail magazine 312 is a disposable component that is detachably connected to the nail magazine base 311. In other optional embodiments, the nail magazine base 311 and the nail magazine 312 in the nail magazine assembly 31 are fixedly connected or the two are integrally formed, and are detachably connected to the slender body assembly 20 as a component. The nail magazine base 311 is formed into an open shell structure with a U-shaped or semicircular cross-section, which is connected to the distal end of the slender body assembly 20, and the nail magazine 312 is plugged into the nail magazine base 311 by means of clamping or the like. The staple cartridge 312 is formed in the form of an elongated seat, and a side thereof away from the staple cartridge base 311 is used to cooperate with tissues. A cutting knife groove extending from the proximal end to the distal end of the staple cartridge 312 is provided on a side of the staple cartridge 312 (also referred to as a staple output surface) used to cooperate with tissues. The cutting knife groove is suitable for the cutting knife 354 to pass through and cut the tissue clamped between the contact surface and the staple anvil assembly 32 from the proximal end to the distal end of the staple cartridge 312. In an optional embodiment, the cutting knife groove is located in the middle of the upper surface of the staple cartridge 312, and the staple cartridge 312 is divided into a first staple output area and a second staple output area by the cutting knife groove. The first nail outlet area and the second nail outlet area of ​​the nail magazine 312 are respectively provided with at least two rows of nail hole groups, wherein the number of rows of the nail hole groups can be provided with two rows, three rows or more according to different surgical conditions; each row of the nail hole groups is provided with a plurality of rows of nail holes, the nail holes are arranged along the longitudinal axis direction of the nail magazine 312, the nail holes can be used to accommodate suture nails and nail drivers, and the nail driver is installed with suture nails on the side of the nail outlet surface facing the nail magazine 312; when the slider 316 is pushed to slide / move along the longitudinal axis direction, the nail drivers from the proximal side to the distal side sequentially implant the suture nails into the tissue to achieve suturing. The nail anvil assembly 32 includes a nail anvil shell 321 and a nail anvil seat body located in the nail anvil shell 321, the surface of the nail anvil seat body is provided with a plurality of nail buds, the nail buds correspond to the positions of the nail holes on the nail magazine 312 one by one, and the suture nails in the nail outlet holes abut against the nail buds when the tissues are anastomosed.

[0080] In order to prevent the distal end nail magazine assembly 31 and nail anvil assembly 32 from swinging in the width direction when the distal end execution part 30b is closed, causing the nail bung in the nail anvil assembly to slightly deviate from the nail hole position on the nail magazine 312, which ultimately leads to a poor suturing effect, in the above-mentioned end execution assembly of the present invention, the distal ends of the nail magazine assembly 31 and the nail anvil assembly 32 are respectively provided with mutually cooperating positioning structures, and the positioning structures are used to limit the positions of the nail magazine assembly 31 and the nail anvil assembly 32 in the width direction when the distal end execution part is in the closed position. Specifically, in an optional embodiment, as Figure 21-23As shown, the two side walls of the nail magazine base 311 of the nail magazine assembly 31 have positioning protrusions 311a along the thickness direction, and the corresponding position of the nail shell 321 of the nail anvil assembly is provided with a positioning groove 321a or a notch structure, and the positioning protrusion 311a is inserted into the positioning groove 321a to form a positioning structure to limit the position of the nail magazine assembly 31 along the width direction, so that the two can be accurately matched and the suturing effect is better. In other alternative embodiments, the positioning protrusion is provided on the nail anvil assembly 32, and the positioning groove is provided on the nail magazine assembly 31, and the two cooperate to achieve the same effect of limiting the position of the nail magazine assembly 31 and the nail anvil assembly 32 in the width direction.

[0081] Further Fig. 9 As shown, the proximal main body 30a of the end effector assembly 30 includes an elongated outer tube 33, an inner tube 34 disposed in the outer tube 33, a firing member 35 slidably connected to the inner tube 34, and a bending transmission member 36. The inner tube 34 is formed by a first half tube 34a and a second half tube 34b, wherein the proximal end of the first half tube 34a includes a coupling portion 34c for coupling with the elongated body assembly 20, and a coupling lug 343 is provided on the coupling portion 34c for releasably coupling with the elongated body assembly 20 in a snap-fit ​​connection manner. The first half tube 34a and the second half tube 34b define a sliding channel for slidably receiving the firing member 35. The firing member 35 includes an elongated firing beam 351, which can be composed of a single sheet of deformable material, or preferably composed of a plurality of stacked sheets. A working portion 352 is provided at the distal end of the firing beam 351, and a cutting knife 354 is provided on the working portion 352 for forming an incision on the tissue to be cut during the firing process. The working portion 352 of the firing member 35 is formed into an I-beam structure, a portion of which contacts the slider 316 and can slide toward the distal end of the staple cartridge 312 as a whole to perform a corresponding surgical operation. For example, when the firing member 35 is driven to move from the proximal end to the distal end, a portion of the working portion 352 of the firing member 35 pushes the slider 316 to move toward the distal end together, and the slider 316 acts on the staple driver to push the suture staples out of the staple cartridge 312 to achieve the anastomosis operation on the tissue, and at the same time, the cutting knife 354 on the working portion 352 cuts the tissue. A connecting portion 353 is provided at the proximal end of the firing beam 351 . The connecting portion 353 is formed as a sleeve structure with an opening. A hole is provided at the proximal end of the connecting portion 353 , which is configured to receive the distal end of the firing rod 22 when the proximal end of the end effector assembly 30 is engaged with the elongated body assembly 20 .

[0082] Reference Fig. 9 and Fig.10As shown, the joint assembly 30c includes a first connecting member 371 and a second connecting member 372, the first connecting member 371 defines a pivot axis 371c, the distal end of the inner tube 34 is fixedly connected to the pivot support plate 341, and the distal end of the pivot support plate 341 is pivotally connected to the pivot axis 371c, thereby pivotally connecting the joint assembly 30c to the proximal main body portion 30a, so that the distal execution portion 30b can be operably pivoted relative to the proximal main body portion 30a. In an alternative embodiment, in order to improve the stability of the pivotal movement of the distal actuator 30b relative to the proximal main body 30, corresponding coaxial pivot shafts 371c, 372c are respectively provided on the first connecting member 371 and the second connecting member 372, and the first half tube 34a and the second half tube 34b are also respectively provided with pivot support plates 341, 342, and the distal ends of the pivot support plates 341, 342 are pivotally connected to their corresponding pivot shafts 371c, 372 respectively.

[0083] Continue to refer Fig.10 , the first connecting member 371 and the second connecting member 372 are connected by two connecting shafts 372a, 372b located on opposite sides of the pivot shaft 371c. Specifically, the connecting shafts 372a, 372b are fixedly arranged on the second connecting member 372, and corresponding holes 371a, 371b are arranged on the first connecting member 371, and the connecting shafts 372a, 372b are fixedly connected to the holes 371a, 371b on the first connecting member 372 by riveting or welding. Alternatively, in an alternative embodiment, corresponding holes are arranged on the first connecting member 371 and the second connecting member 372, and the first connecting member 371 and the second connecting member 372 are fixedly connected by riveting or welding the two ends of the connecting shafts 372a, 372b respectively. Furthermore, one of the connecting shafts 372a of the joint assembly 30c is also suitable for cooperating with the hole at the distal end of the bending transmission member 36, so as to convert the movement along the longitudinal axis C provided by the bending transmission member 36 into the pivotal movement of the joint assembly 30c around the pivot axis 371c and / or the pivot axis 372c. In order to more clearly describe the specific technical scheme of the present invention, the connecting shaft 372a engaged with the bending transmission member 36 will be referred to as the bending drive shaft 372a. The distal end of the bending transmission member 36 in the proximal main body 30a is pivotally connected to the bending drive shaft 372a. Next, the joint movement process of the end effector assembly 30 provided in an embodiment of the present invention will be described in detail in conjunction with Figures 11-15.

[0084] like Fig.11A and Fig. 11BAs shown, at this time, when the distal end implementing portion 30b extends along the longitudinal axis C, that is, when the distal end implementing portion 30b and the proximal main body portion 30a extend in the same direction, the angle between the distal end implementing portion 30b and the longitudinal axis C is 0° or approximately 0°, and the bending drive shaft 372a is located at the proximal end of the pivot shaft 371c. The bending knob 210 of the surgical instrument 100 is operated to move the bending transmission member 36 toward the distal side (in the direction of arrow DD), driving the bending drive shaft 372a to pivot around the pivot shaft 371c, so that the distal end implementing portion 30b is bent in a direction gradually away from the longitudinal axis C, and finally reaches a position / state of a unilateral maximum bending angle, as shown in FIG. Fig.13A and Fig. 13B When the distal end execution portion 30b is bent in a direction away from the longitudinal axis C, when the distal end execution portion 30b forms a certain angle with the longitudinal axis C, as shown in FIG. Fig. 12A and Fig. 12B As shown, the end effector assembly 30 provided in the embodiment of the present invention is in an unloaded or unused initial state / position (hereinafter referred to as the waiting-for-loading position). The end effector assembly 30 can be installed and plugged into the distal end of the elongated body assembly 20 of the surgical instrument 100 in the waiting-for-loading position.

[0085] It is understandable that the maximum bending angle that can be provided by the end effector assembly is not only limited by the mechanical interference of related parts within the end effector assembly, but also by the maximum stroke that can be provided by the bending link 232 in the surgical instrument handle assembly and the slender body assembly.

[0086] In order to enable the end effector 30 described in the embodiment of the present invention to be adapted to the main body (including the handle assembly and the slender body assembly) of the surgical instrument in the prior art, that is, the end effector 30 described in the embodiment of the present invention can be adapted to the main body (including the handle assembly and the slender body assembly) of the same surgical instrument as the end effector 50 (refer to FIG. 1) of the same specification and size in the prior art design, in a specific embodiment, reference is made to FIG. Fig. 12A and Fig. 12B When the end actuator 30 is in the loading position, when the axis line S between the axis center of the bending drive shaft 372a of the joint assembly 30c and the axis center of the pivot shaft 371c is perpendicular to the longitudinal axis C, the distal actuator 30b and the longitudinal axis C form a set first angle RA1.

[0087] Specifically, after the end effector assembly 30 in the loading position is installed on the slender body assembly 20 of the surgical instrument 100, the bending knob 210 of the operating handle assembly 10 is used to move the bending link 232 distally by a first distance, and accordingly, the bending transmission member 36 is also driven to move distally by L1, so that the distal effector 30b of the end effector assembly 30 is further bent away from the longitudinal axis C to a second angle RA2 on the basis of having been bent at the first angle RA1. Similarly, after the end effector assembly 30 in the loading position is mounted on the elongated body assembly 20 of the surgical instrument 100, the bending knob 210 of the handle assembly 10 is operated to move the bending link 232 proximally by a second distance, and accordingly, the bending transmission member 36 is also driven to move proximally by L2, so that the distal end effector 30b of the end effector assembly 30 further pivots toward the direction close to the longitudinal axis C on the basis of the first angle RA1 that has been bent, and finally forms 0° or substantially 0° with the longitudinal axis C, so that the end effector assembly 30 can better pass through the puncture device. The first distance and the second distance can be the same or different.

[0088] When the end effector assembly 30 of the embodiment of the present invention is adapted to the surgical instrument of the prior art, the first distance may correspond to the distance moved by the bending connecting rod when the end effector assembly 50 is bent to the right to the maximum angle RA; the second distance may correspond to the distance moved by the bending connecting rod when the end effector assembly 50 is bent to the left to the maximum angle LA. The configuration of the end effector assembly 30 further improves the versatility and adaptability of the end effector assembly of the embodiment of the present invention.

[0089] In a specific embodiment, reference Fig.15A When the bending knob 210 is rotated clockwise from the initial position to the maximum rotation position, the bending link 232 is driven to move a first distance toward the distal end, thereby driving the bending drive shaft 372a to move L1 toward the distal end along the longitudinal axis C, and the distal actuator 30b is bent from the first angle RA1 to the maximum bending angle RA2; Fig. 15B When the bending knob 210 is operated to rotate counterclockwise from the initial position to the maximum rotation position, the bending driving member 211 drives the bending connecting rod 232 to move proximally by a second distance, thereby driving the bending driving shaft 372a to move proximally by L2 along the longitudinal axis C, and the distal actuator 30b is bent from the initial first angle RA1 to extend in the same direction as the longitudinal axis C, that is, the bending angle is 0° or approximately 0°. It can be seen that when the bending transmission member 36 moves distally by L1+L2 along the longitudinal axis C, or the bending transmission member 36 is operated from the proximal starting position to move distally along the longitudinal axis C to the distal end position, the angle between the distal actuator 30b and the longitudinal axis C changes from 0° or approximately 0° to the maximum bending angle RA2.

[0090] As shown in FIGS. 16 and 17 , as an alternative embodiment, the bending drive shaft 672a of the end effector assembly 60 is pivotally connected to the distal end of the bending transmission member 66, and the bending transmission member 66 is operated to be pulled proximally to achieve the bending of the distal effector 60b and the joint assembly 60c relative to the proximal main body 60a. Fig.16A At this time, the angle between the distal actuator 60b and the longitudinal axis C defined by the proximal body 60a is 0° or approximately 0°, and the bending drive shaft 672a is located at the distal end of the pivot axis 671c. The bending knob 210 is operated to move the bending transmission member 66 toward the proximal side, thereby pulling the bending drive shaft 672a to pivot around the pivot axis 671c and driving the distal actuator 60b to gradually move away from the longitudinal axis C until it is bent to the maximum angle, as shown in FIG. Fig. 16C Similarly, in order to make the end effector assembly 60 adaptable to the main body of the surgical instrument in the prior art (including the handle assembly and the slender body assembly), the maximum stroke that the bending link 232 can provide is fully utilized. Fig. 16B The state / position of the end effector assembly 60 shown is defined as an initial state / position (hereinafter referred to as the ready-to-be-loaded position) in which the end effector assembly 60 is not loaded or used. At this time, the axis line S between the bending drive shaft 672a of the end effector assembly 60 and the pivot shaft 671c is perpendicular to the longitudinal axis C.

[0091] After the end effector assembly 60 in the loading position is installed on the slender body assembly 20 of the surgical instrument 100, the bending knob 210 of the operating handle assembly 10 is used to move the bending link 232 proximally a third distance, and accordingly, the bending transmission member 66 is also driven to move proximally L3, so that the distal effector portion 60b of the end effector assembly 60 is further bent away from the longitudinal axis C to the fourth angle RA4 on the basis of having been bent at the third angle RA3. Similarly, after the end effector assembly 60 in the loading position is mounted on the elongated body assembly 20 of the surgical instrument 100, the bending knob 210 of the handle assembly 10 is operated to move the bending link 232 distally by a fourth distance, and accordingly, the bending transmission member 66 is also driven to move distally by L4, so that the distal end effector 60b of the end effector assembly 60 further pivots toward the direction close to the longitudinal axis C on the basis of the third angle RA3 that has been bent, and finally forms 0° or substantially 0° with the longitudinal axis C, so that the end effector assembly 60 can better pass through the trocar. The third distance and the fourth distance can be the same or different.

[0092] In a specific embodiment, reference Fig.17AWhen the bending knob 210 is rotated clockwise from the initial position to the maximum rotation position, the bending link 232 is driven to move a third distance toward the proximal end, thereby driving the bending drive shaft 372a to move L3 toward the proximal end along the direction of the longitudinal axis C, and the distal actuator 30b is bent to the maximum bending angle; when the bending knob 210 is rotated counterclockwise from the initial position to the maximum rotation position, the bending drive component 211 drives the bending link 232 to move a fourth distance toward the distal end, thereby driving the bending drive shaft 372a to move L4 toward the distal end along the direction of the longitudinal axis C, and the distal actuator 30b extends in the same direction as the longitudinal axis C, that is, the bending angle is 0° or approximately 0°. It can be seen that when the bending transmission member 36 moves proximally along the longitudinal axis C by L3+L4, or in other words, the bending transmission member 36 is operated from the distal starting position to move proximally along the longitudinal axis C to the proximal end position, the angle between the distal actuator 30b and the longitudinal axis C increases from 0° or approximately 0° to the maximum bending angle RA4.

[0093] Of course, it can be understood that, based on the concept of the present invention, the terminal position of the bending transmission member 36, 66 is not limited to the position corresponding to the distal actuator 30b extending along the longitudinal axis C, that is, the position where the angle between the distal actuator 30b and the longitudinal axis C is 0° or approximately 0°, but can also be a smaller angle with the longitudinal axis C according to the actual scene requirements, whether it is deflected to the left or to the right.

[0094] 2B-C , the end execution assembly 50 in the prior art, when the bending knob 210 is operated to rotate from the initial position in the clockwise direction to the maximum rotation position, drives the bending link 232 to move the fifth distance toward the distal end, thereby drives the bending transmission member 56 and the bending drive shaft 572a to move L5 toward the distal end along the longitudinal axis C, and the distal execution portion 50b is bent in the clockwise direction to the maximum bending angle RA; referring to FIG. 2C , when the bending knob 210 is operated to rotate from the initial position in the counterclockwise direction to the maximum rotation position, drives the bending link 232 to move the sixth distance toward the proximal end, thereby drives the bending transmission member 56 and the bending drive shaft 572a to move L6 toward the proximal end along the longitudinal axis C, and the distal execution portion 50b is bent in the counterclockwise direction to the maximum bending angle LA. It can be seen that when the bending transmission member 56 moves along the longitudinal axis C by a distance of L5 or L6, the angle between the distal end actuator 50b and the longitudinal axis C changes from 0° to the maximum bending angle RA, LA. It can be seen that when the bending transmission member 56 moves along the longitudinal axis C from the most distal position to the proximal side by L5+L6, the angle between the distal end actuator 50b and the longitudinal axis C changes from the maximum bending angle RA on one side to the maximum bending angle LA on the other side.

[0095] It can be seen that, when the maximum moving distance of the bending transmission member is the same, the structure of the end effector assembly 30, 60 of the present invention can provide a larger maximum bending angle compared with the structure of the end effector assembly 50 of the prior art.

[0096] In the end effector assembly 30, 60 described in any embodiment of the present invention, when the angle between the distal effector 30b, 60b and the longitudinal axis C is 0°, the axis connecting the axis of the bending drive shaft 372a, 672a and the pivot shaft 371c, 671c forms an angle θ with the longitudinal axis C, and the magnitude of θ is one of the factors that determine the maximum bending angle that the end effector assembly 30, 60 can provide. Accordingly, when the end effector assembly 30, 60 is in the loading position, the bending angle of the distal effector 30b, 60b is (90-θ)°. It can be understood that the smaller the value of θ, the greater the maximum bending angle that the end effector assembly 30, 60 can provide, without considering the mechanical interference of each part and the maximum stroke that the bending drive assembly / bending transmission assembly can provide. For example, in a specific embodiment, when the angle between the distal actuator 30b, 60b and the longitudinal axis C is 0°, the angle θ between the axial line connecting the bending drive shaft 372a, 672a and the pivot shaft 371c, 671c and the longitudinal axis C is 45°, which can make the maximum bending angle of the distal actuator 30b, 60b reach approximately 90°.

[0097] When the distal end execution part 30b, 60b is at a large bending angle relative to the proximal end body part 30a, 60a, in order to enable the firing member 35 to bend and deform accordingly and perform the firing action smoothly, the end execution assembly 30, 60 also includes a limiting channel for limiting the movement of the firing beam when the firing member 35 fires when the distal end execution part 30b, 60b is in the bending state. The limiting channel is located in the matching area between the proximal end body part 30a, 60a and the joint assembly 30c, 60c. The firing beam 351 of the firing member 35 is located in the limiting channel and moves along its extension direction. The limiting channel is formed by a first limiting part and a second limiting part respectively located on both sides of the firing beam 351. The first limiting part is used to cooperate with the outer arc surface of the firing beam 351 at the maximum bending, and the second limiting part cooperates with the inner arc surface of the firing beam 351 at the maximum bending.

[0098] The end effector assembly 30 described in any embodiment of the present invention, such as Fig.15A As shown in FIG. , the first limiting portion is a first limiting protrusion 36a provided on the bending transmission member 36, and the first limiting protrusion 36a has a maximum bending outer arc surface (i.e. Fig.15ASpecifically, the bending transmission member 36 is formed into a slender sheet, the first limiting protrusion 36a is formed in a partial area of ​​the distal end of the bending transmission member 36 and protrudes toward the firing member 35, and the first limiting protrusion 36a forms a concave arc surface facing a side of the firing beam 351, and the arc length of the concave arc surface covers the maximum deformation area of ​​the firing beam 351. The second limiting portion is a second limiting protrusion 372d provided on the joint assembly 30c, and the second limiting protrusion 372d has an outer convex arc surface that matches the maximum bending inner arc surface of the firing beam 351 (that is, the inner arc surface of the bending area of ​​the firing beam 351 when the firing beam 351 reaches the maximum bending angle). Specifically, a second limiting protrusion 372d is provided on the second connecting member 372 in the joint assembly 30c in the inner bending area close to the firing beam 351. The second limiting protrusion 372d has an outwardly convex arc surface area. A limiting channel for limiting the bending position of the firing beam 351 is formed between the bending transmission member 36 and the second connecting member 372. The firing beam 351 is bent along the limiting channel to prevent the firing beam 351 from slipping out from one side during the movement at a large bending angle. In this embodiment, the bending driving force applied to the bending transmission member 36 is directed toward the distal end. When the bending transmission member 36 slides from the proximal side to the distal side under the action of the bending driving mechanism, the first limiting protrusion 36a of the bending transmission member 36 moves distally to the joint assembly 30c area and cooperates with the second limiting protrusion 372d on the joint assembly 30c to form a limiting channel with a bending angle of about 90 degrees.

[0099] The end effector assembly 60 described in any embodiment of the present invention, such as Fig.16A -C, the first limiting part includes a limiting member 68 disposed on the proximal main body 60a, and the limiting member 68 has an inner concave arc surface 68a that matches the maximum bending outer arc surface of the firing beam; specifically, the proximal end of the limiting member 68 is fixedly connected to the inner tube of the proximal main body 60a, and the distal end is sleeved on the connecting shaft 672b, and the side close to the firing beam is formed as an inner concave arc surface 68a, and the arc length of the inner concave arc surface 68a covers the maximum deformation area of ​​the firing beam. The second limiting part is an outer convex arc surface 66b disposed at the distal end of the bending transmission member 66, and the outer convex arc surface 66b matches the maximum bending inner arc surface of the firing beam.

[0100] like Fig.10 As shown, the distal region of the firing beam 351 of the firing member 35 is provided with a receiving groove 351a, and when the bending angle of the distal execution portion 30b is less than the set value, the reference Fig.14A , Fig.16AAs shown, a partial area of ​​the first limiting portion is accommodated in the accommodating groove 351a.

[0101] In the above-mentioned embodiment of the present invention, when the distal end effector 30 extends along the longitudinal axis C, the bending drive shaft 371a, 372a is located at the proximal end or distal end of the pivot shaft 371c, 372c, and the distal end effector 30b deflects in a unilateral direction away from the longitudinal axis C, and can be switched between a straight position (that is, a position where the angle between the distal end effector 30b, 60b and the longitudinal axis C is 0° or approximately 0°), an intermediate bending angle position, and a maximum bending angle position, so as to achieve a large-angle bending of half of the end effector of the surgical stapling instrument. In addition, the end effector 30, 60 and the joint assembly 30c, 60c provided in any embodiment of the present invention still adopt a single pivot shaft to achieve bending, thereby ensuring a bending radius as small as possible, or increasing the maximum bending angle that the end effector can provide without increasing the bending radius of the end effector.

[0102] Since the loading position of the end effector assembly 30, 60 provided in any embodiment of the present invention is the position where the distal end effector 30b, 60b forms a certain angle θ with the longitudinal axis C, the present invention also provides an initial retaining member, so that the end effector assembly 30, 60 can be more reliably retained in the loading position. Figure 18-Figure 20 As shown, it is a specific embodiment of the initial position retaining member 40 provided by the present invention, and the initial position retaining member 40 has a support body with a set bending angle, so that the distal actuator 30b, 60b of the end actuator assembly 30, 60 is maintained in the initial bending state to be loaded. Specifically, the initial position retaining member 40 is used to support the distal actuator 30b and the proximal body 30a of the end actuator assembly 30, so that the distal actuator 30b is maintained in the initial bending state with a set angle with the proximal body 30a. Specifically, the support body includes a first holding arm 41 that cooperates with the proximal body 30a and a second holding arm 42 that cooperates with the distal actuator 30b, and also includes a support beam 493 connected between the first holding arm 41 and the second holding arm 42, wherein the first holding arm 41 and the second holding arm 42 are formed into a semi-open semi-ring that matches the shape of the proximal body 30a and the distal actuator 30b, and they are held on both to prevent falling off.

[0103] More specifically, in order to facilitate the user to hold, the initial position retainer 40 also includes a grip frame 44 suitable for the operator to hold, and the grip frame 44 is connected to the outer wall of the support body. The structure of the grip frame 44 is not unique. In an optional manner, it is formed into a handle-type bracket suitable for the hand to pass through, and the handle-type bracket runs through the entire longitudinal side wall of the support body and extends to the outer area of ​​the support body to form a cantilever structure. More specifically, the inner wall of the second holding arm 42 of the initial position retainer 40 is provided with a limiting structure for cooperating with the working portion 352 of the firing member 35, such as Figure 18-Figure 20 As shown, the limiting structure is a protruding structure 45 formed on the inner wall of the second holding arm 42, and the protruding structure 45 extends into the interior of the anvil base 321 along the through hole thereof and abuts against the working portion 352 of the firing member 35 to prevent the firing member 35 from moving distally.

[0104] It can be understood that the end effector assembly and the initial position retaining member provided in any embodiment of the present invention are not only applicable to a universal surgical stapling instrument, that is, the end effector assembly is detachably mounted on the slender body assembly of the surgical instrument as a whole, such as the surgical instrument 100 provided in any embodiment of the present invention, but also applicable to a fixed surgical stapling instrument, that is, the proximal main body portion of the end effector assembly is non-detachably fixed to the slender body assembly of the surgical instrument, while part of the staple cartridge assembly is detachably replaceable, such as Fig.24 Surgical instrument 200 is shown.

[0105] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. However, the obvious changes or modifications derived therefrom are still within the scope of protection of the present invention.

Claims

1. An end effector assembly, comprising: a proximal body portion defining a longitudinal axis; The distal actuator is used for manipulating tissue, the distal actuator is pivotally connected to the proximal main body through a joint assembly, and the joint assembly defines a pivot axis; characterized in that: The proximal main body includes a bending transmission member, the joint assembly is provided with a bending drive shaft, the bending transmission member is pivotally connected to the bending drive shaft, and the bending transmission member can be operated to reciprocate along the longitudinal axis to drive the bending drive shaft to pivot around the pivot axis and drive the distal actuator to pivot around the pivot axis; and When the end execution assembly is in the waiting position for loading, the bending transmission member is in the middle position during the movement from the starting position to the end position; when the end execution assembly is in the waiting position for loading, the distal execution part forms an angle other than 0° with respect to the longitudinal axis.

2. The end effector assembly according to claim 1, characterized in that: When the distal end execution portion extends along the longitudinal axis, an angle other than 0° is formed between a line connecting the axes of the bending drive axis and the pivot axis and the longitudinal axis.

3. The end effector assembly according to claim 1, characterized in that: When the distal end execution portion extends along the longitudinal axis, the bending drive shaft is located at the proximal end or the distal end of the pivot shaft.

4. The end effector assembly according to claim 1, characterized in that: When the end effector assembly is in the waiting-for-loading position, the joint assembly is pivoted until a line connecting the axes of the bending drive shaft and the pivot axis is perpendicular to the longitudinal axis.

5. The end effector assembly according to claim 1, characterized in that: When the bending transmission member is operated to move from the starting position to the end position, the distal end execution portion is driven to pivot around the pivot axis and gradually move away from the longitudinal axis.

6. The end effector assembly according to claim 5, characterized in that: When the bending transmission member is in the starting position, the distal execution portion extends along the longitudinal axis.

7. The end effector assembly according to claim 1, characterized in that: It also includes a limiting channel for limiting the bending position of the firing member when the firing member fires when the distal execution part is in a bent state. The limiting channel is located in the matching area between the proximal main body and the joint assembly, and the firing member is located inside the limiting channel and moves along its extension direction.

8. The end effector assembly according to claim 7, characterized in that: The limiting channel is formed by a first limiting portion and a second limiting portion respectively located on two sides of the firing component.

9. The end effector assembly according to claim 8, characterized in that: The first limiting portion includes a first limiting protrusion arranged on the bending transmission member, and the first limiting protrusion has an inner concave arc surface matching the maximum bending outer arc surface of the firing component; the second limiting portion includes a second limiting protrusion arranged on the joint assembly, and the second limiting protrusion has an outer convex arc surface matching the maximum bending inner arc surface of the firing component.

10. The end effector assembly according to claim 8, characterized in that: The first limiting portion includes a limiting piece arranged on the proximal main body portion, and the limiting piece has an inner concave arc surface matching the maximum bending outer arc surface of the firing component. The second limiting portion is an outer convex arc surface arranged at the distal end of the bending transmission component, and the outer convex arc surface matches the maximum bending inner arc surface of the firing component.

11. The end effector assembly according to claim 9 or 10, characterized in that: A receiving groove is provided in the distal region of the firing component, and when the bending angle of the distal actuator is smaller than a set value, a partial region of the first limiting portion is received in the receiving groove.

12. The end effector assembly according to claim 1, characterized in that: The joint assembly includes a first connecting member and a second connecting member, the pivot axis is arranged on the first connecting member and / or the second connecting member, the first connecting member and the second connecting member are connected by two connecting shafts located on opposite sides of the pivot axis, one of the connecting shafts is a bending drive shaft suitable for cooperating with the bending transmission member.

13. The end effector assembly according to claim 1, characterized in that: It also includes an initial position retaining member, which is used to support the distal execution portion and the proximal main body portion, so that the distal execution portion is maintained in an initial bending state with a set angle with the proximal main body portion.

14. The end effector assembly according to claim 13, characterized in that: The initial position retaining member includes a supporting body with a set bending angle, and the supporting body includes a first holding arm cooperating with the proximal main body and a second holding arm cooperating with the distal execution part; and also includes a supporting beam connected between the first holding arm and the second holding arm.

15. The end effector assembly according to claim 13, characterized in that: The initial position retaining member is provided with a limiting structure for cooperating with the firing component, and the limiting structure is suitable for cooperating with the working part of the firing component to limit the position of the firing component.

16. The end effector assembly according to claim 1, characterized in that: The distal end execution part comprises a nail magazine assembly and a nail anvil assembly which are pivotally connected. The distal ends of the nail magazine assembly and the nail anvil assembly are respectively provided with mutually cooperating positioning structures, and the positioning structures are used to limit the width direction positions of the nail magazine assembly and the nail anvil assembly when the distal end execution part is in the closed position.

17. The end effector assembly according to claim 16, characterized in that: The positioning structure includes a positioning protrusion arranged on one of the nail magazine assembly and the nail anvil assembly, and a positioning groove arranged on the other of the nail magazine assembly and the nail anvil assembly.

18. An end effector assembly comprising a proximal body portion defining a longitudinal axis; The distal actuator is used for manipulating tissue, the distal actuator is pivotally connected to the proximal main body through a joint assembly, and the joint assembly defines a pivot axis; characterized in that: The joint assembly comprises a bending transmission member, the joint assembly is provided with a bending drive shaft, the bending transmission member acts on the bending drive shaft to provide a bending drive force to the joint assembly, so that the distal end actuator is unilaterally bent relative to the longitudinal axis of the proximal end main body; The distal end actuator deflects in a unilateral direction away from the longitudinal axis, and can be switched between a straight position, an intermediate bending angle position and a maximum bending angle position; The distal execution portion is located at an intermediate bending angle position, which is a waiting position for loading of the end execution assembly. When the end execution assembly is at the waiting position for loading, the bending transmission member is at an intermediate position during the movement from the starting position to the end position.

19. A surgical instrument comprising a main body and an end effector assembly selectively coupled to the main body, characterized in that: The end effector assembly adopts any one of the end effector assemblies of claims 1-18.

20. A surgical instrument comprising an elongated body assembly defining a longitudinal axis; The distal end actuator for manipulating tissue is pivotally connected to the elongated body component through a joint component, and the joint component is provided with a pivot axis; characterized in that: The joint assembly comprises a bending transmission member, the joint assembly is provided with a bending drive shaft, the bending transmission member acts on the bending drive shaft to provide a bending drive force to the joint assembly, so that the distal end actuator is unilaterally bent relative to the longitudinal axis of the slender body assembly; The distal end actuator deflects in a unilateral direction away from the longitudinal axis, and can be switched between a straight position, an intermediate bending angle position and a maximum bending angle position; The distal execution portion is located at an intermediate bending angle position, which is a waiting position for loading of the end execution assembly. When the end execution assembly is at the waiting position for loading, the bending transmission member is at an intermediate position during the movement from the starting position to the end position.

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