Surgical instrument

Abstract

The application discloses a surgical instrument. The surgical instrument comprises a jaw assembly, a handle, a seat body, a steering piece, a driving assembly arranged in the handle, a pull rod assembly, a far end of which is rotatably connected to a first hinged joint of the steering piece, and a near end of which is rotatably connected to the driving assembly, a connecting rod assembly, a far end of which is rotatably connected to a second hinged joint of the steering piece, and a near end of which is rotatably connected to a third hinged joint of the pull rod assembly, the steering piece comprises a connecting part between the first hinged joint and the second hinged joint, and the pull rod assembly comprises a rod body part between the first hinged joint and the third hinged joint, the rod body part, the connecting part and the connecting rod assembly form a positioning frame, and a positioning part is arranged to position the positioning frame and the steering piece. Through the positioning of the positioning frame, the positioning of the steering piece is realized, and the problem of unstable angle of the jaw assembly and angle deviation is avoided.

Description

Technical Field

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

[0002] Surgical staplers are a commonly used medical instrument that replaces manual suturing. They work by inserting the cannula of a trocar positioned at the surgical site into the patient's body, creating a longitudinal incision in the tissue, and applying staples on the opposite side of the incision to sever and anastomose the tissue.

[0003] Existing surgical staplers include a jaw assembly steering component, a drive assembly, and a lever assembly. The steering component connects to the jaw assembly and can drive the jaw assembly to rotate. The drive assembly drives the lever assembly to move, and the lever assembly connects to the steering component, so that the movement of the lever assembly can drive the steering component to rotate, thereby driving the jaw assembly to rotate, completing the jaw assembly's steering. To save space in the jaw drive device, existing technology uses a scheme where the lever assembly only connects to one side of the steering component. The lever assembly drives the steering component to rotate on one side, which in turn drives the jaw assembly to rotate. However, after the jaw assembly completes its steering, it needs to maintain its rotated angular state. But the lever assembly with a single-sided connection has poor positioning ability for the steering component, which easily leads to instability in the angle of the jaw assembly after rotation, resulting in angular deviation. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the present invention aims to provide a surgical instrument that solves the problem of unstable angle of the jaw assembly and angle deviation.

[0005] This invention is achieved through the following technical solution:

[0006] A surgical instrument includes: a jaw assembly; a handle; a base connected to the handle; a steering member, the proximal end of which is pivotally connected to the base, and the distal end of which is connected to the jaw assembly; a drive assembly disposed within the handle; a lever assembly, the distal end of which is rotatably connected to a first hinge point of the steering member, the proximal end of which is rotatably connected to the drive assembly, the lever assembly moving in response to actuation of the drive assembly to drive the steering member to rotate, thereby causing the jaw assembly to rotate; and a linkage assembly, the distal end of which is rotatably connected to the drive assembly. The first hinge point is movably connected to the second hinge point of the steering component, and the proximal end of the link assembly is rotatably connected to the third hinge point of the tie rod assembly; the first hinge point is located on one side of the pivot center of the steering component, and the second hinge point is located on the other side of the pivot center of the steering component. The steering component includes a connecting portion located between the first hinge point and the second hinge point, and the tie rod assembly includes a rod portion located between the first hinge point and the third hinge point. The rod portion, the connecting portion, and the link assembly form a positioning frame. A positioning part positions the positioning frame, thereby positioning the steering component.

[0007] Furthermore, the tie rod assembly includes a tie rod and a first link. The distal end of the first link is rotatably connected to a first hinge point of the steering member, and the proximal end is rotatably connected to a fourth hinge point at the distal end of the tie rod. The proximal end of the tie rod is connected to a drive assembly. In response to the drive assembly, the tie rod moves to drive the first link to rotate the steering member, thereby causing the jaw assembly to rotate. The rod body includes the first link and the portion of the tie rod located between the fourth hinge point and the third hinge point.

[0008] Furthermore, the axes of the third hinge point and the fourth hinge point coincide, and the rod body is the first connecting rod.

[0009] Furthermore, the linkage assembly includes a second link and a third link, the distal end of the second link being rotatably connected to a second hinge point of the steering component; one end of the third link being rotatably connected to the proximal end of the second link, and the other end being rotatably connected to a third hinge point; the positioning frame has a quadrilateral shape.

[0010] Furthermore, the positioning frame is parallelogram-shaped, with the first link parallel to the second link and the third link parallel to the connecting part.

[0011] Furthermore, the third hinge point and the fourth hinge point are spaced apart, and the third hinge point is located near the fourth hinge point.

[0012] Furthermore, the linkage assembly includes a second link and a third link, the distal end of the second link being rotatably connected to a second hinge point of the steering component; one end of the third link being rotatably connected to the proximal end of the second link, and the other end being rotatably connected to a third hinge point; the positioning frame has a pentagonal shape.

[0013] Furthermore, the positioning unit positions the third link, thereby positioning the positioning frame.

[0014] Furthermore, the positioning part includes a limiting groove provided in the base, and a positioning shaft is provided in the middle of the third link, which is movably accommodated in the limiting groove; the limiting groove has a limiting wall, which blocks the movement of the third link to position the third link.

[0015] Furthermore, the limiting groove extends along the width direction of the seat.

[0016] Furthermore, the limiting wall is an arc-shaped wall.

[0017] Furthermore, the drive assembly includes a motor, a lead screw connected to the motor, and a nut threadedly connected to the lead screw; the proximal end of the pull rod assembly is connected to the nut; in response to the drive of the motor, the lead screw drives the nut to move linearly to drive the pull rod assembly to move.

[0018] Furthermore, the linkage assembly includes a second link and a third link, the distal end of the second link being rotatably connected to a second hinge point of the steering component; one end of the third link is rotatably connected to the proximal end of the second link, and the other end is rotatably connected to a third hinge point.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: by setting the linkage assembly, the rod body, the connecting part and the linkage assembly form a positioning frame. The positioning of the positioning frame by the positioning part realizes the positioning of the steering component, avoiding the problem of unstable angle after the jaw assembly rotates and the resulting angle deviation. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the surgical instrument according to the first embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of the steering component and jaw assembly according to the first embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of a positioning frame according to the first embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of another positioning frame in the first embodiment of the present invention;

[0024] Figure 5 This is an exploded view of the seat, connecting rod assembly, steering component, and tie rod assembly according to the first embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the driving structure according to the first embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of the structure of the steering component according to the first embodiment of the present invention when it rotates in one direction;

[0027] Figure 8 This is a schematic diagram of the positioning member of the first embodiment of the present invention when it rotates in another direction;

[0028] Figure 9 This is a front view of the base body according to the first embodiment of the present invention;

[0029] Figure 10 This is a schematic diagram of the steering component in the initial position according to the first embodiment of the present invention;

[0030] Figure 11 This is a schematic diagram of the structure of the steering component in the first embodiment of the present invention when it rotates at a certain angle;

[0031] Figure 12This is a schematic diagram of the steering component when it rotates at a certain angle according to the first embodiment of the present invention, intended to show the relationship between the rotation angle a of the steering component and the rotation angle b of the first connecting rod;

[0032] Figure 13 This is a schematic diagram of the structure of the base body according to the first embodiment of the present invention;

[0033] Figure 14 This is a schematic diagram of the angle connector connected to the jaw assembly according to the first embodiment of the present invention;

[0034] Figure 15 This is a structural schematic diagram of the angle connector according to the first embodiment of the present invention.

[0035] The above figures include the following reference numerals:

[0036] 100. Handle; 110. Body; 120. Rod assembly; 121. Sleeve; 130. Jaw assembly; 140. Drive assembly; 141. Lead screw and nut structure; 142. Lead screw; 143. Nut; 144. Motor; 145. Transmission structure; 200. Base; 210. Limiting groove; 211. Limiting wall; 220. Second sliding groove; 230. First clearance groove; 240. Second clearance groove; 300. Steering component; 310. First hinge point; 320. Second hinge point; 330. Pivot Rotation center; 340, first sliding groove; 350, connecting part; 400, pull rod assembly; 410, pull rod; 411, fixed section; 420, first connecting rod; 421, fourth hinge point; 430, rod body; 500, connecting rod assembly; 510, second connecting rod; 520, third connecting rod; 521, positioning shaft; 522, third hinge point; 530, positioning frame; 600, angle connector; 610, first protrusion; 620, second protrusion; 630, tool holder; X, length direction; Y, width direction. Detailed Implementation

[0037] 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.

[0038] It is important to understand that the terms "proximal" and "distal" used in this article are relative to the clinician manipulating the handle of the surgical instrument. "Proximal" refers to the part closer to the clinician, while "distal" refers to the part farther from the clinician. That is, the handle is proximal, and the jaw assembly is distal. For example, the proximal end of a component refers to the end relatively closer to the handle, and the distal end refers to the end relatively closer to the jaw assembly. The terms "upper" and "lower" are relative to the position of the anvil and the stapler seat of the jaw assembly; specifically, the anvil is "upper," and the stapler seat is "lower." However, surgical instruments can be used in many orientations and positions, so these terms expressing relative positional relationships are not limited or absolute.

[0039] In this invention, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, a movable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they 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 "connected" or "linked" is preceded by a qualifier, 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.

[0040] Example 1

[0041] Please see Figures 1 to 3 This embodiment provides a surgical instrument, specifically a stapler.

[0042] The surgical instrument includes a handle 100, a jaw assembly 130, a base 200, a steering member 300, a drive assembly 140, and a lever assembly 400. The base 200 is connected to the handle 100. The proximal end of the steering member 300 is rotatably connected to the base 200, and the distal end of the steering member 300 is connected to the jaw assembly 130, enabling the steering member 300 to rotate the jaw assembly 130. The distal end of the lever assembly 400 is rotatably connected to the steering member 300, and the proximal end is connected to the drive assembly 140. In response to actuation by the drive assembly 140, the lever assembly 400 moves to drive the steering member 300 to rotate, thereby causing the jaw assembly 130 to rotate.

[0043] Specifically, the seat 200 has a pivot shaft at its distal end, and the steering component 300 has a connecting hole at its proximal center. The pivot shaft is inserted into the connecting hole to engage with it, allowing the steering component 300 to rotate around the pivot shaft. The axis of the pivot shaft is the pivot center 330 of the steering component 300. When the steering component 300 rotates to abut against the seat 200, it can no longer rotate; this is the limit position of the steering component 300. The steering component 300 has a limit position in both clockwise and counterclockwise directions. The distal end of the pull rod assembly 400 is connected to the first hinge point 310 of the steering component 300. The first hinge point 310 is eccentrically positioned on the steering component 300, offset from the pivot center 330. When the drive assembly 140 drives the tie rod assembly 400, the tie rod assembly 400 moves along the length direction X. The moving tie rod assembly 400 pushes or pulls the side of the steering member 300 with the first hinge point 310, causing the steering member 300 to rotate.

[0044] In this embodiment, the pull rod assembly 400 is located on one side of the seat 200 and connected to one side of the steering component 300. After the jaw assembly 130 completes its turn, the drive assembly 140 locks the pull rod assembly 400 to position the steering component 300. However, the single-sided pull rod assembly 400 has insufficient positioning capability for the steering component 300, which can easily lead to unstable position of the steering component 300, resulting in unstable angle of the jaw assembly 130 after its turn and easy angle deviation.

[0045] To address the aforementioned problems, the surgical instrument in this embodiment further includes a linkage assembly 500 and a positioning part, such as... Figures 3 to 5 As shown, the distal end of the linkage assembly 500 is rotatably connected to the second hinge point 320 of the steering member 300, and the proximal end of the linkage assembly 500 is rotatably connected to the third hinge point 522 of the tie rod assembly 400. The steering member 300 includes a connecting portion 350 located between the first hinge point 310 and the second hinge point 320, and the tie rod assembly 400 includes a rod portion 430 located between the first hinge point 310 and the third hinge point 522. The rod portion 430, the connecting portion 350, and the linkage assembly 500 form a positioning frame 530. The positioning portion positions the positioning frame 530, thereby positioning the steering member 300. The connecting portion 350 is part of the positioning frame 530, and positioning the positioning frame 530 completes the positioning of the connecting portion 350 and the steering member 300. The first hinge point 310 and the second hinge point 320 are located on both sides of the pivot center 330, that is, the first link 420 and the second link 510 are respectively connected to both sides of the pivot center 330 of the steering component 300. Positioning the positioning frame 530 can achieve positioning of the steering component 300 on both sides of the pivot center 330. The positioning effect is good, which can make the positioning of the steering component 300 more stable, thereby making the angle of the jaw assembly 130 stable after turning and less prone to angle deviation.

[0046] The tie rod assembly 400 includes a tie rod 410 and a first connecting rod 420. The distal end of the first connecting rod 420 is rotatably connected to the steering member 300, and the proximal end is rotatably connected to a fourth hinge point 421 at the distal end of the tie rod 410. The proximal end of the tie rod 410 is connected to a drive assembly 140. In response to the drive assembly 140, the tie rod 410 moves linearly to drive the first connecting rod 420 to rotate the steering member 300, thereby causing the jaw assembly 130 to rotate. Simultaneously, the rotation of the steering member 300 causes the first hinge point 310 to rotate and displace in the width direction Y, thereby causing the distal end of the first connecting rod 420 to move in the width direction Y, causing the first connecting rod 420 to rotate.

[0047] The drive assembly 140 drives the pull rod 410 through the following structure: Figure 6 As shown, the drive assembly 140 includes a lead screw and nut structure 141, a motor 144, and a transmission structure 145. The lead screw and nut structure 141 includes a lead screw 142 and a nut 143. The motor 144 is connected to the lead screw 142 through the transmission structure 145. The lead screw 142 and the nut 143 are threaded together. When the motor 144 drives the lead screw 142 to rotate through the transmission structure 145, the lead screw 142 drives the nut 143 to move through its engagement with the nut 143. The pull rod assembly 400 is connected to the nut 143 and is displaced along the length direction X under the drive of the nut 143. The nut 143 connects to the pull rod assembly to drive the pull rod assembly to move. Specifically, the nut connects to the pull rod 410 and can drive the pull rod 410 to displace along the length direction X. When the pull rod 410 is displaced, it can drive the first connecting rod 420 to move, thereby driving the steering component 300 to rotate, and then driving the jaw assembly 130 to rotate. In this embodiment, the thread helix angle of the thread in the lead screw nut structure 141 is less than the equivalent friction angle, which makes the lead screw nut structure 141 have a self-locking function. After the lead screw 142 is stopped, the nut 143 and the pull rod 410 are both locked.

[0048] like Figure 3 and Figure 4 As shown, when the jaw assembly 130 is in its initial position, i.e., when no rotation occurs, the hinge point of the first connecting rod 420 and the pull rod 410 and the first hinge point 310 are approximately at the same height. Figure 7 As shown, when the drive assembly 140 drives the pull rod 410 to move to the distal end, it pushes the first link 420 to move to the distal end. The first link 420 pushes the side of the steering member 300 with the first hinge point 310, causing the steering member 300 to rotate clockwise. At the same time, the first hinge point 310 also rotates clockwise with the steering member 300, resulting in displacement in the width direction Y. This causes the distal end of the first link 420 to move upward in the width direction Y, thus rotating the first link 420. Figure 8As shown, when the drive assembly 140 drives the pull rod 410 to move proximally, it pulls the first link 420 to move proximally. The first link 420 pulls the side of the steering member 300 with the first hinge point 310, causing the steering member 300 to rotate counterclockwise. At the same time, the first hinge point 310 also rotates counterclockwise with the steering member 300, displacing in the width direction Y. This causes the distal end of the first link 420 to move downward in the width direction Y, causing the first link 420 to rotate. After the jaw assembly 130 completes the steering, the pull rod 410 is locked by the drive assembly 140.

[0049] In this embodiment, a positioning frame 530 is formed by the connecting rod assembly 500, the rod body 430, and the connecting part 350. The positioning part positions the positioning frame 530, thereby positioning the steering component 300. When the steering component 300 rotates at a certain angle, the offset of the positioning frame 530 is approximately the same as the angle of rotation of the steering component 300. Therefore, the positioning part's limitation on the positioning frame 530 can effectively prevent the positioning frame 530 and the steering component 300 from shifting, ensuring the stability of the position of the steering component 300 and the jaw assembly 130.

[0050] The linkage assembly 500 includes a second link 510 and a third link 520. The second link 510 is located distal to the third link 520. The distal end of the second link 510 is rotatably connected to the second hinge point 320 of the steering member 300, so that the distal end of the linkage assembly 500 is rotatably connected to the second hinge point 320 of the steering member 300. One end of the third link 520 is rotatably connected to the proximal end of the second link 510, and the other end is rotatably connected to the third hinge point 522, so that the proximal end of the linkage assembly 500 is rotatably connected to the third hinge point 522.

[0051] In one embodiment, such as Figure 3 As shown, the third hinge point 522 coincides with the fourth hinge point 421. The portion of the tie rod assembly 400 located between the third hinge point 522 and the first hinge point 310 is the first connecting rod 420, that is, the rod body portion 430 is the first connecting rod 420, so that the first connecting rod 420, the connecting portion 350, and the tie rod assembly 500 form a positioning frame 530. The positioning frame 530 is quadrilateral in shape. Of course, in other embodiments, the tie rod assembly 500 may include three or more connecting rods, and the positioning frame 530 may have other polygonal shapes. It is worth noting that the tie rod assembly 500 includes at least two connecting rods. If the tie rod assembly 500 includes only one connecting rod, the positioning frame 530 formed by the first connecting rod 420, the connecting portion 350, and the tie rod assembly 500 will be triangular, which will cause the steering component 300 to be unable to rotate.

[0052] In a preferred embodiment, the positioning frame 530 is parallelogram-shaped, with the first link 420 parallel to the second link 510 and the third link 520 parallel to the connecting portion 350. Obviously, in the parallelogram mechanism, the first link 420 and the second link 510 have the same motion state, and the third link 520 and the connecting portion 350 have the same motion state, thus making the third link 520 and the steering component 300 have the same motion state. Same motion state means that their angular displacement, angular velocity, and angular acceleration are all equal. In this embodiment, the positioning portion positions the third link 520, thereby positioning the positioning frame 530 and thus positioning the steering component 300. Since the third link 520 and the steering component 300 have the same motion state, positioning the third link 520 under the action of the positioning frame 530 can achieve the positioning of the steering component 300, maintaining the stability of the steering component 300's position, and thus stabilizing the angle and position of the jaw assembly 130.

[0053] In another embodiment, such as Figure 4 As shown, the third hinge point 522 and the fourth hinge point 421 are spaced apart, with the third hinge point 522 located near the fourth hinge point 421 to avoid interference caused by the intersection of the first link 420 and the third link 520. The pull rod 410 forms a fixed section 411 between the third hinge point 522 and the fourth hinge point 421. The rod body 430 includes the first link 420 and the fixed section 411. The positioning frame 530 has a pentagonal shape. Of course, in other embodiments, the link assembly 500 may include three or more links, and the positioning frame 530 may have other polygonal shapes. In the five rods constituting the positioning frame 530, when the pull rod 410 stops moving, thereby stopping the rotation of the steering component 300, the fixed section 411 is locked and cannot move or rotate; the connecting part 350 is pivotally connected to the seat 200 and can only rotate; in this embodiment, the positioning part positions the third connecting rod 520, so that three of the five rods in the positioning frame 530 are limited or positioned, thereby realizing the positioning of the pentagonal positioning frame 530. No rod in the positioning frame 530 can move or rotate, thereby realizing the positioning of the steering component 300. The positioning frame 530 and the positioning part can keep the position of the steering component 300 stable, thereby stabilizing the angular position of the jaw assembly 130.

[0054] In the above embodiments, when the pull rod 410 is driven to move by the drive assembly 140, it causes the first connecting rod 420 to displace in the length direction X, thereby causing the connecting part 350 and the steering member 300 to rotate. The second connecting rod 510 moves substantially synchronously with the first connecting rod 420. The movement of the third connecting rod 520 is a composite movement. One end of the third connecting rod 520 is rotatably connected to the third hinge point 522 of the pull rod 410. When the pull rod 410 moves in the length direction X, it causes the bottom end of the third connecting rod 520 to move synchronously with the pull rod 410. At the same time, the third connecting rod 520 rotates around the third hinge point 522. The direction of movement of the bottom end of the third connecting rod 520 is substantially opposite to the direction of rotation of the third connecting rod 520, so that the movement path of the middle part of the third connecting rod 520 is substantially along the width direction. The positioning part positions the third connecting rod 520 by limiting the rotation of the third connecting rod 520, specifically by blocking the rotation of the third connecting rod 520 in the length direction X. When the pull rod 410 moves, it drives the third link 520 to undergo the aforementioned compound motion. The third link 520 moves generally in the width direction. The positioning part does not obstruct the compound motion of the third link 520, allowing the positioning frame 530 and the connecting part 350 to rotate under the drive of the pull rod 410. When the pull rod 410 is not driven and is locked, the bottom of the third link 520 cannot move. At this time, the positioning part can block the rotation of the third link 520 in the length direction X, locking the third link 520 and thus achieving the positioning of the third link 520, thereby achieving the positioning of the positioning frame 530.

[0055] Specifically, the positioning unit positions the third link 520 through the following structure: (e.g.) Figures 3 to 5 As shown, the positioning part includes a limiting groove 210 formed in the base 200. A positioning shaft 521 is provided at the middle of the third link 520, and the positioning shaft 521 is movably accommodated in the limiting groove 210. The movement here includes rotation and / or movement. When the pull rod assembly 400 is not driven and is locked, since one end of the third link 520 is rotatably connected to the third hinge point 522 of the pull rod 410, the third link 520 can only rotate towards the front end or the rear end in a first direction, specifically the length direction X. The limiting groove 210 has a limiting wall 211, which can block the movement of the positioning shaft 521 in the length direction X, thereby blocking the rotation of the third link 520, thus positioning the third link 520 and preventing it from rotating, thereby achieving the positioning of the positioning frame 530. Two limiting walls 211 are provided, located on both sides of the positioning shaft 521 in the length direction X, to restrict the third link 520 from rotating clockwise or counterclockwise in the length direction X.

[0056] The third link 520 is positioned by the limiting groove 210, ensuring the stability of the positioning frame 530, thereby ensuring the stability of the steering component 300 and the jaw assembly 130. If the jaw assembly 130 is subjected to an external force, the external force acts on the positioning frame 530 through the jaw assembly 130 and the steering component 300. Since the positioning frame 530 remains stable, the steering component 300 and the jaw assembly 130 will also remain stable. Even if the third link 520 experiences a small offset within the limiting groove 210, the steering component 300 will offset synchronously with the third link 520, with a small offset angle. Therefore, the positioning effect of the positioning part on the steering component 300 is good.

[0057] Since the bottom end of the third link 520 is rotatably connected to the third hinge point 522, when the third link 520 rotates, the positioning shaft 521 in the middle is displaced in the width direction Y. Therefore, in this embodiment, the limiting groove 210 extends along the width direction Y of the seat 200, allowing the third link 520 to move within the limiting groove 210 in the width direction Y, so that the limiting groove 210 does not obstruct the compound movement of the third link 520. When the third link 520 is displaced within the limiting groove 210, it always adheres to the limiting walls 211 on both sides, so that the limiting walls 211 can always keep the third link 520 in the length direction X. Furthermore, the limiting wall 211 is an arc-shaped wall. When the third link 520 moves, the movement path of the positioning shaft 521 is an arc, and the curvature of the arc-shaped wall is the same as the curvature of the movement path of the positioning shaft 521, which can always keep the positioning shaft 521 in the limiting position, thereby limiting the third link 520.

[0058] The reason why the positioning unit positions the positioning frame 530 by positioning the third link 520, rather than by positioning the first link 420 or the second link 510, is as follows: Figure 10 and Figure 11 As shown, when the steering component 300 rotates a certain angle, that is, when the connecting part 350 within the positioning frame 530 rotates a certain angle, the rotation angles of the first link 420 and the second link 510 are relatively small. The ratio of the rotation angle of the first link 420 to the steering angle of the steering component 300 is relatively large. For example, when the steering component 300 rotates 24°, the first link 420 only rotates 1°. When limiting the first link 420, if the first link 420 produces a small offset rotation, it will cause the steering component 300 to produce a large rotation. Therefore, positioning the first link 420 is difficult and ineffective. The second link 510 moves in roughly the same direction as the first link 420, so positioning the second link 510 also presents difficulties and ineffectiveness. The specific reasons for the large ratio between the rotation angle of the steering component 300 and the rotation angle of the first link 420 are as follows:

[0059] like Figure 10As shown, when the steering component 300 drives the first connecting rod 420 to rotate through the first hinge point 310, the first connecting rod 420 rotates around the fourth hinge point 421 as the center of rotation. The distal end of the first connecting rod 420 moves along the width direction Y with the first hinge point 310, causing the first connecting rod 420 to rotate. Wherein... Figure 11 As shown, when the steering component 300 rotates by an angle α, the displacement of the first hinge point 310 in the width direction Y is L1, which can be calculated as L1 = R(1 - cosα), where R is the distance between the first hinge point 310 and the pivot center 330. Because the steering component 300 is relatively small in surgical instruments, the distance R between the first hinge point 310 and the pivot center 330 is small, resulting in a small value for L1. Therefore, after the steering component 300 rotates by a certain angle, the displacement L1 of the first hinge point in the width direction Y is small.

[0060] Furthermore, such as Figure 12 As shown, the distance between the distal end and the proximal end of the first link 420 in the length direction X is L2, and the length of the first link 420 is L3. L1, L2, and L3 form a right-angled triangle. The angle b of rotation of the first link 420 is the angle formed between the rotated first link 420 and its initial position. Figure 12 The angle between L2 and L3. The sine of angle b is equal to the ratio of L1 to L3, where L3 is a fixed value. Therefore, the angle b of rotation of the first link 420 is positively correlated with the displacement L1 of the first link 420 in width. Since the value of L1 is small, and the value of L3 is large relative to L1, the ratio of L1 to L3 is small, and therefore the angle b of rotation of the first link 420 is also small. For the above reasons, when the steering component 300 is affected by other factors and rotates by a certain angle, the angle that drives the first link 420 to rotate is small, making the ratio of the rotation angle of the steering component 300 to the rotation angle of the first link 420 large. Therefore, positioning the first link 420 or the second link 510 is difficult and the effect is poor. In this embodiment, the third link 520 is selected to achieve a lower positioning difficulty and a better positioning effect for the positioning frame 530.

[0061] It is worth noting that, such as Figure 5 and Figure 13As shown, the third link 520 is located on the side of the second link 510 near the base 200, that is, the third link 520 is located on the lower side of the second link 510. A first clearance groove 230 is formed on the upper surface of the base 200. The first clearance groove 230 is recessed along the thickness direction of the base 200, so that the base 200 forms a clearance space to prevent the base 200 from blocking the movement and rotation of the third link 520. The third link 520 is at least partially located in the first clearance groove 230, and a positioning part is provided in the first clearance groove 230 to connect the third link 520. Specifically, the positioning part is a limiting groove 210 formed at the bottom of the first clearance groove 230, and the positioning shaft 521 of the third link 520 is movably accommodated in the limiting groove 210.

[0062] Furthermore, a second clearance groove 240 is provided on one side of the seat 200. The second clearance groove 240 is arranged along the length direction X. The pull rod 410 is accommodated in the second clearance groove 240 and can move within the second clearance groove 240. The arrangement of the second clearance groove 240 makes the structure of the seat 200 and the pull rod 410 more compact. At the same time, when the steering member 300 rotates between two extreme positions, the pull rod 410 is always located within the second clearance groove 240.

[0063] In one embodiment, such as Figure 7 , Figure 14 and Figure 15 As shown, the surgical instrument also includes an angle connector 600, which is located above the steering member 300 and the seat 200. Both ends of the angle connector 600 extend downward to form a first protrusion 610 and a second protrusion 620. The steering member 300 has a first sliding groove 340, and the seat 200 has a second sliding groove 220. The first protrusion 610 is embedded in the first sliding groove 340, and the second protrusion 620 is embedded in the second sliding groove 220. The top of the angle connector 600 has a receiving groove for accommodating part of the blade shank 630. Multiple blade shanks 630 are formed, all of which are thin sheets. One end of the blade shank 630 is connected to a cutting blade located in the jaw assembly 130, and the other end is connected to the cutting blade drive mechanism of the handle 100, for driving the cutting blade to move under the drive of the cutting blade drive mechanism. When the jaw assembly 130 turns, the tool bar 630 also bends. The multiple tool bars 630 are housed in the receiving groove of the angle connector 600 to prevent the bent tool bars 630 from spreading out. At the same time, the tool bars 630 are limited to prevent the tool bars 630 from curling during the cutting process, so that the tool bars 630 can effectively drive the cutting blade.

[0064] Angle connector 600 is located between the first link 420 and the second link 510. The first link 420 has a first clearance section on the side facing the second link 510, and the second link 510 has a second clearance section on the side facing the first link 420. Figure 4 , Figure 5As shown. The first clearance section is recessed in a direction away from the second link 510, and the second clearance section is recessed in a direction away from the first link 420. When the jaw assembly 130 and the steering member 300 rotate, the angle connector 600 also rotates. The first and second clearance sections provide space for the rotation of the angle connector 600, preventing the angle connector 600 from interfering with the first link 420 or the second link 510.

[0065] Specifically, such as Figure 1 As shown, the surgical instrument also includes a shaft assembly 120, which is connected between the handle 100 and the jaw assembly 130. The shaft assembly 120 includes a cannula 121 connected to the proximal end of the jaw assembly 130 and a mandrel assembly housed within the cannula 121. The cannula 121 is movable relative to the handle 100 to drive the jaw assembly 130 to open or close; a seat 200 is disposed within the cannula 121 and connected to the handle 100, and the seat 200 does not move with the cannula 121 when the cannula 121 is moved. The jaw assembly 130 includes a staple cartridge seat and an anvil pivotally connected to the staple cartridge seat. The surgical instrument also includes a cutting blade assembly connected to the mandrel assembly, which includes the aforementioned blade shank 630 and a cutting blade.

[0066] In one embodiment, the surgical instrument is non-removable, and the drive assembly 140 is located within the handle 100.

[0067] In another embodiment, the surgical instrument is detachable and includes a front end assembly and a handle 100. The handle 100 includes a handle assembly and a housing assembly, the handle assembly being releasably closed by the housing assembly. The housing assembly is detachably assembled to the front end assembly to connect the front end assembly and the handle assembly and to prevent bacteria from the handle assembly from entering the front end assembly. A motor 144 is disposed on the handle assembly, a lead screw and nut structure 141 is disposed on the front end assembly, and the housing assembly is provided with a first coupling. The motor 144 has a drive shaft, and the lead screw 142 is connected to a transmission shaft. After the front end assembly is mounted on the housing assembly, the drive shaft is connected to the transmission shaft via the first coupling so that the motor can drive the lead screw 142. In response to the drive of the motor 144, the lead screw 142 can rotate to drive the nut 143 to move in the axial direction.

[0068] In both the non-removable and removable embodiments, the surgical instrument further includes a drive device and a power source for powering the drive device. The drive device is used to drive the shaft assembly 120 to move in order to drive the cutting blade assembly and / or drive the jaw assembly 130 to move. Specifically, the drive device includes a cutting blade drive mechanism, a jaw drive mechanism, and a clutch mechanism. The power source selectively drives the cutting blade drive mechanism and the jaw drive mechanism through the clutch mechanism. When the power source drives the jaw drive mechanism, it drives the sleeve to move, thereby driving the anvil to pivot relative to the staple cartridge seat to achieve the opening and closing of the jaw assembly. When the power source drives the cutting blade drive mechanism, it drives the cutting blade assembly to move forward to achieve firing and to move backward to achieve blade retraction. The power source can be a manually operated handle or a motor. The aforementioned jaw drive mechanism, cutting blade drive mechanism, and power source are all prior art. For specific structural components, please refer to the applicant's prior application CN202010365525.0, which will not be repeated here.

[0069] It should be noted that the above embodiments use a stapler as an example to illustrate surgical instruments, and the above embodiments can be applied to other surgical instruments with jaw assemblies.

[0070] In summary, the surgical instrument in this embodiment forms a multi-link positioning frame 530 by setting up the linkage assembly 500 and the positioning part, and combining the connection part of the first linkage 420 and the steering component 300. By positioning the positioning frame 530, which includes a part of the steering component 300, the positioning of the steering component 300 is achieved, thus avoiding the problem of unstable angle of the jaw assembly 130 and angle deviation.

[0071] 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.

[0072] 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, include: Jaw assembly; handle; A base, which is connected to the handle; A steering component, the proximal end of which is pivotally connected to the seat, and the distal end of which is connected to a jaw assembly; The drive assembly is located within the handle; A tie rod assembly, the distal end of which is rotatably connected to a first hinge point of the steering member, and the proximal end of which is rotatably connected to the drive assembly, wherein, in response to a drive by the drive assembly, the tie rod assembly moves to drive the steering member to rotate, thereby causing the jaw assembly to rotate; A linkage assembly, the distal end of which is rotatably connected to a second hinge point of the steering element, and the proximal end of which is rotatably connected to a third hinge point of the tie rod assembly; the first hinge point is located on one side of the pivot center of the steering element, and the second hinge point is located on the other side of the pivot center of the steering element; the steering element includes a connecting portion located between the first hinge point and the second hinge point, and the tie rod assembly includes a rod body portion located between the first hinge point and the third hinge point; the rod body portion, the connecting portion, and the linkage assembly form a positioning frame; The positioning unit positions the positioning frame, thereby positioning the steering component; The linkage assembly includes a second link and a third link, the distal end of the second link being rotatably connected to a second hinge point of the steering component; one end of the third link is rotatably connected to the proximal end of the second link, and the other end is rotatably connected to the third hinge point; The positioning part positions the third link, thereby positioning the positioning frame.

2. The surgical instrument according to claim 1, characterized in that, The pull rod assembly includes a pull rod and a first connecting rod. The distal end of the first connecting rod is rotatably connected to the first hinge point of the steering member, and the proximal end is rotatably connected to the fourth hinge point at the distal end of the pull rod. The proximal end of the pull rod is connected to the drive assembly. In response to the drive assembly, the pull rod moves to drive the first connecting rod to rotate the steering member, thereby causing the jaw assembly to rotate. The rod body includes the portion of the first connecting rod and the pull rod located between the fourth hinge point and the third hinge point.

3. The surgical instrument according to claim 2, characterized in that, The third hinge point and the fourth hinge point have their axes coincide, and the rod body is the first connecting rod.

4. The surgical instrument according to claim 3, characterized in that, The positioning frame is quadrilateral in shape.

5. The surgical instrument according to claim 4, characterized in that, The positioning frame is parallelogram in shape, the first connecting rod is parallel to the second connecting rod, and the third connecting rod is parallel to the connecting part.

6. The surgical instrument according to claim 2, characterized in that, The third hinge point is spaced apart from the fourth hinge point, and the third hinge point is located near the fourth hinge point.

7. The surgical instrument according to claim 6, characterized in that, The positioning frame is pentagonal in shape.

8. The surgical instrument according to claim 1, characterized in that, The positioning part includes a limiting groove disposed in the base body, and a positioning shaft is disposed in the middle of the third link, the positioning shaft being movably accommodated in the limiting groove; the limiting groove has a limiting wall, the limiting wall blocking the movement of the third link to position the third link.

9. The surgical instrument according to claim 8, characterized in that, The limiting groove extends along the width direction of the seat.

10. The surgical instrument according to claim 8, characterized in that, The limiting wall is an arc-shaped wall.

11. The surgical instrument according to claim 1, characterized in that, The drive assembly includes a motor, a lead screw connected to the motor, and a nut threadedly connected to the lead screw; the proximal end of the pull rod assembly is connected to the nut; in response to the drive of the motor, the lead screw drives the nut to move linearly to drive the pull rod assembly to move.

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