A driving locking structure for surgical instruments and surgical instruments

Abstract

The present invention discloses a driving locking structure and surgical instrument for surgical instruments, and relates to the technical field of surgical instruments. It includes a coaxially arranged steering shaft assembly and a rotating disk, and a receiving groove is formed between the steering shaft assembly and the rotating disk; the receiving groove has a locking groove and a release groove; a locking member is arranged in the receiving groove, and when the steering shaft assembly rotates, the locking member is driven to move to the release groove, and when the locking member is located in the release groove, the steering shaft assembly can drive the rotating disk to rotate; a locking actuator is also arranged to apply a force to the locking member to move to or remain in the locking groove; when the steering shaft assembly stops rotating, the locking actuator moves the locking member into the locking groove, and the steering shaft assembly cannot drive the rotating disk to rotate. The driving locking structure and surgical instrument provided by the present invention can improve the swing angle control accuracy and stability of the end actuator, and can meet specific surgical requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical instruments, and in particular to a driving locking structure for surgical instruments and the surgical instruments. Background Art

[0002] Staplers are commonly used in endoscopic surgical instruments to replace traditional open surgical devices, because smaller incisions often shorten postoperative recovery time and reduce complications. Therefore, a series of endoscopic surgical instruments suitable for accurately placing the distal effector through the cannula of the cannula needle at the desired surgical site have been developed. These distal effectors enter the tissue in several ways to achieve diagnostic or therapeutic effects.

[0003] As the most commonly used minimally invasive surgical instrument, the stapler needs to use an endoscope at any time to adjust the positioning of the end effector and accurately and firmly lock it according to the characteristics of the operation. It is not limited to insertion and transmission.

[0004] At present, the adjustment of the angle of the stapler end effector is controlled by a joint motion mechanism, and the unlocking and locking of the joint motion control mechanism is controlled by a knob assembly. However, in the prior art, although the knob assembly can control the unlocking and locking of the joint motion mechanism, its locking effect is not very good. Often when contacting the tissue, the tissue gives a reaction force to the joint, causing the joint to swing, making it unable to contact the tissue at the optimal angle to achieve tissue anastomosis cutting. Summary of the invention

[0005] The object of the present invention is to provide a driving locking structure for a surgical instrument, which can lock the end actuator of a stapler and can enhance the locking effect based on the locking angle of the knob.

[0006] In order to solve the above technical problems, the present invention provides a driving locking structure for a surgical instrument, which is used to control the rotation and locking of an end effector of the surgical instrument, comprising:

[0007] A steering shaft assembly and a rotating disk, wherein the steering shaft assembly and the rotating disk are coaxially arranged, and the steering shaft assembly is used to drive the rotating disk to rotate;

[0008] The steering shaft assembly has a first end surface, the rotating disk has a second end surface, and a receiving groove is formed between the first end surface and the second end surface; the receiving groove has a locking groove and a releasing groove;

[0009] A locking member is arranged in the accommodating groove, and when the steering shaft assembly rotates, the locking member is driven to move to the releasing groove. When the locking member is located in the releasing groove, the steering shaft assembly can drive the rotating disk to rotate;

[0010] The second end surface is provided with a locking actuator, which applies a force to the locking member to move it to or remain in the locking groove; when the steering shaft assembly stops rotating, the locking actuator causes the locking member to move into the locking groove, and the steering shaft assembly cannot drive the rotating disk to rotate.

[0011] Optionally, the accommodating groove includes a first accommodating groove and a second accommodating groove that are symmetrically arranged, and the locking member includes a first locking member accommodated in the first accommodating groove and a second locking member accommodated in the second accommodating groove; the first locking member controls the rotation and locking of the rotating disk along a first direction, and the second locking member controls the rotation and locking of the rotating disk along a second direction, and the second direction is opposite to the first direction.

[0012] Optionally, when the first locking member is located in the locking groove of the first receiving groove, the steering shaft assembly cannot drive the rotating disk to rotate along the first direction; when the first locking member is located in the releasing groove of the first receiving groove, the steering shaft assembly can drive the rotating disk to rotate along the first direction;

[0013] When the second locking member is located in the locking groove of the second accommodating groove, the steering shaft assembly cannot drive the rotating disk to rotate along the second direction; when the second locking member is located in the release groove of the second accommodating groove, the steering shaft assembly can drive the rotating disk to rotate along the second direction.

[0014] Optionally, the locking member is a spherical ball, and a locking groove is provided between the locking groove and the release groove, and the groove width of the locking groove is slightly smaller than the diameter of the locking member.

[0015] Optionally, the locking member is made of ferromagnetic material, and the locking actuator is made of magnetic material to attract the locking member.

[0016] Optionally, the groove wall on one side or both sides of the locking groove is an elastic protrusion, one end of the elastic protrusion is fixedly connected to the rotating disk through an elastic member, and the other end extends into the accommodating groove, when the locking actuator drives the locking member to move from the release groove to the locking groove, the locking groove is squeezed by the locking member and deformed, so that the locking member can pass through the locking groove.

[0017] Optionally, the groove walls on one side or both sides of the locking groove are made of deformable material. When the locking actuator drives the locking member to move from the release groove to the locking groove, the locking groove is squeezed by the locking member and deformed, so that the locking member can pass through the locking groove.

[0018] Optionally, the steering shaft assembly is provided with a driving member, the driving member partially extends into the accommodating groove, and the driving member pushes the locking member to move from the locking groove to the releasing groove.

[0019] Optionally, the drive locking structure also includes an upper rotating head, an upper cover and a rotating dial button, a receiving cavity is provided between the upper rotating head and the upper cover, the receiving cavity is used to accommodate the steering shaft assembly and the rotating disk, the steering shaft assembly is provided with a center shaft, the rotating dial button is provided with a fixing hole, the center shaft passes through the upper cover and extends into the fixing hole of the rotating dial button; the center shaft is provided with a through hole, the rotating dial button is provided with a pin, the pin is passed through the through hole to connect the rotating dial button with the steering shaft assembly.

[0020] Optionally, the steering shaft assembly is provided with a driving block, and the rotating disk is provided with a driving groove for accommodating the driving block.

[0021] Optionally, the driving block comprises a rotating part and a driving part connected to each other, the rotating part has an arc-shaped mating surface, and the driving part has a planar driving surface.

[0022] Optionally, the driving surface includes a first driving surface connected to one end of the matching surface and a second driving surface connected to the other end of the matching surface;

[0023] When the locking member is located in the locking groove, a first gap is formed between the first driving surface and the driving groove, and a second gap is formed between the second driving surface and the driving groove;

[0024] When the locking member is located in the release slot, the first driving surface abuts against the driving slot or the second driving surface abuts against the driving slot.

[0025] Optionally, when the first driving surface abuts the driving groove, the steering shaft assembly drives the rotating disk to rotate in a first direction, and when the second driving surface abuts the driving groove, the steering shaft assembly drives the rotating disk to rotate in a second direction, and the second direction is opposite to the first direction.

[0026] The present invention provides a drive locking structure for surgical instruments, which is formed by setting a receiving groove between a steering shaft assembly and a rotating disk, wherein the receiving groove has a locking groove and a release groove, so that the locking member moves to or remains in the locking groove under the action of a locking actuator, thereby locking the rotating disk.

[0027] The present invention also provides a surgical instrument, comprising a pull rod assembly, an end actuator arranged at one end of the pull rod assembly, and a handle assembly arranged at the other end of the pull rod assembly, and also comprising a drive locking structure as described above connected to the pull rod assembly, wherein the drive locking structure is used to control the rotation and locking of the end actuator relative to the pull rod assembly.

[0028] Optionally, the pull rod assembly includes a first rod and a second rod arranged in parallel and at intervals, the rotating disk drives the first rod and the second rod to move forward and backward through a first motion conversion member, and the first rod and the second rod move forward and backward to drive the end actuator to rotate through a second motion conversion member.

[0029] Optionally, the first motion conversion member includes a first slider and a second slider, the first slider is fixedly connected to the end of the first rod, and the second slider is fixedly connected to the end of the second rod;

[0030] The rotating disk is provided with a first connecting column and a second connecting column, the first sliding block is provided with a first accommodating hole for accommodating the first connecting column, the second sliding block is provided with a second accommodating hole for accommodating the second connecting column, and the first connecting column and the second connecting column are symmetrically arranged relative to the rotation center of the rotating disk.

[0031] Optionally, the second motion conversion member includes a steering seat and a steering sleeve.

[0032] The steering seat is provided with a third connecting column and a fourth connecting column, the end of the first rod is provided with a first connecting hole, and the end of the second rod is provided with a second connecting hole;

[0033] The third connecting column is received in the first connecting hole, so that the first rod can rotate around the third connecting column;

[0034] The fourth connecting column is received in the second connecting hole, so that the second rod can rotate around the fourth connecting column;

[0035] One end of the steering sleeve is clamped with the steering seat, and the other end is fixedly connected with the end actuator.

[0036] Optionally, it also includes a shaft sleeve,

[0037] The first rod and the second rod are both provided with a first tooth structure on the opposite outer sides.

[0038] A second tooth structure is provided on opposite sides of the shaft sleeve, and the second tooth structure is respectively engaged with the first tooth structure of the first rod member and the second rod member.

[0039] Optionally, the first rod and the second rod are both provided with a third tooth structure on their inner sides.

[0040] A gear is disposed between the first rod and the second rod, and the gear is meshed with the third tooth structures of the first rod and the second rod.

[0041] Optionally, the number of the gears is one or more, and the plurality of gears are arranged at equal intervals in the length direction of the pull rod assembly.

[0042] The surgical instrument provided by the present invention controls the rotation angle of the rotating disk through the cooperation among the steering shaft assembly, the rotating disk, the locking actuator and the locking member, thereby controlling the rotation angle of the end actuator. By turning the rotating dial, the rotating disk is rotated to different positions, thereby causing the end actuator to rotate to different positions. Through the cooperation between the locking actuator and the locking member, the rotating disk is locked at any position during the rotation process, thereby causing the end actuator to be locked at any position during the rotation process, thereby achieving the purpose of accurately clamping the target tissue.

[0043] Furthermore, the present invention provides a surgical instrument, which has first tooth structures on the relative outer sides of the first rod and the second rod to mesh with the second tooth structures on the relative sides of the inside of the shaft sleeve, and a gear is provided between the first rod and the second rod to mesh with the third tooth structures on the relative inner sides of the first rod and the second rod, thereby strengthening the structural strength of the first rod and the second rod and preventing the end actuator from shaking when contacting the tissue, thereby solving the problem that the tissue will give the end actuator a reaction force, causing the end actuator to swing and making it unable to cut the tissue at the optimal angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the prior art and the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 A schematic diagram of the overall structure of a surgical instrument provided by the present invention;

[0046] Figure 2 It is an exploded schematic diagram of a driving locking structure and related parts of a surgical instrument of the present invention;

[0047] Figure 3 It is an exploded schematic diagram of a driving locking structure and related parts of a surgical instrument of the present invention;

[0048] Figure 4 It is an exploded schematic diagram of a steering shaft assembly, a rotating disk and a rotating dial knob of a surgical instrument of the present invention;

[0049] Figure 5 It is a schematic cross-sectional view of the overall structure of a surgical instrument of the present invention;

[0050] Figure 6 for Figure 5 A schematic cross-sectional view of part A is shown;

[0051] Figure 7 for Figure 5 The internal structure diagram of part A is shown;

[0052] Figure 8 for Figure 7 The structural schematic diagram of part B is shown;

[0053] Fig. 9 It is a schematic cross-sectional view of the overall structure of a surgical instrument of the present invention;

[0054] Fig.10 for Fig. 9 The schematic diagram of the structure of the C part is shown;

[0055] Fig.11 for Fig. 9 The structural schematic diagram of the D part is shown;

[0056] Fig.12 It is a schematic diagram of a surgical instrument and a rotary dial structure of the present invention;

[0057] Fig.13 for Fig.12 The structural schematic diagram of the F part is shown;

[0058] Fig.14 for Fig.13 A schematic structural diagram of the first accommodating groove in;

[0059] Fig.15 It is a structural schematic diagram of a surgical instrument and a connection between an end effector of the present invention;

[0060] Fig.16 for Fig.15 The structural schematic diagram of the E part is shown;

[0061] Fig.17 It is a structural schematic diagram of a surgical instrument and a connection between an end effector of the present invention;

[0062] Fig.18 for Fig.17 The structural schematic diagram of the G part is shown;

[0063] Fig.19 is a schematic structural diagram of a drive locking structure in another embodiment of the present invention;

[0064] Fig. 20 for Fig.19 Schematic diagram of the cross section along the horizontal direction;

[0065] Fig.21 for Fig.19 A schematic cross-sectional view of a shaft sleeve in a drive locking structure shown;

[0066] Fig. 22 is a structural schematic diagram of a drive locking structure in yet another embodiment of the present invention;

[0067] Fig.23 for Fig. 22 An exploded schematic diagram of a drive locking structure;

[0068] Fig.24 for Fig. 22 A schematic cross-sectional view of a locking member and a locking actuator in a vertical direction;

[0069] Fig.25 for Fig. 22 A schematic cross-sectional view of a locking member and a locking actuator in a vertical direction;

[0070] Fig.26 for Fig. 22 A schematic cross-sectional view of a locking member and a locking actuator in a horizontal direction;

[0071] Fig. 27 for Fig. 22 A schematic cross-sectional view of the locking member and the locking movable member in the horizontal direction. DETAILED DESCRIPTION

[0072] The core of the present invention is to provide a surgical instrument and its drive locking structure to solve the problem that the locking effect of the end actuator of the surgical instrument in the prior art is poor. When contacting the tissue, the tissue gives a reaction force to the end actuator, causing the end actuator to swing, making it unable to contact the tissue at the optimal angle to achieve tissue anastomosis cutting.

[0073] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0074] Please refer to Figure 1-Figure 18 , Figure 1 A schematic diagram of the overall structure of a surgical instrument provided by the present invention. A surgical instrument provided by the present invention includes a pull rod assembly 12, an end actuator 13 and a handle assembly 14. The end actuator 13 is arranged at one end of the pull rod assembly 12 away from the handle assembly 14. The handle assembly 14 is arranged at the other end of the pull rod assembly 12. A surgical instrument provided by the present invention also includes a drive locking structure connected to the pull rod assembly 12. The drive locking structure is used to control the rotation and locking of the end actuator 13 relative to the pull rod assembly 12.

[0075] The pull rod assembly 12 includes a shaft sleeve 16 and a first rod 121 and a second rod 122 disposed inside the shaft sleeve 16. The handle assembly 14 includes a housing, a fixed handle and a closing trigger, which can be manipulated to position and close the end actuator 13.

[0076] The end actuator 13 includes a nail magazine seat (not shown) and an anvil (not shown) pivotally connected to the nail magazine seat, the nail magazine seat is used to operably support the nail magazine assembly (not shown) located therein, and the anvil can selectively move between an open position and a closed position. Specifically, the anvil is movably connected to one end of the shaft sleeve 16, and when the pull rod assembly 12 moves in a direction away from the handle assembly 14, the anvil is driven to pivot upward to open; when the pull rod assembly 12 moves in a direction close to the handle assembly 14, the anvil is driven to pivot downward to close.

[0077] When the surgical instrument is used, the closing trigger is pressed toward the handle assembly 14, and the closing trigger drives the pull rod assembly 12 to move forward through the transmission mechanism so that the anvil pivots downward and then closes the end effector 13 to position and clamp the tissue. When the tissue to be treated enters between the staple cartridge seat and the anvil, the surgeon can press the closing trigger until it is locked, so that the anvil is in the closed position, that is, the end effector 13 is in the closed state.

[0078] like Figure 2 , Figure 16-18 As shown, the pull rod assembly 12 also includes a first rod 121 and a second rod 122 arranged in parallel and spaced apart. The rotating disk 3 drives the first rod 121 and the second rod 122 to move forward and backward through the first motion conversion member 5. The first rod 121 and the second rod 122 move forward and backward and then drive the end actuator 13 to rotate through the second motion conversion member 15.

[0079] like Figure 2As shown, the first motion conversion member 5 includes a first slider 51 and a second slider 52. The first slider 51 is fixedly connected to the end of the first rod 121. The second slider 52 is fixedly connected to the end of the second rod 122. Optionally, a protruding clamping structure (not shown) is provided at the end of the first rod 121 and the second rod 122, and a groove clamping structure (not shown) is provided at the corresponding position of the first slider 51 and the second slider 52. During assembly, the protruding clamping structure is clamped into the groove clamping structure, thereby realizing the fixed connection between the first slider 51 and the first rod 121, and the connection between the second slider 52 and the second rod 122 is similar. A first accommodating hole (not shown) is provided on the upper part of the first slider 51, and a second accommodating hole (not shown) is provided on the second slider 52. The lower end surface 303 of the rotating disk 3 is provided with a first connecting column 31 and a second connecting column 32, and the first connecting column 31 and the second connecting column 32 are symmetrically arranged relative to the rotation center of the rotating disk 3. After assembly, the first connecting column 31 extends into and is received in the first receiving hole, and the second connecting column 32 extends into and is received in the second receiving hole. Thus, when the rotating disk 3 rotates, the first connecting column 31 and the second connecting column 32 will move with the rotation center of the rotating disk 3 as the rotation center, and then abut against the hole walls of the first receiving hole and the second receiving hole, thereby driving the first slider 51 and the second slider 52 to move forward and backward.

[0080] Thus, when the rotating disk 3 rotates in the first direction, the first connecting column is driven to move in the first receiving hole and the second connecting column is driven to move in the second receiving hole, so that the first rod 121 moves forward and the second rod 122 moves backward; when the rotating disk 3 rotates in the second direction, the first connecting column is driven to move in the opposite direction in the first receiving hole and the second connecting column is driven to move in the opposite direction in the second receiving hole, so that the first rod 121 moves backward and the second rod 122 moves forward. The first direction and the second direction are opposite. The first motion conversion member 5 in this embodiment has a simple structure and reliable operation. Through the first motion conversion member 5, the rotation of the rotating disk 3 can be transmitted to the first rod 121 and the second rod 122.

[0081] like Figure 2 , Figure 16-18 As shown, the second motion conversion member 15 includes a steering seat 8 and a steering sleeve 9. One end of the steering sleeve 9 is clamped with the steering seat 8, and the other end is fixedly connected to the end effector 13. The pull rod assembly 12 is connected to the end effector 13 through the steering seat 8 and the steering sleeve 9. Specifically, the steering seat 8 is provided with a third connecting column 81 and a fourth connecting column 82. The first rod 121 and the second rod 122 are respectively provided with a first connecting hole 123 and a second connecting hole 124 at one end away from the handle assembly 14.

[0082] The extension direction of the first connecting hole 123 and the second connecting hole 124 is perpendicular to the extension direction of the first rod 121 and the second rod 122. The third connecting column 81 is received in the first connecting hole 123 and can move in the first connecting hole 123, so that the first rod 121 can rotate around the third connecting column 81; the fourth connecting column 82 is received in the second connecting hole 124 and can move in the second connecting hole 124, so that the second rod 122 can rotate around the fourth connecting column 82. When the first rod 121 moves forward and the second rod 122 moves backward, the second motion conversion member 15 converts the front-to-back movement of the first rod 121 and the second rod 122 into the rotation of the end effector 13 along the first direction; when the first rod 121 moves backward and the second rod 122 moves forward, the second motion conversion member 15 converts the front-to-back movement of the first rod 121 and the second rod 122 into the rotation of the end effector 13 along the second direction. The second motion conversion member 15 in this embodiment has a simple structure and reliable operation. The second motion conversion member 15 can convert the forward and backward motion of the first rod 121 and the second rod 122 into the swing of the end effector 13 .

[0083] like Figure 2 , Fig.11 , Fig.16 As shown, a surgical instrument provided by the present invention further has a shaft sleeve 16 disposed on the outer side of the pull rod assembly 12. The shaft sleeve 16 is a tubular structure, and the first rod member 121 and the second rod member 122 of the pull rod assembly 12 are inserted into the tube. A second tooth structure 161 is disposed on the opposite sides of the interior of the shaft sleeve 16. The first rod member 121 and the second rod member 122 are both disposed on the opposite outer sides thereof. The second tooth structure 161 is meshed with the first tooth structures 125 of the first rod member 121 and the second rod member 122, respectively. Optionally, the position, length or number of the second tooth structure 161 and the first tooth structure 125 can be selected and set by those skilled in the art according to the actual usage scenario. Optionally, as Fig.16As shown, the second tooth structure 161 and the first tooth structure 125 are arranged at positions close to the end effector 13. It should be understood that the second tooth structure 161 and the first tooth structure 125 can be respectively arranged as multi-section structures, for example, a section of the second tooth structure 161 is respectively arranged at one end of the pull rod assembly 12 close to the handle assembly 14, at the middle position, and at a position close to the end effector 13, and the first tooth structure 125 is respectively arranged at positions corresponding to the first rod 121 and the second rod 122, so that when the first rod 121 and the second rod 122 move forward and backward in the shaft sleeve 16, the second tooth structure 161 is kept in mesh with the first tooth structure 125, thereby strengthening the structural strength of the first rod 121 and the second rod 122, preventing the end effector 13 from shaking when in contact with the tissue, thereby solving the problem that the tissue will give a reaction force to the end effector 13, causing the end effector 13 to swing, so that it cannot match and cut the tissue at the optimal angle.

[0084] Furthermore, if Figure 2 , Fig.11 , Fig.16 , Figure 19-21 As shown, the present invention provides a surgical instrument, wherein the inner sides of the first rod 121 and the second rod 122 are both provided with a third tooth structure 126. A gear 17 is provided between the first rod 121 and the second rod 122. The gear 17 is meshed with the third tooth structure 126 of the first rod 121 and the second rod 122. Optionally, as Fig.16 As shown, the positions of the gear 17 and the third tooth structure 126 are set at a position close to the end actuator 13. It should be understood that the gear 17 and the third tooth structure 126 can be set as one group or multiple groups. When the number of gears 17 is multiple, the multiple gears 17 are arranged at equal intervals in the length direction of the pull rod assembly 12. For example, a group of gears 17 and the third tooth structure 126 are respectively set at one end of the pull rod assembly 12 close to the handle assembly 14, at the middle position, and at a position close to the end actuator 13, so that when the first rod 121 and the second rod 122 move back and forth in the shaft sleeve 16, the gear 17 and the third tooth structure 126 remain engaged, thereby further strengthening the structural strength of the first rod 121 and the second rod 122, and preventing the end actuator 13 from shaking when it contacts the tissue.

[0085] The present invention provides a surgical instrument, which has first tooth structures 125 arranged on the relative outer sides of a first rod 121 and a second rod 122 to mesh with second tooth structures 161 on the relative sides inside a shaft sleeve 16, and a gear 17 is arranged between the first rod 121 and the second rod 122 to mesh with third tooth structures 126 on the relative inner sides of the first rod 121 and the second rod 122, so that meshing tooth structures are added to the inner and outer sides of the first rod 121 and the second rod 122, thereby strengthening the structural strength of the first rod 121 and the second rod 122, preventing the first rod 121 and the second rod 122 from being deformed due to the reaction force of the tissue when the end actuator 13 contacts the tissue, that is, avoiding the situation where the end actuator 13 shakes or swings in a locked state and the position is not stable and accurate enough. The surgical instrument provided by the present invention solves the problem that tissue may exert a reaction force on the end effector 13, thereby causing the end effector to swing and making it unable to cut the tissue at the optimal angle, thereby meeting specific surgical requirements.

[0086] like Figure 19-21 As shown, the gear 17 is provided as a group and is provided at a position close to the end actuator 13, meshing with the gear 17 and the third tooth structure 126 of the first rod 121 and the second rod 122. The first tooth structure 125 is provided at the relative outer sides of the first rod 121 and the second rod 122, close to the end actuator 13. The distance between the first tooth structure 125 and the end actuator 13 is greater than the distance between the third tooth structure 126 and the end actuator 13. The second tooth structure 161 is provided on the opposite sides of the shaft sleeve 16. Optionally, the second tooth structure 161 can also be an annular tooth structure, the purpose of which is to be able to mesh with the first tooth structure 125 on the outer sides of the first rod 121 and the second rod 122 at the same time, so as to limit the first rod 121 and the second rod 122 and prevent the first rod 121 and the second rod 122 from bending and deformation.

[0087] To achieve instant locking of the swing position of the end effector 13, please combine Figure 1-Figure 10 as well as Figure 12-14 The present invention also provides a driving locking structure for the surgical instrument, which is used to control the rotation and locking of the end effector 13 of the surgical instrument. Specifically, the driving locking structure includes: a rotating dial 1, a steering shaft assembly 2, a rotating disk 3, an upper rotating head 4, and an upper cover 11. The steering shaft assembly 2 and the rotating disk 3 are coaxially arranged, and the steering shaft assembly 2 is used to drive the rotating disk 3 to rotate.

[0088] like Figure 6 , Figure 8 , Fig.13 , Fig.14As shown, the steering shaft assembly 2 has a first end face 201, the rotating disk 3 has a second end face 301, and a receiving groove 100 is formed between the first end face 201 and the second end face 301. Optionally, the receiving groove 100 is located at the second end face 301 of the rotating disk 3. The receiving groove 100 has a locking groove 101 and a release groove 102. A locking member 6 is arranged in the receiving groove 100. When the steering shaft assembly 2 rotates, the locking member 6 is driven to move from the locking groove 101 to the release groove 102. When the locking member 6 is located in the release groove 102, the steering shaft assembly 2 can drive the rotating disk 3 to rotate, and then the end actuator 13 can be driven to rotate through the first motion conversion member 5 and the second motion conversion member 15.

[0089] The second end surface 301 is provided with a locking actuator 7. The locking actuator 7 applies a force to the locking member 6 to move it to or remain in the locking groove 101. When the steering shaft assembly 2 stops rotating, the locking actuator 7 moves the locking member 6 into the locking groove 101, and the steering shaft assembly 2 cannot drive the rotating disk 3 to rotate. Specifically, the material of the locking member 6 is a ferromagnetic material, and the material of the locking actuator 7 is a magnetic material for attracting the locking member 6. The locking actuator 7 is arranged at a position close to the locking groove 101 to generate a magnetic attraction force on the locking member 6, so that the locking member 6 moves to or remains in the locking groove 101 when no external force is applied. Optionally, the locking member 6 is a spherical ball made of steel, and the locking actuator 7 is a magnet block. The design of the spherical ball makes it easy to move in the locking groove 101 and the release groove 102.

[0090] Specifically, the accommodating groove 100 includes a first accommodating groove 103 and a second accommodating groove 104 which are symmetrically arranged. The locking member 6 includes a first locking member 61 and a second locking member 62. The first locking member 61 is accommodated in the first accommodating groove 103. The first locking member 61 is used to control the rotation and locking of the rotating disk 3 along a first direction. The second locking member 62 is accommodated in the second accommodating groove 104. The second locking member 62 is used to control the rotation and locking of the rotating disk 3 along a second direction. The second direction is opposite to the first direction.

[0091] When the first locking member 61 is located in the locking groove 101 of the first receiving groove 103, it is in a locked state, and at this time, the steering shaft assembly 2 cannot drive the rotating disk 3 to rotate along the first direction. When the first locking member 61 is located in the release groove 102 of the first receiving groove 103, it is in a released state, and at this time, the steering shaft assembly 2 can drive the rotating disk 3 to rotate along the first direction.

[0092] When the second locking member 62 is located in the locking groove 101 of the second accommodating groove 104, it is in a locked state. At this time, the steering shaft assembly 2 cannot drive the rotating disk 3 to rotate along the second direction; when the second locking member 62 is located in the release groove 102 of the second accommodating groove 104, it is in a released state. At this time, the steering shaft assembly 2 can drive the rotating disk 3 to rotate along the second direction.

[0093] That is to say, when the first locking member 61 and the second locking member 62 are in their release grooves 102, if there is no other external force, the locking actuator 7 will cause the first locking member 61 and the second locking member 62 to move from the release groove 102 to the locking groove 101; the first locking member 61 and the second locking member 62 need to overcome the force of the locking actuator 7 to move from the locking groove 101 to the release groove 102.

[0094] Therefore, the locking actuator 7 applies a force to the first locking member 61 and the second locking member 62 to keep them in the locking groove 101, so that the first locking member 61 and the second locking member 62 are located in the locking groove 101 in time. At this time, the first locking member 61 and the second locking member 62 are stuck in the locking groove 101 under the action of the locking actuator 7, realizing wedge-shaped self-locking; in this state, the front end of the end actuator 13 cannot overcome the self-locking of the driving locking structure due to the stress of the cutting match, so that the steering shaft assembly 2 and the end actuator 13 are locked in the stop position in time, realizing instant locking of the end actuator 13.

[0095] like Fig.13 and Fig.14 As shown, there is also a locking groove 105 between the locking groove 101 and the release groove 102. The groove width of the locking groove 105 is slightly smaller than the diameter of the locking member 6. Through the design of the locking groove 105, the possibility that the locking member 6 will spontaneously move from the locking groove 101 to the release groove 102 in some cases can be avoided or reduced. These situations may be weakened magnetic attraction of the locking actuator 7, tilting, vibration, collision of the surgical instrument, etc. Through the design of the locking groove 105, the stability of the locking of the end effector 13 can be increased.

[0096] Optionally, the groove wall on one or both sides of the positioning groove 105 is an elastic protrusion (not shown). One end of the elastic protrusion is fixedly connected to the rotating disk 3 through an elastic member (not shown), and the other end extends into the accommodating groove 100. When the elastic groove wall of the positioning groove 105 is squeezed, it will deform in a direction perpendicular to the groove wall, thereby increasing the groove width of the positioning groove 105 and making it easier for the spherical ball of the locking member 6 to pass through. That is, when the locking actuator 7 drives the locking member 6 to move from the release groove 102 to the locking groove 101, the positioning groove 105 is squeezed by the locking member 6 and deformed, so that the locking member 6 can pass through the positioning groove 105.

[0097] In another optional embodiment, the groove wall on one or both sides of the positioning groove 105 is made of a deformable material. When the locking actuator 7 drives the locking member 6 to move from the release groove 102 to the locking groove 101, the positioning groove 105 is squeezed by the locking member 6 and deformed, so that the locking member 6 can pass through the positioning groove 105. For example, the groove wall at the positioning groove 105 is made of rubber material. That is, when the locking actuator 7 drives the locking member 6 to move from the release groove 102 to the locking groove 101, the positioning groove 105 is squeezed by the locking member 6 and deformed, so that the locking member 6 can pass through the positioning groove 105. It should be understood that those skilled in the art can also set other positioning structures, the purpose of which is that the squeezing force of the positioning groove 105 on the locking member 6 is less than the force of the locking actuator 7 on the locking member 6, so that the locking member 6 can move from the release groove 102 to the locking groove 101 under the force of the locking actuator 7.

[0098] like Figure 2-Figure 8 and Fig.13 As shown, the first end surface 201 of the steering shaft assembly 2 is provided with a driving member 208. The number of the driving members 208 is 2. Optionally, the driving member 208 is a columnar member. The two driving members 208 are partially extended into the receiving groove 100 respectively, and can abut against the locking member 6. When the steering shaft assembly 2 rotates, the driving member 208 can push the locking member 6 to move from the locking groove 101 to the release groove 102. The two driving members 208 are arranged at intervals in the circumferential direction.

[0099] Specifically, the steering shaft assembly 2 is in the shape of a disk, and the other end face of the steering shaft assembly 2 relative to the first end face 201 is provided with a central shaft 206, and the central shaft 206 is provided with a through hole 2061. During assembly, the central shaft 206 extends into the groove at the center of the rotary dial 1, and then a pin passes through the fixing hole 18 and the through hole 2061 on the rotary dial 1, so that the steering shaft assembly 2 is fixedly connected to the rotary dial 1. When the rotary dial 1 is turned, the steering shaft assembly 2 can be driven to rotate synchronously along the axis direction of the central shaft 206.

[0100] The first end face 201 of the steering shaft assembly 2 is provided with a driving block 202. The second end face 301 of the rotating disk 3 is provided with a driving groove 302. The driving groove 302 is used to accommodate the driving block 202. The driving block 202 extends along the axial direction of the central axis 206 at the first end face 201 of the steering shaft assembly 2 to control the rotation of the rotating disk 3. The driving block 202 includes a rotating portion 203 and a driving portion 204 connected to each other. The rotating portion 203 is arranged at the center position of the steering shaft assembly 2, the rotating portion 203 has an arc-shaped mating surface, and the driving portion 204 has a planar driving surface 205. The driving portion 204 is arranged on the side of the rotating portion 203 away from the mating surface.

[0101] The driving surface 205 includes a first driving surface 2051 and a second driving surface 2052 respectively connected to two ends of the matching surface, and the first driving surface 2051 and the second driving surface 2052 are substantially parallel.

[0102] The steering shaft assembly 2 is an integrally formed component, and its driving block 202 and driving member 208 are integrally arranged with the steering shaft assembly 2, and can also be fixed by other connection methods.

[0103] like Figure 2-Figure 8 and Fig.13 As shown, a driving groove 302 and two receiving grooves 100 are provided on the second end surface 301 of the rotating disk 3. The driving groove 302 is shaped like a groove similar to the driving block 202, so as to be rotatably coupled with the driving block 202.

[0104] like Figure 8 and Fig.13 As shown, when both locking members 6 are located in the locking groove 101, there is a first gap between the first driving surface 2051 of the driving portion 204 and the groove wall of the driving groove 302, and there is a second gap between the second driving surface 2052 of the driving portion 204 and the groove wall on the other side of the driving groove 302, and the first gap and the second gap are symmetrical with respect to the driving portion 204. When the locking member 6 is located in the release groove 102, the first driving surface 2051 abuts against the driving groove 302 or the second driving surface 2052 abuts against the driving groove 302. When the first driving surface 2051 abuts against the driving groove 302, the steering shaft assembly 2 can drive the rotating disk 3 to rotate in the first direction; when the second driving surface 2052 abuts against the driving groove 302, the steering shaft assembly 2 can drive the rotating disk 3 to rotate in the second direction. The second direction is opposite to the first direction.

[0105] Specifically, when the rotating part 203 rotates in the first direction, the driving part 204 rotates accordingly, so that the driving member 208 drives the first locking member 61 to move from the locking groove 101 to the release groove 102, and in this process, the first gap disappears; the rotating part 203 rotates to drive the driving part 204 to abut against the groove wall of the driving groove 302, so that the driving part 204 drives the rotating disk 3 to rotate synchronously. That is, through the design of the first gap, in the process of rotating the rotary knob 1, the locking member 6 is first pushed to the release groove 102 to unlock and release the end actuator 13, and the rotary knob 1 is continuously rotated to control the swing angle of the end actuator 13.

[0106] When the rotating part 203 rotates in the second direction, the driving part 204 rotates accordingly, so that the driving member 208 drives the second locking member 62 to move from the locking groove 101 to the release groove 102, and in this process, the second gap disappears; the rotating part 203 rotates to drive the driving part 204 to abut against the groove wall of the driving groove 302, so that the driving part 204 drives the rotating disk 3 to rotate synchronously. That is, through the design of the second gap, in the process of rotating the rotary knob 1, the locking member 6 is first pushed to the release groove 102 to unlock and release the end actuator 13, and the rotary knob 1 is continuously rotated to control the swing angle of the end actuator 13.

[0107] Therefore, the first gap provides a space for the first locking member 61 to rotate to release its lock, and the second gap provides a space for the second locking member 62 to rotate to release its lock.

[0108] The driving locking structure provided by the present invention, wherein the steering shaft assembly 2, the rotating disk 3 and the rotating dial 1 can be directly assembled in the housing, is intended to fix and limit the steering shaft assembly 2 and the rotating disk 3 so that they can realize the function of rotation. Figure 2-Figure 4 As shown, an upper rotating head 4 and an upper cover 11 are also provided. The upper rotating head 4 is mounted on the outer shell of the surgical instrument, and the upper rotating head 4 and the upper cover 11 are fixedly connected by a buckle. A receiving cavity is provided between the upper rotating head 4 and the upper cover 11 for assembling the steering shaft assembly 2, the rotating disk 3 and the rotating dial 1. During assembly, the steering shaft assembly 2 is provided with a central axis 206. The rotating dial 1 is provided with a fixing hole 18, and the central axis 206 extends into the groove of the rotating dial 1 after passing through the upper cover 11. The central axis 206 is provided with a through hole 2061, and the rotating dial 1 is provided with a pin. The pin is penetrated through the through hole 2061 to connect the rotating dial 1 with the steering shaft assembly 2.

[0109] In another embodiment, Figure 22-Figure 27 As shown, the receiving groove 100 is defined by the rotating disk 3 and the rotating disk limiting ring 33. Two grooves are symmetrically provided on the upper part of the circumference of the rotating disk 3, and the rotating disk limiting ring 33 is disposed on the outer side of the circumference, so that the rotating disk limiting ring 33 can surround the groove, thereby forming two receiving grooves 100 (i.e., the first receiving groove 103 and the second receiving groove 104).

[0110] Optionally, a groove may be provided at a position of the steering shaft assembly 2 corresponding to the accommodating groove 100 , and the groove of the steering shaft assembly 2 , the groove of the rotating disk 3 , and the rotating disk limiting ring 33 together define the accommodating groove 100 .

[0111] exist Figure 22-Figure 27As shown, the locking member 6 can be a cylindrical magnetic member. Correspondingly, the locking actuator 7 can be installed in the lower surface of the steering shaft assembly 2 to generate an adsorption force on the locking member 6. The cylindrical locking member 6 can prevent the locking member 6 from rolling back and forth, providing locking stability; at the same time, the structure of the steering shaft assembly 2 and the rotating disk 3 is simpler, which is convenient for processing and production.

[0112] exist Figure 22-Figure 27 As shown, other components can refer to the diagrams in the accompanying drawings and the descriptions in the aforementioned embodiments. Those skilled in the art can understand their structures and functions based on the diagrams and the contents in the aforementioned embodiments, and they will not be described one by one here.

[0113] The driving locking structure and surgical instrument provided by the present invention have the following rotation and locking processes of the end effector 13:

[0114] When the rotary dial 1 is rotated in the first direction, the rotary dial 1 drives the steering shaft assembly 2 to rotate in the first direction, and the driving block 202 of the steering shaft assembly 2 rotates in the first direction until the driving portion 204 contacts a side wall of the driving groove 302, at which time the first gap disappears. In this process, the driving member 208 pushes the first locking member 61 from the locking groove 101 to the release groove 102. At this time, if the rotary dial 1 continues to be rotated in the first direction, the rotating disk 3 rotates in the first direction under the drive of the steering shaft assembly 2. At this time, the rotating disk 3 drives the first slider 51 to move forward through the first connecting column 31, and the first slider 51 drives the first rod 121 to move forward. At the same time, the rotating disk 3 drives the second slider 52 to move backward through the second connecting column 32, and the second slider 52 drives the second rod 122 to move backward; the first rod 121 moves forward and the second rod 122 moves backward, so that the end actuator 13 rotates in the first direction. During the rotation of the rotary knob 1 in the first direction, due to the magnetic attraction of the locking actuator 7, the second locking member 62 is always located in the locking groove 101, so that the locking of the rotating disk 3 in the second direction is always maintained. When the rotation of the rotary knob 1 in the first direction stops, due to the magnetic attraction of the locking actuator 7, the first locking member 61 is pushed from the release groove 102 to the locking groove 101, and the locking of the rotating disk 3 in the first direction is restored. Due to the effect of the magnetic attraction, the first locking member 61 also pushes the driving member 208 and then pushes the steering shaft assembly 2 together with the rotary knob 1 to rotate in the second direction until the first gap is restored to the state before the rotary knob 1 is rotated. In this way, instant bidirectional locking of the rotating disk 3, the steering shaft assembly 2 and the rotating knob 1 at any position during the rotation along the first direction is achieved, so that the end actuator 13 is locked at the rotation angle corresponding to the above-mentioned arbitrary position, preventing the end actuator 13 from unexpectedly rotating in either the first direction or the second direction at the rotation angle corresponding to the above-mentioned arbitrary position during the operation.

[0115] When the rotary dial 1 is rotated in the second direction, the rotary dial 1 drives the steering shaft assembly 2 to rotate in the second direction, and the driving portion 204 of the steering shaft assembly 2 rotates in the second direction until the driving portion 204 contacts the other side wall of the driving groove 302, at which time the second gap disappears. In this process, the driving member 208 pushes the second locking member 62 from the locking groove 101 to the release groove 102. At this time, if the rotary dial 1 continues to be rotated in the second direction, the rotating disk 3 can be driven by the steering shaft assembly 2 to rotate in the second direction. At this time, the rotating disk 3 drives the second slider 52 to move forward through the second connecting column 32, and the second slider 52 drives the second rod 122 to move forward. At the same time, the rotating disk 3 drives the first slider 51 to move backward through the first connecting column 31, and the first slider 51 drives the first rod 121 to move backward; the second rod 122 moves forward and the first rod 121 moves backward, so that the end actuator 13 rotates in the second direction. During the rotation of the rotary dial 1 in the second direction, due to the magnetic attraction of the locking actuator 7, the first locking member 61 is always located in the locking groove 101, so that the locking of the rotating disk 3 in the first direction is always maintained. When the rotation of the rotary dial 1 in the second direction stops, due to the magnetic attraction of the locking actuator 7, the second locking member 62 is pushed from the release groove 102 to the locking groove 101, and the locking of the rotating disk 3 in the second direction is restored. The second locking member 62 also pushes the driving member 208 and then pushes the steering shaft assembly 2 together with the rotary dial 1 to rotate in the first direction until the second gap is restored to the state before the rotary dial 1 rotates. In this way, the instant bidirectional locking of the rotating disk 3, the steering shaft assembly 2 and the rotary dial 1 in any position during the rotation of the second direction is realized, so that the end actuator 13 is locked at the rotation angle corresponding to the above-mentioned arbitrary position, and the end actuator 13 is prevented from rotating in any direction of the first direction and the second direction at the rotation angle corresponding to the above-mentioned arbitrary position during the operation.

[0116] In summary, the surgical instrument of the present invention controls the rotation angle of the rotating disk 3 through the cooperation between the steering shaft assembly 2, the rotating disk 3, the locking actuator 7 and the locking member 6, thereby controlling the rotation angle of the end actuator 13. By rotating the rotary dial 1, the rotating disk 3 is rotated to different positions, thereby rotating the end actuator 13 to different positions. Through the cooperation of the locking actuator 7 and the locking member 6, the rotating disk 3 is locked at any position during the rotation process, thereby locking the end actuator 13 at any position during the rotation process, so that the purpose of accurately clamping the target tissue can be achieved.

[0117] On the premise of realizing the instant two-way locking function at any position during the rotation process, a first tooth structure 125 is provided on the relative outer sides of the first rod 121 and the second rod 122 to mesh with the second tooth structure 161 on the relative sides inside the shaft sleeve 16. At the same time, a gear 17 is provided between the first rod 121 and the second rod 122 to mesh with the third tooth structure 126 on the relative inner sides of the first rod 121 and the second rod 122, so that meshing tooth structures are added on the inner and outer sides of the first rod 121 and the second rod 122, thereby strengthening the structural strength of the first rod 121 and the second rod 122, preventing the deformation of the first rod 121 and the second rod 122 due to the reaction force of the tissue when the end actuator 13 contacts the tissue, that is, avoiding the situation where the end actuator 13 shakes or swings in the locked state and the position is not stable and accurate enough.

[0118] That is, the surgical instrument provided by the present invention improves the swing angle control accuracy and stability of the end actuator 13, solves the problem that the tissue will exert a reaction force on the end actuator 13, thereby causing the end actuator 13 to swing and making it unable to cut the tissue at the optimal angle, and can meet specific surgical needs.

[0119] It should be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0120] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A driving locking structure for a surgical instrument, used to control the rotation and locking of an end effector of the surgical instrument, characterized in that: include: A steering shaft assembly and a rotating disk, wherein the steering shaft assembly and the rotating disk are coaxially arranged, and the steering shaft assembly is used to drive the rotating disk to rotate; The steering shaft assembly has a first end surface, the rotating disk has a second end surface, and a receiving groove is formed between the first end surface and the second end surface; the receiving groove has a locking groove and a releasing groove; A locking member is arranged in the accommodating groove, and when the steering shaft assembly rotates, the locking member is driven to move to the releasing groove. When the locking member is located in the releasing groove, the steering shaft assembly can drive the rotating disk to rotate; The second end surface is provided with a locking actuator, which applies a force to the locking member to move to or remain in the locking groove; when the steering shaft assembly stops rotating, the locking actuator moves the locking member into the locking groove, and the steering shaft assembly cannot drive the rotating disk to rotate; The locking member is a spherical ball, and there is a locking groove between the locking groove and the release groove, and the groove width of the locking groove is smaller than the diameter of the locking member; the material of the locking member is ferromagnetic material, and the material of the locking actuator is magnetic material, so as to attract the locking member.

2. The drive locking structure for surgical instruments according to claim 1, characterized in that: The accommodating groove includes a first accommodating groove and a second accommodating groove that are symmetrically arranged, and the locking member includes a first locking member accommodated in the first accommodating groove and a second locking member accommodated in the second accommodating groove; the first locking member controls the rotation and locking of the rotating disk along a first direction, and the second locking member controls the rotation and locking of the rotating disk along a second direction, and the second direction is opposite to the first direction.

3. The drive locking structure for surgical instruments according to claim 2, characterized in that: When the first locking member is located in the locking groove of the first receiving groove, the steering shaft assembly cannot drive the rotating disk to rotate along the first direction; when the first locking member is located in the releasing groove of the first receiving groove, the steering shaft assembly can drive the rotating disk to rotate along the first direction; When the second locking member is located in the locking groove of the second accommodating groove, the steering shaft assembly cannot drive the rotating disk to rotate along the second direction; when the second locking member is located in the release groove of the second accommodating groove, the steering shaft assembly can drive the rotating disk to rotate along the second direction.

4. The drive locking structure for surgical instruments according to claim 3, characterized in that: The groove wall on one side or both sides of the locking groove is an elastic protrusion, one end of the elastic protrusion is fixedly connected to the rotating disk through an elastic member, and the other end extends into the accommodating groove. When the locking actuator drives the locking member to move from the release groove to the locking groove, the locking groove is squeezed by the locking member and deformed, so that the locking member can pass through the locking groove.

5. The drive locking structure for surgical instruments according to claim 3, characterized in that: The groove walls on one side or both sides of the locking groove are made of deformable material. When the locking actuator drives the locking member to move from the release groove to the locking groove, the locking groove is squeezed by the locking member and deformed, so that the locking member can pass through the locking groove.

6. The drive locking structure for surgical instruments according to claim 4 or 5, characterized in that: The steering shaft assembly is provided with a driving member, and a portion of the driving member extends into the accommodating groove. The driving member pushes the locking member to move from the locking groove to the releasing groove.

7. The drive locking structure for surgical instruments according to claim 6, characterized in that: The drive locking structure also includes an upper rotating head, an upper cover and a rotating dial button. A receiving cavity is provided between the upper rotating head and the upper cover. The receiving cavity is used to accommodate the steering shaft assembly and the rotating disk. The steering shaft assembly is provided with a central axis. The rotating dial button is provided with a fixing hole. The central axis passes through the upper cover and extends into the fixing hole of the rotating dial button. The central axis is provided with a through hole. The rotating dial button is provided with a pin. The pin is penetrated through the through hole to connect the rotating dial button with the steering shaft assembly.

8. The drive locking structure for surgical instruments according to claim 7, characterized in that: The steering shaft assembly is provided with a driving block, and the rotating disk is provided with a driving groove for accommodating the driving block.

9. The driving locking structure for surgical instruments according to claim 8, characterized in that: The driving block comprises a rotating part and a driving part which are connected to each other. The rotating part has an arc-shaped matching surface, and the driving part has a planar driving surface.

10. The driving locking structure for surgical instruments according to claim 9, characterized in that: The driving surface includes a first driving surface connected to one end of the matching surface and a second driving surface connected to the other end of the matching surface; When the locking member is located in the locking groove, a first gap is formed between the first driving surface and the driving groove, and a second gap is formed between the second driving surface and the driving groove; When the locking member is located in the release slot, the first driving surface abuts against the driving slot or the second driving surface abuts against the driving slot.

11. The drive locking structure for surgical instruments according to claim 10, characterized in that: When the first driving surface abuts against the driving groove, the steering shaft assembly drives the rotating disk to rotate in a first direction, and when the second driving surface abuts against the driving groove, the steering shaft assembly drives the rotating disk to rotate in a second direction, and the second direction is opposite to the first direction.

12. A surgical instrument, comprising a rod assembly, an end effector disposed at one end of the rod assembly, and a handle assembly disposed at the other end of the rod assembly, characterized in that: It also includes a drive locking structure for a surgical instrument as described in any one of claims 1 to 11 connected to the pull rod assembly, wherein the drive locking structure is used to control the rotation and locking of the end actuator relative to the pull rod assembly.

13. The surgical instrument according to claim 12, characterized in that The pull rod assembly includes a first rod and a second rod that are arranged in parallel and at intervals. The rotating disk drives the first rod and the second rod to move forward and backward through a first motion conversion member. The first rod and the second rod move forward and backward to drive the end actuator to rotate through a second motion conversion member.

14. The surgical instrument according to claim 13, characterized in that The first motion conversion member includes a first slider and a second slider, the first slider is fixedly connected to the end of the first rod, and the second slider is fixedly connected to the end of the second rod; The rotating disk is provided with a first connecting column and a second connecting column, the first sliding block is provided with a first accommodating hole for accommodating the first connecting column, the second sliding block is provided with a second accommodating hole for accommodating the second connecting column, and the first connecting column and the second connecting column are symmetrically arranged relative to the rotation center of the rotating disk.

15. The surgical instrument according to claim 13, characterized in that The second motion conversion member includes a steering seat and a steering sleeve, The steering seat is provided with a third connecting column and a fourth connecting column, the end of the first rod is provided with a first connecting hole, and the end of the second rod is provided with a second connecting hole; The third connecting column is received in the first connecting hole, so that the first rod can rotate around the third connecting column; The fourth connecting column is received in the second connecting hole, so that the second rod can rotate around the fourth connecting column; One end of the steering sleeve is clamped with the steering seat, and the other end is fixedly connected with the end actuator.

16. The surgical instrument according to claim 13, characterized in that It also includes a shaft sleeve, wherein the relative outer sides of the first rod member and the second rod member are each provided with a first tooth structure, and the relative two sides inside the shaft sleeve are provided with a second tooth structure, and the second tooth structure is respectively meshed with the first tooth structure of the first rod member and the second rod member.

17. The surgical instrument according to claim 13, characterized in that The opposite inner sides of the first rod and the second rod are both provided with a third tooth structure, and a gear is provided between the first rod and the second rod, and the gear is meshed with the third tooth structures of the first rod and the second rod.

18. The surgical instrument according to claim 17, characterized in that The number of the gears is one or more, and the plurality of gears are arranged at equal intervals in the length direction of the pull rod assembly.

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