Anastomosis surgical instrument

Abstract

An anastomotic surgical instrument includes a handle assembly, a shaft assembly, and a loading unit; the shaft assembly is rotatably connected to the handle assembly, and the loading unit is releasably mounted to the shaft assembly; the shaft assembly comprises a slender main body, a percussion rod, an induction sleeve and a rotation stopping pin, the slender main body comprises a main body part, the percussion rod is provided with a rotation stopping surface, and the induction sleeve is provided with an opening; the main body part surrounds the induction sleeve, the induction sleeve surrounds the percussion rod, and the percussion rod surrounds the longitudinal axis; the rotation stopping pin is fixed to the main body part, penetrates through the opening and is matched with the rotation stopping surface so as to stop the firing rod from rotating relative to the main body part. When the shaft assembly rotates by a certain angle relative to the handle assembly, the main body part drives the percussion rod to rotate by a certain angle, so that the normal work of the percussion rod is prevented from being influenced by the rotation of the shaft assembly.

Description

Technical Field

[0001] The invention relates to a medical device, in particular to an anastomotic surgical instrument. Background Art

[0002] With the development of technology, open surgery has gradually transformed into laparoscopic surgery, and laparoscopic staplers have gradually transitioned from manual firing to motor-driven firing. According to different designs, there are generally two main types of laparoscopic staplers: one is to replace the loading unit with different staple line lengths; the other is to replace the stapler. During an operation, a stapler may need to be loaded with multiple loading units in succession to suture and cut human tissue. The easyEndo universal laparoscopic cutting stapler is loaded with a stapler magazine with staple line lengths of 30 mm, 45 mm and 60 mm. The stapler with replacement loading units has the following advantages: the same stapler can replace the loading unit during the operation, which can effectively reduce the operation time and reduce the cost of the operation.

[0003] In the era of manual firing, when the stapler is equipped with loading units with different staple line lengths, the user judges the firing stroke and stops and retracts after the firing is completed. However, when the above design is applied to an electric laparoscopic stapler, since the control circuit cannot judge the staple line length of the loading unit and cannot accurately control the firing stroke, it may cause insufficient firing stroke or excessive firing stroke during use, which may damage the stapler and injure the patient. Therefore, there is a need for a stapler that can identify loading units with different staple line lengths and control the firing stroke of the stapler according to the staple line length of the loading unit to ensure that the stapler works better. Summary of the invention

[0004] In existing anastomotic surgical instruments, the rotation of the shaft assembly affects the normal operation of the firing rod.

[0005] In one aspect of the present invention, an anastomotic surgical instrument includes a handle assembly, a shaft assembly, and a loading unit;

[0006] The shaft assembly is rotatably connected to the handle assembly, and the loading unit is releasably mounted to the shaft assembly;

[0007] The shaft assembly includes a slender body, a firing rod, a sensing sleeve and a rotation-stopping pin, wherein the slender body includes a main body portion, the firing rod has a rotation-stopping surface, and the sensing sleeve has an opening;

[0008] The main body portion surrounds the sensing sleeve, the sensing sleeve surrounds the firing rod, and the firing rod surrounds the longitudinal axis;

[0009] The anti-rotation pin is fixed to the main body, passes through the opening and cooperates with the anti-rotation surface to prevent the firing rod from rotating relative to the main body.

[0010] When the shaft assembly rotates a certain angle relative to the handle assembly, the main body rotates a certain angle with the firing rod to prevent the rotation of the shaft assembly from affecting the normal operation of the firing rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to enable people to intuitively and visually understand each technical feature and the overall technical solution of the present invention, the accompanying drawings use graphics to supplement the description of the text part of the implementation method:

[0012] Figure 1 is a perspective view of an exemplary stapling surgical instrument;

[0013] Figure 2 yes Figure 1 a perspective view of the handle assembly shown;

[0014] Figure 3 yes Figure 2 a partial perspective view of the handle assembly shown;

[0015] Figure 4 yes Figure 3 a perspective view of the drive assembly shown;

[0016] Figure 5 yes Figure 1 An exploded view of the shaft assembly shown;

[0017] Figure 6 yes Figure 5 a partial perspective view of the elongated body shown;

[0018] Figure 7 yes Figure 6 a cross-sectional view of the elongated body shown;

[0019] Figure 8 yes Figure 5 A partial perspective view of the rotating housing shown;

[0020] Fig. 9 yes Figure 8 A cross-sectional view of the rotating housing shown;

[0021] Fig.10 yes Figure 1 a perspective view of the loading unit shown;

[0022] Fig.11 yes Fig.10 a cross-sectional view of the loading unit shown;

[0023] Fig.12 is a partial perspective view of an exemplary mounting loading unit;

[0024] Fig.13a is a partial perspective view of an exemplary unmounted loading unit;

[0025] Fig.13b is a partial perspective view of an exemplary mobile loading unit;

[0026] Fig.13c is a partial perspective view of an exemplary rotary loading unit;

[0027] Fig.13d is a partial perspective view of an exemplary removal loading unit;

[0028] Fig.14a is a cross-sectional view of an exemplary unlocked firing rod;

[0029] Fig.14b is a cross-sectional view of an exemplary locked firing rod;

[0030] Fig.14c is a cross-sectional view of an exemplary mobile firing rod;

[0031] Fig.15 is a perspective view of an exemplary installation of a sensing module;

[0032] Fig.16 is a perspective view of another exemplary mounting sensor module;

[0033] Fig.17 is a perspective view of yet another exemplary installation of a sensing module;

[0034] Fig.18 is a perspective view of an exemplary travel sensing module;

[0035] Fig.19 is a perspective view of another exemplary travel sensing module. DETAILED DESCRIPTION

[0036] It should be understood that the exemplary embodiments described in the present invention should be considered only for descriptive purposes, rather than for limiting purposes. The description of features or aspects in each exemplary embodiment should generally be considered to be applicable to similar features or aspects in other exemplary embodiments.

[0037] like Figures 1 to 2 As shown, the anastomotic surgical instrument 10 includes a handle assembly 11, a shaft assembly 20 and a loading unit 30. The shaft assembly 20 defines a longitudinal axis x, which extends from the proximal side to the distal side. The proximal end of the shaft assembly 20 is rotatably connected to the distal end of the handle assembly 11, and the proximal end of the loading unit 30 is releasably connected to the distal end of the shaft assembly 20. When the shaft assembly 20 rotates relative to the handle assembly 11, the loading unit 30 can rotate with the shaft assembly 20.

[0038] like Figures 1 to 4 and Figures 8 to 9As shown, the handle assembly 11 includes a handle housing 12, a frame 13, a drive assembly 14, a control circuit 15, a power supply 16 and a control button 17. The handle housing 12 fixes the frame 13, and the frame 13 includes an annular guide rail 131, which is connected to the shaft assembly 20, and the annular guide rail 131 provides rotational freedom for the shaft assembly 20. The drive assembly 14 includes a motor 141, a first gear 1421, a second gear 1422 and a rack 143. The first gear 1421 is mounted on the output shaft of the motor 141, the second gear 1422 is meshed with the first gear 1421, and the rack 143 is meshed with the second gear 1422. The motor 141 is fixed to the frame 13, the frame 13 provides a rotation axis for the second gear 1422, and the frame 13 provides a guide rail for the rack 143. When the motor 141 drives the rack 143 to move along the longitudinal axis x, the rack 143 moves from one side of the proximal side or the distal side to the other side. The control circuit 15 is fixed to the frame 13 or the handle housing 12, and the control circuit 15 can control the rotation of the motor 141. The power supply 16 can be a battery pack or a mains power supply to provide power to the anastomotic surgical instrument 10. The battery pack can make the anastomotic surgical instrument 10 portable. The control button 17 includes a forward button 171 and a backward button 172. When the user presses the forward button 171, the control circuit 15 controls the motor 141 to drive the rack 143 to move from the proximal side to the distal side. When the user presses the backward button 172, the control circuit 15 controls the motor 141 to drive the rack 143 to move from the distal side to the proximal side.

[0039] like Figures 5 to 6 As shown, the shaft assembly 20 includes a rotating housing 21 and an elongated body 22. The distal end of the rotating housing 21 is connected to the proximal end of the elongated body 22. The rotating housing 21 includes a first rotating housing 211 and a second rotating housing 212. The first rotating housing 211 is connected to the second rotating housing 212. The elongated body 22 includes a main body 221 and an outer sleeve 222. The first rotating housing 211 and the second rotating housing 212 fix the main body 221. The outer sleeve 222 surrounds the main body 221, and the outer sleeve 222 and the main body 221 are coaxially arranged.

[0040] like Fig.10As shown, the loading unit 30 includes a main body 31 and a jaw assembly 32. The distal end of the main body 31 is connected to the proximal end of the jaw assembly 32. The jaw assembly 32 includes a staple cartridge assembly 33 and a staple anvil assembly 34. The staple cartridge assembly 33 is opened or closed relative to the staple anvil assembly 34. The staples in the staple cartridge assembly 33 can be pushed out to the staple anvil assembly 34 for forming. The loading unit 30 is a first loading unit 30A, a second loading unit 30B or a third loading unit 30C. The staple line length of the first loading unit 30A is 60 mm. The staple line length of the second loading unit 30B is 45 mm. The staple line length of the third loading unit 30C is 30 mm. The first loading unit 30A, the second loading unit 30B or the third loading unit 30C can be respectively mounted on the shaft assembly 20.

[0041] like Figure 5 As shown, the shaft assembly 20 includes a bending control mechanism 27, which includes a bending control wrench 271 and a first bending control rod 272; the loading unit 30 includes a second bending control rod 35. The bending control wrench 271 is arranged on the first rotating shell 211, and the first bending control rod 272 is arranged together with the main body 221. The distal groove of the first bending control rod 272 is connected to the proximal hook of the second bending control rod 35. When the user turns the bending control wrench 271, the bending control wrench 271 drives the first bending control rod 272 to move along the longitudinal axis x. When the loading unit 30 is installed on the shaft assembly 20, the first bending control rod 272 can drive the second bending control rod 35 to realize the bending of the jaw assembly 32.

[0042] like Figure 8 As shown, the shaft assembly 20 includes a sensing mechanism 29, and the sensing mechanism 29 includes a sensing sleeve 24 and a sensing sleeve 25. The sensing sleeve 24 and the sensing sleeve 25 are arranged along the longitudinal axis x. The proximal end of the sensing sleeve 24 contacts the distal end of the sensing sleeve 25. The handle assembly 11 includes a slider 18 and a biasing member 19. The biasing member 19 can be an elastic member, such as a tension spring, a compression spring, a torsion spring or a spring. The biasing member 19 can bias the slider 18 to the distal position, so that the sensing sleeve 25 and the sensing sleeve 24 move distally. The distal end 181 of the slider 18 contacts the proximal end of the sensing sleeve 25. The proximal end of the sensing sleeve 25 is an annular flange 251. When the loading unit 30 is installed on the shaft assembly 20, the loading unit 30 pushes the sensing sleeve 24 to move proximally, and the sensing sleeve 24 pushes the sensing sleeve 25 to move proximally. At the same time, the sensing sleeve 25 pushes the slider 18 to move proximally.

[0043] like Figures 15 to 17As shown, the control circuit 15 includes a circuit board 150, the circuit board 150 includes an installation sensing module 151, and the installation sensing module 151 includes an installation sensing switch 1511. The installation sensing switch 1511 can have a button 1512, or can be a photoelectric sensing switch or a Hall switch. At the same time, the slider 18 has a protrusion 182, the protrusion 182 can press the button 1512, or the slider 18 has a recess, the recess can release the button 1512, so that the control circuit 15 can identify the nail line length of the loading unit 30.

[0044] like Fig.15 As shown, an installation sensing module 151 includes three installation sensing switches 1511, wherein the first switch 1511A, the second switch 1511B and the third switch 1511C are arranged from the proximal side to the distal side. At the same time, the slider 18 has three protrusions 182, wherein the first protrusion 182, the second protrusion 182 and the third protrusion 182 are arranged from the proximal side to the distal side. When the loading unit 30 is not installed on the shaft assembly 20, the biasing component 19 causes the slider 18 to deflect to the distal position, and the protrusion 182 does not press the installation sensing switch 1511. In this way, the control circuit 15 senses that the loading unit 30 is not installed. When the first loading unit 30A is installed on the shaft assembly 20, the sensing mechanism 29 pushes the slider 18 to move L1', and the first protrusion 182 presses the first switch 1511A. In this way, the control circuit 15 identifies the nail line length of the first loading unit 30A. When the second loading unit 30B is mounted on the shaft assembly 20, the sensing mechanism 29 pushes the slider 18 to move L2', and the second protrusion 182 presses the second switch 1511B. In this way, the control circuit 15 identifies the nail line length of the second loading unit 30B. When the third loading unit 30C is mounted on the shaft assembly 20, the sensing mechanism 29 pushes the slider 18 to move L3', and the third protrusion 182 presses the third switch 1511C. In this way, the control circuit 15 identifies the nail line length of the third loading unit 30C.

[0045] like Fig.16 As shown, another installation sensing module 151 includes an installation sensing switch 1513, and the installation sensing switch 1513 has three buttons 1514, wherein the first button 1514, the second button 1514 and the third button 1514 are arranged from the proximal side to the distal side, and are staggered in the vertical direction of the longitudinal axis x. At the same time, the slider 18 has three protrusions 182, wherein the first protrusion 182, the second protrusion 182 and the third protrusion 182 are arranged from the proximal side to the distal side, and are staggered in the vertical direction of the longitudinal axis x. When a loading unit 30 is installed on the shaft assembly 20, the sensing mechanism 29 pushes the slider 18 to move, and one protrusion 182 presses one button 1514. In this way, the control circuit 15 identifies the nail line length of the loading unit 30.

[0046] like Fig.17As shown, another installation sensing module 151 includes two installation sensing switches 1511, wherein the first switch 1511A and the second switch 1511B are arranged from the proximal side to the distal side. At the same time, the slider 18 has two protrusions 182, wherein the first protrusion 182 and the second protrusion 182 are arranged from the proximal side to the distal side. When the loading unit 30 is not installed on the shaft assembly 20, the first protrusion 182 does not press the first switch 1511A, and the second protrusion 182 does not press the second switch 1511B. The installation sensing module 151 generates a combination of the second signal and the second signal. In this way, the control circuit 15 senses that the loading unit 30 is not installed. When the first loading unit 30A is installed on the shaft assembly 20, the first protrusion 182 presses the first switch 1511A, and the second protrusion 182 does not press the second switch 1511B. The installation sensing module 151 generates a combination of the first signal and the second signal. In this way, the control circuit 15 identifies the nail line length of the first loading unit 30A. When the second loading unit 30B is mounted on the shaft assembly 20, the first protrusion 182 presses the first switch 1511A, and the second protrusion 182 presses the second switch 1511B. The installation sensing module 151 generates a combination of the first signal and the first signal. In this way, the control circuit 15 identifies the nail line length of the second loading unit 30B. When the third loading unit 30C is mounted on the shaft assembly 20, the first protrusion 182 does not press the first switch 1511A, and the second protrusion 182 presses the second switch 1511B. The installation sensing module 151 generates a combination of the second signal and the first signal. In this way, the control circuit 15 identifies the nail line length of the third loading unit 30C.

[0047] In an embodiment, the anastomotic surgical instrument 10 includes a handle assembly 11, a shaft assembly 20, and a plurality of loading units 30 with different staple line lengths; the handle assembly 11 includes a control circuit 15 and a slider 18 having an installation sensing switch 1511, the shaft assembly 20 includes a sensing mechanism 29, and any loading unit 30 is releasably mounted on the shaft assembly 20; the number of the installation sensing switches 1511 is less than the number of the staple line lengths of the loading units 30; the installation of the loading units 30 drives the sensing mechanism 29 to push the slider 18, the slider 18 actuates any installation sensing switch 1511 to generate a first signal or does not actuate to generate a second signal, and the control circuit 15 identifies the non-installation or staple line length of the loading unit 30 according to all combinations of all first signals or second signals. The space in the handle assembly 11 is limited, and the installation sensing switch 1511 occupies a certain space. The installation sensing switch 1511 reduces the number and saves space so as to be arranged in the handle assembly 11. In addition, the control circuit 15 makes full use of all combinations of all first signals or second signals.

[0048] Specifically, the installation sensing switch 1511 is the first switch 1511A or the second switch 1511B; when the loading unit 30 is released from the shaft assembly 20, the slider 18 does not actuate the first switch 1511A and the second switch 1511B, and the control circuit 15 senses that the loading unit 30 is not installed. The plurality of loading units 30 are the first loading unit 30A, the second loading unit 30B or the third loading unit 30C; when the first loading unit 30A is mounted on the shaft assembly 20, the slider 18 actuates the first switch 1511A and the second switch 1511B is not actuated, and the control circuit 15 identifies the nail line length of the first loading unit 30A; when the second loading unit 30B is mounted on the shaft assembly 20, the slider 18 actuates the first switch 1511A and the second switch 1511B is actuated, and the control circuit 15 identifies the nail line length of the second loading unit 30B; when the third loading unit 30C is mounted on the shaft assembly 20, the slider 18 actuates the first switch 1511A and the second switch 1511B is actuated, and the control circuit 15 identifies the nail line length of the third loading unit 30C. The actuation of the first switch 1511A or the second switch 1511B generates a first signal. The non-actuation of the first switch 1511A or the second switch 1511B generates a second signal. In this way, the control circuit 15 fully utilizes four combinations of the first signal and the second signal.

[0049] like Figures 18 to 19 As shown, the circuit board 150 includes a travel sensing module 152, and the travel sensing module 152 includes a travel sensing switch 1521. The travel sensing switch 1521 can have a button 1522, or can be a photoelectric sensing switch or a Hall switch. At the same time, the rack 143 has a protrusion 1431, and the protrusion 1431 can press the button 1522, or the rack 143 can press the button 1522 first and release the button 1522 after moving, so that the control circuit 15 controls the firing stroke of the loading unit 30.

[0050] like Fig.18As shown, a stroke sensing module 152 includes four stroke sensing switches 1521, wherein the first switch 1521A, the second switch 1521B, the third switch 1521C and the fourth switch 1521D are arranged from the proximal side to the distal side. At the same time, the proximal end of the rack 143 has a protrusion 1431. When the rack 143 is located at the initial position, the protrusion 1431 presses the first switch 1521A. When the motor 141 drives the rack 143 to reach the first displacement T1, the protrusion 1431 presses the second switch 1521B, and the first displacement T1 corresponds to the firing stroke of the third loading unit 30C. In this way, the control circuit 15 can control the firing stroke of the third loading unit 30C. When the motor 141 drives the rack 143 to reach the second displacement T2, the protrusion 1431 presses the third switch 1521C, and the second displacement T2 corresponds to the firing stroke of the second loading unit 30B. In this way, the control circuit 15 can control the firing stroke of the second loading unit 30B. When the motor 141 drives the rack 143 to reach the third displacement T3, the protrusion 1431 presses the fourth switch 1521D, and the third displacement T3 corresponds to the firing stroke of the first loading unit 30A. In this way, the control circuit 15 can control the firing stroke of the first loading unit 30A.

[0051] like Fig.19 As shown, a stroke sensing module 152 includes a stroke sensing switch 1521. At the same time, the rack has four protrusions 1431, wherein the first protrusion 1431A, the second protrusion 1431B, the third protrusion 1431C and the fourth protrusion 1431D are arranged from the distal side to the proximal side. When the rack 143 is at the initial position, the first protrusion 1431A presses the stroke sensing switch 1521 to generate the first third signal. When the motor 141 drives the rack 143 to reach the first displacement T1, the second protrusion 1431B presses the stroke sensing switch 1521 to generate the second third signal, and the first displacement T1 corresponds to the firing stroke of the third loading unit 30C. In this way, the control circuit 15 can control the firing stroke of the third loading unit 30C. When the motor 141 drives the rack 143 to reach the second displacement T2, the third protrusion 1431C presses the stroke sensing switch 1521 to generate the third third signal, and the second displacement T2 corresponds to the firing stroke of the second loading unit 30B. In this way, the control circuit 15 can control the firing stroke of the second loading unit 30B. When the motor 141 drives the rack 143 to reach the third displacement T3, the fourth protrusion 1431D presses the stroke sensing switch 1521 to generate a fourth third signal. The third displacement T3 corresponds to the firing stroke of the first loading unit 30A. In this way, the control circuit 15 can control the firing stroke of the first loading unit 30A.

[0052] In the embodiment, the handle assembly 11 includes a rack 143 having a plurality of protrusions 1431, and the control circuit 15 has a travel sensing switch 1521; the rack 143 is movable between an initial position and an end position, the protrusions 1431 actuate the travel sensing switch 1521 to generate a third signal or do not actuate to generate a fourth signal, and the control circuit 15 senses the initial position or displacement of the rack 143 according to the number of the third signals, and the displacement of the rack 143 corresponds to the firing stroke of the loading unit 30. In this way, the control circuit 15 can control the firing stroke of the loading unit 30. In addition, the space in the handle assembly 11 is limited, and the travel sensing switch 1521 occupies a certain space. The number of the travel sensing switches 1521 is reduced while saving space, so that they can be set in the handle assembly 11.

[0053] Specifically, the multiple protrusions 1431 are a first protrusion 1431A, a second protrusion 1431B, a third protrusion 1431C and a fourth protrusion 1431D; when the rack 143 is in the initial position, the first protrusion 1431A actuates the travel sensing switch 1521 to generate a first third signal, and the control circuit 15 senses that the rack 143 has not moved; when the rack moves from the initial position to the end position, the second protrusion 1431B actuates the travel sensing switch 1521 to generate a second third signal, and the control circuit 15 senses that the rack 143 reaches the first displacement; then, the third protrusion 1431C actuates the travel sensing switch 1521 to generate a third third signal, and the control circuit 15 senses that the rack 143 reaches the second displacement; then, the fourth protrusion 1431D actuates the travel sensing switch 1521 to generate a fourth third signal, and the control circuit 15 senses that the rack 143 reaches the third displacement. The plurality of loading units 30 are a first loading unit 30A, a second loading unit 30B, and a third loading unit 30C; the first displacement of the rack 143 corresponds to the firing stroke of the third loading unit 30C, the second displacement of the rack 143 corresponds to the firing stroke of the second loading unit 30B, and the third displacement of the rack 143 corresponds to the firing stroke of the first loading unit 30A. The handle assembly 11 includes a motor 141; the control circuit 15 is used to control the motor 141 to drive the rack 143 to control the firing stroke of the loading unit 30. The first protrusion 1431A, the second protrusion 1431B, the third protrusion 1431C, and the fourth protrusion 1431D occupy a small space, so that the handle assembly 11 saves space.

[0054] In other embodiments, a method for operating a stapling surgical instrument includes: providing a handle assembly 11, an axis assembly 20, and a plurality of loading units 30 having different staple line lengths; connecting the handle assembly 11 and the axis assembly 20, wherein the handle assembly 11 includes a control circuit 15 and a slider 18 having an installation sensing switch 1511, and the axis assembly 20 includes a sensing mechanism 29; releasably installing any loading unit 30 on the axis assembly 20, wherein the number of installation sensing switches 1511 is less than the number of staple line lengths of the loading units 30; pushing the slider 18 through the sensing mechanism 29 to actuate any installation sensing switch 1511 to generate a first signal or not actuate it to generate a second signal; and identifying the non-installation or staple line length of the loading unit 30 in the control circuit 15 based on all combinations of all first signals or second signals.

[0055] Specifically, the handle assembly 11 includes a rack 143 having a plurality of protrusions 1431, and the control circuit 15 also includes a travel sensing switch 1521; the method further includes: moving the rack 143 between the initial position and the end position, actuating the travel sensing switch 1521 through the protrusions 1431 to generate a third signal or not actuating to generate a fourth signal; in the control circuit 15, the initial position or displacement of the rack 143 is sensed according to the number of the third signal, wherein the displacement of the rack 143 corresponds to the firing stroke of the loading unit 30. The handle assembly 11 also includes a motor 141; the method further includes: using the control circuit 15 to control the motor 141 to drive the rack 143 to control the firing stroke of the loading unit 30.

[0056] like Figures 3 to 9 As shown, the shaft assembly 20 includes a firing rod 23, the firing rod 23, the sensing sleeve 24 and the main body 221 are coaxially arranged, the main body 221 surrounds the sensing sleeve 24, and the sensing sleeve 24 surrounds the firing rod 23. The proximal end of the firing rod 23 is rotatably connected to the distal end of the rack 143. When the shaft assembly 20 rotates relative to the handle assembly 11, the firing rod 23 and the main body 221 rotate synchronously and rotate relative to the rack 143. When the motor 141 drives the rack 143 to move along the longitudinal axis x, the rack 143 drives the firing rod 23 to move between the proximal position and the distal position.

[0057] like Figures 5 to 7 As shown, the shaft assembly 20 includes a stop pin 26, the main body 221 has a key slot 2211, the firing rod 23 has a stop surface 231, and the sensing sleeve 24 has a first opening 241. The stop pin 26 is fixed to the key slot 2211, passes through the first opening 241 and cooperates with the stop surface 231 to prevent the firing rod 23 from rotating relative to the main body 221.

[0058] In the embodiment, the anastomotic surgical instrument 10 includes a handle assembly 11, a shaft assembly 20 and a loading unit 30; the shaft assembly 20 is rotatably connected to the handle assembly 11, and the loading unit 30 is releasably mounted on the shaft assembly 20; the shaft assembly 20 includes an elongated body 22, a firing rod 23, a sensing sleeve 24 and a stop pin 26, the elongated body 22 includes a main body 221, the firing rod 23 has a stop surface 231, and the sensing sleeve 24 has an opening 241; the main body 221 surrounds the sensing sleeve 24, the sensing sleeve 24 surrounds the firing rod 23, and the firing rod 23 surrounds the longitudinal axis x; the stop pin 26 is fixed to the main body 221, passes through the opening 241 and cooperates with the stop surface 231 to prevent the firing rod 23 from rotating relative to the main body 221. When the shaft assembly 20 rotates a certain angle relative to the handle assembly 11, the main body 221 rotates a certain angle with the firing rod 23 to prevent the rotation of the shaft assembly 20 from affecting the normal operation of the firing rod 23.

[0059] The handle assembly 11 includes a drive assembly 14; the proximal end of the firing rod 23 is rotatably connected to the distal end of the drive assembly 14; when the anti-rotation pin 26 passes through the opening 241 and cooperates with the anti-rotation surface 231, the drive assembly 14 can drive the firing rod 23 to move along the longitudinal axis x. In this way, the firing rod 23 can rotate with the main body 221 and can move between the proximal position and the distal position with the rack 143.

[0060] The dimension of the anti-rotation surface 231 along the longitudinal axis x is greater than the dimension of the anti-rotation pin 26 along the longitudinal axis x; when the firing rod 23 moves along the longitudinal axis x, the anti-rotation pin 26 is located between the proximal end and the distal end of the anti-rotation surface 231. In this way, the firing rod 23 can move between the proximal position and the distal position and avoid rotation relative to the main body 221.

[0061] When the shaft assembly 20 rotates relative to the handle assembly 11, the main body 221, the firing rod 23 and the loading unit 30 rotate together. In this way, the firing rod 23 and the loading unit 30 can rotate with the main body 221 and work normally.

[0062] The anti-rotation pin 26 cooperates with the first opening 241 to limit the rotation of the sensing sleeve 24 relative to the firing rod 23. In this way, the sensing sleeve 24 can rotate with the firing rod 23 and work normally.

[0063] The dimension of the first opening 241 along the longitudinal axis x is greater than the dimension of the stop pin 26 along the longitudinal axis x; when the stop pin 26 restricts the rotation of the sensing sleeve 24 relative to the firing rod 23, the loading unit 30 pushes the sensing sleeve 24 to move along the longitudinal axis x. In this way, the sensing sleeve 24 can rotate with the firing rod 23 and push the sensing sleeve 25 to move proximally.

[0064] The loading unit 30 is a first loading unit 30A or a second loading unit 30B, the nail line length of the first loading unit 30A is different from the nail line length of the second loading unit 30B; the first loading unit 30A is releasably connected to the shaft assembly 20 and pushes the sensing sleeve 24 to the first sensing position; the second loading unit 30B is releasably connected to the shaft assembly 20 and pushes the sensing sleeve 24 to the second sensing position. In this way, the position of the sensing sleeve 24 can be used to identify the nail line length of the loading unit 30.

[0065] The shaft assembly 20 further includes a sensing sleeve 25, and the handle assembly 11 further includes a control circuit 15 and a slider 18. The control circuit 15 includes a sensing module 151. The proximal end of the sensing sleeve 24 contacts the distal end of the sensing sleeve 25, and the proximal end of the sensing sleeve 25 contacts the distal end of the slider 18. The sensing module 151 is used to sense the position of the slider 18. In this way, the control circuit 15 can identify the nail line length of the loading unit 30.

[0066] The shaft assembly 20 further includes a rotating housing 21, the proximal end of the main body 221 is fixed to the distal end of the rotating housing 21; the sensing sleeve 25 is located inside the rotating housing 21; the sensing sleeve 25 is fixed to the rotating housing 21 in the circumferential direction of the longitudinal axis x, or the sensing sleeve 25 is fixed to the handle assembly 11 in the circumferential direction of the longitudinal axis x. In this way, when the shaft assembly 20 rotates relative to the handle assembly 11, the sensing sleeve 25 rotates relative to the handle assembly 11 or the shaft assembly 20.

[0067] The proximal end of the sensing sleeve 25 has a flange 251; when the shaft assembly 20 rotates relative to the handle assembly 11, the rotation of the sensing sleeve 25 is independent of the position of the slider 18. In this way, the flange 251 ensures that the proximal movement of the sensing sleeve 25 changes the position of the slider 18 and prevents the rotation of the sensing sleeve 25 from changing the position of the slider 18.

[0068] like Figures 13a to 13d As shown, during the process of installing the loading unit 30 on the shaft assembly 20, first, the proximal end of the loading unit 30 is inserted into the distal end of the shaft assembly 20; second, the loading unit 30 is rotated a certain angle relative to the shaft assembly 20; and third, the loading unit 30 is locked to the shaft assembly 20. During the process of releasing the loading unit 30 from the shaft assembly 20, first, the loading unit 30 is unlocked from the shaft assembly 20; second, the loading unit 30 is rotated a certain angle relative to the shaft assembly 20; and third, the loading unit 30 is separated from the shaft assembly 20.

[0069] like Figure 7 , 11As shown in FIGS. 13a to 13d, the distal end of the loading unit 30 includes an insertion portion 36 and a mounting boss 311, and the mounting boss 311 is arranged on the insertion portion 36; the proximal end of the insertion portion 36 and the mounting boss 311 are separated by a certain first distance on the longitudinal axis x. In the shaft assembly 20, a notch 2212 is arranged at the proximal end of the main body 221. When the loading unit 30 is mounted on the shaft assembly 20, the insertion portion 36 is inserted into the notch 2212; the insertion portion 36 rotates a certain angle relative to the notch 2212; and the mounting boss 311 is prevented from rotating relative to the main body 221. When the loading unit 30 is released from the shaft assembly 20, the mounting boss 311 is allowed to rotate relative to the main body 221; the insertion portion 36 rotates a certain angle relative to the notch 2212; and the insertion portion 36 is separated from the notch 2212.

[0070] like Figure 5 and 14a As shown in Figure 14c, the shaft assembly 20 includes a locking mechanism 28, which includes a locking slider 281, a locking member 282 and an elastic member 283. The locking slider 281 can move between a proximal position and a distal position along the longitudinal axis x. The locking member 282 can rotate between a first position and a second position. When the locking slider 281 moves to the distal position, the locking member 282 is allowed to remain stationary in the first position or rotate to the second position. When the locking slider 281 moves to the proximal position, the locking member 282 is driven to rotate to the first position or remain stationary in the first position. The elastic member 283 can rebound the locking slider 281 to the distal position.

[0071] like Figures 13a to 13d As shown, the locking slider 281 is fixed to the main body 221 in the circumferential direction of the longitudinal axis x. When the locking slider 281 moves to the distal position, it prevents the mounting boss 311 from rotating relative to the main body 221. When the locking slider 281 moves to the proximal position, it allows the mounting boss 311 to rotate relative to the main body 221.

[0072] like Figures 14a to 14c As shown, the firing rod 23 has a groove 232, the sensing sleeve 24 has a second opening 242, and the locking member 282 has a locking portion 2821. When the locking member 282 is in the first position, the locking portion 2821 passes through the second opening 242 to reach the inside of the groove 232, and allows the sensing sleeve 24 to move toward the proximal side. When the locking member 282 is in the second position, the locking portion 2821 leaves the second opening 242 and the groove 232, and allows the firing rod 23 to move toward the distal side.

[0073] like Figures 14a to 14cAs shown, when the loading unit 30 is installed or released on the shaft assembly 20, the firing rod 23 is not driven and is in the proximal position; even if the loading unit 30 is accidentally separated from the shaft assembly 20, the firing rod 23 is not driven and is in the proximal position. When the loading unit 30 is locked to the shaft assembly 20, the firing rod 23 can be driven to move along the longitudinal axis x.

[0074] like Figures 13a to 14c As shown, when the loading unit 30 is installed on the shaft assembly 20, the insertion portion 36 is inserted into the recess 2212; the insertion portion 36 pushes the locking slider 281 to move to the proximal position; the locking slider 281 drives the locking member 282 to rotate to the first position or remain stationary at the first position; the locking portion 2821 passes through the second opening 242 and reaches the groove 232; the insertion portion 36 rotates a certain angle relative to the recess 2212; the elastic member 283 rebounds the locking slider 281 to the distal position; the locking slider 281 prevents the mounting boss 311 from rotating relative to the main body 221.

[0075] like Figures 13a to 14c As shown, when the loading unit 30 is locked to the shaft assembly 20, the drive assembly 14 drives the firing rod 23 to move to the distal position; the firing rod 23 drives the locking member 282 to rotate to the second position; the locking portion 2821 leaves the second opening 242 and the groove 232; the locking member 282 prevents the locking slide 281 from moving to the proximal position; and the locking slide 281 prevents the mounting boss 311 from rotating relative to the main body 221.

[0076] like Figures 13a to 14c As shown, when the loading unit 30 is released from the shaft assembly 20, the user pushes the locking slider 281 to move to the proximal position; the locking slider 281 drives the locking member 282 to rotate to the first position or remain stationary at the first position; the locking slider 281 allows the mounting boss 311 to rotate relative to the main body 221; the insertion portion 36 rotates a certain angle relative to the recess 2212; and the insertion portion 36 is separated from the recess 2212.

[0077] In an embodiment, the anastomotic surgical instrument 10 includes a shaft assembly 20 and a loading unit 30 releasably mounted on the shaft assembly 20; the shaft assembly 20 includes a firing rod 23 having a groove 232, a sensing sleeve 24 having a second opening 242, and a locking member 282 having a locking portion 2821; the firing rod 23 and the sensing sleeve 24 are coaxially arranged, and the locking member 282 is rotatable between a first position and a second position; when the locking member 282 is rotated to the first position, the locking portion 2821 passes through the second opening 242 to reach the inside of the groove 232, and allows the sensing sleeve 24 to move toward the proximal side; when the locking member 282 is rotated to the second position, the locking portion 2821 leaves the second opening 242 and the groove 232, and allows the firing rod 23 to move toward the distal side. During the process of installing the loading unit 30 on the shaft assembly 20, the locking member 282 does not prevent the sensing sleeve 24 from moving in the first position. The movement of the sensing sleeve 24 can be used to identify the staple line length of the loading unit 30. When the loading unit 30 is locked to the shaft assembly 20, the locking member 282 allows the firing rod 23 to function normally.

[0078] The firing rod 23 also has a rotation-stopping surface 231, and the sensing sleeve 24 also has a first opening 241; the shaft assembly 20 further includes a rotation-stopping pin 26, which is fixedly arranged to pass through the first opening 241 and cooperate with the rotation-stopping surface 231. In this way, the firing rod 23 is prevented from rotating relative to the main body 221.

[0079] The rotation-stopping surface 231 and the groove 232 differ by more than 30 degrees in the circumferential direction of the firing rod 23; the first opening 241 and the second opening 242 differ by more than 30 degrees in the circumferential direction of the sensing sleeve 24; the rotation-stopping surface 231 is aligned with the first opening 241, and the groove 232 is aligned with the second opening 242. In this way, when the firing rod 23 or the sensing sleeve 24 moves along the longitudinal axis x, the rotation-stopping surface 231 and the second opening 242 are staggered, and the groove 232 and the first opening 241 are staggered.

[0080] The loading unit 30 is a first loading unit 30A or a second loading unit 30B, and the nail line length of the first loading unit 30A is different from the nail line length of the second loading unit 30B; when the first loading unit 30A is installed on the shaft assembly 20, the sensing sleeve 24 moves to the first sensing position, and the groove 232 is aligned with the second opening 242; when the second loading unit 30B is installed on the shaft assembly 20, the sensing sleeve 24 moves to the second sensing position, and the groove 232 is aligned with the second opening 242. In this way, no matter whether the sensing sleeve 24 moves to the first sensing position or the second sensing position, the locking member 282 can be rotated to the first position or remain stationary at the first position. At the same time, the movement of the sensing sleeve 24 can be used to identify the nail line length of the first loading unit 30A or the second loading unit 30B.

[0081] The anti-rotation pin 26 cooperates with the first opening 241 to limit the rotation of the sensing sleeve 24 relative to the firing rod 23. At the same time, the groove 232 is aligned with the second opening 242. In this way, even if the sensing sleeve 24 rotates slightly relative to the firing rod 23, the locking member 282 can rotate to the first position or remain stationary at the first position.

[0082] The shaft assembly 20 further includes a locking slider 281, which is movable along the longitudinal axis x. When the loading unit 30 is mounted on the shaft assembly 20, it pushes the sensing sleeve 24 to move proximally and pushes the locking slider 281 to move to the proximal position. At the same time, the locking slider 281 drives the locking member 282 to rotate to the first position or to remain stationary at the first position. In this way, when the locking slider 281 moves to the proximal position, the mounting boss 311 is allowed to rotate relative to the main body 221. At the same time, the movement of the sensing sleeve 24 can be used to identify the length of the nail line of the loading unit 30.

[0083] When the loading unit 30 is released from the shaft assembly 20, the locking slider 281 moves to the distal position, and the sensing sleeve 24 moves distally; at the same time, the locking slider 281 allows the locking member 282 to remain stationary at the first position or rotate to the second position. In this way, when the locking slider 281 moves to the distal position, the mounting boss 311 is prevented from rotating relative to the main body 221. At the same time, the movement of the sensing sleeve 24 can be used to sense that the loading unit 30 is not installed.

[0084] The shaft assembly 20 further includes a main body 221, and the loading unit 30 further includes a mounting boss 311; when the locking slider 281 moves to the proximal position, the mounting boss 311 is allowed to rotate relative to the main body 221, so that the loading unit 30 is unlocked; when the locking slider 281 moves to the distal position, the mounting boss 311 is prevented from rotating relative to the main body 221, so that the loading unit 30 is locked. In this way, the loading unit 30 is unlocked from the shaft assembly 20, and the loading unit 30 begins to be released from the shaft assembly 20. The loading unit 30 is locked to the shaft assembly 20, and the loading unit 30 is installed on the shaft assembly 20.

[0085] The anastomotic surgical instrument 10 also includes a handle assembly 11 connected to the coaxial assembly 20, and the handle assembly 11 includes a control circuit 15 and a slider 18 having an installation sensing module 151; when the loading unit 30 is installed on the shaft assembly 20, the installation sensing module 151 can sense the position of the slider 18 so as to identify the nail line length of the loading unit 30.

[0086] The handle assembly 11 also includes a rack 143 connected to the firing rod 23, and the control circuit 15 also has a travel sensing module 152; when the firing rod 23 moves with the rack 143, the travel sensing module 152 senses the initial position or displacement of the rack 143, so that the control circuit 15 controls the firing stroke of the loading unit 30.

[0087] like Figures 10 to 11 As shown, the insert portion 36 has a first inner cavity 3101 and a second inner cavity 3102, and the first inner cavity 3101 or the second inner cavity 3102 can be a circular inner cavity, a square inner cavity or a polygonal inner cavity; the first inner cavity 3101 and the second inner cavity 3102 intersect. When the insert portion 36 is inserted into the recess 2212, the second inner cavity 3102 has a second size D2 to accommodate the distal end of the firing rod 23 and the sensing sleeve 24, and the first inner cavity 3101 has a first size D1 to accommodate the distal end of the firing rod 23.

[0088] like Figures 10 to 11 As shown in FIGS. 15 to 17 , in the loading unit 30 , the interface between the first inner cavity 3101 and the second inner cavity 3102 defines a working surface 3103 , and the mounting boss 311 and the working surface 3103 are separated by a second distance on the longitudinal axis x; the second distance is set according to the length of the nail line. The second distance of the loading unit 30 determines the displacement of the slider 18 driven by the working surface 3103 to drive the sensing mechanism 29 .

[0089] like Figures 10 to 11 As shown in Figures 15 to 17, in the first loading unit 30A, the nail line length is 60 mm, and the second distance is set to L1. When the first loading unit 30A is mounted on the shaft assembly 20, the working surface 3103 drives the sensing mechanism 29 to push the slider 18 to move L1'. In the second loading unit 30B, the nail line length is 45 mm, the second distance is set to L2, and L2 is greater than L1. When the second loading unit 30B is mounted on the shaft assembly 20, the working surface 3103 drives the sensing mechanism 29 to push the slider 18 to move L2', and L2' is greater than L1'. In the third loading unit 30C, the nail line length is 30 mm, the second distance is set to L3, and L3 is greater than L2. When the third loading unit 30C is mounted on the shaft assembly 20, the working surface 3103 drives the sensing mechanism 29 to push the slider 18 to move L3', and L3' is greater than L2'.

[0090] In the embodiment, the anastomotic surgical instrument 10 includes an axis assembly 20 and a loading unit 30; the axis assembly 20 includes a main body 221, a firing rod 23 and a sensing sleeve 24, the main body 221 surrounds the sensing sleeve 24, the sensing sleeve 24 directly surrounds the firing rod 23, the firing rod 23 surrounds the longitudinal axis x, and the distal end of the main body 221 has a recess 2212; the loading unit 30 includes an insertion portion 36, the insertion portion 36 has a mounting boss 311, a first inner cavity 3101 and a second inner cavity 3102, the proximal end of the insertion portion 36 and the mounting boss 311 are separated by a certain first distance on the longitudinal axis x, and the first inner cavity 3101 and the second inner cavity 3102 intersect; when the loading unit 30 is releasably mounted on the shaft assembly 20, the insertion portion 36 is inserted into the recess 2212, wherein the second inner cavity 3102 has a second size D2 to accommodate the distal ends of the firing rod 23 and the sensing sleeve 24, and the first inner cavity 3101 has a first size D1 to accommodate the distal end of the firing rod 23. When the loading unit 30 rotates with the shaft assembly 20, the firing rod 23 and the sensing sleeve 24 also rotate. The second inner cavity 3102 accommodates the distal ends of the firing rod 23 and the sensing sleeve 24, and the firing rod 23 and the sensing sleeve 24 are adjacently arranged, and other components are omitted therebetween to simplify the rotation of the shaft assembly 20. Although different loading units 30 have different nail line lengths, the proximal end of the insert 36 and the mounting boss 311 are separated by a first distance on the longitudinal axis x. When different loading units 30 are locked to the shaft assembly 20 , each insert 36 can be fixed to the same recess 2212 .

[0091] Different loading units 30 have different nail line lengths; the first inner cavity 3101 and the second inner cavity 3102 define a working surface 3103, and the mounting boss 311 and the working surface 3103 are separated by a second distance on the longitudinal axis x; the second distance is set according to the nail line length. In this way, when different loading units 30 are installed on the shaft assembly 20, the working surface 3103 can be used to identify the nail line length of the loading unit 30.

[0092] The anastomotic surgical instrument 10 further includes a handle assembly 11, which includes a control circuit 15 and a slider 18, the control circuit 15 includes a mounting sensing module 151, and the shaft assembly 20 further includes a sensing mechanism 29; when the loading unit 30 is mounted on the shaft assembly 20, the working surface 3103 drives the sensing mechanism 29 to push the slider 18, the mounting sensing module 151 senses the position of the slider 18, and the control circuit 15 identifies the length of the nail line of the loading unit 30. In this way, when different loading units 30 have different nail line lengths, the working surface 3103 drives the sensing mechanism 29 to push the slider 18 to different positions so as to identify the length of the nail line of the loading unit 30.

[0093] The handle assembly 11 further includes a driving assembly 14, which includes a rack 143, and the control circuit 15 further includes a stroke sensing module 152; when the loading unit 30 is mounted on the shaft assembly 20, the control circuit 15 controls the driving assembly 14 to drive the firing rod 23, and the stroke sensing module 152 senses the displacement of the rack 143, so that the control circuit 15 controls the firing stroke of the loading unit 30. In this way, when different loading units 30 have different nail line lengths, the control circuit 15 can control the firing stroke of the loading unit 30.

[0094] The shaft assembly 20 further includes a bending control mechanism 27, and the loading unit 30 further includes a jaw assembly 32 and a second bending control rod 35; the insertion portion 36 further includes a narrow groove 312, the narrow groove 312 passes through the side walls of the first inner cavity 3101 and the second inner cavity 3102, and the second bending control rod 35 is disposed in the narrow groove 312; when the loading unit 30 is mounted on the shaft assembly 20, the bending control mechanism 27 can drive the second bending control rod 35 to achieve the bending of the jaw assembly 32. In this way, the second bending control rod 35 can move in the narrow groove 312 so as not to affect the components in the first inner cavity 3101 and the second inner cavity 3102.

[0095] The shaft assembly 20 further includes a locking slider 281 and an elastic member 283; when the loading unit 30 is installed on the shaft assembly 20, when the insertion portion 36 pushes the locking slider 281 to move to the proximal position, the locking slider 281 allows the mounting boss 311 to rotate relative to the main body 221; when the elastic member 283 rebounds the locking slider 281 to the distal position, the locking slider 281 prevents the mounting boss 311 from rotating relative to the main body 221. In this way, the loading unit 30 is locked to the shaft assembly 20.

[0096] The loading unit 30 is a first loading unit 30A or a second loading unit 30B, and the installation sensing module 151 has a first installation sensing switch 1511A and a second installation sensing switch 1511B; the nail line length of the first loading unit 30A is greater than the nail line length of the second loading unit 30B; when the first loading unit 30A is installed on the shaft assembly 20, the slider 18 can actuate the first installation sensing switch 1511A and not actuate the second installation sensing switch 1511B, so that the control circuit 15 can identify the nail line length of the first loading unit 30A; when the second loading unit 30B is installed on the shaft assembly 20, the slider 18 can not actuate the first installation sensing switch 1511A and actuate the second installation sensing switch 1511B, so that the control circuit 15 can identify the nail line length of the second loading unit 30B. In this way, the actuation of the installation sensing switch can be used to identify the nail line length of the loading unit 30.

[0097] The travel sensing module 152 has a first travel sensing switch 1521A, a second travel sensing switch 1521B, a third travel sensing switch 1521C and a fourth travel sensing switch 1521D; when the first loading unit 30A is installed on the shaft assembly 20, the rack 143 actuates the first travel sensing switch 1521A at the initial position; the rack 143 moves a first displacement to actuate the second travel sensing switch 1521B; the rack 143 moves a second displacement to actuate the third travel sensing switch 1521C; the rack 143 moves a third displacement to actuate the fourth travel sensing switch 1521D; the control circuit 15 controls the firing stroke of the first loading unit 30A. In this way, the actuation of the travel sensing switch can be used to control the firing stroke of the loading unit 30.

[0098] The loading unit 30 includes an insertion portion 36, which has a mounting boss 311, a first inner cavity 3101 and a second inner cavity 3102. The proximal end of the insertion portion 36 and the mounting boss 311 are separated by a certain first distance on the longitudinal axis x, and the first inner cavity 3101 and the second inner cavity 3102 intersect; the loading unit 30 is releasably mounted on the shaft assembly 20, and the shaft assembly 20 includes a main body 221, a firing rod 23 and a sensing sleeve 24, the main body 221 surrounds the sensing sleeve 24, the sensing sleeve 24 directly surrounds the firing rod 23, the firing rod 23 surrounds the longitudinal axis x, and the distal end of the main body 221 has a recess 2212; when the insertion portion 36 is inserted into the recess 2212, the second inner cavity 3102 has a second size D2 to accommodate the distal ends of the firing rod 23 and the sensing sleeve 24, and the first inner cavity 3101 has a first size D1 to accommodate the distal end of the firing rod 23.

[0099] The loading unit 30 can have different nail line lengths; the interface between the first inner cavity 3101 and the second inner cavity 3102 defines a working surface 3103, and the mounting boss 311 and the working surface 3103 are separated by a second distance on the longitudinal axis x; the second distance is set according to the nail line length.

[0100] In general, the anastomotic surgical instrument 10 is capable of identifying the staple line length of the loading unit 30 and controlling the firing stroke. When the first loading unit 30A is mounted on the shaft assembly 20, the working surface 3103 drives the sensing mechanism 29 to push the slider 18 to move; the mounting sensing module 151 senses the position of the slider 18; the control circuit 15 identifies the staple line length of the first loading unit 30A as 60 mm. When the user presses the forward button 171, the control circuit 15 controls the drive assembly 14 to drive the firing rod 23 to move distally; the stroke sensing module 152 senses the displacement of the rack 143; the control circuit 15 controls the firing stroke of the loading unit 30. When the stroke sensing module 152 senses that the rack 143 reaches the third displacement, the control circuit 15 stops the drive assembly 14 from driving the firing rod 23 to move. When the user releases the forward button 171, the control circuit 15 controls the drive assembly 14 to drive the firing rod 23 to move proximally. Optionally, when the user presses the back button 172, the control circuit 15 controls the drive assembly 14 to drive the firing rod 23 to move proximally. When the stroke sensing module 152 senses that the rack 143 returns to the initial position, the control circuit 15 stops the drive assembly 14 from driving the firing rod 23 to move. When the first loading unit 30A is released from the shaft assembly 20, the second loading unit 30B or the third loading unit 30C can be installed on the shaft assembly 20 and work similarly.

[0101] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An anastomotic surgical instrument, characterized in that: It comprises a handle assembly (11), a shaft assembly (20) and a loading unit (30); The shaft assembly (20) is rotatably connected to the handle assembly (11), and the loading unit (30) is releasably mounted on the shaft assembly (20); The shaft assembly (20) comprises a slender body (22), a firing rod (23), a sensing sleeve (24) and a stop pin (26), wherein the slender body (22) comprises a main body portion (221), the firing rod (23) has a stop surface (231), and the sensing sleeve (24) has an opening (241); The main body (221) surrounds the sensing sleeve (24), the sensing sleeve (24) surrounds the firing rod (23), and the firing rod (23) surrounds the longitudinal axis; The anti-rotation pin (26) is fixed to the main body (221), passes through the opening (241) and cooperates with the anti-rotation surface (231) to prevent the firing rod (23) from rotating relative to the main body (221).

2. The anastomotic surgical instrument according to claim 1, characterized in that: The handle assembly (11) comprises a drive assembly (14); The proximal end of the firing rod (23) is rotatably connected to the distal end of the drive assembly (14); When the anti-rotation pin (26) passes through the opening (241) and cooperates with the anti-rotation surface (231), the driving assembly (14) can drive the firing rod (23) to move along the longitudinal axis.

3. The anastomotic surgical instrument according to claim 2, characterized in that: The dimension of the anti-rotation surface (231) along the longitudinal axis is greater than the dimension of the anti-rotation pin (26) along the longitudinal axis; When the firing rod (23) moves along the longitudinal axis, the anti-rotation pin (26) is located between the proximal end and the distal end of the anti-rotation surface (231).

4. The anastomotic surgical instrument according to claim 1, characterized in that: When the shaft assembly (20) rotates relative to the handle assembly (11), the main body (221), the firing rod (23) and the loading unit (30) rotate together.

5. The anastomotic surgical instrument according to claim 1, characterized in that: The anti-rotation pin (26) cooperates with the opening (241) to limit the rotation of the sensing sleeve (24) relative to the firing rod (23).

6. The anastomotic surgical instrument according to claim 5, characterized in that: The dimension of the opening (241) along the longitudinal axis is greater than the dimension of the locking pin (26) along the longitudinal axis; When the anti-rotation pin (26) limits the rotation of the sensing sleeve (24) relative to the firing rod (23), the loading unit (30) pushes the sensing sleeve (24) to move along the longitudinal axis.

7. The anastomotic surgical instrument according to claim 6, characterized in that: The loading unit (30) is a first loading unit (30A) or a second loading unit (30B), and the length of the nail line of the first loading unit (30A) is different from the length of the nail line of the second loading unit (30B); The first loading unit (30A) is releasably connected to the shaft assembly (20) and pushes the induction sleeve (24) to a first position; The second loading unit (30B) is releasably connected to the shaft assembly (20) and pushes the induction sleeve (24) to a second position.

8. The anastomotic surgical instrument according to claim 1, characterized in that: The shaft assembly (20) further comprises a sensing sleeve (25), the handle assembly (11) further comprises a control circuit (15) and a slider (18), and the control circuit (15) comprises a sensing module (151); The proximal end of the sensing sleeve (24) contacts the distal end of the sensing sleeve (25), the proximal end of the sensing sleeve (25) contacts the distal end of the slider (18), and the sensing module (151) is used to sense the position of the slider (18).

9. The anastomotic surgical instrument according to claim 8, characterized in that: The shaft assembly (20) further comprises a rotating housing (21), and the proximal end of the main body (221) is fixed to the distal end of the rotating housing (21); The induction sleeve (25) is located inside the rotating housing (21); The sensing sleeve (25) and the rotating housing (21) are fixed in the circumferential direction of the longitudinal axis, or the sensing sleeve (25) and the handle assembly (11) are fixed in the circumferential direction of the longitudinal axis.

10. The anastomotic surgical instrument according to claim 8, characterized in that: The proximal end of the induction sleeve (25) has a flange (251); When the shaft assembly (20) rotates relative to the handle assembly (11), the rotation of the sensing sleeve (25) is independent of the position of the slider (18).

Images