surgical instruments

Abstract

The present application relates to a surgical instrument, comprising an end effector, a steering member, a bracket and a locking mechanism. The steering member is used to passively follow the swing of the end effector, and the steering member is provided with a plurality of first bayonet parts; the steering member can be rotatably connected to the bracket; the locking mechanism comprises a locking assembly and a pull rod assembly, and the locking assembly rotates under the combined action of the pull rod assembly pulling in a first direction and the bracket blocking, and enables the locking assembly to switch between a locked state and an unlocked state; the locked state is that one end of the locking assembly is clamped in the first bayonet part, and the other end contacts the side wall of the bracket to limit the rotation of the steering member; the unlocked state is that the locking assembly is disengaged from the first bayonet part, and the steering member can rotate relative to the bracket. The bracket side wall of the surgical instrument provided by the present application bears the external force exerted on the end effector, thereby improving the stability and safety of the anastomosis device.

Description

Technical Field

[0001] The present application relates to the technical field of surgical instruments, and in particular to a surgical instrument. Background Art

[0002] Staplers are the most commonly used minimally invasive surgical instruments. Most stapler end effectors are capable of swinging to meet a wider range of surgical needs. Stapler end effectors include passive swinging, which occurs when the end effector presses against biological tissue to exert force. Therefore, the locking function of the passive swinging head is particularly important. If the end effector swings with the jaws closed, serious consequences such as tearing biological tissue may occur.

[0003] At present, the existing technology has a method of achieving the locking function of the end actuator by inserting a tooth, that is, the tooth is inserted into the gear of the steering block of the end actuator to achieve locking. During the subsequent operation of the anastomosis device, the end actuator may be in a continuous stress state, and only one tooth of the tooth is used to withstand the external force, which poses a risk of tooth breakage. Summary of the Invention

[0004] In view of this, an embodiment of the present application provides a surgical instrument to solve at least one problem existing in the background technology.

[0005] In a first aspect, an embodiment of the present application provides a surgical instrument, comprising:

[0006] End effector;

[0007] a steering member connected to the proximal end of the end effector, the steering member being configured to passively follow the swinging of the end effector, the steering member being provided with a plurality of first bayonet portions;

[0008] a bracket, the steering member being rotatably connected to the bracket;

[0009] A locking mechanism comprising a locking assembly and a pull rod assembly, wherein the locking assembly is movably connected to the pull rod assembly, and the locking assembly rotates under the combined action of the pull rod assembly pulling in a first direction and the blocking of the bracket, so that the locking assembly switches between a locked state and an unlocked state;

[0010] In which, the locked state is that one end of the locking assembly is clamped in the first bayonet portion, and the other end contacts the side wall of the bracket to limit the rotation of the steering member; the unlocked state is that the locking assembly is disengaged from the first bayonet portion, and the steering member can rotate relative to the bracket.

[0011] In combination with the first aspect of the present application, in an optional embodiment, the locking assembly includes an upper stopping claw, a lower stopping claw and a cam structure, and the upper stopping claw and the lower stopping claw are stacked in a second direction perpendicular to the first direction. Under the pulling action of the pull rod assembly, the upper stopping claw and the lower stopping claw rotate in different directions relative to the bracket under the guidance of the cam structure.

[0012] In combination with the first aspect of the present application, in an optional embodiment, the pull rod assembly includes a pull rod member, the pull rod member is provided with a boss, and the boss extends along the second direction;

[0013] The upper stop claw and the lower stop claw are respectively provided with a first waist hole and a second waist hole, and the first waist hole and the second waist hole at least partially overlap in the second direction;

[0014] The cam structure is a structure formed by the boss being movably inserted into the first waist hole and the second waist hole.

[0015] In combination with the first aspect of the present application, in an optional embodiment, the multiple first bayonet portions constitute a gear-like structure; the ends of the upper stopping claw and the lower stopping claw are both provided with a tooth structure; and the two tooth structures are simultaneously engaged with the gear-like structure.

[0016] In conjunction with the first aspect of the present application, in an optional embodiment, the bracket has a first side wall and a second side wall, and the upper stopping claw and the lower stopping claw have a first end surface and a second end surface respectively;

[0017] In the unlocked state, there is a gap between the first side wall and the first end surface, and between the second side wall and the second end surface;

[0018] In the locked state, the first end surface contacts the first side wall, and the second end surface contacts the second side wall.

[0019] In combination with the first aspect of the present application, in an optional embodiment, the upper stopping claw and the lower stopping claw are respectively provided with a first stopping protrusion and a second stopping protrusion, and the first stopping protrusion and the second stopping protrusion are respectively located on the first end face and the second end face, so that when the upper stopping claw and the lower stopping claw are clamped in the first bayonet portion, the first stopping protrusion and the second stopping protrusion respectively contact the first end face and the second end face.

[0020] In combination with the first aspect of the present application, in an optional embodiment, the bracket is provided with a receiving groove, the receiving groove extends along the first direction, and the pull rod is located in the receiving groove;

[0021] The pull rod assembly further includes a first elastic member, wherein the first elastic member is sleeved on the pull rod member;

[0022] When in the unlocked state, the first elastic member abuts against the groove wall of the accommodating groove, and the locking assembly overcomes the elastic force of the first elastic member and switches from the unlocked state to the locked state.

[0023] In combination with the first aspect of the present application, in an optional embodiment, the boss includes a first protrusion and a second protrusion, in the second direction, the axis of the first protrusion and the axis of the second protrusion are collinear, the pull rod member is located between the upper stop claw and the lower stop claw, the first protrusion and the second protrusion are respectively connected to both sides of the pull rod member, and respectively match the first waist hole and the second waist hole.

[0024] In combination with the first aspect of the present application, in an optional embodiment, the pull rod assembly further includes an unlocking button, a pull rod member and a second elastic member, the proximal end of the pull rod member is connected to the unlocking button, and one end of the second elastic member is connected to the unlocking button. When the unlocking button moves along the first direction, the pull rod member is driven to move, and can be moved to the initial position under the elastic force of the second elastic member.

[0025] In combination with the first aspect of the present application, in an optional embodiment, the unlocking button is mounted on the sleeve of the surgical instrument and can be movably connected to the rotating button of the surgical instrument. The second elastic member is connected between the rotating button and the unlocking button, and the unlocking button rotates synchronously around the sleeve following the rotating button.

[0026] The surgical instrument provided in the embodiment of the present application utilizes a rotatable locking assembly to lock the steering member, and when in the locked state, the end of the locking assembly contacts the side wall of the bracket, and the side wall of the bracket bears the external force exerted on the end actuator. Compared with the prior art that uses one tooth to bear the external force, the stability and safety of the anastomosis device are improved.

[0027] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0029] Figure 1 A schematic diagram of the overall structure of the stapler provided in an embodiment of the present application;

[0030] Figure 2 A schematic structural diagram of a bracket, a steering member, and a locking mechanism in the stapler provided in an embodiment of the present application;

[0031] Figure 3a A schematic diagram of a locking assembly in an anastomosis apparatus according to an embodiment of the present application in an unlocked state;

[0032] Figure 3b A schematic diagram of a locking assembly in a stapler provided in an embodiment of the present application in a locked state;

[0033] Figure 3c A schematic diagram of a locking assembly in a stapler provided in another embodiment of the present application in a locked state;

[0034] Figure 4 A schematic diagram of a partial structural decomposition of the stapler provided in an embodiment of the present application;

[0035] Figure 5 for Figure 3c Enlarged view of point B in the middle;

[0036] Figure 6 A schematic diagram of a partial structure of a stent in the anastomosis device provided in an embodiment of the present application;

[0037] Figure 7 A schematic diagram of the three-dimensional structure of the steering member, locking assembly, pull rod assembly and bracket in the stapler provided in an embodiment of the present application;

[0038] Figure 8 for Figure 2 Enlarged view of point A in the middle;

[0039] Figure 9 A schematic structural diagram of an anastomosis device provided in another embodiment of the present application.

[0040] Reference numerals:

[0041] 100. Stapler;

[0042] 1. End effector; 111. Nail cartridge seat; 112. Anvil seat; 120. Nail cartridge assembly;

[0043] 2. Sleeve assembly; 21. Sleeve; 3. Handle assembly; 31. Housing; 32. Rotating button; 4. Joint assembly;

[0044] 41. Steering member; 411. First bayonet portion; 412. Third mounting hole; 41a. Gear-like structure;

[0045] 5. Bracket; 51. First rotating pin; 52. Second rotating pin; 53. Third rotating pin; 54. Accommodating groove; 5a. First side wall; 5b. Second side wall;

[0046] 6. Locking mechanism; 61. Locking assembly; 6a. Gear structure;

[0047] 611, upper stop claw; 61a, first waist hole; 61b, first mounting hole; 61c, first end surface; 61d, first stop protrusion;

[0048] 612, lower stop claw; 62a, second waist hole; 62b, second mounting hole; 62c, second end surface; 62d, second stop protrusion;

[0049] 62, pull rod assembly; 621, pull rod member; 6211, boss; 621a, first protrusion; 621b, second protrusion; 622, first elastic member; 623, unlock button;

[0050] 7. Damping assembly; 71. First damping rod; 72. Second damping rod; 73. First damping spring; 74. Second damping spring. DETAILED DESCRIPTION

[0051] To make the technical solutions and beneficial effects of the present invention more clearly understood, the following detailed description is given by way of specific embodiments. The accompanying drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly illustrate the details of the local features. Unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application belongs.

[0052] In the description of the present invention, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "height", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of simplifying the description of the present invention, and do not indicate that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and should not be understood as a limitation to the present invention.

[0053] In this disclosure, the terms "first" and "second" are used solely for descriptive purposes and should not be construed as indicating the relative importance of the features indicated or the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly include at least one such feature. In the description of this disclosure, "plurality" means at least two, such as two or three, and "several" means at least one, such as one, two, or three, unless otherwise specifically defined.

[0054] In the present invention, unless otherwise expressly defined, the terms "installed," "connected," "connect," "fixed," and "disposed" should be understood broadly. For example, "connection" can mean fixed, removable, or integrated; it can mean mechanical or electrical; it can mean direct or indirect connection through an intermediary; it can also mean internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0055] In the present invention, unless otherwise clearly defined, when a first feature is “on,” “above,” “above,” “above,” “below,” “below,” or “below” a second feature, the first feature and the second feature may be in direct contact, or the first feature and the second feature may be in indirect contact via an intermediate medium. Moreover, when a first feature is “on,” “above,” or “above” a second feature, it may mean that the first feature is directly above or obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than the horizontal height of the second feature. When a first feature is “below,” “below,” or “below” a second feature, it may mean that the first feature is directly below or obliquely below the second feature, or simply means that the horizontal height of the first feature is lower than the horizontal height of the second feature.

[0056] like Figure 1 As shown, an embodiment of the present invention provides a surgical instrument, for example: a stapler 100. The stapler 100 is a commonly used minimally invasive surgical instrument. The following embodiments are explained using the stapler 100 as an example. The stapler 100 includes an end actuator 1, a sleeve assembly 2 and a handle assembly 3. The two ends of the sleeve assembly 2 are respectively connected to the end actuator 1 and the handle assembly 3.

[0057] The handle assembly 3 includes a housing 31, a controller (not shown), a power module (not shown), and a driver (not shown). The power module is connected to the driver and provides electrical energy to it. The power module, controller, and driver are all installed in the housing 31. The controller is electrically connected to the driver. Based on received instructions (e.g., cutting instructions issued by the handle), the controller sends action instructions to the driver, causing the driver to drive the end effector 1 to perform an action.

[0058] The sleeve assembly 2 includes a transmission assembly and a sleeve 21. The sleeve 21 is sleeved on the transmission assembly. One end of the transmission assembly is connected to the driving member, and the other end is connected to the end actuator 1. The number of transmission assemblies is set according to demand. The transmission assembly includes at least a first transmission member and a second transmission member. The first transmission member and the second transmission member are respectively used to realize the closing and cutting of the end actuator 1.

[0059] The end effector 1 includes a jaw assembly and a staple cartridge assembly 120. The jaw assembly includes a staple cartridge seat 111 and an anvil 112 pivotally connected to the staple cartridge seat. The staple cartridge seat 111 is used to operably support the staple cartridge assembly 120 located therein. The anvil 112 can selectively present an open state and a closed state. The anvil 112 cooperates with the staple cartridge seat 111 and the staple cartridge assembly 120 to clamp or loosen biological tissue. Of course, the end effector 1 also includes a push blade (not shown in the figure). When the anvil 112, the staple cartridge seat 111 and the staple cartridge assembly 120 cooperate to clamp biological tissue, the transmission assembly drives the push blade under the driving force of the driving member to cut the biological tissue.

[0060] like Figure 1 and Figure 2 As shown, a joint assembly 4 is connected between the end effector 1 and the sleeve assembly 2. The end effector 1 can swing relative to the sleeve assembly 2 based on the joint assembly 4. The joint assembly 4 includes a steering member 41, which is connected to the proximal end of the end effector 1. The steering member 41 is configured to passively follow the swing of the end effector 1. The steering member 41 is provided with a plurality of first bayonet portions 411.

[0061] The surgical instrument further includes a support 5 and a locking mechanism 6. The support 5 is positioned within the sleeve 21, and the steering member 41 is rotatably connected to the support 5. The locking mechanism 6 includes a locking assembly 61 and a pull rod assembly 62. The locking assembly 61 is movably connected to the pull rod assembly 62, and the locking assembly 61 rotates under the combined action of the pull rod assembly 62 pulling in a first direction and the blocking of the support 5, so that the locking assembly 61 switches between a locked state and an unlocked state.

[0062] Figure 3a The figure shows that the locking assembly 61 is in the unlocked state. In the unlocked state, the locking assembly 61 is disengaged from the first buckle part, and the end actuator 1 acts on the biological tissue. The reaction force of the biological tissue can change the rotation direction of the end actuator 1. The operator can rotate the position and posture of the end actuator 1 according to needs.

[0063] Figure 3b The figure shows the locking assembly 61 in a locked state, i.e., one end of the locking assembly 61 is engaged with the first bayonet portion 411, and the other end of the locking assembly 61 contacts the side wall of the bracket 5. The locking assembly 61 limits the rotation of the steering member 41, and the steering member 41 cannot rotate in the locked state. In the locked state, further operations such as clamping and cutting of biological tissue can be performed.

[0064] Figure 3c The initial state of the surgical instrument before use, that is, the end effector 1 and the sleeve 21 are located on the same straight line. During use, when it is necessary to rotate the end effector 1 to adapt to the position and posture of the biological tissue, the end effector 1 is rotated in the first direction, that is, Figure 3cPull the rod assembly 62 in the direction of the arrow s1 shown in FIG. 1 , and the locking assembly 61 is pulled away from the steering member 41 by the pulling action of the rod assembly 62, that is, in the Figure 3a In the unlocked state, the position of the end effector 1 can be adjusted. After the adjustment of the end effector 1 is completed, the locking assembly 61 returns to its initial position under the action of the pull rod assembly 62. Figure 3b The locked state is shown in .

[0065] Figure 2 、 Figure 3b and Figure 3c Both figures show that when the locking assembly 61 is in the locked state, one end of the locking assembly 61 is engaged with the first latch portion 411, and the other end contacts the side wall of the bracket 5. When the end effector 1 in the locked state is subjected to an external force, the external force can be transmitted to the side wall of the bracket 5, and the side wall of the bracket 5 bears the external force applied to the end effector 1, rather than relying solely on the end of the locking assembly 61 to bear the entire external force, thereby greatly improving the stability and safety of the stapler 100.

[0066] In an alternative embodiment, if Figure 2 、 Figure 4 and Figure 5 As shown, the locking assembly 61 includes an upper stop claw 611, a lower stop claw 612 and a cam structure. The upper stop claw 611 and the lower stop claw 612 move in a second direction perpendicular to the first direction. Figure 2 The upper and lower stop claws 611 and 612 are stacked in the direction of the arrow s2 shown in FIG. 6 . Under the pulling action of the pull rod assembly 62 , the upper stop claw 611 and the lower stop claw 612 rotate in different directions relative to the bracket 5 under the guidance of the cam structure.

[0067] Figure 5 The figure shows that the guide member and the locking assembly 61 are in a locked state. When the pull rod is in the first direction, that is, Figure 5 When the device is pulled toward the proximal end in the direction of the arrow s1 shown in FIG, the upper locking claw 611 and the lower locking claw 612 rotate counterclockwise and clockwise around the bracket 5 respectively to achieve unlocking.

[0068] In the embodiment of this application, Figure 3b As shown, Figure 3b The figure shows that the steering member 41 and the locking assembly 61 are in a locked state. The end effector 1 in the locked state can act on the tissue. During the action, the end effector 1 is subjected to the reaction force of the tissue wall. Figure 3b When the clockwise torque is applied to the steering member 41, the lower stop claw 612 can generate an opposite torque, that is, the lower stop claw 612 abuts against the side wall of the bracket 5 and uses the side wall of the bracket 5 to resist the torque applied to the steering member 41. Figure 3bWhen the counterclockwise torque is applied, the upper stop claw 611 abuts against the side wall of the bracket 5 and generates an opposite torque to resist the torque applied to the steering member 41.

[0069] The above stapler can lock the steering member 41 from two different directions by rotating the upper stop claw 611 and the lower stop claw 612 in different directions, thereby improving the locking effect of the steering member 41.

[0070] Figure 6 FIG. 5 shows a partial schematic diagram of the structure of the bracket 5. Figure 4 The bracket 5 has a first side wall 5a and a second side wall 5b. The upper locking claw 611 and the lower locking claw 612 have a first end surface 61c and a second end surface 62c, respectively. In the unlocked state, a gap exists between the first side wall 5a and the first end surface 61c, and between the second side wall 5b and the second end surface 62c. In the locked state, the first side wall 5a contacts the first end surface 61c, and the second end surface 62c contacts the second side wall 5b.

[0071] It can be understood that in the locked state, when the end actuator 1 is subjected to the reaction force of the tissue wall during the execution of the action, the first end face 61c of the upper stop claw 611 abuts against the first side wall 5a, and the second end face 62c of the lower stop claw 612 abuts against the second side wall 5b. The surface-to-surface abutment can evenly distribute the external force applied to the end actuator 1, avoid local force, and improve the safety and stability of the anastomosis device 100.

[0072] Specifically, the bracket 5 is provided with a first rotation pin 51, a second rotation pin 52, and a third rotation pin 53. The steering member 41 is provided with a third mounting hole 412, which matches the first rotation pin 51. When the steering member 41 is subjected to force, it rotates around the first rotation pin 51. The upper stop claw 611 and the lower stop claw 612 are provided with a first mounting hole 61b and a second mounting hole 62b, respectively. The first mounting hole 61b and the second mounting hole 62b match the second rotation pin 52 and the third rotation pin 53, respectively. Under the combined action of the pulling action of the pull rod 621 and the blocking action of the bracket 5, the upper stop claw 611 and the lower stop claw 612 rotate around the second rotation pin 52 and the third rotation pin 53, respectively.

[0073] In an alternative embodiment, if Figure 2 、 Figure 4 and Figure 7As shown, the pull rod assembly 62 includes a pull rod 621, which is provided with a boss 6211 extending along the second direction. The upper and lower stop claws 611 and 612 are respectively provided with a first and second waist holes 61a and 62a, respectively. The first and second waist holes 61a and 62a at least partially overlap in the second direction. The structure formed by the boss 6211 being movably inserted into the first and second waist holes 61a and 62a forms a cam structure.

[0074] It can be understood that, when the pull rod 621 is pulled to move, the boss 6211 moves along the groove wall in the first waist hole 61a and the second waist hole 62a, and drives the upper stop claw 611 and the lower stop claw 612 to rotate.

[0075] In one embodiment, if Figure 2 and Figure 4 As shown, the boss 6211 is inserted into the pull rod 621 and in the second direction, the two ends of the boss 6211 protrude from the surface of the pull rod 621 respectively. In another embodiment, the boss 6211 includes a first protrusion 621a and a second protrusion 621b, and the first protrusion 621a and the second protrusion 621b are two independent components. In the second direction, the axis of the first protrusion 621a and the axis of the second protrusion 621b are collinear. The pull rod 621 is located between the upper stop claw 611 and the lower stop claw 612, and the first protrusion 621a and the second protrusion 621b are respectively connected to the two sides of the pull rod 621, and respectively match the first waist hole 61a and the second waist hole 62a.

[0076] The pull rod 621 located between the upper stop claw 611 and the lower stop claw 612 can improve the force consistency of the upper stop claw 611 and the lower stop claw 612, further ensure the rotation consistency of the upper stop claw 611 and the lower stop claw 612, thereby ensuring the clamping effect of the locking assembly 61 and the steering member 41.

[0077] In a specific embodiment, if Figure 3a 、 Figure 4 and Figure 7 As shown, multiple first latching portions form a gear-like structure 41a. The ends of the upper stop pawl 611 and the lower stop pawl 612 are each provided with a tooth structure 6a. The tooth structures 6a of the upper stop pawl 611 and the lower stop pawl 612 are simultaneously engaged in the tooth grooves of the gear-like structure 41a, thereby achieving the locking connection between the locking assembly 61 and the steering member 41.

[0078] When the steering member 41 rotates at different angles, the latching tooth structure 6a is engaged in different tooth grooves. The gear-like structure 41a is a circular structure. No matter how much the steering member 41 rotates, the latching tooth structure 6a moves the same distance to achieve engagement.

[0079] Furthermore, if Figure 4 and Figure 8 As shown, the upper stopping claw 611 and the lower stopping claw 612 are respectively provided with a first stopping protrusion 61d and a second stopping protrusion 62d, and the first stopping protrusion 61d and the second stopping protrusion 62d are respectively located on the first end surface 61c and the second end surface 62c, so that when the upper stopping claw 611 and the lower stopping claw 612 are clamped in the first bayonet portion 411, the first stopping protrusion 61d and the second stopping protrusion 62d contact the first end surface 61c and the second end surface 62c respectively.

[0080] In this embodiment, the first stop protrusion 61d and the second stop protrusion 62d can improve the abutment effect between the first end face 61c and the first side wall 5a, and the second end face 62c and the second side wall 5b, and can greatly reduce the phenomenon of breakage caused by local force on the tooth structure 6a.

[0081] In an alternative embodiment, if Figure 2 and Figure 4 As shown, the bracket 5 is provided with a receiving groove 54 extending along a first direction, and the pull rod 621 is located within the receiving groove 54. The pull rod assembly 62 also includes a first elastic member 622, which is mounted on the pull rod 621. When the locking assembly 61 is in the unlocked state, the first elastic member 622 abuts against the groove wall of the receiving groove 54, and the locking assembly 61 overcomes the elastic force of the first elastic member 622 to switch from the unlocked state to the locked state. When the locking assembly 61 is in the locked state, the first elastic member 622 provides a pressing force for the locking assembly 61 to engage with the first bayonet portion 411 of the steering member 41.

[0082] In this embodiment, the receiving groove 54 not only accommodates the pull rod 621, but also serves to guide and limit the pull rod 621. It can be understood that the pull rod 621 matches the receiving groove 54 and can only move within the receiving groove 54. In addition, the distance that the pull rod 621 can move is limited by the specific structure of the pull rod 621. The specific structure of the pull rod 621 is not specifically limited in this embodiment of the application. Figure 7 FIG. 5 shows that the first elastic member 622 is sleeved on the pull rod 621 and is located in the accommodating groove 54 . When the pull rod moves, the first elastic member 622 is blocked by the groove wall of the accommodating groove 54 and is compressed and deformed.

[0083] In an alternative embodiment, if Figure 1 and Figure 9As shown, the pull rod assembly 62 further includes an unlocking button 623 and a second elastic member (not shown). The unlocking button 623 is located at the proximal end of the sleeve 21 and is connected to the proximal end of the pull rod 621. One end of the second elastic member is connected to the unlocking button 623. The operator acts on the unlocking button 623, causing the unlocking button 623 to move toward the proximal end in a first direction. When the unlocking button 623 moves in the first direction, the pull rod 621 is moved. On the one hand, the unlocking button 623 can be moved to the initial position under the elastic force of the second elastic member; on the other hand, the second elastic member acts as a damper for the unlocking button 623.

[0084] Preferably, a fourth mounting hole is provided at one end of the pull rod 621 connected to the unlock button 623, and the unlock button 623 is provided with a third protrusion that cooperates with the fourth mounting hole, so that the pull rod 621 moves along with the unlock button 623. Of course, the connection method between the pull rod 621 and the unlock button 623 is not limited to this.

[0085] In an alternative embodiment, if Figure 1 and Figure 9 As shown, the unlock button 623 is mounted on the sleeve 21 and is capable of rotating with the rotation button 32. The rotation button 32 is used to achieve the rotation of the sleeve 21 and the end effector 1. The unlock button 623 is movably connected to the rotation button 32. The unlock button 623 can move relative to the rotation button 32 in a first direction, driving the pull rod 621 to move with it. A second elastic member is connected between the rotation button 32 and the unlock button 623. When the operator releases the force acting on the unlock button 623, the unlock button 623 moves to the initial position due to the elastic force of the second elastic member. Of course, when the operator releases the force acting on the unlock button 623, the locking assembly 61 engages with the steering member 41.

[0086] In the embodiment of the present application, based on the longer length of the anastomosis device 100, the use of the first elastic member 622 and the second elastic member at the same time can reduce the elastic requirements of the first elastic member 622 and the second elastic member, and the use of the first elastic member 622 and the second elastic member at the same time can improve the stability of the anastomosis device 100.

[0087] It should be noted that the first elastic member 622 and the second elastic member have the same direction of overcoming elasticity. When the elastic force of the first elastic member 622 or the second elastic member can meet the requirements of the locking assembly 61 and the unlocking button 623, only the first elastic member 622 or the second elastic member can be configured.

[0088] like Figure 4 and Figure 7As shown, the surgical instrument further includes a damping assembly 7, which includes a first damping rod 71, a second damping rod 72, a first damping spring 73, and a second damping spring 74. Both the first damping rod 71 and the second damping rod 72 extend in a first direction and are embedded in the bracket 5. The first damping spring 73 is mounted on the first damping rod 71, and the second damping spring 74 is mounted on the second damping rod 72. One end of the first damping rod 71 is connected to the steering member 41, and the other end is connected to the first damping spring 73. One end of the second damping rod 72 is connected to the steering member 41, and the other end is connected to the second damping spring 74. The first damping rod 71 and the second damping rod 72 are symmetrically arranged. When the steering member 41 rotates, the first damping spring 73 and the second damping spring 74 provide damping, thereby enhancing the rotation efficiency of the steering member 41.

[0089] The executable steps of the stapler 100 include:

[0090] The end effector 1 is moved to the vicinity of the biological tissue to be cut. Based on the position of the biological tissue to be cut, the operator acts on the unlocking button 623 and moves the unlocking button 623 toward the proximal end, so that the locking assembly 61 switches from the locked state to the unlocked state. In the unlocked state, the operator always acts on the unlocking button 623.

[0091] By pressing the end effector 1 against the surface of the biological tissue, the end effector 1 is passively swung. After the end effector 1 is swung, the operator releases the force applied to the unlocking button 623, causing the locking assembly 61 to engage the steering member 41. The steering member 41 cannot rotate, and the end effector 1 cannot swing. The unlocking button 623 also moves to its original position. Of course, this step can also be used in conjunction with the rotation button 32 to adjust the position and posture of the end effector 1.

[0092] After the position and posture adjustment of the end effector 1 is completed, the driving member receives the action command issued by the controller to drive the end effector 1 to perform actions such as clamping and cutting.

[0093] It should be understood that the above embodiments are exemplary and are not intended to encompass all possible implementations of the claims. Various modifications and variations may be made to the above embodiments without departing from the scope of the present disclosure. Similarly, the various technical features of the above embodiments may be arbitrarily combined to form additional embodiments of the present application that may not be explicitly described. Therefore, the above embodiments merely illustrate several implementations of the present application and do not limit the scope of protection of the patent application.

Claims

1. A surgical instrument, characterized in that: include: End effector (1); a steering member (41) connected to the proximal end of the end actuator (1), the steering member (41) being configured to passively follow the swinging of the end actuator (1), the steering member (41) being provided with a plurality of first bayonet portions (411); A bracket (5), wherein the steering member (41) is rotatably connected to the bracket (5); A locking mechanism (6), comprising a locking assembly (61) and a pull rod assembly (62), wherein the locking assembly (61) is movably connected to the pull rod assembly (62), and the locking assembly (61) rotates under the combined action of the pull rod assembly (62) pulling in a first direction and the blocking of the bracket (5), so that the locking assembly (61) switches between a locked state and an unlocked state; The locked state is that one end of the locking assembly (61) is engaged with the first bayonet portion (411), and the other end contacts the side wall of the bracket (5) to limit the rotation of the steering member (41); the unlocked state is that the locking assembly (61) is disengaged from the first bayonet portion (411), and the steering member (41) can rotate relative to the bracket (5).

2. The surgical instrument according to claim 1, wherein The locking assembly (61) includes an upper stop claw (611), a lower stop claw (612) and a cam structure. The upper stop claw (611) and the lower stop claw (612) are stacked in a second direction perpendicular to the first direction. Under the pulling action of the pull rod assembly (62), the upper stop claw (611) and the lower stop claw (612) are respectively rotated in different directions relative to the bracket (5) under the guidance of the cam structure.

3. The surgical instrument according to claim 2, wherein: The pull rod assembly (62) comprises a pull rod member (621), the pull rod member (621) is provided with a boss (6211), and the boss (6211) extends along the second direction; The upper stop claw (611) and the lower stop claw (612) are respectively provided with a first waist hole (61a) and a second waist hole (62a), and the first waist hole (61a) and the second waist hole (62a) at least partially overlap in the second direction; The cam structure is a structure formed by the boss (6211) being movably inserted into the first waist hole (61a) and the second waist hole (62a).

4. The surgical instrument according to claim 2, wherein: The multiple first bayonet portions (411) constitute a gear-like structure (41a); the ends of the upper stop claw (611) and the lower stop claw (612) are both provided with a tooth structure (6a); and the two tooth structures (6a) are simultaneously engaged with the gear-like structure (41a).

5. The surgical instrument according to claim 2, wherein: The bracket (5) has a first side wall (5a) and a second side wall (5b); the upper stop claw (611) and the lower stop claw (612) respectively have a first end surface (61c) and a second end surface (62c); In the unlocked state, there is a gap between the first side wall (5a) and the first end surface (61c), and between the second side wall (5b) and the second end surface (62c); In the locked state, the first end surface (61c) contacts the first side wall (5a), and the second end surface (62c) contacts the second side wall (5b).

6. The surgical instrument according to claim 5, wherein: The upper stop claw (611) and the lower stop claw (612) are respectively provided with a first stop protrusion (61d) and a second stop protrusion (62d), and the first stop protrusion (61d) and the second stop protrusion (62d) are respectively located on the first end surface (61c) and the second end surface (62c), so that when the upper stop claw (611) and the lower stop claw (612) are engaged with the first bayonet portion (411), the first stop protrusion (61d) and the second stop protrusion (62d) contact the first end surface (61c) and the second end surface (62c) respectively.

7. The surgical instrument according to claim 3, wherein: The bracket (5) is provided with a receiving groove (54), the receiving groove (54) extends along the first direction, and the pull rod (621) is located in the receiving groove (54); The pull rod assembly (62) further includes a first elastic member (622), wherein the first elastic member (622) is sleeved on the pull rod member (621); When in the unlocked state, the first elastic member (622) abuts against the groove wall of the accommodating groove (54), and the locking assembly (61) overcomes the elastic force of the first elastic member (622) to switch from the unlocked state to the locked state.

8. The surgical instrument according to claim 3, wherein: The boss (6211) includes a first protrusion (621a) and a second protrusion (621b). In the second direction, the axis of the first protrusion (621a) and the axis of the second protrusion (621b) are collinear. The pull rod (621) is located between the upper stop claw (611) and the lower stop claw (612). The first protrusion (621a) and the second protrusion (621b) are respectively connected to the two sides of the pull rod (621) and respectively match the first waist hole (61a) and the second waist hole (62a).

9. The surgical instrument according to claim 1, wherein: The pull rod assembly (62) also includes an unlocking button (623), a pull rod member (621) and a second elastic member. The proximal end of the pull rod member (621) is connected to the unlocking button (623), and one end of the second elastic member is connected to the unlocking button (623). When the unlocking button (623) moves along the first direction, the pull rod member (621) is driven to move, and can be moved to the initial position under the elastic force of the second elastic member.

10. The surgical instrument according to claim 9, wherein The unlocking button (623) is mounted on the sleeve (21) of the surgical instrument and can be movably connected to the rotating button (32) of the surgical instrument. The second elastic member is connected between the rotating button (32) and the unlocking button (623). The unlocking button (623) rotates synchronously around the sleeve (21) following the rotating button (32).

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