End execution assembly adapted for surgical instrument and surgical instrument

Abstract

The present invention discloses a surgical instrument and its end effector assembly, which belongs to the field of medical instruments. The end effector assembly includes a proximal main body portion, which defines a longitudinal axis and includes a bending member and a firing member; a distal effector portion, which is pivotally connected to the proximal main body portion via a joint assembly, the joint assembly including: a proximal connector fixedly connected to the distal end of the proximal main body portion; a distal connector fixedly connected to the proximal end of the distal effector portion, the distal connector being engaged and connected to the proximal connector, the distal connector being provided with at least one driving bending portion, the bending member being operable to drive the driving bending portion to move so that the distal effector portion is bent relative to the proximal main body portion; a retainer, the retainer being pivotally connected to the proximal connector and the distal connector, respectively, and the retainer having a holding channel for accommodating the firing member. The surgical instrument of the present invention can adapt to narrow spaces and the firing member has high reliability in movement.

Description

Technical Field

[0001] The present invention relates to the field of surgical instruments, and in particular to a clamping, cutting and stapling surgical instrument and an end execution assembly thereof. Background Art

[0002] Surgical anastomosis instruments are commonly used surgical instruments in laparoscopic surgery and are suitable for anastomosis and cutting of tissues. They usually include a handle assembly, a slender body and an end execution assembly. When used during surgery, a part of the slender body assembly and the end execution assembly enter the patient's body through the passage established by the puncture device. The doctor can operate the handle assembly to bend the end execution assembly to a certain angle relative to the slender body assembly to adapt to different tissue cutting and anastomosis positions. In certain specific surgical environments, it is often necessary for the end execution assembly to provide a larger bending angle to achieve a smaller wound and fewer staple positions, thereby reducing the probability of anastomotic leakage.

[0003] To increase the bending angle of the end effector assembly, existing designs use dual or even multiple joints to achieve large-angle bending. While this allows for a larger bending angle due to the progressive bending of multiple pivots, it also increases the length of the joints, increasing the bending radius of the end effector assembly and making it unsuitable for narrow surgical environments such as the pelvis. Existing designs also use end effectors that bend on a single pivot. The firing member, comprised of multiple metal sheets, forms a significant bend at the single pivot. For example, when the end effector bends 90°, the firing member also needs to bend 90° at the single pivot. When performing a surgical operation in this state, the firing member can easily pop out of the joint or pivot or become stacked at the joint or pivot if there is no limiting mechanism or if the limiting mechanism has an unreasonable structure. Summary of the Invention

[0004] To this end, the present invention proposes a surgical instrument with a small bending radius that can adapt to narrow spaces and a firing component that can move reliably.

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

[0006] An end-effector assembly adapted for a surgical instrument, comprising:

[0007] a proximal body portion defining a longitudinal axis and comprising a bending member and a firing member;

[0008] The distal actuator comprises a staple cartridge assembly and an anvil assembly, wherein opposing surfaces of the staple cartridge assembly and the anvil assembly form a clamping surface for clamping tissue. The distal actuator is pivotally connected to the proximal body portion via a joint assembly, wherein the joint assembly comprises:

[0009] a proximal connecting member, fixedly connected to the distal end of the proximal main body;

[0010] a distal connecting member fixedly connected to the proximal end of the distal actuator, the distal connecting member being engaged with the proximal connecting member, the distal connecting member being provided with at least one driving bending portion, the bending member being operable to drive the driving bending portion to move so as to bend the distal actuator relative to the proximal main body;

[0011] A retaining member is pivotally connected to the proximal connecting member and the distal connecting member, and has a retaining channel for accommodating the firing member.

[0012] In some embodiments of the present invention, the retaining channel includes a first supporting wall and a second supporting wall forming an arc-shaped channel, and the first supporting wall and the second supporting wall are curved in the same direction.

[0013] In some embodiments of the present invention, the distal end of the proximal connecting member has a toothed structure, and the proximal end of the distal connecting member has a toothed structure that engages with the proximal connecting member; the engaging position of the distal connecting member and the proximal connecting member forms the pivot point of the distal actuator, and when the distal actuator extends along the longitudinal axis, the drive bending portion is not arranged to overlap with the longitudinal axis.

[0014] In some embodiments of the present invention, a proximal pivot axis and a distal pivot axis are respectively provided on the retaining member; the proximal pivot axis of the retaining member is pivotally engaged with the proximal pivot hole of the proximal connecting member, and the distal pivot axis of the retaining member is pivotally engaged with the distal pivot hole of the distal connecting member; the axis connecting the proximal pivot axis and the distal pivot axis is located in the retaining channel.

[0015] In some embodiments of the present invention, the joint assembly further includes a first connecting plate, which is provided with two connecting holes, and the proximal pivot axis and the distal pivot axis of the retaining member respectively pass through the proximal pivot hole of the proximal connecting member and the distal pivot hole of the distal connecting member and are riveted to the connecting holes of the connecting member.

[0016] In some embodiments of the present invention, the proximal main body portion includes an outer sleeve and a support body located inside the outer sleeve, and the proximal connecting member is fixedly connected to the support body.

[0017] In some embodiments of the present invention, the distal connecting member is provided with a first driving bending portion and a second driving bending portion, and the bending member is respectively connected to the first driving bending portion and the second driving bending portion through a transmission assembly.

[0018] In some embodiments of the present invention, the transmission assembly includes:

[0019] a first rack and a first bending transmission member fixedly connected to the first rack, wherein a proximal end of the first rack is connected to the bending member, and the first bending transmission member is connected to one of the driving bending portions of the distal connector;

[0020] a second rack and a second bending transmission member fixedly connected to the second rack, the second rack being spaced apart and arranged opposite to the first rack, the second bending transmission member being connected to the other driving bending portion of the distal connector;

[0021] At least one gear is located between the first rack and the second rack and is meshed with the first rack and the second rack respectively.

[0022] In some embodiments of the present invention, the first drive bending portion and the second drive bending portion are constructed as a pivot fixedly connected to the distal connecting member, and the first bending transmission member or the second bending transmission member is riveted or sleeved on the pivot.

[0023] In some embodiments of the present invention, the first driving bending portion of the distal connecting member is constructed as a pivot whose axial direction is perpendicular to the clamping surface, and a connecting sleeve is provided at the distal end of the first bending transmission member, and the first bending transmission member is sleeved on the first driving bending portion through the connecting sleeve.

[0024] In some embodiments of the present invention, the second driving bending portion of the distal connecting member is constructed as a protrusion whose axial direction is parallel to the clamping surface, and a rivet hole is provided at the distal end of the second bending transmission member, and the second driving bending portion is connected to the second bending transmission member through the rivet hole.

[0025] In some embodiments of the present invention, the distal connecting member is provided in two pieces, namely an upper distal connecting member and a lower distal connecting member, the lower distal connecting member is connected to the anvil assembly; the upper distal connecting member is connected to the nail magazine assembly.

[0026] In some embodiments of the present invention, the supporting body includes a first half supporting body and a second half supporting body, and two proximal connecting members are provided, namely an upper proximal connecting member and a lower proximal connecting member, the upper proximal connecting member is connected to the first half supporting body, and the lower proximal connecting member is connected to the second half supporting body.

[0027] In some embodiments of the present invention, the joint assembly further includes a second connecting plate having two connecting holes provided thereon, and the lower proximal connecting member and the lower distal connecting member are riveted to the second connecting plate via a rotating shaft, respectively.

[0028] In some embodiments of the present invention, when the firing member is bent to the maximum angle position, the first support wall is suitable for supporting the outer wall of the firing member, and the second support wall is suitable for supporting the inner wall of the firing member, and the arc length of the first support wall is smaller than the arc length of the second support wall.

[0029] In some embodiments of the present invention, the portion where the first support wall of the retaining member is located is the first support area, the portion where the second support wall of the retaining member is located is the second support area, the proximal surface of the first support area is located distal to the proximal surface of the second support area, and the distal surface of the first support area is located proximal to the distal surface of the second support area.

[0030] In some embodiments of the present invention, when the distal actuator extends along the longitudinal axis, the distal edge of the first support wall and the inner wall of the firing channel of the distal actuator are substantially in a straight line; the proximal end of the first support wall and the inner wall of the channel supporting the relative sliding of the firing component in the proximal main body are substantially in a straight line.

[0031] In some embodiments of the present invention, the axial distance between the proximal edge of the first support wall and the proximal pivot axis is less than a first set value; the axial distance between the distal edge of the first support wall and the distal pivot axis is less than a second set value.

[0032] In some embodiments of the present invention, when the distal actuator extends along the longitudinal axis, the distal end of the first support wall is gap-fitted with the proximal end of the firing channel of the distal connecting member, and the proximal end of the first support wall is gap-fitted with the distal end of the firing channel of the proximal connecting member.

[0033] In some embodiments of the present invention, the proximal connecting member is provided with a first limiting protrusion on a side surface facing the retaining member, and the first limiting protrusion is opposite to the proximal end surface of the first supporting area and has a first gap.

[0034] In some embodiments of the present invention, the distal connecting member is provided with a second limiting protrusion on a side surface facing the retaining member, and the second limiting protrusion is opposite to the distal end surface of the first supporting area and has a second gap.

[0035] In some embodiments of the present invention, the first limiting protrusion and the second limiting protrusion respectively have a first side surface arranged opposite to the first supporting area and a second side surface arranged opposite to the firing component, and the angle between the first side surface and the second side surface is between 80° and 100°.

[0036] In some embodiments of the present invention, when the distal actuator extends along the longitudinal axis, the second side surfaces of the first limiting protrusion and the second limiting protrusion are parallel to the longitudinal axis.

[0037] In some embodiments of the present invention, when the distal actuator extends along the longitudinal axis, the first side surface of the first limiting protrusion is arranged parallel to the proximal surface of the first support area of ​​the retaining member, and the first side surface of the second limiting protrusion is parallel to the distal surface of the first support area of ​​the retaining member.

[0038] In some embodiments of the present invention, the first bending transmission member and / or the second bending transmission member are formed as elastically deformable spring structures.

[0039] In some embodiments of the present invention, the first bending transmission member and / or the second bending transmission member is formed into a chain structure formed by multiple sections of pivotally connected rods.

[0040] In some embodiments of the present invention, when the end effector assembly is in the ready-to-load position, the distal effector forms an angle other than 0° with respect to the longitudinal axis.

[0041] In some embodiments of the present invention, the firing component includes at least one firing beam and a firing connection piece located proximal to the firing beam, wherein the proximal end of the firing beam is connected to the firing connection piece.

[0042] In some embodiments of the present invention, a first hook portion and a second hook portion are provided on the proximal side of the firing beam, which are opposite to each other. A firing connection portion is provided on the firing connecting piece, and the first hook portion and the second hook portion are hooked on two opposite side surfaces of the firing connection portion.

[0043] In some embodiments of the present invention, the firing connection member is provided with a guide slide at the distal end of the firing connection portion, and the guide slide extends along the longitudinal axis and is suitable for limiting the position of the firing beam.

[0044] In some embodiments of the present invention, guide grooves are provided on the opposing surfaces of the first half supporting body and the second half supporting body, and the firing member is slidably connected to the guide grooves.

[0045] In some embodiments of the present invention, the guide groove extends along the longitudinal axis and penetrates the entire extended surface of the support body.

[0046] The present invention also provides a surgical instrument, comprising a handle assembly, a slender body assembly, and an end execution assembly selectively engaged with the slender body assembly, which are sequentially connected from the proximal end to the distal end. The end execution assembly adopts the end execution assembly.

[0047] The technical solution of the present invention has the following technical effects compared with the prior art:

[0048] In the surgical instrument and its end effector assembly provided by the present invention, the joint assembly forms a pivot of the distal effector by means of the mutual engagement of the proximal connector and the distal connector, which can achieve large-angle bending under a relatively small bending radius. At the same time, a driving bending portion is provided on the distal connector, which has a set interval relative to the pivot. Under the same bending torque, the bending driving force is relatively small, and the bending drive is easy to achieve. In addition, since the retaining member is connected to the proximal connector and the distal connector by two pivot shafts, the center distance between the proximal connector and the distal connector is constant, thereby ensuring the consistency of the firing stroke in the bent state and the straight state to the greatest extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, which will help to understand the objects and advantages of the present invention.

[0050] Figure 1 is a schematic structural diagram of a specific embodiment of the surgical instrument of the present invention;

[0051] Figure 2 It is a structural schematic diagram of a specific embodiment of the end effector assembly of the surgical instrument of the present invention;

[0052] Figure 3 An exploded view of a specific embodiment of an end-effector assembly of a surgical instrument of the present invention;

[0053] Figure 4 An exploded view of a portion of the structure of a specific embodiment of an end effector assembly of the present invention;

[0054] Figure 5 An exploded view of a portion of the structure of a specific embodiment of an end effector assembly of the present invention;

[0055] Figure 6 It is a structural schematic diagram of a specific embodiment of a retaining member in a surgical instrument of the present invention;

[0056] Figure 7 is a schematic diagram of a specific embodiment of the first distal connecting member in the surgical instrument of the present invention;

[0057] Figure 8 A schematic diagram of a distal actuator extending along the longitudinal axis in a specific embodiment of the end actuator assembly of the present invention;

[0058] Figure 9 for Figure 8 A magnified view of some structures;

[0059] Figure 10 is a schematic diagram of a portion of a joint assembly when the distal actuator of the present invention is along the longitudinal axis;

[0060] Figure 11 is a schematic diagram of the surgical instrument of the present invention when the distal actuator is bent to the maximum bending angle;

[0061] Figure 12 for Figure 11 A magnified view of some structures;

[0062] Figure 13 is a schematic diagram of a portion of the joint assembly of the distal actuator of the present invention at the maximum bending angle;

[0063] Figure 14 This is a structural schematic diagram of the end effector assembly of the present invention in an unloaded state;

[0064] Figure 15 for Figure 14 A magnified view of some structures;

[0065] Figure 16 A schematic diagram of a portion of a joint assembly of an end effector assembly of the present invention in an unloaded state;

[0066] Figure 17 Schematic diagram of a portion of a joint assembly of an end effector assembly of the present invention in a bent state;

[0067] Figure 18 is a schematic diagram of another specific embodiment of the lower proximal connecting member of the present invention;

[0068] Figure 19 is a schematic diagram of another specific embodiment of the lower distal connecting member of the present invention;

[0069] Figure 20 It is an enlarged view of a portion of the structure of another specific embodiment of the surgical instrument of the present invention when the distal implementation portion extends along the longitudinal axis;

[0070] Figure 21 is a schematic diagram of a portion of a joint assembly when the distal actuator is along the longitudinal axis in another specific embodiment of the present invention;

[0071] Figure 22 A schematic diagram of a specific embodiment of an end-effector assembly of a surgical instrument of the present invention;

[0072] Figure 23 for Figure 4 A partial enlarged view of

[0073] Figure 24 is a schematic diagram of a specific embodiment of the first supporting body in the end effector assembly of the present invention;

[0074] Figure 25 Another structural form of the first bending transmission member and the second bending transmission member in the end effector assembly of the present invention;

[0075] Figure 26 A schematic diagram of another embodiment of the end effector assembly of the present invention, wherein the distal effector portion extends along the longitudinal axis;

[0076] Figure 27 for Figure 26 A magnified view of part of the structure. DETAILED DESCRIPTION

[0077] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0078] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0079] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediary, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0080] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0081] In various embodiments of the present invention, the “distal end / side” refers to the end of the surgical instrument that is away from the operator during operation, and the “proximal end / side” refers to the end / side of the surgical instrument that is close to the operator during operation.

[0082] The following is a specific embodiment of a surgical instrument. Generally speaking, the embodiment of the surgical instrument described herein is an endoscopic surgical cutting and stapling instrument. However, it should be noted that the surgical instrument can also be a non-endoscopic surgical cutting and stapling instrument, such as an open surgical instrument used in open surgery.

[0083] Figure 1 The illustrated surgical instrument 100 includes a handle assembly 10, an elongated body assembly 20, and an end effector assembly 30. The handle assembly 10 is adapted to allow an operator to manipulate the surgical instrument 100. The handle assembly 10 can control the movement of the end effector assembly 30 via the elongated body assembly 20 to perform surgical operations, such as clamping / closing, suturing / anastomosis, and cutting tissue.

[0084] The handle assembly 10 includes a handle housing 11 that can be gripped by a user in a conventional manner. In one embodiment, the surgical instrument 100 uses a trigger to control the closing and firing of the end effector assembly 30. In another embodiment, the surgical instrument 100 can also use a push button or other means provided on the handle to control the closing and firing of the end effector assembly 30, so that the end effector assembly 30 performs cutting and suturing operations. In other alternative embodiments, the surgical instrument 100 can also use a trigger, push button or other means provided on the handle assembly 10 to control the opening of the jaws of the end effector assembly 30 to release tissue. The handle housing 11 is generally T-shaped and includes a main body extending along a longitudinal axis C and a grip portion extending in a direction generally perpendicular to the longitudinal axis C or at an angle relative to the longitudinal axis C. The main body and grip portion define a mounting space for the drive mechanism.

[0085] like Figure 1 As shown, the elongated body assembly 20 includes a tubular housing 21 defining a longitudinal axis C; a transmission rod assembly (not shown) is provided in the tubular housing 21, the proximal end of the transmission rod assembly being connected to the output end of the drive mechanism in the handle assembly 10, as shown in FIG. Figure 3 As shown, its distal end is connected to the firing member 35 and the bending member 36 of the end effector 30, and is used to transmit the driving force of the drive mechanism to the end effector 30. Specifically, the transmission rod assembly includes a firing rod and a bending drive rod. The firing rod is used to transmit the driving force of the firing drive to the firing member 35 of the end effector 30, thereby achieving the firing operation of the end effector 30. The bending drive rod is used to transmit the driving force of the bending drive assembly to the bending member 36 of the end effector 30, thereby achieving the bending of the end effector 30.

[0086] like Figure 1As shown, the surgical instrument 100 described in the embodiment of the present invention also includes a rotating head 13, which is installed on the distal side of the handle assembly 10 and is provided at the proximal end of the slender body assembly 20. When the rotating head 13 is operated to rotate around the longitudinal axis C of the surgical instrument 100, it can drive the slender body assembly 20 and the end execution assembly 30 to rotate together.

[0087] The end effector assembly 30 is used to operate tissue to perform specific surgical operations, such as clamping, suturing / anastomosis, cutting, etc. In order to achieve the bending angle of the end effector assembly 30 relative to the longitudinal axis C of the elongated body assembly 20, as shown in FIG. Figure 2 As shown, the end effector assembly 30 includes a proximal body portion 30a and a distal effector portion 30b, which are pivotally connected via a joint assembly 38. Accordingly, the surgical instrument 100 further includes a bending drive assembly and a bending transmission assembly for driving the joint assembly 38 to bend. Figure 3 As shown, the bending transmission assembly includes a bending member 36, which is operably connected to the bending drive assembly. The bending drive assembly includes a bending knob 12 mounted on the rotating head 13 and a bending drive rod (not shown in the figure) located in the slender body assembly 20, and the bending drive rod is connected to the bending member 36. The operator can drive the bending drive rod to move by manipulating the bending knob 12. Specifically, when the bending knob 12 is rotated clockwise from the initial position, the bending drive rod drives the bending member 36 to move toward the distal end; when the bending knob 12 is rotated counterclockwise from the initial position, the bending drive rod drives the bending member 36 to move toward the proximal end; and vice versa.

[0088] The following combination Figure 2, a specific embodiment of the end effector assembly 30 of the surgical instrument 100 of the present invention is described in detail. This end effector assembly 30 is detachably mounted on the distal end of the elongated body assembly 20 of the surgical instrument 100. As previously described, the end effector assembly 30 includes a proximal body portion 30a and a distal effector portion 30b, which are pivotally connected via a joint assembly 38. The proximal body portion 30a of the end effector assembly 30 can be inserted into the elongated body assembly 20 and rotated relative to the housing of the elongated body assembly 20 to lock the end effector 30 thereto. The distal effector portion 30b includes a staple cartridge assembly 31 and anvil assembly 32. The staple cartridge assembly 31 and anvil assembly 32 are movable relative to each other to close the jaws and thereby clamp tissue. The opposing surfaces of the staple cartridge assembly 31 and the anvil assembly 32 form a clamping surface for clamping tissue. In a specific embodiment, the anvil assembly 32 can be operably pivoted toward the staple cartridge assembly 31 until the jaws of the end effector assembly 30 are closed to clamp tissue; the anvil assembly 32 can be pivoted in a direction away from the staple cartridge assembly 31 until the jaws of the end effector assembly 30 are opened to release tissue. As an alternative embodiment, the staple cartridge assembly 31 of the end effector assembly 30 can be operably pivoted toward the anvil assembly 32 until the jaws of the end effector assembly 30 are closed to clamp tissue; and the staple cartridge assembly 31 can be operably pivoted in a direction away from the staple cartridge assembly 31 until the jaws of the end effector assembly 30 are opened to release tissue.

[0089] Specifically, if Figure 2 and Figure 3As shown, the proximal body portion 30a of the end effector assembly 30 is detachably connected to the distal end of the slender body assembly 20. The proximal body portion 30a includes an elongated outer tube 33, a support body 34 disposed within the outer tube 33, a firing member 35 slidably disposed within the support body 34, and a bending member 36. The outer tube 33 has a longitudinal axis C extending in the same direction as the tubular housing 21 of the slender body assembly 20. The support body 34 includes a first half support body 34a and a second half support body 34b. The proximal end of the second half support body 34b includes a coupling portion 34c for coupling with the slender body assembly 20. The coupling portion 34c is provided with coupling lugs for releasably coupling with the slender body assembly 20 in a snap-fit ​​connection. The firing member 35 includes an elongated firing beam 351, which can be formed from a single piece of material or from a plurality of stacked sheets. The working portion 352 of the firing member 35 is formed into an I-beam structure, a portion of which contacts the staple pusher slider and can slide integrally toward the distal end of the staple cartridge assembly 31 to perform the corresponding surgical operation. For example, when the firing member 35 is driven to move from the proximal end to the distal end, a portion of the working portion 352 of the firing member 35 pushes the staple pusher slider toward the distal end. The staple pusher slider acts on the staple driver to push the staples out of the staple cartridge assembly 31, completing the tissue anastomosis operation. At the same time, the cutting blade 354 on the working portion 352 cuts the tissue.

[0090] Furthermore, in the end effector assembly 30 according to the embodiment of the present invention, a guide groove 341 for slidably receiving the firing member 35 is defined between the first half support body 34a and the second half support body 34b (see Figure 23 、 Figure 24 The firing member 35 includes an elongated firing beam 351 that is slidably connected to the guide slot 341. The guide slot 341 extends along the longitudinal axis and penetrates the extended area of ​​the first half support body 34a and the second half support body 34b, so that both the proximal and distal ends of the support body 34 can limit the firing beam 351.

[0091] The proximal end of the firing beam 351 is hooked and connected to the firing connecting piece 353. Specifically, Figure 22 、 Figure 23As shown, the firing link 353 is formed into a sleeve structure with an opening, and the proximal side of the firing beam 351 is constructed into a structure with an opening, and its proximal end portion has a first hook portion 3511 and a second hook portion 3512 arranged opposite to each other. A firing connection portion 3531 is provided on the firing link 353, and the first hook portion 3511 and the second hook portion 3512 are hooked on the opposite side surfaces of the firing connection portion 3531. The firing link 353 is provided with a guide slide 3532 at the distal end of the firing connection portion 3531, and the guide slide 3532 extends along the longitudinal axis direction and is suitable for limiting the position of the two side surfaces of the firing beam 351 perpendicular to the longitudinal axis direction. For example, when the firing beam 351 is constructed as a stacked sheet, the guide slide 3532 is used to cooperate with the sheet surfaces on both sides of the firing beam 351 to limit its position to avoid the problem of displacement of the stacked sheet firing beam 351 when turning. The proximal end of the firing link 353 is provided with an aperture configured to receive the distal end of the firing rod 22 when the proximal end of the end effector assembly 30 is engaged with the elongated body assembly 20 .

[0092] Reference Figure 3 As shown, in the distal actuator 30b of the end actuator assembly 30, the staple cartridge assembly 31 includes a staple cartridge 312, a staple cartridge base 311, and a staple pusher slider disposed in a cavity between the staple cartridge 312 and the staple cartridge base 311. The proximal end of the firing member 35 is connected to the firing rod within the elongated body assembly 20, while the distal end of the firing member 35 abuts against the staple pusher slider and can slide / move integrally along the longitudinal axis to perform the corresponding surgical operation. The staple cartridge assembly 31 also includes a staple pusher and staples located within the staple cartridge 312. When the firing member 35 is driven to move from the proximal end to the distal end, the staple pusher slider moves, which acts on the staple pusher to push the staples out of the staple cartridge 312, thereby completing the tissue anastomosis operation. The anvil assembly 32 includes an anvil shell 321 and a stapler seat 322 located inside the anvil shell 321. The stapler seat 322 cooperates with the staple magazine 312 to achieve the bending operation of the suture staples. The surface of the stapler seat 322 is provided with a plurality of staple buds, which correspond one-to-one to the positions of the staple holes on the staple magazine 312. When tissue is anastomosed, the suture staples in the staple holes abut against the staple buds.

[0093] Reference Figure 3-Figure 5 As shown, the joint assembly 38 includes a proximal connector 381a fixedly connected to the distal end of the proximal main body 30a, and a distal connector 382a fixedly connected to the distal actuator 30b; specifically, the proximal connector 381a is fixedly connected to the support body 34 through the matching structure of the positioning protrusion and the positioning slot, or, in an alternative embodiment, the proximal connector 381a and the support body 34 are integrally formed by a process such as welding or injection molding. The distal connector 382a is fixedly connected to the distal actuator 30b by a positioning pin; as shown Figure 4 As shown, the distal end of the proximal connecting member 381a and the proximal end of the distal connecting member 382a have toothed structures that mesh with each other, and the meshing position of the two forms the pivot point A of the distal actuator 30b. The distal connecting member 382a is provided with at least one driving bending portion connected to the bending member 36. When the bending member 36 slides relative to the support body 34, it can directly or indirectly act on the driving bending portion of the distal connecting member 382a, so that the distal connecting member 382a can swing around the meshing position of the distal connecting member 382a and the distal connecting member 382a under the action of the meshing teeth, thereby realizing the bending of the distal actuator 30b relative to the proximal main body 30a. When the distal actuator 30b extends along the longitudinal axis C (refer to Figure 4 As shown in FIG, the driving bending portion is spaced apart from the longitudinal axis C and is located at the distal end of the pivot point A, that is, the driving bending portion does not coincide with the longitudinal axis C. Other joint connection methods can also be used between the proximal connecting member 381a and the distal connecting member 382a to achieve the bending or swinging of the distal connecting member 382a around the proximal connecting member 381a. At the same time, the two can provide relatively stable support, so that the shaking caused by the bending or swinging of the joint during the firing process of the surgical instrument is reduced to avoid pulling and damaging the tissue. In a specific embodiment, referring to Figure 26 、 Figure 27 As shown, the areas opposite to the proximal connecting member 381a and the distal connecting member 382a are respectively provided with a coupling portion, and the coupling portion is a friction wheel with a relatively large friction force. The proximal connecting member 381a and the distal connecting member 382a are connected by a connecting piece 385' having a groove / crack, and the connecting piece 385' is constructed in the form of a spring sheet with a certain amount of elastic deformation, which can expand or shrink its groove / crack under the action of external force to achieve elastic deformation. The connecting piece 385' is provided with two connecting holes, which are respectively connected to the proximal connecting piece 381a and the distal connecting piece 382a through a pin shaft. In the initial state, the distance between the two connecting holes of the connecting piece 385' is slightly smaller than the axial spacing between the proximal connecting piece 381a and the distal connecting piece 382a. After the connecting piece 385' is connected to the proximal connecting piece 381a and the distal connecting piece 382a respectively, the connecting piece 385' is stretched and deformed, and the contraction tension force is applied to the proximal connecting piece 381a and the distal connecting piece 382a, so that the proximal connecting piece 381a and the distal connecting piece 382a are in close contact, so as to increase the relative friction force and ensure the positioning of the bending position of the distal connecting piece 382a.

[0094] In order to ensure the stability of the firing member 35 moving toward the distal end after the distal actuator 30b is bent relative to the proximal main body 30a, it is avoided that the bending force of the firing member 35 (i.e., the biasing force that bends and deforms the firing member 35) is too large, causing the problem of part of the sheet-like firing beam 351 popping out or stacking, such as Figure 3-Figure 6 As shown, the joint assembly 38 further includes a retaining member 384 for accommodating the bending position of the firing member 35, and the retaining member 384 is connected to the proximal connecting member 381a and the distal connecting member 382a that cooperate with each other through two pivot shafts. Figure 10 、 Figure 13 as well as Figure 16 As shown, the retaining member 384 is connected to the proximal pivot hole 51 of the proximal connecting member 381a via the proximal pivot shaft 41, and is connected to the distal pivot hole 52 of the distal connecting member 382a via the distal pivot shaft 42, so that it can pivot and swing relative to the proximal connecting member 381a around the proximal pivot shaft 41 along with the distal connecting member 382a. The joint assembly 38 also includes a first connecting piece 385, to which the ends of the proximal pivot shaft 41 and the distal pivot shaft 42 of the retaining member 384 are riveted. Figure 2 and Figure 3 As shown, the first connecting piece 385 is provided with two connecting holes, and the ends of the proximal pivot axis 41 and the distal pivot axis 42 of the retaining member 384 are riveted to the connecting holes of the first connecting piece 385. The retaining member 384 has a retaining channel 43, and the axis connecting the proximal pivot axis 41 and the distal pivot axis 42 is located in the retaining channel 43. The retaining channel 43 is suitable for accommodating at least a portion of the firing beam 351 of the firing member 35, so that the firing beam 351 is disposed in the retaining channel 43 and can move along the extending direction thereof.

[0095] The end effector assembly 30 according to the embodiment of the present invention has a retaining channel 43 of a retaining member 384 configured as an arc-shaped structure. Figure 6 As shown, the retaining channel 43 is formed by a first support wall 43a and a second support wall 43b located on both sides of the firing beam 351, and the arc bending directions of the first support wall 43a and the second support wall 43b are the same, the first support wall 43a is suitable for cooperating with the maximum bending outer arc surface of the firing beam 351, and the second support wall 43b is suitable for cooperating with the maximum bending inner arc surface of the firing beam 351.

[0096] Reference Figure 9As shown, the proximal connector 381a includes a firing channel 53, the proximal end of which is opposite to the firing channel of the proximal body portion 30a, and the distal end of which is opposite to the retaining channel 43 of the retaining member 384. Correspondingly, the distal connector 382a also has a firing channel 54, the distal end of which is opposite to the firing channel of the distal effector 30b, and the proximal end of which is opposite to the retaining channel 43 of the retaining member 384. When the distal effector 30b extends along the longitudinal axis C, the firing channel 53 of the proximal connector 381a and the firing channel 54 of the distal connector 382a extend in the same direction and are positioned opposite each other, suitable for the firing beam 351 to extend in a straight direction. Because the first support wall 43a and the second support wall 43b of the retaining channel 43 are both curved toward the same side, the firing beam 351 of the firing member 35 is allowed to unilaterally bend to the greatest possible angle. When the firing beam 351 is at its maximum unilateral bending angle, the inner and outer curved surfaces thereof are provided with better support and position limiting, respectively, enabling the distal effector 30b to achieve a greater unilateral bending angle. It will be appreciated that although the first support wall 43a and the second support wall 43b of the retaining channel 43 are both curved toward the same side to provide support and position limiting for the firing beam 351 when the distal effector 30b is at its maximum unilateral bending position, the retaining channel 43 has a certain width, which still allows the distal effector 30b to bend in the opposite direction to a certain angle, thereby enabling the end effector assembly 30 to achieve an overall asymmetric bending angle.

[0097] More specifically, the portion where the first support wall 43a of the retaining member 384 is located is the first support area 384a, and the portion where the second support wall 43b of the retaining member 384 is located is the second support area 384b. In order to prevent the retaining member 384 from interfering with the firing component 35, the proximal connecting member 381a or the distal connecting member 382a during operation, the arc length of the first support wall 43a is smaller than the arc length of the second support wall 43b. The proximal end surface of the first support area 384a is located distally of the proximal end surface of the second support area 384b, and the distal end surface of the first support area 384a is located proximal to the distal end surface of the second support area 384b. In this way, Figure 12 As shown, when the distal actuator 30b is bent to the maximum bending angle, there is a certain gap between the two ends of the first support wall 43a of the retaining member 384 and the proximal connecting member 381a and the distal connecting member 382a. Figure 9 As shown, the gap between the proximal end of the first support wall 43a and the distal end of the firing channel 53 of the proximal connecting member 381a is t1, and the gap between the distal end of the first support wall 43a and the proximal end of the firing channel 54 of the distal connecting member 382a is t2. Figure 9 、 Figure 10As shown, when the distal actuator 30b extends along the longitudinal axis C, the distal edge of the first support wall 43a and the firing channel of the distal actuator 30b and the inner wall of the firing channel 54 of the distal connecting member 382a are substantially in a straight line. Since the firing beam 351 extends along the firing channel of the proximal main body 30a to the firing channel of the distal actuator 30b, the distal edge of the first support wall 43a is located at a position that can abut or approach the outer wall of the firing beam 351, that is, at a position closer to the axis connecting the proximal pivot axis 41 and the distal pivot axis 42. More specifically, the distance between the proximal edge of the first support wall 43a and the axial center of the proximal pivot axis 41 is less than a first set value, which is 0.1-2 mm. Similarly, the proximal end of the first support wall 43a is substantially aligned with the inner wall of the firing channel of the proximal body portion 30a and the inner wall of the firing channel 53 of the proximal connecting member 381a. The proximal edge of the first support wall 43a is located in a position where it can contact or approach the outer wall of the firing beam 351, that is, at a position relatively close to the axis connecting the proximal pivot axis 41 and the distal pivot axis 42. The distance between the distal edge of the first support wall 43a and the axial center of the distal pivot axis 42 is less than a second set value, which is 0.5-1 mm. In this way, when the distal actuator 30b bends, the gap t1 between the proximal end of the first support wall 43a and the distal end of the firing channel of the proximal connector 381a remains constant or changes slightly, and the gap t2 between the distal end of the first support wall 43a and the proximal end of the firing channel of the upper distal connector 382a also remains constant or changes slightly. This avoids the problem of the firing member 35 being unable to be effectively restrained due to large changes in the gaps between the retaining member 384 and the proximal and distal connectors 381a and 382a during the bending of the distal actuator 30b. In an alternative embodiment, the firing beam 351 can be effectively restrained by further reducing the gap t2 between the distal end of the first support wall 43a and the proximal end of the firing channel 54 of the distal connector 382a, as well as the gap t1 between the proximal end of the first support wall 43a and the distal end of the firing channel 53 of the proximal connector 381a. For example, when the distal actuator 30b extends along the longitudinal axis C, the distal end of the first support wall 43a and the proximal end of the firing channel 54 of the distal connector 382a have a clearance fit, i.e., a very small gap therebetween; and the proximal end of the first support wall 43a and the distal end of the firing channel 53 of the proximal connector 381a have a clearance fit, i.e., a very small gap therebetween. This allows the distal actuator 30b to pivot from its first position extending along the longitudinal axis C to its maximum flexion position, with a relatively small gap between the retaining member 384 and both the proximal connector 381a and the distal connector 382a.

[0098] In the end effector assembly 30 described in this embodiment of the present invention, its joint assembly 38 forms the distal effector 30b's pivot point A through the intermeshing of the proximal connector 381a and the distal connector 382a. This allows for large-angle bending while maintaining a relatively small bending radius. Furthermore, the distal connector 382a is provided with a driving bending portion, which is spaced relatively large relative to the meshing point (pivot point A) between the proximal connector 381a and the distal connector 382a. This reduces the driving force for bending under the same bending torque, making it easier to achieve actuated bending. In addition, since the retaining member 384 is pivotally connected to the proximal connecting member 381a and the distal connecting member 382a through two proximal pivot shafts 41 and the distal pivot shaft 42, the center distance between the proximal connecting member 381a and the distal connecting member 382a is constant, thereby ensuring the consistency of the firing stroke in the bent state and the straightened state to the greatest extent; for the electric stapler, the formation of the farthest row of staples can be guaranteed.

[0099] In order to further improve the bending stability of the distal actuator 30b, two driving bending parts are provided on the distal connecting member 382a, and the bending member 36 is connected to the two driving bending parts through the transmission assembly 39. The two driving bending parts are respectively located on opposite sides of the longitudinal axis C. One side of the distal connecting member 382a is subjected to a force toward the distal end, and the other side is subjected to a force toward the proximal end. By arranging driving bending parts 383 on both sides of the distal connecting member 382a, the bending driving force of the bending member 36 is further reduced, and the bending stability of the distal connecting member 382a can be improved.

[0100] Reference Figure 4 、 Figure 5 As shown, the transmission assembly 39 includes a first rack 391 connected to the bending member 36, and the first rack 391 is installed on the support body 34 inside the proximal main body portion 30a (see Figure 3 , Figure 4 (not shown), a first bending transmission member 393 fixedly connected to the first rack 391, the first bending transmission member 393 is connected to the first driving bending portion 383a of the distal connecting member 382a; the transmission assembly 39 also includes a second rack 392 provided on the support body 34, the second rack 392 is spaced apart and opposite to the first rack 391, and a second bending transmission member 394 fixedly connected to the second rack 392, the second bending transmission member 394 is connected to the second driving bending portion 383b of the distal connecting member 382a; and two gears 395 located between the first rack 391 and the second rack 392, the two gears 395 are rotatably connected to the gear support frame 396 of the support body 34. Figure 4In the illustrated embodiment, the gear 395 includes two gears 395 that are respectively meshed with the first rack 391 and the second rack 392. When the bending member 36 is operated to move distally, it pushes the first rack 391 and the first bending transmission member 393 to move distally. The movement of the gear 395 drives the gear 395 to rotate and move the second rack 392 proximally, which in turn drives the second bending transmission member 394 to move proximally, causing the distal connector 382a to bend.

[0101] As an alternative embodiment, Figure 8 、 Figure 9 As shown, the first driving bend portion 383a of the distal connecting member 382a is constructed as a pivot structure with its axis perpendicular to the clamping surface, and the second driving bend portion 383b is constructed as a protrusion structure with its axis parallel to the clamping surface. Accordingly, the distal end of the first bending transmission member 393 is provided with a connecting sleeve 393a, which is sleeved onto the first driving bend portion 383a via the connecting sleeve 393a. The distal end of the second bending transmission member 394 is provided with a rivet hole 394a, which cooperates with the second driving bend portion 383b to achieve riveting of the second bending transmission member 394 to the distal connecting member 382a. In which, when the distal actuator 30b is operated to bend, the bending radius of the position of the first drive bending portion 383a (that is, the bending radius of the first bending transmission member 393 connected to the first drive bending portion 383a when it is bent) is smaller than the bending radius of the position of the second drive bending portion 383b (that is, the bending radius of the second bending transmission member 394 connected to the second drive bending portion 383b when it is bent).

[0102] Since the end execution assembly 30 described in the embodiment of the present invention is mainly operated to bend a large angle to one side of the longitudinal axis C, the bending radius of the first drive bending portion 383a of the distal connection member 382a is always smaller than the bending radius of the second drive bending portion 383b, resulting in the deformation of the first bending transmission member 393 being greater than the deformation of the second bending transmission member 394. The first bending transmission member 393 can improve the connection reliability between the first bending transmission member 393 and the distal connection member 382a by adopting a connecting sleeve 393a to be sleeved on the first drive bending portion 383a.

[0103] As an alternative embodiment, Figure 25Another structural form of the first bending transmission member 393 and the second bending transmission member 394 is shown. Specifically, the first bending transmission member 393 and the second bending transmission member 394 are constructed in a chain form formed by multiple sections of pivotally connected rods, which can bend when the distal actuator 30b is bent at a large angle relative to the proximal main body 30a. The chain-form structure enables each rod to rotate between the pivot axes, so that it can adapt to a larger bending deformation amount, and can avoid the problem of elastic material exceeding its elastic deformation amount at a large bending angle, resulting in breakage.

[0104] Figures 8-13 FIG. 3 shows the joint motion process of the end effector assembly 30 provided in an embodiment of the present invention. Figures 8-10 As shown, at this time, the distal actuator 30b extends along the longitudinal axis C, that is, when the distal actuator 30b and the proximal body portion 30a extend in the same direction, the angle between the distal actuator 30b and the longitudinal axis C is 0° or approximately 0°, and the first drive bending portion 383a and the second drive bending portion 383b of the distal connecting member 382a are respectively located at the distal ends of the pivot point A. Operating the bending knob 12 of the surgical instrument 100 causes the bending member 36 to move proximally, driving the first drive bending portion 383a and the second drive bending portion 383b to pivot about the pivot point A, causing the distal actuator 30b to bend gradually away from the longitudinal axis C and eventually reach a position with a maximum unilateral bending angle, as shown in FIG. Figure 11-13 It is understood that, during the bending of the distal actuator 30b relative to the proximal body 30a, the meshing position (i.e., the pivot point A) of the proximal connecting member 381a and the distal connecting member 382a does not remain fixed, but changes with the position of the meshing teeth.

[0105] In one embodiment, the joint assembly 38 can be implemented by a proximal connecting member 381a and a distal connecting member 382a to achieve the bending motion of the distal actuator 30b; as an alternative embodiment, refer to Figure 3-5Two proximal connectors are provided, namely an upper proximal connector 381a and a lower proximal connector 381ab. Two distal connectors are also provided, namely an upper distal connector 382a and a lower distal connector 382ab. In this embodiment, the upper proximal connector 381a extends distally from the distal end of the first half support body 34a and is fixedly connected thereto by, for example, a slot and a latching protrusion. Similarly, the lower proximal connector 381ab extends distally from the distal end of the second half support body 34b and is fixedly connected thereto by a slot and a latching protrusion. The upper distal connector 382a is connected to the staple cartridge assembly 31, and the lower distal connector 382ab is connected to the anvil assembly 32. Providing two sets of proximal connectors and two sets of distal connectors further improves the bending stability of the distal actuator 30b.

[0106] Specifically, the upper distal connecting member 382a is connected to the staple cartridge base 311 via a positioning pin, thereby securing the upper distal connecting member 382a and the staple cartridge base 311 in a non-bendable fixed connection. The lower distal connecting member 382ab is connected to the anvil housing 321 via a positioning pin, thereby securing the lower distal connecting member 382ab and the anvil housing 321 in a non-bendable fixed connection. In addition, the upper distal connecting member 382a and the lower distal connecting member 382ab are connected via a positioning pin, thereby securing the upper distal connecting member 382a and the lower distal connecting member 382ab in a non-bendable fixed connection, thereby driving the staple cartridge assembly 31 and the anvil assembly 32 to achieve synchronous bending. It is understood that the upper distal connector 382a and the lower distal connector 382ab are fixedly connected to the staple cartridge assembly 31 and the anvil assembly 32 in a non-bendable manner, while the staple cartridge assembly 31 and / or the anvil assembly 32 can pivot relative to the upper distal connector 382a and the lower distal connector 382ab in closing and opening directions. Providing two upper and lower proximal connectors and a distal connector, respectively, allows for better synchronization of the bending of the anvil assembly 32 and the staple cartridge assembly 31 of the distal actuator 30b, more uniform bending positions, and smoother bending. It is also understood that one proximal connector 381a and one distal connector 382a can also be provided, which can similarly enable the distal actuator 30b to bend about the pivot point A formed by the proximal connector 381a and the distal connector 382a.

[0107] Furthermore, in this embodiment, the retaining member 384 is accommodated in the installation space formed by the area between the upper and lower distal connecting members 382a, 382b and the upper and lower proximal connecting members 381a, 381a, avoiding exposure to the outside to ensure the movement stability of the firing member 35. Specifically, as Figure 10As shown, a proximal pivot hole 51 is provided on the upper proximal connecting member 381a, and a distal pivot hole 52 is provided on the upper distal connecting member 382a. The proximal pivot shaft 41 of the retaining member 384 passes through the proximal pivot hole 51 of the upper proximal connecting member 381a, and the distal pivot shaft 42 of the retaining member 384 passes through the distal pivot hole 52 on the upper distal connecting member 382a. The ends of the proximal pivot shaft 41 and the distal pivot shaft 42 are riveted to the first connecting piece 385. Among them, two connecting holes are provided on the first connecting piece 385, and the ends of the proximal pivot shaft 41 and the distal pivot shaft 42 of the retaining member 384 are riveted to the connecting holes of the first connecting piece 385.

[0108] The joint assembly 38 further includes a second connecting piece 386, as Figure 3 shown, the lower proximal connecting member 381ab and the lower distal connecting member 382ab are respectively riveted to the second connecting piece 386 through a rotating shaft. Two connecting holes are provided on the second connecting piece 386, and the ends of the rotating shafts on the lower proximal connecting member 381ab and the lower distal connecting member 382ab are riveted to the connecting holes of the second connecting piece 386.

[0109] In order to better accommodate the firing member 35 in the joint assembly 38 and prevent the firing beam 351 of the firing member 35 from popping out or stacking in the joint, in an alternative embodiment, a first limiting protrusion 61 is further provided on a side surface of the lower proximal connecting member 381ab facing the retaining member 384. A part of the side surface of the first limiting protrusion 61 further limits the bending position of the firing member 35. The first limiting protrusion 61 is opposite to the proximal end surface of the first support area 384a of the retaining member 384 and has a first gap t1', specifically, t1' < t1. When the distal execution part 30b swings from the first position extending in the longitudinal axis direction to the maximum bending position, the first gap t1' remains unchanged or changes slightly. As Figure 21 shown, the first limiting protrusion 61 has a first side surface opposite to the proximal side surface of the first support area 384a and a second side surface opposite to the firing member 35, and the first side surface is perpendicular to the second side surface. In other alternative embodiments, according to the maximum bending angle of the distal execution part 30b, the included angle between the first side surface and the second side surface of the first limiting protrusion 61 is between 80° and 100°. Through the above setting of the first limiting protrusion 61, during the process of the end execution component changing from the straight state to the maximum bending angle, at the proximal side of the joint assembly 38, the first gap t1' between the retaining member 384 and the first limiting protrusion 61 is always small, and the firing beam 351 can be reliably bent under the limiting effects of the retaining member 384 and the first limiting protrusion 61.

[0110] Correspondingly, as Figure 19As shown, the lower distal connecting member 382ab is provided with a second limiting protrusion 62 on a side facing the holding member 384. A part of the side surface of the second limiting protrusion 62 further limits the bending position of the firing member 35. The second limiting protrusion 62 faces the distal end surface of the first supporting area 384a of the holding member 384 and has a second gap t2', specifically, t2' < t2. When the distal actuator 30b swings from a first position extending in the longitudinal axis direction to a maximum bending position, the second gap t2' remains unchanged or changes slightly. As Figure 21 shown, the second limiting protrusion 62 also has a first side surface opposite to the first supporting area 384a and a second side surface opposite to the firing member 35. The first side surface is perpendicularly arranged with the second side surface. In other alternative embodiments, according to the maximum bending angle of the distal actuator 30b, the included angle between the first side surface and the second side surface is between 80° and 100°. Through the arrangement of the second limiting protrusion 62 above, during the process that the end effector assembly changes from a straight state to a maximum bending angle, the second gap t2' between the holding member 384 and the first limiting protrusion 61 at the distal side of the joint assembly 38 is always small. The firing beam is reliably bent under the limiting effects of the holding member 384 and the second limiting protrusion 62.

[0111] It can be understood that in other alternative embodiments, the first limiting protrusion 61 can also be arranged on the proximal connecting member 381a, and the second limiting protrusion 62 can also be arranged on the distal connecting member 382a.

[0112] In addition, as Figure 21 shown, when the distal actuator 30b extends along the longitudinal axis direction, the second side surfaces of the first limiting protrusion 61 and the second limiting protrusion 62 are parallel to the longitudinal axis. The first side surface of the first limiting protrusion 61 is parallel to the proximal end surface of the first supporting area 384a of the holding member 384, and the first side surface of the second limiting protrusion 62 is parallel to the distal end surface of the first supporting area 384a of the holding member 384.

[0113] In order to enable the end effector assembly 30 described in the embodiments of the present invention to adapt to the main body part (including the handle assembly and the elongate body assembly) of the surgical instrument 100 in the prior art, that is to say, the end effector assembly 30 described in the embodiments of the present invention can be adapted to the same main body part (including the handle assembly and the elongate body assembly) of the surgical instrument 100 as the end effector assembly with the same specification dimensions in the existing design. In an alternative embodiment, when the end effector assembly 30 has not been initially loaded onto the surgical instrument, a certain bending angle is preset. For example, as Figure 14 shown, when the end effector assembly 30 is in a position waiting to be loaded, the distal actuator 30b forms a set first included angle α1 with the longitudinal axis C.

[0114] Specifically, after the end effector assembly 30 in the loading position is mounted on the elongated body assembly 20 of the surgical instrument 100, the bending knob 12 of the handle assembly 10 is operated to move the bending member 36 proximally by a first distance. Accordingly, the distal effector 30b of the end effector assembly 30 is further bent away from the longitudinal axis C to a second angle α2 on the basis of having been bent at the first angle α1, as shown in FIG. Figure 11 、 Figure 12 Similarly, after the end effector assembly 30 in the loading position is mounted on the elongated body assembly 20 of the surgical instrument 100, the bending knob 12 of the handle assembly 10 is operated to move the bending member 36 distally by a second distance. Accordingly, the distal effector portion 30b of the end effector assembly 30, having been bent at the first angle α1, is further pivoted toward the direction close to the longitudinal axis C and finally forms 0° or substantially 0° with the longitudinal axis C, as shown in FIG. Figure 8 、 Figure 9 The first distance and the second distance may be the same or different.

[0115] When the end effector assembly 30 of the embodiment of the present invention is adapted to a conventional surgical instrument 100, the first distance may correspond to the distance the bending member 36 moves when the end effector 30 is bent to the right to its maximum angle; the second distance may correspond to the distance the bending member 36 moves when the end effector 30 is bent to the left to its maximum angle. This configuration of the end effector 30 further enhances the versatility and adaptability of the end effector assembly of the embodiment of the present invention.

[0116] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. An end effector assembly adapted for a surgical instrument, comprising: a proximal body portion defining a longitudinal axis and comprising a bending member and a firing member; The distal actuator comprises a staple cartridge assembly and an anvil assembly, wherein opposing surfaces of the staple cartridge assembly and the anvil assembly form a clamping surface for clamping tissue. The distal actuator is pivotally connected to the proximal body portion via a joint assembly, wherein the joint assembly comprises: a proximal connecting member, fixedly connected to the distal end of the proximal main body; a distal connecting member fixedly connected to the proximal end of the distal actuator, the distal connecting member being engaged with the proximal connecting member, the distal connecting member being provided with at least one driving bending portion, the bending member being operable to drive the driving bending portion to move so as to bend the distal actuator relative to the proximal main body; A retaining member is pivotally connected to the proximal connecting member and the distal connecting member, and has a retaining channel for accommodating the firing member.

2. The end effector assembly according to claim 1, wherein: The holding channel includes a first supporting wall and a second supporting wall forming an arc-shaped channel, and the first supporting wall and the second supporting wall are bent in the same direction.

3. The end effector assembly according to claim 1, wherein: The distal end of the proximal connecting member has a toothed structure, and the proximal end of the distal connecting member has a toothed structure that engages with the proximal connecting member; the engaging position of the distal connecting member and the proximal connecting member forms the pivot point of the distal actuator, and when the distal actuator extends along the longitudinal axis, the drive bending portion and the longitudinal axis are not arranged to overlap.

4. The end effector assembly according to claim 2, wherein: The retaining member is respectively provided with a proximal pivot axis and a distal pivot axis; the proximal pivot axis of the retaining member is pivotally matched with the proximal pivot hole of the proximal connecting member, and the distal pivot axis of the retaining member is pivotally matched with the distal pivot hole of the distal connecting member; the axial line connecting the proximal pivot axis and the distal pivot axis is located in the retaining channel.

5. The end effector assembly according to claim 4, characterized in that: The joint assembly also includes a first connecting plate, which is provided with two connecting holes. The proximal pivot axis and the distal pivot axis of the retaining member respectively pass through the proximal pivot hole of the proximal connecting member and the distal pivot hole of the distal connecting member and are riveted to the connecting holes of the connecting member.

6. The end effector assembly according to claim 1, wherein: The proximal main body portion includes an outer sleeve and a support body located in the outer sleeve, and the proximal connecting member is fixedly connected to the support body.

7. The end effector assembly according to claim 1, wherein: The distal connecting member is provided with a first driving bending portion and a second driving bending portion, and the bending member is connected to the first driving bending portion and the second driving bending portion respectively through a transmission assembly.

8. The end effector assembly according to claim 7, wherein: The transmission assembly comprises: a first rack and a first bending transmission member fixedly connected to the first rack, wherein a proximal end of the first rack is connected to the bending member, and the first bending transmission member is connected to one of the driving bending portions of the distal connector; a second rack and a second bending transmission member fixedly connected to the second rack, the second rack being spaced apart and arranged opposite to the first rack, the second bending transmission member being connected to the other driving bending portion of the distal connector; At least one gear is located between the first rack and the second rack and is meshed with the first rack and the second rack respectively.

9. The end effector assembly according to claim 8, wherein: The first driving bending portion and the second driving bending portion are constructed as a pivot fixedly connected to the distal connecting member, and the first bending transmission member or the second bending transmission member is riveted or sleeved on the pivot.

10. The end effector assembly according to claim 8, wherein: The first driving bending portion of the distal connecting member is constructed as a pivot with an axial direction perpendicular to the clamping surface. The distal end of the first bending transmission member is provided with a connecting sleeve, and the first bending transmission member is sleeved on the first driving bending portion through the connecting sleeve.

11. The end effector assembly according to claim 8, wherein: The second driving bending portion of the distal connecting member is constructed as a protrusion with an axial direction parallel to the clamping surface, and a rivet hole is provided at the distal end of the second bending transmission member, and the second driving bending portion is connected to the second bending transmission member through the rivet hole.

12. The end effector assembly according to claim 6, wherein: The distal connecting piece is provided in two parts, namely an upper distal connecting piece and a lower distal connecting piece, the lower distal connecting piece is connected to the anvil assembly; the upper distal connecting piece is connected to the nail magazine assembly.

13. The end effector assembly according to claim 12, wherein: The support body includes a first half support body and a second half support body. Two proximal connecting members are provided, namely an upper proximal connecting member and a lower proximal connecting member. The upper proximal connecting member is connected to the first half support body, and the lower proximal connecting member is connected to the second half support body.

14. The end effector assembly according to claim 13, wherein: The joint assembly further includes a second connecting plate, which is provided with two connecting holes. The lower proximal connecting piece and the lower distal connecting piece are riveted to the second connecting plate respectively through a rotating shaft.

15. The end effector assembly according to claim 2, wherein: When the firing member is bent to the maximum angle position, the first support wall is suitable for supporting the outer wall of the firing member, and the second support wall is suitable for supporting the inner wall of the firing member, and the arc length of the first support wall is smaller than the arc length of the second support wall.

16. The end effector assembly according to claim 15, wherein: The portion where the first support wall of the retaining member is located is the first support area, the portion where the second support wall of the retaining member is located is the second support area, the proximal surface of the first support area is located distally of the proximal surface of the second support area, and the distal surface of the first support area is located proximal to the distal surface of the second support area.

17. The end effector assembly according to claim 2, wherein: When the distal actuator extends along the longitudinal axis, the distal edge of the first support wall and the inner wall of the firing channel of the distal actuator are substantially in a straight line; the proximal end of the first support wall and the inner wall of the channel supporting the relative sliding of the firing component in the proximal main body are substantially in a straight line.

18. The end effector assembly according to claim 4, wherein: The distance between the proximal side of the first support wall and the axial center of the proximal pivot axis is less than a first set value; the distance between the distal side of the first support wall and the axial center of the distal pivot axis is less than a second set value.

19. The end effector assembly according to claim 18, wherein: When the distal execution portion extends along the longitudinal axis, the distal end of the first support wall is clearance-fitted with the proximal end of the firing channel of the distal connecting member, and the proximal end of the first support wall is clearance-fitted with the distal end of the firing channel of the proximal connecting member.

20. The end effector assembly according to claim 16, wherein: The proximal connecting member is provided with a first limiting protrusion on a side surface facing the retaining member. The first limiting protrusion is opposite to the proximal end surface of the first supporting area and has a first gap.

21. The end effector assembly according to claim 20, wherein: The distal connecting member is provided with a second limiting protrusion on a side surface facing the retaining member. The second limiting protrusion is opposite to the distal end surface of the first supporting area and has a second gap.

22. The end effector assembly according to claim 21, wherein: The first limiting protrusion and the second limiting protrusion respectively have a first side surface arranged opposite to the first supporting area and a second side surface arranged opposite to the firing component, and the angle between the first side surface and the second side surface is between 80° and 100°.

23. The end effector assembly according to claim 21, wherein: When the distal execution portion extends along the longitudinal axis, the second side surfaces of the first limiting protrusion and the second limiting protrusion are parallel to the longitudinal axis.

24. The end effector assembly according to claim 22, wherein: When the distal actuator extends along the longitudinal axis, the first side surface of the first limiting protrusion is parallel to the proximal surface of the first support area of ​​the retaining member, and the first side surface of the second limiting protrusion is parallel to the distal surface of the first support area of ​​the retaining member.

25. The end effector assembly according to claim 8, wherein: The first bending transmission member and / or the second bending transmission member are formed as elastically deformable spring structures.

26. The end effector assembly according to claim 8, wherein: The first bending transmission member and / or the second bending transmission member are formed into a chain structure formed by multiple sections of pivotally connected rods.

27. The end effector assembly according to any one of claims 1 to 26, characterized in that: When the end effector assembly is in the ready-to-load position, the distal effector forms an angle other than 0° with respect to the longitudinal axis.

28. The end effector assembly according to claim 1, wherein: The firing component includes at least one firing beam and a firing connection piece located proximal to the firing beam, wherein the proximal end of the firing beam is connected to the firing connection piece.

29. The end effector assembly according to claim 28, wherein: A first hook portion and a second hook portion are provided on the proximal side of the firing beam, which are opposite to each other. A firing connection portion is provided on the firing connecting piece. The first hook portion and the second hook portion are hooked on two opposite side surfaces of the firing connection portion.

30. The end effector assembly according to claim 29, wherein: The firing connection piece is provided with a guide slide at the distal end of the firing connection portion. The guide slide extends along the longitudinal axis and is suitable for limiting the position of the firing beam.

31. The end effector assembly according to claim 13, wherein: A guide groove is provided on the opposite surfaces of the first half supporting body and the second half supporting body, and the firing component is slidably connected to the guide groove.

32. The end effector assembly according to claim 31, wherein: The guide groove extends along the longitudinal axis direction and penetrates the entire extension surface of the support body.

33. A surgical instrument comprising a handle assembly, an elongated body assembly, and an end effector assembly selectively coupled to the elongated body assembly, the handle assembly being sequentially connected from a proximal end to a distal end, wherein: The end execution assembly adopts any one of the end execution assembly described in claims 1-32.

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