End execution assembly matched with surgical instrument and surgical instrument

Abstract

The invention discloses an end execution assembly matched with a surgical instrument and the surgical instrument, and belongs to the field of medical instruments. The end executing assembly comprises a near-side main body part, a far-side executing part and a joint assembly located between the near-side main body part and the far-side executing part, the joint assembly comprises a near-side connecting piece fixed to the far end of the near-side main body part and a far-side connecting piece fixed to the near end of the far-side executing part, and a driving bending part is arranged on the far-side connecting piece; the bending component operably drives the bending driving part to move; the retaining piece is arranged between the near-side connecting piece and the far-side connecting piece, is rotatably connected with the near-side connecting piece and the far-side connecting piece and is provided with a retaining channel used for limiting bending deformation of the percussion component, the retaining channel is a bidirectional arc-shaped channel, and the arc-shaped directions of a first supporting wall and a second supporting wall forming the retaining channel protrude towards the outer side; and when the far-side executing part is bent relative to the near-side main body part, the first supporting wall or the second supporting wall supports the bent outer cambered surface of the percussion component. The surgical instrument can adapt to a narrow space, and the movement reliability of the percussion component is high.

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 actuator assembly. When used during surgery, a portion of the slender body assembly and the end actuator 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 actuator 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, the end actuator assembly is often required to provide a larger bending angle to achieve a smaller wound and fewer staple positions, thereby reducing the probability of anastomotic leakage.

[0003] In order to increase the bending angle of the end effector assembly, the existing designs of the end effector assembly that achieves large-angle bending through double joints or even multiple joints use multiple pivot axes to progressively bend. Although this can provide a larger bending angle, it also increases the length of the joint part and the bending radius of the end effector assembly, and it is still unable to adapt to narrow surgical environments such as the pelvic cavity. There are also existing designs of end effector units that use a single pivot for bending. The firing member composed of multiple metal sheets forms a large bend at the single pivot. For example, when the end is bent 90°, the firing member also needs to bend 90° at the single pivot. When performing surgical operations in this state, the firing member can easily jump out of the joint / pivot if there is no limiting mechanism or 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 a narrow space 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 including a bending member and a firing member;

[0008] The distal actuator comprises a staple cartridge assembly and a staple anvil assembly, wherein surfaces of the staple cartridge assembly and the staple anvil assembly disposed opposite to each other form a clamping surface for clamping tissue, and the distal actuator is pivotally connected to the proximal main body through 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 is fixedly connected to the proximal end of the distal actuator, and the distal connecting member is engaged and connected with the proximal connecting member; the distal connecting member is provided with at least one driving bending portion, and the bending member can operably drive the driving bending portion to move so that the distal actuator is bent relative to the proximal main body;

[0011] A retaining member, wherein the retaining member is pivotally connected to the proximal connecting member and the distal connecting member respectively, and the retaining member has a retaining channel for accommodating the firing member; the retaining channel is a bidirectional arc-shaped channel, and the arc directions of the first supporting wall and the second supporting wall forming the retaining channel protrude toward the outside, and when the distal actuator is bent relative to the proximal main body, the first supporting wall or the second supporting wall supports the bent outer arc surface of the firing member.

[0012] In some embodiments of the present invention, the portion where the first support wall of the retaining member is located is a first support area, the outer side wall of the first support area is a first outer arc wall, the first outer arc wall and the first support wall have the same arc direction, and the arc length is greater than the arc length of the first support wall, and the first outer arc wall and the first support wall are transitioned at both ends through a first transition wall respectively.

[0013] In some embodiments of the present invention, the portion where the second support wall of the retaining member is located is a second support area, the outer side wall of the second support area is a second outer arc wall, the second outer arc wall and the second support wall have the same arc direction, and the arc length is greater than the arc length of the second support wall, and the second outer arc wall and the second support wall are transitioned at both ends through second transition walls.

[0014] In some embodiments of the present invention, when the distal actuator is bent to a maximum bending angle relative to the proximal main body, the first transition wall or the second transition wall on the proximal side of the retaining element limits the position of the proximal inner arc surface of the firing component, and the first transition wall or the second transition wall on the distal side of the retaining element limits the position of the distal inner arc surface of the firing component.

[0015] In some embodiments of the present invention, the partial area where the firing member cooperates with the first transition wall or the second transition wall on the proximal side is the curved transition zone on the proximal side of the firing member, and the partial area where the firing member cooperates with the first transition wall or the second transition wall on the distal side is the curved transition zone on the distal side of the firing member.

[0016] In some embodiments of the present invention, when the distal actuator is bent to a maximum bending angle relative to the proximal main body, the proximal end of the first transition wall or the second transition wall substantially abuts against the inner wall of the firing channel of the proximal connecting piece to limit the bending of the firing component, and the distal end of the first transition wall or the second transition wall substantially abuts against the inner wall of the firing channel of the distal connecting piece to limit the bending of the firing component.

[0017] In some embodiments of the present invention, when the distal actuator extends along the longitudinal axis, the distal edges of the first support wall and the second support wall are substantially in a straight line with the inner wall of the firing channel of the distal actuator, and the proximal ends of the first support wall and the second support wall are substantially in a straight line with the inner wall of the channel supporting the relative sliding of the firing member in the proximal main body.

[0018] 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 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.

[0019] In some embodiments of the present invention, the joint assembly also 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 upper proximal connecting member and the distal pivot hole of the upper distal connecting member and are riveted to the connecting holes of the connecting members.

[0020] In some embodiments of the present invention, the proximal main body portion includes an outer sleeve and a supporting body located inside the outer sleeve, and the proximal connecting member is fixedly connected to the supporting body.

[0021] In some embodiments of the present invention, two driving bending parts are provided on the distal connecting piece, and the bending member is connected to the two driving bending parts via a transmission assembly.

[0022] In some implementations of the present invention, the transmission assembly includes:

[0023] A first rack and a first bending transmission member fixedly connected to the first rack, wherein the 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 parts of the distal connecting member;

[0024] 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, and the second bending transmission member being connected to another driving bending portion of the distal connecting member;

[0025] At least one gear is located between the first rack and the second rack and is meshed and connected with the first rack and the second rack respectively.

[0026] In some embodiments of the present invention, the driving bending portion is a driving shaft 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 driving shaft.

[0027] In some embodiments of the present invention, the driving bending portion is a driving shaft whose axial direction is perpendicular to the clamping surface, 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 shaft through the connecting sleeve.

[0028] In some embodiments of the present invention, the driving bending portion is a second driving shaft 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. The second driving shaft cooperates with the rivet hole to realize riveting of the second bending transmission member and the distal connecting member.

[0029] 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.

[0030] 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.

[0031] In some embodiments of the present invention, the joint assembly further includes a second connecting plate, the second connecting plate is provided with two connecting holes, and the lower proximal connecting member and the lower distal connecting member are riveted to the second connecting plate via a rotating shaft, respectively.

[0032] In some embodiments of the present invention, the first bending transmission member and / or the second bending transmission member is formed as a spring structure capable of elastic deformation.

[0033] 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 a plurality of pivotally connected rods.

[0034] 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, and the proximal end of the firing beam is connected to the firing connection piece.

[0035] In some embodiments of the present invention, a first hook portion and a second hook portion are relatively arranged on the proximal side of the firing beam, 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.

[0036] 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 direction and is suitable for limiting the position of the firing beam.

[0037] 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.

[0038] In some embodiments of the present invention, the guide groove extends along the longitudinal axis direction and penetrates the entire extended surface of the support body.

[0039] 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, characterized in that the end execution assembly adopts the end execution assembly.

[0040] The technical solution of the present invention has the following technical effects compared with the prior art:

[0041] In the surgical instrument and the end effector assembly thereof provided by the present invention, the joint assembly forms the pivot of the distal effector by means of the mutual meshing cooperation of the proximal connector and the distal connector, which can realize large-angle bending under the condition of a small bending radius. At the same time, a driving bending part is provided on the distal connector, which has a set interval relative to the pivot. Under the condition of the same bending torque, the bending driving force is small, and the bending drive is easy to realize. In addition, since the retaining member is connected to the proximal connector and the distal connector through two pivot shafts, the center distance between the proximal connector and the distal connector is constant, so the consistency of the firing stroke in the bent state and the straight state can be guaranteed to the greatest extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] 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, wherein:

[0043] Figure 1 It is a structural schematic diagram of a specific embodiment of the surgical instrument of the present invention;

[0044] 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;

[0045] Figure 3An exploded view of a specific embodiment of an end effector assembly of a surgical instrument of the present invention;

[0046] Figure 4 An exploded view of a portion of the structure of a specific embodiment of an end effector assembly of the present invention;

[0047] Figure 5 An exploded view of a portion of the structure of a specific embodiment of an end effector assembly of the present invention;

[0048] Figure 6 It is a structural schematic diagram of a specific embodiment of a retaining member in a surgical instrument of the present invention;

[0049] Figure 7 A top view of a specific embodiment of a retaining member in a surgical instrument of the present invention;

[0050] Figure 8 A schematic diagram of a specific embodiment of the first distal connecting member in the surgical instrument of the present invention;

[0051] Fig. 9 It is a schematic diagram of the distal execution portion of the surgical instrument of the present invention extending along the longitudinal axis direction;

[0052] Fig.10 for Fig. 9 A magnified view of some structures;

[0053] Fig.11 It is a schematic diagram of a part of the joint assembly when the distal actuator of the present invention is along the longitudinal axis direction;

[0054] Fig.12 It is a schematic diagram of the surgical instrument of the present invention when the distal implementing portion is bent to the maximum bending angle;

[0055] Fig.13 for Fig.12 A magnified view of some structures;

[0056] Fig.14 is a schematic diagram of a portion of a joint assembly of the distal actuator of the present invention at a maximum bending angle;

[0057] Fig.15 Another structural form of the first bending transmission member and the second bending transmission member in the end effector assembly of the present invention;

[0058] Fig.16 A schematic diagram of a specific embodiment of an end effector assembly of a surgical instrument of the present invention;

[0059] Fig.17 for Figure 4 A partial enlarged view of

[0060] Fig.18 It is a schematic diagram of a specific embodiment of the first supporting body in the end effector assembly of the present invention;

[0061] Fig.19 It is a schematic diagram of another embodiment of the end effector assembly of the present invention, in which the distal effector extends along the longitudinal axis direction;

[0062] Fig. 20 for Fig.19 A partial enlarged view of the structure. DETAILED DESCRIPTION

[0063] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0064] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0065] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0066] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0067] 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 when being operated, and the “proximal end / side” refers to the end / side of the surgical instrument that is close to the operator when being operated.

[0068] The following is a specific embodiment of the 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 for open surgery.

[0069] Figure 1 The surgical instrument 100 shown includes a handle assembly 10, an elongated body assembly 20, and an end effector assembly 30. The handle assembly 10 is suitable for an operator to manipulate the surgical instrument 100, and the handle assembly 10 can control the movement of the end effector assembly 30 through the elongated body assembly 20 to perform surgical operations, such as clamping / closing, suturing / anastomosis, and cutting of tissues.

[0070] The handle assembly 10 includes a handle housing 11 that can be held by a user in a conventional manner. In a specific embodiment, the surgical instrument 100 uses a trigger to operate the end effector assembly 30 to close and fire; in a specific embodiment, the surgical instrument 100 can also operate the end effector assembly 30 to close and fire by means of a push-twist, a button, etc. provided on the handle, so that the end effector assembly 30 performs cutting and suturing operations; in other alternative embodiments, the surgical instrument 100 can also operate the jaws of the end effector assembly 30 to open to release tissue by means of a trigger, a push-twist, a button, etc. provided on the handle assembly 10. The handle housing 11 is generally T-shaped as a whole, including a main body extending along the longitudinal axis direction C and a grip extending along a direction substantially perpendicular to the longitudinal axis C or inclined at a certain angle relative to the longitudinal axis C. The main body and the grip form an installation space for the drive mechanism inside.

[0071] like Figure 1 As shown, the elongated body assembly 20 includes a tubular housing 21, which defines a longitudinal axis C; a transmission rod group (not shown in the figure) is arranged in the tubular housing 21, the proximal end of the transmission rod group is connected to the output end of the driving mechanism in the handle assembly 10, and the distal end is connected to the firing member 35 and the bending member 36 (as shown in the figure) of the end execution assembly 30 Figure 3 The transmission rod group includes a firing rod and a bending driving rod, and the firing rod is used to transmit the driving force of the firing drive to the firing member 35 of the end execution assembly 30 to achieve the firing operation of the end execution assembly 30. The bending driving rod is used to transmit the driving force of the bending driving assembly to the bending member 36 of the end execution assembly 30 to achieve the bending of the end execution assembly 30.

[0072] 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 arranged 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.

[0073] 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, and the proximal body portion 30a and the distal effector portion 30b 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 manipulates the bending knob 12 to rotate, which can drive the bending drive rod to move. Specifically, when the bending knob 12 is manipulated to rotate 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 manipulated to rotate counterclockwise from the initial position, the bending drive rod drives the bending member 36 to move toward the proximal end; and vice versa.

[0074] 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, and the end effector assembly 30 is detachably mounted on the distal end of the slender body assembly 20 of the surgical instrument 100. As mentioned above, the end effector assembly 30 includes a proximal body portion 30a and a distal effector portion 30b, and the proximal body portion 30a and the distal effector portion 30b are pivotally connected by a joint assembly 38. The proximal body portion 30a of the end effector assembly 30 can be inserted into the slender body assembly 20 by plugging, and rotated relative to the housing of the slender body assembly 20 to lock the end effector assembly 30 thereon. The distal effector portion 30b includes a staple cartridge assembly 31 and a staple anvil assembly 32, and the staple cartridge assembly 31 and the staple anvil assembly 32 can move relative to each other to close the jaws to clamp the tissue jaws, and the surfaces of the staple cartridge assembly 31 and the staple anvil assembly 32 that are arranged opposite to each other form a clamping surface for clamping the 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 is 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 is 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.

[0075] Specifically, 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 elongated body assembly 20, and the proximal body portion 30a includes an elongated outer tube 33, a support body 34 disposed in the outer tube 33, a firing member 35 slidably disposed in the support body 34, and a bending member 36; wherein the outer tube 33 has a longitudinal axis C extending in the same direction as the tubular housing 21 of the elongated body assembly 20; the support body 34 includes a first half support body 34a and a second half support body 34b, and the proximal end of the second half support body 34b includes a joint portion 34c for connecting with the elongated body assembly 20, and a joint lug is provided on the joint portion 34c for releasably engaging with the elongated body assembly 20 in a snap-fit ​​connection manner. The firing member 35 includes an elongated firing beam 351, which can be composed of a single piece of material, or preferably composed of a plurality of stacked sheets. The working portion 352 of the firing member 35 is formed into an I-beam structure, a part of which contacts with the nail-pushing slider and can slide toward the distal end of the staple cartridge assembly 31 as a whole 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 part of the working portion 352 of the firing member 35 pushes the nail-pushing slider together and moves toward the distal end, and the nail-pushing slider acts on the nail driver to push the suture nail out of the staple cartridge assembly 31 to achieve the tissue anastomosis operation, and at the same time, the cutting knife 354 on the working portion 352 cuts the tissue.

[0076] Further, in the end effector assembly 30 described in the embodiment of the present invention, a guide groove 341 (see FIG. 1 ) for slidably receiving the firing member 35 is defined between the first half support body 34a and the second half support body 34b. Fig.17 , Fig.18 The firing member 35 includes an elongated firing beam 351, which is slidably connected to the guide groove 341. The guide groove 341 extends along the longitudinal axis and penetrates the extension area of ​​the first half support body 34a and the second half support body 34b, so that the proximal end and the distal end of the support body 34 can limit the firing beam 351.

[0077] The proximal end of the firing beam 351 is hooked and connected to the firing connecting piece 353. Specifically, Fig.16 , Fig.17As shown, the firing link 353 is formed as a sleeve structure with an opening, and the proximal side of the firing beam 351 is constructed as a structure with an opening, and its proximal end portion has a first hook portion 3511 and a second hook portion 3512 that are relatively arranged. 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 that are 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 .

[0078] Reference Figure 3 As shown, in the distal execution part 30b of the end execution assembly 30, the nail magazine assembly 31 includes a nail magazine 312, a nail magazine base 311, and a nail pushing slider placed in the cavity between the nail magazine 312 and the nail magazine base 311. The proximal end of the firing member 35 is connected to the firing rod in the slender body assembly 20, and the distal end of the firing member 35 is in contact with the nail pushing slider and can slide / move in the longitudinal axis direction as a whole to perform the corresponding surgical operation. The nail magazine assembly 31 also includes a nail pushing member and suture nails located in the nail magazine 312; when the firing member 35 is driven to move from the proximal end to the distal end, the nail pushing slider is pushed to move, and the nail pushing slider acts on the nail pushing member to push the suture nail out of the outside of the nail magazine 312 to achieve the anastomosis operation on the tissue. The anvil assembly 32 includes an anvil shell 321 and a stapler seat body 322 located in the anvil shell 321, and the stapler seat body 322 cooperates with the staple magazine 312 to realize the bending operation of the suture staples; wherein, the surface of the stapler seat body 322 is provided with a plurality of staple buds, and the staple buds correspond one-to-one to the positions of the staple holes on the staple magazine 312, and the suture staples in the staple holes abut against the staple buds during tissue anastomosis.

[0079] Reference Figure 3-Figure 5 As shown, the joint assembly 38 includes a proximal connecting member 381a fixedly connected to the distal end of the proximal main body 30a, and a distal connecting member 382a fixedly connected to the distal actuator 30b; specifically, the proximal connecting member 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 connecting member 381a and the support body 34 are integrally formed by a process such as welding or injection molding. The distal connecting member 382a is fixedly connected to the distal actuator 30b by a positioning pin; Figure 4 As shown, the distal end of the proximal connecting member 381a and the proximal end of the distal connecting member 382a have tooth 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 383 connected to the bending member 36. When the bending member 36 slides relative to the supporting body 34, it can directly or indirectly act on the driving bending portion 383 of the distal connecting member 382a, so that the distal connecting member 382a can swing around the meshing position between 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 body 30a. When the distal actuator 30b extends along the longitudinal axis C direction (refer to Figure 4 As shown in the figure, the driving bending portion 383 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 383 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 bending or swinging of the joint during the firing process of the surgical instrument can be reduced to avoid pulling and damaging the tissue. In a specific embodiment, with reference to Fig.19 , Fig. 20 As shown, the areas opposite to the proximal connecting member 381a and the distal connecting member 382a are respectively provided with engaging parts, and the engaging parts are friction wheels with relatively large friction force. The proximal connecting member 381a and the distal connecting member 382a are connected via 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 respectively connected to the proximal connecting piece 381a and the distal connecting piece 382a, 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.

[0080] 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 of the firing member 35 bending and deforming) is too large, resulting in the problem that part of the sheet-like firing beam 351 pops out or stacks up, such as Figure 3-Figure 8 As shown, the joint assembly 38 further includes a retaining member 384 for limiting the bending position of the firing member 35, and the retaining member 384 is connected to at least one set of mutually cooperating proximal connecting members 381a and distal connecting members 382a through two pivot axes. Fig.11 As shown, the retaining member 384 is connected to the proximal pivot hole 51 of the proximal connecting member 381a through the proximal pivot shaft 41, and is connected to the distal pivot hole 52 of the distal connecting member 382a through 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. In addition, the joint assembly 38 also includes a first connecting piece 385, and the ends of the pivot shaft 41 and the pivot shaft 42 of the retaining member 384 are riveted to the first connecting piece 385. Specifically, as shown in FIG. Figure 2 and Figure 3 As shown, two connection holes are provided on the first connection 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 connection holes of the first connection piece 385. The retaining member 384 has a retaining channel 43, and the axis connecting line of the proximal pivot shaft 41 and the distal pivot shaft 42 is located in the retaining channel 43, which is suitable for accommodating at least a part of the firing beam 351 of the firing member 35, so that it is inserted into the retaining channel 43 and can move along the extension direction thereof. The retaining member 384 has a retaining channel 43, and the axis connecting line of the proximal pivot shaft 41 and the distal pivot shaft 42 is located in the retaining channel 43, which is suitable for accommodating at least a part of the firing beam 351 of the firing member 35, so that it is inserted into the retaining channel 43 and can move along the extension direction thereof.

[0081] In the end effector assembly 30 described in the embodiment of the present invention, the holding channel 43 of the holding member 384 is constructed as an arc-shaped structure, such as Figure 6 , Figure 7 As shown, the arc-shaped channel is formed by a first support wall 43a and a second support wall 43b located on both sides of the firing beam 351. The first support wall 43a and the second support wall 43b have opposite bending directions, and the arc directions of the first support wall 43a and the second support wall 43b protrude toward the outside. When the distal actuator 30b bends relative to the proximal main body 30a, the first support wall 43a or the second support wall 43b supports the bent outer arc surface of the firing component 35.

[0082] Reference Fig.10As shown, the proximal connecting member 381a includes a firing channel 53, the proximal end of which is opposite to the firing channel of the proximal main body portion 30a, and the distal end is opposite to the holding channel 43 of the retaining member 384. Correspondingly, the distal connecting member 382a also has a firing channel 54, the distal end of which is opposite to the firing channel of the distal main body portion 30a, and the proximal end is opposite to the holding channel 43 of the retaining member 384. When the distal actuator 30b extends along the longitudinal axis C, the firing channel 53 of the proximal connecting member 381a and the firing channel 54 of the distal connecting member 382a extend in the same direction and are located opposite to each other, so as to enable the firing beam 351 to extend in a straight line direction.

[0083] Reference Figure 6 , Figure 7 As shown, the portion where the first supporting wall 43a of the retaining member 384 is located is the first supporting area 44, the outer side wall of the first supporting area 44 is the first outer arc wall 44a, the first outer arc wall 44a has the same arc direction as the first supporting wall 43a, and the arc length is greater than the arc length of the first supporting wall 43a, and the first outer arc wall 44a and the two ends of the first supporting wall 43a are transitioned through the first transition wall 44b respectively. The portion where the second supporting wall 43b of the retaining member 384 is located is the second supporting area 45, the outer side wall of the second supporting area 45 is the second outer arc wall 45a, the second outer arc wall 45a has the same arc direction as the second supporting wall 43b, and the arc length is greater than the arc length of the second supporting wall 43b, and the second outer arc wall 45a and the two ends of the second supporting wall 43b are transitioned through the second transition wall 45b respectively.

[0084] Reference Fig.13 As shown, when the distal actuator 30b is bent to the maximum bending angle in the first direction relative to the proximal body portion 30a, the first transition wall 44b on the proximal side of the retainer 384 supports and limits the proximal inner arc position of the firing member 35, the first transition wall 44b on the distal side of the retainer 384 supports and limits the distal inner arc position of the firing member 35, and the second support wall 43b of the retainer 384 limits the maximum bending outer arc position of the firing member 35. When the distal actuator 30b is bent to the maximum bending angle in the second direction (opposite to the first direction) relative to the proximal body portion 30a, the second transition wall 45b on the proximal side of the retainer 384 limits the proximal inner arc position of the firing member 35, the second transition wall 45b on the distal side of the retainer 384 limits the distal inner arc position of the firing member 35, and the first support wall 43a of the retainer 384 limits the maximum bending outer arc position of the firing member 35. The three-position limiting protection of the retaining member 384 allows the firing member 35 to be bent at a preset bending position, thereby preventing it from jumping out of the joint assembly 38 .

[0085] Reference Fig.13As shown, the partial area where the firing member 35 cooperates with the first transition wall 44b or the second transition wall 45b on the proximal side is the curved transition area on the proximal side of the firing member 35, and the partial area where the firing member 35 cooperates with the first transition wall 44b or the second transition wall 45b on the distal side is the curved transition area on the distal side of the firing member 35. In order to make the first transition wall 44b or the second transition wall 45b of the retaining member 384 better cooperate with the firing member 35 to limit the position of the firing member 35, a partial area of ​​the first transition wall 44b or the second transition wall 45b of the retaining member 384 is a straight surface structure, which can have a larger contact area with the side wall of the firing beam 351 of the firing member 35, thereby achieving a better limiting effect.

[0086] Reference Fig.13 As shown, when the distal actuator 30b is bent to the maximum bending angle relative to the proximal main body 30a, the proximal end of the first transition wall 44b or the second transition wall 45b located on the proximal side substantially abuts against the inner wall of the firing channel 53 of the proximal connecting member 381a to limit the bending of the firing component 35, and the distal end of the first transition wall 44b or the second transition wall 45b located on the distal side substantially abuts against the inner wall of the firing channel 54 of the distal connecting member 382a to limit the bending of the firing component 35, so that the firing beam 351 can be protected by the retaining member 384 in a partial area of ​​the joint assembly 38.

[0087] like Fig. 9 , Fig.10 As shown, when the distal actuator 30b extends along the longitudinal axis, the distal edges of the first supporting wall 43a and the second supporting wall 43b are substantially in a straight line with the firing channel of the distal actuator 30b and the inner wall of the firing channel 54 of the distal connecting member 382a, and the proximal ends of the first supporting wall 43a and the second supporting wall 43b are substantially in a straight line with 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 firing beam 351 can be protected by the first supporting wall 43a and the second supporting wall 43b of the retaining member 384 when it is straightened.

[0088] The end effector assembly 30 described in the embodiment of the present invention, its joint assembly 38 is formed by the proximal connecting member 381a and the distal connecting member 382a meshing with each other to form the pivot point A of the distal effector 30b, which can achieve large angle bending under the condition of small bending radius. At the same time, the distal connecting member 382a is provided with a driving bending portion 383a, which is relatively large in distance between the meshing point (pivot point A) of the proximal connecting member 381a and the distal connecting member 382a. Under the same bending torque, the bending driving force is small, and the bending drive is easy to achieve. In addition, since the retaining member 384 is connected to the proximal connecting member 381a and the distal connecting member 382a through two pivot shafts, the center distance between the proximal connecting member 381a and the distal connecting member 382a is constant, so the consistency of the firing stroke in the bending state and the straight state can be guaranteed to the greatest extent; for the electric stapler, the formation of the most distal row of staples can be guaranteed.

[0089] In order to further improve the bending stability of the distal actuator 30b, Fig.10 , Fig.13 The distal connecting member 382a shown in the figure is provided with two driving bending parts 383: a first driving bending part 383a and a second driving bending part 383b. The bending member 36 is connected to the first and second driving bending parts 383a, 383b respectively through a transmission assembly 39. The first and second driving bending parts 383a, 383b are respectively located on the 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 the 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.

[0090] Reference Figure 4 , Figure 5As shown, the transmission assembly 39 includes a first rack 391 hooked and connected to the bending member 36, the first rack 391 is installed on the first support body 34 inside the proximal body part 30a, a first bending transmission member 393 fixedly connected to the first rack 391, and the first bending transmission member 393 is connected to the first driving bending portion 383a of the distal connecting member 382a; a second rack 392 installed on the first support body 34 inside the proximal body part 30a, and the second rack 392 A second bending transmission member 394 is arranged opposite to the first rack 391 and fixedly connected to the second rack 392, and 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 are located between the first rack 391 and the second rack 392, and the two gears 395 are rotatably connected to the gear support frame 396 of the first supporting body 34, and the two gears 395 are respectively meshed and connected with the first rack 391 and the second rack 392. When the bending member 36 is controlled to move toward the distal end, it pushes the first rack 391 and the first bending transmission member 393 to move toward the distal end. At the same time, the movement of the first gear 395 drives the gear 395 to rotate and causes the second rack 392 to move toward the proximal side, thereby driving the second bending transmission member 394 to move toward the proximal side, so that the distal connecting member 382a is bent. When the bending member 36 is operated to move toward the proximal end, the first rack 391 and the first bending transmission member 393 are pulled toward the proximal end. At the same time, the movement of the first gear 395 drives the gear 395 to rotate and causes the second rack 392 to move toward the distal side, thereby driving the second bending transmission member 394 to move toward the distal side, so that the distal connection member 382a is bent. The driving bending portion 383 of the distal connection member 382a is a driving shaft fixedly connected to the distal connection member 382a, and the first bending transmission member 393 or the second bending transmission member 394 is riveted or sleeved on the driving shaft. In one embodiment, as Figure 8 , Fig.10 , Fig.13As shown, the two driving bends 383a, 383b of the distal connecting member 382a are driving shaft structures whose axial direction is perpendicular to the clamping surface; the distal ends of the first bending transmission member 393 and the second bending transmission member 394 are respectively provided with rivet holes, and the first driving bend 383a, the second driving bend 383a and the rivet holes cooperate to realize the riveting of the first bending transmission member 393, the second bending transmission member 394 and the distal connecting member 382a. In other alternative embodiments, the driving bends 383a, 383b of the distal connecting member 382a are driving shaft structures whose axial direction is parallel to the clamping surface, and the first bending transmission member 393 and / or the second bending transmission member 394 are provided with a connecting sleeve, and the connection between the first bending transmission member 393, the second bending transmission member 394 and the distal connecting member 382a is realized by the connecting sleeve being sleeved on the driving shaft.

[0091] As an alternative embodiment, Fig.15 Another 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-shaped structure enables each rod to rotate between the pivot axes, so that it can adapt to a larger bending deformation amount, and can avoid problems such as breakage caused by the elastic material exceeding its elastic deformation amount when the bending angle is large.

[0092] In a specific embodiment, the joint assembly 38 can use a proximal connecting member 381a and a distal connecting member 382a to achieve the bending action of the distal actuator 30b. Figure 3-5 , two proximal connectors are provided, namely, an upper proximal connector 381a and a lower proximal connector 381b, and two distal connectors are also provided, namely, an upper distal connector 382a and a lower distal connector 382b. 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 by a method such as a slot and a snap-on protrusion. Similarly, the lower proximal connector 381b extends distally from the distal end of the second half support body 34b, and the lower proximal connector 381b is fixedly connected to the second half support body 34b by a slot and a snap-on protrusion. The upper distal connector 382a is connected to the nail magazine assembly 31, and the lower distal connector 382b is connected to the nail anvil assembly 32. The bending stability of the distal actuator 30b can be further improved by providing two groups of proximal connectors and two groups of distal connectors.

[0093] Specifically, the upper distal connecting member 382a is connected to the nail magazine base 311 through a positioning pin, so that the upper distal connecting member 382a is fixedly connected to the nail magazine base 311 and cannot be bent, and the lower distal connecting member 382b is connected to the nail anvil shell 321 through a positioning pin, so that the lower distal connecting member 382b is fixedly connected to the nail anvil shell 321 and cannot be bent. In addition, the upper distal connecting member 382a and the lower distal connecting member 382b are connected through a positioning pin, so that the upper distal connecting member 382a and the lower distal connecting member 382b are fixedly connected, thereby driving the nail magazine assembly 31 and the nail anvil assembly 32 to achieve synchronous bending. It is understandable that the upper distal connecting member 382a and the lower distal connecting member 382b are fixedly connected to the nail magazine assembly 31 and the nail anvil assembly 32 in a non-bending manner, while the nail magazine assembly 31 and / or the nail anvil assembly 32 can pivot relative to the upper distal connecting member 382a and the lower distal connecting member 382b in the closing and opening directions. The upper and lower proximal connecting members and the distal connecting member are respectively provided, so that the anvil assembly 32 of the distal actuator 30b and the nail magazine assembly 31 have better bending synchronization, and the bending action position is more symmetrical and the bending is stable. Of course, it is understandable that the proximal connecting member 381a and the distal connecting member 382a can also be provided one each, which can also realize the bending of the distal actuator 30b around the pivot point A formed by the proximal connecting member 381a and the distal connecting member 382a.

[0094] 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 to avoid being exposed to the outside, so as to ensure the movement stability of the firing member 35. Specifically, as Fig.10 As shown, the upper proximal connecting member 381a is provided with a proximal pivot hole 51, the upper distal connecting member 382a is provided with a distal pivot hole 52, the proximal pivot shaft 41 of the retaining member 384 passes through the proximal pivot hole 51 of the upper proximal connecting member 381a, the distal pivot shaft 42 of the retaining member 384 passes through the distal pivot hole 52 of the upper distal connecting member 382a, and the ends of the pivot shafts 41 and 42 are riveted to the first connecting piece 385. The first connecting piece 385 is provided with two connecting holes, and the ends of the proximal pivot shafts 41 and 42 of the retaining member 384 are riveted to the connecting holes of the first connecting piece 385.

[0095] The joint assembly 38 further includes a second connecting piece 386, such as Figure 3As shown, the lower proximal connecting member 381b and the lower distal connecting member 382b are riveted to the second connecting piece 386 through a rotating shaft. The second connecting piece 386 is provided with two connecting holes, and the ends of the rotating shafts on the lower proximal connecting member 381b and the lower distal connecting member 382b are riveted to the connecting holes of the second connecting piece 386.

[0096] Next, we will combine Figure 9-Figure 14 , the joint motion process of the end effector assembly 30 provided by the embodiment of the present invention is described in detail. Figure 9-11 As shown, at this time, when the distal actuator 30b extends along the direction of the longitudinal axis C, that is, when the distal actuator 30b and the proximal main body 30a extend in the same direction, the angle between the distal actuator 30b and the longitudinal axis C is 0° or approximately 0°, that is, the end actuator assembly 30 is in an initial state / position to be loaded or not used (hereinafter referred to as the loading position), 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 end of the pivot point A. The bending knob 12 of the surgical instrument 100 is operated to move the bending member 36 proximally, driving the first drive bending portion 383a and the second drive bending portion 383b to pivot around the pivot point A, so that the distal actuator 30b bends in the first direction gradually away from the longitudinal axis C, and finally reaches the position / state of the maximum bending angle in the first direction, as shown in FIG. Figure 12-14 The bending knob 12 of the surgical instrument 100 is operated to move the bending member 36 distally, driving the first driving bending portion 383a and the second driving bending portion 383b to pivot around the pivot point A, so that the distal actuator 30b is bent in the second direction (opposite to the first direction) gradually away from the longitudinal axis C, and finally reaches the position / state of the maximum bending angle in the second direction (not shown in the figure), and the position / state of the maximum bending angle in the second direction is mirror-symmetrical with the position / state of the maximum bending angle in the first direction with the longitudinal axis C as the axis.

[0097] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. However, the obvious changes or modifications derived therefrom are still 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 including a bending member and a firing member; The distal actuator comprises a staple cartridge assembly and a staple anvil assembly, wherein surfaces of the staple cartridge assembly and the staple anvil assembly disposed opposite to each other form a clamping surface for clamping tissue, and the distal actuator is pivotally connected to the proximal main body through 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 is fixedly connected to the proximal end of the distal actuator, and the distal connecting member is engaged and connected with the proximal connecting member; the distal connecting member is provided with at least one driving bending portion, and the bending member can operably drive the driving bending portion to move so that the distal actuator is bent relative to the proximal main body; A retaining member, wherein the retaining member is pivotally connected to the proximal connecting member and the distal connecting member respectively, and the retaining member has a retaining channel for accommodating the firing member; the retaining channel is a bidirectional arc-shaped channel, and the arc directions of the first supporting wall and the second supporting wall forming the retaining channel protrude toward the outside, and when the distal actuator is bent relative to the proximal main body, the first supporting wall or the second supporting wall supports the bent outer arc surface of the firing member.

2. The end effector assembly according to claim 1, characterized in that: The portion where the first supporting wall of the retaining member is located is a first supporting area, the outer side wall of the first supporting area is a first outer arc wall, the first outer arc wall has the same arc direction as the first supporting wall, and the arc length is greater than the arc length of the first supporting wall, and the first outer arc wall and the first supporting wall are transitioned at both ends through first transition walls respectively.

3. The end effector assembly according to claim 2, characterized in that: The portion where the second supporting wall of the retaining member is located is a second supporting area, the outer side wall of the second supporting area is a second outer arc wall, the second outer arc wall has the same arc direction as the second supporting wall, and the arc length is greater than the arc length of the second supporting wall, and the second outer arc wall and the second supporting wall are transitioned at both ends through second transition walls respectively.

4. The end effector assembly according to claim 3, characterized in that: When the distal actuator is bent to the maximum bending angle relative to the proximal main body, the first transition wall or the second transition wall on the proximal side of the retaining element limits the proximal inner arc position of the firing component, and the first transition wall or the second transition wall on the distal side of the retaining element limits the distal inner arc position of the firing component.

5. The end effector assembly according to claim 3, characterized in that: The partial area where the firing member cooperates with the first transition wall or the second transition wall on the proximal side is the curved transition zone on the proximal side of the firing member, and the partial area where the firing member cooperates with the first transition wall or the second transition wall on the distal side is the curved transition zone on the distal side of the firing member.

6. The end effector assembly according to claim 3, characterized in that: When the distal actuator is bent to the maximum bending angle relative to the proximal main body, the proximal end of the first transition wall or the second transition wall substantially abuts against the inner wall of the firing channel of the proximal connecting piece to limit the bending of the firing component, and the distal end of the first transition wall or the second transition wall substantially abuts against the inner wall of the firing channel of the distal connecting piece to limit the bending of the firing component.

7. The end effector assembly according to claim 1, characterized in that: When the distal execution portion extends along the longitudinal axis, the distal edges of the first support wall and the second support wall are substantially in a straight line with the inner wall of the firing channel of the distal execution portion, and the proximal ends of the first support wall and the second support wall are substantially in a straight line with the inner wall of the channel supporting the relative sliding of the firing component in the proximal main body.

8. The end effector assembly according to claim 1, characterized in that: 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.

9. The end effector assembly according to claim 8, 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.

10. The end effector assembly according to claim 1, characterized in that: The proximal main body portion includes an outer sleeve and a supporting body located inside the outer sleeve, and the proximal connecting member is fixedly connected to the supporting body.

11. The end effector assembly according to claim 1, characterized in that: The distal connecting piece is provided with two driving bending parts, and the bending member is connected to the two driving bending parts through a transmission assembly.

12. The end effector assembly according to claim 11, characterized in that: The transmission assembly comprises: A first rack and a first bending transmission member fixedly connected to the first rack, wherein the 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 parts of the distal connecting member; 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, and the second bending transmission member being connected to another driving bending portion of the distal connecting member; 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.

13. The end effector assembly according to claim 12, characterized in that: The driving bending portion is a driving shaft 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 driving shaft.

14. The end effector assembly according to claim 12, characterized in that: The driving bending portion is a driving shaft whose axial direction is perpendicular to the clamping surface. 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 shaft through the connecting sleeve.

15. The end effector assembly according to claim 12, characterized in that: The driving bending portion is a second driving shaft whose axial direction is parallel to the clamping surface. A rivet hole is provided at the distal end of the second bending transmission member. The second driving shaft cooperates with the rivet hole to realize riveting of the second bending transmission member and the distal connecting member.

16. The end effector assembly according to claim 1, characterized in that: The distal connecting member is provided with two, namely an upper distal connecting member and a lower distal connecting member, the lower distal connecting member is connected to the nail anvil assembly; the upper distal connecting member is connected to the nail magazine assembly.

17. The end effector assembly according to claim 10, characterized in that: The support body includes a first half support body and a second half support 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 support body, and the lower proximal connecting member is connected to the second half support body.

18. The end effector assembly according to claim 17, characterized in that: The joint assembly further includes a second connecting plate, on which two connecting holes are provided, and the lower proximal connecting member and the lower distal connecting member are riveted to the second connecting plate via a rotating shaft, respectively.

19. The end effector assembly according to claim 12, characterized in that: The first bending transmission member and / or the second bending transmission member are formed as elastic sheet structures capable of elastic deformation.

20. The end effector assembly according to claim 12, characterized in that: The first bending transmission member and / or the second bending transmission member is formed into a chain structure formed by a plurality of pivotally connected rods.

21. The end effector assembly according to claim 1, characterized in that: 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.

22. The end effector assembly according to claim 21, characterized in that: A first hook portion and a second hook portion which are arranged opposite to each other are provided on the proximal side of the firing beam, 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.

23. The end effector assembly according to claim 22, characterized in that: 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 direction and is suitable for limiting the position of the firing beam.

24. The end effector assembly according to claim 17, characterized in that: A guide groove is provided on the opposite surface of the first half supporting body and the second half supporting body, and the firing component is slidably connected to the guide groove.

25. The end effector assembly according to claim 24, characterized in that: The guide groove extends along the longitudinal axis direction and penetrates the entire extension surface of the support body.

26. A surgical instrument comprising a handle assembly, an elongated body assembly and an end effector assembly selectively coupled to the elongated body assembly, which are sequentially connected from a proximal end to a distal end, characterized in that: The end execution assembly adopts any one of the end execution assemblies of claims 1-25.

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