Surgical instrument and end execution assembly thereof

Abstract

The invention discloses a surgical instrument and an end execution assembly thereof, and belongs to the field of medical instruments. Comprising a near-side main body part, and the near-side main body part comprises a bending component which is slidably supported on the near-side main body part; the far-side executing part is used for manipulating tissues and is in pivot connection with the near-side main body part through a joint assembly, and when the end executing assembly is located at the to-be-loaded position, the extending direction of the far-side executing part and the extending direction of the near-side main body part are not located on the same straight line; the near-side main body part further comprises a locking piece rotationally arranged on the near side of the near-side main body part in a sleeving mode, the locking piece comprises a first locking part, and when the end executing assembly is located at the to-be-loaded position, the first locking part is matched with the bending component so as to lock the bending component. According to the end execution assembly, the position of the bending component is reliably locked in the to-be-loaded state, and reliable unlocking can be achieved after loading.

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 is easy to pop out of the joint or pivot or stack at the joint or 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 of a surgical instrument, comprising:

[0007] a proximal body portion including a bending member slidably supported thereon;

[0008] The distal implementing part is used for manipulating tissue, and the distal implementing part is pivotally connected to the proximal main body part through a joint assembly, and is characterized in that:

[0009] When the end effector assembly is in the waiting-to-load position, the extension direction of the distal effector portion and the extension direction of the proximal main body portion are not in the same straight line;

[0010] The proximal main body also includes a locking member rotatably mounted on its proximal side, and the locking member includes a first locking portion. When the end execution assembly is in a loading position, the first locking portion cooperates with the bending member to lock the bending member.

[0011] In some embodiments of the present invention, the proximal main body portion also includes a firing member slidably supported thereon, and the locking member includes a second locking portion. When the end execution assembly is in the loading position, the second locking portion cooperates with the firing member to lock the firing member.

[0012] In some embodiments of the present invention, the first locking portion of the locking member and the bending member, and the second locking portion of the locking member and the firing member are locked by rotational insertion.

[0013] In some embodiments of the present invention, the locking member is formed as a semi-annular sleeve with a notch, the first locking portion is a first protrusion extending circumferentially along the side wall of the locking member forming the notch, and the second locking portion is a second protrusion extending inwardly along the inner wall of the locking member.

[0014] In some embodiments of the present invention, the proximal body portion includes a supporting body, the locking member is sleeved on the proximal end of the supporting body, and the first locking portion and the second locking portion are respectively located at the distal end of the locking member.

[0015] In some embodiments of the present invention, the bending member is provided with a bending locking groove, and the bending locking groove cooperates with the first locking portion of the locking member.

[0016] In some embodiments of the present invention, the firing component is provided with a firing locking groove, and the firing locking groove cooperates with the second locking portion of the locking member.

[0017] In some embodiments of the present invention, the locking member further includes an unlocking drive portion. When the end execution assembly is in the loading position, the unlocking drive portion is acted upon by a circumferential force, thereby driving the locking member to rotate and disengage from the bending member and the firing member.

[0018] In some embodiments of the present invention, the unlocking drive portion includes an extending piece extending proximally along the proximal surface of the locking member.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] In some embodiments of the present invention, the proximal main body includes a supporting body, which includes a first half supporting body and a second half supporting body, and 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.

[0023] 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.

[0024] In some embodiments of the present invention, a safety mechanism for preventing the firing component from firing a second time is also provided on the firing connection piece.

[0025] In some embodiments of the present invention, the joint assembly includes:

[0026] A proximal connecting member, fixedly connected to the distal end of the proximal main body;

[0027] A distal connecting member, fixedly connected to the proximal end of the distal implementing portion, the distal connecting member is meshedly connected with the proximal connecting member, the distal connecting member is provided with at least one driving bending portion, the bending member can operably drive the driving bending portion to move, so that the distal implementing portion is bent relative to the proximal main body;

[0028] A retaining member is pivotally connected to the proximal connecting member and the distal connecting member, respectively, and has a retaining channel for accommodating the firing member.

[0029] 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 bent in the same direction.

[0030] 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 meshes with the proximal connecting member; the meshing 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 driving bending portion is not arranged to overlap with the longitudinal axis.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] In some implementations of the present invention, the transmission assembly includes:

[0035] 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;

[0036] 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;

[0037] 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.

[0038] 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.

[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 a plurality of pivotally connected rods.

[0040] 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.

[0041] 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.

[0042] 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, 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.

[0043] 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.

[0044] The present invention also provides a surgical instrument, comprising:

[0045] An end-actuating assembly, the end-actuating assembly comprising:

[0046] a proximal body portion, the proximal body portion comprising a support body and a drive assembly slidably supported within the support body;

[0047] A distal end effector for manipulating tissue, wherein the drive assembly can drive the distal end effector to pivot relative to the support body.

[0048] When the end effector assembly is in the waiting-to-load position, the extension direction of the distal effector portion and the extension direction of the proximal main body portion are not in the same straight line;

[0049] The end effector assembly includes a locking member rotatably supported around the housing, the locking member including a protrusion,

[0050] The locking member can keep the drive assembly in a first position to be loaded by engaging its protrusion with the groove of the drive assembly, and at the same time, can be moved to a second position where its protrusion is disengaged from the groove of the drive assembly to allow the drive assembly to move relative to the support body.

[0051] In some embodiments of the present invention, the locking member includes a first protrusion, which engages with a groove of a bending member of the drive assembly to achieve locking of the bending member, so that the end actuator is locked and in a position to be loaded.

[0052] In some embodiments of the present invention, the locking member includes a second protrusion, which engages with a groove of the firing member of the drive assembly to achieve locking of the firing member, so that the end actuator is locked and in a ready-to-load position.

[0053] In some embodiments of the present invention, the locking member is formed as a semi-annular sleeve with a notch, the first protrusion is a protrusion arranged on the side wall of the locking member forming the notch and extending circumferentially, and the second protrusion is a protrusion arranged on the inner wall of the locking member and extending inwardly / radially.

[0054] The technical effects of the technical solution of the present invention are described in detail in the following specific implementation method section. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] 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:

[0056] Figure 1 It is a structural schematic diagram of a specific embodiment of the surgical instrument of the present invention;

[0057] 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;

[0058] Figure 3 An exploded view of a specific embodiment of an end effector assembly of a surgical instrument of the present invention;

[0059] Figure 4 An exploded view of a portion of the structure of a specific embodiment of an end effector assembly of the present invention;

[0060] Figure 5 An exploded view of a portion of the structure of a specific embodiment of an end effector assembly of the present invention;

[0061] Figure 6 It is a structural schematic diagram of a specific embodiment of a retaining member in a surgical instrument of the present invention;

[0062] Figure 7 A schematic diagram of a specific embodiment of the first distal connecting member in the surgical instrument of the present invention;

[0063] Figure 8 It is a schematic diagram of the distal execution portion of the surgical instrument of the present invention extending along the longitudinal axis direction;

[0064] Fig. 9 for Figure 8 A magnified view of some structures;

[0065] Fig.10It 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;

[0066] Fig.11 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;

[0067] Fig.12 for Fig.11 A magnified view of some structures;

[0068] Fig.13 is a schematic diagram of a portion of a joint assembly of the distal actuator of the present invention at a maximum bending angle;

[0069] Fig.14 It is a structural schematic diagram of the end effector assembly of the present invention in an unloaded state;

[0070] Fig.15 for Fig.14 A magnified view of some structures;

[0071] Fig.16 It is a schematic diagram of a part of the joint assembly of the end effector assembly of the present invention in an unloaded state;

[0072] Fig.17 It is a schematic diagram of a part of the joint assembly of the end effector assembly of the present invention in a bending state;

[0073] Fig.18 is a schematic diagram of another specific embodiment of the lower proximal connecting member of the present invention;

[0074] Fig.19 is a schematic diagram of another specific embodiment of the lower distal connecting member of the present invention;

[0075] Fig. 20 It is a partial structural enlarged view of another specific embodiment of the surgical instrument of the present invention when the distal execution portion extends along the longitudinal axis direction;

[0076] Fig.21 It is a schematic diagram of a part of the joint assembly when the distal actuator is along the longitudinal axis in another specific embodiment of the present invention;

[0077] Fig. 22 A schematic diagram of a specific embodiment of an end effector assembly of a surgical instrument of the present invention;

[0078] Fig.23 for Figure 4 A partial enlarged view of

[0079] Fig.24 It is a schematic diagram of a specific embodiment of the first supporting body in the end effector assembly of the present invention;

[0080] Fig.25 It is a partial structural schematic diagram of a firing component in the end execution assembly of the present invention;

[0081] Fig.26 It is a structural schematic diagram of a firing component in an end execution assembly of the present invention;

[0082] Fig. 27 for Fig.26 A magnified view of some structures;

[0083] Fig.28 It is a structural schematic diagram of a firing connection member in an end execution assembly of the present invention;

[0084] Fig.29 It is a schematic diagram of the connection between the end effector assembly and the elongated body assembly of the surgical instrument of the present invention;

[0085] Fig.30 It is a structural schematic diagram of a middle locking member in an end execution assembly of the present invention;

[0086] Fig.31 It is a structural schematic diagram of the locking member in the end execution assembly of the present invention in the locking position;

[0087] Fig.32 It is a structural schematic diagram of the locking member in the end execution assembly of the present invention in the unlocked position;

[0088] Fig.33 Another structural form of the first bending transmission member and the second bending transmission member in the end effector assembly of the present invention;

[0089] Fig.34 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;

[0090] Fig.35 for Fig.34 A partial enlarged view of the structure. DETAILED DESCRIPTION

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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, and the proximal end of the transmission rod group is connected to the output end of the driving 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 assembly 30, and is used to transmit the driving force of the driving mechanism to the end effector assembly 30. Specifically, 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 effector assembly 30 to achieve the firing operation of the end effector 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 effector assembly 30 to achieve the bending of the end effector assembly 30.

[0100] like Figure 1 As 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.

[0101] 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 2As 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.

[0102] 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.

[0103] Specifically, Figure 2 and Figure 3As shown, the proximal main body portion 30a of the end execution assembly 30 is detachably connected to the distal end of the slender body assembly 20, and the proximal main body portion 30a includes a slender 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 outer shell 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, and the proximal end of the second half support body 34b includes a coupling portion 34c for connecting to the slender body assembly 20, and a coupling lug is provided on the coupling portion 34c for releasably coupling to the slender body assembly 20 in a snap-on connection manner. Specifically, a connecting piece 361 is provided at the proximal end of the bending member 36 of the end execution assembly 30, which cooperates with the hook portion at the distal end of the bending driving rod located inside the slender body assembly 20. A firing connecting piece 353 is provided at the proximal end of the firing member 35 in the end execution assembly 30, which cooperates with the distal end of the firing rod of the slender body assembly 20, thereby realizing the rotational engagement and locking of the end execution assembly 30 and the slender body assembly 20.

[0104] A passage for slidably receiving the firing member 35 is defined between the first half support body 34a and the second half support body 34b. The firing member 35 includes an elongated firing beam 351, which can be formed of a single sheet of material or a plurality of stacked sheets. The working portion 352 of the firing member 35 is formed as an I-beam structure, a portion of which contacts the push-pin slider and can slide toward the distal end of the staple cartridge assembly 31 as a whole to perform a 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 moves toward the distal end together with the push-pin slider, and the push-pin slider acts on the staple driver to push the suture staple out of the staple cartridge assembly 31 to achieve the anastomosis operation on the tissue, and at the same time, the cutting knife 354 on the working portion 352 cuts the tissue. A firing connection portion 353 is provided at the proximal end of the firing beam 351 , and the firing connection portion 353 is formed as a sleeve structure with an opening, and a hole is provided at the proximal end of the firing connection portion 353 , which is configured to receive the distal end of the firing rod 22 when the proximal end of the end execution assembly 30 is engaged with the slender body assembly 20 .

[0105] Reference Figure 3As 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.

[0106] 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 383a 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 383a 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 FIG. 1 , the driving bend 383a is spaced apart from the longitudinal axis C and is located at the distal end of the pivot point A, that is, the driving bend 383a does not coincide with the longitudinal axis C.

[0107] The proximal connecting member 381a and the distal connecting member 382a may also be connected in other ways to enable the distal connecting member 382a to bend or swing around the proximal connecting member 381a. At the same time, the two can provide relatively stable support to reduce the shaking caused by bending or swinging during the firing process of the surgical instrument, thereby avoiding pulling and damaging tissues. Fig.34 , Fig.35 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.

[0108] 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 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 mutually cooperating proximal connecting member 381a and distal connecting member 382a through two pivot axes. Fig.10 , Fig.13 as well as Fig.16 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. 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, Figure 2 and Figure 3As 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 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 portion 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.

[0109] 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 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 first support wall 43a and the second support wall 43b have the same arc bending direction, 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.

[0110] Reference Fig. 9 As 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. Since the first support wall 43a and the second support wall 43b of the holding channel 43 are bent toward the same side, the firing beam 351 of the firing member 35 can be allowed to bend unilaterally to the largest possible angle. When the firing beam 351 is at the maximum unilateral bending angle, better support and limit are provided to the inner and outer arc surfaces thereof, respectively, so that the distal actuator 30b can achieve a larger unilateral bending angle. It can be understood that although the first support wall 43a and the second support wall 43b of the holding channel 43 are bent toward the same side to provide support and limit for the firing beam 351 when the distal actuator 30b is at the maximum unilateral bending position, since the holding channel 43 has a certain width, the distal actuator 30b is still allowed to bend in the opposite direction at a certain angle, so that the end actuator assembly 30 can achieve an overall asymmetric bending angle.

[0111] 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 surface of the first support area 384a is located on the distal side of the proximal surface of the second support area 384b, and the distal surface of the first support area 384a is located on the proximal side of the distal surface of the second support area 384b. In this way, Fig.12 As shown in FIG. 1 , 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. Fig. 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. Fig. 9 , Fig.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 against 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 side of the first support wall 43a and the axial center of the proximal pivot shaft 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 in a straight line with the inner wall of the firing channel of the proximal main body 30a and the inner wall of the firing channel 53 of the proximal connecting member 381a, and the proximal side 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 close to the axial line connecting the proximal pivot shaft 41 and the distal pivot shaft 42. The distance between the distal side of the first support wall 43a and the axial center of the distal pivot shaft 42 is less than a second set value, which is 0.5-1 mm. In this way, when the distal actuator 30b is bent, the size of the gap t1 between the proximal end of the first support wall 43a and the distal end of the firing channel of the proximal connecting member 381a remains unchanged or changes slightly, and the size of 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 connecting member 382a also remains unchanged or changes slightly. This avoids the problem that the firing member 35 cannot be effectively limited due to the large change in the gap between the retaining member 384 and the proximal connecting member 381a and the distal connecting member 382a during the bending of the distal actuator 30b. In an alternative embodiment, the firing beam 351 can be effectively limited 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 connecting member 382a, and 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 connecting member 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 connecting member 382a are clearance-matched, that is, the gap between the two is very small; the proximal end of the first support wall 43a and the distal end of the firing channel 53 of the proximal connecting member 381a are clearance-matched, that is, the gap between the two is very small. This allows the gaps between the retaining member 384 and the proximal connecting member 381a and the distal connecting member 382a to be small when the first position extending in the direction of the longitudinal axis C of the distal actuator 30b swings to the maximum bending position.

[0112] The end effector assembly 30 described in the embodiment of the present invention has a joint assembly 38, which forms a pivot point A of the distal effector 30b by means of the proximal connection member 381a and the distal connection member 382a meshing with each other, so as to achieve a large angle of bending under a small bending radius. At the same time, a driving bending portion 383a is provided on the distal connection member 382a, and the distance between the meshing point (pivot point A) of the proximal connection member 381a and the distal connection member 382a is large. 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 pivotally connected to the proximal connecting member 381a and the distal connecting member 382a through two pivot shafts 41, 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.

[0113] In order to further improve the bending stability of the distal actuator 30b, the distal connecting member 382a is provided with two driving bending parts 383a, 383b, and the bending member 36 is connected to the two driving bending parts 383a, 383b through a transmission assembly 39. The two driving bending parts 383a, 383b are respectively located on opposite sides of the longitudinal axis C, and one side of the distal connecting member 382a is subjected to a force toward the distal end, while 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.

[0114] 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 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 arranged on the support body 34, the second rack 392 is spaced and arranged 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 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 support body 34. In the example shown in FIG. Figure 4In the illustrated embodiment, the gear 395 includes two gears 395 respectively meshing with the first rack 391 and the second rack 392. When the bending member 36 is operated to move distally, the first rack 391 and the first bending transmission member 393 are pushed to move distally, and the movement of the gear 395 drives the gear 395 to rotate and moves the second rack 392 proximally, thereby driving the second bending transmission member 394 to move proximally, so that the distal connecting member 382a is bent.

[0115] As an alternative embodiment, Figure 8 , Fig. 9 As shown, the first driving bending portion 383a of the distal connecting member 382a is configured as a pivot structure with an axial direction perpendicular to the clamping surface, and the second driving bending portion 383b is configured as a convex block structure with an axial direction parallel to the clamping surface. Accordingly, the distal end of the first bending transmission member 393 is provided with a connecting sleeve 393a, and the first bending transmission member 393 is sleeved on the first driving bending portion 383a through the connecting sleeve 393a; the distal end of the second bending transmission member 394 is provided with a rivet hole 394a, and the second driving bending portion 383b cooperates with the rivet hole 394a to realize the riveting of the second bending transmission member 394 and the distal connecting member 382a. When the distal actuator 30b is operated to bend, the bending radius of the position of the first driving bending portion 383a (that is, the bending radius of the first bending transmission member 393 connected to the first driving bending portion 383a when it is bent) is smaller than the bending radius of the position of the second driving bending portion 383b (that is, the bending radius of the second bending transmission member 394 connected to the second driving bending portion 383b when it is bent).

[0116] 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 driving bending portion 383a of the distal connecting member 382a is always smaller than the bending radius of the second driving 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 connecting member 382a by adopting a connecting sleeve 393a that is sleeved on the first driving bending portion 383a.

[0117] As an alternative embodiment, Fig.33Another 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.

[0118] Figure 8-Figure 13 FIG. 2 shows the joint motion process of the end effector assembly 30 provided by an embodiment of the present invention. Figure 8-Figure 10 As shown, at this time, the distal implementing portion 30b extends along the longitudinal axis C, that is, when the distal implementing portion 30b and the proximal main body portion 30a extend in the same direction, the angle between the distal implementing portion 30b and the longitudinal axis C is 0° or approximately 0°, and the first driving bending portion 383a and the second driving 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 driving bending portion 383a and the second driving bending portion 383b to pivot around the pivot point A, so that the distal implementing portion 30b is bent in a direction gradually away from the longitudinal axis C, and finally reaches the position of the maximum bending angle on one side, as shown in FIG. Figure 11-13 It is understandable 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.

[0119] 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; as an alternative embodiment, refer to Figure 3-5, two proximal connectors are provided, namely, an upper proximal connector 381a and a lower proximal connector 381ab, and 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 by a method such as a slot and a snap-on protrusion. Similarly, the lower proximal connector 381ab extends distally from the distal end of the second half support body 34b, and the lower proximal connector 381ab 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 382ab 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.

[0120] 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 382ab is connected to the nail anvil shell 321 through a positioning pin, so that the lower distal connecting member 382ab 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 382ab are connected through a positioning pin, so that the upper distal connecting member 382a and the lower distal connecting member 382ab 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 382ab 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 382ab in the closing and opening directions. The upper and lower proximal connecting members and the distal connecting member are respectively provided, so that the nail 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.

[0121] 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.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 pivot shaft 41 and the 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.

[0122] 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.

[0123] 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 actuator 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 Fig.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 actuator 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 effector assembly from the straight state to the maximum bending angle, at the proximal side of the joint assembly 38, the 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 action of the retaining member 384 and the first limiting protrusion 61.

[0124] Correspondingly, as Fig.19As shown, a second limiting protrusion 62 is provided on a side surface of the lower distal connecting member 382ab 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 Fig.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, 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 actuator 30b, the included angle between the first side surface and the second side surface is between 80° and 100°. Through the above arrangement of the second limiting protrusion 62, during the process of the end effector assembly changing from a straight state to a maximum bending angle, the 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, and the firing beam can be bent reliably under the limiting action of the holding member 384 and the second limiting protrusion 62.

[0125] It can be understood that in other alternative embodiments, the first limiting protrusion 61 can also be provided on the proximal connecting member 381a, and the second limiting protrusion 62 can also be provided on the distal connecting member 382a.

[0126] In addition, as Fig.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.

[0127] In order to enable the end effector assembly 30 described in the embodiments of the present invention to be adapted 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, 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 of the same specification and size in the existing design. In alternative embodiments, when the end effector assembly 30 is not yet loaded onto the surgical instrument initially, a certain bending angle is preset. For example, as Fig.14 shown, when the end effector assembly 30 is in a position to be loaded, the distal actuator 30b forms a set first included angle α1 with the longitudinal axis C.

[0128] 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 member 36 is moved proximally by a first distance by operating the bending knob 12 of the handle assembly 10. 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. Fig.11 , Fig.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 30b of the end effector assembly 30 is further pivoted toward the direction close to the longitudinal axis C based on the first angle α1, and finally forms 0° or substantially 0° with the longitudinal axis C, as shown in FIG. Figure 8 , Fig. 9 The first distance and the second distance may be the same or different.

[0129] When the end effector assembly 30 of the embodiment of the present invention is adapted to the surgical instrument 100 of the prior art, the first distance may correspond to the distance moved by the bending member 36 when the end effector assembly 30 is bent to the right to the maximum angle; the second distance may correspond to the distance moved by the bending member 36 when the end effector assembly 30 is bent to the left to the maximum angle. The configuration of the end effector assembly 30 further improves the versatility and adaptability of the end effector assembly of the embodiment of the present invention.

[0130] 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.23 , Fig.24 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.

[0131] The proximal end of the firing beam 351 is hooked and connected to the firing connecting piece 353. Specifically, Fig. 22 , Fig.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 configured as 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 two 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 configured 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. Fig.26 , Fig. 27 As shown, the firing connection piece 353 is also provided with a safety mechanism 355 for preventing the firing component 35 from firing a second time, wherein the specific structure of the safety mechanism 355 refers to the specific description of the application number 202210770831.1, the full text of which is incorporated by reference and will not be repeated here.

[0132] Reference Fig.29 As shown, the proximal main body 30a also includes a locking member 37 for making the bending member 36 and the firing member 35 be located at the initial position when the end execution assembly 30 is in the loading position. Specifically, as shown in FIG. Fig.12 As shown, the locking member 37 includes a first locking portion 371 and a second locking portion 372. When the end execution assembly 30 is in the loading position, the first locking portion 371 cooperates with the bending member 36 to achieve the locking of the bending member 36, and the second locking portion 372 cooperates with the firing member 35 to achieve the locking of the firing member 35. The locking member 37 can be used to simultaneously achieve the locking of the bending member 36 and the firing member 35.

[0133] The locking member 37 is rotatably mounted on the engaging portion 34c located near the supporting body 34, and can be switched between a locked position and an unlocked position. When the locking member 37 is rotated to the locked position, Fig.31 As shown, the first locking portion 371 cooperates with the bending member 36 to lock, and the second locking portion 372 cooperates with the firing member 35 to lock. At this time, the end execution assembly 30 is in the ready-to-load position; when the locking member 37 is rotated to the unlocking position, as shown in FIG. Fig.32 As shown, the first locking portion 371 is released from the bending member 36 , and the second locking portion 372 is in contact with the firing member 35 . The bending member 36 is unlocked from the firing member 35 and can slide relative to the supporting body 34 .

[0134] The locking member 37 is locked with the bending member 36 and the firing member 35 by means of rotational plugging. Fig.12 As shown, the locking member 37 is configured as a semi-annular sleeve with a notch, the semi-annular sleeve has a first wall 374 and a second wall 375 which are arranged opposite to each other and form the notch, the first locking portion 371 is configured as a first protrusion extending circumferentially along the side wall (i.e., the first wall 374 or the second wall 375) of the notch formed by the locking member 37, and the second locking portion 372 is configured as a second protrusion extending inwardly along the inner wall of the locking member 37; correspondingly, as Fig.13 As shown, the bending member 36 is provided with a bending locking groove 362. When the locking member 37 is rotated to the locking position, the first protrusion of the locking member 37 is inserted into the bending locking groove 362 of the bending member 36 to achieve the locking of the bending member 36; the firing beam 351 is provided with a firing locking groove 3513 (refer to Figure 7 As shown in FIG. 3 , when the locking member 37 is rotated to the locking position, the second protrusion of the locking member 37 is inserted into the firing locking groove 3513 of the firing component 35, thereby realizing the locking of the firing component 35.

[0135] like Figure 30-Figure 32 As shown, the locking member 37 further includes an unlocking driving portion 373. When the end actuator assembly 30 is in the loading position, the unlocking driving portion 373 is acted upon by the circumferential force of the driving protrusion in the slender body assembly 20, driving the locking member 37 to rotate around the supporting body 34 and to release the coupling with the bending member 36 and the firing member 35. The unlocking driving portion 373 is configured as an extension piece extending toward the proximal end along the proximal end surface of the semi-annular sleeve. At the same time, in order to improve the rotation stability of the locking member 37, the locking member 37 is symmetrically provided with two unlocking driving portions 373 along the circumferential direction. Correspondingly, the inner wall of the slender body of the slender body assembly 20 is provided with two driving protrusions for driving the unlocking driving portion 373.

[0136] 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 of a surgical instrument, comprising: a proximal body portion including a bending member slidably supported thereon; The distal implementing part is used for manipulating tissue, and the distal implementing part is pivotally connected to the proximal main body part through a joint assembly, and is characterized in that: When the end effector assembly is in the waiting-to-load position, the extension direction of the distal effector portion and the extension direction of the proximal main body portion are not in the same straight line; The proximal main body also includes a locking member rotatably mounted on its proximal side, and the locking member includes a first locking portion. When the end execution assembly is in a loading position, the first locking portion cooperates with the bending member to lock the bending member.

2. The end effector assembly according to claim 1, characterized in that: The proximal body portion also includes a firing member slidably supported thereon, and the locking member includes a second locking portion. When the end execution assembly is in the ready-to-load position, the second locking portion cooperates with the firing member to lock the firing member.

3. The end effector assembly according to claim 2, characterized in that: The first locking portion of the locking member and the bending member, and the second locking portion of the locking member and the firing member are locked by rotational plugging.

4. The end effector assembly according to claim 3, characterized in that: The locking member is formed as a semi-annular sleeve with a notch, the first locking portion is a first protrusion extending circumferentially along the side wall of the locking member forming the notch, and the second locking portion is a second protrusion extending inwardly along the inner wall of the locking member.

5. The end effector assembly according to claim 4, characterized in that: The proximal main body portion includes a supporting body, the locking member is sleeved on the proximal end of the supporting body, and the first locking portion and the second locking portion are respectively located at the distal end of the locking member.

6. The end effector assembly according to claim 1 or 2, characterized in that: The bending component is provided with a bending locking groove, and the bending locking groove cooperates with the first locking portion of the locking member.

7. The end effector assembly according to claim 1 or 2, characterized in that: The firing component is provided with a firing locking groove, and the firing locking groove cooperates with the second locking portion of the locking member.

8. The end effector assembly according to claim 1 or 2, characterized in that: The locking member also includes an unlocking drive portion. When the end execution assembly is in the loading position, the unlocking drive portion is acted upon by a circumferential force, driving the locking member to rotate and disengage from the bending member and the firing member.

9. The end effector assembly according to claim 8, characterized in that: The unlocking driving portion includes an extending piece extending proximally along the proximal surface of the locking member.

10. The end effector assembly according to claim 2, 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.

11. The end effector assembly according to claim 10, 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.

12. The end effector assembly according to claim 11, 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.

13. The end effector assembly according to claim 2, characterized in that: The proximal main body portion includes a supporting body, and the supporting body includes a first half supporting body and a second half supporting body. The first half supporting body and the second half supporting body are provided with guide grooves on the opposite surfaces, and the firing component is slidably connected to the guide grooves.

14. The end effector assembly according to claim 13, characterized in that: The guide groove extends along the longitudinal axis direction and penetrates the entire extension surface of the support body.

15. The end effector assembly according to claim 10, characterized in that: The firing connection piece is also provided with a safety mechanism for preventing the firing component from firing a second time.

16. The end effector assembly according to claim 2, characterized in that: 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 implementing portion, the distal connecting member is meshedly connected with the proximal connecting member, the distal connecting member is provided with at least one driving bending portion, the bending member can operably drive the driving bending portion to move, so that the distal implementing portion is bent relative to the proximal main body; A retaining member is pivotally connected to the proximal connecting member and the distal connecting member, respectively, and has a retaining channel for accommodating the firing member.

17. The end effector assembly according to claim 16, characterized in that: The holding channel comprises a first supporting wall and a second supporting wall forming an arc-shaped channel, wherein the first supporting wall and the second supporting wall are bent in the same direction.

18. The end effector assembly according to claim 16, characterized in that: 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 meshing with the proximal connecting member; the meshing 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 driving bending portion is not arranged to overlap with the longitudinal axis.

19. The end effector assembly according to claim 16, 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.

20. The end effector assembly according to claim 16, 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.

21. The end effector assembly according to claim 16, characterized in that: 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.

22. The end effector assembly according to claim 21, 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.

23. The end effector assembly according to claim 22, 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.

24. The end effector assembly according to claim 22, 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.

25. The end effector assembly according to claim 16, 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.

26. The end effector assembly according to claim 25, 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.

27. The end effector assembly according to claim 17, characterized in that: 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, 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.

28. 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 1-27.

29. A surgical instrument comprising: An end-actuating assembly, the end-actuating assembly comprising: a proximal body portion, the proximal body portion comprising a support body and a drive assembly slidably supported within the support body; The distal end effector is used for manipulating tissue, and the driving assembly can drive the distal end effector to pivot relative to the supporting body, wherein: When the end effector assembly is in the waiting-to-load position, the extension direction of the distal effector portion and the extension direction of the proximal main body portion are not in the same straight line; The end effector assembly includes a locking member rotatably supported around the housing, the locking member including a protrusion, The locking member can keep the drive assembly in a first position to be loaded by engaging its protrusion with the groove of the drive assembly, and at the same time, can be moved to a second position where its protrusion is disengaged from the groove of the drive assembly to allow the drive assembly to move relative to the support body.

30. A surgical instrument according to claim 29, characterized in that: The locking member includes a first protrusion, which engages with a groove of a bending member of the drive assembly to achieve locking of the bending member, so that the end actuator is locked and in a position to be loaded.

31. A surgical instrument according to claim 29, characterized in that: The locking member includes a second protrusion, and the second protrusion engages with the groove of the firing member of the drive assembly to achieve locking of the firing member, so that the end execution assembly is locked and is in a ready-to-load position.

32. A surgical instrument according to claim 30 or 31, characterized in that: The locking member is formed as a semi-annular sleeve with a notch, the first protrusion is a protrusion arranged on the side wall of the locking member forming the notch and extending circumferentially, and the second protrusion is a protrusion arranged on the inner wall of the locking member and extending inwardly / radially.

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