Surgical instrument

Abstract

The invention discloses a surgical instrument which comprises a jaw assembly, a rack, a jaw opening assembly, a cutting knife driving part and a safety assembly. The safety assembly is arranged on the rack and has an unlocking state and a locking state, and in the unlocking state, the safety assembly is separated from the jaw opening assembly; in the locking state, the jaw opening assembly is locked; the cutting knife driving part is provided with an initial position and a knife retracting limit position, and when the cutting knife driving part is located at the initial position, the safety assembly is in an unlocked state; during cutter retracting, the cutter driving piece moves towards the near side to the initial position, and the safety assembly is driven to be switched to the unlocking state; in the process that the cutting knife driving piece moves from the initial position to the near end to the knife retracting limit position, the cutting knife driving piece acts on the safety assembly and enables the safety assembly to be kept in the unlocking state. When the jaw assembly is in the bending state, in the process that the rack retracts from the initial position to the near side, the safety assembly is kept in the unlocking state and does not interfere with the rack, and the retracting process can be smoothly completed.

Description

Technical Field

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

[0002] Surgical cutting staplers are commonly used medical instruments to replace manual suturing. Their main working principle is to use a cutting knife to separate tissues and titanium staples to staple them, similar to a stapler. There are many types of staplers according to their suitability for different parts of the body. For surgical cutting staplers, their working principle is to enter the patient's body through the cannula of the puncture device that is precisely positioned at the surgical site, and then make a longitudinal incision in the tissue and apply staples on the opposite side of the incision, thereby separating and staple the tissues.

[0003] The surgical instrument comprises a jaw assembly, a sleeve assembly, a cutting knife assembly, an operating assembly, a motor assembly, a rack, a jaw opening assembly and a safety assembly. The jaw assembly and the sleeve assembly are rotatably connected, and an angle connector is provided at the rotating connection. When the jaw assembly is performing surgery, the medical staff will operate the operating assembly to rotate the jaw assembly from a straight hitting state to a bent hitting state, and the knife bar of the cutting knife assembly will bend accordingly, and the proximal end of the knife bar will move proximally. The motor assembly is connected to the rack, and the distal end of the rack is movably connected to the proximal end of the cutting knife assembly, so that the jaw assembly is rotated from a straight hitting state to a bent hitting state. When the proximal end of the knife bar moves proximally, the knife bar moves proximally relative to the rack, and the rack does not move during this process. The safety member of the safety member is rotatably arranged on the frame, and the rack is in an initial position before the knife is advanced, and acts on the safety member to separate the safety member from the jaw opening assembly. During the knife advancement process, the safety member rotates to abut against the jaw opening assembly, so that the jaw opening assembly is locked, and the user cannot open the jaw assembly.

[0004] The movable connection between the rack and the cutting knife assembly enables the rack to be located proximal to the initial position when the jaw assembly is in a bent state and the knife is retracted. The process of the rack moving from the initial position to the proximal side causes the safety member to over-rotate. The over-rotated safety member may interfere with the rack, blocking the movement of the rack and making the knife retraction process unable to be completed. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention aims to provide a surgical instrument, wherein when the jaw assembly is in a bent state, the safety member does not interfere with the rack during the process of the rack being retracted proximally, so that the retraction process can be completed smoothly.

[0006] The present invention is implemented by the following technical solutions: a surgical instrument, comprising a jaw assembly, a frame, a jaw opening assembly, a cutting knife driving member and a safety assembly; The safety component is arranged on the frame and has an unlocked state and a locked state. In the unlocked state, the safety component is separated from the jaw opening component, and in response to the jaw opening component being operated, the jaw opening component switches from a closed state to an open state; in the locked state, the safety component abuts against the jaw opening component, so that the jaw opening component is locked; The cutting knife driving member has an initial position and a knife retraction limit position; when the cutting knife driving member is in the initial position, the safety component is in the unlocked state, and in response to the cutting knife driving member moving from the initial position to the distal end, the safety component switches to the locked state; When the knife is retracted, the cutting knife driving member moves proximally to the initial position and drives the safety assembly to switch to the unlocked state; when the cutting knife driving member moves proximally from the initial position to the extreme position of the knife retraction, the cutting knife driving member acts on the safety assembly and keeps the safety assembly in the unlocked state. Further, the safety assembly includes a safety member and an elastic member, the elastic member is connected between the frame and the safety member, when the safety assembly is in the unlocked state, the safety member is constrained by the cutting knife driving member to separate from the jaw opening assembly, and the elastic member is compressed; when the cutting knife driving member moves from the initial position to the distal end, the safety member is released, and the elastic member drives the safety member to move to abut against the jaw opening assembly, so that the safety assembly switches to the locked state.

[0007] Furthermore, the safety component includes a safety piece and an elastic piece, the elastic piece is connected between the frame and the safety piece, when the safety component is in the unlocked state, the safety piece is constrained by the cutting knife driving piece to be separated from the jaw opening assembly, and the elastic piece is compressed; when the cutting knife driving piece moves from the initial position to the distal end, the safety piece is released, and the elastic piece drives the safety piece to move to abut against the jaw opening assembly, so that the safety component is switched to the locked state.

[0008] Furthermore, the cutting knife driving member includes a driving portion and a retaining portion. When the cutting knife driving member moves from the distal side to the initial position, the driving portion abuts against the safety member and drives the safety member to move to separate from the jaw opening assembly, so that the safety assembly switches from the locked state to the unlocked state; when the cutting knife assembly is located at the initial position or at the knife retraction limit position, the retaining portion abuts against the safety member to restrain the safety member, so that the safety assembly is in the unlocked position.

[0009] Further, the driving portion includes a guiding surface, the holding portion includes a holding surface, and the guiding surface is connected to the holding surface; When the cutting knife driving member moves toward the proximal side from the cutting knife feeding position, the safety member is driven to rotate by the guide surface, so that the safety assembly switches from the locking position to the unlocking position; When the cutting knife assembly is located at the initial position, the safety member abuts against the guide surface and is constrained by the guide surface, or abuts against the retaining surface and is constrained by the retaining surface, so that the safety assembly is in the unlocked position; when the cutting knife assembly is located at the retracting limit position, the safety member abuts against the retaining surface and is constrained by the retaining surface, so that the safety assembly is in the unlocked position.

[0010] Furthermore, the safety member includes a rod body and a protruding portion connected to the rod body, and the safety member is abutted against the driving portion or the retaining portion through the protruding portion.

[0011] Furthermore, the safety piece is rotatably arranged on the frame, and when the safety assembly is in the unlocked state, the safety piece is constrained to be in a first rotation position separated from the jaw opening assembly; when the safety piece is released, it rotates to a second rotation position under the action of the elastic piece to resist the jaw opening assembly, so that the safety assembly is in the locked state.

[0012] Furthermore, the safety member is movably arranged on the frame, and when the safety member is constrained, it is in a first moving position to separate from the jaw opening assembly, and when the safety member is released, it moves to a second moving position under the action of the elastic member to resist the jaw opening assembly.

[0013] Furthermore, the jaw opening assembly includes an operating portion, and the safety assembly abuts against the operating portion when in the locked position, preventing the operating portion from being operated, thereby maintaining the jaw assembly in the closed state.

[0014] Compared with the prior art, the beneficial effect of the present invention is that when the jaw assembly is in the bent state, during the process of the rack retracting from the initial position to the proximal side, the safety assembly remains in the unlocked state and does not interfere with the rack, so that the retraction process can be completed smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of a surgical instrument according to a first embodiment of the present invention; Figure 2 It is a schematic structural diagram of a jaw assembly and a sleeve assembly rotatably connected in a first embodiment of the present invention; Figure 3 is a schematic structural diagram of the jaw assembly in the first embodiment of the present invention in a maximum rotation state; Figure 4 is a schematic structural diagram of a cutting blade assembly according to a first embodiment of the present invention; Figure 5 2 is a schematic structural diagram of a first angle connector and a second angle connector according to a first embodiment of the present invention; Figure 6 It is a structural schematic diagram of the jaw assembly of the first embodiment of the present invention in a maximum rotation state and the knife bar deformation; Figure 7 1 is a schematic structural diagram of a cutter head and a cutter pusher according to a first embodiment of the present invention; Figure 8 It is a structural schematic diagram of an empty nail magazine safety structure according to a first embodiment of the present invention; Fig. 9 is a schematic structural diagram of a first protrusion in a first embodiment of the present invention being inserted into a first groove; Fig.10 is a schematic structural diagram of a clamp motor assembly according to a first embodiment of the present invention; Fig.11 is an exploded view of a motor assembly according to a first embodiment of the present invention; Fig.12 is a schematic structural diagram of a clutch mechanism according to a first embodiment of the present invention; Fig.13 is a cross-sectional view of a first gear and a second gear according to a first embodiment of the present invention; Fig.14 is a structural schematic diagram of a clutch mechanism in a first state according to a first embodiment of the present invention; Fig.15 is a schematic structural diagram of the clutch mechanism of the first embodiment of the present invention in a second state; Fig.16 It is a schematic diagram of the structure in which the convex rib is located between the first side wall and the second side wall in the first embodiment of the present invention; Fig.17 is a schematic structural diagram of a moving part in a separated position according to a first embodiment of the present invention; Fig.18 is a schematic structural diagram of a moving part in a first embodiment of the present invention in abutting position; Fig.19 is a schematic structural diagram of a steering drive assembly according to a first embodiment of the present invention; Fig. 20 is a structural schematic diagram of a connecting rod assembly in a first position according to a first embodiment of the present invention; Fig.21 is a structural schematic diagram of the connecting rod assembly in the second position according to the first embodiment of the present invention; Figure 22 to Figure 26 is a schematic structural diagram of an open jaw assembly according to a first embodiment of the present invention; Fig. 27 is a schematic structural diagram of a jaw opening assembly according to a first embodiment of the present invention; Fig.28 is a schematic structural diagram of the jaw opening assembly of the first embodiment of the present invention when being operated; Fig.29 is a schematic structural diagram of an outer jaw assembly according to a first embodiment of the present invention; Fig.30 is a cross-sectional view of a jaw assembly according to a first embodiment of the present invention; Fig.31 is a schematic structural diagram of a safety assembly according to a first embodiment of the present invention; Fig.32 is a structural schematic diagram of the safety assembly in a locked state according to the first embodiment of the present invention; Fig.33 It is a schematic structural diagram of a rack driving a safety member to rotate according to a first embodiment of the present invention; Fig.34 It is a schematic diagram of the structure of the safety member abutting against the retaining portion according to the first embodiment of the present invention; Figure 35 to Figure 36 is a schematic structural diagram of a clutch mechanism according to a second embodiment of the present invention; Figures 37 to 43 Schematic diagram of the structure of the clutch mechanism of the third embodiment of the present invention Figures 44 to 46 It is a schematic structural diagram of a safety assembly according to a fourth embodiment of the present invention.

[0016] in: 100, jaw assembly; 110, nail magazine seat; 111, oblique waist-shaped groove; 112, lower slide groove; 113, first groove; 114, spring piece; 1141, storage groove; 120, nail support seat; 121, first driven part; 122, second driven part; 123, pin; 124, upper slide groove; 140, first angle connector; 150, second angle connector; 141, first storage groove; 151, second storage groove; 160, nail push plate; 161, lifting surface; 210, angle turning member; 218, left side abutting portion; 219, right side abutting portion; 300, cutting knife assembly; 310, knife head; 311, knife body; 312, upper beam; 313, lower beam; 314, first protrusion; 315, protruding plate; 320, knife bar; 321, knife pusher; 322, pressure receiving portion; 323, protruding portion; 330, spindle; 340, moving member; 350, cutting knife driving member; 351, rack; 3511, first rack; 3512, second rack; 3513, second moving member; 3514, second accommodating groove; 3515, second opening side; 3516, second groove bottom side; 352, first accommodating groove; 3522, first opening side; 3521, first groove bottom side; 353, driving portion; 3531, driving surface; 354, holding portion; 3541, holding surface; 400, sleeve assembly; 410, inner sleeve; 411, ejector seat; 412, sliding groove; 413, tool holder; 414, straight portion receiving groove; 420, outer sleeve; 421, first driving part; 422, second driving part; 423, first moving groove; 425, body; 426, driving pipe; 4261, first driving member; 4262, second driving member; 427, through groove; 428, restricting part; 430, spring; 440, push block; 450, sliding member; 451, third receiving groove; 500, insurance component; 510, insurance piece; 511, rod body; 512, extension part; 513, trigger part; 600, frame; 610, connecting rod assembly; 611, first connecting rod; 612, second connecting rod; 700, steering drive structure; 710, operating handle; 740, gear assembly; 741, left gear portion; 742, right gear portion; 750, push rod assembly; 751, left push rod; 752, right push rod; 760, first transmission member; 800, operating assembly; 810, handle; 820, motor assembly; 821, output shaft; 822, output gear; 830, driving gear structure; 831, first gear; 8311, convex rib; 832, second gear; 8321, groove; 8322, first side wall; 8323, second side wall; 833, fixed shaft; 834, return spring; 840, operating part; 850, pushing member; 851, arc surface; 852, locking surface; 860, pressing part; 861, upper surface; 870, motor; 900, jaw opening assembly; 910, release button; 911, drive rod; 912, flange; 920, unlocking rod; 930, zero position switch. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0018] It should be understood that the terms "proximal" and "distal" used herein are relative to the clinician who manipulates the handle of the surgical instrument. The term "proximal" refers to the part close to the clinician, and the term "distal" refers to the part away from the clinician. That is, the handle is the proximal side, and the jaw assembly is the distal side. For example, the proximal end of a component represents the end relatively close to the handle, and the distal end represents the end relatively close to the jaw assembly. The terms "upper" and "lower" are based on the relative positions of the anvil and the nail magazine seat of the jaw assembly. Specifically, the anvil is "upper" and the nail magazine seat is "lower". However, surgical instruments can be used in many directions and positions, so these terms expressing relative positional relationships are not restrictive and absolute.

[0019] In the present invention, unless otherwise clearly specified and limited, the terms such as "connected" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, a movably connection, or an integral body; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements such as abutment. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. It should be noted that when there are qualifiers before "connected" and "connection", they have the meaning defined by the corresponding qualifiers, and only exclude situations that obviously need to be excluded, and do not exclude other possible situations. For example, "detachably connected" refers to a detachable connection, and does not include integration, but movable connection, etc. are not excluded. Example 1

[0020] The present application discloses a surgical instrument, specifically a stapler, such as Figure 1 and Figure 2As shown, the surgical instrument includes a jaw assembly 100, a sleeve assembly 400, an angle steering member 210, a cutting knife assembly 300, a power source and an operating assembly 800. The sleeve assembly 400 is connected between the operating assembly 800 and the jaw assembly 100, and the jaw assembly 100 is rotatably connected to the sleeve assembly 400 through the angle steering member 210, so that the jaw assembly 100 can rotate relative to the sleeve assembly 400. During surgery, when the jaw assembly 100 is in an open state, the medical staff controls the jaw assembly 100 to rotate a certain angle through the operating assembly 800. After rotating to a suitable position, the jaw assembly 100 is closed by operating the operating assembly 800 to clamp and squeeze the human tissue. After squeezing is completed, the power source drives the cutting knife assembly 300 to move distally to advance the knife and cut the tissue clamped by the jaw assembly 100; after cutting is completed, the power source drives the cutting knife assembly 300 to move proximally to retract the knife and return the cutting knife assembly 300 to its original position; after retracting the knife, the medical staff operates the operating assembly 800 to open the jaw assembly 100, rotates the jaw assembly 100 to reset it, and removes it from the human body.

[0021] like Figure 4 As shown, the cutting knife assembly 300 includes a knife head 310 and a knife rod 320. The knife head 310 is arranged in the jaw assembly 100 for cutting tissue. The knife rod 320 is connected to the knife head 310 for driving the knife head 310 to move forward or backward. The knife rod 320 is extended along the axial direction of the sleeve assembly 400. The power source is connected to the knife rod 320. When the knife rod 320 is driven by the power source, it moves relative to the sleeve assembly 400 to drive the knife head 310 to move. The distal end of the knife rod 320 is connected to the knife head 310, and the proximal end is connected to the power source. The power source drives the knife head 310 to move distally through the knife rod 320 to achieve cutting, and the power source drives the knife head 310 to move proximally through the knife rod 320 to achieve cutting.

[0022] like Figure 1 , Figure 3 , Figure 5 and Figure 6 As shown, the operating assembly 800 includes a steering drive structure 700, and the medical staff operates the steering drive structure 700 to rotate the jaw assembly 100 relative to the sleeve assembly 400. When the jaw assembly 100 rotates, it swings relative to the sleeve assembly 400, and the knife bar 320 has a certain flexibility. As the jaw assembly 100 swings, the knife bar 320 deforms. When the jaw assembly 100 rotates at a large angle, the portion of the knife bar 320 located between the sleeve assembly 400 and the jaw assembly 100 bends into an arc.

[0023] like Figure 5As shown, when the jaw assembly 100 is in the straight state, the length direction of the jaw assembly 100 is in line with the axial direction of the sleeve assembly 400, and the knife bar 320 extends along the axial direction of the sleeve assembly 400. When the jaw assembly 100 is in the bent state, the length direction of the jaw assembly 100 and the axial direction of the sleeve assembly 400 form a certain angle with each other. When the jaw assembly 100 is in the maximum rotation state, the jaw assembly 100 rotates to the limit angle relative to the sleeve assembly 400. A first angle connector 140 and a second angle connector 150 are provided between the jaw assembly 100 and the sleeve assembly 400. The first angle connector 140 has a first receiving groove 141, and the second angle connector 150 has a second receiving groove 151. The knife rod 320 passes through the second receiving groove 151 and the first receiving groove 141 in sequence. When the jaw assembly 100 is in a straight hitting state, the portion of the knife rod 320 located between the first receiving groove 141 and the second receiving groove 151 extends along the axis of the sleeve assembly 400.

[0024] When the jaw assembly 100 rotates from the straight state to the bent state, the jaw assembly 100 rotates around the rotation axis of the angle steering member 210. Figure 6 As shown, the first angle connecting member 140 and the second angle connecting member 150 swing with the jaw assembly. The distal opening of the first receiving groove 141 is the first point, and the proximal opening of the second receiving groove 151 is the second point. The portion of the knife bar 320 between the first point and the second point is deformed, and the knife bar 320 of this portion is arc-shaped as a whole. The arc-shaped knife bar 320 is bent at various locations, and the arc-shaped knife bar 320 deviates from the rotation axis of the angle steering member 210. Figure 6 The dotted line portion of the middle knife bar 320 indicates the path of the knife bar 320 between the first point and the second point, where the portion is bent with the rotation axis of the angle steering member 210 as the bending point, and the length of the portion between the first point and the second point is equal to that in the straight hitting state; Figure 6 The solid line portion of the middle knife bar 320 is the actual bending path of the knife bar 320. Obviously, the length of the portion of the knife bar between the first point and the second point in the actual bending path of the knife bar 320 is less than the length of the portion of the dotted line portion between the first point and the second point. Therefore, when the knife bar 320 is bent and deformed, the length of the portion of the knife bar 320 between the first point and the second point becomes shorter. Since the total length of the knife bar 320 remains unchanged, the knife bar 320 will extend to both sides in the length direction, specifically including the distal end of the knife bar 320 moving distally and the proximal end of the knife bar 320 moving proximally. In this embodiment, the jaw assembly 100 also includes an empty nail magazine safety structure. The empty nail magazine safety structure cooperates with the cutter head 310 to prevent the distal end of the knife bar 320 from moving distally. Therefore, in the process of the jaw assembly 100 rotating from the straight hitting state to the bent hitting state, only the proximal end of the knife bar 320 moves proximally.

[0025] The empty nail magazine safety structure cooperates with the cutter head 310 to prevent the distal end of the cutter rod 320 from moving distally, which is specifically achieved through the following structure: like Figures 7 to 9 As shown, the knife bar 320 includes a knife pushing portion 321, which is located at the distal end of the knife bar 320 and is connected to the knife head 310, so that the knife bar 320 can drive the knife head 310 to move when moving. The knife pushing portion 321 includes a pressure receiving portion 322, which is arranged at the lower side of the knife pushing portion 321 and extends toward the proximal side. The empty nail magazine safety structure includes a first groove 113 provided on the nail magazine seat 110, a first protrusion 314 provided on both sides of the cutter head 310, a convex plate 315 provided on the cutter head 310, and a spring piece 114 provided on the nail magazine seat 110. A nail magazine assembly is provided in the nail magazine seat 110, and a nail pushing plate 160 is provided on the proximal side of the nail magazine assembly. When the knife rod 320 drives the cutter head 310 to move distally, the cutter head 310 moves distally to cut the tissue, and the cutter head 310 pushes the nail pushing plate 160 to move distally, and the pushing plate pushes the suture nails in the nail magazine assembly to suture the cut tissue to prevent bleeding of the cut tissue. The nail pushing plate 160 is provided with a lifting structure, and the lifting structure is located on the proximal side of the nail pushing plate 160.

[0026] One end of the spring sheet 114 is fixed to the nail magazine seat 110, and the other end extends to the distal side and is a free end. The spring sheet 114 is provided with a receiving groove 1141. When the cutting blade assembly 300 is not cutting, it is in the initial position. The pressure-receiving portion 322 of the blade head 310 is located at the lower side of the spring sheet 114. The pressure-receiving portion 322 is bent to form a protrusion 323. The protrusion 323 extends upward and enters the receiving groove 1141. The spring sheet 114 applies a downward force to the pressure-receiving portion 322, that is, a force toward the bottom of the nail magazine seat 110. When the cutting blade assembly 300 is in the initial position, the protrusion 323 is located at the distal side of the receiving groove 1141, and the first protrusion 314 of the blade head 310 is located above the first groove 113. When the knife is fed, the power source applies a force to the knife bar 320 to move the knife bar 320 distally, and the protrusion 323 abuts against the groove wall on the distal side of the receiving groove 1141. The force applied by the power source to the knife bar 320 is large enough to lift the spring sheet 114 when the protrusion 323 moves distally, and the protrusion 323 is separated from the receiving groove 1141, and abuts against the lower side of the spring sheet 114 through the top, so that the knife bar 320 can cross the receiving groove 1141 and move distally, and is pressed by the spring sheet 114. When the knife head 310 moves distally, due to being pressed by the spring sheet 114, the knife head 310 moves downward as a whole, so that the first protrusion 314 enters the first groove 113. As the knife head 310 moves distally, the first protrusion 314 moves distally in the first groove 113, and is then blocked by the groove wall on the distal side of the first groove 113 and cannot move further distally. If a nail magazine assembly is installed in the nail magazine seat 110 and the nail pushing plate 160 of the nail magazine assembly is located on the proximal side of the nail magazine assembly, the convex plate 315 of the cutter head 310 will abut against the lifting structure of the nail pushing plate 160. The lifting structure has an inclined lifting surface 161. When the convex plate 315 contacts the lifting surface 161 and the cutter head 310 moves distally, under the guidance of the lifting surface 161, the convex plate 315 drives the entire cutter head 310 to move upward and remains in the upward state during the subsequent distal movement, so that the first protrusion 314 moves upward and disengages from the first groove 113, the cutter head 310 and the knife rod 320 can continue to move distally smoothly, and the cutter head 310 pushes the nail pushing plate 160 to move distally, the pressed portion 322 separates from the spring piece 114, and the cutting knife assembly 300 can advance normally.

[0027] If the nail cartridge assembly is not installed in the nail cartridge seat 110, or the nail pushing plate 160 of the nail cartridge assembly is not located at the proximal side of the nail cartridge assembly, the blade head 310 cannot be lifted by the lifting structure. Fig. 9As shown, when the first protrusion 314 moves distally in the first groove 113 until it abuts against the distal groove wall of the first groove 113, the cutter head 310 cannot continue to advance distally, so as to avoid failure to fire during the cutting process, resulting in bleeding from the tissue incision. In this application, only a preliminary introduction is given to the empty nail magazine safety structure. For the specific structure, please refer to the prior application CN202011453501.7. It should be noted that other forms of empty nail magazine safety structures can be selected. The above-mentioned empty nail magazine safety structure can cooperate with the cutter head 310 or the knife rod 320 so that the distal end of the knife rod 320 cannot move distally, which will not be repeated here.

[0028] When the cutting knife assembly 300 is in the initial position, the protrusion 323 of the knife bar 320 is located in the receiving groove 1141 of the spring sheet 114, and the protrusion 323 is blocked by the inner wall of the distal side of the receiving groove 1141. When the jaw assembly 100 rotates relative to the sleeve assembly 400, the knife bar 320 will extend to both sides in the length direction, specifically including the distal end of the knife bar 320 moving distally and the proximal end of the knife bar 320 moving proximally. The force for the distal end of the knife bar 320 to move distally is generated by the elastic force of the knife bar 320, which is not enough to make the protrusion 323 lift the spring sheet 114. Therefore, when the jaw assembly 100 rotates relative to the sleeve assembly 400, the distal end of the knife bar 320 is blocked by the spring sheet 114 and cannot move distally, and only the proximal end of the knife bar 320 moves proximally. The power source includes a motor assembly 820, which drives the cutting blade assembly 300 to advance or retract. When retracting, the power source pulls the knife rod 320 to move proximally to the limit position. After the retraction is completed, due to the large resistance of the motor assembly 820 itself, the output shaft 821 of the motor assembly 820 is locked, and the output shaft 821 is connected to the cutting blade assembly 300, so that the cutting blade assembly 300 is locked in the position after the retraction.

[0029] After the knife is withdrawn, the medical staff needs to control the steering drive structure 700 to rotate the jaw assembly 100 in the bent state to the straight state. When the jaw assembly 100 is rotated to the straight state, the proximal end of the knife rod 320 needs to be reset distally to enable the jaw assembly 100 to smoothly rotate to the straight position. Since the motor assembly 820 locks the cutting knife assembly 300 in the position after the knife is withdrawn, the proximal end of the knife rod 320 cannot be reset distally, and the jaw assembly 100 cannot be rotated to the straight state. The surgical instrument in this application is suitable for minimally invasive surgery. When the jaw assembly 100 is in the straight state, it can enter the human body through the puncture hole of the puncture device. When the jaw assembly 100 is at the maximum rotation angle, if it cannot return to the straight state, the jaw assembly 100 and the sleeve assembly 400 form a certain angle with each other, so that the lateral distance of the entire surgical instrument is large, and the jaw assembly 100 cannot be taken out of the human body through the puncture hole. The lateral direction refers to the direction perpendicular to the axis of the sleeve assembly 400.

[0030] To solve the above problems, the surgical instrument also includes a clutch mechanism, which has a first state and a second state. In the first state, the power source is coupled to the cutting knife assembly 300, and in response to the drive of the power source, the cutting knife assembly 300 moves proximally, that is, in the first state, the power source can drive the cutting knife assembly 300 to retract, and the clutch mechanism is in the first state during the retracting process and before the state switching after the retracting is completed. The coupling means that the power source is connected to the cutting knife assembly 300, and the power source can drive the cutting knife assembly 300 to move proximally. When the clutch mechanism is in the second state, the power source is decoupled from the cutting knife assembly 300, and in response to the rotation of the jaw assembly 100 from the bent state to the straight state, the proximal end of the cutting knife assembly 300 is reset to the distal side. When the clutch mechanism is in the second state, the cutting knife assembly 300 can move proximally relative to the power source, so that the jaw assembly 100 can rotate from the bent state to the straight state. Therefore, after the knife is retracted, the clutch mechanism is switched to the second state so that the jaw assembly 100 can be smoothly rotated to the straight striking state and removed from the human body.

[0031] like Fig.10 and Fig.11 As shown, the power source also includes a driving gear structure 830 connected to the motor assembly 820, and the driving gear structure 830 includes a first gear 831 connected to the motor assembly 820 and a second gear 832 connected to the cutting knife assembly 300, and the first gear 831 and the second gear 832 are coaxially arranged. When the clutch mechanism is in the first state, the first gear 831 is connected to the second gear 832 through a first connection method, so that the power source is coupled with the cutting knife assembly 300. When the motor assembly 820 drives the first gear 831 to rotate in a first direction, the first gear 831 drives the second gear 832 coaxially arranged therewith to rotate synchronously to drive the cutting knife assembly 300 to move toward the proximal side. When the clutch mechanism is in the second state, the first gear 831 is connected to the second gear 832 through a second connection method. In response to the jaw assembly 100 rotating from the curved hitting state to the straight hitting state, the proximal end of the cutting knife assembly 300 is reset to the distal side, driving the second gear 832 to rotate relative to the first gear 831 along the second direction, and the second direction is opposite to the first direction. The clutch mechanism is arranged between the first gear 831 and the second gear 832. When the clutch mechanism switches from the first state to the second state, the first gear 831 and the second gear 832 are converted from the first connection mode to the second connection mode, so that the proximal end of the cutting knife assembly 300 can be reset to the distal side, so that the jaw assembly 100 can be rotated to the straight hitting state and removed from the human body.

[0032] Further, such as Figures 12 to 15As shown, the clutch mechanism includes a convex rib 8311 and a groove 8321. One of the first gear 831 and the second gear 832 is provided with the convex rib 8311, and the other is provided with the groove 8321. In this embodiment, the convex rib 8311 is provided on the first gear 831 and the groove 8321 is provided on the second gear 832 for illustration, and no specific limitation is made. The convex rib 8311 is movably located in the groove 8321. The groove 8321 has a first side wall 8322 and a second side wall 8323. The first side wall 8322 and the second side wall 8323 are arranged along the circumferential direction of the second gear 832, as shown in FIG. Fig.14 As shown, when the rib 8311 abuts against the first side wall 8322, the clutch mechanism is in the first state, and the first gear 831 is connected to the second gear 832 in the first connection mode; Fig.15 As shown, when the convex rib 8311 abuts against the second side wall 8323, the clutch mechanism is in the second state, and the first gear 831 is connected to the second gear 832 in the second connection mode. The direction extending from the second side wall 8323 to the first side wall 8322 is the clockwise direction. In this embodiment, the first direction is the clockwise direction and the second direction is the counterclockwise direction. When the knife is retracted, the clutch mechanism is in the first state, the convex rib 8311 abuts against the first side wall 8322, and the first gear 831 rotates along the first direction, that is, when it rotates clockwise, it drives the convex rib 8311 to rotate clockwise. The convex rib 8311 abuts against the first side wall 8322, so that the first gear 831 pushes the second gear 832 to rotate clockwise, thereby driving the cutting knife assembly 300 to move toward the proximal side to retract the knife. After the knife is retracted, the clutch mechanism is still in the first state, the motor assembly 820 is shut down, and the first gear 831 connected to the motor assembly 820 is locked, so that the first gear 831 cannot rotate. When the jaw assembly 100 rotates toward the straight hitting state and the cutting knife assembly 300 is reset to the distal side, it is necessary to drive the second gear 832 to rotate counterclockwise, so that the first side wall 8322 and the second side wall 8323 both rotate counterclockwise. Since the clutch mechanism is in the first state, the rib 8311 is located on the counterclockwise rotation path of the first side wall 8322, blocking the reverse rotation of the first side wall 8322, and then blocking the second gear 832 from rotating counterclockwise, thereby preventing the cutting knife assembly 300 from resetting to the distal side.

[0033] Therefore, after the knife is retracted, Fig.15As shown, the clutch mechanism switches to the second state, so that the convex rib 8311 abuts against the second side wall 8323 and separates from the first side wall 8322, providing a rotation space for the counterclockwise rotation of the first side wall 8322, and the jaw assembly 100 rotates to the straight hitting state. When the cutting knife assembly 300 is reset to the far side, the second gear 832 is driven to rotate counterclockwise. When the jaw assembly 100 rotates from the maximum rotation state of the bending hitting state to the straight hitting state, the cutting knife assembly 300 is reset to the far side, driving the second gear 832 to rotate counterclockwise, the first side wall 8322 and the second side wall 8323 both rotate counterclockwise, the second side wall 8323 rotates counterclockwise to move away from the convex rib 8311, and the first side wall 8322 rotates counterclockwise to approach the convex rib 8311, so that the cutting knife assembly 300 is smoothly reset, and the jaw assembly 100 is smoothly rotated to the straight hitting state. At this time, the distance of the cutting knife assembly 300 resetting to the distal side is the maximum, and the second gear 832 is pulled to rotate counterclockwise until the first side wall 8322 abuts against the rib 8311, and the clutch mechanism switches to the first state. When the jaw assembly 100 rotates from the intermediate state of the bending state (the angle of the jaw assembly 100 relative to the sleeve assembly 400 is less than the maximum angle) to the straight state, the second gear 832 is driven to rotate counterclockwise, and the first side wall 8322 moves toward the rib 8311, as shown in FIG. Fig.16 As shown, when the jaw assembly 100 is in the straight hitting state, the convex rib 8311 is located between the first side wall and the second side wall. When the clutch mechanism switches from the second state to the first state, the rotation stroke of the second gear 832 relative to the first gear 831 corresponds to the maximum distance of the reset of the cutting knife assembly 300, so as to ensure that when the jaw assembly 100 rotates at any angle relative to the sleeve assembly 400, the cutting knife assembly 300 can be reset smoothly, and the jaw assembly 100 can be smoothly rotated to the straight hitting state.

[0034] After the tool is retracted, the clutch mechanism switches from the first state to the second state in the following manner: The operating component 800 includes a main control module, which is electrically connected to the motor component 820. The main control module controls the motor component 820 to rotate so that the cutting knife component 300 advances or retreats. When retreating, the clutch mechanism is in a first state, and the main control module controls the motor component 820 to rotate clockwise, so that the first gear 831 and the second gear 832 rotate synchronously clockwise, and drive the cutting knife component 300 to move toward the proximal side to retreat. The operating component 800 also includes a state detection module, which is electrically connected to the motor component 820 and the main control module respectively. The state detection module is used to obtain a motor state signal representing the state of the motor, and send the motor state signal to the main control module. The motor state signal includes at least one of the voltage value, current value, and speed value of the motor. During the retreat process, the main control module receives the motor state signal in real time, and determines whether the motor has a state change according to the received motor state signal. After determining that the motor state has changed, the motor component 820 is controlled to stop. When the cutting knife assembly 300 is retracted to the limit position, the motor will be blocked because the cutting knife assembly 300 is blocked by the jaw assembly 100, the voltage value and current value of the motor will increase, and the speed value will be 0 or close to 0. When the state signal is the current value or the voltage value, the main control module determines that the motor state has changed when the motor state signal is greater than the preset value; when the state signal is the speed value, the main control module determines that the motor state has changed when the motor state signal is less than the preset value. After determining that the motor state has changed, the main control module controls the motor assembly 820 to stop working and complete the retraction. Then the motor assembly 820 is driven to reverse (rotate counterclockwise), so that the first gear 831 rotates counterclockwise, the rib 8311 moves counterclockwise in the groove 8321, separates from the first side wall 8322, and abuts against the second side wall 8323, so that the clutch mechanism switches from the first state to the second state, and the second gear 832 does not rotate during this process.

[0035] like Fig.10 and Fig.11 As shown, the surgical instrument also includes a cutting knife driving member 350, which is connected to the cutting knife assembly 300 and connected to the power source. Specifically, the cutting knife driving member 350 is a rack 351, which is connected to the cutting knife assembly 300, and the rack 351 is meshed with the second gear 832 to connect the cutting knife assembly 300 to the power source.

[0036] The rack 351 is movably connected to the cutting knife assembly 300, and the cutting knife assembly 300 has a resting position and a separation position relative to the rack 351. In the resting position, the cutting knife assembly 300 is close to and abuts against the rack 351 in the length direction. When the power source drives the rack 351 to move distally to make the cutting knife assembly 300 advance, the cutting knife assembly 300 is in the resting position and is pushed distally by the rack 351 to advance; in the separation position, the cutting knife assembly 300 is relatively separated from the rack 351 in the length direction. The relative separation means that the cutting knife assembly 300 is connected to the rack 351 and moves away from each other to the maximum distance. When the power source drives the rack 351 to move proximally to make the cutting knife assembly 300 retract, the cutting knife assembly 300 is in the separation position and is pulled proximally by the rack 351 to retract. When the jaw assembly 100 rotates from the straight state to the curved state, the proximal end of the cutting knife assembly 300 moves proximally relative to the rack 351. During the rotation of the jaw assembly 100 from the straight state to the curved state, the rack 351 is always engaged with the second gear 832. Before cutting, when the jaw assembly 100 is in the straight state, the cutting knife assembly 300 is in the separation position. When the jaw assembly 100 rotates from the straight state to the maximum rotation state, the proximal end of the cutting knife assembly 300 moves proximally to switch to the abutment position.

[0037] like Fig.17 and Fig.18 As shown, one of the rack 351 and the cutting knife assembly 300 is provided with a first accommodating groove 352, and the other is provided with a first moving member 340, the first moving member 340 is movably arranged in the first accommodating groove 352, the first accommodating groove 352 includes a first opening side 3522 and a first groove bottom side 3521 arranged along the length direction of the first accommodating groove 352, the first accommodating groove 352 is provided in one of the parts of the rack 351 and the cutting knife assembly 300, and the first opening side 3522 is close to the other part where the first moving member 340 is arranged. When the first moving member 340 is in contact with the first opening side 3522, the cutting knife assembly 300 is in a separation position; when the first moving member 340 is in contact with the first groove bottom side 3521, the cutting knife assembly 300 is in abutment position. When the proximal end of the cutting knife assembly 300 moves toward the proximal side, the cutting knife assembly 300 moves in a direction close to the rack 351, that is, moves from the separation position to the abutment position.

[0038] In a preferred embodiment, the first accommodating groove 352 is opened on the far side of the rack 351 and is arranged along the length direction of the rack 351. The first movable member 340 can move along the length direction of the rack 351 in the first accommodating groove 352, and the first opening side 3522 is located on the far side of the bottom side 3521 of the first groove.

[0039] In this embodiment, the cutting knife assembly 300 also includes a core shaft 330 connected to the knife rod 320, and the distal end of the core shaft 330 is connected to the knife rod 320. In this embodiment, the proximal end of the core shaft 330 is provided with a first moving member 340, and the rack 351 is provided with a first accommodating groove 352 as an example for illustration. Specifically, when the cutting knife assembly 300 is in the abutting position, the first movable member 340 is attached to the bottom side 3521 of the first groove, and when the rack 351 moves distally, the bottom side 3521 of the first groove pushes the first movable member 340 distally, and the rack 351 can directly push the core shaft 330 and the knife rod 320 to move distally to advance the knife, which directly means that when the rack 351 moves distally, the knife rod 320 moves distally synchronously; when the cutting knife assembly 300 is in the separated position, the first movable member 340 is attached to the first opening side 3522, and when the rack 351 moves proximally, it can directly pull the core shaft 330 and the knife rod 320 to move proximally to retract the knife, which directly means that when the rack 351 moves proximally, the knife rod 320 moves proximally.

[0040] The following describes the overall working process of the surgical instrument when the jaw assembly 100 is rotated to one side to the maximum angle: After the surgical instrument enters the human body, the jaw assembly 100 is in a straight striking state, and the cutting knife assembly 300 is in a separated position. The medical staff first drives the jaw assembly 100 to rotate through the steering drive structure 700. The operating assembly 800 includes a frame 600, and the steering drive structure 700 is arranged on the frame 600. The medical staff rotates the jaw assembly 100 by operating the steering drive structure 700. The specific structure and operation method of the steering drive structure 700 are described below.

[0041] When the jaw assembly 100 rotates from the straight striking state to the maximum rotation state, the proximal end of the knife rod 320 moves proximally, causing the cutting knife assembly 300 to move proximally from the separation position to the abutment position (from Fig.17 Move to the middle position Fig.18 The distance that the cutting knife assembly 300 moves from the separation position to the abutment position is R, that is, the distance that the first moving member 340 moves from the position abutting against the first opening side 3522 to the position abutting against the first groove bottom side 3521 is R. The distance that the first moving member 340 moves toward the proximal side is positively correlated with the rotation angle of the jaw assembly 100. When the jaw assembly 100 rotates toward one side at an angle less than the maximum angle, the first moving member 340 is between the first opening side 3522 and the first groove bottom side 3521.

[0042] After the jaw assembly 100 rotates to one side to the maximum angle, it is in the maximum rotation state, and the jaw assembly 100 corresponds to the tissue to be clamped. At this time, the medical staff controls the jaw assembly 100 to close, clamps and squeezes the component to be clamped. The sleeve assembly 400 includes an inner sleeve 410 and an outer sleeve 420 movably sleeved on the outer side of the inner sleeve 410. The operating assembly 800 also includes a handle 810. After the turning is completed, the medical staff actuates the handle 810 to move the outer sleeve 420 from the distal position to the proximal position to close the jaw assembly 100. The actuation handle 810 moves the outer sleeve 420 from the distal position to the proximal position and drives the jaw assembly 100 to close. The specific structure is described below.

[0043] The medical staff actuates the handle 810 to close the jaw assembly 100 to clamp and squeeze the tissue for a period of time. After the squeezing is completed, the medical staff actuates the handle 810 again. When the main control module detects that the rotation angle of the handle 810 meets the preset conditions, it controls the motor assembly 820 to drive the cutting knife assembly 300 to advance.

[0044] Before the knife is advanced, the clutch mechanism is in the first state or the second state, or the rib 8311 is located between the first side wall 8322 and the second side wall 8323. Since the cutting knife assembly 300 is already in the abutting position ( Fig.18 The rack 351 moves distally to directly push the mandrel 330 and the knife rod 320 to move proximally for cutting. The distance that the cutting knife assembly 300 moves from the initial position to the cutting bottom position is L, and the distance that the rack 351 moves distally is also L. When the cutting starts, the main control module controls the motor assembly 820 to rotate, and the motor assembly 820 drives the first gear 831 to rotate, specifically, counterclockwise. If the clutch mechanism is in the second state, such as Fig.15 As shown, the motor assembly 820 can directly drive the rack 351 and the cutting knife assembly 300 to move distally to perform cutting. Fig.14 As shown, the rib 8311 is located between the first side wall 8322 and the second side wall 8323. Fig.16 As shown, the first gear 831 rotates counterclockwise relative to the second gear 832, so that the clutch mechanism switches to the second state, as shown in FIG. Fig.15 As shown, in the second state, the first gear 831 rotates counterclockwise to drive the second gear 832 to rotate, thereby driving the rack 351 and the cutting knife assembly 300 to move distally to perform cutting. The reason why the clutch mechanism is in the first state or the second state, or the rib 8311 is located between the first side wall 8322 and the second side wall 8323 is explained below.

[0045] After the main control module determines that the cutting knife assembly 300 has completed the cutting advance, it controls the power source to drive the cutting knife driving member 350 to move toward the proximal side to drive the cutting knife assembly 300 to retract.

[0046] When the knife is advanced, the cutting knife assembly 300 is at the bottom position, the cutting knife assembly 300 is at the abutting position, and the clutch mechanism is in the second state. The medical staff releases the handle 810, and the main control module detects that the handle 810 is completely released, and controls the motor assembly 820 to reverse, and the motor assembly 820 reverses to drive the first gear 831 to rotate clockwise, so that the clutch mechanism switches to the first state (from Fig.15 Switch to Fig.14 The motor assembly 820 can drive the rack 351 to move proximally. Since the cutting knife assembly 300 is in the abutting position ( Fig.18 The first opening side 3522 and the first groove bottom side 3521 move toward the proximal side along with the rack 351 when the rack 351 moves toward the proximal side, and the first groove bottom side 3521 is separated from the first moving member 340, and the first opening side 3522 moves toward the first moving member 340. When the rack 351 moves toward the proximal side by a distance R, the first opening side 3522 is fitted with the first moving member 340, so that the cutting knife assembly 300 is in the separated position ( Fig.17 The rack 351 is in the middle position, at which time the rack 351 can drive the cutting knife assembly 300 to move toward the proximal side, and the rack 351 does not drive the cutting knife assembly 300 to move during the movement, and the cutting knife assembly 300 is still in the bottom position. When the rack 351 continues to move toward the proximal side and drives the cutting knife assembly 300 to move a distance of L, the cutting knife assembly 300 returns to the initial position, and the knife retraction is completed. Therefore, during the knife retraction process, the rack 351 moves toward the proximal side by a distance of R+L.

[0047] When the knife is retracted, the cutting knife assembly 300 is in the initial position, the cutting knife assembly 300 is in the separated position, and the clutch mechanism is in the first state. After determining that the knife is retracted, the main control module controls the motor assembly 820 to reverse and switch the clutch mechanism to the second state.

[0048] The surgical instrument further includes a jaw opening assembly 900. After the knife is retracted, the medical staff operates the jaw opening assembly 900 to open the jaw assembly 100 to release the tissue. The specific structure of the jaw opening assembly 900 is described below.

[0049] After the jaw assembly 100 is opened, the cutting knife assembly 300 is in the separated position, and the clutch mechanism is in the second state. The medical staff operates the steering drive device to rotate the jaw assembly 100 to the straight state. During the process of the jaw assembly 100 rotating from the maximum rotation state of the bent state to the straight state, the movement of the proximal end of the cutting knife assembly 300 is opposite to the process of the jaw assembly 100 rotating from the straight position to the maximum rotation state. The distance R that the proximal end (first moving member 340) of the cutting knife assembly 300 moves to the distal side is. Since the cutting knife assembly 300 is in the separated position ( Fig.17 The first movable member 340 is in the middle position, and is attached to the first opening side 3522 of the first accommodating groove 352. When the first movable member 340 moves distally, the rack 351 is pulled distally by the contact with the first opening side 3522, and the movement distance is R. In this process, the rack 351 moves distally to reset, driving the second gear 832 to rotate counterclockwise relative to the first gear 831. After the cutting knife assembly 300 is reset, the clutch mechanism switches to the first state. The distance that the rack 351 moves distally during the advance process is L, and the distance that the rack 351 moves proximally during the retreat process is L+R. In the process that the jaw assembly 100 returns to the straight striking state, the distance that the rack 351 resets distally is R, and it can be seen that the rack 351 has returned to the initial position. The jaw assembly 100 is in the straight striking state, and medical staff can remove surgical instruments from the human body. At this time, when the stapler is used again to cut tissue, before the advance, the clutch mechanism is in the first state. If the jaw assembly 100 is always in the straight hitting state when the stapler is used this time, after the knife is retracted, the clutch mechanism switches to the second state and the jaw assembly 100 opens. When the stapler is used again to cut tissue, the clutch mechanism is in the second state. If the jaw assembly 100 is in the intermediate state of the bent hitting state (the angle between the jaw assembly 100 and the sleeve assembly 400 is less than the maximum angle) to clamp tissue when the stapler is used this time, after the knife is retracted, the clutch mechanism switches to the second state, the jaw assembly 100 rotates to the straight hitting position, the first moving member 340 drives the rack 351 to reset to the distal side by a distance less than R, and the convex rib 8311 of the clutch mechanism is between the first side wall 8322 and the second side wall 8323. When the stapler is used again to cut tissue, the convex rib 8311 of the clutch mechanism is between the first side wall 8322 and the second side wall 8323.

[0050] The specific structure and operation of the steering drive structure 700 are described below: like Fig.19As shown, the steering drive structure 700 includes an operating handle 710 and a transmission assembly, the transmission assembly includes a first transmission member 760, a second transmission member and a push rod assembly 750, the first transmission member 760 is connected to the second transmission member, the second transmission member is connected to the angle steering member 210 through the push rod assembly 750, the operating handle 710 is slidably connected to the first transmission member 760, and the operating handle 710 slides relative to the first transmission member 760 when it is moved to switch from a locked state to an unlocked state. In response to the rotation of the operating handle 710, the first transmission member 760 is driven by the operating handle 710 to rotate, and the push rod assembly 750 is driven to move through the second transmission member. The operating handle 710 can slide relative to the first transmission member 760 and can drive the first transmission member 760 to rotate, and the second transmission member converts the torque applied by the medical staff to the operating handle 710 into a force to drive the push rod assembly 750 to move linearly.

[0051] Specifically, the second transmission member includes a gear assembly 740, the first transmission member 760 meshes with the gear assembly 740, and the gear assembly 740 meshes with the push rod assembly 750. In response to the rotation of the operating handle 710, the first transmission member 760 drives the gear assembly 740 to rotate, and the gear assembly 740 drives the push rod assembly 750 to move, thereby driving the angle steering member 210 to rotate. In this embodiment, the push rod assembly 750 includes a left push rod 751 and a right push rod 752, and the left push rod 751 and the right push rod 752 are connected to both sides of the angle steering member 210, and the gear assembly 740 includes a left gear part 741 and a right gear part 742, and the left gear part 741 and the right gear part 742 are connected to the frame 600 and are respectively arranged on both sides of the first transmission member 760. The left gear portion 741 and the right gear portion 742 each include two coaxially arranged gears in the upper and lower parts. The left push rod 751 meshes with the lower gear of the left gear portion 741, and the right push rod 752 meshes with the lower gear of the right gear portion 742. The first transmission member 760 meshes with the upper gear of the left gear portion 741 and the upper gear of the right gear portion 742 at the same time. When the medical staff rotates the operating handle 710, the left gear portion 741 and the right gear portion 742 are driven to rotate through the first transmission member 760. The rotation directions of the left gear portion 741 and the right gear portion 742 are opposite, thereby making the movement directions of the left push rod 751 and the right push rod 752 opposite. The left push rod 751 and the right push rod 752 both extend along the length direction of the sleeve assembly 400. The distal ends of the left push rod 751 and the right push rod 752 are connected to the angle steering member 210. Specifically, as Figure 2As shown, the angle steering member 210 includes a left-side supporting portion 218 and a right-side supporting portion 219, the left push rod 751 is supported on the left-side supporting portion 218, and the right push rod 752 is supported on the right-side supporting portion 219. When the operating handle 710 rotates to drive the left push rod 751 and the right push rod 752 to move, such as rotating the operating handle 710 clockwise, the left push rod 751 moves distally and the right push rod 752 moves proximally. The left push rod 751 pushes the left-side supporting portion 218 of the angle steering member 210 to move distally, so that the angle steering member 210 rotates to the right, and the right-side supporting portion 219 is driven to move proximally and always supports the right push rod 752. Rotate the steering knob counterclockwise to make the left push rod 751 move proximally, and the right push rod 752 move distally in the same way. The angle steering member 210 rotates to the left so that the push rod assembly 750 can drive the angle steering member 210 to rotate, thereby driving the jaw assembly 100 to rotate.

[0052] The actuation handle 810 switches the outer sleeve 420 from the proximal position to the distal position through the following structure: like Fig. 20 and Fig.21 As shown, the frame 600 is provided with a link assembly 610, and the link assembly 610 includes a first link 611 and a second link 612. The distal end of the first link 611 is connected to the proximal end of the outer sleeve 420, and the distal end of the outer sleeve 420 is connected to the jaw assembly 100. The proximal end of the second link 612 is rotatably connected to the frame 600, and the distal end is rotatably connected to the proximal end of the first link 611. The handle 810 can engage with the link assembly 610 and drive the link assembly 610 to move when actuated. The connecting rod assembly 610 has a first position and a second position. When the connecting rod assembly 610 is in the first position, the first connecting rod 611 and the second connecting rod 612 form an angle with each other, and the outer sleeve 420 is in the proximal position. When the connecting rod assembly 610 is in the second position, the first connecting rod 611 and the second connecting rod 612 are colinear or substantially colinear, so that the connecting rod assembly 610 self-locks in the second position, and the outer sleeve 420 is in the distal position. Under the self-locking effect of the connecting rod assembly 610, the outer sleeve 420 remains in the distal position.

[0053] Collinearity means that the first link 611 and the second link 612 are located on the same straight line, and the angle between them is 180°. Substantially collinearity means that the first link 611 and the second link 612 pass the dead point position, and the angle between the first link 611 and the second link 612 is greater than 0° and less than 5°. When the link assembly 610 is located at the dead point (corresponding to collinearity) or substantially located at the dead point (corresponding to substantially collinearity), the pressure angle between the first link 611 and the second link 612 is substantially equal to 90°. When the first link 611 or the second link 612 is subjected to an external force from the sleeve assembly 400, the torque on the other link is zero, so that the link assembly 610 cannot move, and the link assembly 610 is self-locked in the second position. Thus, the jaw assembly 100 is locked in the closed position.

[0054] During the process of switching the connecting rod assembly 610 from the first position to the second position, the hinge point gradually moves to the upper side (the side away from the gripping part of the handle 810). Since the proximal end of the second connecting rod 612 is connected to the frame 600, the hinge point at the distal end of the second connecting rod 612 moves distally. At the same time, the rotation of the first connecting rod 611 causes the distal end of the first connecting rod 611 to move toward the distal side. As can be seen from the above, the distal end of the first connecting rod 611 is connected to the proximal end of the outer sleeve 420, and the distal end of the outer sleeve 420 is connected to the jaw assembly 100. Therefore, the connecting rod assembly 610 can drive the outer sleeve 420 to move distally, so that the outer sleeve 420 is located at the distal position.

[0055] The handle 810 is provided with a supporting portion 811, which is located at the lower side of the connecting rod assembly 610. When the connecting rod assembly 610 switches from the first position to the second position, the handle 810 supports the first connecting rod 611 or the second connecting rod 612 through the supporting portion 811 to be operably engaged with the connecting rod assembly 610. When the connecting rod assembly 610 is in the second position and locked in the second position, the supporting portion 811 is separated from the connecting rod assembly 610 when the handle 810 is reset and rebounded. When the handle 810 is subsequently actuated, the handle 810 switches from the initial position to the pressing position, and the supporting portion 811 moves with the movement of the handle 810. The supporting portion 811 contacts the connecting rod assembly 610 in the second position only when the handle 810 reaches the pressing position (the end point of the movement trajectory of the supporting portion 811), that is, the supporting portion 811 does not contact the connecting rod assembly 610 during the movement, so the handle 810 cannot drive the connecting rod assembly 610 during subsequent actuation. Specifically, the supporting portion 811 is a rod body, and the handle 810 is operably engaged with the connecting rod assembly 610 by abutting the second connecting rod 612 through the supporting portion 811. During the rotation of the second connecting rod 612, the supporting portion 811 can always abut the second connecting rod 612.

[0056] The outer sleeve 420 is switched from the proximal position to the distal position, so that the jaw assembly 100 is switched from the open state to the closed state in the following manner: like Figure 22 to Figure 26 As shown, the jaw assembly 100 includes a nail magazine seat 110, an anvil seat 120 rotatably connected to the nail magazine seat 110, and a motion conversion mechanism is provided between the outer sleeve 420 and the anvil seat 120 of the jaw assembly 100. The motion conversion mechanism converts the linear motion of the outer sleeve 420 into the pivoting motion of the anvil seat 120, so that the anvil seat 120 pivots relative to the nail magazine seat 110 to close or open the jaw assembly 100. Specifically, when the outer sleeve 420 moves toward the proximal side, the motion conversion mechanism drives the anvil seat 120 to pivot upward to open the jaw assembly 100, and when the outer sleeve 420 moves toward the distal side, the motion conversion mechanism drives the anvil seat 120 to pivot downward to close the jaw assembly 100.

[0057] Specifically, the outer sleeve 420 includes a body 425 and a drive tube 426 connected to each other, and the drive tube 426 drives the anvil 120 to pivot upward or downward to open or close the jaw assembly 100. The body 425 and the drive tube 426 are connected by a hinge.

[0058] The motion conversion mechanism includes a first driving member 4261 and a second driving member 4262 disposed on the driving tube 426 , and a first driven portion 121 and a second driven portion 122 disposed on the anvil seat 120 .

[0059] The first driving member 4261 drives the anvil 120 to open. The first driving member 4261 is a protrusion disposed on the driving tube 426, and the protrusion extends along the lower right side. The second driving member 4262 drives the anvil 120 to close. The second driving member 4262 is a driving surface 3531 at the far end of the driving tube 426.

[0060] Correspondingly, the first follower 121 can be matched with the first driving member 4261, and the first follower 121 is a convex portion provided on the anvil seat 120, and the convex portion extends upward. The second follower 122 can be matched with the second driving member 4262, and the second follower 122 is the abutting surface of the proximal end of the anvil seat 120.

[0061] A guiding mechanism is also arranged between the nail support 120 and the nail magazine support 110, and the guiding mechanism includes a pin 123 arranged on the nail support 120 and an oblique waist-shaped groove 111 arranged on the nail magazine support 110, and the oblique waist-shaped groove 111 extends upwardly in an inclined direction from the proximal end to the distal end.

[0062] See also Figure 26 to Figure 25 When the state of the jaw assembly 100 changes and it is necessary to close the jaw assembly 100, the main body 425 of the outer sleeve 420 pushes the drive tube 426 to move distally, the second drive member 4262 of the drive tube 426 abuts against the second follower portion 122 of the dowel seat 120, and the pin 123 moves from the proximal lower end to the distal upper end of the oblique waist-shaped groove 111, the dowel seat 120 pivots downward, and the jaw assembly 100 is closed.

[0063] See also Figure 25 to Figure 26 When the state of the jaw assembly 100 needs to be opened, the main body 425 of the outer sleeve 420 pulls the drive tube 426 to move toward the proximal side, and the first drive member 4261 of the drive tube 426 abuts against the first follower portion 121 of the dowel seat 120, and the pin 123 moves from the far upper end to the proximal lower end of the oblique waist-shaped groove 111, and the dowel seat 120 pivots upward, and the jaw assembly 100 opens.

[0064] The medical staff switches the jaw assembly to the open state through the jaw opening assembly 900 through the following structure: like Fig. 27 and Fig.28 As shown, the jaw opening assembly 900 includes a release button 910 disposed outside the shell of the operating assembly 800, and an unlocking rod 920 located in the shell of the operating assembly 800 and abutting against the connecting rod assembly 610 located in the second position. The unlocking rod 920 is linked with the release button 910, and the release button 910 has a driving rod 911. When the medical staff operates the release button 910, specifically when pushing the release button 910, the release button 910 and the driving rod 911 rotate synchronously, and the rotating driving rod 911 acts on the release rod to rotate the unlocking rod 920. The unlocking rod 920 abuts against one end of the connecting rod assembly 610 and moves downward to push the connecting rod assembly 610, so that the connecting rod assembly 610 returns to the first position, and the jaw assembly 100 opens to release the human tissue. When the release button 910 is not operated, the unlocking lever 920 is located above the connecting rod assembly 610, and the connecting rod assembly 610 is self-locked in the second position; when the medical staff operates the release button 910, the unlocking lever 920 is rotated, and one end of the unlocking lever 920 moves downward to push the connecting rod assembly 610, so that the connecting rod assembly 610 is no longer in the second position, so as to release the self-locking state of the connecting rod assembly 610. The outer sleeve 420 is sleeved with a spring 430, one end of the spring 430 is connected to the frame 600, and the other end is connected to the push block 440, and the push block 440 is connected to the first connecting rod 611. When the connecting rod assembly 610 is in the second position, the spring 430 is in a compressed state, and the outer sleeve 420 is in a distal position; when the connecting rod assembly 610 is in the first position, the spring 430 is in a released state. When the medical staff operates the release button 910 so that the connecting rod assembly 610 is no longer in the second position, the spring 430 is released, pushing the push block 440 to move proximally, and the connecting rod assembly 610 moves to the first position, so that the jaw assembly 100 is opened, and the outer sleeve 420 moves to the proximal position, thereby driving the locking member to move to the unlocked state. After the knife is retracted, the medical staff operates the release button 910 to open the jaw assembly 100.

[0065] The following describes the overall working process of the surgical instrument when the jaw assembly 100 is always in the straight striking state: After the surgical instrument enters the human body, the jaw assembly 100 is in a straight striking state, at which time the clutch mechanism is in the first state or the second state, or the rib 8311 is located between the first side wall 8322 and the second side wall 8323, and the cutting knife assembly 300 is in a separated position.

[0066] The medical staff controls the jaw assembly 100 to close, clamps and squeezes the component to be clamped. After squeezing is completed, the medical staff activates the handle 810 again to advance the knife.

[0067] Before the cutting knife is inserted, the cutting knife assembly 300 is in the separated position ( Fig.17 When the knife is in the middle position, the rack 351 moves distally and cannot directly push the mandrel 330 and the knife rod 320 to move distally for knife feeding. When the knife feeding starts, the main control module controls the motor to rotate, and the motor drives the first gear 831 to rotate, specifically, counterclockwise. If the clutch mechanism is in the first state, the first gear 831 rotates counterclockwise relative to the second gear 832, so that the clutch mechanism switches to the second state. In the second state, Fig.12 As shown, the counterclockwise rotation of the first gear 831 can drive the second gear 832 to rotate, thereby driving the rack 351 to move distally. If the clutch mechanism is in the second state, the motor assembly 820 can directly drive the rack 351 to move distally. When the rack 351 moves distally by a distance R, the first moving member 340 is located at the abutting position ( Fig.18 The rack 351 moves distally to drive the cutting knife assembly 300 to advance. The distance traveled by the cutting knife assembly 300 from the initial position to the end of the stroke is L. During the advance process, the stroke of the rack 351 is L+R.

[0068] When the cutting is completed, the cutting blade assembly 300 is in the bottom position, the cutting blade assembly 300 is in the abutting position, and the clutch mechanism is in the second state. The main control module controls the motor assembly 820 to reverse, and the motor assembly 820 reverses to drive the first gear 831 to rotate clockwise, so that the clutch mechanism switches to the first state, so that the motor assembly 820 can drive the rack 351 to move proximally. Since the cutting blade assembly 300 is in the abutting position, it is attached to the first groove bottom side 3521 of the first accommodating groove 352. When the rack 351 moves proximally, the first opening side 3522 and the first groove bottom side 3521 move proximally, and the first groove bottom side 3521 separates from the first moving member 340, and the first opening side 3522 moves toward the first moving member 340. When the rack 351 moves proximally by a distance R, the first opening side 3522 is attached to the first moving member 340, so that the cutting blade assembly 300 is in the separated position (from Fig.18 Switch to Fig.17The rack 351 is in the middle position, at which time the rack 351 can pull the cutting knife assembly 300 to move toward the proximal side. During the above process, the movement of the rack 351 does not drive the cutting knife assembly 300 to move, and the cutting knife assembly 300 is still in the bottom feed position. When the rack 351 continues to move toward the proximal side and drives the cutting knife assembly 300 to move a distance of L, the cutting knife assembly 300 returns to the initial position and the knife retraction is completed. During the knife retraction process, the rack 351 moves toward the proximal side by a distance of R+L, and the rack 351 returns to the initial position. After determining that the knife retraction is completed, the main control module controls the motor assembly 820 to reverse, drives the first gear 831 to rotate counterclockwise relative to the second gear 832, and switches the clutch mechanism to the second state.

[0069] After the knife is withdrawn, the medical staff operates the jaw opening assembly 900 to open the jaw assembly 100 to release the tissue. The jaw assembly 100 is in a straight-opening state, and the medical staff can remove the surgical instrument from the human body.

[0070] It is worth noting that the blade head 310 of the cutting blade assembly 300 is arranged in an "I" shape, such as Fig.29 and Fig.30 As shown, the cutter head 310 includes a blade body 311, an upper beam 312 and a lower beam 313, a nail magazine assembly is provided in the nail magazine seat 110, the nail magazine seat 110 is provided with a lower slide groove 112, the nail support seat 120 is provided with an upper slide groove 124, the lower beam 313 of the cutter head 310 is placed in the lower slide groove 112, the blade body 311 is located in the nail magazine assembly, and when the jaw assembly 100 is in a closed state, the upper slide groove 124 is substantially parallel to the lower slide groove 112. When the jaw assembly 100 is switched to a closed state, the cutter head 310 is located at the proximal end of the nail magazine, the lower beam 313 of the cutter head 310 of the cutting knife is located in the lower slide groove 112, and the upper beam 312 does not enter the upper slide groove 124. In response to the driving of the power source, the cutting knife assembly 300 moves distally, and the upper beam 312 of the cutter head 310 enters the upper slide groove 124, and cooperates with the upper slide groove 124 and the lower slide groove 112 at the same time. The cutter head 310 of the cutting knife is limited by the upper slide groove 124 and the lower slide groove 112, ensuring that the position of the cutter head 310 is stable and will not deviate when the cutter head 310 moves to the distal end of the nail magazine assembly, and the upper beam 312 of the cutter head 310 is still located in the upper slide groove 124. During the retraction process, the cutter head 310 moves from the distal end of the nail magazine assembly to the proximal side of the nail magazine assembly, and the cutter head 310 cooperates with the upper slide groove 124 and the lower slide groove 112 at the same time and moves proximally until the upper beam 312 of the cutter head 310 is disengaged from the upper slide groove 124, and the cutter head 310 continues to move proximally to the proximal end of the nail magazine assembly to complete the retraction.

[0071] During the process of advancing or retracting the knife, when the knife head 310 cooperates with the upper slide groove 124 and the lower slide groove 112 at the same time, if the medical staff operates the jaw opening assembly 900 to switch the jaw assembly 100 to the open state, the connecting rod assembly 610 is no longer self-locked in the second position, and moves to the first position under the action of the spring 430, so that the sleeve assembly 400 has a force to move proximally, and then the nail seat 120 has a force to rotate toward the open state of the jaw assembly 100. 120 cooperates with the cutter head 310 through the upper slide groove 124 and the upper beam 312, and cannot rotate to fully open the jaw assembly 100. However, the nail support 120 is subjected to the pulling force of the spring 430, and tends to rotate upward, so that the cutter head 310 is pulled upward, and the cutter head 310 is tightened in the vertical direction, and its friction in the direction of cutting or retracting (horizontally) increases, so that the resistance of the cutter head 310 to move in the jaw assembly 100 increases, and it is easy to cause the situation that the cutting or retracting cannot be carried out normally. In addition, the support 120 may rotate a small angle relative to the nail magazine seat 110, so that the jaw assembly 100 opens at a small angle, and the tissue cannot be clamped. During the cutting process, the cutter head 310 may push the tissue to move, resulting in a poor cutting effect. Therefore, during the process of advancing and retracting the tool, when the cutter head 310 cooperates with the upper slide groove 124 and the lower slide groove 112 at the same time, the jaw opening assembly 900 is operated, which may increase the resistance to advancing or retracting the tool, resulting in a worse cutting effect during advancing.

[0072] like Fig.31 As shown, the surgical instrument also includes a safety assembly 500, which is arranged on the frame 600. The safety assembly 500 includes a safety piece 510 that is movably arranged on the frame, and the safety assembly 500 has a locked state and an unlocked state. In the unlocked state, the safety assembly 500 is separated from the jaw opening assembly 900, and in response to the jaw opening assembly 900 being operated, the jaw assembly 100 switches from a closed state to an open state. In the locked state, the safety piece 510 is in a locked state, abutting against the jaw opening assembly 900, so that the jaw opening assembly 900 is locked, and the medical staff cannot operate the jaw opening assembly 900, that is, the jaw assembly 100 is locked and cannot be opened. During the advance and retract processes, the safety assembly 500 is in a locked state, and the medical staff cannot operate the jaw opening assembly 900 to open the jaws.

[0073] In the prior art, the safety member 510 is rotatably disposed on the frame 600, the safety member 510 is provided with a first protrusion, and the rack 351 is provided with a first matching member. When the safety assembly 500 is in an unlocked state, the first protrusion is separated from the first matching member. When the knife is retracted, the rack 351 moves toward the proximal side, the first protrusion abuts against the first matching member, and the safety member 510 is driven to rotate by the cooperation between the first protrusion and the first matching member. When the rack 351 moves to the initial position, the safety assembly 500 is in an unlocked state, the safety member 510 rotates and separates from the jaw opening assembly 900, and the first protrusion is engaged with the first matching member. However, for the surgical instrument in the present application, when the jaw assembly 100 is rotated to one side at the maximum angle relative to the sleeve assembly 400, the distance that the rack 351 moves distally from the initial position when advancing is L, and the distance that it moves proximally when retracting is L+R. The distance that the rack 351 retreats when retracting is greater than the distance that it advances when advancing. The rack 351 has an initial position and a limit retraction position. The initial position refers to the position of the rack 351 before advancing, and the limit retraction position refers to the position where the rack 351 moves proximally by a distance of L+R when retracting when the jaw assembly 100 is in the maximum rotation state, and the limit retraction position is located proximal to the initial position. When the jaw assembly 100 is in the maximum rotation state, during the retraction process of the rack 351, after the rack 351 is in the initial position, the rack 351 still moves proximally toward the limit retraction position. In the prior art solution, the rack 351 continues to move proximally from the initial position, which causes the safety member 510 to rotate further, such as Fig.31 As shown, the safety member 510 is generally in a frame shape, and the rack 351 passes through the middle space of the safety member 510. Further rotation of the safety member 510 will cause the upper end of the safety member 510 to press against the rack 351, interfering with the rack 351, so that the rack 351 cannot continue to move proximally, resulting in failure to complete the knife retraction.

[0074] In the present application, when the knife is retracted, the rack 351 moves proximally to the initial position, driving the safety assembly 500 to switch to the unlocked state; when the rack 351 moves from the initial position to the knife retraction limit position, the rack 351 acts on the safety assembly 500 and keeps the safety assembly 500 in the unlocked state. The unlocked state means that the safety assembly 500 is separated from the jaw opening assembly, and the safety assembly 500 does not interfere with the rack 351 moving proximally. The jaw assembly 100 is in the maximum rotation state. When the tool is retracted, when the rack 351 moves from the distal side to the initial position, the safety assembly 500 is in the unlocked state, the safety assembly 500 is separated from the jaw opening assembly, and the safety assembly 500 does not interfere with the rack 351 moving proximally, so that the rack 351 can continue to move distally. During this process, the rack 351 acts on the safety assembly 500 to keep the safety assembly 500 in the unlocked state, and the safety assembly 500 does not interfere with the rack 351 moving proximally, so that the rack 351 can move smoothly to the extreme position of tool retraction.

[0075] Specifically, the insurance assembly 500 includes a safety piece 510 and an elastic piece (not shown in the figure), the elastic piece is connected between the frame 600 and the safety piece 510, when the insurance assembly 500 is in the unlocked state, the safety piece 510 is constrained by the rack 351 to separate from the unlocking assembly, and the elastic piece is compressed. When the rack 351 moves distally from the initial position, the safety piece 510 is released, and the elastic piece drives the safety piece 510 to move to abut against the unlocking assembly, so that the insurance assembly 500 is switched to the locked state.

[0076] Preferably, Fig.32 and Fig.33 As shown, the release button 910 of the jaw opening assembly has a flange 912. In this embodiment, the safety member 510 is rotatably disposed on the frame 600, and the elastic member is a torsion spring. When the safety assembly 500 is in the locked state, the safety member 510 is located at the lower side of the flange 912 and abuts against the flange 912, so that the release button 910 cannot rotate and the jaw assembly 100 cannot switch to the open state. When the safety assembly 500 switches from the locked state to the unlocked state, the safety member 510 rotates to separate from the flange 912, compresses the torsion spring, and the safety member 510 no longer abuts against the flange 912. The release button 910 can rotate to open the jaw assembly 100 when operated.

[0077] The rack 351 has a driving part 353 and a holding part 354. When the rack 351 moves from the far side to the limit retraction position, the driving part 353 drives the safety piece 510 to move. The movement of the safety piece 510 switches the safety assembly 500 from the locked state to the unlocked state, and acts on the safety assembly 500 in the unlocked state through the holding part 354, specifically, acts on the safety piece 510 to keep the safety assembly 500 in the unlocked state. When the holding part 354 acts on the safety piece 510, the safety piece 510 no longer rotates or rotates slightly until the rack 351 moves to the limit retraction position. The safety piece 510 will not interfere with the rack 351 due to excessive rotation angle, thereby preventing the rack 351 from retracting.

[0078] The driving portion 353 and the holding portion 354 are both protrusions arranged on the rack 351. Fig.33 and Fig.34 As shown, the driving portion 353 includes a driving surface 3531, and the retaining portion 354 includes a retaining surface 3541. The driving surface 3531 is connected to the retaining surface 3541. When the rack 351 moves from the distal side to the initial position, the driving portion 353 abuts against the safety member 510 through the driving surface 3531 and drives the safety member 510 to rotate, and guides the safety member 510 to move along the driving surface 3531 until it abuts against the retaining surface 3541. When the safety member 510 abuts against the retaining surface 3541, it is constrained by the retaining surface 3541, thereby keeping the safety assembly 500 in an unlocked state.

[0079] The driving surface 3531 is a slope with a high proximal side and a low distal side, and the retaining surface 3541 is connected to the distal side of the driving surface 3531. Fig.33 As shown, when the safety assembly 500 switches from the locked state to the unlocked state, the safety member 510 rotates clockwise, and the abutment point between the safety member 510 and the driving part 353 moves toward the proximal side in the horizontal direction and moves downward in the vertical direction, that is, as the rotation angle of the safety member 510 relative to the locked state increases, the height of the abutment point between the safety member 510 and the driving part 353 decreases. The driving surface 3531 is high on the proximal side and low on the distal side, so that when the driving surface 3531 moves toward the proximal side with the rack 351, the height of the abutment position with the safety member 510 gradually decreases, so that the end of the extension 512 always abuts against the driving surface 3531 during rotation. And when the driving surface 3531 abuts against the safety member 510, the driving force that moves the rack 351 toward the proximal side acts on the safety member 510 through the driving surface 3531, so that the safety member 510 rotates. The rack 351 continues to move toward the proximal side, and the driving surface 3531 guides the safety piece 510 to abut against the retaining surface 3541. The retaining surface 3541 is substantially a plane and is arranged along the length direction of the rack 351. The safety piece 510 abuts against the retaining surface 3541 along the longitudinal direction (perpendicular to the movement direction of the rack 351). The abutment direction of the safety piece 510 and the retaining surface 3541 is perpendicular to the movement direction of the rack 351. Therefore, when the rack 351 moves toward the proximal side, the retaining surface 3541 cannot apply the driving force of the rack 351 moving toward the proximal side to the safety piece 510, so that the safety piece 510 no longer continues to rotate in the direction away from the release button 910. At the same time, the retaining surface 3541 also blocks the safety piece 510 from rotating in the direction of the release button 910, so that when the rack 351 moves toward the proximal side, the safety piece 510 always abuts against the retaining surface 3541 and does not rotate, and does not interfere with the rack 351 moving toward the proximal side, and remains in the unlocked state.

[0080] In one embodiment, the holding surface 3541 is a plane, the safety member 510 abuts against the holding surface 3541, and when the rack 351 moves toward the proximal side, the holding surface 3541 cannot drive the safety member 510 to rotate. In another embodiment, the holding surface 3541 is an inclined surface with a small inclination angle, the holding surface 3541 is high on the proximal side and low on the distal side, the safety member 510 abuts against the holding surface 3541, and when the rack 351 moves toward the proximal side, the safety member 510 rotates slightly in the direction away from the jaw opening assembly; or the holding surface 3541 is high on the distal side and low on the proximal side, the safety member 510 abuts against the holding surface 3541, and when the rack 351 moves toward the proximal side, the safety member 510 rotates slightly in the direction close to the jaw opening assembly. Regardless of how the holding surface 3541 is set, the safety member 510 remains in an unlocked state when abutting against the holding surface 3541, is separated from the jaw opening assembly, and does not interfere with the rack 351 moving toward the proximal side.

[0081] Furthermore, the rack 351 has a feed position, which is located at the far side of the initial position. When the rack 351 is feeding, the safety member 510 is released when the rack 351 moves from the initial position to the far side, and the elastic member drives the safety member 510 to move. When the rack 351 moves to the feed position, the safety member 510 switches to a locked state and abuts against the jaw opening assembly. When the rack 351 moves to the far side of the feed position, the safety member 510 no longer rotates and remains in a locked state. When the rack 351 is retracting, the driving surface 3531 contacts the safety member 510 when the rack 351 moves from the feed position to the retracting limit position. The safety member 510 abuts against the driving surface 3531 and the retaining surface 3541 in turn. The safety member 510 rotates to switch the safety assembly 500 from a locked state to an unlocked state and remains in the unlocked state. Furthermore, the safety member 510 includes a rod body 511 and an extension portion 512 connected to the rod body 511. The safety member 510 abuts against the flange 912 of the unlocking assembly through the rod body 511, and the safety member 510 abuts against the driving portion 353 or the retaining portion 354 through the extension portion 512. When the rack 351 moves toward the proximal side from the feed position, the end of the extension portion 512 abuts against the driving surface 3531, and the driving surface 3531 moves toward the proximal side with the rack 351, so that the extension portion 512 is pushed, thereby rotating the rod body 511.

[0082] In one embodiment, when the rack 351 is in the initial position, the safety member 510 abuts against the retaining surface 3541. When the rack 351 moves from the initial position to the extreme retraction position, the safety member 510 always abuts against the retaining surface 3541 and does not rotate, remains in an unlocked state, and does not interfere with the rack 351 moving proximally, so that the rack 351 can move smoothly to the extreme retraction position.

[0083] In another embodiment, when the rack 351 is located at the initial position, the safety member 510 abuts against the middle of the driving surface 3531. When the rack 351 moves from the initial position to the limit position of the tool retraction, the safety member 510 is driven by the driving surface 3531 to rotate, and is guided by the driving surface 3531 to the retaining surface 3541. After abutting against the retaining surface 3541, the safety member 510 does not rotate and remains in the unlocked state. That is, in the process of the rack 351 moving from the initial position to the limit position of the tool retraction, the safety member 510 first rotates to abut against the retaining surface 3541, and then remains in the position of abutting against the retaining surface 3541, and does not interfere with the rack 351 moving toward the proximal side, so that the rack 351 can smoothly move to the limit position of the tool retraction.

[0084] The jaw assembly 100 is in the straight hitting state. When the knife is retracted, the rack 351 moves proximally a distance of L and is located at the initial position, so that the safety assembly 500 is in the unlocked state, and the medical staff can operate the jaw opening assembly 900 to switch the jaw assembly 100 to the open state. The jaw assembly 100 is in the maximum rotation state of the bent hitting state. When the knife is retracted, the rack 351 moves proximally a distance of L+R and is located at the extreme retracted position, and the safety assembly 500 is in the unlocked state. It is worth noting that when the rack 351 moves a distance of L and is located at the initial position, the safety assembly 500 is in the unlocked state. During the process of the rack 351 moving from the initial position to the extreme retracted position, the medical staff can operate the jaw opening assembly 900 to switch the jaw assembly 100 to the open state. When the rack 351 is in the initial position, the cutting knife assembly 300 has not been retracted to the bottom, and the distance from the bottom retracted position is R. Fig.30 As shown, at this time, the cutter head 310 has been separated from the upper slide groove 124 of the dowel seat 120. Therefore, when the jaw assembly 100 is opened when the rack 351 is between the initial position and the extreme retraction position, the movement of the cutting knife assembly 300 will not be affected, and the rack 351 and the cutting knife assembly 300 can continue to move proximally until the retraction is completed.

[0085] It is worth noting that the surgical instrument of this embodiment further includes a stroke recording module and a state detection module, both of which are electrically connected to the main control module, the stroke recording module obtains an output value for indicating the position state of the rack 351 and sends the output value to the main control module, the state detection module is electrically connected to the motor assembly 820, the state detection module obtains a state signal for indicating the state of the motor assembly 820, and the main control module determines whether the cutting knife assembly 300 has cut to the bottom according to the output value and the state signal, specifically including the following steps: S100, controlling the motor assembly 820 to drive the cutting knife driving member 350 to move distally, thereby driving the cutting knife assembly to move distally; S200, receiving an output value sent by the travel recording module, and determining whether the output value satisfies a first preset condition, and the first preset condition is satisfied when the output value is greater than or equal to a second value and less than or equal to a first value; S300, receiving a status signal of the motor assembly 820, and determining whether the status signal satisfies a second preset condition, that is, determining whether the motor assembly is stalled; If the judgment results of S200 and S300 are both yes, the first preset condition and the second preset condition are both satisfied, then step S400 is executed to control the motor assembly 820 to stop or control the motor assembly 820 to reverse to drive the cutting blade assembly to retract; If one of the judgment results of S200 and S300 is negative or both are negative, return to step: S100, control the motor assembly 820 to drive the cutting blade driving member 350 to move distally.

[0086] In step S100, after the jaw assembly 100 is closed, the medical staff actuates the handle 810, and when the main control module determines that the actuation angle of the handle 810 meets the preset conditions, the motor assembly 820 is controlled to start, and the rack 351 is driven to move distally to push the cutting knife assembly 300 to advance. Specifically, the handle 810 has an initial position and a pressing position, and a first area and a second area are formed between the initial position and the pressing position. The surgical instrument also includes a second detection device for detecting the position of the handle 810, and the second detection device is used to send a second detection signal to the main control module for indicating the position of the handle 810. When the main control module determines that the handle 810 is in the second area according to the second detection signal, the preset conditions are met, and the motor assembly 820 is controlled to start. The specific way in which the main control module controls the motor assembly 820 to start can be found in the applicant's prior application CN202310399540.0.

[0087] In step S200, the first value is used to indicate the position state of the rack 351 when the cutting knife assembly advances to the bottom when the jaw assembly 100 is in the straight hitting state, and the second value is used to indicate the position state of the rack 351 when the cutting knife assembly 300 advances to the bottom when the jaw assembly 100 is in the maximum rotation state. Specifically, in this embodiment, the position state is specifically the feed stroke of the rack 351. The feed stroke refers to the distance that the rack 351 moves from the feed position to the distal side until the cutting knife assembly 300 cuts to the bottom. The feed position refers to the position where the rack 351 moves a distance R from the initial position to the distal side. When the angle of rotation of the jaw assembly 100 relative to the sleeve assembly 400 is less than the maximum rotation angle, the feed stroke of the rack 351 when the cutting knife assembly advances to the bottom is between the first value and the second value, that is, the first value is the maximum stroke of the feed stroke of the rack 351, and the second value is the minimum stroke of the feed stroke of the rack 351. Regardless of whether the jaw assembly 100 is in a straight state or a bent state, the feeding stroke of the rack 351 when the cutting knife reaches the bottom is between the first value and the second value (including the first value and the second value), and the main control module determines that the output value is greater than or equal to the second value, and when it is less than or equal to the first value, the first preset condition is satisfied, that is, the stroke judgment interval for the cutting knife assembly 300 to cut to the bottom includes all values ​​between the first value and the second value (including the first value and the second value), covering all possible feeding strokes of the rack 351. In this way, it can be accurately determined that the cutting knife assembly 300 cuts to the bottom.

[0088] In step S300, the status detection module detects the status of the motor assembly 820 in real time and sends the status information to the main control module. The main control module determines whether the status signal meets the second preset condition based on the status information. When the second preset condition is met, the motor is blocked and the motor assembly 820 cannot drive the cutting knife assembly 300 to continue moving distally.

[0089] When the first preset condition is satisfied, it means that the distance of the rack 351 movement is within the stroke judgment interval, and the cutting knife assembly 300 moves to the cutting bottom position or near it; when the second preset condition is satisfied, it means that the motor assembly 820 is blocked. When the first preset condition and the second preset condition are satisfied at the same time, it means that the cutting knife assembly 300 has moved to the cutting bottom position or near it, and the cutting knife assembly 300 is blocked by the nail magazine assembly at the cutting bottom position or near it so that the motor assembly 820 is blocked, and it can be accurately judged that the cutting knife assembly 300 has cut to the bottom.

[0090] After determining that the cutting knife assembly 300 has cut to the bottom, the motor assembly 820 is controlled to stop, so as to prevent the motor assembly 820 from continuing to drive the motor assembly 820 to rotate, thereby damaging the motor assembly 820. Alternatively, after determining that the cutting knife assembly 300 has cut to the bottom, the motor assembly 820 rotates in the opposite direction, and the rack 351 moves toward the proximal side, so that the cutting knife assembly 300 switches to the separation position and drives the cutting knife assembly 300 to move toward the distal side to retract the knife.

[0091] In the prior art, the position of the cutting knife driving member 350 is used as a basis for judging whether the cutting is done. However, when the jaw assembly 100 is in the straight hitting state and the bent hitting state, the stroke of the cutting knife driving member 350 is different. It is impossible to accurately judge whether the cutting knife assembly 300 has cut to the bottom based on a fixed value alone. It is necessary to form a numerical range based on the stroke of the cutting knife driving member 350 in the straight hitting state and the bent hitting state for judgment. In order to prevent the situation of over-cutting or under-cutting caused by judging based on the numerical range, a judgment on whether the motor assembly 820 is blocked is added. When the above two judgment results meet the requirements at the same time, it can be determined that the cutting knife assembly 300 has cut to the bottom.

[0092] Furthermore, after step S100 and before step S200, the following steps are also included: S110, determining whether a zero position signal is received; If the result is yes, execute step S120, clear the output value, and jump to step S200 to receive the output value sent by the travel recording module, and determine whether the output value meets the first preset condition; If the answer is no, the process returns to step S110 to determine whether a zero-position signal is received.

[0093] In step S110, the surgical instrument has a zero position switch 930. In a preferred embodiment, when the rack 351 moves to the feed position, the zero position switch 930 is triggered, and the zero position switch 930 sends a zero position signal to the main control module. In other embodiments, the rack 351 can also trigger the zero position switch 930 when it is located at other positions (non-feed position), which is not specifically limited in this application. Further, if Figure 29 to Figure 31As shown, the safety rod of the insurance component 500 is provided with a trigger part 513, and the trigger part 513 is located at the top of the insurance part 510. The rack 600 has a circuit board, and the circuit board is provided with a zero position switch 930. The zero position switch 930 is electrically connected to the main control module. The zero position switch 930 is a push-type switch. When the insurance component 500 is in the unlocked state, the trigger part 513 is separated from the zero position switch 930, and the zero position switch 930 is in the untriggered state; when the rack 351 moves to the feed position, the insurance component 500 switches to the locked state, and the insurance part 510 rotates to abut against the flange 912 of the release button 910, locking the jaw opening structure and pressing the trigger part 513 to trigger the zero position switch 930. After the zero position switch 930 is triggered, it sends a zero position signal to the main control module. It should be noted that the way in which the rack 351 triggers the zero position switch 930 is not limited to the above-mentioned way.

[0094] In step S120, after receiving the zero position signal, the main control module clears the output value, takes the position of the rack 351 (feed position) when the zero position switch 930 is triggered as the starting point of the feed stroke of the rack 351, and judges the feed stroke of the rack 351 according to the output value.

[0095] When the main control module does not receive the zero position signal, it means that the rack 351 has not moved to the starting point of the feed position and the feed stroke has not started, then it returns to step S110 to re-judge whether the zero position signal is received until the rack 351 moves to the feed position and the main control module receives the zero position signal.

[0096] Among them, the travel recording module specifically includes an encoder connected to the motor assembly 820, and the output value includes the motor revolution information. The motor assembly 820 is connected to the rack 351 through the driving gear structure 830. At the feed position, the clutch mechanism is in the second state, and the motor assembly 820 can drive the rack 351 to move distally through the driving gear structure 830. In the process of the motor assembly 820 driving the rack 351 to move distally through the driving gear structure 830, the number of revolutions of the motor assembly 820 is positively correlated with the distance of the rack 351 moving distally, and the motor revolution information can represent the distance of the rack 351 moving distally. The encoder is used to detect the pulse signal generated by the rotation of the motor output shaft 821, and send the pulse signal to the main control module. The main control module obtains the number of revolutions of the output shaft 821 according to the number of pulse signals. The output value output by the travel recording module is specifically a number of pulse signals. The main control module determines whether the output value is between the first value and the second value according to the number of pulse signals in the output value. When the zero switch 930 is triggered, the main control module clears the number of pulse signals stored internally, and starts recording the number of pulse signals sent by the encoder when the rack 351 moves from the feed position to the distal side from zero. The output value output by the stroke recording module is specifically a number of pulse signals, and the main control module determines whether the output value meets the first preset condition based on the number of pulse signals in the output value. The first value is specifically the number of revolutions of the output shaft 821 of the motor assembly 820 when the rack 351 feeds to the bottom when the jaw assembly 100 is in the straight hitting state, and the second value is specifically the number of revolutions of the output shaft 821 of the motor assembly 820 when the rack 351 feeds to the bottom when the jaw assembly 100 is in the maximum rotation state.

[0097] The encoder may be a Hall encoder (not shown in the figure), specifically including a Hall sensor and a plurality of magnets, wherein the plurality of magnets are arranged around the output shaft 821 of the motor. When the magnet rotates with the rotating shaft of the motor, the Hall sensor senses the magnet and outputs a pulse signal, and the pulse signal is used as a detection signal. The main control module determines the number of rotations of the motor based on the number of pulse signals and the direction of rotation of the motor determined by the Hall sensor. Specifically, when the rotating shaft of the motor rotates, the Hall sensor outputs a pulse signal each time it passes a magnet.

[0098] The encoder can also be a photoelectric encoder, including a photoelectric sensor and multiple gratings. The photoelectric sensor can emit detection light in an infrared manner. The multiple gratings are distributed around the rotating shaft of the motor. When the rotating shaft rotates, the gratings are driven to rotate. The photoelectric sensor senses the gratings and outputs a pulse signal. The principle of the main control module determining the number of motor rotations based on the pulse signal is the same as that of the Hall sensor mentioned above, and will not be repeated here. Of course, the detection element can also be other ways to determine the number of motor rotations.

[0099] It is also worth noting that before the motor assembly 820 drives the rack 351 to move distally, the rack 351 is in the initial position, the safety assembly 500 is in the unlocked state, and the medical staff can open the jaw assembly 100 by operating the release button 910. When the rack 351 moves distally from the initial position by a distance R and reaches the feed position, the rack 351 is at the starting point of the feed stroke, the zero position switch 930 is triggered, and the feed begins. At this time, the safety assembly 500 is in a locked state, locking the jaw opening structure so that the jaw assembly 100 cannot be opened, that is, when the feed begins, the jaw assembly 100 is locked and cannot be opened, ensuring that the nail support 120 will not rotate due to the medical staff's misoperation during the feed process, causing the cutting knife assembly 300 to be unable to feed normally. In the process of the rack 351 moving from the initial position to the cutting position, the safety assembly 500 switches to the locked state, but does not abut against the flange 912 of the release button 910, and the jaw opening structure is not locked, and can be operated to switch the jaw assembly 100 to the unlocked state. When the rack 351 is in the cutting position, Fig. 27 As shown, the upper beam 312 of the cutter head 310 has not entered the upper slide groove 124 of the dowel seat 120, and opening the jaws before the rack 351 is located at the feed position will not cause the problem that the cutting knife assembly 300 cannot move.

[0100] When the rack 351 moves from the initial position to the feed position, the distal movement distance of the rack 351 is R. When the jaw assembly 100 is in the straight hitting state and the rack 351 is in the initial position, the cutting knife assembly 300 is in the separated position, and the rack 351 moves from the initial position to the distal side for a distance R to reach the feed position, and the cutting knife assembly 300 is in the abutting position. At this time, the rack 351 can drive the cutting knife assembly 300 to move distally, and the cutter head 310 is at the proximal end of the nail magazine assembly. At the beginning of the feed stroke, the rack 351 moves distally for a distance L to complete the feed, so in the straight hitting state, the first distance of the feed stroke of the rack 351 is specifically L. When the jaw assembly 100 is in the maximum rotation state and the rack 351 is in the initial position, the cutting knife assembly 300 is in the abutting position. The rack 351 moves distally by a distance R to reach the feed position, at which time the rack 351 pushes the cutting knife assembly 300 to move distally by R, and the knife head 310 has been separated from the proximal end of the staple cartridge assembly. The feed stroke begins, and the rack 351 moves distally by LR to complete the feed, so in the maximum rotation state, the second feed stroke distance of the rack 351 is specifically LR.

[0101] It should also be noted that during the feed process, when the rack 351 is located at the feed position or at the far end of the feed position, the safety assembly 500 is in a locked state, the zero position switch 930 is always in a triggered state, and the zero position switch 930 sends a zero position signal to the main control module only once when it is pressed and triggered. This is to avoid the pulse signal indicating the number of rotations of the output shaft 821 being cleared during the feed process, resulting in inaccurate feed stroke judgment. In addition, during the feed process, the pulse signal sent by the encoder to the main control module is stored in the memory inside the main control module.

[0102] During the knife retraction process, when the rack 351 moves proximally to the initial position, the safety assembly 500 switches to the unlocked state, and the safety member 510 no longer presses the zero position switch 930 to release the zero position switch 930. When the zero position switch 930 is released, no signal is sent to the main control module. Until the stapler is used again, the main control module controls the motor assembly 820 to drive the rack 351 to move distally to the knife feed position to trigger the zero position switch 930. The main control module receives the knife zero position signal, clears the pulse signal stored in the internal memory, and re-receives and calculates the number of pulse signals.

[0103] In another embodiment, the orientation state is specifically the position of the rack 351, and the first value indicates the position of the rack 351 when the jaw assembly 100 is in the straight hitting state and the cutting knife assembly 300 moves distally to the cutting bottom position, and the above position is the first position; the second value indicates the position of the rack 351 when the jaw assembly 100 is in the maximum rotation state and the cutting knife assembly 300 moves distally to the cutting bottom position, and the above position is the second position. The rack 351 is provided with a sensed part, and the frame 600 is provided with a sensing area, which is arranged along the length direction of the rack 351, and the sensing area is arranged with a plurality of sensing parts, specifically sensors, and the plurality of sensors are electrically connected to the main control module. When the sensed part moves distally with the rack 351 to correspond to the sensing area, the sensor in the sensing area detects the sensed part and sends an output value to the main control module. When the jaw assembly 100 is in the straight hitting state, when the cutting knife assembly 300 cuts to the bottom, the rack 351 is in the first position and corresponds to the sensor located at the far edge of the sensing area, the sensed part is detected by the sensor located at the far edge of the sensing area, and the output value received by the main control module is the first value; when the jaw assembly 100 is in the maximum rotation state, when the cutting knife assembly 300 cuts to the bottom, the rack 351 is in the second position and corresponds to the sensor located in the proximal edge of the sensing area, when the sensor located in the proximal edge of the sensing area detects the sensed part, the output value received by the main control module is the second value. When the angle of rotation of the jaw assembly 100 relative to the sleeve assembly 400 is less than the maximum rotation angle, the position of the rack 351 when the knife is fed to the bottom is between the first value and the second value, that is, when the cutting knife assembly cuts to the bottom, the first value is the farthest position of the rack 351, and the second value is the closest position of the rack 351. Regardless of whether the jaw assembly 100 is in a straight state or a bent state, the position of the rack 351 when the knife reaches the bottom is between the first value and the second value (including the first value and the second value), and the main control module determines that the output value satisfies the first preset condition when it is greater than or equal to the second value and less than or equal to the first value, that is, it determines that the position of the rack 351 when the cutting knife assembly 300 cuts to the bottom is between the first value and the second value (including the first value and the second value), covering all possible positions of the rack 351 when the knife reaches the bottom.

[0104] Specifically, in the embodiment, a plurality of photoelectric sensors are provided in the sensing area, a light source is provided in the rack 600, the light source is opposite to the photoelectric sensors, and when the sensed component is not opposite to the sensing area, all the photoelectric sensors can receive the light emitted by the light source. When the rack 351 is in the second position, the sensed component corresponds to the sensor located at the proximal edge of the sensing area, the sensed component blocks the light emitted by the light source, and the sensor located at the proximal edge of the sensing area cannot receive the light emitted by the light source, and the output value sent to the main control module is the second value. When the rack 351 is in the first position, the sensed component corresponds to the sensor located at the distal edge of the sensing area, the sensed component blocks the light emitted by the light source, and the sensor located at the distal edge of the sensing area cannot receive the light emitted by the light source, and the output value sent to the main control module is the first value. In other embodiments, the sensor in the sensing area can be other types of sensors, such as Hall sensors, infrared sensors, etc., which will not be repeated in this application. Example 2

[0105] The surgical instrument of the second embodiment of the present application is substantially the same as that of the first embodiment, the main difference being that the structure of the clutch mechanism is different. In the present embodiment, the rack 351 includes a first rack 3511 and a second rack 3512. The power source is connected to the first rack 3511, and the second rack 3512 is connected to the cutting knife assembly 300. Specifically, the second rack 3512 is movably connected to the cutting knife assembly 300 via the first accommodating groove 352 and the first movable member 340.

[0106] The clutch mechanism includes a second accommodating groove 3514 and a second moving member 3513, one of the first rack 3511 and the second rack 3512 is provided with the second accommodating groove 3514, and the other is provided with the second moving member 3513, the second accommodating groove 3514 includes a second opening side 3515 and a second groove bottom side 3516 arranged along the length direction of the second accommodating groove 3514, the second accommodating groove 3514 is provided in a part of the first rack 3511 and the second rack 3512, and the second opening side 3515 is close to the part provided with the second moving member 3513. Preferably, in the present embodiment, the second accommodating groove 3514 is provided in the first rack 3511, and the second moving member 3513 is provided in the second rack 3512.

[0107] When the second moving member 3513 fits the second groove bottom side 3516, the first rack 3511 abuts against the second rack 3512, the power source is decoupled from the rack 351, and the clutch mechanism is in the second state, and the abutment means that the first rack 3511 and the second rack 3512 are connected to each other and abut against each other through the second moving member 3513 and the second groove bottom side 3516. When the clutch mechanism is in the second state, the first rack 3511 can push the second rack 3512 to move distally when it moves distally. When the second moving member 3513 fits the second opening side 3515, the first rack 3511 is relatively separated from the second rack 3512, the power source is coupled to the rack 351, and the clutch mechanism is in the first state, and at this moment, the first rack 3511 can pull the second rack 3512 to move proximally when it moves proximally. Relative separation means that the first rack 3511 and the second rack 3512 are connected to each other and are separated from each other by a maximum distance. During the retraction process, the cutting blade assembly 300 is in a separated position, the clutch mechanism is in a first state, the power source drives the first rack 3511 to move proximally, and the first rack 3511 pulls the second rack 3512 and the cutting blade assembly 300 to move proximally to retract the blade. When the clutch mechanism switches from the first state to the second state, that is, when the second moving member 3513 moves from the position in contact with the second opening side 3515 to the position in contact with the second groove bottom side 3516, the moving distance of the second moving member 3513 is R.

[0108] Specifically, in this embodiment, the power source includes a motor assembly 820 and a driving gear structure 830 connected to the motor assembly 820, and the driving gear structure 830 only includes a first gear 831, which is connected to the motor assembly 820 and meshes with the second rack 3512. When the knife is retracted, the cutting knife assembly 300 is in a separated position, the clutch mechanism is in a first state, and the second moving member 3513 is in contact with the second opening side 3515. When the knife is retracted, the main control module controls the motor assembly 820 to drive the first rack 3511 to move farward by a distance R, so that the second opening side 3515 and the second groove bottom side 3516 move farward, the second moving member 3513 does not move, the second opening side 3515 is separated from the second moving member 3513, and the second groove bottom side 3516 is in contact with the second moving member 3513, so that the clutch mechanism is switched to the second state, and the cutting knife assembly 300 is still in a separated position. When the clutch mechanism is in the second state, the second rack 3512 can move distally relative to the first rack 3511 .

[0109] After the knife is retracted, the clutch mechanism switches to the second state, and the medical staff operates the jaw assembly 100 to open. After the jaw assembly 100 is opened, the steering drive structure 700 is controlled to rotate the jaw assembly 100 from the bent position to the straight position. During the process of the jaw assembly 100 rotating from the bent position to the straight position, the proximal end of the knife rod 320 moves distally. Since the cutting knife assembly 300 is in the separated position, the proximal end of the knife rod 320 moves distally and pulls the rack 351 to move distally. Since the clutch mechanism is in the second state, the proximal end of the knife rod 320 can only pull the first rack 3511 to move distally, and the second rack 3512 does not move and remains connected to the power source. The setting of the clutch mechanism allows the jaw assembly 100 to smoothly rotate to the straight position.

[0110] The following describes the overall working process of the surgical instrument when the jaw assembly 100 is rotated to one side to the maximum angle: After the surgical instrument enters the human body, the jaw assembly 100 is in a straight striking state, and the cutting knife assembly 300 is in a separated position. The medical staff first drives the jaw assembly 100 to rotate through the steering drive structure 700.

[0111] When the jaw assembly 100 rotates from the straight striking state to the maximum rotation state, the proximal end of the knife rod 320 moves proximally, causing the cutting knife assembly 300 to move proximally from the separation position to the abutment position (from Fig.17 Move to the middle position Fig.18 The distance that the cutting knife assembly 300 moves from the separation position to the abutment position is R, that is, the distance that the first moving member 340 moves from the position abutting against the first opening side 3522 to the position abutting against the first groove bottom side 3521 is R. The distance that the first moving member 340 moves toward the proximal side is positively correlated with the rotation angle of the jaw assembly 100. When the jaw assembly 100 rotates toward one side at an angle less than the maximum angle, the first moving member 340 is between the first opening side 3522 and the first groove bottom side 3521.

[0112] After the jaw assembly 100 rotates to one side to the maximum angle, it is in the maximum rotation state, and the jaw assembly 100 corresponds to the tissue to be clamped. At this time, the medical staff controls the jaw assembly 100 to close, clamp and squeeze the component to be clamped. The sleeve assembly 400 includes an inner sleeve 410 and an outer sleeve 420 movably sleeved on the outer side of the inner sleeve 410. The operating assembly 800 also includes a handle 810. After the turning is completed, the medical staff actuates the handle 810 to move the outer sleeve 420 from the distal position to the proximal position to close the jaw assembly 100.

[0113] The medical staff actuates the handle 810 to close the jaw assembly 100 to clamp and squeeze the tissue for a period of time. After the squeezing is completed, the medical staff actuates the handle 810 again. When the main control module detects that the rotation angle of the handle 810 meets the preset conditions, it controls the motor assembly 820 to drive the cutting knife assembly 300 to advance.

[0114] Before the cutting knife is fed, the clutch mechanism is in the first state or the second state, or the second moving member 3513 is located between the second opening side 3515 and the second groove bottom side 3516. Fig.18 The rack 351 moves distally to directly push the mandrel 330 and the knife rod 320 to move proximally for cutting. The distance that the cutting knife assembly 300 moves from the initial position to the cutting bottom position is L, and the distance that the first rack 3511 moves distally is also L. When the cutting starts, the main control module controls the motor assembly 820 to rotate, and the motor assembly 820 drives the first gear 831 to rotate, specifically, counterclockwise. If the clutch mechanism is in the second state, such as Fig.37 As shown, the motor assembly 820 can directly drive the second rack 3512, the first rack 3511 and the cutting knife assembly 300 to move distally to perform cutting. Fig.36 As shown, or the second moving member 3513 is located between the second opening side 3515 and the second groove bottom side 3516, the motor assembly 820 drives the second rack 3512 to move distally, so that the clutch mechanism switches to the second state, as shown in FIG. Fig.37 As shown, in the second state, the second rack 3512 abuts against the first rack 3511, and when the motor assembly 820 drives the second rack 3512 to move distally, it can drive the first rack 3511 and the cutting knife assembly 300 to move distally to advance. The reason why the clutch mechanism is in the first state or the second state, or the second moving member 3513 is located between the second opening side 3515 and the second groove bottom side 3516 is explained below. After the main control module determines that the cutting knife assembly 300 has completed the advance, it controls the power source to drive the cutting knife driving member 350 to move proximally to drive the cutting knife assembly 300 to retreat.

[0115] When the knife is advanced, the cutting knife assembly 300 is in the bottom position, the cutting knife assembly 300 is in the abutting position, the clutch mechanism is in the second state, and the second moving member 3513 is in contact with the bottom side 3516 of the second groove. The medical staff releases the handle 810, and the main control module detects that the handle 810 is completely released, and controls the motor assembly 820 to reverse, and the motor assembly 820 reverses to drive the second rack 3512 to move proximally. When the second rack 3512 moves proximally for a distance R, the clutch mechanism switches to the first state (from Fig.36 Switch to Fig.37The motor assembly 820 can drive the first rack 3511 to move proximally. Since the cutting knife assembly 300 is in the abutting position ( Fig.18 The first rack 3511 moves toward the proximal side, so that the first opening side 3522 and the first groove bottom side 3521 move toward the proximal side with the rack 351, and the first groove bottom side 3521 is separated from the first moving member 340, and the first opening side 3522 moves toward the first moving member 340. When the first rack 3511 moves toward the proximal side by a distance R, the first opening side 3522 is in contact with the first moving member 340, so that the cutting knife assembly 300 is in the separated position ( Fig.17 The rack 351 is in the middle position, at which time the rack 351 can drive the cutting knife assembly 300 to move proximally, and the cutting knife assembly 300 is not driven to move during the movement of the first rack 3511 and the second rack 3512, and the cutting knife assembly 300 is still in the bottom feeding position. When the rack 351 continues to move proximally and drives the cutting knife assembly 300 to move a distance of L, the cutting knife assembly 300 returns to the initial position, and the knife retraction is completed. Therefore, during the knife retraction process, the distance that the first rack 3511 moves proximally is R+L, and the distance that the second rack 3512 moves proximally is 2R+L.

[0116] When the knife is retracted, the cutting knife assembly 300 is in the initial position, the cutting knife assembly 300 is in the separated position, and the clutch mechanism is in the first state. After determining that the knife is retracted, the main control module controls the motor assembly 820 to reverse, drives the second rack 3512 to move distally until it abuts against the first rack 3511, and switches the clutch mechanism to the second state.

[0117] After the knife is retracted, the medical staff operates the jaw opening assembly 900 to open the jaw assembly 100 and release the tissue.

[0118] After the jaw assembly 100 is opened, the cutting knife assembly 300 is in the separated position, and the clutch mechanism is in the second state. The medical staff operates the steering drive assembly 700 to rotate the jaw assembly 100 to the straight hitting state. During the process of the jaw assembly 100 rotating from the maximum rotation state of the bent hitting state to the straight hitting state, the movement of the proximal end of the cutting knife assembly 300 is opposite to the process of the jaw assembly 100 rotating from the straight hitting position to the maximum rotation state. The distance R that the proximal end (first moving member 340) of the cutting knife assembly 300 moves to the distal side is. Since the cutting knife assembly 300 is in the separated position ( Fig.17The first movable member 340 is in the middle position), which is attached to the first opening side 3522 of the first accommodating groove 352. When the first movable member 340 moves distally, the second rack 3512 is pulled distally by the abutment with the first opening side 3522, and the movement distance is R. In this process, the first rack 3511 remains in place, and the second rack 3512 moves until the second movable member 3513 is attached to the second opening side 3515, and the clutch mechanism switches to the first state. The jaw assembly 100 is in the straight hitting state, and the medical staff can take the surgical instrument out of the human body. At this time, when the stapler is used again to cut the tissue, before the knife is advanced, the clutch mechanism is in the first state. If the jaw assembly 100 is always in the straight hitting state when the stapler is used this time, after the knife is withdrawn, the jaw assembly 100 is opened after the clutch mechanism switches to the second state, and when the stapler is used again to cut the tissue, the clutch mechanism is in the second state. If the jaw assembly 100 is in an intermediate state of the bending state (the angle between the jaw assembly 100 and the sleeve assembly 400 is less than the maximum angle) to clamp the tissue when the stapler is used this time, after the knife is retracted, the clutch mechanism switches to the second state, the jaw assembly 100 rotates to the straight position, and the first movable member 340 drives the second rack 3512 to move distally a distance less than R, and the second movable member 3513 in the clutch mechanism is located between the second opening side 3515 and the second groove bottom side 3516. When the stapler is used again to cut the tissue, the second movable member 3513 of the clutch mechanism is located between the second opening side 3515 and the second groove bottom side 3516.

[0119] The following describes the overall working process of the surgical instrument when the jaw assembly 100 is rotated to one side to the maximum angle: After the surgical instrument enters the human body, the jaw assembly 100 is in a straight striking state, and the cutting knife assembly 300 is in a separated position. The medical staff first drives the jaw assembly 100 to rotate through the steering drive structure 700.

[0120] When the jaw assembly 100 rotates from the straight striking state to the maximum rotation state, the proximal end of the knife rod 320 moves proximally, causing the cutting knife assembly 300 to move proximally from the separation position to the abutment position (from Fig.17 Move to the middle position Fig.18 The distance that the cutting knife assembly 300 moves from the separation position to the abutment position is R, that is, the distance that the first moving member 340 moves from the position abutting against the first opening side 3522 to the position abutting against the first groove bottom side 3521 is R. The distance that the first moving member 340 moves toward the proximal side is positively correlated with the rotation angle of the jaw assembly 100. When the jaw assembly 100 rotates toward one side at an angle less than the maximum angle, the first moving member 340 is between the first opening side 3522 and the first groove bottom side 3521.

[0121] After the jaw assembly 100 rotates to one side to the maximum angle, it is in the maximum rotation state, and the jaw assembly 100 corresponds to the tissue to be clamped. At this time, the medical staff controls the jaw assembly 100 to close, clamp and squeeze the component to be clamped. The sleeve assembly 400 includes an inner sleeve 410 and an outer sleeve 420 movably sleeved on the outer side of the inner sleeve 410. The operating assembly 800 also includes a handle 810. After the turning is completed, the medical staff actuates the handle 810 to move the outer sleeve 420 from the distal position to the proximal position to close the jaw assembly 100.

[0122] The medical staff actuates the handle 810 to close the jaw assembly 100 to clamp and squeeze the tissue for a period of time. After the squeezing is completed, the medical staff actuates the handle 810 again. When the main control module detects that the rotation angle of the handle 810 meets the preset conditions, it controls the motor assembly 820 to drive the cutting knife assembly 300 to advance.

[0123] Before the cutting knife is fed, the clutch mechanism is in the first state or the second state, or the second moving member 3513 is located between the second opening side 3515 and the second groove bottom side 3516. Fig.18 The second rack 3512 moves distally to directly push the mandrel 330 and the knife rod 320 to move proximally for cutting. The distance of movement of the cutting knife assembly 300 from the initial position to the cutting bottom position is L, and the distance of the second rack 3512 moving distally is also L. When the cutting starts, the main control module controls the motor assembly 820 to rotate, and the motor assembly 820 drives the first rack 3511 to move distally. If the clutch mechanism is in the second state, such as Fig.37 As shown, the motor assembly 820 can directly drive the first rack 3511, the second rack 3512 and the cutting knife assembly 300 to move distally to perform cutting. Fig.36 As shown, the second moving member 3513 is located between the second opening side 3515 and the second groove bottom side 3516, as shown in FIG. Fig.36 and Fig.37 As shown, the motor assembly 820 drives the first rack 3511 to move distally, so that the clutch mechanism switches to the second state, as shown in FIG. Fig.37 As shown, in the second state, the second rack 3512 abuts against the first rack 3511, and when the motor assembly drives the first rack 3511 to move distally, the second rack 3512 and the cutting knife assembly 300 can be driven to move distally to perform cutting. The reason why the clutch mechanism is in the first state or the second state, or the second moving member 3513 is located between the second opening side 3515 and the second groove bottom side 3516 is explained below.

[0124] After the main control module determines that the cutting knife assembly 300 has completed the cutting advance, it controls the power source to drive the cutting knife driving member 350 to move toward the proximal side to drive the cutting knife assembly 300 to retract.

[0125] When the knife is advanced, the cutting knife assembly 300 is in the bottom position, the cutting knife assembly 300 is in the abutting position, the clutch mechanism is in the second state, and the second moving member 3513 is in contact with the bottom side 3516 of the second groove. The medical staff releases the handle 810, and the main control module detects that the handle 810 is completely released, and controls the motor assembly 820 to reverse, and the motor assembly 820 reverses to drive the second rack 3512 to move proximally. When the second rack 3512 moves proximally for a distance R, the clutch mechanism switches to the first state (from Fig.37 Switch to Fig.36 The motor assembly 820 can drive the first rack 3511 to move proximally. Since the cutting knife assembly 300 is in the abutting position ( Fig.18 The first rack 3511 moves toward the proximal side, so that the first opening side 3522 and the first groove bottom side 3521 move toward the proximal side with the rack 351, and the first groove bottom side 3521 is separated from the first moving member 340, and the first opening side 3522 moves toward the first moving member 340. When the first rack moves toward the proximal side by a distance R, the first opening side 3522 is in contact with the first moving member 340, so that the cutting knife assembly 300 is in the separated position ( Fig.17 The rack 351 is in the middle position, at which time the rack 351 can drive the cutting knife assembly 300 to move proximally, and the cutting knife assembly 300 is not driven to move during the movement of the first rack 3511 and the second rack 3512, and the cutting knife assembly 300 is still in the bottom feeding position. When the rack 351 continues to move proximally and drives the cutting knife assembly 300 to move a distance of L, the cutting knife assembly 300 returns to the initial position, and the knife retraction is completed. Therefore, during the knife retraction process, the distance that the first rack 3511 moves proximally is R+L, and the distance that the second rack 3512 moves proximally is 2R+L.

[0126] When the knife is retracted, the cutting knife assembly 300 is in the initial position, the cutting knife assembly 300 is in the separated position, and the clutch mechanism is in the first state. After determining that the knife is retracted, the main control module controls the motor assembly 820 to reverse, drives the second rack 3512 to move distally until it abuts against the first rack 3511, and switches the clutch mechanism to the second state.

[0127] After the knife is retracted, the medical staff operates the jaw opening assembly 900 to open the jaw assembly 100 and release the tissue.

[0128] After the jaw assembly 100 is opened, the cutting knife assembly 300 is in the separated position, and the clutch mechanism is in the second state. The medical staff operates the steering drive device to rotate the jaw assembly 100 to the straight state. During the process of the jaw assembly 100 rotating from the maximum rotation state of the bent state to the straight state, the movement of the proximal end of the cutting knife assembly 300 is opposite to the process of the jaw assembly 100 rotating from the straight position to the maximum rotation state. The distance R that the proximal end (first moving member 340) of the cutting knife assembly 300 moves to the distal side is. Since the cutting knife assembly 300 is in the separated position ( Fig.17 The first movable member 340 is in the middle position), which is attached to the first opening side 3522 of the first accommodating groove 352. When the first movable member 340 moves distally, the first rack 3511 is pulled distally by the abutment with the first opening side 3522, and the movement distance is R. In this process, the second rack 3512 remains in place, and the first rack 3511 moves until the second movable member 3513 is attached to the second opening side 3515, and the clutch mechanism switches to the first state. The jaw assembly 100 is in the straight hitting state, and the medical staff can take the surgical instrument out of the human body. At this time, when the stapler is used again to cut the tissue, before the knife is advanced, the clutch mechanism is in the first state. If the jaw assembly 100 is always in the straight hitting state when the stapler is used this time, after the knife is withdrawn, the jaw assembly 100 is opened after the clutch mechanism switches to the second state, and when the stapler is used again to cut the tissue, the clutch mechanism is in the second state. If the jaw assembly 100 is in an intermediate state of the bending state (the angle between the jaw assembly 100 and the sleeve assembly 400 is less than the maximum angle) to clamp the tissue when the stapler is used this time, after the knife is retracted, the clutch mechanism switches to the second state, the jaw assembly 100 rotates to the straight position, and the first movable member 340 drives the first rack 351 to move distally a distance less than R, and the second movable member 3513 in the clutch mechanism is located between the second opening side 3515 and the second groove bottom side 3516. When the stapler is used again to cut the tissue, the second movable member 3513 of the clutch mechanism is located between the second opening side 3515 and the second groove bottom side 3516.

[0129] The overall working process of the surgical instrument when the jaw assembly 100 is always in the straight striking state is described below: After the surgical instrument enters the human body, the jaw assembly 100 is in a straight striking state, at which time the clutch mechanism is in the first state or the second state, or the second movable member 3513 is located between the second opening side 3515 and the second groove bottom side 3516, and the cutting knife assembly 300 is in a separated position.

[0130] The medical staff controls the jaw assembly 100 to close, clamps and squeezes the component to be clamped. After squeezing is completed, the medical staff activates the handle 810 again to advance the knife.

[0131] Before the cutting knife is inserted, the cutting knife assembly 300 is in the separated position ( Fig.17 When the knife is in the middle position, the rack 351 moves distally and cannot directly push the mandrel 330 and the knife rod 320 to move distally for knife feeding. When the knife feeding starts, the main control module controls the motor assembly 820 to rotate, and the motor assembly 820 drives the second gear to move distally. If the clutch mechanism is in the first state, the second rack 3512 moves distally until the clutch mechanism switches to the second state. In the second state, Fig.37 As shown, the motor assembly 820 can drive the first rack 3511 to move distally, thereby driving the second rack 3512 to move distally. If the clutch mechanism is in the second state, the first rack 3511 abuts against the second rack 3512, and the motor assembly 820 can directly drive the second rack 3512 to move distally. When the first rack 3511 moves distally by a distance R, the cutting knife assembly 300 is in the abutting position ( Fig.18 The rack 351 moves distally to drive the cutting knife assembly 300 to advance. The distance the cutting knife assembly 300 moves from the initial position to the end of the stroke is L. During the advance process, the distance the second rack 3512 moves distally is L+R.

[0132] When the knife is advanced, the cutting knife assembly 300 is in the bottom position, the cutting knife assembly 300 is in the abutting position, the clutch mechanism is in the second state, and the second moving member 3513 is in contact with the bottom side 3516 of the second groove. The medical staff releases the handle 810, and the main control module detects that the handle 810 is completely released, and controls the motor assembly 820 to reverse, and the motor assembly 820 reverses to drive the second rack 3512 to move proximally. When the second rack 3512 moves proximally for a distance R, the clutch mechanism switches to the first state (from Fig.37 Switch to Fig.36 The motor assembly 820 can drive the second rack 3512 to move proximally. Since the cutting knife assembly 300 is in the abutting position ( Fig.18 The first opening side 3522 and the first groove bottom side 3521 move toward the proximal side along with the rack 351 when the second rack 3512 moves toward the proximal side, and the first groove bottom side 3521 separates from the first moving member 340, and the first opening side 3522 moves toward the first moving member 340. When the second rack 3512 moves toward the proximal side by a distance R, the first opening side 3522 fits with the first moving member 340, so that the cutting knife assembly 300 is in the separated position ( Fig.17The rack 351 is in the middle position, at which time the rack 351 can drive the cutting knife assembly 300 to move proximally, and the cutting knife assembly 300 is not driven to move during the movement of the first rack 3511 and the second rack 3512, and the cutting knife assembly 300 is still in the bottom feed position. When the rack 351 continues to move proximally to drive the cutting knife assembly 300 to move a distance of L, the cutting knife assembly 300 returns to the initial position and the knife retraction is completed. Therefore, during the knife retraction process, the distance the first rack 3511 moves proximally is 2R+L, and the distance the second rack 3512 moves proximally is R+L. After determining that the knife retraction is completed, the main control module controls the motor assembly 820 to reverse, drives the first rack 3511 to move distally until it abuts against the second rack 3512, and switches the clutch mechanism to the second state.

[0133] After the knife is withdrawn, the medical staff operates the jaw opening assembly 900 to open the jaw assembly 100 to release the tissue. The jaw assembly 100 is in a straight-opening state, and the medical staff can remove the surgical instrument from the human body. Example 3

[0134] The surgical instrument of the third embodiment of the present application is substantially the same as the first embodiment, the main difference being that the structure of the clutch mechanism is different. In this embodiment, Figures 38 to 41 As shown, the clutch mechanism includes a pusher 850 , and in the driving gear structure 830 , the first gear 831 and the second gear 832 are fixedly connected, and when the first gear 831 is driven to rotate by the motor assembly 820 , it drives the second gear 832 to rotate synchronously.

[0135] When the clutch mechanism is in the first state, the pusher 850 is in the separation position, the driving gear structure 830 is connected to the cutting knife assembly 300, specifically the second gear 832 is connected to the rack 351, so as to realize the coupling between the power source and the cutting knife assembly 300, and the power source can drive the rack 351 and the cutting knife assembly 300 to move toward the proximal side. When the clutch mechanism switches from the first state to the second state, the pusher 850 moves from the separation position to the pressing position, specifically toward the driving gear structure 830, and the pusher 850 pushes the driving gear structure 830 to move, so that the driving gear structure 830 is decoupled from the cutting knife assembly 300, specifically the second gear 832 is disengaged from the rack 351, and the power source cannot drive the rack 351 and the cutting knife assembly 300 to move, and the rack 351 can move relative to the power source, and in response to the jaw assembly 100 rotating from the curved state to the straight state, the proximal end of the cutting knife assembly 300 and the rack 351 are reset toward the distal side. During the advance and retreat process, the clutch mechanism is in the first state, so that the power source is connected to the rack 351 and the cutting knife assembly 300, and the power source can drive the cutting knife assembly 300 to advance or retreat. After the retreat is completed, if the motor assembly 820 is connected to the rack 351 through the driving gear structure 830, the motor assembly 820 stops and locks the driving gear structure 830 and the rack 351 through its own resistance, so that the driving gear structure 830 cannot rotate and the rack 351 cannot move. Therefore, after the retreat is completed, the clutch mechanism switches to the second state, so that the driving gear structure 830 is disengaged from the rack 351, and the locking of the rack 351 and the cutting knife assembly 300 by the motor assembly 820 is released. In the process of switching the jaw assembly 100 from the curved hitting state to the straight hitting state, since the motor assembly 820 has been disconnected from the rack 351, the proximal end of the cutting knife assembly 300 can be smoothly reset to the distal side, and the rack 351 is pulled to reset to the distal side. The driving gear structure 830 includes a fixed shaft 833 and a return spring 834. The fixed shaft 833 is fixedly arranged on the frame 600. The first gear 831 and the second gear 832 can both rotate around the axis of the fixed shaft 833 and can move along the axis direction of the fixed shaft 833. Preferably, the first gear 831 and the second gear 832 are both key-matched with the fixed shaft 833.

[0136] The clutch mechanism also includes a driving member and a pressing portion 860, the pressing portion 860 is located on the upper side of the second gear 832, and the pushing member 850 is connected to the pressing portion 860. When the clutch mechanism is in the first state, the second gear 832 is meshed with the rack 351. The driving member drives the pushing member 850 to move and pushes the pressing portion 860 to move downward, thereby pushing the second gear 832 to move downward to disengage from the rack 351, so that the clutch mechanism is switched to the second state. In the second state, the second gear 832 is disengaged from the rack 351 and is no longer locked by the motor assembly 820. When the jaw assembly rotates from the bent state to the straight state, the proximal end of the knife bar 320 can pull the rack 351 to move distally, so that the jaw assembly 100 can be smoothly switched to the straight state.

[0137] In a preferred embodiment, the driving member includes a motor 870, the output shaft of the motor 870 is connected to the pusher 850, the motor 870 is electrically connected to the main control module, and is controlled by the main control module to start or stop. The motor is fixedly arranged on the frame 600, and when the main control module controls the motor 870 to rotate, the motor drives the pusher 850 to rotate so that the clutch mechanism switches to the second state.

[0138] The pusher 850 is a cam having a lower portion, a higher portion, and an arc surface 851 connected between the lower portion and the higher portion. The distance between the higher portion and the cam rotation axis is greater than the distance between the lower portion and the cam rotation axis. When the clutch mechanism is in the first state, the lower portion of the pusher 850 abuts against the pressing portion 860. When the clutch mechanism switches from the first state to the second state, the pusher 850 rotates until the higher portion abuts against the pressing portion 860, causing the pressing portion 860 to move downward, thereby pushing the second gear 832 downward to disengage from the rack 351.

[0139] When retracting the knife, the motor 870 is in a stopped state, and the clutch structure is in a first state. The main control module controls the motor assembly 820 to drive the rack 351 to move proximally, and detects the state of the motor assembly 820 through the state detection module. After the main control module determines that the motor is blocked, the rack 351 retracts proximally to the extreme position. At this time, the main control module controls the motor assembly 820 to stop, and controls the motor 870 to rotate. After the motor 870 drives the pushing member 850 to rotate until the clutch assembly is in the second state, the main control module controls the motor 870 to stop. After the motor 870 stops, the pushing member 850 is locked to keep the clutch mechanism in the second state.

[0140] After the jaw assembly 110 is opened, the clutch structure is in the second state, and the cutting knife assembly 300 is in the separated position. The medical staff operates the steering drive assembly 700 to rotate the jaw assembly 100 from the bent state to the straight state. The proximal end of the knife rod 320 moves distally, thereby pulling the rack 351 to move distally, and the jaw assembly 100 rotates smoothly and switches to the straight state.

[0141] Furthermore, the driving gear structure 830 further includes a return spring 834, which is sleeved on the fixed shaft 833. One end of the return spring 834 is connected to the frame 600, and the other end is connected to the first gear 831. When the clutch mechanism is in the second state, the first gear 831 and the second gear 832 are located below the rack 351, and the return spring 834 is compressed; when the clutch mechanism switches from the second state to the first state, the return spring 834 is released, and the first gear 831 and the second gear 832 move upward under the action of elastic force, so that the second gear 832 is meshed with the rack 351. When the clutch mechanism is in the first state, the pressing portion 860 presses the second gear 832, so that the second gear 832 is in a position to cooperate with the rack 351.

[0142] It is also worth noting that when the jaw assembly 100 is in the open state, the clutch mechanism is in the second state. After the jaw assembly 100 is in the closed state, the main control module controls the motor to rotate, so that the clutch mechanism switches to the first state, so that the rack 351 is meshed with the second gear 832, and the motor assembly 820 is connected to the rack 351 in transmission, so as to drive the rack 351 to move to feed the knife. Specifically, the frame 600 is provided with a limit member and a switch member. The switch member is electrically connected to the main control module. When the jaw assembly 100 switches from the open state to the closed state, the connecting rod assembly 610 switches from the first position to the second position. The connecting rod assembly 610 drives the limit member to move so that the limit member switches from the locked position to the unlocked position. When the jaw assembly 100 is in the closed state, the limit member is in the unlocked state, triggering the switch member. The switch member sends an electrical signal to the main control module. After receiving the electrical signal sent by the switch member, the main control module controls the motor to start and drives the push member 850 to rotate to switch the clutch mechanism to the first state. In another embodiment, as Fig.42 and Fig.43 As shown, the driving member includes an operating part 840, which is a rod body, rotatably arranged on the frame 600 and extending out of the housing of the operating assembly. The medical staff switches the clutch mechanism from the first state to the second state by rotating the operating part 840. The operating part 840 is connected to the pusher 850 through a transmission shaft. When the operating part 840 is operated, the pusher 850 is driven to rotate by the transmission shaft. The pusher is a cam, having a low part, a high part and an arc surface 851 connected between the low part and the high part, and the distance between the high part and the cam rotation axis is greater than the distance between the low part and the cam rotation axis. When the clutch mechanism is in the first state, the low part of the pusher 850 is against the pressing part 860. When the clutch mechanism is switched from the first state to the second state, the pusher 850 rotates to be against the pressing part 860 through the high part, so that the pressing part 860 moves downward, thereby pushing the second gear 832 to move downward and disengage from the rack 351.

[0143] Further, combined with Fig.40As shown, the pushing member 850 forms a locking surface 852 at the high part, and the locking surface 852 is a plane. The pressing portion 860 has an upper surface 861, and the upper surface 861 is also a plane. When the clutch mechanism is in the second state, the pushing member 850 is in contact with the upper surface 861 through the locking surface 852, and the pushing member 850 is locked by rotation. At this time, the medical staff releases the operating portion 840, and the locking surface 852 is in contact with the upper surface 861, so that the pushing member 850 cannot continue to rotate, and the clutch mechanism remains in the second state. The medical staff can operate the steering drive assembly 700 to rotate the jaw assembly 100 from the bent state to the straight state. After the turning is completed, the medical staff can rotate the operating part 840 in a counterclockwise direction, which is opposite to the direction of the process of the clutch mechanism switching from the first state to the second state, so that the pushing member 850 rotates relative to the pressing part 860, and then the clutch mechanism switches from the second state to the first state, and the second gear 832 engages with the rack 351, so that the stapler can be used again.

[0144] It is worth noting that the motor assembly 820 includes an output shaft 821 and an output gear 822. When the clutch mechanism is in the first state, the output gear 822 is meshed with the first gear 831. When the clutch mechanism switches to the second state, the first gear 831 and the second gear 832 move downward. In order to avoid the output gear 822 interfering with the second gear 832 that moves downward, in one embodiment, the outer diameter of the second gear 832 is smaller than the first gear 831. After the second gear 832 moves downward, there is still a certain radial distance between it and the output gear 822, so that the output gear 822 will not interfere with the second gear 832 that moves downward. In another embodiment, the second gear 832 can engage with the output gear 822 during the downward movement, so that the output gear 822 will not interfere with the downward moving second gear 832. Specifically, the second gear 832 has the same number of teeth, module and gear size as the first gear 831, and each tooth of the first gear 831 is aligned one by one with each tooth of the second gear 832 in the axial direction. The output gear 822 that cooperates with the first gear 831 can smoothly engage with the second gear 832, so that the output gear 822 will not interfere with the downward moving second gear 832.

[0145] After the knife is retracted, the main control module controls the motor assembly 820 to stop, and the medical staff can rotate the operating part 840 to switch the clutch mechanism to the second state, thereby releasing the motor assembly 820 from locking the rack 351. When the jaw assembly 100 is subsequently turned from the curved state to the straight state, the cutting knife assembly 300 can drive the rack 351 to smoothly reset to the distal side. Example 4

[0146] The surgical instrument of the fourth embodiment of the present application is substantially the same as the first embodiment, the main difference being that the structure of the safety component 500 is different. Figures 44 to 46As shown, the safety member 510 of the safety assembly 500 can be slidably disposed on the frame 600, and the sliding direction thereof is the axial direction (horizontal direction) of the sleeve assembly 400, which is the same as the direction in which the rack 351 retracts toward the proximal side. The elastic member is horizontally disposed and connected between the safety member 510 and the frame 600.

[0147] The rack 351 has a driving part 353. When the rack 351 is at the cutting position, the safety member 510 abuts against the flange 912 of the release button 910, and the driving part 353 fits with the distal end of the safety member 510. During the cutting process, when the rack 351 moves from the cutting position to the initial position, the driving part 353 pushes the safety member 510 to move proximally, compressing the elastic member so that the safety member 510 is separated from the flange 912, and the safety member 510 does not interfere with the rack 351 moving proximally, and the safety assembly 500 is switched to the unlocked state. When the rack 351 moves from the initial position to the extreme retraction position, the driving part 353 pushes the safety piece 510 and the rack 351 to continue to move proximally to further compress the elastic piece. During this process, the safety assembly 500 is always in an unlocked state, and the safety piece 510 is separated from the flange 912 and does not interfere with the rack 351 moving proximally; when the jaw assembly 100 rotates from the maximum rotation state to the straight hitting state, the cutting knife assembly 300 moves distally, driving the rack 351 to move from the extreme retraction position to the initial position, and the elastic piece is released, pushing the safety piece 510 to slide distally and abut against the driving part 353. During this process, the safety piece 510 is always in an unlocked state. During the feeding process, when the rack 351 moves from the initial position to the feeding position, the elastic member is released, pushing the safety member 510 to slide distally, so that the safety member 510 abuts against the flange 912, and the safety assembly 500 switches to a locked state; when the rack 351 moves distally from the initial position, the safety assembly 500 remains in a locked state.

[0148] It should be understood that although this specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation mode may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

[0149] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A surgical instrument, characterized in that: It includes a jaw assembly, a frame, a jaw opening assembly, a cutting knife driving component and a safety assembly; The safety assembly is arranged on the frame and has an unlocked state and a locked state. In the unlocked state, the safety assembly is separated from the jaw opening assembly. In response to the jaw opening assembly being operated, the jaw assembly switches from a closed state to an open state. In the locked state, the safety component abuts against the jaw opening component, so that the jaw opening component is locked; The cutting blade drive member has an initial position and a blade retraction limit position; When the cutting blade driving member is in the initial position, the safety assembly is in the unlocked state, and in response to the cutting blade driving member moving distally from the initial position, the safety assembly switches to the locked state; When the knife is retracted, the cutting knife driving member moves proximally to the initial position and drives the safety assembly to switch to the unlocked state; During the process of the cutting knife driving member moving from the initial position toward the proximal end to the knife retraction limit position, the cutting knife driving member acts on the safety component and keeps the safety component in the unlocked state.

2. The surgical instrument according to claim 1, characterized in that The safety component includes a safety piece and an elastic piece, wherein the elastic piece is connected between the frame and the safety piece. When the safety component is in the unlocked state, the safety piece is constrained by the cutting knife driving piece to be separated from the jaw opening assembly, and the elastic piece is compressed. When the cutting knife driving piece moves from the initial position to the distal end, the safety piece is released, and the elastic piece drives the safety piece to move to abut against the jaw opening assembly, so that the safety component is switched to the locked state.

3. The surgical instrument according to claim 2, characterized in that The cutting knife driving member includes a driving portion and a retaining portion. When the cutting knife driving member moves from the distal side to the initial position, the driving portion abuts against the safety member and drives the safety member to move to separate from the jaw opening assembly, so that the safety assembly is switched from the locked state to the unlocked state; when the cutting knife assembly is located at the initial position or at the knife retraction limit position, the retaining portion abuts against the safety member to restrain the safety member, so that the safety assembly is in the unlocked position.

4. The surgical instrument according to claim 3, characterized in that The driving portion includes a guiding surface, the holding portion includes a holding surface, and the guiding surface is connected to the holding surface; When the cutting knife driving member moves toward the proximal side from the cutting knife feeding position, the safety member is driven to rotate by the guide surface, so that the safety assembly switches from the locking position to the unlocking position; When the cutting knife assembly is located at the initial position, the safety member abuts against the guide surface and is constrained by the guide surface, or abuts against the retaining surface and is constrained by the retaining surface, so that the safety assembly is in the unlocked position; when the cutting knife assembly is located at the retracting limit position, the safety member abuts against the retaining surface and is constrained by the retaining surface, so that the safety assembly is in the unlocked position.

5. The surgical instrument according to claim 3, characterized in that: The safety member comprises a rod body and a protruding portion connected to the rod body, and the safety member is abutted against the driving portion or the holding portion through the protruding portion.

6. The surgical instrument according to claim 2, characterized in that: The safety member is rotatably arranged on the frame, and when the safety assembly is in the unlocked state, the safety member is constrained to be in a first rotation position and separated from the jaw opening assembly; When the safety member is released, it rotates to the second rotation position under the action of the elastic member to abut against the jaw opening assembly, so that the safety assembly is in the locked state.

7. The surgical instrument according to claim 2, characterized in that: The safety member is movably arranged on the frame. When the safety member is constrained, it is in a first moving position to separate from the jaw opening assembly. When the safety member is released, it moves to a second moving position under the action of the elastic member to resist the jaw opening assembly.

8. The surgical instrument according to claim 1, characterized in that The jaw opening assembly comprises an operating portion, and when the safety assembly is in the locked position, it abuts against the operating portion to prevent the operating portion from being operated, thereby keeping the jaw assembly in the closed state.

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