Surgical operating instrument

Abstract

According to the surgical operating instrument, a clutch structure is arranged between a percussion rod and a closing rod, so that the percussion rod and the closing rod can be switched between a connection state and a separation state, and when the percussion rod and the closing rod are connected, the percussion rod drives the closing rod to move so as to achieve closing; when the percussion rod and the closing rod are separated, the percussion rod moves to achieve percussion, in this way, closing and percussion can be achieved when driving force acts on the rod body assembly, a power conversion mechanism does not need to be arranged in the handle, and the structure in the handle is simplified; besides, the driving force only needs to continuously drive the percussion rod to move and is combined with the clutch structure, closing and percussion can be achieved, the driving object is single, and the output mode is simpler.

Description

Technical Field

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

[0002] At present, surgical instruments used to replace manual suturing in surgical operations include staplers and purse-string forceps. The end effector of such surgical instruments is first driven to close by a closing rod in a shaft assembly, and then driven to achieve the suturing function by a firing rod in the shaft assembly. In the prior art, both the closing rod and the firing rod are driven to move by a power member in a handle, but only one power member is provided in the handle, and the closing rod and the firing rod cannot operate at the same time, otherwise the problem of firing first and closing later will occur. Therefore, in the prior art, a conversion mechanism is usually provided in the handle.

[0003] In the prior art, since both the closing rod and the firing rod need to be connected to the conversion mechanism in the handle, the handle structure is complicated, and there is a problem of unstable connection during the conversion connection between the closing rod and the firing rod. Therefore, how to achieve the closing and suturing functions of the end actuator by driving the closing rod and the firing rod in sequence by one power part without setting up a conversion mechanism is an issue that urgently needs to be solved to simplify the handle structure. Summary of the invention

[0004] The object of the present invention is to provide a surgical instrument, which realizes the opening and closing and suturing functions of the jaw assembly by a driving force, avoiding the need to set a conversion structure in the handle.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: a surgical instrument, comprising an end effector, a handle, and a shaft assembly connecting the end effector and the handle, wherein the shaft assembly transmits the driving force of the handle to the end effector, the shaft assembly comprises a firing rod and a closing rod for controlling the closing of the end effector and arranged in parallel with the firing rod, a clutch structure is formed between the firing rod and the closing rod, and the clutch structure has a connection configuration and a separation configuration;

[0006] Wherein, after the end actuator is closed, the clutch structure is converted from the connection configuration to the separation configuration; in the connection configuration, the firing rod and the closing rod are connected by the clutch structure; in the separation configuration, the firing rod and the closing rod are separated.

[0007] Furthermore, the clutch structure includes an actuating member, and the actuating member drives the closing rod to move away from the firing rod in the radial direction, so that the clutch structure is converted from a connected configuration to a separated configuration;

[0008] The actuating member drives the closing rod to approach the firing rod in radial direction, and the clutch structure is converted from a separation configuration to a connection configuration.

[0009] Further, the actuating member includes a first actuating member and a second actuating member; the first actuating member drives the closing rod to move away from the firing rod in the radial direction, and the second actuating member drives the closing rod to move closer to the firing rod in the radial direction.

[0010] Further, the first actuating member is a rotating member, which includes a fixed end and a free end, the fixed end is hinged on the closing rod, and the rotating member rotates around the free end to switch between a first position and a second position, and when the rotating member switches from the first position to the second position, the closing rod is driven radially away from the firing rod.

[0011] Furthermore, a braking portion is provided on the shaft assembly, and the braking portion abuts against the free end to drive the rotating member to rotate from the first position to the second position and remain at the second position.

[0012] Furthermore, the shaft assembly extends along the axial direction to form a slide groove, the rotating member is accommodated in the slide groove and can move in the slide groove, the braking portion is the end of the slide groove, and when the rotating member moves in the slide groove, the fixed end of the rotating member is higher than the free end.

[0013] Furthermore, a first arc surface is provided on the braking portion, and a second arc surface is provided on the free end. The first arc surface and the second arc surface are adapted in shape, and the second arc surface can rotate relative to the first arc surface.

[0014] Furthermore, the shaft assembly includes a shaft shell, the closing rod and the firing rod are located in the shaft shell, the second actuator is a spring, one end of the spring is arranged on the closing rod, and the other end of the spring is abutted against the shaft shell, and the spring is always in a pre-stressed state.

[0015] Furthermore, the clutch structure also includes a connecting structure that forms the clutch configuration and the connecting configuration, and the connecting structure includes a slot and a block formed on the closing rod and the firing rod, and the slot and the block are radially snap-fitted.

[0016] Further, the slot includes a first slot provided on the closing rod and a second slot provided on the firing rod, the block includes a first block provided on the firing rod and a second block provided on the closing rod, and a slope is formed on at least one of the first block or the second block.

[0017] Furthermore, a guide groove extending along the axial direction of the shaft assembly is provided on the closing rod, and the clamping groove is formed by extending upward from one end of the guide groove; in the clutch configuration, the clamping block is located in the guide groove.

[0018] The beneficial effects of the present invention are as follows: the present application provides a clutch structure between the firing rod and the closing rod, so that the firing rod and the closing rod can be switched between the connected and separated states, wherein when the firing rod and the closing rod are connected, the firing rod drives the closing rod to move to achieve closing; when the firing rod and the closing rod are separated, the firing rod moves to achieve firing, so that the driving force acts on the rod body assembly to achieve closing and firing, thereby eliminating the need to provide a power conversion mechanism in the handle, simplifying the structure in the handle;

[0019] In addition, in the present application, the driving force only needs to continuously drive the firing rod to move and combine with the clutch structure to achieve closing and firing. The driving object is single and the output method is simpler.

[0020] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of a surgical instrument shown in a preferred embodiment of the present application.

[0022] Figure 2 for Figure 1 Exploded structure diagram of the end effector and shaft assembly.

[0023] Figure 3 for Figure 1 Axial structural diagram of the end effector and part of the shaft assembly.

[0024] Figure 4 for Figure 1 Diagram of the internal structure of the shaft assembly when the middle jaw assembly is not closed.

[0025] Figure 5 for Figure 1 Diagram of the internal structure of the shaft assembly when the middle jaw assembly is closed.

[0026] Figure 6 for Figure 1 Diagram of the internal structure of the shaft assembly when the middle jaw assembly is closed and the suture is fired.

[0027] Figure 7 for Figure 4 Schematic diagram of the enlarged structure of part A in the middle.

[0028] Figure 8 for Figure 6 Schematic diagram of the enlarged structure of part B in the middle.

[0029] Fig. 9 for Figure 1 Internal structural diagram of the connection structure in the middle shaft assembly.

[0030] Fig.10 for Fig. 9 Schematic diagram of the enlarged structure of part C in the middle.

[0031] Fig.11 for Figure 1 Exploded view of the firing rod and closing rod.

[0032] Fig.12 for Figure 1 Internal structure diagram of the end effector. DETAILED DESCRIPTION

[0033] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0034] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0035] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0037] Please refer to Figure 1The surgical instrument shown in a preferred embodiment of the present application includes an end effector 300, a handle 100, and a shaft assembly 200 connecting the end effector 300 and the handle 100. In this embodiment, the end effector 300 and the shaft assembly 200 are non-detachably connected, and the shaft assembly 200 is detachably mounted on the handle 100, so as to facilitate the replacement of the end effector 300 and the shaft assembly 200, so that the handle 100 can be reused. Of course, in other embodiments, the end effector 300 and the shaft assembly 200 can also be detachably connected, and the shaft assembly 200 and the end effector 300 are non-detachably connected; or, all three are detachably connected, or all three are non-detachably connected. In this embodiment, the end effector 300 is specifically a forceps head. During surgery, a nail magazine body 330 is installed on the forceps head, so as to realize the suturing of the intestines, stomach or other tissues inside the human body. Of course, in other embodiments, the end effector 300 may be replaced with another type of end effector 300 according to different needs, such as an end effector 300 with a cutting function.

[0038] Please refer to Figures 1 to 3 The handle 100 in this embodiment is an electric handle. Of course, in other embodiments, the handle 100 may also be a manual handle or a semi-electric handle. The handle 100 includes a grip portion 110 and an adapter 120 mounted on the grip portion 110. A drive motor is provided in the grip portion 110, and the drive motor is used to provide a driving force. The shaft assembly 200 is docked with the adapter 120, and the driving force of the handle 100 is transmitted to the end effector 300 through the adapter 120 and the shaft assembly 200, so as to realize the opening and closing of the end effector 300 and to fire the end effector 300 for suturing. The surgical instrument handle 100 is a conventional structure in the prior art and will not be described in detail here.

[0039] Please refer to Figures 2 to 4 The shaft assembly 200 in this embodiment includes a firing rod 220, a closing rod 230 that controls the closing of the end effector 300 and is arranged in parallel with the firing rod 220, and a shaft housing 210. The firing rod 220 and the closing rod 230 are arranged in the shaft housing 210, and the closing rod 230 is arranged above the firing rod 220. A clutch structure is formed between the firing rod 220 and the closing rod 230, and the clutch structure has a connection configuration that connects the firing rod 220 and the closing rod 230 to each other and a separation configuration that separates them from each other, wherein, after the end effector 300 is closed, the clutch structure is converted from the connection configuration to the separation configuration.

[0040] When the clutch structure is in the connected configuration, the firing rod 220 moves under the action of the driving force and drives the closing rod 230 along the axis direction of the shaft assembly 200 (such as Figure 1The closing rod 230 drives the end effector 300 to close. When the clutch structure is in the separated configuration, the firing rod 220 continues to move along the axis direction of the shaft assembly 200 under the action of the driving force, and the closing rod 230 is in a stationary state.

[0041] For details, please refer to 4 to Figure 6 The end effector 300 is in an open state in the initial state, and at this time, the end effector 300 is located in the human body. When the surgical instrument is working, the driving motor rotates forward, and the firing rod 220 moves along the axis of the shaft assembly 200 toward the end effector 300 under the action of the driving force. At this time, since the clutch structure is in a connected configuration, the firing rod 220 and the closing rod 230 are connected, so the firing rod 220 will drive the closing rod 230 to move along the axis of the shaft assembly 200 toward the end effector 300 until the end effector 300 clamps the suture part of the human body, that is, the closing rod 230 drives the end effector 300 to close.

[0042] When the end effector 300 is closed, the clutch structure switches to the separation configuration, and the firing rod 220 and the closing rod 230 are separated. At this time, under the action of the driving force, the firing rod 220 continues to move along the axis of the rod body assembly 200 toward the end effector 300 until the nail pushing part of the firing rod 220 enters into the nail magazine body 330 to complete the firing function, that is, the firing rod 220 pushes out the suture nails (not shown) in the nail magazine body 330 to suture the suture part of the human body.

[0043] It should be noted that when the clutch structure is in the separated configuration, since the firing rod 220 and the closing rod 230 are separated, when the firing rod 220 moves, it will not drive the closing rod 230 to move, that is, the closing rod 230 is in a stationary state.

[0044] When the firing is completed, the driving motor reverses, and the firing rod 220 moves along the axis of the shaft assembly 200 in the direction away from the end actuator 300 under the action of the driving force. When the nail pushing part of the firing rod 220 moves out of the nail magazine body 330, the clutch structure switches back to the connection configuration, and the closing rod 230 and the firing rod 220 are reconnected. At this time, the firing rod 220 will drive the closing rod 230 to move along the axis of the shaft assembly 200 in the direction away from the end actuator 300, so that the closing rod 230 drives the end actuator 300 to start opening, until the end actuator 300 is fully opened and restored to the initial state.

[0045] By setting a clutch structure between the firing rod 220 and the closing rod 230, the firing rod 220 and the closing rod 230 can be switched between the connected and separated states. When the firing rod 220 and the closing rod 230 are connected, the firing rod 220 drives the closing rod 230 to move to achieve closing; when the firing rod 220 and the closing rod 230 are separated, the firing rod 220 moves to achieve firing. In this way, the driving force directly acts on the firing rod 22 to achieve closing and firing, thereby eliminating the need to set a power conversion mechanism in the handle 100, thereby simplifying the structure in the handle 100; in addition, since the driving force only needs to continuously drive the firing rod 220 to move and combine with the clutch structure to achieve closing and firing, its driving object is single and the output method is simpler.

[0046] In this embodiment, the clutch structure includes an actuator that enables the switch between the connected configuration and the separated configuration. The actuator drives the closing rod 230 to move radially (eg, Figure 7 The actuator drives the closing rod 230 to move radially (in the direction indicated by the arrow b) away from the firing rod 220, and the clutch structure is converted from the connected configuration to the separated configuration. Figure 7 The closing rod 230 is moved in the radial direction b (in the direction indicated by the arrow c) to approach the firing rod 220, and the clutch structure is converted from the separated configuration to the connected configuration. That is, the closing rod 230 is driven by the actuating member to move in the radial direction b to move away from the firing rod 220, so that the closing rod 230 and the firing rod 220 are separated, so that the clutch structure is converted from the connected configuration to the separated configuration. The brake member drives the closing rod 230 to move in the radial direction c to approach the firing rod 220, so that the closing rod 230 and the firing rod 220 are connected, so that the clutch structure is converted from the separated configuration to the connected configuration.

[0047] The actuator specifically includes a first actuator 231 and a second actuator 232. The first actuator 231 drives the closing rod 230 to move the firing rod 220 along the radial direction b relative to the firing rod 220, and the second actuator 232 drives the closing rod 230 to move along the radial direction c relative to the firing rod 220. In detail, the first actuator 231 is a rotating member, and the second actuator 232 is a spring.

[0048] Please refer to Figures 6 to 8 The rotating member 231 is a cam-like structure, and includes a fixed end 2311 and a free end 2312. The fixed end 2311 is hinged on the closing rod 230. The rotating member 231 rotates around the free end 2312 to be in the first position (see Figure 7 , the rotating member 2311 is in an inclined state) and a second position (see Figure 8, the rotating member 231 is in a vertical state), and when the rotating member 231 is switched from the first position to the second position, the closing rod 230 is driven to move relative to the firing rod 220 in the radial direction b. Specifically, when the free end 2312 is restricted, when the rotating member 231 is rotated from the first position to the second position, the closing rod 230 is driven to move relative to the firing rod 220 in the radial direction b.

[0049] In order to make the rotating member 231 rotate at a specific position to convert from the first position to the second position, the rod body assembly 200 is provided with a brake part 212, and the brake part 212 abuts against the free end 2312 to drive the rotating member 231 to rotate from the first position to the second position and remain in the second position. In detail, in the process that the firing rod 220 drives the closing rod 230 to move along the axial direction of the rod body assembly 200, the closing rod 230 drives the end effector 300 to be in a closed state, and the rotating member 231 moves to the brake part 212. At this time, the brake part 212 will abut against the free end 2312 of the rotating member 231, so that the rotating member 231 rotates relative to the brake part 212, and the rotating member 231 is converted from the first position to the second position. In the process of the rotating member 231 changing, the rotating member 231 drives the closing rod 230 to move along the radial direction b, so that the closing rod 230 is relatively away from the firing rod 220, so that the two are separated, and the clutch structure is switched from the connection configuration to the separation configuration.

[0050] In this embodiment, the radial direction b is an upward direction, and two rotating members 231 are provided, which are symmetrically hinged on both sides of the closing rod 230. In order to ensure that the rotation direction of the rotating member 231 is to drive the closing rod 230 to move upward away from the firing rod 220, a stopper 233 is provided on the closing rod 230 and above the rotating member 231. The stopper 233 is used to limit the rotating member 231 to rotate only in the direction of driving the closing rod 230 to move upward away from the firing rod 220, thereby ensuring the stability of the clutch structure when the connection configuration is converted into the separation configuration.

[0051] The shaft assembly 200 extends along the axial direction to form a slide groove 211, the rotating member 231 is accommodated in the slide groove 211, and the brake portion 212 is the end of the slide groove 211. The slide groove 211 is opened on the inner wall of the shaft housing 210. During the movement of the closing rod 230, the rotating member 231 moves synchronously in the slide groove 211. The length of the slide groove 211 is just enough to meet the requirement that when the closing rod 230 drives the end effector 300 to be completely closed, the free end 2312 of the rotating member 231 just abuts against the end of the slide groove 211.

[0052] Under the action of the driving force, the closing rod 230 drives the rotating member 231 to slide in the sliding groove 211, and the fixed end 2311 is higher than the free end 2312. When the free end 2312 is against the braking part 212, the rotating member 231 has a driving force applied to the fixed end 2311 by the hinge point and a reaction force applied to the free end 2312 by the braking part 212. The vector directions of the driving force and the reaction force are opposite. Under the action of the driving force, the fixed end 2311 has a tendency to continue to move forward, and the free end 2312 cannot continue to move forward due to the action of the braking part 212. Moreover, since the application point of the driving force is higher than the application point of the reaction force, the fixed end 2311 rotates relative to the braking part 212, that is, the fixed end 2311 also rotates relative to the free end 2312, and the fixed end 2311 drives the closing rod 230 to move relative to the firing rod 220 along the radial direction b to move away from the firing rod 220, and the clutch structure is converted from a connected configuration to a separated configuration.

[0053] In order to make the rotating member 231 rotate more smoothly relative to the braking part 212, a first arc surface 213 is provided on the braking part 212, and a second arc surface 2313 is provided on the free end 2312. The first arc surface 213 and the second arc surface 2313 are adapted in shape, and the second arc surface 2313 can rotate relative to the first arc surface 213. The first arc surface 213 is a concave surface, and the second arc surface 2313 is a convex surface. The shapes of the concave surface and the convex surface are adapted. When the free end 2312 contacts the braking part 212, the convex surface is inserted into the concave surface. When the rotating member 231 rotates, the convex surface slides relative to the concave surface, which can effectively reduce the friction force, so that the rotating member 231 can rotate more smoothly relative to the braking part 212.

[0054] In order to drive the closing rod 230 to move relative to the firing rod 220 in the radial direction c to approach the firing rod 220, a spring sheet 232 is provided on the top surface of the closing rod 230. One end of the spring sheet 232 is fixed to the top surface of the closing rod 230, and the other end is abutted against the inner wall of the shaft housing 210. The spring sheet 232 is always in a pre-compression state. When the closing rod 230 moves, the spring sheet 232 slides with the inner wall of the shaft housing 210. Since the spring sheet 232 is in a pre-compression state, the spring sheet 232 always applies a downward elastic force to the closing rod 230, so that the closing rod 230 always has a tendency to move relative to the firing rod 220 in the radial direction c to approach the firing rod 220. Specifically, the spring piece 232 includes a planar portion (unnumbered) and a raised portion (unnumbered) connected to the planar portion. A mounting groove is provided on the top surface of the closing rod 230. The planar portion is fixed in the mounting groove by bolts, and the raised portion is supported against the inner wall of the rod body shell 210.

[0055] Please refer to Figures 9 to 11In order to facilitate the separation and connection of the closing rod 230 and the firing rod 220, the clutch structure also includes a connecting structure. In this embodiment, the connecting structure is formed between the closing rod 230 and the firing rod 220. The connecting structure includes a slot and a block for realizing snap-fitting in the radial direction. Specifically, the slot includes a first slot 234 formed on the closing rod 230 and a second slot 222 formed on the firing rod 220, and the block includes a first block 221 formed on the closing rod 230 and a second block 235 formed on the firing rod 220. The first slot 234 cooperates with the first block 221, and the second slot 222 cooperates with the second block 235.

[0056] For ease of understanding, the structures of the closing rod 230 and the firing rod 220 are roughly described below. The closing rod 230 includes a first rod body 230B, and a first end 230A and a second end 230C formed at both ends of the first rod body 230B. The first end 230A is connected to the end effector 300, and the spring 232 and the rotating member 231 are both arranged at the second end 230C. A first clamping groove 234 and a second clamping block 235 are formed on the second end 230C. Specifically, the second clamping block 235 is located on one side of the first rod body 230B, and the second clamping block 235 extends downward from the second rod body 230B. The first clamping groove 234 is formed by being closely attached to the inner side surface of the second clamping block 235 and being recessed upward in the second rod body 230B. The firing rod 220 includes a second rod body 220B, and a nail pushing portion 220A and a connecting portion 220C formed at both ends of the second rod body 220B. The nail pushing portion 220A is used to enter the nail magazine body 330 to push the suture nails in the nail magazine body 330. This structure adopts the existing technology and will not be described in detail. The second clamping groove 222 and the first clamping block 221 are formed on the connecting portion 220C. Specifically, the second clamping block 235 is formed by extending upward from the second rod body portion 220B, and the second clamping groove 222 is formed by being closely attached to the inner side surface of the second clamping block 235 and concave upward on the second rod body portion 220B.

[0057] The radial movement distance of the closing rod 230 and the firing rod 220 is greater than the depth of the first slot 234 and the depth of the second slot 222, and less than the length of the first block 221 and the length of the second block 235. In this way, when the rotating member 231 pushes the closing rod 230 in the radial direction b, so that the first block 221 and the second block 235 are moved out of the first slot 234 and the second slot 222 respectively, the inner end face of the first block 221 and the inner end face of the second block 235 are partially overlapped in the axial direction. Therefore, if the firing rod 220 moves in the direction away from the end actuator 300, the inner end face of the first block 221 and the inner end face of the second block 235 are abutted.

[0058] It should be noted that the top surface of the first block 221 is lower than the top surface of the first rod body 230B, and the bottom surface of the second block 235 is higher than the bottom surface of the second rod body 220B. When the closing rod 230 and the firing rod 220 are separated, the first block 221 and the second block 235 are separated from the first slot 234 and the second slot 222 respectively, so that the first block 221 moves out of the first slot 234 and moves along the axis on the second rod body 220B with the movement of the firing rod 220, and the second block 235 moves out of the second slot 222, and the second slot 222 moves along the axis on the first rod body 230B with the movement of the firing rod 220.

[0059] In order to facilitate the connection between the firing rod 220 and the closing rod 230, the firing rod 220 moves relative to the closing rod 230, and a slope 2351 is formed on the bottom surface of the second clamping block 235 on the side away from the first clamping groove 234. In addition, the slope 2351 is also conducive to a certain guiding effect when the firing rod 220 and the closing rod 230 are re-engaged. Of course, in other embodiments, a slope can also be set on the second clamping block 235, or a slope can be set on the first clamping groove 234 and / or the second clamping groove 222, which is not specifically limited.

[0060] Please refer to Figure 3 The closing rod 230 is provided with a guide groove 236 for guiding the firing rod 220 after the firing rod 220 and the closing rod 230 are separated, and the guide groove 236 extends along the axis direction of the shaft assembly. The clamping groove 234 extends upward from one end of the guide groove to form the closing rod 230, and the guide groove 236 and the clamping groove 234 form a horizontally laid-down L-shaped structure. When the closing rod 230 and the firing rod 220 are separated, the firing rod 220 moves alone along the axis direction of the shaft assembly 200, and the top surface of the first clamping block 221 slides on the groove surface of the guide groove 236 to prevent the rotating member 231 from reversing under the action of the tension of the shrapnel 232. At the same time, it ensures that the closing rod 230 and the firing rod 220 will not be misaligned in the horizontal direction to prevent the firing rod 220 from being unable to reconnect during the return process. When the firing rod 220 returns, the first block 221 abuts against the second block 235 to drive the closing rod 230 to return. Under the tension of the spring 232, the first block 221 is inserted into the slot 234 again, and the second block 235 is inserted into the second slot 222.

[0061] As described above, the clutch structure is in a connected configuration. Under the action of the driving force, the firing rod 220 drives the closing rod 230 to move toward the end actuator 300. Since the rotating member 231 is fixed on the closing rod 230, the rotating member 231 moves toward the end actuator 300 accordingly. When the rotating member 231 of the end actuator 300 moves to the braking portion 212, at this time, the free end 2312 is abutted against the braking portion 212, and the first arc surface 213 is abutted against the second arc surface 2313. At the same time, the end actuator 300 is in a closed state. When the firing rod 220 continues to move toward the direction of the end actuator 300 under the action of the driving force, the movement drives the closing rod 230 and the rotating member 231 to move toward the direction of the end actuator 300. Under the limiting action of the braking portion 212, the rotating member 231 will rotate relative to the braking portion 212, and its fixed end 2311 drives the closing rod 230 away from the firing rod 220 in the radial direction b, the first block 221 is separated from the first slot 234, and the second block 235 is separated from the second slot 222. At the same time, the spring piece 232 is compressed, and the clutch structure is changed from a connected configuration to a separated configuration, and the closing rod 230 is separated from the firing rod 220.

[0062] After the closing rod 230 is separated from the firing rod 220, the driving force continues to move the firing rod 220 toward the end effector 300 until the firing is completed. After the closing rod 230 is separated from the firing rod 220, the rotating member 231 is restricted by the braking portion 212 and the closing rod 230 is in a stationary state. Therefore, the rotating member 231 is always in the second position (the rotating member 231 is as shown in FIG. Figure 8 vertical position shown).

[0063] After the firing is completed, the driving motor is reversed to make the firing rod 220 return (i.e., the firing rod 220 moves in a direction away from the end effector 300), that is, the firing rod 220 moves in a direction away from the end effector 300 until the inner end surface of the first clamping block 221 abuts against the inner end surface of the second clamping block 235, and the firing rod 220 continues to move in a direction away from the end effector 300. At this time, due to the interaction between the first clamping block 221 and the second clamping block 235, the firing rod 220 will drive the closing rod 230 to move in a direction away from the end effector 300, and since the rotating member 231 is fixed on the closing rod 230, the rotating member 231 will move with the closing rod 230, and the friction between the rotating member 231 and the braking portion 212 and the sliding groove 211 will cause the rotating member 231 to rotate in the opposite direction relative to the braking portion 212, from the second position ( Figure 8 The vertical state) changes to the first position ( Figure 7At this time, the spring piece 232 will push the closing rod 230 to approach the firing rod 220 along the radial direction c, so that the first clamping block 221 is inserted into the first clamping groove 234 for clamping and matching, so that the closing rod 230 is connected with the firing rod 220, and the clutch structure is transformed from the separation configuration to the connection configuration. At the same time, the firing rod 220 still drives the closing rod 230 to move in the direction away from the end effector 300, so that the end effector 300 gradually opens and returns to the initial state.

[0064] The end effector 300 includes a jaw assembly and a swing mechanism. The jaw assembly includes two clamp arms 310 and 320 that are arranged opposite to each other. The two clamp arms 310 and 320 are hinged on the swing structure, and under the action of the driving force, the two clamp arms 310 and 320 are opened (such as Figure 4 as shown) or closed (as Figure 5 As shown), thereby clamping or loosening the body sutures.

[0065] Please refer to Figure 2 and Fig.12 One of the two clamp arms 310 is a nail support, and the other clamp arm 320 is a mounting seat for mounting a nail magazine body 330. The nail magazine body 330 has a nail pushing plate and suture nails built in. After the nail pushing part of the firing rod 220 enters the nail magazine body 330, it pushes the nail pushing plate to fire the suture nail toward the nail support 310, thereby suturing the suture part of the human body. This is a prior art and will not be described in detail here.

[0066] The swing mechanism includes a swing joint 340 and a pull rod 240. The two clamp arms 310 and 320 are hinged at one end of the swing joint 340. The other end of the swing joint 340 is hinged to the shaft shell 210. The pull rod 240 is arranged in the shaft shell 210 and is hinged on the swing joint 340. The hinge point of the shaft shell 210 is located on the center line of the swing joint 340. The hinge point of the pull rod 240 is located on one side of the swing joint 340 in the axial direction of the shaft assembly 200. Under the action of the driving force provided by the handle 100, the pull rod 240 applies a driving force to the swing joint 340 to move along the axial direction of the shaft assembly 200. The shaft shell 210 applies a reaction force opposite to the driving force to the swing joint 340 through the hinge point. Since the driving force and the reaction force are not colinear and have opposite directions, the swing joint 340 can rotate relative to the shaft shell 210 to drive the jaw assembly to rotate.

[0067] A cavity connecting the rod body shell 210 and the jaw assembly is formed on the swing joint 340. The firing rod 220 and the closing rod 230 can move in the cavity and can be bent relative to the swing direction of the swing joint 340.

[0068] An elastic sheet 341 is provided on the swing joint 340, and the other end of the elastic sheet 341 abuts against the nail support 310. The elastic sheet 341 is always in a pre-stressed state, so that the nail support 310 always has a tendency to open relative to the clamp arm 320 provided with the nail magazine body 330.

[0069] A closing portion is formed on the first end of the closing rod 230, and the closing portion is arranged at the jaw assembly, and the closing portion is an I-shaped structure. A guide groove 350 is arranged on the anvil 310 along the axial direction of the shaft assembly 200, and the upper end of the I-shaped structure is accommodated in the guide groove 350, the middle end of the I-shaped structure penetrates the clamp arm 320 provided with the nail magazine body 330, and the lower end of the I-shaped structure abuts against the bottom of the clamp arm 320 provided with the nail magazine body 330. The guide groove 350 includes a second guide groove 351 and a first guide groove 352. Under the action of the driving force, the I-shaped structure of the closing rod 230 moves in the guide groove 350. When the I-shaped structure moves to the second guide groove 351, the anvil 310 is closed relative to the nail magazine body 330. When the I-shaped structure moves to the first guide groove 352, the anvil 310 is opened relative to the nail magazine body 330 under the action of the elastic sheet 341.

[0070] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0071] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A surgical instrument, comprising an end effector, a handle, and a shaft assembly connecting the end effector and the handle, wherein the shaft assembly transmits a driving force of the handle to the end effector, characterized in that: The rod body assembly includes a firing rod and a closing rod that controls the closing of the end actuator and is arranged parallel to the firing rod, a clutch structure is formed between the firing rod and the closing rod, and the clutch structure has a connection configuration and a separation configuration; Wherein, after the end actuator is closed, the clutch structure is converted from the connection configuration to the separation configuration; in the connection configuration, the firing rod and the closing rod are connected by the clutch structure; in the separation configuration, the firing rod and the closing rod are separated.

2. The surgical instrument according to claim 1, characterized in that: The clutch structure includes an actuating member, and the actuating member drives the closing rod to move away from the firing rod in the radial direction, and the clutch structure is converted from a connected configuration to a separated configuration; The actuating member drives the closing rod to approach the firing rod in radial direction, and the clutch structure is converted from a separation configuration to a connection configuration.

3. The surgical instrument according to claim 2, characterized in that: The actuating member includes a first actuating member and a second actuating member; the first actuating member drives the closing rod to be radially away from the firing rod, and the second actuating member drives the closing rod to be radially close to the firing rod.

4. The surgical instrument according to claim 3, characterized in that: The first actuating member is a rotating member, which includes a fixed end and a free end. The fixed end is hinged on the closing rod. The rotating member rotates around the free end to switch between a first position and a second position. When the rotating member switches from the first position to the second position, the closing rod is driven radially away from the firing rod.

5. The surgical instrument according to claim 4, characterized in that: The shaft assembly is provided with a braking portion, which abuts against the free end to drive the rotating member to rotate from the first position to the second position and remain at the second position.

6. The surgical instrument according to claim 5, characterized in that: The shaft assembly extends along the axial direction to form a slide groove, the rotating member is accommodated in the slide groove and can move in the slide groove, the braking part is the end of the slide groove, and when the rotating member moves in the slide groove, the fixed end of the rotating member is higher than the free end.

7. The surgical instrument according to claim 6, characterized in that: The braking portion is provided with a first arc surface, and the free end is provided with a second arc surface. The first arc surface and the second arc surface are adapted in shape, and the second arc surface can rotate relative to the first arc surface.

8. The surgical instrument according to claim 3, characterized in that: The shaft assembly includes a shaft shell, the closing rod and the firing rod are located in the shaft shell, the second actuator is a spring, one end of the spring is arranged on the closing rod, and the other end of the spring is abutted against the shaft shell, and the spring is always in a pre-stressed state.

9. The surgical instrument according to claim 8, characterized in that: The clutch structure also includes a connection structure that forms the clutch configuration and the connection configuration. The connection structure includes a clamping groove and a clamping block formed on the closing rod and the firing rod. The clamping groove and the clamping block are radially clamped and matched.

10. The surgical instrument according to claim 9, characterized in that The slot includes a first slot arranged on the closing rod and a second slot arranged on the firing rod, the block includes a first block arranged on the firing rod and a second block arranged on the closing rod, and at least one of the first block or the second block is formed with an inclined surface.

11. The surgical instrument according to claim 9, wherein: The closing rod is provided with a guide groove extending along the axial direction of the rod body assembly, and the clamping groove is formed by extending upward from one end of the guide groove; in the clutch configuration, the clamping block is located in the guide groove.

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