Surgical instruments

Abstract

This application relates to a surgical instrument that incorporates a clutch mechanism between a firing lever and a closing lever, allowing the lever to switch between connected and disconnected states. When the firing lever and closing lever are connected, the firing lever moves the closing lever to achieve closure; when they are disconnected, the firing lever moves to achieve firing. Thus, the driving force applied to the lever assembly achieves both closure and firing, eliminating the need for a power conversion mechanism within the handle and simplifying its structure. Furthermore, in this application, the driving force only needs to continuously drive the firing lever in conjunction with the clutch mechanism to achieve both closure and firing, resulting in a single driving target and a simpler output method.

Description

Technical Field

[0001] This invention relates to a surgical instrument, belonging to the field of medical device technology. Background Technology

[0002] Currently, surgical instruments used to replace manual suturing in surgical procedures include staplers and purse-string forceps. The end effector of these instruments first drives the closing mechanism via a closing lever within the lever assembly, and then drives it to perform the suturing function via a firing lever within the lever assembly. In existing technology, both the closing lever and the firing lever are driven by a power component within the handle. However, the handle only contains one power component, and the closing lever and the firing lever cannot operate simultaneously; otherwise, the firing would occur before the closing mechanism. Therefore, in existing technology, a switching mechanism is typically incorporated within the handle.

[0003] In the existing technology, the handle structure is complicated because both the closing rod and the firing rod need to be connected to the conversion mechanism inside the handle. Moreover, the conversion mechanism has the problem of unstable connection during the conversion connection between the closing rod and the firing rod. Therefore, how to achieve the closing and stitching function of the end effector by having a single power component drive the closing rod and the firing rod in sequence without setting a conversion mechanism is an urgent problem that needs to be solved to simplify the handle structure. Summary of the Invention

[0004] The purpose of this invention is to provide a surgical instrument that enables the opening, closing, and suturing functions of the jaw assembly by a single driving force, thus avoiding the need for a conversion structure within the handle.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a surgical instrument, comprising an end effector, a handle, and a rod assembly connecting the end effector and the handle, wherein the rod assembly transmits the driving force of the handle to the end effector, the rod assembly includes a firing lever and a closing lever that controls the closing of the end effector and is arranged parallel to the firing lever, wherein a clutch structure is formed between the firing lever and the closing lever, the clutch structure having a connecting configuration and a separating configuration;

[0006] Wherein, after the end effector is closed, the clutch structure changes from the connected configuration to the disconnected configuration; in the connected configuration, the firing rod and the closing rod are connected by the clutch structure; in the disconnected configuration, the firing rod and the closing rod are separated.

[0007] Furthermore, the clutch structure includes an actuator that drives the closing lever to move radially away from the firing lever, thereby changing the clutch structure from a connected configuration to a disengaged configuration;

[0008] The actuator drives the closing rod to move radially closer to the firing rod, and the clutch structure changes from a disengaged configuration to a connected configuration.

[0009] Furthermore, the actuator includes a first actuator and a second actuator; the first actuator drives the closing rod radially away from the firing rod, and the second actuator drives the closing rod radially closer to the firing rod.

[0010] Furthermore, the first actuator is a rotating member, which includes a fixed end and a free end. The fixed end is hinged to the closing rod, and the rotating member rotates about the free end as an axis to switch between a first position and a second position. When the rotating member switches from the first position to the second position, it drives the closing rod to move radially away from the firing rod.

[0011] Furthermore, the rod assembly is provided with a braking part, which abuts against the free end to drive the rotating member to rotate from the first position to the second position and remain in the second position.

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

[0013] Furthermore, the braking part 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 to each other in shape, and the second arc surface can rotate relative to the first arc surface.

[0014] Furthermore, the shaft assembly includes a shaft housing, the closing rod and the firing rod are located inside the shaft housing, and the second actuator is a spring plate, one end of which is disposed on the closing rod, and the other end of which abuts against the shaft housing, and the spring plate is always in a pre-compressed state.

[0015] Furthermore, the clutch structure also includes a connecting structure forming the clutch configuration and the connecting configuration, the connecting structure including a slot and a block formed on the closing rod and the firing rod, the slot and the block engaging radially.

[0016] Furthermore, the slot includes a first slot disposed on the closing rod and a second slot disposed on the firing rod, and the block includes a first block disposed on the firing rod and a second block disposed on the closing rod, wherein at least one of the first block or the second block has an inclined surface formed thereon.

[0017] Furthermore, the closing rod is provided with a guide groove extending along the axial direction of the rod body assembly, and the locking slot extends upward from one end of the guide groove; in the clutch configuration, the locking block is located in the guide groove.

[0018] The beneficial effects of this invention are as follows: By providing a clutch structure between the firing lever and the closing lever, the firing lever and the closing lever can be switched between connected and disconnected states. When the firing lever and the closing lever are connected, the firing lever drives the closing lever to move to achieve closing; when the firing lever and the closing lever are separated, the firing lever moves to achieve firing. In this way, the driving force acting on the lever assembly can achieve both closing and firing, thus eliminating the need for a power conversion mechanism inside the handle and simplifying the structure inside the handle.

[0019] Furthermore, in this application, the driving force only needs to continuously drive the firing lever to move and combine with the clutch structure to achieve closing and firing. Its driving object is singular and its output method is simpler.

[0020] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a surgical instrument according to a preferred embodiment of this application.

[0022] Figure 2 for Figure 1 Exploded view of the end effector and lever assembly.

[0023] Figure 3 for Figure 1 A schematic diagram of the isometric structure of part of the end effector and rod assembly.

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

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

[0026] Figure 6 for Figure 1 Internal structure diagram of the shaft assembly when the middle jaw assembly is closed and the firing pin is engaged.

[0027] Figure 7 for Figure 4 A magnified structural diagram of part A in the middle.

[0028] Figure 8 for Figure 6 A magnified structural diagram of section B.

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

[0030] Figure 10 for Figure 9 Enlarged structural diagram of section C.

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

[0032] Figure 12 for Figure 1 Internal structure diagram of the mid-end actuator. Detailed Implementation

[0033] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0034] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0035] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0036] Furthermore, 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 this application includes an end effector 300, a handle 100, and a rod assembly 200 connecting the end effector 300 and the handle 100. In this embodiment, the end effector 300 and the rod assembly 200 are non-detachably connected, while the rod assembly 200 is detachably mounted on the handle 100, thereby facilitating the replacement of the end effector 300 and the rod assembly 200, allowing the handle 100 to be reused. Of course, in other embodiments, the end effector 300 and the rod assembly 200 can be detachably connected, while the rod assembly 200 and the end effector 300 are non-detachably connected; or all three can be detachably connected, or all three can be non-detachably connected. In this embodiment, the end effector 300 is specifically a forceps head. During surgery, a staple cartridge 330 is mounted on the forceps head, enabling suturing of internal tissues such as the intestines, stomach, or other tissues. Of course, in other embodiments, the end effector 300 can be replaced with other types of end effectors 300, such as an end effector 300 with a cutting function, depending on different needs.

[0038] Please refer to Figures 1 to 3 In this embodiment, the handle 100 is an electric handle. However, in other embodiments, the handle 100 can 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 disposed within the grip portion 110 to provide driving force. The rod assembly 200 docks 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 rod assembly 200 to realize the opening and closing of the end effector 300 and the firing of the end effector 300 for suturing. This 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 In this embodiment, the rod assembly 200 includes a firing lever 220, a closing lever 230 that controls the closing of the end effector 300 and is arranged parallel to the firing lever 220, and a rod housing 210. The firing lever 220 and the closing lever 230 are disposed within the rod housing 210, with the closing lever 230 positioned above the firing lever 220. A clutch structure is formed between the firing lever 220 and the closing lever 230. The clutch structure has a connecting configuration that connects the firing lever 220 and the closing lever 230 to each other, and a separating configuration that separates them. After the end effector 300 is closed, the clutch structure changes from the connecting configuration to the separating configuration.

[0040] When the clutch mechanism is in the engaged configuration, the firing lever 220 moves under the action of the driving force and drives the closing lever 230 along the axial direction of the lever assembly 200 (e.g., Figure 1As the clutch moves in the direction indicated by the middle arrow 'a', the closing lever 230 drives the end effector 300 to close. When the clutch mechanism is in the disengaged configuration, the firing lever 220 continues to move along the axis of the lever assembly 200 under the action of the driving force, while the closing lever 230 is stationary.

[0041] For details, please refer to section 4. Figure 6 In its initial state, the end effector 300 is in the open position, located inside the human body. When the surgical instrument operates, the drive motor rotates forward, and the firing lever 220 moves along the axis of the lever assembly 200 towards the end effector 300 under the driving force. At this time, because the clutch structure is in the connected configuration, the firing lever 220 and the closing lever 230 are connected. Therefore, the firing lever 220 will drive the closing lever 230 to move along the axis of the lever assembly 200 towards the end effector 300 until the end effector 300 clamps the suture site of the human body, i.e., the closing lever 230 drives the end effector 300 to close.

[0042] When the end effector 300 is closed, the clutch structure switches to the disengagement configuration, and the firing lever 220 and the closing lever 230 separate. At this time, under the action of the driving force, the firing lever 220 continues to move along the axis of the lever assembly 200 toward the end effector 300 until the push part of the firing lever 220 enters into the staple cartridge 330 to complete the firing function. That is, the firing lever 220 pushes out the suture staples (not shown) in the staple cartridge 330 to suture the suture site of the human body.

[0043] It should be noted that when the clutch mechanism is in the disengaged configuration, since the firing lever 220 and the closing lever 230 are separated, the movement of the firing lever 220 will not cause the closing lever 230 to move, that is, the closing lever 230 is in a stationary state.

[0044] After firing, the drive motor reverses, and the firing lever 220 moves away from the end effector 300 along the axis of the lever assembly 200 under the action of the driving force. When the pusher part of the firing lever 220 moves out of the nail cartridge 330, the clutch structure switches back to the connection configuration, and the closing lever 230 and the firing lever 220 are reconnected. At this time, the firing lever 220 will drive the closing lever 230 to move away from the end effector 300 along the axis of the lever assembly 200, so that the closing lever 230 drives the end effector 300 to start opening until the end effector 300 is fully open and returns to the initial state.

[0045] By incorporating a clutch mechanism between the firing lever 220 and the closing lever 230, the firing lever 220 and the closing lever 230 can switch between connected and disconnected states. When the firing lever 220 and the closing lever 230 are connected, the firing lever 220 drives the closing lever 230 to move and achieve closure. When the firing lever 220 and the closing lever 230 are disconnected, the firing lever 220 moves to achieve firing. In this way, the driving force can directly act on the firing lever 220 to achieve both closure and firing, eliminating the need for a power conversion mechanism within the handle 100 and simplifying its structure. Furthermore, since the driving force only needs to continuously drive the firing lever 220 to move and engage the clutch mechanism to achieve both closure and firing, the driving object is singular, and the output method is simpler.

[0046] In this embodiment, the clutch mechanism includes an actuator that switches it between a engaged configuration and a disengaged configuration. This actuator drives the closing lever 230 radially relative to the firing lever 220 (e.g., ...). Figure 7 (As indicated by arrow b) the clutch moves away from the firing lever 220, and the clutch mechanism changes from a engaged configuration to a disengaged configuration. Figure 7 The clutch mechanism changes from a disengaged configuration to a engaged configuration when the lever 230 moves closer to the firing lever 220 (in the direction indicated by arrow c). Specifically, the actuator drives the closing lever 230 to move radially away from the firing lever 220, thus separating the closing lever 230 and the firing lever 220. Conversely, the brake drives the closing lever 230 to move radially towards the firing lever 220, thus engaging the closing lever 230 and the firing lever 220, thus changing the clutch mechanism from a disengaged configuration to an engaged configuration.

[0047] The actuators specifically include a first actuator 231 and a second actuator 232. The first actuator 231 drives the closing rod 230 to move relative to the firing rod 220 in the radial direction b, and the second actuator 232 drives the closing rod 230 to move relative to the firing rod 220 in the radial direction c. Specifically, the first actuator 231 is a rotating element, and the second actuator 232 is a spring.

[0048] Please refer to Figures 6 to 8 The rotating member 231 has a cam-like structure and includes a fixed end 2311 and a free end 2312. The fixed end 2311 is hinged to the closing rod 230. The rotating member 231 rotates about the free end 2312 as an axis to a first position (see...). Figure 7 (The rotating component 2311 is in an inclined state) and the second position (see Figure 8The rotating member 231 can switch between a vertical state and a horizontal state. When the rotating member 231 switches from the first position to the second position, it drives the closing rod to move relative to the firing rod in the radial direction b. Specifically, when the free end 2312 is restricted, when the rotating member 231 rotates from the first position to the second position, it drives the closing rod 230 to move relative to the firing rod 220 in the radial direction b.

[0049] To allow the rotating member 231 to rotate at a specific position, transitioning from a first position to a second position, a braking part 212 is provided on the lever assembly 200. The braking 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 maintain it there. Specifically, as the firing lever 220 drives the closing lever 230 to move along the axis of the lever assembly 200, the closing lever 230 simultaneously causes the end effector 300 to be in a closed state. At this time, the rotating member 231 moves to the braking part 212, at which point the braking part 212 abuts against the free end 2312 of the rotating member 231, causing the rotating member 231 to rotate relative to the braking part 212, thus transitioning the rotating member 231 from the first position to the second position. During this transition, the rotating member 231 drives the closing lever 230 to move radially in the direction b, causing the closing lever 230 to move relatively away from the firing lever 220, resulting in their separation. The clutch structure switches from a connected configuration to a disengaged configuration.

[0050] In this embodiment, the radial direction b is upward, and two rotating members 231 are provided, symmetrically hinged on both sides of the closing rod 230. To ensure that the rotation direction of the rotating member 231 drives the closing rod 230 upward away from the firing rod 220, a stop part 233 is provided on the closing rod 230 above the rotating member 231. The stop part 233 restricts the rotating member 231 to rotate only in the direction that drives the closing rod 230 upward away from the firing rod 220, thereby ensuring the stability of the clutch structure when the engagement configuration is converted to the disengagement configuration.

[0051] The rod assembly 200 extends along the axial direction to form a groove 211. The rotating member 231 is housed in the groove 211, and the braking part 212 is the end of the groove 211. The groove 211 is formed on the inner wall of the rod housing 210. During the movement of the closing rod 230, the rotating member 231 moves synchronously within the groove 211. The length of the groove 211 is just such that when the closing rod 230 drives the end effector 300 to fully close, the free end 2312 of the rotating member 231 just abuts against the end of the groove 211.

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

[0053] To facilitate smoother rotation of the rotating component 231 relative to the braking part 212, the braking part 212 is provided with a first arc surface 213, and the free end 2312 is provided with a second arc surface 2313. 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 and convex surfaces are adapted. When the free end 2312 contacts the braking part 212, the convex surface is inserted into the concave surface. When the rotating component 231 rotates, the relative sliding of the convex surface and the concave surface can effectively reduce friction, making the rotation of the rotating component 231 relative to the braking part 212 smoother.

[0054] To enable the closing lever 230 to move radially (c) relative to the firing lever 220 and approach it, a spring plate 232 is provided on the top surface of the closing lever 230. One end of the spring plate 232 is fixed to the top surface of the closing lever 230, and the other end abuts against the inner wall of the lever housing 210. The spring plate 232 is always in a preloaded state. When the closing lever 230 moves, the spring plate 232 slides against the inner wall of the lever housing 210. Because the spring plate 232 is in a preloaded state, it always applies a downward elastic force to the closing lever 230, so that the closing lever 230 always tends to move radially (c) relative to the firing lever 220 and approach it. Specifically, the spring 232 includes a flat part (unlabeled) and a raised part (unlabeled) connected to the flat part. The top surface of the closing rod 230 is provided with a mounting groove. The flat part is fixed in the mounting groove by bolts, and the raised part abuts against the inner wall of the rod body housing 210.

[0055] Please refer to Figures 9 to 11To facilitate the separation and connection of the closing lever 230 and the firing lever 220, the clutch structure also includes a connecting structure. In this embodiment, the connecting structure is formed between the closing lever 230 and the firing lever 220. This connecting structure includes a slot and a block that engage radially. Specifically, the slot includes a first slot 234 formed on the closing lever 230 and a second slot 222 formed on the firing lever 220. The block includes a first block 221 formed on the closing lever 230 and a second block 235 formed on the firing lever 220. The first slot 234 engages with the first block 221, and the second slot 222 engages with the second block 235.

[0056] For ease of understanding, the structures of the closing lever 230 and the firing lever 220 are briefly described below. The closing lever 230 includes a first lever body 230B and a first end portion 230A and a second end portion 230C formed at both ends of the first lever body 230B. The first end portion 230A is connected to the end effector 300, and the spring piece 232 and the rotating member 231 are both disposed at the second end portion 230C. A first slot 234 and a second locking block 235 are formed on the second end portion 230C. Specifically, the second locking block 235 is located on one side of the first lever body 230B and extends downward from the second lever body 230B. The first slot 234 is formed by recessing upward into the second lever body 230B, closely abutting the inner side surface of the second locking block 235. The firing lever 220 includes a second lever body 220B and a push pin portion 220A and a connecting portion 220C formed at both ends of the second lever body 220B. The pusher part 220A is used to enter into the staple cartridge 330 to push the suture staples inside the staple cartridge 330. This structure uses existing technology and will not be described in detail. The second slot 222 and the first locking block 221 are formed on the connecting part 220C. Specifically, the second locking block 235 extends upward from the second rod part 220B, and the second slot 222 is recessed upward from the second rod part 220B, closely abutting the inner side of the second locking block 235.

[0057] The radial movement distance of the closing lever 230 and the firing lever 220 is greater than the depth of the first slot 234 and the depth of the second slot 222, but less than the length of the first block 221 and the length of the second block 235. Thus, when the rotating member 231 pushes the closing lever 230 in the radial direction b, causing the first block 221 and the second block 235 to move out of the first slot 234 and the second slot 222 respectively, the inner end faces of the first block 221 and the second block 235 overlap in the axial projection. Therefore, if the firing lever 220 moves away from the end effector 300, the inner end faces of the first block 221 and the second block 235 abut against each other.

[0058] It should be noted that the top surface of the first locking block 221 is lower than the top surface of the first rod body 230B, and the bottom surface of the second locking block 235 is higher than the bottom surface of the second rod body 220B. When the closing rod 230 and the firing rod 220 separate, that is, the first locking block 221 and the second locking block 235 separate from the first locking groove 234 and the second locking groove 222 respectively, the first locking block 221 moves out of the first locking groove 234 and moves along the axial direction on the second rod body 220B as the firing rod 220 moves. The second locking block 235 moves out of the second locking groove 222 and moves along the axial direction on the first rod body 230B as the firing rod 220 moves.

[0059] To facilitate the connection between the firing lever 220 and the closing lever 230, and to allow the firing lever 220 to move relative to the closing lever 230, a slope 2351 is formed on the bottom surface of the second locking block 235 on the side away from the first locking groove 234. Furthermore, this slope 2351 also provides a guiding effect when the firing lever 220 and the closing lever 230 are re-engaged. Of course, in other embodiments, the slope can also be provided on the second locking block 235, or on the first locking groove 234 and / or the second locking groove 222; the specific method is not limited.

[0060] Please refer to Figure 3 The closing lever 230 is provided with a guide groove 236 for guiding the firing lever 220 after it separates from the closing lever 230. The guide groove 236 extends along the axial direction of the lever assembly. A locking slot 234 extends upward from one end of the guide groove to form the closing lever 230. The guide groove 236 and the locking slot 234 form a horizontally folded L-shaped structure. When the closing lever 230 and the firing lever 220 separate, during the movement of the firing lever 220 alone along the axial direction of the lever assembly 200, the top surface of the first locking block 221 slides on the groove surface of the guide groove 236 to prevent the rotating part 231 from reversing under the tension of the spring piece 232. At the same time, this ensures that the closing lever 230 and the firing lever 220 will not be misaligned in the horizontal direction, preventing the firing lever 220 from failing to reconnect during its return stroke. When the firing lever 220 returns, the first locking block 221 and the second locking block 235 abut against each other to drive the closing lever 230 to return. Under the action of the tension of the spring piece 232, the first locking block 221 is inserted into the slot 234 again, and the second locking 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 driving force, the firing rod 220 drives the closing rod 230 to move toward the end effector 300. Since the rotating part 231 is fixed on the closing rod 230, the rotating part 231 moves toward the end effector 300 accordingly. When the rotating member 231 of the end effector 300 moves to the braking part 212, the free end 2312 abuts against the braking part 212, and the first arc surface 213 abuts against the second arc surface 2313. At the same time, the end effector 300 is in a closed state. When the firing rod 220 continues to move towards the end effector 300 under the action of the driving force, the movement drives the closing rod 230 and the rotating member 231 to move towards the end effector 300. Under the restriction of the braking part 212, the rotating member 231 will rotate relative to the braking part 212. Its fixed end 2311 drives the closing rod 230 away from the firing rod 220 in the radial direction b. The first locking block 221 separates from the first locking groove 234, and the second locking block 235 separates from the second locking groove 222. At the same time, the spring 232 is compressed, and the clutch structure changes from a connected configuration to a separated configuration. The closing rod 230 separates from the firing rod 220.

[0062] After the closing lever 230 separates from the firing lever 220, the driving force continues to move the firing lever 220 toward the end effector 300 until firing is completed. After the closing lever 230 separates from the firing lever 220, the rotating member 231 is restricted by the braking part 212, and the closing lever 230 is stationary; therefore, the rotating member 231 remains in the second position (as shown in the image). Figure 8 (The vertical position shown).

[0063] After firing, the drive motor reverses, causing the firing lever 220 to return (i.e., the firing lever 220 moves away from the end effector 300). This continues until the inner end face of the first locking block 221 abuts against the inner end face of the second locking block 235. The firing lever 220 continues to move away from the end effector 300. At this point, due to the interaction between the first locking block 221 and the second locking block 235, the firing lever 220 will drive the closing lever 230 to move away from the end effector 300. Since the rotating component 231 is fixed to the closing lever 230, the rotating component 231 will move with the closing lever 230. The friction between the rotating component 231 and the braking part 212 and the slide groove 211 will cause the rotating component 231 to rotate in the opposite direction relative to the braking part 212, from the second position ( Figure 8 The vertical state) becomes the first position ( Figure 7(In the tilted state). At this time, the spring piece 232 will push the closing rod 230 closer to the firing rod 220 in the radial direction c, so that the first locking block 221 is inserted into the first locking slot 234 to engage, thereby connecting the closing rod 230 and the firing rod 220. The clutch structure changes from a separation configuration to a connection configuration. At the same time, the firing rod 220 still drives the closing rod 230 to move 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 opposing jaw arms 310 and 320, which are hinged to the swing mechanism and open under the action of a driving force (e.g., ...). Figure 4 (as shown) or closed (such as) Figure 5 (As shown), thereby clamping or loosening the sutured part of the human body.

[0065] Please refer to Figure 2 and Figure 12 One of the two clamp arms, 310, is a pin holder, and the other clamp arm, 320, is a mounting base for mounting the staple cartridge body 330. The staple cartridge body 330 contains a pusher plate and suture staples. After the pusher part of the firing lever 220 enters the staple cartridge body 330, it pushes the pusher plate so that the suture staples are fired towards the pin holder 310, thereby suturing the sutured parts of the human body. This is existing technology and will not be described in detail here.

[0066] The swing mechanism includes a swing joint 340 and a pull rod 240. Two clamp arms 310 and 320 are hinged to one end of the swing joint 340, and the other end of the swing joint 340 is hinged to the rod housing 210. The pull rod 240 is disposed inside the rod housing 210 and hinged to the swing joint 340. The hinge point of the rod housing 210 is located on the centerline of the swing joint 340, and the hinge point of the pull rod 240 is located on one side of the swing joint 340 in the direction of the axis of the rod assembly 200. Under 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 axis of the rod assembly 200. The rod housing 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 collinear and are in opposite directions, the swing joint 340 can rotate relative to the rod housing 210 to drive the clamp assembly to rotate.

[0067] The swing joint 340 has a cavity that connects the rod body housing 210 and the jaw assembly. The firing rod 220 and the closing rod 230 can move within the cavity and can be bent relative to the swing direction of the swing joint 340.

[0068] The swing joint 340 is provided with an elastic piece 341, the other end of which abuts against the pin holder 310. The elastic piece 341 is always in a pre-compression state, so that the pin holder 310 always has a tendency to open relative to the clamp arm 320 on which the pin cartridge body 330 is provided.

[0069] A closing portion is formed on the first end of the closing rod 230. This closing portion is located at the jaw assembly and has an I-shaped structure. A guide groove 350 is provided on the pin seat 310 along the axial direction of the rod assembly 200. The upper end of the I-shaped structure is accommodated in the guide groove 350, the middle end of the I-shaped structure passes through the jaw arm 320 of the staple cartridge body 330, and the lower end of the I-shaped structure abuts against the bottom of the jaw arm 320 where the staple cartridge body 330 is located. The guide groove 350 includes a second guide groove 351 and a first guide groove 352. Under the action of driving force, the I-shaped structure of the closing rod 230 moves within the guide groove 350. When the I-shaped structure moves to the second guide groove 351, the pin seat 310 closes relative to the staple cartridge body 330. When the I-shaped structure moves to the first guide groove 352, the pin seat 310 opens relative to the staple cartridge body 330 under the action of the elastic sheet 341.

[0070] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above 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 embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A surgical instrument comprising an end effector, a handle, and a lever assembly connecting the end effector and the handle, the lever assembly transmitting the driving force of the handle to the end effector, characterized in that, The rod assembly includes a firing rod and a closing rod that controls the closing of the end effector and is arranged parallel to the firing rod. A clutch structure is formed between the firing rod and the closing rod. The clutch structure has a connecting configuration and a separating configuration. Wherein, after the end effector closes, the clutch structure changes from the connected configuration to the disengaged configuration; in the connected configuration, the firing rod and the closing rod are connected by the clutch structure; in the disengaged configuration, the firing rod and the closing rod are separated. The clutch structure includes an actuator that drives the closing lever to move radially away from the firing lever, and the clutch structure is converted from a connected configuration to a disengaged configuration. The actuator drives the closing lever to move radially closer to the firing lever, and the clutch structure changes from a disengaged configuration to a connected configuration; The actuator includes a first actuator and a second actuator; the first actuator drives the closing rod to move radially away from the firing rod, and the second actuator drives the closing rod to move radially closer to the firing rod; The first actuator is a rotating member, which includes a fixed end and a free end. The fixed end is hinged to the closing rod. The rotating member rotates about the free end as an axis to switch between a first position and a second position. When the rotating member switches from the first position to the second position, it drives the closing rod to move away radially from the firing rod. The rod assembly is provided with a braking part, which abuts against the free end to drive the rotating member to rotate from the first position to the second position and remain in the second position; The rod assembly extends along the axial direction to form a groove, the rotating member is housed in the groove and can move within the groove, the braking part is at the end of the groove, and when the rotating member moves within the groove, the fixed end of the rotating member is higher than the free end. The braking part 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 to each other in shape, and the second arc surface can rotate relative to the first arc surface.

2. The surgical instrument as described in claim 1, characterized in that, The shaft assembly includes a shaft housing, the closing rod and the firing rod are located inside the shaft housing, and the second actuator is a spring plate, one end of which is disposed on the closing rod, and the other end of which abuts against the shaft housing. The spring plate is always in a pre-compressed state.

3. The surgical instrument as described in claim 2, characterized in that, The clutch structure further includes a connecting structure that forms the separation configuration and the connection configuration. 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 engaged.

4. The surgical instrument as described in claim 3, characterized in that, The slot includes a first slot disposed on the closing lever and a second slot disposed on the firing lever, and the block includes a first block disposed on the firing lever and a second block disposed on the closing lever, wherein at least one of the first block or the second block has an inclined surface formed thereon.

5. The surgical instrument as described in claim 3, characterized in that, The closing rod is provided with a guide groove extending along the axial direction of the rod body assembly, and the locking slot extends upward from one end of the guide groove; in the separated configuration, the locking block is located in the guide groove.

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