Electric surgical instrument

Abstract

The invention discloses an electric surgical instrument, and belongs to the technical field of medical instruments. The handle assembly operably provides driving force for the end actuator, the handle assembly comprises a handle support, a driving assembly and a clutch mechanism, the driving assembly and the clutch mechanism are installed on the handle support, and the driving assembly comprises a percussion driving assembly and a bending driving assembly; the firing driving assembly and the bending driving assembly respectively comprise a driving motor and a gear rack transmission group; the clutch mechanism comprises a clutch wrench, the clutch wrench is pivotally mounted on the handle support and provided with a first trigger portion and a second trigger portion, when the clutch wrench is wrenched from an initial position to a first working position, the first trigger portion triggers the gear and rack transmission set of the percussion driving mechanism to release meshing, and the second trigger portion triggers the gear and rack transmission set of the percussion driving mechanism to release meshing when the clutch wrench is wrenched from the initial position to the second working position. And the second triggering part triggers the gear and rack transmission group of the bending driving mechanism to a meshing releasing state. Reliable forced unlocking of the surgical instrument can be achieved.

Description

Technical Field

[0001] The present invention relates to the field of medical surgical devices, and particularly to an electric surgical instrument for clamping, cutting and anastomosing. Background Art

[0002] Linear clamping, cutting and anastomosing surgical instruments can be used in surgical operations to excise tissues. Traditional linear clamping, cutting and anastomosing surgical instruments include a handle assembly, an elongate body and an end effector. Among them, the end effector is used to manipulate tissues to perform specific surgical operations, such as clamping, suturing / anastomosing, cutting, etc. on tissues. The end effector includes a cartridge assembly and an anvil. The cartridge assembly and the anvil move relatively in a closing manner to form a jaw for clamping tissues; the end effector further includes a firing member, which performs corresponding surgical operations when the firing member is driven to move from the proximal end to the distal end, such as cutting and anastomosing operations on tissues. To facilitate operations in different surgical situations, the end effector can be bent relative to the elongate body assembly, and the elongate body assembly can drive the end effector to rotate a set angle relative to the handle assembly.

[0003] In recent years, electric surgical instruments have gradually replaced manual surgical instruments due to their operational convenience. However, in electric surgical instruments, the motor and the battery have a certain risk of failure. For this reason, it is usually necessary to provide a mechanism on the instrument that allows the operator to perform manual forced unlocking to stop the ongoing action, and then manually adjust to make the extending directions of the end effector assembly and the elongate body assembly consistent, so as to remove the instrument from the patient's body, or to reset the firing member to the initial position, etc. How to design a forced unlocking structure to achieve safe, convenient and fast unlocking has become a technical problem to be solved by those skilled in the art. Summary of the Invention

[0004] For this reason, the present invention provides an electric surgical instrument that can be forced to unlock conveniently and quickly and has relatively high unlocking reliability.

[0005] In view of the above technical problems, the present invention provides the following technical solutions:

[0006] An electric surgical instrument comprises a handle assembly operable to provide a driving force to an end actuator, the handle assembly comprising a handle bracket and a drive assembly and a clutch mechanism mounted on the handle bracket, the drive assembly comprising a firing drive assembly and a bending drive assembly; the firing drive assembly and the bending drive assembly respectively comprise a driving motor and a rack and pinion transmission group; the clutch mechanism comprises a clutch wrench, the clutch wrench is pivotally mounted on the handle bracket, the clutch wrench has a first trigger part and a second trigger part, when the clutch wrench is operated from an initial position to a first working position, the first trigger part triggers the rack and pinion transmission group of the firing drive mechanism to disengage, and the second trigger part triggers the rack and pinion transmission group of the bending drive mechanism to a disengaged state.

[0007] In some embodiments of the present invention, the rack and pinion transmission assembly includes a driving gear, at least one driven gear and a rack for outputting linear motion, and the first triggering part and the second triggering part of the clutch wrench act on at least one of the driven wheels.

[0008] In some embodiments of the present invention, the firing drive mechanism includes: a firing drive motor, a firing active wheel, a firing driven wheel and a firing rack, the firing active wheel is connected to the output shaft of the firing drive motor, the firing active wheel and the firing rack are connected through the firing driven wheel, and the firing rack is used to output a linear output force; when the clutch wrench is pivoted from the initial position to the first working position, the first trigger portion pushes the firing driven wheel to move to release the engagement with the firing rack.

[0009] In some embodiments of the present invention, the firing driven wheel is rotatably connected to a first support shaft, and a first clutch transmission member is also mounted on the first support shaft. When the clutch wrench is pivoted from an initial position to a first working position, the first trigger portion acts on the first clutch transmission member, and the first clutch transmission member moves axially along the first support shaft and pushes the firing driven wheel to move, thereby disengaging the firing driven wheel from the firing rack.

[0010] In some embodiments of the present invention, the first clutch transmission member is configured as a plate body with a through hole, and the first trigger portion of the clutch wrench acts on the plate surface of the first clutch transmission member. When the clutch wrench is pivoted to the first working position, the first trigger portion is engaged and connected with the first clutch transmission member.

[0011] In some embodiments of the present invention, a first elastic member is further included. When the clutch wrench is operated from the first working position to the initial position, the elastic force of the first elastic member pushes the firing driven wheel to move to a state of engagement with the firing rack.

[0012] In some embodiments of the present invention, the bending drive mechanism includes: a bending drive motor, a bending driving gear, at least one bending driven gear, and a bending rack. The bending driving gear is connected to the output shaft of the bending drive motor. The bending driving gear and the bending rack are drivingly connected through the bending driven gear. The bending rack is used to output a linear output force. When the clutch wrench pivots from the initial position to the first working position, the second trigger portion pushes the bending driven gear to move to disengage from the bending rack.

[0013] In some embodiments of the present invention, the bending driven gear is rotatably connected to a second support shaft, and a second clutch transmission member is also sleeved on the second support shaft. When the clutch wrench pivots from the initial position to the first working position, the second trigger portion acts on the second clutch transmission member. The second clutch transmission member moves axially along the second support shaft and pushes the bending driven gear to move, so that the bending driven gear disengages from the bending rack.

[0014] In some embodiments of the present invention, the second clutch transmission member is provided with a holding portion. When the second clutch transmission member is pressed down by the second trigger portion of the clutch wrench, the holding portion restricts the displacement of the bending rack, so that the end effector maintains a straight state or a bent state.

[0015] In some embodiments of the present invention, the bending driven gear includes a first bending driven gear and a second bending driven gear that are coaxial and fixedly connected to each other. The first bending driven gear meshes with the bending driving gear, and the second bending driven gear meshes with the bending rack.

[0016] In some embodiments of the present invention, the second clutch transmission member includes an upper support plate and a lower support plate that are arranged in parallel with each other, and a connecting plate connecting the upper support plate and the lower support plate. The lower support plate is located in the region between the first bending driven gear and the second bending driven gear.

[0017] In some embodiments of the present invention, the second clutch transmission member further includes a friction portion. When the bending driven gear is driven to move axially until it is about to disengage from the bending rack, the friction portion abuts against the bending rack.

[0018] In some embodiments of the present invention, the handle assembly further includes a firing reset mechanism for moving the firing rack in the gear rack set of the firing drive assembly to the initial position. It includes a reset wrench pivotally mounted on the handle bracket. A reset pawl is provided on the reset wrench. When the reset wrench is pivoted from the initial position to the second working position, the reset pawl cooperates with the firing rack and pushes the firing rack to move to the initial position.

[0019] The present invention also provides an electrosurgical instrument, which includes a handle assembly that operably provides a driving force to an end effector. The handle assembly includes a handle bracket, and a driving assembly and a clutch mechanism mounted on the handle bracket. The driving assembly includes a firing driving assembly and a bending driving assembly. The firing driving assembly and the bending driving assembly each include a driving motor and a gear-rack transmission group. The clutch mechanism includes a clutch wrench pivotally mounted on the handle bracket, and the clutch wrench has a triggering portion. The clutch mechanism further includes a clutch transmission member. When the clutch wrench is operated from an initial position to a first working position, the triggering portion triggers the clutch transmission member to disengage the gear-rack transmission group of the driving mechanism. And the clutch transmission member is provided with a holding portion. When the clutch transmission member is pressed down by the triggering portion of the clutch wrench to a state where the driving assembly is about to be separated, the holding portion cooperates with the rack to keep the end effector in a state before separation.

[0020] In some embodiments of the present invention, the holding portion is an elastic friction plate provided on the clutch transmission member.

[0021] The technical effects of the above technical solutions of the present invention are described in detail in the embodiments section. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The preferred embodiments of the present invention will be described in detail below with reference to the drawings, which will help to understand the purpose and advantages of the present invention, wherein:

[0023] Figure 1 is a schematic structural diagram of a specific embodiment of the electrosurgical instrument of the present invention;

[0024] Figure 2 is a schematic structural diagram of a specific embodiment of the end effector in the electrosurgical instrument of the present invention;

[0025] Figure 3 is a schematic structural diagram of the distal execution part of the end effector in the electrosurgical instrument of the present invention;

[0026] Figure 4 is a schematic diagram of the engagement between the end effector and the elongate body in the electrosurgical instrument of the present invention;

[0027] Figure 5 is a schematic structural diagram of an embodiment of the handle assembly in the electrosurgical instrument of the present invention;

[0028] Figure 6 is a schematic structural diagram of an embodiment of the firing driving mechanism in the electrosurgical instrument of the present invention;

[0029] Figure 7Schematic diagram of the installation of the drive mechanism on the handle bracket in the electric surgical instrument of the present invention;

[0030] Figure 8 Another schematic diagram of the installation of the drive mechanism on the handle bracket in the electric surgical instrument of the present invention;

[0031] Figure 9 Schematic diagram of the cooperation between the first embodiment of the clutch mechanism and the drive mechanism in the electric surgical instrument of the present invention;

[0032] Figure 10 Another schematic diagram of the cooperation between the first embodiment of the clutch mechanism and the drive mechanism in the electric surgical instrument of the present invention;

[0033] Figure 11 Another schematic diagram of the cooperation between the first embodiment of the clutch mechanism and the drive mechanism in the electric surgical instrument of the present invention;

[0034] Figure 12 Schematic diagram of the second clutch transmission part in the electric surgical instrument of the present invention;

[0035] Figure 13 Schematic diagram of the cooperation between the second embodiment of the clutch mechanism and the drive mechanism in the electric surgical instrument of the present invention;

[0036] Figure 14 Another schematic diagram of the cooperation between the second embodiment of the clutch mechanism and the drive mechanism in the electric surgical instrument of the present invention;

[0037] Figure 15 Another schematic diagram of the cooperation between the second embodiment of the clutch mechanism and the drive mechanism in the electric surgical instrument of the present invention;

[0038] Figure 16 Schematic diagram of one embodiment of the cooperation between the clutch mechanism and the reset mechanism in the electric surgical instrument of the present invention;

[0039] Figure 17 Exploded view of one embodiment of the cooperation between the clutch mechanism and the reset mechanism in the electric surgical instrument of the present invention;

[0040] Figure 18 Schematic diagram of one embodiment of the reset wrench in the electric surgical instrument of the present invention;

[0041] Figure 19 Schematic diagram of one embodiment of the reset pawl in the electric surgical instrument of the present invention;

[0042] Figure 20 Schematic diagram of the first state of the firing clutch mechanism and the firing reset mechanism in the electric surgical instrument of the present invention;

[0043] Figure 21 This is a schematic structural diagram of the firing clutch mechanism and the firing reset mechanism in the second state of the electric surgical instrument of the present invention;

[0044] Figure 22 This is a schematic structural diagram of the firing clutch mechanism and the firing reset mechanism in the third state of the electric surgical instrument of the present invention; Detailed implementation manners

[0045] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0046] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. This is 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 thus should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0047] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", "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 directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0048] In each embodiment of the present invention, the "distal end / side" refers to the end of the surgical instrument that is far from the operator during operation, and the "proximal end / side" refers to the end / side of the surgical instrument that is close to the operator during operation.

[0049] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0050] The following is a specific implementation manner of the electric surgical instrument of the present application. Generally speaking, the embodiments of the surgical instrument described herein are endoscopic surgical cutting and anastomosis instruments. However, it should be noted that the surgical instrument can also be a non-endoscopic surgical cutting and anastomosis instrument, such as an open surgical instrument for open surgery.

[0051] Specifically, Figure 1 the illustrated electrosurgical instrument includes a handle assembly 10, a elongate body assembly 20, and an end effector 30 that are connected in sequence from proximal to distal. Among them, the end effector 30 is used to operate tissue to perform specific surgical operations, for example, surgical operations such as clamping, suturing / anastomosing, and cutting of tissue.

[0052] As Figure 2 , Figure 3 shown, the end effector 30 includes a proximal body portion 30a and a distal execution portion 30b. The proximal body portion 30a and the distal execution portion 30b are pivotally connected by a joint assembly 30c. The distal execution portion 30b includes a cartridge assembly 31 and an anvil assembly 32. The cartridge assembly 31 and the anvil assembly 32 are movable relative to each other to close the jaws to clamp tissue jaws. In a specific embodiment, the anvil assembly 32 can be operatively pivoted toward the cartridge assembly 31 until the jaws of the end effector 30 are closed to clamp tissue; the anvil assembly 32 pivots in a direction away from the cartridge assembly 31 until the jaws of the end effector 30 are opened to release tissue. As an alternative embodiment, the cartridge assembly 31 of the end effector 30 can be operatively pivoted toward the pivoting anvil assembly 32 until the jaws of the end effector 30 are closed to clamp tissue; and the cartridge assembly 31 is operatively pivoted in a direction away from the cartridge assembly 31 until the jaws of the end effector 30 are opened to release tissue.

[0053] Specifically, as Figure 2 and Figure 3 shown, the proximal body portion 30a of the end effector 30 is detachably connected to the distal end of the elongate body assembly 20. The proximal body portion 30a includes an elongate outer tube 33, an inner tube 34 disposed within the outer tube 33, and a firing member 35 slidable within the inner tube 34; in the distal execution portion 30b of the end effector 30, the cartridge assembly 31 includes a cartridge 310, a cartridge base 311, and a slider 312 slidable longitudinally within the cartridge 310; the proximal end of the firing member 35 is connected to a firing rod 21 within the elongate body assembly 20, and the distal end of the firing member 35 abuts against the slider 312 and is integrally slidable / movable along the longitudinal axis to perform corresponding surgical operations. For example, when the firing member 35 is driven to move from proximal to distal, cutting and anastomosing operations on tissue are achieved.

[0054] Specifically, the joint assembly 30c includes a first joint member 37 and a second joint member 38; the first joint member 37 and the second joint member 38 are pivotally connected to the inner tube 34 by a pivot pin, and the cartridge base 311 is fixedly connected to the first joint member 37 and the second joint member 38. The proximal body portion 30a further includes a hinged link 36 slidably disposed within the inner tube 34. The proximal end of the hinged link 36 includes a hook portion 36a which engages with a bent link 22 within the elongate body assembly 20 (as Figure 4 shown), and the distal end of the hinged link 36 acts on a protrusion 37a on the joint member 37. The protrusion 37a is spaced from the pivot axis. The linear movement of the hinged link 36 causes the joint assembly 30c to pivot about the pivot pin, thereby driving the distal end effector portion 30b to bend relative to the proximal body portion 30a (as Figure 2 shown).

[0055] As Figure 1 shown, in a surgical instrument 100 according to an embodiment of the present invention, at least a part of the handle assembly 10 is held by an operator to enable the operator to manipulate the surgical instrument. For example, the handle assembly 10 includes a handle housing 11 that can be held by a user. In a specific embodiment, a trigger is provided on the handle housing 11, and the user operates the trigger to operate the end effector 30 to perform closing and firing actions; alternatively, in an alternative embodiment, the surgical instrument can also manipulate the end effector 30 assembly to perform closing and / or firing actions by means of a push-twist, button, etc. provided on the handle housing 11; alternatively, in an alternative embodiment, the surgical instrument can also manipulate the jaws of the end effector 30 to open to release tissue by means of a trigger, push-twist, button, etc. provided on the handle housing 11.

[0056] As Figure 5 shown, a drive mechanism for providing driving force to the elongate body assembly 20 and the end effector 30 is provided within the handle housing 11. In some embodiments, the drive mechanism includes: a firing drive mechanism 12 for driving a firing member to perform a firing operation. For example, the firing drive mechanism 12 drives a firing rod 21 within the elongate body assembly 20 to achieve a firing operation; a bending drive mechanism 14 for driving the end effector 30 to bend relative to the elongate body assembly 20. In other embodiments, the drive mechanism further includes an opening / closing drive mechanism for driving the jaws of the end effector to open or close. In an alternative embodiment, the drive mechanism further includes an opening / closing drive mechanism and a firing drive mechanism 12 that are independently provided. The opening / closing drive mechanism drives a closing link within the elongate body assembly 20 to perform closing and opening operations on the jaws of the end effector 30.

[0057] As Figure 1 、 Figure 5As shown, the elongate body assembly 20 includes an elongate tubular housing 23 that defines a longitudinal axis C. A rotary housing 24 is provided at the proximal end of the elongate body assembly 20, and the rotary housing 24 is rotatably connected to the handle housing 11. A transmission rod group for driving the end effector to perform bending, jaw opening or closing, and firing actions is provided inside the tubular housing 23. Specifically, in one embodiment, a firing rod 21 for connecting the output end of the firing drive mechanism 12 and the proximal end of the firing member 35, and a bending link 22 for connecting the output end of the bending drive mechanism 14 and the proximal end of the articulated link 36 are provided inside the tubular housing 23. Among them, the firing drive mechanism 12 located inside the handle housing 11 drives the firing rod 21 inside the elongate body assembly 20 to drive the firing member 35 of the end effector 30 to perform a reciprocating motion, thereby realizing the operations of closing and opening the jaws of the end effector 30, and cutting and anastomosing / suturing the tissue clamped in the jaws. The bending drive mechanism 14 located inside the handle housing 11 drives the bending link 22 inside the tubular housing 23 to drive the articulated link 36 of the end effector to perform a reciprocating motion, and further enables the joint assembly 30c to pivot around the proximal body portion 30a. Specifically, as Figure 4 shown, the proximal end of the inner tube 34 includes a mating lug 34a for releasably mating with the elongate body assembly 20 in a bayonet connection manner. After the inner tube 34 is mated with the elongate body assembly 20, the bending link 22 is connected to the articulated link 36 inside the end effector 30, and the firing rod 21 is connected to the firing member 35 of the end effector 30.

[0058] As Figure 5 shown, the handle housing 11 includes a first half housing 11a and a second half housing 11b. The first half housing 11a and the second half housing 11b can be connected by means of snap connection, fastener connection, etc., and are generally in a T shape as a whole. It includes a part extending along the longitudinal axis to form the main body portion of the handle housing 11, and a part extending perpendicular to the longitudinal axis or a part inclined at a certain angle with respect to the longitudinal axis to form the gripping portion. The firing drive mechanism 12 and the bending drive mechanism 14 each include: a drive motor that generates a rotational motion and at least one gear-rack transmission group; wherein, the input end of the gear-rack transmission group is connected to the drive motor, and the output ends of the gear-rack transmission group are respectively connected to the firing rod 21 / the bending link 22. The drive motors of the firing drive mechanism 12 and the bending drive mechanism 14 are located inside the gripping portion.

[0059] The axis directions of the drive motors of the firing drive mechanism 12 and the bending drive mechanism 14 form an angle with the longitudinal axis, and the range of this angle is preferably between 60° and 120°. On the one hand, it is convenient for the processing and manufacturing of the transmission mechanism, and on the other hand, it can make it consistent with the extension direction of the holding part. More specifically, the axis directions of the drive motors of the firing drive mechanism 12 and the bending drive mechanism 14 are parallel to each other, and the axis directions of the drive motors of the firing drive mechanism 12 and the bending drive mechanism 14 are perpendicular to the longitudinal axis.

[0060] As Figure 6 and Figure 7 As shown, the firing drive mechanism 12 includes a firing drive motor 121 and a gear-rack transmission group. The output shaft of the firing drive motor 121 is perpendicular to the longitudinal axis; the distal end of the rack of the gear-rack transmission group is connected to the proximal end of the firing rod 21, and the distal end of the firing rod 21 is connected to the firing member. Specifically, the gear-rack transmission group includes a firing driving wheel 122, a firing driven wheel 123, and a firing rack 124. The firing driving wheel 122 is connected to the output shaft of the firing drive motor 121. The firing driven wheel 123 meshes with the firing driving wheel 122, and the firing rack 124 is meshed and connected with the firing driven wheel 123. Among them, the firing driven wheel 123 is rotatably connected to the first support shaft 125, and the first support shaft 125 is fixedly connected to the handle bracket 17. The tooth surface of the firing rack 124 is located on the front side or the rear side. In other alternative embodiments, according to the arrangement position of the drive motor, the output shaft direction, and the direction where the tooth surface of the firing rack 124 is located, the gear-rack transmission group can also adopt transmission methods such as a combination of a worm and worm gear transmission and a gear-rack transmission, and a combination of a bevel gear transmission and a gear-rack.

[0061] When the surgical instrument performs a firing operation, the operator controls the start of the firing drive motor 121 by means of a trigger, a push button, a button, etc. provided on the handle housing 11. The gear-rack transmission group converts the movement of the firing drive motor 121 into the linear movement of the firing rack 124, and then pushes the firing rod 21 to move along the longitudinal axis. The distal end of the firing rod 21 drives the firing member 35 to move from the proximal end to the distal end along the staple cartridge 310, realizing the firing operation (cutting / anastomosis operation).

[0062] As Figure 8 、 Figure 9 As shown, the bending drive mechanism 14 includes a bending drive motor 141 and a gear-rack transmission group. The output shaft of the bending drive motor 141 is perpendicular to the longitudinal axis; the distal end of the rack of the gear-rack transmission group acts on the articulated link 36 of the end effector 30 through a bending assembly. In some specific embodiments, the bending assembly includes a bending link 22.

[0063] Specifically, the gear-rack transmission group includes a bending driving wheel 142, a bending driven wheel, and a bending rack 144. The bending driven wheel includes a first bending driven gear 143 and a second bending driven wheel 145 that are coaxially arranged and fixed to each other. The bending driving wheel 142 is connected to the output shaft of the bending driving motor 141. The first bending driven gear 143 meshes with the bending driving wheel 142, and the second bending driven wheel 145 is meshed and connected with the bending rack 144. Among them, the first bending driven gear 143 and the second bending driven wheel 145 are rotatably connected to a second support shaft 146, and the second support shaft 146 is fixedly connected to the handle bracket 17. In other alternative embodiments, according to the arrangement position and direction of the driving motor, the gear-rack transmission group may also adopt transmission modes such as a combination of a worm and worm gear transmission and a gear-rack transmission, or a combination of a bevel gear transmission and a gear-rack transmission.

[0064] The above-mentioned electric surgical instrument 100 further includes a clutch mechanism 50 for disengaging the transmission components of the firing driving mechanism 12 and / or the bending driving mechanism 14. The clutch mechanism 50 is located inside the handle housing 11. When a failure occurs in the electric driving mechanism of the electric surgical instrument 100, by opening the manual reset cover 19 on the handle housing 11, the clutch mechanism 50 located inside the handle housing 11 is exposed, and the transmission systems of the firing driving mechanism 12 and / or the bending driving mechanism 14 are manually disengaged by operating the clutch mechanism 50.

[0065] Specifically, as Figures 7 - 11 shown, the clutch mechanism 50 includes a clutch wrench 51. The clutch wrench 51 is pivotally mounted on the handle bracket 17 through a first pin shaft 52. The clutch wrench 51 has a first trigger portion 51a and a second trigger portion 51b. When the clutch wrench 51 is pulled from the initial position to the first working position along the arrow A, the first trigger portion 51a pushes the firing driven wheel 123 of the firing driving mechanism 12 to move so that it is in a disengaged state, and the second trigger portion 51b pushes the bending driven wheel of the bending driving mechanism 14 to move to a disengaged state. In this way, the two driving components can be disengaged by pulling the wrench once, which is convenient for the user to operate.

[0066] The clutch wrench 51 has a first handle portion and a first trigger portion 51a and a second trigger portion 51b respectively located on opposite sides of the first pin shaft 52. When the first handle portion is operated to rotate the clutch wrench 51 around the first pin shaft 52, the first trigger portion 51a and the second trigger portion 51b rotate accordingly and act on the firing driven wheel 123 of the firing drive mechanism 12 and the bending driven gear 145 of the bending drive mechanism 14, so that the firing driven wheel 123 and the bending driven gear 145 move to a state of disengaging from other transmission gears or racks, realizing the clutch of the drive motor and the gear-rack transmission group.

[0067] Specifically, as Figure 9 shown, the clutch mechanism 50 further includes a first clutch transmission member 53 installed on the upper side of the firing driven wheel 123. The first clutch transmission member 53 is configured as a plate body with a through hole, which is sleeved on the first support shaft 125 and can move along its axial direction. After the clutch wrench 51 is pulled, the first trigger portion 51a directly acts on the first clutch transmission member 53. When the clutch wrench 51 is pulled to the first working position, that is, when the firing driven wheel 123 is in a disengaged state, the first trigger portion 51a is snap-connected to the first clutch transmission member 53, so that the clutch wrench 51 is held in the first working position. This can facilitate the subsequent rack reset operation. More specifically, the first trigger portion 51a is provided with a hook or a toothed structure, and the first clutch transmission member 53 is provided with, for example, a card slot or other recessed portions, and the hook or the toothed structure is snap-connected with the card slot or the recessed portions.

[0068] As Figure 9 shown, the clutch mechanism 50 further includes a first elastic member 54. When the clutch wrench 51 is in the initial state, the first elastic member 54 supports the firing driven wheel 123 in the normal working position of transmission, so that it remains in a meshed state with the firing rack 124. During the process of the clutch wrench 51 being operated to move from the initial position to the first working position, it is necessary to overcome the biasing force of the first elastic member 54 to avoid misoperation of the clutch wrench. In an alternative embodiment, when the clutch wrench 51 is operated to move from the first working position to the initial position, the elastic force of the first elastic member 54 pushes the firing driven wheel 123 to move to a position meshed with the firing rack 124.

[0069] During some endoscopic surgical procedures, according to different surgical conditions, it is necessary to operate the end effector to a bent state at a certain angle relative to the elongate body assembly 20. In this case, when performing the clutch operation, due to the certain elasticity of the firing member 35, its elastic acting force acts on the bending assembly, which can make the end effector have a certain bending resilience force, causing pulling or bruising of the tissue.

[0070] For this reason, the clutch mechanism 50 further includes a second clutch transmission member 55. AsFigure 10 , Figure 11 As shown, the second clutch transmission member 55 is sleeved on the second support shaft 146, and the second trigger portion 51b acts on the bending driven wheel through the second clutch transmission member 55. Specifically, as Figure 12 shown, the second clutch transmission member 55 includes an upper support plate 551 and a lower support plate 552 arranged in parallel with each other, and a connecting plate 553 connecting the upper support plate 551 and the lower support plate 552. In some embodiments, three connecting plates 553 may be provided to form a semi-surrounding structure. The lower support plate 552 is located in the area between the first bending driven wheel 143 and the second bending driven wheel 145. When the second clutch transmission member 55 moves downward under the action of the second trigger portion 51b, the lower support plate 552 can push the first bending driven wheel 143 to drive the second bending driven wheel 145 to move downward, so as to realize the separation of the second bending driven wheel 145 from the bending rack 144.

[0071] Further, the second clutch transmission member 55 is provided with a holding portion. When the bending drive assembly is operated to a state about to be separated, the holding portion holds the end effector in the state before separation. In a specific embodiment, the holding portion is a friction portion 55a provided on the second clutch transmission member 55. When the clutch wrench 51 is pivoted from the initial position to the first working position, the second trigger portion 51b of the clutch wrench 51 acts on the second clutch transmission member 55. When the second bending driven wheel 145 is driven to move axially to be about to disengage from the bending rack 144, the friction portion 55a abuts against the bending rack 144. In this way, at the moment when the second bending driven wheel 145 disengages from the bending rack 144, since the bending rack 144 receives a force from the clutch wrench 51 in a direction perpendicular to the longitudinal axis, it can make the bending rack 144 receive a relatively large frictional force and keep its position unchanged, avoiding the problem that the bending assembly of the end effector 30 is affected by the elastic firing member and generates bending rebound.

[0072] Specifically, as Figure 12 shown, the friction portion 55a is an elastic friction sheet fixedly connected to the second clutch transmission member 55. The elastic friction sheet extends along the length direction of the bending rack 144. The elastic friction sheet is made of rubber and elastic plastic materials. The elastic deformation amount of the friction portion 55a is between 2 mm and 10 mm to ensure that the frictional force acting on the bending rack 144 is large enough.

[0073] In an alternative embodiment, the clutch mechanism 50 further includes a second elastic member (not shown in the figure). When the clutch wrench 51 is in the initial state, the second elastic member supports the bending driven wheel in the normal working position of transmission, so that it remains in a meshed state with the bending rack 144. During the process of operating the clutch wrench 51 to move from the initial position to the first working position, the biasing force of the second elastic member needs to be overcome to avoid misoperation of the clutch wrench. In an alternative embodiment, when operating the clutch wrench 51 to move from the first working position to the initial position, the elastic force of the second elastic member pushes the bending driven wheel to move to a position meshed with the bending rack 144.

[0074] Adopt Figures 7 - 12 The process of performing the clutch operation using the clutch mechanism 50 shown is as follows: When a failure occurs in the surgical instrument, open the manual reset cover 19 to expose the clutch wrench 51 from the handle housing 11, and Figure 9 operate and rotate the clutch wrench 51 in the direction of arrow A in the figure. The first clutch transmission member 53 and the firing driven wheel 123 are pressed down by the first trigger portion 51a of the clutch wrench 51, and the second clutch transmission member 55 and the bending driven wheel are pressed down by the second trigger portion 51b of the clutch wrench 51. When the clutch wrench 51 reaches a certain angle, for example, 60° - 90°, when the bending driven wheel is about to disengage from the bending rack 144, the friction portion 55a on the second clutch transmission member 55 abuts against the bending rack 144 to prevent the bending rack 144 from moving; when the clutch wrench 51 reaches, for example, 70° - 95°, the firing driven wheel 123 disengages from the firing rack 124, and the bending driven wheel disengages from the bending rack 144. At this time, the clutch wrench 51 is respectively latched with the first clutch transmission member 53 and the second clutch transmission member 55, so that the clutch wrench 51 is held in the clutch position, realizing the separation of the transmission systems of the firing drive mechanism 12 and the bending drive mechanism 14.

[0075] Of course, it can be understood that the clutch mechanism described in the embodiments of the present invention can also adopt two sets of clutch mechanisms to separately realize the separation of the transmission systems of the firing drive mechanism 12 and the bending drive mechanism 14. For example, in a specific embodiment, the clutch mechanism includes a firing clutch mechanism 60 for disengaging the transmission system of the firing drive mechanism 12, and a bending clutch mechanism 70 for disengaging the transmission system of the bending drive mechanism 14. The firing clutch mechanism 60 and the bending clutch mechanism 70 are mutually independent and structurally similar mechanisms, such as Figures 13 - 15As shown, the firing clutch mechanism 60 includes a firing clutch wrench 61, which is pivotally mounted on a handle bracket 17 located inside the handle housing 11 through a first pin shaft 62. The firing clutch wrench 61 has a trigger portion 61a. When the operator pulls the firing clutch wrench 61 to move it from an initial position to a first working position, the trigger portion 61a pushes the firing driven wheel 123 of the firing drive mechanism 12 to a disengaged state.

[0076] Similarly, the bending clutch mechanism 70 includes a bending clutch wrench 71, which is pivotally mounted on a handle bracket 17 located inside the handle housing 11 through a first pin shaft 62. The bending clutch wrench 71 has a trigger portion 71a. When the operator pulls the bending clutch wrench 71 to move it from an initial position to a first working position, the trigger portion 71a pushes the bending driven wheels 143 and 145 of the bending drive mechanism 14 to move to a disengaged state.

[0077] Similar to the aforementioned embodiment, in this embodiment, the structure of the first clutch transmission member 53 and the second clutch transmission member 55 can also be used to realize the disengagement of the firing drive mechanism and the bending drive mechanism transmission system by operating the firing clutch wrench 61 and the bending clutch wrench 71, which will not be repeated here.

[0078] The surgical instrument 100 in a specific embodiment of the present application also includes a firing reset mechanism 16 for moving the firing rod 21 to an initial position. The firing reset mechanism 16 is located in the handle housing 11 and is arranged at a position close to the clutch mechanism 15; similarly, by opening the manual reset cover 19 on the handle housing 11, the firing reset mechanism 16 is exposed, and the firing rod 21 is manually reset to the initial position by operating the mechanism.

[0079] like Figure 16 , Figure 17 As shown, the firing reset mechanism 16 includes a reset wrench 161, which is pivotally mounted on the handle bracket 17 located inside the handle housing 11 through a second pin shaft. A reset pawl 163 is provided on the reset wrench 161. When the reset wrench 161 is pulled from the initial position to the second working position, the reset pawl 163 cooperates with the firing rack 124 in the firing drive mechanism 12. The reset wrench 161 is pulled back and forth, driving the reset pawl 163 to push the firing rack 124 to move multiple times until the firing rack 124 is pushed to the initial position. Specifically, a ratchet 124a that cooperates with the reset pawl 163 is provided on the upper side of the firing rack 124. Figure 20 As shown, when the reset lever 161 pivots along the first direction, the reset pawl 163 abuts against the ratchet 124a, pushing the firing rack 124 back to the initial position;Figure 22 As shown, when the reset wrench 161 pivots along the second direction B', the reset pawl 163 slides relative to the ratchet teeth 124a, and the firing rack 124 remains stationary. By repeatedly operating the reset wrench 161 to rotate in the first direction and the second direction, the firing rack 124 is retracted to the initial position.

[0080] Specifically, as Figure 18 shown, a pivot hole 161b is provided on the reset wrench 161. The reset pawl 163 is pivotally connected to the pivot hole 161b of the reset wrench 161 through a pivot shaft 163c. At the other end of the reset pawl 163 away from the pivot shaft 163c, a protrusion 163a and a pawl portion 163b are provided. A limiting portion 171 is provided on the handle bracket 17. When the reset wrench 161 is in the initial position, the protrusion 163a of the reset pawl 163 abuts against the limiting portion 171 to limit the reset pawl 163; when the reset wrench 161 is pulled to the second working position, the protrusion 163a of the reset pawl 163 moves to the outside of the limiting portion 171, releasing the limit of the reset pawl 163, and the pawl portion 163b of the reset pawl 163 drops to a position where it mates with the ratchet teeth 124a surface of the firing rack 124. More specifically, as Figures 20 - 22 shown, the limiting portion 171 is a limiting protrusion provided on the longitudinal side surface of the handle bracket 17. The reset pawl 163 is integrally formed into a plate body, and the protrusion 163a is a shaft-shaped protrusion protruding from the plate body. Among them, the pivot shaft 163c of the reset pawl 163 and the protrusion 163a are respectively located on opposite sides of the second pin shaft, so that when the reset wrench 161 rotates around the second pin shaft, the pivot shaft 163c of the reset pawl 163 rotates accordingly, and then drives the protrusion 163a to move to the outside of the limiting protrusion.

[0081] As Figure 17 shown, the firing and reset mechanism 16 further includes a third elastic member 164, which is adapted to connect the reset wrench 161 and the reset pawl 163. Specifically, in this embodiment, the third elastic member 164 is provided as a torsion spring sleeved on the pivot shaft 163c. One end of the torsion spring is inserted into the reset wrench 161, and the other end is inserted into the reset pawl 163. By providing the third elastic member 164, it is ensured that the reset pawl 163 is in a stable state of continuously abutting against the limiting portion 171 during the inversion or transportation of the instrument and does not engage or contact the firing rack 124. It should be noted that when the electric firing is normal (not failed), the third elastic member 164 is in a compressed state.

[0082] When the firing drive mechanism 12 and the bending drive mechanism 14 are forcibly unlocked, continue as Figure 20 and Figure 21The reset wrench 161 is rotated in the direction of the middle arrow A', so that the protrusion 163a of the reset pawl 163 slides off the limit portion 171, and the pawl portion 163b of the reset pawl 163 slides onto the ratchet 124a of the firing rack 124 and engages therewith. The reset wrench 161 is rotated in the direction of the arrow A', so that the pawl portion 163b of the reset pawl 163 pushes the firing rack 124 to move proximally, so that the reset wrench 161 is rotated in the direction of the arrow A'. Figure 22 The reset wrench 161 is rotated in the direction of the middle arrow B' to retract the reset pawl 163. The reset wrench 161 is reciprocated in the A' direction and the B' direction to return the firing rack 124 and the firing rod 21 to the initial state, thereby completing the manual retraction function of the surgical instrument 100 and opening the jaws of the end actuator 30 to release the clamped tissue and avoid tissue damage.

[0083] After the jaws of the end effector 30 are opened to release the tissue, the distal effector portion 30b and the puncture device are in conflict with each other during the process of removing the surgical instrument from the laparoscope, and the distal effector portion 30b is driven to bend relative to the proximal main body portion 30a under the guidance of the external force of the removal. That is, under the action of the external force, the articulated link 36, the bending link 22 and the bending rack 144 are all acted upon by the external force, overcoming the friction between the friction part on the second clutch transmission member 155 and the bending rack 144, so that the joint assembly 30c of the end effector 30 is slowly reset / straightened to facilitate removal from the laparoscope.

[0084] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. However, the obvious changes or modifications derived therefrom are still within the scope of protection of the present invention.

Claims

1. An electric surgical instrument comprising a handle assembly operable to provide a driving force to an end effector, It is characterized in that The handle assembly includes a handle bracket and a drive assembly and a clutch mechanism installed on the handle bracket, and the drive assembly includes a firing drive assembly and a bending drive assembly; the firing drive assembly and the bending drive assembly respectively include a drive motor and a gear rack transmission group; The clutch mechanism includes a clutch wrench, which is pivotally mounted on the handle bracket. The clutch wrench has a first trigger part and a second trigger part. When the clutch wrench is operated from an initial position to a first working position, the first trigger part triggers the rack and pinion transmission group of the firing drive mechanism to be disengaged, and the second trigger part triggers the rack and pinion transmission group of the bending drive mechanism to be disengaged.

2. The electric surgical instrument according to claim 1, Features: The rack and pinion transmission assembly comprises a driving gear, at least one driven gear and a rack for outputting linear motion, and the first triggering part and the second triggering part of the clutch wrench act on at least one of the driven wheels.

3. The electric surgical instrument according to claim 1, Features: The firing drive mechanism comprises: A firing drive motor, a firing active wheel, a firing driven wheel and a firing rack, wherein the firing active wheel is connected to the output shaft of the firing drive motor, the firing active wheel and the firing rack are connected through the firing driven wheel, and the firing rack is used to output a linear output force; when the clutch wrench is pivoted from the initial position to the first working position, the first trigger part pushes the firing driven wheel to move to release the engagement with the firing rack.

4. The electric surgical instrument according to claim 3, Features: The firing driven wheel is rotatably connected to the first support shaft, and the first support shaft is also provided with a first clutch transmission component. When the clutch wrench is pivoted from the initial position to the first working position, the first trigger part acts on the first clutch transmission component, and the first clutch transmission component moves axially along the first support shaft and pushes the firing driven wheel to move, so that the firing driven wheel is disengaged from the firing rack.

5. The electric surgical instrument according to claim 4, Features: The first clutch transmission member is configured as a plate body with a through hole, and the first trigger portion of the clutch wrench acts on the plate surface of the first clutch transmission member. When the clutch wrench pivots to the first working position, the first trigger portion is engaged and connected with the first clutch transmission member.

6. The electric surgical instrument according to claim 3, Features: It also includes a first elastic member. When the clutch wrench is operated from the first working position to the initial position, the elastic force of the first elastic member pushes the firing driven wheel to move to a state of meshing with the firing rack.

7. The electric surgical instrument according to claim 1, Features: The bending drive mechanism comprises: A bending drive motor, a bending driving wheel, at least one bending driven wheel and a bending rack. The bending driving wheel is connected to the output shaft of the bending drive motor. The bending driving wheel and the bending rack are in transmission connection through the bending driven wheel. The bending rack is used for outputting a linear output force. When the clutch wrench pivots from the initial position to the first working position, the second triggering portion pushes the bending driven wheel to move so as to disengage from the bending rack.

8. The electrosurgical instrument according to claim 7, wherein: The bending driven wheel is rotatably connected to a second support shaft, and a second clutch transmission member is also sleeved on the second support shaft. When the clutch wrench pivots from the initial position to the first working position, the second triggering portion acts on the second clutch transmission member. The second clutch transmission member moves axially along the second support shaft and pushes the bending driven wheel to move, so that the bending driven wheel disengages from the bending rack.

9. The electrosurgical instrument according to claim 8, wherein: A holding portion is provided on the second clutch transmission member. When the second clutch transmission member is pressed down by the second triggering portion of the clutch wrench, the holding portion restricts the displacement of the bending rack, so that the end effector maintains a straight state or a bent state.

10. The electrosurgical instrument according to claim 8, wherein: The bending driven wheel includes a first bending driven wheel and a second bending driven wheel that are coaxial and fixedly connected to each other. The first bending driven wheel meshes with the bending driving wheel, and the second bending driven wheel meshes with the bending rack.

11. The electrosurgical instrument according to claim 10, wherein: The second clutch transmission member includes an upper support plate and a lower support plate that are arranged in parallel with each other and a connecting plate connecting the upper support plate and the lower support plate. The lower support plate is located in the area between the first bending driven wheel and the second bending driven wheel.

12. The electrosurgical instrument according to claim 11, wherein: The second clutch transmission member further includes a friction portion. When the bending driven wheel is driven to move axially until it is about to disengage from the bending rack, the friction portion abuts against the bending rack.

13. The electrosurgical instrument according to claim 3, wherein, The handle assembly further includes a firing reset mechanism for moving the firing rack in the gear rack set of the firing drive assembly to the initial position. The firing reset mechanism includes a reset wrench pivotally mounted on the handle bracket. A reset ratchet is provided on the reset wrench. When the reset wrench is pivoted from the initial position to the second working position, the reset ratchet cooperates with the firing rack and pushes the firing rack to move to the initial position.

14. An electrosurgical instrument, comprising a handle assembly that operably provides a driving force to an end effector, wherein, The handle assembly includes a handle bracket and a drive assembly and a clutch mechanism mounted on the handle bracket. The drive assembly includes a firing drive assembly and a bending drive assembly. The firing drive assembly and the bending drive assembly respectively include a drive motor and a gear rack transmission group; The clutch mechanism includes a clutch wrench pivotally mounted on the handle bracket, and the clutch wrench has a trigger portion; the clutch mechanism further includes a clutch transmission member. When the clutch wrench is operated from the initial position to the first working position, the trigger portion triggers the clutch transmission member to disengage the gear and rack transmission group of the drive mechanism. And The clutch transmission member is provided with a holding portion. When the clutch transmission member is pressed down by the trigger portion of the clutch wrench until the drive assembly is operated to a state of about to be separated, the holding portion cooperates with the rack to keep the end effector in the state before separation.

15. The electrosurgical instrument according to claim 14, wherein The holding portion is an elastic friction plate provided on the clutch transmission member.

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