End execution assembly, initial position retainer and surgical instrument

Abstract

The invention discloses a tail end executing assembly matched with a surgical instrument, an initial position maintaining piece and the surgical instrument, and belongs to the field of medical instruments. An end effector assembly of a surgical instrument includes: a proximal body portion defining a longitudinal axis; the far-end execution part is used for manipulating tissues and is pivotally connected to the near-end main body part through a joint assembly, and a pivot shaft is arranged on the joint assembly; the near-end main body part comprises a bending transmission part, a bending driving shaft is arranged on the joint assembly, and the bending transmission part acts on the bending driving shaft to provide bending driving force for the joint assembly, so that the far-end execution part is bent relative to the longitudinal axis of the near-end main body part; and when the tail end execution assembly is located at the to-be-loaded position, the far-end execution part forms an included angle which is not 0 degree relative to the longitudinal axis. The far-end execution part of the surgical instrument can be bent at a large angle.

Description

End effector assembly, initial position retainer and surgical instrument

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 19, 2022, with application number 202211632874.X and invention name “End-effector assembly, initial position retainer and surgical instrument”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present invention relates to the field of surgical instruments, and in particular to an end-effector assembly for clamping, cutting and stapling tissues, an initial position retaining piece and a surgical instrument. Background Art

[0003] Laparoscopic surgical anastomosis instruments are commonly used surgical instruments in laparoscopic surgery and are suitable for anastomosis and cutting of tissues. This type of instrument usually includes a handle assembly, a slender body assembly, and an end-effector assembly. When used during surgery, a portion of the slender body assembly and the end-effector assembly enter the patient's body through the passage established by the puncture device. The doctor can operate the handle assembly to bend the end-effector assembly to a certain angle relative to the slender body assembly to adapt to different tissue cutting and anastomosis positions. In certain specific laparoscopic surgical environments or procedures, the end-effector assembly is often required to provide a larger bending angle. For example, for low and middle rectal cancers where the operator is 4 to 10 cm away from the anus, surgery is still the main treatment method, and the main procedure is low anterior resection (LAR). Due to the physiological and anatomical characteristics of the human body, the pelvic space is small and the pelvic cavity is rich in nerve plexuses and blood vessels. When performing low anterior resection, the end-effector assembly needs to provide a larger bending angle and a smaller bending radius to complete the one-cut separation of the rectum (see Figure 25), thereby achieving a smaller wound, fewer staple positions, reducing the probability of anastomotic leakage, and reducing the occurrence of postoperative complications.

[0004] Referring to Figures 1-2 , the prior art end effector assembly 50 comprises a proximal body portion 50a and a distal effector portion 50b, which are pivotally connected via a joint assembly 50c. The distal effector portion 50b is capable of bending to the left (LA) or right (RA) at a certain angle relative to the longitudinal axis C defined by the proximal body portion 50a. This joint design, which provides symmetrical bending angles, is limited by the structure of the joint assembly 50c, such as mechanical interference between components, and its maximum bending angle typically does not exceed 50 degrees. Furthermore, existing designs of end effectors that achieve large-angle bending through dual or even multiple joints employ a progressive bending method involving multiple pivot axes. While this allows for greater bending angles, it also increases the length of the joints, increasing the bending radius of the end effector, making it unsuitable for confined surgical environments such as the pelvis.

[0005] Summary of the Invention

[0006] To this end, the present invention proposes an end effector assembly of a surgical instrument and a surgical instrument capable of achieving a large bending angle.

[0007] In view of the above technical problems, the present invention provides the following technical solutions:

[0008] An end effector assembly adapted for use with a surgical instrument includes: a proximal body portion defining a longitudinal axis;

[0009] A distal actuator for manipulating tissue, wherein the distal actuator is pivotally connected to the proximal main body via a joint assembly, and a pivot axis is defined on the joint assembly; the proximal main body includes a bending transmission member, and the joint assembly is provided with a bending drive shaft, the bending transmission member is pivotally connected to the bending drive shaft, and the bending transmission member can be operated to perform reciprocating motion along the longitudinal axis to drive the bending drive shaft to pivot around the pivot axis and drive the distal actuator to pivot around the pivot axis; and when the end actuator is in the loading position, the distal actuator forms an angle that is not 0° relative to the longitudinal axis.

[0010] In some embodiments of the present invention, when the distal end actuator extends along the longitudinal axis, an angle other than 0° is formed between a line connecting the axes of the bending drive shaft and the pivot shaft and the longitudinal axis.

[0011] In some embodiments of the present invention, when the distal end actuator extends along the longitudinal axis, the bending drive shaft is located at the proximal end or the distal end of the pivot shaft.

[0012] In some embodiments of the present invention, when the end effector assembly is in the loading position, the joint assembly pivots until the axis line connecting the axis of the bending drive shaft and the pivot axis is perpendicular to the longitudinal axis.

[0013] In some embodiments of the present invention, when the bending transmission member is operated to move from the starting position to the end position, the distal end actuator is driven to pivot about the pivot axis and gradually move away from the longitudinal axis.

[0014] In some embodiments of the present invention, when the bending and rotating member is in the starting position, the distal end execution portion extends along the longitudinal axis.

[0015] In some embodiments of the present invention, when the end effector assembly is in the waiting-for-loading position, the bending transmission member is in an intermediate position during the movement from the starting position to the end position.

[0016] In some embodiments of the present invention, there is also included a limiting channel for limiting the bending position of the firing member when the firing member fires when the distal execution portion is in a bent state. The limiting channel is located in the matching area between the proximal main body and the joint assembly, and the firing member is located inside the limiting channel and moves along its extension direction.

[0017] In some embodiments of the present invention, the limiting channel is formed by a first limiting portion and a second limiting portion respectively located on both sides of the firing component.

[0018] In some embodiments of the present invention, the first limiting portion includes a first limiting protrusion provided on the bending transmission member, the first limiting protrusion having an inner concave arc surface matching the maximum bending outer arc surface of the firing component; the second limiting portion includes a second limiting protrusion provided on the joint assembly, the second limiting protrusion having an outer convex arc surface matching the maximum bending inner arc surface of the firing component.

[0019] In some embodiments of the present invention, the first limiting portion includes a limiting piece arranged on the proximal main body portion, the limiting piece having an inner concave arc surface matching the maximum bending outer arc surface of the firing component, and the second limiting portion is an outer convex arc surface arranged at the distal end of the bending transmission member, the outer convex arc surface matching the maximum bending inner arc surface of the firing component.

[0020] In some embodiments of the present invention, a distal region of the firing member is provided with an accommodating groove, and when the bending angle of the distal actuator is less than a set value, a partial region of the first limiting portion is accommodated in the accommodating groove.

[0021] In some embodiments of the present invention, the joint assembly includes a first connecting member and a second connecting member, the pivot axis is provided on the first connecting member and / or the second connecting member, the first connecting member and the second connecting member are connected by two connecting shafts located on opposite sides of the pivot axis, and one of the connecting shafts is a bending drive shaft suitable for cooperating with the bending transmission member.

[0022] Some embodiments of the present invention further include an initial position retaining member, which is used to support the distal actuator and the proximal main body so that the distal actuator remains in an initial bending state with a set angle to the proximal main body.

[0023] In some embodiments of the present invention, the initial position retaining member includes a supporting body with a set bending angle, the supporting body includes a first holding arm cooperating with the proximal main body and a second holding arm cooperating with the distal execution part; and also includes a support beam connected between the first holding arm and the second holding arm.

[0024] In some embodiments of the present invention, the initial position retaining member is provided with a limiting structure for cooperating with the firing member, and the limiting structure is suitable for cooperating with the working part of the firing member to limit the position of the firing member.

[0025] In some embodiments of the present invention, the distal execution portion includes a pivotally connected nail magazine assembly and anvil assembly, and the distal ends of the nail magazine assembly and the anvil assembly are respectively provided with mutually cooperating positioning structures, and the positioning structures are used to limit the width direction position of the nail magazine assembly and the anvil assembly when the distal execution portion is in the closed position.

[0026] In some embodiments of the present invention, the positioning structure includes a positioning protrusion provided on one of the nail magazine assembly and the nail anvil assembly, and a positioning groove provided on the other of the nail magazine assembly and the nail anvil assembly.

[0027] The present invention also provides an end effector assembly adapted for surgical instruments, comprising a proximal main body defining a longitudinal axis; a distal effector assembly for manipulating tissue, the distal effector assembly being pivotally connected to the proximal main body assembly via a joint assembly, the joint assembly defining a pivot axis; comprising a bending transmission member, the joint assembly being provided with a bending drive shaft, the bending transmission member acting on the bending drive shaft to provide a bending drive force to the joint assembly, so that the distal effector assembly is unilaterally bent relative to the longitudinal axis of the proximal main body assembly; the distal effector assembly deflects in a unilateral direction away from the longitudinal axis, and can be switched between an extended position, an intermediate bending angle position and a maximum bending angle position; the distal effector assembly being located at the intermediate bending angle position is a loading position for the end effector assembly.

[0028] The present invention also provides a surgical instrument, comprising a main body and the above-mentioned end-effector assembly selectively coupled to the main body.

[0029] The present invention also provides a surgical instrument, including a slender body assembly, which defines a longitudinal axis; a distal actuator for manipulating tissue, which is pivotally connected to the slender body assembly through a joint assembly, and the joint assembly is provided with a pivot axis; including a bending transmission member, and the joint assembly is provided with a bending drive shaft, the bending transmission member acts on the bending drive shaft to provide a bending driving force to the joint assembly, so that the distal actuator is bent relative to the longitudinal axis of the proximal main body; when the distal actuator extends along the longitudinal axis, the bending drive shaft is located at the proximal end or distal end of the pivot axis.

[0030] The present invention also provides a surgical instrument, comprising a slender body assembly, which defines a longitudinal axis; a distal actuator for manipulating tissue, which is pivotally connected to the slender body assembly through a joint assembly, and the joint assembly is provided with a pivot axis; comprising a bending transmission member, and the joint assembly is provided with a bending drive shaft, and the bending transmission member acts on the bending drive shaft to provide a bending driving force to the joint assembly, so that the distal actuator is unilaterally bent relative to the longitudinal axis of the proximal main body; the distal actuator deflects unilaterally away from the longitudinal axis, and can be converted between an extended position, an intermediate bending angle position and a maximum bending angle position; the distal actuator is located at the intermediate bending angle position, which is the initial position of the end actuator.

[0031] The present invention also provides an initial position retaining member adapted for surgical instruments, comprising a supporting body with a set bending angle, so that the distal end execution portion of the end execution assembly is maintained in an initial bending state with a set angle to the longitudinal axis.

[0032] In some embodiments of the present invention, the support body is used to cooperate with the end execution assembly of the surgical instrument, and includes a first holding arm that cooperates with the proximal main body of the end execution assembly, and a second holding arm that cooperates with the distal execution part of the end execution assembly; the angle between the first holding arm and the second holding arm is an obtuse angle.

[0033] In some embodiments of the present invention, the support body is used to cooperate with the end execution assembly and the slender body assembly of the surgical instrument, and includes a first holding arm that cooperates with the proximal main body of the end execution assembly, and a second holding arm that cooperates with the slender body assembly; the angle between the first holding arm and the second holding arm is an obtuse angle.

[0034] The technical solution of the present invention has the following technical effects compared with the prior art:

[0035] In the surgical instrument and its end effector assembly provided by the present invention, the proximal main body and the distal effector are pivotally connected via a joint assembly, and the bending transmission member located on the proximal main body acts on the bending drive shaft to provide a bending drive force to the joint assembly, so that the distal effector is bent relative to the longitudinal axis of the proximal main body; when the distal effector extends along the longitudinal axis, the bending drive shaft is located at the proximal or distal end of the pivot shaft. This can increase the moving distance of the bending transmission member, since the moving distance of the bending transmission member is positively correlated with the bending angle of the distal effector. The above structure of the present invention can make the bending angle of the distal effector reach 0-90°, which is particularly suitable for laparoscopic surgery that requires a larger bending angle of the end effector. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, which will help to understand the objects and advantages of the present invention.

[0037] FIG1 is a schematic structural diagram of an end-effector assembly of a surgical instrument in the prior art;

[0038] FIG2A is a schematic structural diagram of the end effector assembly of a surgical instrument in three bending states in the prior art;

[0039] 2B-C illustrate the movement distance of the bending transmission member of the conventional surgical instrument's end effector assembly along the longitudinal axis when the end effector assembly moves from the initial loading position to the maximum bending angle;

[0040] FIG3 is a schematic structural diagram of a surgical instrument provided in a specific embodiment of the present invention;

[0041] FIG4 is a schematic structural diagram of a main body of a surgical instrument provided by a specific embodiment of the present invention;

[0042] FIG5 is a schematic diagram showing the connection relationship between the end effector assembly and the main body according to a specific embodiment of the present invention;

[0043] FIG6 is a schematic structural diagram of an end-effector assembly provided in a specific embodiment of the present invention;

[0044] FIG7 is an exploded view of a portion of an elongated body assembly of a surgical instrument according to an embodiment of the present invention;

[0045] FIG8 is an exploded view of a portion of a slender body assembly and a handle assembly of a surgical instrument according to a specific embodiment of the present invention;

[0046] FIG9 is an exploded view of an end-effector assembly according to a specific embodiment of the present invention;

[0047] FIG10 is an exploded view of a joint assembly and a firing member in an end effector assembly according to a specific embodiment of the present invention;

[0048] 11A-B are schematic structural diagrams of the distal end effector and the proximal end body of the end effector assembly provided by a specific embodiment of the present invention when extending in the same direction;

[0049] 12A-B are schematic structural diagrams of an end effector assembly in an initial state (a position to be loaded) according to a specific embodiment of the present invention;

[0050] 13A-B are schematic structural diagrams of the distal end effector of the end effector assembly according to a specific embodiment of the present invention when the distal end effector is at a maximum bending angle;

[0051] FIG14A is another schematic diagram of the structure of the distal end effector and the proximal end body of the end effector provided by a specific embodiment of the present invention, wherein the distal end effector and the proximal end body extend in the same direction;

[0052] FIG14B is another structural schematic diagram of the initial state (to-be-loaded position) of the end effector assembly provided by a specific embodiment of the present invention;

[0053] FIG14C is another schematic diagram of the structure of the distal end effector of the end effector assembly according to a specific embodiment of the present invention when the distal end effector is at the maximum bending angle;

[0054] FIG15A shows the movement distance of the bending transmission member along the longitudinal axis when the end effector assembly provided by a specific embodiment of the present invention moves from the initial state (the position to be loaded) to the maximum bending angle;

[0055] FIG15B shows the movement distance of the bending transmission member along the longitudinal axis when the end effector assembly provided by the specific embodiment of the present invention moves from the initial state (the position to be loaded) to the straightened state;

[0056] FIG16A is a schematic structural diagram of the distal end effector and the proximal end body of an end effector assembly provided by another specific embodiment of the present invention, wherein the distal end effector and the proximal end body extend in the same direction;

[0057] FIG16B is a schematic structural diagram of an end effector assembly in an initial state (a position to be loaded) provided in another specific embodiment of the present invention;

[0058] FIG16C is a schematic structural diagram of a distal end effector portion of an end effector assembly according to another embodiment of the present invention when the distal end effector portion is at a maximum bending angle;

[0059] FIG17A shows the movement distance of the bending transmission member along the longitudinal axis when the end effector assembly moves from the initial state (the position to be loaded) to the maximum bending angle according to another embodiment of the present invention;

[0060] FIG17B shows the movement distance of the bending transmission member along the longitudinal axis when the end effector assembly moves from the initial state (the position to be loaded) to the straightened state according to another embodiment of the present invention;

[0061] FIG18 is a schematic structural diagram of an initial position retaining member provided in a specific embodiment of the present invention;

[0062] FIG19 is a top view of an initial position retaining member provided in a specific embodiment of the present invention;

[0063] FIG20 is a cross-sectional view of FIG19 AA;

[0064] FIG21 is an assembly diagram of an end effector assembly according to a specific embodiment of the present invention;

[0065] FIG22 is an enlarged view of portion A in FIG21 ;

[0066] FIG23 is a schematic structural diagram of a nail cartridge base and anvil base in an end effector assembly provided by a specific embodiment of the present invention;

[0067] FIG24 is a schematic structural diagram of a surgical instrument provided by another specific embodiment of the present invention;

[0068] Figure 25 is a schematic diagram of LAR surgical operation; DETAILED DESCRIPTION

[0069] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0070] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present 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.

[0071] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediary, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0072] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0073] In various embodiments of the present invention, the “distal end / side” refers to the end of the surgical instrument that is away from the operator during operation, and the “proximal end / side” refers to the end / side of the surgical instrument that is close to the operator during operation.

[0074] The following is a specific embodiment of the surgical instrument. Generally speaking, the embodiments of the surgical instrument described herein are endoscopic surgical cutting and stapling instruments. However, it should be noted that the surgical instrument can also be a non-endoscopic surgical cutting and stapling instrument, such as an open surgical instrument used in open surgery.

[0075] Specifically, FIG3 illustrates an embodiment of a surgical instrument 100, which includes a handle assembly 10, an elongated body assembly 20, and an end effector assembly 30, arranged sequentially from the proximal end to the distal end. The elongated body assembly 20 defines a longitudinal axis C and extends distally from the distal end of the handle assembly 10. The end effector assembly 30 is detachably or non-detachably coupled to the distal end of the elongated body assembly 20. The handle assembly 10 is adapted to enable an operator to manipulate the surgical instrument 100. The handle assembly 10 can control the end effector assembly 30 via the elongated body assembly 20 to perform surgical operations, such as clamping / closing, suturing / anastomosis, and cutting tissue. The handle assembly 10 includes a handle body that can be gripped by an operator in a conventional manner. In a specific embodiment, the surgical instrument 100 uses a trigger to manipulate the closing and firing of the end effector assembly; alternatively, the surgical instrument 100 can also manipulate the closing and firing of the end effector assembly by means of a push-twist, button, etc. provided on the handle body, so that the end effector assembly 30 performs cutting and suturing operations; the slender body assembly 20 is in the shape of a slender tube, suitable for transmitting the driving force provided by the handle assembly to the distal end of the surgical instrument 100.

[0076] It should be noted that while the embodiments of the surgical instruments described herein are configured with an end effector assembly for cutting and stapling tissue, alternative embodiments may also be configured with other techniques for cutting and stapling tissue. For example, an end effector that utilizes radio frequency (RF) energy or adhesives to staple tissue may also be used.

[0077] The surgical instrument 100 described in this embodiment of the present invention also includes a rotating head 25, which is installed on the distal side of the handle assembly 10 and is provided at the proximal end of the slender body assembly 20. When the rotating head 25 is operated to rotate around the longitudinal axis C of the surgical instrument 100, it can drive the slender body assembly 20 and the end execution assembly 30 to rotate together.

[0078] To achieve a set angle of bend of the end effector assembly 30 relative to the longitudinal axis C of the elongated body assembly 20, the end effector assembly 30 includes a proximal body portion 30a and a distal effector portion 30b, which are pivotally connected via a joint assembly 30c. Accordingly, the surgical instrument 100 also includes a bending drive assembly 21 for driving the joint assembly 30c to bend, and a bending transmission assembly 23. As shown in FIG7 , the bending transmission assembly 23 includes a bending transmission frame 231 and a bending link 232. The bending transmission frame 231 is connected to the proximal end of the bending link 232 and is operably connected to the bending drive assembly 21. The bending drive assembly 21 includes a bending knob 210 mounted on the rotating head 25 and a bending drive member 211, which is connected to the bending drive frame 231. The operator rotates the bending knob 210 to drive the bending drive member 211. Specifically, when the bending knob 210 is rotated clockwise from its initial position, the bending drive component 211 drives the bending link 232 to move toward the distal end; when the bending knob 210 is rotated counterclockwise from its initial position, the bending drive component 211 drives the bending link 232 to move toward the proximal end; and vice versa.

[0079] The surgical instrument 100 can also operate the closing and firing of the distal end effector 30b by means of a button 101 disposed on the handle assembly 10, causing the distal end effector 30b to cut and suturing tissue. Specifically, as shown in Figures 7 and 8, the handle assembly 10 includes a drive mechanism 12 disposed within a handle housing 11, which provides output power to the surgical instrument 100. The elongated body assembly 20 includes a sleeve 201, and a firing rod 22 disposed within the sleeve 201. The firing rod 22 is operably engaged with the drive mechanism 12, so as to be driven by the drive mechanism 12 to reciprocate along the longitudinal axis C, thereby achieving the firing (advancement) and retraction functions of the surgical instrument 100. More specifically, the elongated body assembly 20 includes a support member 202 for slidably supporting the firing rod 22 and the bending link 232. The distal end of the support member 202 is provided with a tubular housing, which is configured to engage the proximal connection end of the end effector assembly 30. Referring to Figure 5 , the proximal end of the bending transmission member 36 of the end effector assembly 30 is provided with a connecting piece 361, which engages with the connecting hook portion 2321 at the distal end of the bending connecting rod 232. A connecting portion 353 is provided at the proximal end of the firing member 35 within the end effector assembly 30, which engages with the distal end of the firing rod 22 to achieve rotational engagement and locking between the end effector assembly 30 and the elongated body assembly 20. Furthermore, the handle assembly 10 also includes a power supply 13, which provides electrical energy to the drive mechanism 12. This power supply 30 may be replaceable and / or rechargeable.

[0080] Next, referring to Figures 9 and 10 , a detailed description of a specific embodiment of the end effector assembly 30 of the surgical instrument 100 of the present invention is provided. This end effector assembly 30 is detachably mounted on the distal end of the elongated body assembly 20 of the surgical instrument 100. As previously described, the end effector assembly 30 comprises a proximal body portion 30a and a distal effector portion 30b, which are pivotally connected via a joint assembly 30c. The proximal body portion 30a of the end effector assembly 30 can be inserted into the elongated body assembly 20 and rotated relative to the housing of the elongated body assembly 20 to lock the end effector assembly 30 thereto. The distal effector portion 30b comprises a staple cartridge assembly 31 and an anvil assembly 32, which are movable relative to each other to close the jaws and thereby clamp tissue. In a specific embodiment, the anvil assembly 32 can be operably pivoted toward the staple cartridge assembly 31 until the jaws of the end effector assembly 30 are closed to clamp tissue; the anvil assembly 32 can be pivoted in a direction away from the staple cartridge assembly 31 until the jaws of the end effector assembly 30 are opened to release tissue. As an alternative embodiment, the staple cartridge assembly 31 of the end effector assembly 30 can be operably pivoted toward the anvil assembly 32 until the jaws of the end effector assembly 30 are closed to clamp tissue; the staple cartridge assembly 31 can be operably pivoted in a direction away from the staple cartridge assembly 31 until the jaws of the end effector assembly 30 are opened to release tissue.

[0081] The staple cartridge assembly 31 includes a staple cartridge base 311, a staple cartridge 312, and a push slider 316 placed in a cavity between the staple cartridge 312 and the staple cartridge base 311. Specifically, the staple cartridge base 311 is connected to the joint assembly 30c, and the staple cartridge 312 is a disposable component that is detachably connected to the staple cartridge base 311. In other optional embodiments, the staple cartridge base 311 and the staple cartridge 312 in the staple cartridge assembly 31 are fixedly connected or integrally formed, and are detachably connected to the elongated body assembly 20 as a component. The staple cartridge base 311 is formed into an open shell structure with a U-shaped or semicircular cross-section, which is connected to the distal end of the elongated body assembly 20, and the staple cartridge 312 is plugged into the staple cartridge base 311 by means of clamping or the like. The staple cartridge 312 is formed in the form of an elongated base, with a side thereof remote from the staple cartridge base 311 being configured to engage with tissue. A cutting knife groove extending from the proximal end to the distal end of the staple cartridge 312 is provided on the side of the staple cartridge 312 configured to engage with tissue (also referred to as the staple ejection surface). The cutting knife groove is adapted for the cutting knife 354 to pass through and cut the tissue clamped between the contact surface and the anvil assembly 32 along the proximal end to the distal end of the staple cartridge 312. In an optional embodiment, the cutting knife groove is located in the middle of the upper surface of the staple cartridge 312, and the staple cartridge 312 is divided into a first staple ejection area and a second staple ejection area by the cutting knife groove. The first and second nail-out areas of the nail magazine 312 are respectively provided with at least two rows of nail hole groups, wherein the number of rows of the nail hole groups can be provided with two, three or more rows according to different surgical conditions; each row of the nail hole groups is provided with a plurality of rows of nail holes, the nail holes being arranged along the longitudinal axis direction of the nail magazine 312, the nail holes being used to accommodate suture staples and nail drivers, and the nail drivers being provided with suture staples on the side of the nail-out surface facing the nail magazine 312; pushing the slider 316 to slide / move along the longitudinal axis direction, the nail drivers from the proximal side to the distal side sequentially implant the suture staples into the tissue to achieve suturing. The anvil assembly 32 includes a nail anvil shell 321 and a nail anvil seat body located within the nail anvil shell 321, the surface of the nail anvil seat body being provided with a plurality of nail buds, the nail buds corresponding one to one to the positions of the nail holes on the nail magazine 312, and the suture staples in the nail holes abutting against the nail buds during tissue anastomosis.

[0082] To prevent the distal end of the distal end of the staple cartridge assembly 31 and the anvil assembly 32 from swinging slightly in the width direction when the distal end effector 30b is closed, thereby causing the staple buds in the anvil assembly to slightly deviate from the positions of the staple holes in the staple cartridge 312, ultimately resulting in poor suturing results, the distal ends of the staple cartridge assembly 31 and the anvil assembly 32 are provided with mutually cooperating positioning structures. The positioning structures are used to limit the widthwise position of the staple cartridge assembly 31 and the anvil assembly 32 when the distal end effector is in the closed position. Specifically, in an optional embodiment, as shown in Figures 21-23, the two side walls of the staple cartridge base 311 of the staple cartridge assembly 31 are provided with positioning protrusions 311a along the thickness direction, and the corresponding positions of the staple housing 321 of the anvil assembly are provided with positioning grooves 321a or notches. The positioning protrusions 311a are inserted into the positioning grooves 321a to form a positioning structure to limit the widthwise position of the staple cartridge assembly 31, ensuring accurate coordination and achieving a better suturing effect. In other alternative embodiments, the positioning protrusion is provided on the anvil assembly 32 , and the positioning groove is provided on the nail magazine assembly 31 , and the two cooperate to also achieve the function of limiting the position of the nail magazine assembly 31 and the nail anvil assembly 32 in the width direction.

[0083] As further shown in FIG9 , the proximal body portion 30a of the end effector assembly 30 includes an elongated outer tube 33, an inner tube 34 disposed within the outer tube 33, a firing member 35 slidably coupled to the inner tube 34, and a bending transmission member 36. The inner tube 34 is formed from a first half-tube 34a and a second half-tube 34b. The proximal end of the first half-tube 34a includes an engagement portion 34c for coupling with the elongated body assembly 20. Engagement tabs 343 are provided on the engagement portion 34c for releasably engaging the elongated body assembly 20 in a snap-fit ​​connection. The first half-tube 34a and the second half-tube 34b define a sliding channel for slidably receiving the firing member 35. The firing member 35 includes an elongated firing beam 351, which can be constructed from a single piece of deformable material or, preferably, from a plurality of stacked sheets. A working portion 352 is provided at the distal end of the firing beam 351. A cutting blade 354 is provided on the working portion 352 for forming an incision in the tissue to be cut during the firing process. The working portion 352 of the firing member 35 is formed into an I-beam structure, a portion of which contacts the slider 316 and can slide integrally toward the distal end of the staple cartridge 312 to perform the corresponding surgical operation. For example, when the firing member 35 is driven from the proximal end to the distal end, a portion of the working portion 352 of the firing member 35 pushes the slider 316 toward the distal end. The slider 316 acts on the staple driver to push the staples out of the staple cartridge 312, completing the tissue anastomosis operation. Simultaneously, the cutting blade 354 on the working portion 352 cuts the tissue. The proximal end of the firing beam 351 is provided with a connecting portion 353 , which is formed into a sleeve structure with an opening. The proximal end of the connecting portion 353 is provided with a hole, which is configured to receive the distal end of the firing rod 22 when the proximal end of the end effector assembly 30 is engaged with the slender body assembly 20 .

[0084] 9 and 10 , the joint assembly 30c includes a first connecting member 371 and a second connecting member 372. The first connecting member 371 defines a pivot axis 371c. The distal end of the inner tube 34 is fixedly connected to the pivot support plate 341. The distal end of the pivot support plate 341 is pivotally connected to the pivot axis 371c, thereby pivotally connecting the joint assembly 30c to the proximal main body portion 30a so that the distal execution portion 30b can be operably pivoted relative to the proximal main body portion 30a. In an alternative embodiment, in order to improve the stability of the pivotal movement of the distal actuator 30b relative to the proximal main body 30, corresponding coaxial pivot shafts 371c, 372c are respectively provided on the first connecting member 371 and the second connecting member 372, and the first half tube 34a and the second half tube 34b are also respectively provided with pivot support plates 341, 342, and the distal ends of the pivot support plates 341, 342 are pivotally connected to their corresponding pivot shafts 371c, 372.

[0085] Continuing with reference to Figure 10, the first connecting member 371 and the second connecting member 372 are connected via two connecting shafts 372a, 372b located on opposite sides of the pivot axis 371c. Specifically, the connecting shafts 372a, 372b are fixedly disposed on the second connecting member 372, and corresponding holes 371a, 371b are provided on the first connecting member 371. The connecting shafts 372a, 372b are fixedly connected to the holes 371a, 371b on the first connecting member 372 by riveting or welding. Alternatively, in an alternative embodiment, corresponding holes are provided on both the first connecting member 371 and the second connecting member 372, and the first connecting member 371 and the second connecting member 372 are fixedly connected by riveting or welding the ends of the connecting shafts 372a, 372b. Furthermore, one of the connecting shafts 372a of the joint assembly 30c is also adapted to cooperate with the hole at the distal end of the bending transmission member 36, thereby converting the movement provided by the bending transmission member 36 along the longitudinal axis C into pivotal movement of the joint assembly 30c around the pivot axis 371c and / or the pivot axis 372c. In order to more clearly describe the specific technical solution of the present invention, the connecting shaft 372a engaged with the bending transmission member 36 will be referred to as the bending drive shaft 372a. The distal end of the bending transmission member 36 within the proximal main body 30a is pivotally connected to the bending drive shaft 372a. Next, the joint movement process of the end effector assembly 30 provided by the embodiment of the present invention will be described in detail with reference to Figures 11-15.

[0086] As shown in Figures 11A and 11B , when the distal effector 30b extends along the longitudinal axis C (i.e., when the distal effector 30b extends in the same direction as the proximal body portion 30a), the angle between the distal effector 30b and the longitudinal axis C is 0° or approximately 0°, and the bending drive shaft 372a is located proximal to the pivot axis 371c. Operating the bending knob 210 of the surgical instrument 100 causes the bending transmission member 36 to move distally (in the direction of arrow DD), driving the bending drive shaft 372a to pivot about the pivot axis 371c, causing the distal effector 30b to bend gradually away from the longitudinal axis C, ultimately reaching a position / state of unilateral maximum bending angle, as shown in Figures 13A and 13B . During the process of the distal end effector 30b bending away from the longitudinal axis C, when the distal end effector 30b forms a certain angle with the longitudinal axis C, as shown in Figures 12A and 12B, the end effector assembly 30 provided in this embodiment of the present invention is in an initial state / position (hereinafter referred to as the ready-to-load position) that is not loaded or used. In this ready-to-load position, the end effector assembly 30 can be installed and inserted into the distal end of the slender body assembly 20 of the surgical instrument 100.

[0087] It is understandable that the maximum bending angle that the end effector assembly can provide is not only limited by the mechanical interference of related parts within the end effector assembly, but also by the maximum stroke that the bending link 232 can provide in the surgical instrument handle assembly and the slender body assembly.

[0088] In order to enable the end effector 30 described in the embodiment of the present invention to adapt to the main body of the surgical instrument in the prior art (including the handle assembly and the slender body assembly), that is, the end effector 30 described in the embodiment of the present invention can adapt to the main body of the same surgical instrument (including the handle assembly and the slender body assembly) as the end effector 50 of the same specification and size in the existing design (refer to Figure 1), in a specific embodiment, referring to Figures 12A and 12B, when the end effector 30 is in the loading position, when the axis of the bending drive shaft 372a of the joint assembly 30c and the axis connecting the axis of the pivot shaft 371c S are perpendicular to the longitudinal axis C, the distal end effector 30b and the longitudinal axis C form a set first angle RA1.

[0089] Specifically, after the end effector assembly 30 in the loading position is installed on the slender body assembly 20 of the surgical instrument 100, the bending knob 210 of the operating handle assembly 10 is operated to move the bending link 232 distally by a first distance. Accordingly, the bending transmission member 36 is also driven to move distally by L1, so that the distal effector portion 30b of the end effector assembly 30 is further bent away from the longitudinal axis C to a second angle RA2 on the basis of having been bent at the first angle RA1. Similarly, after the end effector assembly 30 in the loading position is mounted on the elongated body assembly 20 of the surgical instrument 100, the bending knob 210 of the handle assembly 10 is operated to move the bending link 232 proximally by a second distance. Accordingly, the bending transmission member 36 is also driven to move proximally by L2, causing the distal end 30b of the end effector assembly 30, having been bent at the first angle RA1, to further pivot toward the longitudinal axis C and ultimately form a 0° or substantially 0° relationship with the longitudinal axis C, thereby facilitating easier passage of the end effector assembly 30 through the trocar. The first distance and the second distance may be the same or different.

[0090] When the end effector 30 of the embodiment of the present invention is adapted for use with conventional surgical instruments, the first distance may correspond to the distance the bending link moves when the end effector 50 is bent rightward to its maximum angle RA; the second distance may correspond to the distance the bending link moves when the end effector 50 is bent leftward to its maximum angle LA. This configuration of the end effector 30 further enhances the versatility and adaptability of the end effector of the embodiment of the present invention.

[0091] In a specific embodiment, referring to Figure 15A, when the bending knob 210 is rotated clockwise from the initial position to the maximum rotation position, the bending link 232 is driven to move a first distance toward the distal end, thereby driving the bending drive shaft 372a to move L1 toward the distal end along the longitudinal axis C, and the distal actuator 30b is bent from the first angle RA1 to the maximum bending angle RA2; referring to Figure 15B, when the bending knob 210 is rotated counterclockwise from the initial position to the maximum rotation position, the bending drive member 211 drives the bending link 232 to move a second distance toward the proximal end, thereby driving the bending drive shaft 372a to move L2 toward the proximal end along the longitudinal axis C, and the distal actuator 30b is bent from the initial first angle RA1 to extend in the same direction as the longitudinal axis C, that is, the bending angle is 0° or approximately 0°. It can be seen that when the bending transmission member 36 moves distally along the longitudinal axis C by L1+L2, or in other words, the bending transmission member 36 is operated from the proximal starting position to move distally along the longitudinal axis C to the distal end position, the angle between the distal actuator 30b and the longitudinal axis C is from 0° or approximately 0° to the maximum bending angle RA2.

[0092] As shown in Figures 16-17, as an alternative embodiment, the bending drive shaft 672a of the end effector assembly 60 is pivotally connected to the distal end of the bending transmission member 66. The bending transmission member 66 is operatively pulled proximally to achieve bending of the distal effector 60b and the joint assembly 60c relative to the proximal body portion 60a. Specifically referring to Figure 16A, the angle between the longitudinal axis C defined by the distal effector 60b and the proximal body portion 60a is 0° or approximately 0°, and the bending drive shaft 672a is located distal to the pivot axis 671c. Operating the bending knob 210 causes the bending transmission member 66 to move proximally, thereby pulling the bending drive shaft 672a to pivot about the pivot axis 671c, driving the distal effector 60b gradually away from the longitudinal axis C until it reaches its maximum bending angle (see Figure 16C). Similarly, to enable the end effector assembly 60 to adapt to the main body of a conventional surgical instrument (including the handle assembly and the elongated body assembly) and to fully utilize the maximum travel provided by the bending link 232, the state / position of the end effector assembly 60 shown in FIG16B is defined as its initial state / position (hereinafter referred to as the ready-to-load position) in which it is unloaded or unused. At this point, the axis S connecting the axis centers of the bending drive shaft 672a and the pivot shaft 671c of the end effector assembly 60 is perpendicular to the longitudinal axis C.

[0093] After the end effector assembly 60 in the loading position is installed on the slender body assembly 20 of the surgical instrument 100, the bending link 232 is moved proximally by a third distance by operating the bending knob 210 of the handle assembly 10. Accordingly, the bending transmission member 66 is also driven to move proximally by L3, so that the distal end effector portion 60b of the end effector assembly 60 is further bent away from the longitudinal axis C to a fourth angle RA4 on the basis of having been bent at the third angle RA3. Similarly, after the end effector assembly 60 in the loading position is mounted on the elongated body assembly 20 of the surgical instrument 100, the bending knob 210 of the handle assembly 10 is operated to move the bending link 232 distally by a fourth distance. Accordingly, the bending transmission member 66 is also driven to move distally by L4, causing the distal end portion 60b of the end effector assembly 60, having been bent at the third angle RA3, to further pivot toward the longitudinal axis C and ultimately form a 0° or substantially 0° relationship with the longitudinal axis C, thereby facilitating easier passage of the end effector assembly 60 through the trocar. The third distance and the fourth distance may be the same or different.

[0094] In a specific embodiment, referring to Figure 17A, when the bending knob 210 is rotated clockwise from the initial position to the maximum rotation position, the bending link 232 is driven to move a third distance proximally, thereby driving the bending drive shaft 372a to move L3 proximally along the longitudinal axis C, and the distal actuator 30b is bent to the maximum bending angle; when the bending knob 210 is rotated counterclockwise from the initial position to the maximum rotation position, the bending drive member 211 drives the bending link 232 to move a fourth distance distally, thereby driving the bending drive shaft 372a to move L4 distally along the longitudinal axis C, and the distal actuator 30b extends in the same direction as the longitudinal axis C, that is, the bending angle is 0° or approximately 0°. It can be seen that when the bending transmission member 36 moves proximally along the longitudinal axis C by L3+L4, or in other words, the bending transmission member 36 is operated from the distal starting position to move proximally along the longitudinal axis C to the proximal end position, the angle between the distal actuator 30b and the longitudinal axis C is from 0° or approximately 0° to the maximum bending angle RA4.

[0095] Of course, it is understandable that, based on the concept of the present invention, the end position of the bending transmission member 36, 66 is not limited to the position corresponding to the distal actuator 30b extending along the longitudinal axis C, that is, the position where the angle between the distal actuator 30b and the longitudinal axis C is 0° or approximately 0°, but can also be a smaller angle with the longitudinal axis C according to the actual scenario needs, whether it is deflected to the left or to the right.

[0096] 2B-C , the end effector assembly 50 in the prior art, when the bending knob 210 is manipulated to rotate clockwise from the initial position to the maximum rotation position, drives the bending link 232 to move distally by a fifth distance, thereby driving the bending transmission member 56 and the bending drive shaft 572a to move distally along the longitudinal axis C by L5, and the distal effector 50b is bent clockwise to the maximum bending angle RA; referring to FIG2C , when the bending knob 210 is manipulated to rotate counterclockwise from the initial position to the maximum rotation position, drives the bending link 232 to move proximally by a sixth distance, thereby driving the bending transmission member 56 and the bending drive shaft 572a to move proximally along the longitudinal axis C by L6, and the distal effector 50b is bent counterclockwise to the maximum bending angle LA. As can be seen, when the bending transmission member 56 moves a distance L5 or L6 along the longitudinal axis C, the angle between the distal end effector 50b and the longitudinal axis C increases from 0° to the maximum bending angle RA, LA. As can be seen, when the bending transmission member 56 moves proximally from the most distal position along the longitudinal axis C by L5+L6, the angle between the distal end effector 50b and the longitudinal axis C increases from the maximum bending angle RA on one side to the maximum bending angle LA on the other side.

[0097] It can be seen that, when the maximum moving distance of the bending transmission member is the same, the structures of the end effector assemblies 30 , 60 of the present invention can provide a larger maximum bending angle than the structure of the end effector 50 of the prior art.

[0098] In any embodiment of the end effector assembly 30, 60 of the present invention, when the angle between the distal end effector 30b, 60b and the longitudinal axis C is 0°, the axis connecting the axes of the bending drive shaft 372a, 672a and the pivot shaft 371c, 671c forms an angle θ with the longitudinal axis C. The magnitude of θ is one of the factors that determine the maximum bending angle that the end effector 30, 60 can provide. Accordingly, when the end effector 30, 60 is in the loading position, the bending angle of the distal end effector 30b, 60b is (90-θ)°. It will be appreciated that the smaller the value of θ, the greater the maximum bending angle that the end effector 30, 60 can provide, assuming that mechanical interference between components and the maximum travel range of the bending drive assembly / bending transmission assembly are not considered. For example, in one embodiment, when the angle between the distal actuator 30b, 60b and the longitudinal axis C is 0°, the angle θ between the axis connecting the centers of the bending drive shaft 372a, 672a and the pivot shaft 371c, 671c and the longitudinal axis C is 45°, which can make the maximum bending angle of the distal actuator 30b, 60b reach approximately 90°.

[0099] When the distal end effector 30b, 60b is at a large bending angle relative to the proximal body 30a, 60a, in order to enable the firing member 35 to bend and deform accordingly and fire smoothly, the end effector assembly 30, 60 further includes a limiting channel for limiting the movement of the firing beam when the firing member 35 fires while the distal end effector 30b, 60b is bent. The limiting channel is located in the mating area between the proximal body 30a, 60a and the joint assembly 30c, 60c. The firing beam 351 of the firing member 35 is located within the limiting channel and moves along its extension direction. The limiting channel is formed by a first limiting portion and a second limiting portion, respectively located on either side of the firing beam 351. The first limiting portion is configured to engage with the outer curved surface of the firing beam 351 at its maximum bending angle, while the second limiting portion engages with the inner curved surface of the firing beam 351 at its maximum bending angle.

[0100] The end execution component 30 described in any embodiment of the present invention, as shown in Figure 15A, the first limiting portion is a first limiting protrusion 36a provided on the bending transmission member 36, and the first limiting protrusion 36a has an inner concave arc surface matching the maximum bending outer arc surface of the firing beam 351 (that is, in Figure 15A, the outer arc surface of the bending area of ​​the firing beam 351 when the firing beam 351 reaches the maximum bending angle); specifically, the bending transmission member 36 is formed into a slender sheet, and the first limiting protrusion 36a is formed in a partial area of ​​the distal end of the bending transmission member 36 and protrudes toward the firing component 35, and the first limiting protrusion 36a forms an inner concave arc surface toward one side of the firing beam 351, and the arc length of the inner concave arc surface covers the maximum deformation area of ​​the firing beam 351. The second limiting portion is a second limiting protrusion 372d provided on the joint assembly 30c. The second limiting protrusion 372d has an outwardly convex arc surface that matches the maximum bending inner arc surface of the firing beam 351 (i.e., the inner arc surface of the bending area of ​​the firing beam 351 when the firing beam 351 reaches the maximum bending angle). Specifically, the second limiting protrusion 372d is provided on the second connecting member 372 in the joint assembly 30c in the inner bending area close to the firing beam 351. The second limiting protrusion 372d has an outwardly convex arc surface area. A limiting channel is formed between the bending transmission member 36 and the second connecting member 372 to limit the bending position of the firing beam 351. The firing beam 351 bends along the limiting channel to prevent the firing beam 351 from dislodging from one side during movement at a large bending angle. In this embodiment, the bending driving force exerted on the bending transmission member 36 is directed toward the distal end. When it slides from the proximal side to the distal side under the action of the bending driving mechanism, the first limiting protrusion 36a of the bending transmission member 36 moves distally to the joint component 30c area, and cooperates with the second limiting protrusion 372d on the joint component 30c to form a limiting channel with a bending angle of approximately 90 degrees.

[0101] In the end effector assembly 60 according to any embodiment of the present invention, as shown in Figures 16A-C, the first limiting portion includes a limiting member 68 provided on the proximal main body portion 60a, wherein the limiting member 68 has an inner concave arc surface 68a that matches the outer arc surface of the maximum bending of the firing beam. Specifically, the proximal end of the limiting member 68 is fixedly connected to the inner tube of the proximal main body portion 60a, and the distal end is sleeved on the connecting shaft 672b. The side of the limiting member 68 proximal to the firing beam is formed with an inner concave arc surface 68a, and the arc length of the inner concave arc surface 68a covers the maximum deformation area of ​​the firing beam. The second limiting portion is an outer convex arc surface 66b provided on the distal end of the bending transmission member 66, and the outer convex arc surface 66b matches the inner arc surface of the maximum bending of the firing beam.

[0102] As shown in Figure 10, the distal area of ​​the firing beam 351 of the firing component 35 is provided with a receiving groove 351a. When the bending angle of the distal execution part 30b is less than the set value, as shown in Figures 14A and 16A, a partial area of ​​the first limiting part is accommodated in the receiving groove 351a.

[0103] In the above-described embodiment of the present invention, when the distal effector 30 extends along the longitudinal axis C, the bending drive shafts 371a, 372a are located proximal or distal to the pivot shafts 371c, 372c, and the distal effector 30b deflects unilaterally away from the longitudinal axis C, transitioning between an extended position (i.e., a position where the angle between the distal effector 30b, 60b and the longitudinal axis C is 0° or approximately 0°), an intermediate bending angle position, and a maximum bending angle position, thereby achieving large-angle bending of one side of the end effector of the surgical stapling instrument. Furthermore, the end effector 30, 60 and joint assembly 30c, 60c provided in any embodiment of the present invention still utilizes a single pivot axis to achieve bending, thereby ensuring a minimal bending radius. Alternatively, the maximum bending angle that the end effector can provide is increased without increasing the bending radius of the end effector.

[0104] Since the end effector assembly 30, 60 provided in any embodiment of the present invention has a position to be loaded where the distal effector portion 30b, 60b forms a certain angle θ with the longitudinal axis C, the present invention also provides an initial retaining member, so that the end effector assembly 30, 60 can be more reliably retained in the position to be loaded. Specifically, as shown in Figures 18 to 20, this is a specific embodiment of the initial position retaining member 40 provided by the present invention. The initial position retaining member 40 has a supporting body with a set bending angle, so that the distal effector portion 30b, 60b of the end effector assembly 30, 60 is maintained in the initial bending state to be loaded. Specifically, the initial position retaining member 40 is used to support the distal effector portion 30b and the proximal main body portion 30a of the end effector assembly 30, so that the distal effector portion 30b is maintained in the initial bending state with a set angle with the proximal main body portion 30a. Specifically, the support body includes a first holding arm 41 that cooperates with the proximal main body part 30a and a second holding arm 42 that cooperates with the distal execution part 30b, and also includes a support beam 493 connected between the first holding arm 41 and the second holding arm 42, wherein the first holding arm 41 and the second holding arm 42 are formed into semi-open semi-rings that match the outer shapes of the proximal main body part 30a and the distal execution part 30b, and they hold on both to prevent falling off.

[0105] More specifically, to facilitate user gripping, the initial position retaining member 40 further includes a gripping frame 44 suitable for operator gripping. The gripping frame 44 is connected to the outer wall of the support body. The gripping frame 44 has various structures. One optional embodiment is that the gripping frame 44 is formed as a handle-type bracket suitable for hand penetration. The handle-type bracket penetrates the entire longitudinal side wall of the support body and extends to the outer area of ​​the support body to form a cantilever structure. More specifically, the inner wall of the second holding arm 42 of the initial position retaining member 40 is provided with a limiting structure for cooperating with the working portion 352 of the firing member 35. As shown in Figures 18-20, the limiting structure is a protruding structure 45 formed on the inner wall of the second holding arm 42. The protruding structure 45 extends into the interior of the anvil base 321 along the through-hole thereof and abuts against the working portion 352 of the firing member 35 to prevent the firing member 35 from moving distally.

[0106] It can be understood that the end effector assembly and the initial position retaining member provided in any embodiment of the present invention, in addition to being applicable to universal surgical anastomosis instruments, that is, the end effector assembly as a whole is detachably mounted on the slender body assembly of the surgical instrument, such as the surgical instrument 100 provided in any embodiment of the present invention, can also be applicable to fixed-type surgical anastomosis instruments, that is, the proximal main body of the end effector assembly is non-detachably fixed to the slender body assembly of the surgical instrument, while part of the nail magazine assembly is detachably replaceable, such as the surgical instrument 200 shown in Figure 24.

[0107] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. An end-effector assembly, comprising: a proximal body portion defining a longitudinal axis; The distal end implementing portion is used to manipulate tissue, and the distal end implementing portion is pivotally connected to the proximal end main body portion through a joint assembly, and the joint assembly defines a pivot axis; characterized in that, The proximal main body includes a bending transmission member, the joint assembly is provided with a bending drive shaft, the bending transmission member is pivotally connected to the bending drive shaft, and the bending transmission member can be operated to reciprocate along the longitudinal axis to drive the bending drive shaft to pivot around the pivot axis and drive the distal end actuator to pivot around the pivot axis; and When the end effector assembly is in the ready-to-load position, the distal effector portion forms an angle that is not 0° with respect to the longitudinal axis.

2. The end effector assembly according to claim 1, characterized in that: When the distal end actuator extends along the longitudinal axis, an angle other than 0° is formed between a line connecting the axes of the bending drive shaft and the pivot shaft and the longitudinal axis.

3. The end effector assembly according to claim 1, wherein: When the distal end execution portion extends along the longitudinal axis, the bending drive shaft is located at the proximal end or the distal end of the pivot shaft.

4. The end effector assembly according to claim 1, wherein: When the end effector assembly is in the ready-to-load position, the joint assembly pivots until a line connecting the axes of the bending drive shaft and the pivot shaft is perpendicular to the longitudinal axis.

5. The end effector assembly according to claim 1, wherein: When the bending transmission member is operated to move from the starting position to the end position, the distal end execution portion is driven to pivot around the pivot axis and gradually move away from the longitudinal axis.

6. The end effector assembly according to claim 5, characterized in that: When the bending and rotating member is in the starting position, the distal end execution portion extends along the longitudinal axis.

7. The end effector assembly according to claim 5, characterized in that: When the end effector assembly is in the waiting-for-loading position, the bending transmission member is in an intermediate position during the movement from the starting position to the end position.

8. The end effector assembly according to claim 1, wherein: It also includes a limiting channel for limiting the bending position of the firing member when the firing member fires when the distal execution part is in a bent state. The limiting channel is located in the matching area between the proximal main body and the joint assembly, and the firing member is located inside the limiting channel and moves along its extension direction.

9. The end effector assembly according to claim 8, characterized in that: The limiting channel is formed by a first limiting portion and a second limiting portion respectively located on both sides of the firing component.

10. The end effector assembly according to claim 9, characterized in that: The first limiting portion includes a first limiting protrusion arranged on the bending transmission member, and the first limiting protrusion has an inner concave arc surface matching the maximum bending outer arc surface of the firing component; the second limiting portion includes a second limiting protrusion arranged on the joint assembly, and the second limiting protrusion has an outer convex arc surface matching the maximum bending inner arc surface of the firing component.

11. The end effector assembly according to claim 9, wherein: The first limiting portion includes a limiting piece arranged on the proximal main body portion, and the limiting piece has an inner concave arc surface that matches the maximum bending outer arc surface of the firing component. The second limiting portion is an outer convex arc surface arranged at the distal end of the bending transmission component, and the outer convex arc surface matches the maximum bending inner arc surface of the firing component.

12. The end effector assembly according to claim 10 or 11, characterized in that: A accommodating groove is provided in the distal region of the firing component. When the bending angle of the distal actuator is less than a set value, a partial region of the first limiting portion is accommodated in the accommodating groove.

13. The end effector assembly according to claim 1, wherein: The joint assembly includes a first connecting member and a second connecting member, and the pivot axis is set on the first connecting member and / or the second connecting member. The first connecting member and the second connecting member are connected by two connecting shafts located on opposite sides of the pivot axis, and one of the connecting shafts is a bending drive shaft suitable for cooperating with the bending transmission member.

14. The end effector assembly according to claim 1, wherein: It also includes an initial position retaining member, which is used to support the distal execution portion and the proximal main body portion, so that the distal execution portion is maintained in an initial bending state with a set angle to the proximal main body portion.

15. The end effector assembly according to claim 14, wherein: The initial position retaining member includes a supporting body with a set bending angle, and the supporting body includes a first holding arm cooperating with the proximal main body and a second holding arm cooperating with the distal execution part; and also includes a supporting beam connected between the first holding arm and the second holding arm.

16. The end effector assembly according to claim 14, wherein: The initial position retaining member is provided with a limiting structure for cooperating with the firing component, and the limiting structure is suitable for cooperating with the working part of the firing component to limit the position of the firing component.

17. The end effector assembly according to claim 1, wherein: The distal end execution part includes a pivotally connected nail magazine assembly and a nail anvil assembly, and the distal ends of the nail magazine assembly and the nail anvil assembly are respectively provided with mutually cooperating positioning structures, and the positioning structures are used to limit the width direction position of the nail magazine assembly and the nail anvil assembly when the distal end execution part is in the closed position.

18. The end effector assembly according to claim 18, wherein: The positioning structure includes a positioning protrusion arranged on one of the nail magazine assembly and the nail anvil assembly, and a positioning groove arranged on the other one of the nail magazine assembly and the nail anvil assembly.

19. An end effector assembly comprising a proximal body portion defining a longitudinal axis; The distal end implementing portion is used to manipulate tissue, and the distal end implementing portion is pivotally connected to the proximal end main body portion through a joint assembly, and the joint assembly defines a pivot axis; characterized in that, The joint assembly comprises a bending transmission member, wherein the joint assembly is provided with a bending drive shaft, and the bending transmission member acts on the bending drive shaft to provide a bending drive force to the joint assembly, so as to cause the distal end actuator to unilaterally bend relative to the longitudinal axis of the proximal end body; The distal execution portion deflects in a unilateral direction away from the longitudinal axis, and can be switched between an extended position, an intermediate bending angle position, and a maximum bending angle position; the distal execution portion is located at the intermediate bending angle position, which is the position to be loaded for the end execution assembly.

20. A surgical instrument comprising a main body and an end effector assembly selectively coupled to the main body, characterized in that: The end-effector assembly adopts any one of the end-effector assembly described in claims 1-19.

21. A surgical instrument comprising an elongated body assembly defining a longitudinal axis; The distal end actuator for manipulating tissue is pivotally connected to the elongated body assembly via a joint assembly, wherein the joint assembly is provided with a pivot axis; The joint assembly includes a bending transmission member, wherein the joint assembly is provided with a bending drive shaft, and the bending transmission member acts on the bending drive shaft to provide a bending drive force to the joint assembly, so that the distal end actuator is bent relative to the longitudinal axis of the proximal end body; When the distal end execution portion extends along the longitudinal axis, the bending drive shaft is located at the proximal end or the distal end of the pivot shaft.

22. A surgical instrument comprising an elongated body assembly defining a longitudinal axis; The distal end actuator for manipulating tissue is pivotally connected to the elongated body assembly via a joint assembly, wherein the joint assembly is provided with a pivot axis; The joint assembly comprises a bending transmission member, wherein the joint assembly is provided with a bending drive shaft, and the bending transmission member acts on the bending drive shaft to provide a bending drive force to the joint assembly, so as to cause the distal end actuator to unilaterally bend relative to the longitudinal axis of the proximal end body; The distal execution portion deflects unilaterally away from the longitudinal axis and can be switched between a straight position, an intermediate bending angle position and a maximum bending angle position; the distal execution portion being at the intermediate bending angle position is the initial position of the end execution assembly.

23. An initial position retaining member, characterized in that: The invention comprises a support body with a set bending angle, so that the distal end execution part of the end execution assembly of the surgical instrument is maintained in an initial bending state with a set angle to the longitudinal axis.

24. The initial position retaining member of a surgical instrument according to claim 23, characterized in that: The support body is used to cooperate with the end execution assembly of the surgical instrument, and includes a first holding arm that cooperates with the proximal main body of the end execution assembly, and a second holding arm that cooperates with the distal execution part of the end execution assembly; the angle between the first holding arm and the second holding arm is an obtuse angle.

25. The initial position retaining member of a surgical instrument according to claim 23, characterized in that: The support body is used to cooperate with the end execution assembly and slender body assembly of the surgical instrument, and includes a first holding arm that cooperates with the proximal main body of the end execution assembly, and a second holding arm that cooperates with the slender body assembly; the angle between the first holding arm and the second holding arm is an obtuse angle.

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