Surgical instrument

Abstract

The invention relates to a surgical instrument which comprises a jaw assembly, a sleeve assembly, a driving assembly, a transmission assembly, an aligning mechanism and an unlocking assembly, and the transmission assembly is connected with the jaw assembly; the return mechanism comprises an elastic assembly, one end of the elastic assembly is connected to the sleeve assembly, and the other end is connected with the jaw assembly or the transmission assembly. When the surgical instrument is in the second state, the driving assembly is separated from the transmission assembly, the elastic assembly in the deformation state returns to the initial state through self elasticity in response to the fact that the jaw assembly is in the bending state, and the jaw assembly is driven to rotate to the straight beating state. In response to movement of the unlocking assembly from the first position to the second position, the surgical instrument switches from the first state to the second state. After cutting is completed, if a motor assembly of the driving assembly loses efficacy, medical staff can enable the unlocking assembly to move from the first position to the second position, the elastic assembly drives the jaw assembly to rotate to the direct beating state through elastic force, and the surgical instrument can be taken out of the body of a patient smoothly.

Description

Technical Field

[0001] The present disclosure relates to a surgical instrument. Background Art

[0002] A surgical cutting stapler is a commonly used instrument in medicine to replace manual suturing. Its main working principle is to use a cutting knife to sever tissue and titanium staples to anastomose tissue, similar to a stapler. According to the applicable different body parts, it can be divided into various staplers. For a surgical cutting stapler, its working principle is to enter the patient's body through the cannula of a trocar positioned at the surgical site, and then create a longitudinal incision in the tissue and apply staples on the opposite side of the incision, so as to sever and anastomose the tissue.

[0003] A surgical instrument includes a jaw assembly. During the operation, medical staff can rotate the jaw assembly to a suitable angle by operating it and clamp human tissue. After clamping the human tissue, the clamped tissue is cut and the cutting knife is retracted. After the cutting is completed, the medical staff controls the jaw assembly to rotate back to the straight firing state. Summary of the Invention

[0004] The present disclosure is achieved through the following technical solutions: A surgical instrument includes a jaw assembly, a cannula assembly, a drive assembly, and a transmission assembly. The transmission assembly is connected to the jaw assembly. The surgical instrument further includes a return mechanism and an unlocking assembly; The return mechanism includes an elastic component. One end of the elastic component is connected to the cannula assembly, and the other end is connected to the jaw assembly or the transmission assembly; The surgical instrument includes a first state and a second state; in the first state, the drive assembly is connected to the transmission assembly. In response to the drive of the drive assembly, the transmission assembly drives the jaw assembly to rotate relative to the cannula assembly to switch between the straight firing state and the bent firing state; when the jaw assembly is in the straight firing state, the elastic component is in the initial state, and when the jaw assembly is in the bent firing state, the elastic component is in the deformed state; In the second state, the drive assembly is separated from the transmission assembly. In response to the jaw assembly being in the bent firing state, the elastic component in the deformed state returns to the initial state by its own elastic force to drive the jaw assembly to rotate to the straight firing state.

[0005] In response to the unlocking assembly moving from the first position to the second position, the surgical instrument switches from the first state to the second state.

[0006] In one embodiment, the elastic component includes a tool bar. One end of the tool bar is connected to the jaw component, and the other end of the tool bar is connected to the sleeve component. When the jaw component is in the straight punching state, the tool bar is in the initial state. When the jaw component switches from the straight punching state to the bent punching state, the tool bar is driven to bend, so that the tool bar switches from the initial state to the deformed state.

[0007] In one embodiment, the straightening mechanism further includes a tool tip movably disposed within the jaw component. The distal end of the tool bar is connected to the tool tip to be connected to the jaw component through the tool tip.

[0008] In one embodiment, the elastic component includes an elastic member. One end of the elastic member is connected to the sleeve component, and the other end is connected to the jaw component. When the jaw component switches from the straight punching state to the bent punching state, the elastic member deforms along its circumferential direction to switch from the initial state to the deformed state.

[0009] In one embodiment, the elastic component includes a first elastic member and a second elastic member. One end of the first elastic member is connected to the sleeve component, and the other end is separably connected to the first side of the jaw component. One end of the second elastic member is connected to the sleeve component, and the other end is separably connected to the second side of the jaw component. The bent punching state includes a first bent punching state and a second bent punching state. When the jaw component is in the first bent punching state, the first elastic member is in the first deformed state. When the jaw component is in the second bent punching state, the second elastic member is in the second deformed state. The deformed state includes the first deformed state and the second deformed state.

[0010] In one embodiment, the first elastic member includes a first cylinder and a first spring. One end of the first spring is connected to the sleeve component, and the other end is connected to the first cylinder. The second elastic member includes a second cylinder and a second spring. One end of the second spring is connected to the sleeve component, and the other end is connected to the second cylinder. When the jaw component is in the straight punching state, the first cylinder abuts against the first side of the jaw component, and the second cylinder abuts against the second side of the jaw component.

[0011] In one embodiment, the transmission component includes a push rod connected to the jaw component. When the surgical instrument is in the first state, the driving component is connected to the push rod. In response to the driving of the driving component, the push rod moves proximally or distally to drive the jaw component to rotate relative to the sleeve component, so as to switch the jaw component between the straight punching state and the bent punching state. When the surgical instrument is in the second state, the driving component is separated from the push rod.

[0012] In one embodiment, when the jaw assembly is in the straight - punching state, the push rod is in the initial position; the elastic assembly includes a return spring, one end of the return spring is connected to the sleeve assembly, and the other end is connected to the push rod. When the jaw assembly switches from the straight - punching state to the bent - punching state, the push rod moves away from the initial position, causing the return spring to switch from the initial state to the deformed state.

[0013] In one embodiment, the sleeve assembly is provided with a receiving groove, at least a part of the push rod is received in the receiving groove, one end of the return spring is connected to the groove wall of the receiving groove, and the other end is connected to the push rod. The return spring is arranged along the length direction of the push rod.

[0014] In one embodiment, the driving assembly includes a motor assembly and a gear connected to the motor assembly; the transmission assembly includes a toothed member; when the unlocking assembly is in the first position, the toothed member meshes with the gear. In response to the driving of the motor assembly, the gear rotates, and drives the transmission assembly to move through the meshing of the gear and the toothed member; in response to the unlocking assembly moving from the first state to the second position, the unlocking assembly pushes the gear to move so that the gear disengages from the toothed member.

[0015] In one embodiment, the driving assembly further includes a supporting elastic member. The surgical instrument includes a supporting portion. The supporting elastic member is connected between the gear and the supporting portion. When the unlocking assembly is in the first position, the supporting elastic member provides an elastic force to the gear to make the gear mesh with the toothed member; when the unlocking assembly is in the second position, the gear is separated from the toothed member, and the supporting elastic member is compressed.

[0016] In one embodiment, the driving assembly further includes a worm connected to the motor assembly and a worm gear meshing with the worm. The worm gear is connected to the gear. In response to the driving of the motor, the worm rotates to drive the gear to rotate through the worm gear.

[0017] In one embodiment, the surgical instrument further includes a main control module, a trigger switch electrically connected to the main control module, and a prompt module electrically connected to the main control module. When the surgical instrument is in the first state, the trigger switch is in the on state; when the surgical instrument is in the second state, the operating member or the gear triggers the trigger switch, so that the trigger switch switches from the on state to the off state and sends a trigger signal to the main control module. After receiving the trigger signal, the main control module controls the prompt module to work.

[0018] In one embodiment, the unlocking assembly includes an operating member that penetrates the housing of the surgical instrument. The operating member includes an operating portion located outside the housing and a pushing portion located inside the housing. In response to the pressing of the operating portion, the holding portion holds and pushes the driving assembly to move away from the transmission assembly, so that the unlocking assembly switches from the first state to the second state.

[0019] In one embodiment, the operating member further includes a buckle portion. When the unlocking assembly is in the first position, the buckle portion is separated from the housing, enabling the operating member to be operably moved; when the unlocking assembly is in the second position, the buckle portion is engaged with the housing to block the movement of the operating member towards the first position.

[0020] In one embodiment, the driving assembly includes a motor assembly, a lead screw connected to the motor assembly, and a nut cooperating with the lead screw. The nut is connected to the transmission assembly; in response to the driving of the motor, the lead screw rotates to drive the nut to move, and the nut drives the transmission assembly to move so that the jaw assembly rotates; The nut and the transmission assembly are detachably connected by a first fixing member; when the unlocking assembly is in the first position, the first fixing member is connected to the transmission assembly and the nut, so that the transmission assembly is connected to the nut; when the unlocking assembly is in the second position, the first fixing member is separated from the transmission assembly and the nut, so that the transmission assembly is separated from the nut.

[0021] In one embodiment, the first fixing member includes a screw, and the screw is configured to be connected to the transmission assembly and the nut. The unlocking assembly includes a screwdriver. When the screwdriver is in the first position, the screwdriver is separated from the screw; in response to the movement of the screwdriver from the first position to the second position, the screwdriver connects the screw and drives the screw to rotate to release the connection with the transmission assembly and the nut.

[0022] In one embodiment, the transmission assembly includes a push rod, the distal end of the push rod is connected to the jaw assembly, and the push rod is connected to the nut.

[0023] In one embodiment, the transmission assembly further includes a connecting portion, and the connecting portion is configured to be connected to the push rod at one end and the nut at the other end; the first fixing member is connected to the connecting portion and the nut, or the first fixing member is connected to the connecting portion and the push rod.

[0024] In one embodiment, the surgical instrument further includes a disassembly hole. When the surgical instrument is in the first state, the disassembly hole is opposite to the first fixing member. Brief Description of the Drawings

[0025] Figure 1 is a schematic structural view of a surgical instrument according to an embodiment of the present disclosure; Figure 2 is a schematic structural view of the jaw assembly rotating relative to the cannula assembly according to an embodiment of the present disclosure; Figure 3 is a schematic structural view of the jaw assembly and the cutting blade assembly according to an embodiment of the present disclosure; Figure 4 is a schematic structural view of the drive assembly according to an embodiment of the present disclosure; Figure 5 is a schematic structural view of the jaw assembly in a straight punching state according to an embodiment of the present disclosure; Figure 6 is a schematic structural view of the push rod driving the jaw assembly to rotate according to an embodiment of the present disclosure; Figure 7 is a schematic structural view of the lower frame body being received in the receiving groove according to an embodiment of the present disclosure; Figure 8 is a schematic structural view of the blade body located in the lower feed groove according to an embodiment of the present disclosure; Figure 9 is a cross-sectional view of the cartridge seat according to an embodiment of the present disclosure; Figure 10 is a schematic structural view of the jaw assembly in a straight punching state and the knife rod in an initial state according to an embodiment of the present disclosure; Figure 11 is a schematic structural view of the jaw assembly in a bent punching state and the knife rod in a deformed state according to an embodiment of the present disclosure; Figure 12 is a schematic structural view of the elastic component including a torsion spring according to an embodiment of the present disclosure; Figure 13 is a schematic structural view of the torsion spring being installed on the thimble seat according to an embodiment of the present disclosure; Figure 14 is a schematic structural view of the first elastic member in a first initial state and the second elastic member in a second initial state according to an embodiment of the present disclosure; Figure 15 is a schematic structural view of the first elastic member in a first deformed state according to an embodiment of the present disclosure; Figure 16 is a schematic structural view of the second elastic member in a second deformed state according to an embodiment of the present disclosure; Figure 17 is a schematic structural view of the elastic component including a return spring according to an embodiment of the present disclosure; Figure 18 is a schematic structural view of the return spring connecting the push rod according to an embodiment of the present disclosure; Figure 19 Schematic structural diagram of the shielding shell and the surgical instrument according to an embodiment of the present disclosure; Figure 20 Exploded view of the unlocking component according to an embodiment of the present disclosure; Figure 21 Schematic structural diagram of the unlocking component in the first position according to an embodiment of the present disclosure; Figure 22 Schematic structural diagram of the unlocking component in the second position according to an embodiment of the present disclosure; Figure 23 Schematic structural diagram of the trigger switch being triggered according to an embodiment of the present disclosure; Figure 24 Schematic structural diagram of the motor, the lead screw and the nut according to another embodiment of the present disclosure; Figure 25 Schematic structural diagram of the driving component according to another embodiment of the present disclosure; Figure 26 Schematic structural diagram of the nut, the lead screw and the first fixing member according to another embodiment of the present disclosure; Figure 27 Schematic structural diagram of the disassembly hole according to another embodiment of the present disclosure; Figure 28 Cross-sectional view of the driving component according to another embodiment of the present disclosure.

[0026] Wherein: 100, jaw assembly; 110, cartridge holder; 111, lower feed groove; 112, accommodation groove; 120, anvil; 121, upper feed groove; 130, torsion spring; 131, torsion spring body; 132, protruding end; 140, angular turning member; 141, first side end face; 142, second side end face; 143, insertion hole; 150, end effector; 200, cutting knife assembly; 210, tool bar; 220, tool bit; 221, tool body; 222, upper frame body; 223, lower frame body; 300, driving component; 310, motor assembly; 320, worm; 330, worm gear; 340, gear; 341, elastic member; 350, transmission shaft; 360, lead screw; 370, nut; 371, threaded hole; 380, first fixing member; 381, screw; 382, nut; 383, stud; 391, first gear; 392, second gear; 400, sleeve assembly; 410, first elastic member; 411, first spring; 412, first cylinder; 420, second elastic member; 421, second spring; 422, second cylinder; 430, inner sleeve; 431, thimble seat; 432, receiving groove; 433, fixing column; 440, tool bar receiving groove; 500. Transmission assembly; 510. Push rod; 511. Push rod body; 512. Toothed part; 520. Link rod; 530. Return spring; 610. Housing; 620. Shielding housing; 630. Fixed part; 640. Trigger switch; 650. Disassembly hole; 660. Separation cover; 710. Operating part; 720. Operating portion; 730. Pushing portion; 740. Buckling portion; 741. Inclined surface; 742. Clamping surface; 800. Connecting portion; 810. Connecting hole. Detailed implementation manner

[0027] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the following further details the present disclosure in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not used to limit the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present disclosure.

[0028] It should be understood that the terms "proximal" and "distal" used herein are relative to the clinician operating the stapler handle. The term "proximal" refers to the part close to the clinician, and the term "distal" refers to the part far from the clinician. That is, the handle is proximal and the jaw assembly is distal. For example, the proximal end of a component means the end relatively close to the handle, and the distal end means the end relatively close to the jaw assembly. The terms "upper" and "lower" refer to the relative positions of the anvil and the cartridge seat of the jaw assembly. Specifically, the anvil is "upper" and the cartridge seat is "lower". However, the stapler can be used in many directions and positions, so these terms expressing relative position relationships are not restrictive and absolute.

[0029] In the present disclosure, unless otherwise clearly defined and limited, terms such as "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, a movable connection, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two components or the interaction relationship between two components such as abutment. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific situations. It should be noted that when there are limited modifiers before "connected" and "connected", they have the meanings limited by the corresponding limited modifiers, only excluding the obvious situations that need to be excluded, and not excluding other possible situations. For example, "detachably connected" means a detachable connection, excluding being integrated, but a movable connection, etc. are not excluded.

[0030] An embodiment of the present disclosure discloses a surgical instrument, which can be a stapler, such as Figures 1 to 3As shown, the surgical instrument includes a main control module (not shown in the figure), a cannula assembly 400, a jaw assembly 100, a transmission assembly 500, and a drive assembly 300. The jaw assembly 100 is rotatably connected to the cannula assembly 400. The drive assembly 300 drives the jaw assembly 100 to rotate through the transmission assembly 500. When the surgical instrument is in operation, the jaw assembly 100 and a part of the cannula assembly 400 extend into the human body. At this time, the jaw assembly 100 is in the straight-strike state, and the length direction of the jaw assembly 100 is collinear with the axis direction of the cannula assembly 400. The medical staff operates the surgical instrument to make the main control module control the drive assembly 300 to drive the jaw assembly 100 to rotate until the jaw assembly 100 rotates to a suitable position, and then the medical staff controls the jaw assembly 100 to close to clamp the human tissue. The surgical instrument further includes a cutting knife assembly 200 and a cutting knife drive assembly 300 (not shown in the figure). After the jaw assembly 100 is closed, the medical staff can control the cutting knife drive assembly 300 to drive the cutting knife assembly 200 to fire, cutting and suturing the human tissue. After the cutting and suturing are completed, the medical staff controls the cutting knife drive assembly 300 to drive the cutting knife assembly 200 to retract the knife. After the retraction of the knife is completed, the medical staff controls the jaw assembly 100 to open to release the tissue, rotates the jaw assembly 100 to the straight-strike state, and then removes the surgical instrument from the human body to complete the surgical operation.

[0031] Combined with Figures 1 to 4 , the drive assembly 300 includes a motor assembly 310. When the drive assembly 300 is connected to the transmission assembly 500, the motor assembly 310 is in transmission connection with the transmission assembly 500. When rotating the jaw assembly 100 to the straight-strike position after cutting is completed, if the motor assembly 310 or the main control module fails and cannot drive the transmission assembly 500 to move, since the motor assembly 310 has a self-locking ability, the transmission assembly 500 cannot move, resulting in the jaw assembly 100 being unable to return to the straight-strike state, and the medical staff cannot remove the surgical instrument from the human body.

[0032] The surgical instrument further includes a returning mechanism and an unlocking component. The returning mechanism includes an elastic component. One end of the elastic component is connected to the cannula assembly 400, and the other end is connected to the jaw assembly 100 or the transmission assembly 500. The unlocking component moves from the first position to the second position, causing the surgical instrument to switch from the first state to the second state.

[0033] When the surgical instrument is in the first state, the driving assembly 300 is connected to the transmission assembly 500. In response to the driving of the driving assembly 300, the transmission assembly 500 moves to drive the jaw assembly 100 to rotate relative to the cannula assembly 400, thereby enabling the jaw assembly 100 to switch between the straight punching state and the bent punching state. The straight punching state means that the straight line where the length direction of the jaw assembly 100 is located is collinear or substantially collinear with the axis of the cannula assembly 400; the bent punching state means that the straight line where the length direction of the jaw assembly 100 is located forms a certain angle with the axis of the cannula assembly 400. When the jaw assembly 100 is in the straight punching state, the elastic assembly is in the initial state. When the jaw assembly 100 is in the bent punching state, the elastic assembly is in the deformed state. The elastic assembly stores energy in the deformed state and generates an elastic force that causes itself to return to the initial state. The elastic assembly applies the elastic force to the jaw assembly 100 or the transmission assembly 500 through its connection with the jaw assembly 100 or the transmission assembly 500, causing the jaw assembly 100 to have a tendency to rotate to the straight punching state. Since the transmission assembly 500 is connected to the driving assembly 300, when the driving assembly 300 does not drive the transmission assembly 500 to move, the self-locking function of the motor assembly 310 restricts the movement of the transmission assembly 500, and further restricts the movement of the jaw assembly 100, so that the elastic force generated by the elastic assembly cannot drive the jaw assembly 100 to rotate to the straight punching state.

[0034] When the surgical instrument is in the second state, the driving assembly 300 is separated from the transmission assembly 500, so that the transmission assembly 500 and the jaw assembly 100 are no longer restricted by the driving assembly 300. In response to the jaw assembly 100 being in the bent punching state, the elastic assembly in the deformed state returns to the initial state through its own elastic force, driving the jaw assembly 100 to rotate to the straight punching state. When the jaw assembly 100 rotates to the straight punching state, the elastic assembly is in the initial state, and the elastic assembly in the initial state no longer generates elastic force, causing the jaw assembly 100 to stop moving and remain in the straight punching state.

[0035] After the cutting is completed, if the jaw assembly 100 in the bent punching state needs to be rotated to the straight punching state and the motor assembly 310 of the driving assembly 300 fails, the medical staff can move the unlocking assembly from the first position to the second position, so that the surgical instrument is switched from the first state to the second state. The elastic assembly in the deformed state drives the jaw assembly 100 to rotate to the straight punching state through the elastic force, enabling the surgical instrument to be smoothly removed from the patient's body.

[0036] In one embodiment, such as Figure 3 、 Figures 7 to 11As shown, the elastic assembly includes a blade rod 210, one end of which is connected to the jaw assembly 100 and the other end to the sleeve assembly 400. For example, the sleeve assembly 400 defines a blade rod receiving groove 440, in which a portion of the blade rod 210 is received to connect with the sleeve assembly 400. The side walls of the blade rod receiving groove 440 are located on either side of the thickness of the blade rod 210, respectively, to limit and stop the blade rod 210, ensuring that the portion of the blade rod 210 contained within the blade rod receiving groove 440 remains straight. The blade rod 210 passes through the blade rod receiving groove 440 from proximal to distal and enters the jaw assembly 100 to connect with the jaw assembly 100. The portion of the blade rod 210 between the blade rod receiving groove 440 and the jaw assembly 100 can deform. When the jaw assembly 100 is in the straight position, the blade rod 210 is entirely straight, in its initial state. When the jaw assembly 100 switches from the straight position to the curved position, the portion of the knife bar 210 located between the knife bar receiving slot 440 and the jaw assembly 100 bends, causing the knife bar 210 to switch from its initial position to the deformed position. While in the deformed position, the knife bar 210 generates a spring force that returns it to its initial (straight) position. When the surgical instrument is in the second position, the spring force generated by the deformed knife bar 210 drives the jaw assembly 100 to rotate back to the straight position.

[0037] The return mechanism also includes a cutter head 220, which is located within the jaw assembly 100. The cutter rod 210 passes through the sleeve assembly 400 and enters the jaw assembly 100. The distal end of the cutter rod 210 is connected to the cutter head 220, and is connected to the jaw assembly 100 via the cutter head 220. For example, the jaw assembly 100 includes a staple cartridge seat 110 and an anvil 120 rotatably connected to the staple cartridge seat 110. The cutter head 220 is arranged in an "I" shape and includes a blade body 221, an upper frame 222 and a lower frame 223 provided at the upper and lower ends of the blade body 221. The anvil 120 is provided with an upper cutting groove 121, and the staple cartridge seat 110 is provided with a lower cutting groove 111 and a receiving groove 112 connected to the lower cutting groove 111. When the jaw assembly 100 is in the open state, the cutting blade assembly 200 is not engaged and is in the initial position. The blade body 221 penetrates the lower cutting groove 111, so that the lower frame 223 is accommodated in the accommodating groove 112. The two groove walls of the lower cutting groove 111 are located on both sides of the blade body 221 in the thickness direction to prevent the blade body 221 from deviating relative to the jaw assembly 100. The lower frame 223 is accommodated in the accommodating groove 112 to prevent the blade head 220 from moving upward. The upper frame 222 is separated from the upper cutting groove 121. When the jaw assembly 100 is in the closed state, when the blade rod 210 drives the cutting blade 220 to move distally under the drive of the cutting blade drive assembly 300, the upper frame 222 enters the upper cutting groove 121, and the upper cutting groove 121 prevents the blade head 220 from moving downward, thereby allowing the blade head 220 to move only along the length direction of the lower cutting groove 111 to engage in cutting.

[0038] When the jaw assembly 100 is in the open state, the jaw assembly 100 is driven to rotate relative to the cannula assembly 400. The blade body 221 penetrates through the lower feed groove 111, and the upper frame body 222 is located outside the upper feed groove 121. When the jaw assembly 100 is switched from the straight-striking state to the bent-striking state by rotation, the staple cartridge seat 110 and the lower feed groove 111 rotate with the jaw assembly 100. The groove wall of the lower feed groove 111 abuts against the blade body 221, causing the blade tip 220 to rotate accordingly. The blade tip 220 is fixedly connected to the blade rod 210. The rotating blade tip 220 drives the blade rod 210 to bend, so that the blade rod 210 is switched to the deformed state. The blade rod 210 in the deformed state generates an elastic force to restore itself to its original state. This elastic force acts on the groove wall of the lower feed groove 111 through the blade tip 220, and then the elastic force is applied to the jaw assembly 100. When the surgical instrument is in the first state, the drive assembly 300 restricts the movement of the transmission assembly 500 and the jaw assembly 100, and the elastic force generated by the blade rod 210 in the deformed state cannot drive the jaw assembly 100 to rotate; when the surgical instrument is in the second state, the restriction of the drive assembly 300 on the rotation of the jaw assembly 100 is released, and the elastic force generated by the blade rod 210 in the deformed state drives the jaw assembly 100 to rotate to the straight-striking state.

[0039] In another embodiment, the elastic component includes an elastic member. One end of the elastic member is connected to the cannula assembly 400, and the other end is connected to the jaw assembly 100. When the jaw assembly 100 is switched from the straight-striking state to the bent-striking state, the elastic member deforms along its circumferential direction to switch from the initial state to the deformed state. The elastic member deforms and stores energy along the circumferential direction, generating an elastic force along the circumferential direction. This circumferential elastic force acts on the jaw assembly 100 to drive the jaw assembly 100 to rotate from the bent-striking state to the straight-striking state when the surgical instrument is in the second state. As Figure 12 and Figure 13 shown, for example, the elastic member is a torsion spring 130. The torsion spring 130 includes a torsion spring body 131 and two protruding ends 132 extending from the torsion spring body 131. The cannula assembly 400 is provided with a fixed post 433. The torsion spring body 131 is sleeved on the fixed post 433. One of the protruding ends 132 of the torsion spring 130 is connected to the cannula assembly 400, and the other protruding end 132 is connected to the jaw assembly 100. When the jaw assembly 100 is switched from the straight-striking state to the bent-striking state, it drives the connected protruding end 132 to move, while the protruding end 132 connected to the cannula assembly 400 is fixed, so that the torsion spring 130 is compressed or stretched, and the elastic component is switched to the deformed state, generating a circumferential elastic force to drive the jaw assembly 100 to rotate from the bent-striking state to the straight-striking state when the surgical instrument is in the second state. In other embodiments, the elastic member can also be other springs that can be compressed or stretched in the circumferential direction, and no specific limitation is made in this disclosure.

[0040] As Figure 5 、 Figure 12 andFigure 13 As shown, the sleeve assembly 400 includes an inner sleeve 430. The inner sleeve 430 includes a thimble seat 431, and the thimble seat 431 is rotatably connected to the jaw assembly 100. The jaw assembly 100 includes an end effector 150 and an angle swivel 140 connected to the end effector 150. One of the angle swivel 140 and the thimble seat 431 is provided with a fixed shaft, and the other is provided with a mating hole. The fixed shaft mates with the mating hole, enabling the angle swivel 140 to rotate about the axis of the fixed shaft, thereby driving the jaw assembly 100 to rotate about the axis of the fixed shaft. A fixed post 433 is provided on the thimble seat 431. The torsion spring body 131 is sleeved on the fixed post 433. One extension end 132 of the torsion spring 130 is fixedly connected to the thimble seat 431, and the other extension end 132 is fixedly connected to the jaw assembly 100. For example, the extension end 132 is fixedly connected to the angle swivel 140, or the extension end 132 is fixedly connected to the end effector 150. In one embodiment, the angle swivel 140 is provided with a plug hole 143, and the extension end 132 is inserted into the plug hole 143 to be fixedly connected to the jaw assembly 100.

[0041] In another embodiment, as Figures 14 to 16 shown, the elastic assembly includes a first elastic member 410 and a second elastic member 420. One end of the first elastic member 410 is connected to the sleeve assembly 400, and the other end is separably connected to the first side of the jaw assembly 100; one end of the second elastic member 420 is connected to the sleeve assembly 400, and the other end is separably connected to the second side of the jaw assembly 100. The jaw assembly 100 includes a first bending and punching state and a second bending and punching state. The jaw assembly 100 can rotate relative to the sleeve assembly 400 in a first direction or a second direction. For example, rotating in the first direction is rotating to the left, and rotating in the second direction is rotating to the right. When the jaw assembly 100 is in the first bending and punching state, the distal end of the jaw assembly 100 is located on the left side of the sleeve assembly 400. When the jaw assembly 100 is in the second bending and punching state, the distal end of the jaw assembly 100 is located on the right side of the sleeve assembly 400. When the jaw assembly 100 is in the first bending and punching state or the second bending and punching state, the elastic assembly is in a deformed state.

[0042] The first elastic member 410 has a first initial state and a first deformed state, and the second elastic member 420 has a second initial state and a second deformed state. When the elastic assembly is in the initial state, the first elastic member 410 is in the first initial state, and the second elastic member 420 is in the second initial state; the deformed state includes a first deformed state and a second deformed state. When the first elastic member 410 is in the first deformed state, or the second elastic member 420 is in the second deformed state, the elastic assembly is in the deformed state, generating a force that causes the jaw assembly 100 to rotate to the straight punching state.

[0043] The angular deflector 140 is located proximal to the jaw assembly 100. For example, the angular deflector 140 includes a first side end face 141 and a second side end face 142. The first side of the jaw assembly 100 includes the first side end face 141, and the second side of the jaw assembly 100 includes the second side end face 142. When the jaw assembly 100 switches from the straight firing state to the first bent firing state, as Figure 15 shown, the first side end face 141 moves proximally, and the second side end face 142 moves distally. The second side end face 142 moving distally separates from the second elastic member 420, and the second elastic member 420 is in the second initial state. The first side end face 141 moving proximally acts on the first elastic member 410, causing the first elastic member 410 to switch to the first deformed state, and further causing the elastic assembly to be in a deformed state. When the jaw assembly 100 switches from the straight firing state to the second bent firing state, as Figure 16 shown, the first side end face 141 moves distally, and the second side end face 142 moves proximally. The first side end face 141 moving distally separates from the first elastic member 410, and the first elastic member 410 is in the first initial state. The second side end face 142 moving proximally acts on the second elastic member 420, causing the second elastic member 420 to switch to the second deformed state, and further causing the elastic assembly to be in a deformed state.

[0044] For example, the first elastic member 410 includes a first cylinder 412 and a first spring 411. One end of the first spring 411 is connected to the sleeve assembly 400, and the other end is connected to the first cylinder 412. The second elastic member 420 includes a second cylinder 422 and a second spring 421. One end of the second spring 421 is connected to the sleeve assembly 400, and the other end is connected to the second cylinder 422. When the jaw assembly 100 is in the straight firing state, the first cylinder 412 abuts against the first side end face 141 to abut against the first side of the jaw assembly 100. The second cylinder 422 abuts against the second side end face 142 to be able to abut against the second side of the jaw assembly 100. When the jaw assembly 100 switches from the straight firing state to the first bent firing state, the first side end face 141 moves proximally and abuts against the first cylinder 412, causing the first spring 411 to be compressed. The first elastic member 410 is in the first deformed state, and a resilient force that causes it to rotate to the straight firing state is applied to the jaw assembly 100 through the first cylinder 412. The second side end face 142 moves distally and separates from the second cylinder 422, and the second elastic member 420 is in the second initial state. When the surgical instrument is in the second state, the first spring 411 is released and returns to the first initial state, driving the jaw assembly 100 to rotate to the straight firing state. Similarly, when the jaw assembly 100 switches from the straight firing state to the second bent firing state, the first elastic member 410 is in the first initial state, and the second elastic member 420 is in the second deformed state. When the surgical instrument is in the second state, the second spring 421 is released and returns to the second initial state, driving the jaw assembly 100 to rotate to the straight firing state.

[0045] In one embodiment, if Figures 4 to 6 As shown, the transmission assembly 500 includes a push rod 510, which is connected to the jaw assembly 100. When the surgical instrument is in the first state, the drive assembly 300 is connected to the push rod 510. In response to the drive of the drive assembly 300, the push rod 510 moves proximally or distally. The push rod 510 moving proximally or distally drives the jaw assembly 100 to rotate relative to the sleeve assembly 400, so that the jaw assembly 100 switches from the straight-hitting state to the curved-hitting state. The drive assembly 300 is connected to the jaw assembly 100 through the push rod 510 to restrict the rotation of the jaw assembly 100. When the surgical instrument is in the second state, the drive assembly 300 is separated from the push rod 510, and the drive assembly 300 cannot restrict the rotation of the jaw assembly 100. For example, the transmission assembly 500 also includes a connecting rod 520, the proximal end of the connecting rod 520 is hinged to the push rod 510, and the distal end of the connecting rod 520 is hinged to the angle steering member 140. When the push rod 510 moves proximally or distally, the driving connecting rod 520 moves, so that the connecting rod 520 drives the angle steering member 140 to rotate, and then drives the jaw assembly 100 to rotate.

[0046] When the jaw assembly 100 is in the straight-hitting state, the push rod 510 is in the initial position. When the jaw assembly 100 switches from the straight-hitting state to the bent-hitting position, the push rod 510 moves proximally or distally to leave the initial position. Figure 17 and Figure 18 As shown, the elastic assembly includes a return spring 530, one end of which is connected to the sleeve assembly 400 and the other end is connected to the push rod 510. When the push rod 510 is in the initial position, the return spring 530 is in the initial state. When the jaw assembly 100 switches from the straight-engaging state to the bent-engaging state, causing the push rod 510 to move out of the initial position, the push rod 510 stretches or compresses the return spring 530, causing the return spring 530 to switch to the deformed state, generating an elastic force that moves the push rod 510 to the initial position. When the surgical instrument is in the first state, the push rod 510 is constrained by the drive assembly 300, and the elastic force of the return spring 530 is insufficient to move the push rod 510. When the surgical instrument is in the second state, the drive assembly 300 is separated from the push rod 510 and no longer constrains the push rod 510. The elastic force of the return spring 530 drives the push rod 510 to the initial position, thereby driving the jaw assembly 100 to move to the straight-engaging state.

[0047] The sleeve assembly 400 is provided with a receiving groove 432. At least a part of the push rod 510 is received in the receiving groove 432. The return spring 530 is located in the receiving groove 432 and connects the push rod 510. One end of the return spring 530 is connected to the receiving groove 432, and the other end is connected to the push rod 510. For example, the return spring 530 is arranged on the proximal side of the push rod 510. A connecting portion 434 is arranged on the proximal side of the receiving groove 432. One end of the return spring 530 is connected to the connecting portion 434, and the other end is connected to the proximal end of the push rod 510. The return spring 530 is arranged along the length direction of the push rod 510. For example, the return spring 530 includes a straight spring, and the axial direction of the straight spring is collinear or parallel with the length direction of the push rod 510. When the return spring 530 switches from the initial state to the deformed state, it deforms (is compressed or stretched) along the length direction of the push rod 510. When the return spring 530 switches from the deformed state to the initial state, it drives the push rod 510 to move along the length direction of the push rod 510, so that the push rod 510 can move to the initial position normally, and further enables the jaw assembly 100 to switch to the straight punching state.

[0048] The driving assembly 300 further includes a gear 340 connected to the motor assembly 310, and the transmission assembly 500 further includes a toothed member 512. For example, the push rod 510 includes a rod body and a toothed member 512 connected to the proximal end of the rod body. The toothed member 512 includes a rack. When the unlocking assembly is in the first position, the toothed member 512 meshes with the gear 340, so that the driving assembly 300 is connected to the transmission assembly 500. In response to the drive of the motor assembly 310, the drive shaft drives the gear 340 to rotate, and drives the transmission assembly 500 to move through the meshing of the gear 340 and the toothed member 512, and further drives the jaw assembly 100 to rotate. When the unlocking assembly moves from the first position to the second position, the operating member 710 pushes the gear 340 to move, so that the gear 340 disengages from the toothed member 512, and further separates the driving assembly 300 from the transmission assembly 500.

[0049] For example, the driving assembly includes a transmission shaft 350, and the gear 340 is connected to the transmission shaft 350. The gear 340 and the transmission shaft 350 are connected by a key, so that the gear 340 can rotate with the transmission shaft 350 and can slide relative to the axial direction of the transmission shaft 350. When the unlocking assembly moves from the first position to the second position, the operating member 710 pushes the gear 340 to move along the axial direction of the transmission shaft 350, so that the gear 340 disengages from the toothed member 512, and further separates the driving assembly 300 from the transmission assembly 500.

[0050] As Figures 19 to 22As shown, the operating member 710 penetrates through the housing 610 of the surgical instrument. The operating member 710 includes an operating portion 720 located outside the housing 610 and a pushing portion 730 located inside the housing 610. The operating portion 720 is connected to the pushing portion 730. Medical staff can operate the operating member 710 to move from the first position to the second position by operating the operating portion 720. For example, by pressing the operating portion 720, the pushing portion 730 moves downward, and the pushing portion 730 abuts against and pushes the driving assembly 300 to move, so that the surgical instrument switches from the first state to the second state.

[0051] In one embodiment, as Figure 4 and Figure 20 shown, the unlocking assembly includes an operating member 710. The operating member 710 is movably disposed on the surgical instrument. In response to the operation of the operating member 710 by medical staff, the operating member 710 moves from the first position to the second position, so that the driving assembly 300 moves to separate from the push rod 510, and the surgical instrument switches from the first state to the second state.

[0052] The operating member 710 further includes a buckle portion 740. When the unlocking assembly is in the first position, the buckle portion 740 is separated from the housing, so that the operating member 710 can be operated to move; when the unlocking assembly is in the second position, the buckle portion 740 is clamped with the housing to block the operating member 710 from switching to the first position. For example, the buckle portion 740 is connected to the operating portion 720, and there are two buckle portions 740, which are respectively connected to both sides of the bottom of the operating portion 720. There are two fixing portions 630 in the housing 610, and the two fixing portions 630 are respectively located below the two buckle portions 740. When the unlocking assembly is in the first position, a part of the operating member 710 is located outside the housing 610, and the buckle portion 740 is located inside the housing 610. The buckle portion 740 includes an inclined surface 741 and a clamping surface 742. When medical staff operates the operating portion 720, for example, when pressing the operating portion 720, the buckle portion 740 moves downward, and the inclined surface 741 abuts against the fixing portion 630. Under the guidance of the inclined surface 741, the operating portion 720 deforms, so that the lower ends of the two buckle portions 740 move inward to pass through the gap between the two fixing portions 630. After the buckle portion 740 passes through the fixing portion 630, the outer shell of the operating portion 720 returns to its original position under its own elastic force, and then the buckle portion 740 returns to its original position. The returned buckle portion 740 abuts against the bottom surface of the fixing portion 630 through the clamping surface 742 to block the operating member 710 from switching to the first position, that is, after the operating member 710 is pressed to separate the driving assembly 300 from the push rod 510, the operating member 710 cannot return to its original position to connect the driving assembly 300 with the push rod 510 again, and the jaw assembly 100 of the surgical instrument cannot rotate again.

[0053] The drive assembly 300 further includes an elastic member 341. The surgical instrument includes a support portion. The elastic member 341 is connected between the gear 340 and the support portion. For example, the elastic member 341 is a spring, which is sleeved on the transmission shaft 350. The support portion is the housing 610 of the surgical instrument. The gear 340 is located above the spring. The spring provides an upward vertical elastic force to the gear 340. When the unlocking assembly is in the first position, the elastic force provided by the spring causes the upper end surface of the gear 340 to abut against the operating member 710, and further causes the upper end surface of the gear 340 to abut against the pushing portion 730, and further causes the gear 340 to be at a first height. At the first height, the gear 340 meshes with the toothed member 512. That is, when the unlocking assembly is in the first position, the gear 340 is held in the meshing position with the toothed member 512 by the spring. When the unlocking assembly switches from the first position to the second position, the operating member 710 moves downward to push the gear 340 downward, causing the gear 340 to move to a second height, and the second height is less than the first height. At the second height, the gear 340 is separated from the toothed member 512, and the elastic member 341 is compressed.

[0054] As Figure 4 and Figure 20 As shown, the drive assembly 300 further includes a worm 320 connected to the motor assembly 310 and a worm gear 330 meshing with the worm 330. The motor assembly 310 drives the worm 320 to rotate, and further drives the worm gear 330 to rotate. When the worm gear 330 rotates, it can drive the transmission shaft 350 and the gear 340 to rotate synchronously, and further drive the push rod 510 to move. For example, the worm gear 330 is connected to the transmission shaft 350, the support portion includes the worm gear 330, the upper end of the elastic member 341 abuts against the lower surface of the gear 340, and the lower end abuts against the upper surface of the worm gear 330.

[0055] As Figure 23 As shown, the surgical instrument further includes a main control module, a trigger switch 640 electrically connected to the main control module, and a prompt module electrically connected to the main control module. When the unlocking assembly is in the first position, the trigger switch 640 is in an open state; when the unlocking assembly switches to the second position, the operating member 710 or the gear 340 triggers the trigger switch 640. In this embodiment, the trigger switch 640 is provided on the lower side of the gear 340. When the unlocking assembly is in the first position and the gear 340 is at the first height, the trigger switch 640 is not triggered; when the unlocking assembly switches from the first position to the second position and the gear 340 is moved down to the second height, the gear 340 presses against the trigger switch 640, switches the trigger switch 640 to the closed state, and sends a trigger signal to the main control module. After receiving the trigger signal, the main control module controls the prompt module to work. The prompt module is used to prompt the medical staff that the jaw assembly 100 cannot rotate, or prompt that the surgical instrument cannot continue to be used normally. The prompt module can prompt the medical staff in various ways such as screen display, sound prompt, light prompt or vibration prompt.

[0056] The surgical instrument further includes a shielding shell 620. As Figure 19 shown, the shielding shell 620 is detachably mounted on the surgical instrument. When the shielding shell 620 is mounted on the surgical instrument, it hides the operating member 710. The operating member 710 being shielded by the shielding shell 620 can prevent medical staff from accidentally touching the operating member 710, resulting in the surgical instrument being unusable. The shielding shell 620 is engaged with the surgical instrument, and medical staff can detach the shielding shell 620 from the surgical instrument by pushing the shielding shell 620. After the knife retraction is completed and the jaw assembly 100 is opened, if it is found that the jaw assembly 100 cannot rotate to the straight strike state normally, the shielding shell 620 is removed from the surgical instrument to expose the operating member 710. Medical staff presses the operating member 710 to separate the drive assembly 300 from the push rod 510, and the tool bar 210 drives the jaw assembly 100 to rotate to the straight strike state by its own elastic force, so that the surgical instrument can be removed from the patient's body.

[0057] In another embodiment, as Figures 24 to 28 shown, the drive assembly 300 includes a motor assembly 310, a lead screw 360 connected to the motor assembly 310, and a nut 370 cooperating with the lead screw 360. The nut 370 is connected to the transmission assembly 500. For example, the nut 370 is connected to the push rod 510. In response to the drive of the motor assembly 310, the lead screw 360 rotates to drive the nut 370 to move, and the nut 370 drives the transmission assembly 500 to move. For example, it drives the push rod 510 to move, causing the jaw assembly 100 to rotate.

[0058] The nut 370 and the transmission assembly 500 are detachably connected by a first fixing member 380. When the unlocking assembly is in the first position, the first fixing member 380 is connected to the transmission assembly 500 and the nut 370 to connect the transmission assembly 500 and the nut 370. When the unlocking assembly is in the second position, the first fixing member 380 is separated from the transmission assembly 500 and the nut 370 to separate the transmission assembly 500 and the nut 370, thereby switching the surgical instrument to the second state.

[0059] For example, the transmission assembly 500 includes the above-mentioned push rod 510. The push rod 510 is connected to the nut 370. The lead screw 360 is parallel to the push rod 510. For example, the lead screw 360 is arranged in the direction from near to far, so that when the lead screw 360 rotates, it can drive the nut 370 to move proximally or distally, and then drive the push rod 510 to move proximally or distally to drive the jaw assembly 100 to rotate. For example, the output shaft of the motor assembly 310 is connected to the lead screw 360, and the motor assembly 310 can directly drive the lead screw 360 to rotate. Also, for example, the drive assembly 300 further includes a first gear 391 and a second gear 392. The first gear 391 is connected to the output shaft of the motor assembly 310, the second gear 392 is connected to the lead screw 360, and the first gear 391 meshes with the second gear 392. In response to the drive of the motor assembly 310, the first gear 391 and the second gear 392 rotate to drive the lead screw 360 to rotate.

[0060] Meanwhile, when the lead screw 360 cooperates with the nut 370, the lead angle of the lead screw 360 is smaller than the static friction angle, so that the lead screw 360 and the nut 370 have a self-locking function, and the nut 370 is locked by the lead screw 360. When the surgical instrument is in the first state, since the nut 370 is connected to the transmission assembly 500, that is, the lead screw 360 locks the nut 370 to restrict the movement of the transmission assembly 500, and further restricts the movement of the jaw assembly 100, so that the elastic force generated by the elastic assembly cannot drive the jaw assembly 100 to rotate to the straight-strike state.

[0061] In response to the unlocking assembly moving from the first position to the second position, the connection between the first fixing member 380 and the transmission assembly 500 and the nut 370 is released, so that the transmission assembly 500 is separated from the nut 370. The push rod 510 and the jaw assembly 100 are no longer restricted by the drive assembly 300 and can drive the jaw assembly 100 to rotate to the straight-strike state under the elastic force generated by the elastic assembly.

[0062] For example, the first fixing member 380 includes a screw 381 configured to connect with the transmission assembly 500 and the nut 370. For example, the screw 381 passes through the transmission assembly 500 and is screwed with the nut 370 to connect the transmission assembly 500 and the nut 370. The unlocking assembly includes a screwdriver (not shown in the figure). When the screwdriver is in the first position, the screwdriver is separated from the screw 381. In response to the screwdriver moving from the first position to the second position, the screwdriver connects to the screw 381 and drives the screw 381 to rotate to release the connection with the transmission assembly 500 and the nut 370. The screwdriver rotates the screw 381 to unscrew the screw 381, so as to release the connection between the screw 381 and the transmission assembly 500 and the nut 370, and separate the nut 370 from the transmission assembly 500, and the surgical instrument is switched to the second state. For example, the screwdriver is provided independently of the body of the surgical instrument, and the screw 381 and the nut 370 are located inside the body. When the jaw assembly 100 cannot be properly retracted, the user can use the screwdriver to enter the body of the surgical instrument, unscrew the screw 381, separate the nut 370 from the transmission assembly 500, and then switch the surgical instrument to the second state.

[0063] When the screwdriver is in the first position, the screwdriver is not in contact with the screw 381. When the screwdriver is in the second position, the screwdriver connects to the screw 381 and unscrews the screw 381 to release the connection between the screw 381 and the transmission assembly 500 and the nut 370.

[0064] For example, the transmission assembly 500 further includes a connecting portion 800 configured to be connected to the push rod 510 at one end and the nut 370 at the other end, that is, the nut 370 is connected to the push rod 510 through the connecting portion 800, wherein the first fixing member 380 is connected to the connecting portion 800 and the push rod 510, or the first fixing member 380 is connected to the connecting portion 800 and the nut 370.

[0065] In an embodiment where the first fixing member 380 is connected to the connecting portion 800 and the nut 370, for example, the nut 370 is provided with a threaded hole 371, and the connecting portion 800 is provided with a connecting hole 810. When the surgical instrument is in the first state, the screw 381 passes through the connecting hole 810 and is screwed into the threaded hole 371, so that the screw 381 is connected to the connecting portion 800 and the nut 370. For example, the connecting portion 800 and the push rod 510 are connected by a pin or a screw 381, or are connected by other means such as welding or integral molding. In response to the screwdriver moving from the first position to the second position, the screw 381 is unscrewed from the threaded hole 371 of the nut 370, the screw 381 is separated from the nut 370, and is separated from the connecting portion 800, so that the nut 370 is separated from the connecting portion 800, and further the push rod 510 is separated from the nut 370, and the surgical instrument is switched to the second state. For example, the screw 381 is detachably connected to the upper surface or the lower surface of the nut 370, and the upper surface and the lower surface of the nut 370 are not opposite to the sleeve assembly 400. Therefore, when the screw 381 is disposed on the upper surface or the lower surface of the nut 370, when the screwdriver enters the housing 610 to connect the screw 381, it will not be blocked by the sleeve assembly 400, so that the screw 381 can be smoothly operated. For example, the screw 381 is detachably connected to the outer side surface between the upper surface and the lower surface of the nut 370 that is not opposite to the sleeve assembly 400.

[0066] For example, the surgical instrument further includes a disassembly hole 650, and the disassembly hole 650 is opened in the housing 610. When the surgical instrument is in the first state, that is, when the first fixing member 380 is connected to the transmission assembly 500 and the nut 370, the disassembly hole 650 is opposite to the first fixing member 380. Opposite means that the disassembly hole 650 is located on the axial line of the screw 381. After the screwdriver passes through the disassembly hole 650, it can connect the screw 381 along the axial line of the screw 381, so that the screwdriver can smoothly drive the screw 381 to rotate, unscrew the screw 381, and further separate the push rod 510 from the nut 370, so that the surgical instrument can be smoothly switched to the second state.

[0067] For example, the surgical instrument further includes a separation cover 660, and the separation cover 660 is detachably mounted on the housing 610. When the separation cover 660 is mounted on the housing 610, the disassembly hole 650 is hidden. In response to the separation cover 660 being removed from the rotating housing, the disassembly hole 650 is exposed, so that the user can pass the screwdriver through the disassembly hole 650 to disassemble the screw 381.

[0068] For example, the screw 381 includes a stud 383 and a nut 382 connected to the stud 383. For example, the width of the disassembly hole 650 is smaller than the outer diameter of the nut 382, that is, after the screw 381 is disassembled and separated from the nut 370, the screw 381 cannot be separated from the housing 610 through the disassembly hole 650, thereby preventing the screw 381 from falling outside the body and interfering with the normal progress of the operation.

[0069] The specific implementation manner of the above-mentioned driving component 300 and the specific implementation manner of the driving component 300 described above are both applicable to the function implementation of the return mechanism in the present disclosure.

[0070] It should be understood that although this specification is described according to the implementation manners, not every implementation manner only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each implementation manner can also be appropriately combined to form other implementation manners that can be understood by those skilled in the art.

[0071] The series of detailed descriptions listed above are only specific descriptions of the feasible implementation manners of the present disclosure, and they are not intended to limit the protection scope of the present disclosure. Any equivalent implementation manners or changes made without departing from the technical spirit of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A surgical instrument, comprising a jaw assembly, a cannula assembly, a drive assembly, and a transmission assembly, wherein the transmission assembly is connected to the jaw assembly, and is characterized in that, The surgical instrument further includes a rectifying mechanism and an unlocking assembly; The rectifying mechanism includes an elastic component, one end of the elastic component is connected to the cannula assembly, and the other end is connected to the jaw assembly or the transmission assembly; The surgical instrument includes a first state and a second state; in the first state, the driving component is connected to the transmission component, and in response to the driving of the driving component, the transmission component drives the jaw assembly to rotate relative to the cannula assembly to switch between a straight punching state and a bent punching state; when the jaw assembly is in the straight punching state, the elastic component is in an initial state, and when the jaw assembly is in the bent punching state, the elastic component is in a deformed state; In the second state, the driving component is separated from the transmission component, and in response to the jaw assembly being in the bent punching state, the elastic component in the deformed state returns to the initial state by its own elastic force to drive the jaw assembly to rotate to the straight punching state; In response to the unlocking assembly moving from the first position to the second position, the surgical instrument switches from the first state to the second state.

2. The surgical instrument according to claim 1, wherein The elastic component includes a cutter bar, one end of the cutter bar is connected to the jaw assembly, and the other end of the cutter bar is connected to the cannula assembly; when the jaw assembly is in the straight punching state, the cutter bar is in the initial state; When the jaw assembly switches from the straight punching state to the bent punching state, the cutter bar is driven to bend, so that the cutter bar switches from the initial state to the deformed state.

3. The surgical instrument according to claim 2, wherein The rectifying mechanism further includes a cutter head movably disposed in the jaw assembly, and the distal end of the cutter bar is connected to the cutter head to be connected to the jaw assembly through the cutter head.

4. The surgical instrument according to claim 1, characterized in that, The elastic component includes an elastic member, one end of the elastic member is connected to the cannula assembly, and the other end is connected to the jaw assembly. When the jaw assembly switches from the straight punching state to the bent punching state, the elastic member deforms along its circumferential direction to switch from the initial state to the deformed state.

5. The surgical instrument according to claim 1, wherein The elastic component includes a first elastic member and a second elastic member. One end of the first elastic member is connected to the cannula assembly, and the other end is separably connected to the first side of the jaw assembly. One end of the second elastic member is connected to the cannula assembly, and the other end is separably connected to the second side of the jaw assembly; the bent punching state includes a first bent punching state and a second bent punching state. When the jaw assembly is in the first bent punching state, the first elastic member is in a first deformed state; when the jaw assembly is in the second bent punching state, the second elastic member is in a second deformed state; the deformed state includes the first deformed state and the second deformed state.

6. The surgical instrument according to claim 5, wherein, The first elastic member includes a first cylinder and a first spring. One end of the first spring is connected to the sleeve assembly, and the other end is connected to the first cylinder. The second elastic member includes a second cylinder and a second spring. One end of the second spring is connected to the sleeve assembly, and the other end is connected to the second cylinder. When the jaw assembly is in the straight punching state, the first cylinder abuts against the first side of the jaw assembly, and the second cylinder abuts against the second side of the jaw assembly.

7. The surgical instrument according to claim 1, wherein The transmission assembly includes a push rod, and the push rod is connected to the jaw assembly. When the surgical instrument is in the first state, the drive assembly is connected to the push rod. In response to the drive of the drive assembly, the push rod moves proximally or distally to drive the jaw assembly to rotate relative to the sleeve assembly, thereby switching the jaw assembly between the straight punching state and the bent punching state. When the surgical instrument is in the second state, the drive assembly is separated from the push rod.

8. The surgical instrument according to claim 7, wherein When the jaw assembly is in the straight punching state, the push rod is in the initial position. The elastic assembly includes a return spring. One end of the return spring is connected to the sleeve assembly, and the other end is connected to the push rod. When the jaw assembly switches from the straight punching state to the bent punching state, the push rod moves away from the initial position, causing the return spring to switch from the initial state to the deformed state.

9. The surgical instrument according to claim 8, wherein The sleeve assembly is provided with a receiving groove, and at least a part of the push rod is received in the receiving groove. One end of the return spring is connected to the groove wall of the receiving groove, and the other end is connected to the push rod. The return spring is arranged along the length direction of the push rod.

10. The surgical instrument according to claim 1, characterized in that, The drive assembly includes a motor assembly and a gear connected to the motor assembly. The transmission assembly includes a toothed member. When the unlocking assembly is in the first position, the toothed member meshes with the gear. In response to the drive of the motor assembly, the gear rotates, and drives the transmission assembly to move through the meshing of the gear and the toothed member. In response to the unlocking assembly moving from the first state to the second position, the unlocking assembly pushes the gear to move so that the gear disengages from the toothed member.

11. The surgical instrument according to claim 10, wherein, The drive assembly further includes a support elastic member. The surgical instrument includes a support portion. The support elastic member is connected between the gear and the support portion. When the unlocking assembly is in the first position, the support elastic member provides an elastic force to the gear to make the gear mesh with the toothed member. When the unlocking assembly is in the second position, the gear is separated from the toothed member, and the support elastic member is compressed.

12. The surgical instrument according to claim 10, wherein The drive assembly further includes a worm connected to the motor assembly and a worm gear meshing with the worm. The worm gear is connected to the gear. In response to the drive of the motor, the worm rotates to drive the gear to rotate through the worm gear.

13. The surgical instrument according to claim 10, wherein, The surgical instrument further includes a main control module, a trigger switch electrically connected to the main control module, and a prompting module electrically connected to the main control module. When the surgical instrument is in the first state, the trigger switch is in an open state; when the surgical instrument is in the second state, the operating member or the gear triggers the trigger switch to switch the trigger switch from the open state to a closed state and send a trigger signal to the main control module. After receiving the trigger signal, the main control module controls the prompting module to operate.

14. The surgical instrument according to claim 1, wherein The unlocking assembly includes an operating member that penetrates the housing of the surgical instrument. The operating member includes an operating portion outside the housing and a pushing portion inside the housing. In response to the operating portion being pressed, the pushing portion abuts against and pushes the driving assembly to move away from the transmission assembly, so that the unlocking assembly switches from the first state to the second state.

15. The surgical instrument according to claim 14, wherein The operating member further includes a buckling portion. When the unlocking assembly is in the first position, the buckling portion is separated from the housing, enabling the operating member to be operable and move; when the unlocking assembly is in the second position, the buckling portion is clamped with the housing to block the operating member from moving to the first position.

16. The surgical instrument according to claim 1, wherein, The driving assembly includes a motor assembly, a lead screw connected to the motor assembly, and a nut cooperating with the lead screw. The nut is connected to the transmission assembly; in response to the driving of the motor, the lead screw rotates to drive the nut to move, and the nut drives the transmission assembly to move so that the jaw assembly rotates; The nut and the transmission assembly are detachably connected by a first fixing member; when the unlocking assembly is in the first position, the first fixing member is connected to the transmission assembly and the nut, so that the transmission assembly is connected to the nut; when the unlocking assembly is in the second position, the first fixing member is separated from the transmission assembly and the nut, so that the transmission assembly is separated from the nut.

17. The surgical instrument according to claim 16, wherein, The first fixing member includes a screw, and the screw is configured to be connected to the transmission assembly and the nut. The unlocking assembly includes a screwdriver. When the screwdriver is in the first position, the screwdriver is separated from the screw; in response to the screwdriver moving from the first position to the second position, the screwdriver connects the screw and drives the screw to rotate to release the connection with the transmission assembly and the nut.

18. The surgical instrument according to claim 16 or 17, characterized in that, The transmission assembly includes a push rod, the distal end of the push rod is connected to the jaw assembly, and the push rod is connected to the nut.

19. The surgical instrument according to claim 18, wherein, The transmission assembly further includes a connecting portion, and the connecting portion is configured to be connected to the push rod at one end and the nut at the other end; the first fixing member is connected to the connecting portion and the nut, or the first fixing member is connected to the connecting portion and the push rod.

20. The surgical instrument according to claim 16, wherein The surgical instrument further includes a disassembly hole. When the surgical instrument is in the first state, the disassembly hole is opposite to the first fixing member.

Images