Interface device for mounting nail box assembly, surgical instrument handle and surgical instrument

Abstract

The invention discloses an interface device for nail box assembly installation, a surgical instrument handle and a surgical instrument. The interface device comprises an instrument outer tube, a base, a first transmission part, a first locking block and a sliding block. The instrument outer tube defines a central axis, and the base is provided with an axial insertion cavity used for containing the nail box butt joint end of the nail box assembly. The first transmission part can axially slide and is provided with a locking groove, and the first locking block is matched with the groove through the locking boss to achieve displacement limitation. The sliding block is provided with a locking station and an unlocking station, the first driving part of the first functional section is matched with the driven part of the first locking block, the sliding block is pushed to move axially when the nail box assembly is inserted, the first locking block is driven to be separated from the locking groove, and unlocking of the first transmission component is achieved. A first elastic piece is arranged to keep the sliding block reset, and a second elastic piece can be selectively added to control the first locking block to reset. A second transmission component and a second locking block are further arranged to achieve linkage locking of the multiple transmission components, and the sliding block synchronously controls the state of the second transmission component through a second functional section. A surgical operating instrument handle is integrated with the interface device, and percussion, pitching and overall rotation control are achieved through the driving shaft set. According to the device, quick assembly and disassembly of the nail box and synchronous release of multi-directional locking are achieved, operation safety, reliability and convenience are improved, the device can be compatible with nail box assemblies of different specifications, and the device has the advantages of being accurate in axial displacement constraint and high in mechanical linkage efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to an interface device for installing a nail magazine assembly, a surgical instrument handle, and a surgical instrument. Background Art

[0002] With the application and development of robot-related technologies, especially the development of computing technology, the role of medical surgical robots in clinical practice has received more and more attention. Among them, the minimally invasive surgical robot system can reduce the physical labor of doctors during the operation through interventional treatment, while achieving the purpose of precise surgery, so that the patient's surgery has the advantages of less trauma, less blood loss, less postoperative infection and faster postoperative recovery.

[0003] Laparoscopic staplers are currently widely used in clinical surgery. Laparoscopic staplers with replaceable stapler magazines used in conjunction with surgical robots require multiple drive shafts to drive the stapler's rotation, pitch, and clamping / firing movements. These drive shafts are typically exposed on the outer surface of the robotic stapler handle. If these drive shafts accidentally rotate, causing the pitch, clamping, and firing mechanisms to be out of zero position, the new stapler cannot dock with the robotic stapler handle, further compromising the stapler's operation. Therefore, ensuring that the firing mechanism and / or pitch mechanism are locked in the zero position during magazine changes is crucial for smoother magazine replacement. Furthermore, because the robotic stapler handle requires a transmission interface and transmission mechanism for docking with the robot, the three-dimensional dimensions of the stapler handle are limited, particularly in height. Excessive height can cause the stapler to collide with adjacent robotic arms or instruments, compromising surgical safety. This makes it particularly difficult to provide a zero-lock mechanism for the firing mechanism on the instrument housing of the handle. Furthermore, the pitch mechanism needs to be infinitely controlled to ensure flexibility and convenience in surgical instrument operation. Therefore, unlike traditional staplers, a stepped pitch zero-position locking mechanism cannot be provided on the stapler handle. Therefore, it is particularly necessary to invent a structure that can achieve zero-position locking of the firing mechanism, or the firing mechanism and pitch mechanism, within the confined space of the instrument shaft. Summary of the Invention

[0004] Based on this, it is necessary to provide an interface device, a surgical instrument handle and a surgical instrument for installing a nail magazine assembly in order to address the above-mentioned technical problems.

[0005] The present invention relates to an interface device for installing a nail magazine assembly, and its technical solution is as follows:

[0006] An interface device for installing a nail magazine assembly, comprising:

[0007] an outer instrument tube defining an axially extending central axis;

[0008] A base is fixedly connected to the distal end of the outer tube of the instrument, and the base is provided with an axial insertion cavity to accommodate the nail magazine docking end of the nail magazine assembly;

[0009] A first transmission component is provided on the base, wherein the distal end of the first transmission component forms a first transmission component interface that cooperates with the firing sheet metal interface of the magazine assembly, and a first transmission component groove is formed on the proximal side wall;

[0010] a first locking block, disposed on the base, comprising a first locking block boss selectively embedded in the groove of the first transmission component, and a first driven portion close to the central axis;

[0011] a slider, disposed on the base, the slider being provided with a first functional section, the first functional section including a first driving portion cooperating with the first driven portion;

[0012] a first elastic member configured to apply an elastic restoring force to the slider toward the locking position;

[0013] The slider is configured to move between a locking position and an unlocking position;

[0014] in:

[0015] When the nail magazine assembly is not installed, the slider is in the locking position, and the first locking block is in the initial position. In the initial position, the first locking block boss is embedded in the first transmission component groove to limit the axial displacement of the first transmission component; the first transmission component is in a locked state;

[0016] When the nail magazine assembly is fully installed, the slider is pushed by the nail magazine assembly to the unlocking position, and the first driving part slides along the first driven part to drive the first locking block to the unlocking position. In the unlocking position, the first locking block boss disengages from the first transmission component groove, thereby releasing the constraint on the axial displacement of the first transmission component, and the first transmission component is in an unlocked state.

[0017] Optionally, the cross-section of the axial plug-in cavity is circular.

[0018] Optionally, the slider, the first locking block and the first elastic member are all arranged inside the lumen of the outer tube of the instrument;

[0019] Optionally, the first transmission component is arranged concentrically with the outer tube of the instrument.

[0020] Optionally, when the slider is in the locking position, the first functional section of the slider contacts the distal end of the first follower portion of the first locking block. At this time, the first locking block is in an initial position, and the boss of the first locking block is adjacent to the first transmission component groove of the first transmission component.

[0021] Optionally, a second elastic member is further included, configured to apply an elastic restoring force to the first locking block to return from the unlocked position to the initial position.

[0022] Optionally, during the displacement of the slider from the locking position to the unlocking position, its first driving part maintains a contact driving relationship with the first driven part of the first locking block until the first locking block completes the full stroke displacement from the initial position to the unlocking position.

[0023] Optionally, the first driving portion is constructed as a local protruding structure, and when the first locking block is in an initial position, the first driven portion includes at least one guide surface that forms a non-parallel relationship with the central axis.

[0024] Optionally, the first driven portion includes a first curved surface segment. When the slider is in the locking position, the first curved surface segment forms a non-parallel relationship with the central axis, and the first driving portion contacts and slides with the first driven portion.

[0025] Optionally, the first driven part further includes a second curved surface segment. When the slider is located at the unlocking position, the first locking block is in the unlocking position, and the second curved surface segment slides in contact with the first driving part to keep the first transmission component in an unlocked state.

[0026] Optionally, the first locking block is connected to the base via a pivot connection structure, and a rotation axis of the pivot connection is arranged perpendicular to the central axis.

[0027] Optionally, a linear guide rail or a curved guide rail is formed between the first locking block and the base, or the first locking block rotates and slides at the same time.

[0028] Optionally, the interface device allows receiving nail magazine docking end portions of different lengths, and the length difference does not change the switching function of the first transmission component or the first transmission component and the second transmission component from the locked state to the unlocked state after the nail magazine assembly is fully installed.

[0029] Optionally, the slider is provided with a push surface, and the nail magazine assembly has a proximal end surface, and the proximal end surface can directly or indirectly contact the push surface of the slider to drive the slider to move.

[0030] Optionally, the first driving portion is configured as a first cam, and the first driven portion is a rotating body feature, wherein the rotating body feature is selected from at least one of a cylinder, a cone or a sphere, and forms a sliding fit with the first cam.

[0031] Optionally, the first cam includes at least one first cam segment that is inclined at an angle to the central axis, and relative sliding between the first cam segment and the first follower generates a displacement component that changes the unlocking state.

[0032] Optionally, the first cam further includes a second cam segment approximately parallel to the central axis, and the relative sliding of the second cam segment and the first follower portion does not generate a displacement component that changes the unlocking state.

[0033] Alternatively, the first cam may be a curved profile member.

[0034] Optionally, the first cam may be a groove member.

[0035] Optionally, also include:

[0036] The second transmission component is axially slidably disposed on the base, the distal end of which forms a second transmission component interface that cooperates with the second transmission component interface of the nail magazine assembly, and the proximal side wall of which is provided with a second transmission component groove;

[0037] a second locking block movably disposed on the base and provided with a second locking block boss and a second follower;

[0038] The slider is further provided with a second functional section, the second functional section including a second driving portion cooperating with the second driven portion; wherein,

[0039] When the slider is located at the locking position, the second locking block boss is embedded in the second transmission component groove;

[0040] When the slider is located at the unlocking position, the second locking block boss is disengaged from the second transmission component groove.

[0041] Optionally, during the displacement of the slider from the locking position to the unlocking position, its second functional section maintains a contact driving relationship with the second follower portion of the second locking block until the second locking block completes the full stroke displacement from the initial position to the unlocking position.

[0042] Optionally, when the slider is in the locking position, the distal end of its second functional segment forms a contact fit with the second follower portion of the second locking block; when the slider is in the unlocking position, the proximal end of the second functional segment forms a contact fit with the second follower portion.

[0043] Optionally, the second driving portion is provided with a cam structure, the cam structure including a third cam segment that is not parallel to the central axis. When the magazine assembly is installed, the third cam segment can change the second transmission component from a locked state to an unlocked state.

[0044] Optionally, the second cam further comprises a fourth cam segment approximately parallel to the central axis. When the nail magazine assembly is installed, the fourth cam segment keeps the second transmission component in an unlocked state.

[0045] Optionally, a pivot connection structure that rotates around a central axis is formed between the second locking block and the base.

[0046] Optionally, a linear guide rail or a curved guide rail is formed between the second locking block and the base, or the second locking block rotates and slides at the same time.

[0047] The present invention also relates to a surgical instrument handle, comprising:

[0048] An interface device, wherein the interface device is any one of the above-mentioned interface devices;

[0049] An instrument box assembly, wherein the instrument box assembly comprises an instrument box base, on which the following is rotatably provided:

[0050] At least one drive shaft, used to drive the interface device to rotate as a whole;

[0051] at least one first drive shaft, configured to drive a first transmission component in the interface device to slide axially along the base;

[0052] At least one second driving shaft is used to drive the second transmission component in the interface device to slide axially along the base.

[0053] The present invention also relates to a surgical instrument comprising:

[0054] A surgical instrument handle, wherein the surgical instrument handle is the surgical instrument handle described above;

[0055] A nail magazine assembly, which can be quickly detachably mounted on the surgical instrument handle;

[0056] Among them, when the nail magazine assembly is installed on the surgical instrument handle, the nail magazine docking end of the nail magazine assembly is completely installed into the axial plug-in cavity and pushes the slider to the unlocking position, the first locking block disengages from the first transmission component groove, and the first transmission component is in an unlocked state.

[0057] Optionally, when the nail magazine assembly is installed on the surgical instrument handle, the second transmission component is no longer locked by the second locking block, and the second transmission component is in an unlocked state.

[0058] Compared with the prior art, the interface device, handle, and surgical instrument for mounting a nail magazine assembly of the present invention have the following advantages:

[0059] First, this structure can avoid the problem of the new staple magazine and the robotic stapler handle not being able to dock smoothly due to the drive shaft on the outer surface of the handle accidentally touching, ensuring that the replacement of the staple magazine is more convenient and efficient.

[0060] Second, this structure allows the pitch mechanism to achieve infinite angle control, ensuring the flexibility and convenience of surgical instrument operation.

[0061] Third, this structure realizes zero-position locking of the firing mechanism or the firing mechanism and the pitch mechanism in the narrow space inside the instrument rod, avoiding the collision risk that may be introduced by the increase in the size of the anastomosis handle, thereby improving the safety of the operation. At the same time, the miniaturized design of the stapler assembly installation interface device avoids space waste, reduces the weight of the instrument, and makes the operation and use of the surgical instrument on the robotic arm more flexible.

[0062] Fourth, the dual-reset elastic member configuration of the structure ensures automatic reset of each component, thereby improving reliability.

[0063] Fifth, the integrated design of the pitch linkage assembly and the firing linkage assembly simplifies the structure and improves operational synchronization;

[0064] Sixth, the structure is compatible with the plug-in requirements of nail magazine components with different interface lengths, improving the versatility of the interface;

[0065] Additional objects, features and / or advantages will be set forth in part in the following description and in part will be obvious from the description, or may be learned by practice of the invention and / or the claims. At least some of these objects and advantages may be realized and obtained by the elements and combinations particularly pointed out in the appended claims.

[0066] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the claims, which should be given the full breadth of their scope and their equivalents. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 It is an overall schematic diagram of the application scenario of the surgical robot system;

[0068] Figure 2 This is a schematic diagram of the installation of the stapler and power box assembly;

[0069] Figure 3 A schematic diagram of the assembly of the stapler magazine and the stapler handle;

[0070] Figure 4 This is a schematic diagram of the disassembly of the stapler magazine and the stapler handle;

[0071] Figure 5 Schematic diagram of the nail box structure;

[0072] Figure 6 It is a partial cross-sectional schematic diagram of the nail box;

[0073] Figure 7 Schematic diagram of the instrument rod interface device;

[0074] Figure 8 Schematic diagram of the structure of the instrument rod interface device when it is in the zero-position locking state;

[0075] Figure 9 Schematic diagram of the slider structure;

[0076] Figure 10 is a structural schematic diagram of another instrument rod interface device in a zero-position locked state;

[0077] Figure 11 A schematic cross-sectional view of the instrument rod interface device after the nail magazine is installed;

[0078] Figure 12 is a structural schematic diagram of the instrument rod interface device when it is in an unlocked state;

[0079] Figure 13 Schematic diagram of the second slider structure;

[0080] Figure 14 Schematic diagram of the structure of the first locking block;

[0081] Figure 15 Schematic diagram of the structure of the second locking block;

[0082] Figure 16 Schematic diagram of the base structure;

[0083] Figure 17 Schematic diagram of the structure of the first transmission component;

[0084] Figure 18 Schematic diagram of the structure of the second transmission component;

[0085] Figure 19 It is a structural schematic diagram of the first transmission component in a state;

[0086] Figure 20 A schematic diagram of a second type of first locking block locking and unlocking the first transmission component;

[0087] Figure 21 Schematic diagram of the third slider structure;

[0088] Figure 22 This is a schematic diagram of the third first locking block structure;

[0089] Figure 23 This is a schematic diagram of the third type of first locking block locking the first transmission component;

[0090] Figure 24A schematic diagram of a third type of first locking block unlocking the first transmission component;

[0091] In the figure, the patient-side trolley 01; the power box assembly 300; the isolation device 400; the robotic arm 500; the adjustment mechanism 600; the main trolley 800; the doctor's control trolley 02; the main operator 1000; the display device 1100; the imaging trolley 1300; the tool trolley 1200; the hospital bed 900; the endoscope 1500; the surgical instrument 100; the stapler 001; the stapler handle 1; the instrument box assembly 101; the instrument box base 1011; the self-rotating drive shaft 1012; the first drive shaft 1013; the second drive shaft 1014; the instrument rod assembly 102; the central axis 108; the instrument rod interface device 10; the insertion cavity 100 1; holding mechanism-1002; holding spring-1003; directional sheet metal piece-1004; directional sheet fixing block-1005; extension sleeve-1006; rod end face-1007; instrument outer tube-11; base-12; base restraining groove-121; base side slide groove-122; push block slide groove-123; second transmission component slide groove-124; center channel-125; elastic member mounting groove-126; base groove-127; first transmission component-13; first transmission component groove-131; first transmission component interface-132; second transmission component-14; second transmission component groove-141; second transmission component interface-142; slider-15; first drive unit-151; Cam 1510; first cam segment 1511; second cam segment 1512; first transition cam segment 1513; second driving portion 152; second cam 1520; third cam segment 1521; fourth cam segment 1522; second transition cam segment 1523; push block hole 153; push surface 154; cavity 155; first locking block 16; first follower 161; first curved surface 1601; second curved surface 1602; transition area 1603; first locking block boss 162; rotating surface 163; second locking block 17; second follower 171; second locking block boss 172; first elastic member 18; second elastic member 1 9; arc surface-173; nail magazine assembly-2; nail magazine shaft assembly-201; nail magazine docking end-21; proximal end surface-211; nail magazine rod interface-212; fitting surface-213; nail magazine firing sheet metal-22; firing sheet metal interface-221; nail magazine pitch pull rod-23; nail magazine pitch pull rod interface-231; end effector-202; base plate-203; jaws-204; power box assembly-300; rotation drive rotor-301; pitch drive rotor-302; clamping / firing drive rotor-303; power box groove-304; isolation device-400; isolation rotor-401; isolation device groove-402; first functional section-2000; second functional section-3000. DETAILED DESCRIPTION

[0092] The description and drawings illustrating exemplary embodiments should not be considered as restrictive. Various mechanical, compositional, structural, electrical and operational changes can be made without departing from the scope of this description and claims and their equivalents. In some cases, well-known structures and technologies are not shown or described in detail to avoid blurring the present invention. The same numbers in two or more drawings represent the same or similar elements. In addition, the elements and related features described in detail with reference to an embodiment can be included in other embodiments in which they are not specifically shown or described when practicing. For example, if an element is described in detail with reference to an embodiment and is not described with reference to a second embodiment, the element can still be claimed to be included in the second embodiment.

[0093] For the purposes of this specification and the appended claims, unless otherwise indicated, all numbers expressing quantities, percentages or ratios, as well as other numerical values used in the specification and claims, are to be understood as being modified in all cases by the term "about" to the extent that they have not been so modified. Therefore, unless otherwise indicated, the numerical parameters set forth in the following specification and the appended claims are approximate values that may vary depending on the desired properties to be obtained. At least, but not intended to limit the application of the teachings of equivalents to the scope of the claims, each numerical parameter should at least be construed in light of the number of reported significant digits and by applying ordinary rounding techniques.

[0094] Note that, as used in this specification and the appended claims, the singular forms "a," "an," and "the," as well as any use of any word in the singular, include plural referents unless expressly and unequivocally limited to one referent. As used herein, the term "include" and its grammatical variations are intended to be non-limiting, such that recitation of items in a list is not to the exclusion of other like items that can be substituted or added to the listed items.

[0095] In addition, the terms of this description are not intended to limit the present disclosure or the claims. For example, spatially relative terms such as "below", "below", "bottom", "above", "upper", "proximal", "distal", etc., can be used to describe the relationship between an element or feature and another element or feature as illustrated in the orientation diagrams in the accompanying drawings. These spatially relative terms are intended to include: in addition to the position and orientation shown in the drawings, also include different positions (i.e., orientations) and orientations (i.e., rotational placement) of the device in use or operation. For example, if the device in the drawings is flipped, the elements described as being "below" or "below" other elements or features should be "above" or "above" these other elements or features. Therefore, the exemplary term "below" can include both the position and orientation above and below. The device can be oriented in other ways (rotated 90 degrees or in other orientations), and is therefore explained using spatially relative descriptors in this article. The relative proximal and distal directions of surgical instruments are marked in the drawings.

[0096] Figure 1 The working scene of the surgical robot system is shown in FIG. Figure 1 As shown, the surgical robot system primarily comprises an execution end, a control end, and an auxiliary end. The execution end includes a patient-side cart 01 and surgical instruments 100. The control end includes a doctor's control cart 02, which contains a master operator 1000 and a display device 1100. The master operator 1000 is movably mounted on the doctor's control cart 02. The auxiliary end includes an imaging cart 1300 and a tool cart 1200. The imaging cart 1300 can be used to house a display, surgical instruments, a monopolar and bipolar power source, an endoscope mainframe, an endoscope light source, and the like. The tool cart 1200 is used to house the surgical instruments 100, an endoscope 1500, and the like.

[0097] The patient-side trolley 01 includes a main trolley 800, an adjustment mechanism 600, and a robotic arm 500. A power box assembly 300 is mounted on the robotic arm 500. The power box assembly 300 can move up and down along the instrument mounting axis. The surgical robot system further includes an isolation device 400, which is mounted on the power box assembly 300. The isolation device 400 is used to establish a sterile environment for the surgical robot system. The isolation device is used to isolate sterile components from sterile components in the surgical robot system. The sterile components include the robotic arm 500, and the sterile components include surgical instruments 100 and an endoscope 1500, etc.

[0098] The surgical instrument 100 and endoscope 1500 can be detachably mounted on the isolation device 400. After the surgical instrument 100 and endoscope 1500 are mounted, the robotic arm 500 can drive the surgical instrument 100 and endoscope 1500 to move around a fixed point through joint movement. The adjustment mechanism 600 can be connected to the proximal end of one or more robotic arms 500 to adjust the spatial position of the robotic arm 500 and surgical instrument 100. The main trolley 800 is connected to the adjustment mechanism 600 to adjust the spatial position of the adjustment mechanism 600 and the robotic arm 500.

[0099] The master operator 1000 forms a master-slave control relationship with the robotic arm 500 and the surgical instrument 100. The doctor remotely operates the execution end by controlling the master operator 1000 on the doctor's console cart 02, so that the robotic arm 500 and the surgical instrument 100 move according to the movement of the master operator 1000, that is, according to the operation of the doctor's hand, thereby performing minimally invasive surgical treatment on the patient on the bed 900.

[0100] The endoscope 1500 is used to obtain surgical environment information such as human tissues and organs, surgical instruments 100, blood vessels, and body fluids. The control terminal generally also includes a display device 1100 for receiving images captured by the endoscope 1500, allowing the operator to control the movement of the robotic arm 500, surgical instruments 100, and endoscope 1500 through the main operator 1000 based on the images displayed on the display device 1100 at the control terminal.

[0101] See Figures 2 to 7As shown, the common surgical instruments 100 include needle holders, grasping forceps, electric hooks, electrocoagulation forceps, electric hooks, and staplers. The surgical instrument 100 in this embodiment is a robotic stapler 001. The stapler 001 is composed of a stapler handle 1 and a stapler magazine assembly 2. The stapler 001 is the surgical instrument mentioned above, and the stapler handle 1 is the surgical instrument handle mentioned above. The stapler magazine assembly 2 is detachably mounted to the stapler handle 1. The stapler 001 is configured to be detachably mounted to the patient-side robot 001 for clamping, stapling, and cutting tissue. The stapler 001 is configured to be mounted to a robotic arm 500. The stapler handle 1 can be used with a variety of stapler magazine assemblies 2 to perform firing and stapling operations. The stapler handle 1 includes an instrument case assembly 101 and an instrument rod assembly 102. The instrument rod assembly 102 is mounted on the instrument case assembly 101 and extends distally from the instrument case assembly 101 along the central axis 108 of the instrument rod assembly 102. The central axis 108 is the central axis of the instrument outer tube 11. The instrument case assembly 101 includes an instrument case base 1011 and a drive shaft assembly. The drive shaft assembly includes a self-rotating drive shaft 1012, a first drive shaft 1013, and a second drive shaft 1014. The self-rotating drive shaft 1012 is rotatably mounted on the instrument box base 1011 and can be driven by the drive rotor 301 on the power box assembly 300 of the patient-end trolley 01. The first drive shaft 1013 is rotatably mounted on the instrument box base 1011 and can be driven by the clamping / firing drive rotor 303 on the power box assembly 300. The second drive shaft 1014 is rotatably mounted on the instrument box base 1011 and can be driven by the pitch drive rotor 302 on the power box assembly 300.

[0102] The nail magazine assembly 2 is a disposable, replaceable assembly that is detachably mounted to the instrument rod assembly 102, the main body base inside of which is the base 12. The nail magazine assembly 2 includes a nail magazine shaft assembly 201 and a stapler end effector 202. The nail magazine shaft assembly 201 is detachably mounted to the distal end of the instrument rod assembly 102. The end effector 202 is pivotally connected to the distal end of the nail magazine shaft assembly 201. The end effector 202 includes a base plate 203 and a jaw 204. The jaw 204 is pivotally mounted relative to the base plate 203 and can be actuated from an open position to a closed position to clamp tissue between the jaw 204 and the base plate 203. The jaw 204 includes an actuation input that can be translated distally to close the jaw 204, thereby clamping the tissue between the jaw 204 and the base plate 203 and firing the titanium nail in the jaw 204. The titanium nail passes through the tissue clamped between the jaw 204 and the base plate 203 and contacts the surface of the anvil recess on the base plate 203, forming a "B"-shaped titanium nail. The titanium nail will remain in the anastomosed tissue, thus completing the clamping and firing anastomosis action.

[0103] Figures 3 to 8 It is a structural schematic diagram of the distal instrument rod interface device 10 of the instrument box base 1011 and the proximal part of the nail box assembly 2.

[0104] The instrument rod assembly 102 includes an instrument rod interface device 10, which is located at the distal end of the instrument rod assembly 102 and is used to mount the nail magazine assembly 2. The instrument rod interface device 10 includes an insertion cavity 1001 at the distal end of the instrument rod assembly 102. In a common embodiment, the insertion cavity 1001 has a circular cross-section. The instrument rod interface device 10 is internally provided with a first transmission component 13, a second transmission component 14, and a base 12.

[0105] like Figure 7 As shown in FIG17 , the distal end of the first transmission component 13 has a first transmission component interface 132 and the proximal end has a first transmission component groove 131. Figure 10 As shown in FIG18 , the second transmission component 14 has a second transmission component interface 142 at its distal end and a second transmission component groove 141 at its proximal end. The proximal portion of the magazine assembly 2 includes a magazine rod interface 212 proximal to the magazine rod 21, a firing sheet metal interface 221 proximal to the magazine firing sheet metal 22, and a magazine pitch rod interface 231 proximal to the magazine pitch rod 23. Before installing a new magazine assembly 2, the magazine firing sheet metal 22 and the magazine pitch rod 23 are both in their initial zero positions.

[0106] like Figure 16 As shown, the distal end of the base 12 is provided with a base groove 127, as shown in FIG. Figure 1As shown in Figures 5, 6, 7, 8, 9, 10, 11, and 18, in the illustrated embodiment, the magazine assembly 2 has a magazine docking end 21, which is detachably connected to the insertion cavity 1001 in the instrument rod interface device 10. That is, the base 12 is provided with an insertion cavity 1001 for receiving the magazine docking end 21 located at the proximal end of the magazine assembly 2. Specifically, the proximal side of the magazine docking end 21 includes a magazine rod interface 212 and a fitting surface 213. The magazine rod interface 212 is configured to be inserted into the insertion cavity 1001 in the instrument rod interface device 10 to rotatably connect the magazine rod 21 to the base groove 127 of the instrument rod interface device 10. When the magazine rod 21 is connected to the instrument rod interface device 10, the fitting surface 213 of the magazine assembly 2 fits with the rod end surface 1007 of the instrument rod interface device 10. Due to the existence of manufacturing errors of parts, there will actually be a certain gap in the above fitting. In many embodiments, the retaining mechanism 1002, under the action of the retaining spring 1003, prevents accidental separation of the magazine assembly 2 from the instrument rod interface 10. When the retaining mechanism 1002 is pushed proximally along the central axis 108, the magazine rod 21 can be reversely rotated to disengage from the base recess 127 and withdrawn from the insertion cavity 1001. This allows for rapid installation and removal of the magazine assembly 2 from the instrument rod interface 10 of the stapler handle 1. The base recess 127 is located at the distal end of the base 12.

[0107] like Figure 5 , 6, 7, and 17, in the illustrated embodiment, the first transmission component 13 has a first transmission component interface 132 at the distal end thereof and can be hooked with the firing sheet metal interface 221 on the proximal side of the magazine firing sheet metal 22, so that the first transmission component 13 can drive the magazine firing sheet metal 22 to move, thereby driving the jaws 204 of the end effector 202 to deflect relative to the base plate 203, so that the stapler end effector 202 clamps the tissue and fires the titanium staples to complete the anastomosis. In many embodiments, the first transmission component interface 132 is a groove and the firing sheet metal interface 221 is a boss, so that the two can be quickly connected or separated. The first transmission component 13 is slidably disposed on the base 12.

[0108] like Figure 5 , 6, 10, and 18, in the illustrated embodiment, the distal end of the second transmission component 14 has a second transmission component interface 142 that can be hooked with the magazine pitch rod interface 231 proximal to the magazine pitch rod 23, so that the second transmission component 14 can drive the magazine pitch rod 23 to move, thereby driving the end effector 202 to deflect relative to the magazine shaft assembly 201, thereby adjusting the direction of the stapler end. In many embodiments, the second transmission component interface 142 is a groove and the magazine pitch rod interface 231 is a boss, so that the two can be quickly connected or disconnected. The second transmission component 14 is slidably disposed on the base 12.

[0109] like Figures 1 to 4As shown, the patient-side trolley 01 of the surgical robot system includes a power box assembly 300, on which an isolation device 400 is mounted. The power box assembly 300 has multiple motor units, and the instrument box assembly 101 is detachably mounted on the isolation device 400 and the power box assembly 300. The motor unit in the power box assembly 300 is operable to control the isolation rotor 401 on the isolation device 400 to actuate the instrument box assembly 101, thereby controllably actuating the nail magazine assembly 2. The motor unit and the isolation device 400 include an autorotation motor, an autorotation drive rotor 301 drivingly coupled to the autorotation motor, a pitch motor, a pitch drive rotor 302 drivingly coupled to the pitch motor, a clamping / firing generator, and a clamping / firing drive rotor 303 drivingly coupled to the clamping / firing generator. The autorotation motor can be controllably operated to controllably rotate the autorotation drive rotor 301 relative to the power box assembly 300. This causes the isolation rotor 401 to rotate relative to the isolation device 400, further causing the self-rotation drive shaft 1012 to rotate relative to the instrument cassette base 1011. The self-rotation drive shaft 1012 can be coupled to the instrument rod assembly 102 via a mechanical transmission. The rotational movement of the self-rotation drive shaft 1012 can drive the instrument rod assembly 102 to rotate relative to the instrument cassette base 1011, thereby causing the magazine rod 21 of the magazine assembly 2 to rotate relative to the instrument cassette base 1011. Similarly, the pitch motor can be controllably operated to controllably rotate the pitch drive rotor 302 relative to the isolation device 400 and the power cassette assembly 300, thereby causing the isolation rotor 401 to rotate relative to the isolation device 400, further causing the second drive shaft 1014 to rotate relative to the instrument cassette base 1011. The second drive shaft 1014 can be coupled to the second transmission component 14 through mechanical transmission. The rotational movement of the second drive shaft 1014 can drive the second transmission component 14 to move, thereby actuating the nail magazine pitch pull rod 23 in the nail magazine assembly 2 to move, thereby driving the end effector 202 to deflect infinitely relative to the nail magazine shaft assembly 201 of the nail magazine assembly 2, achieving adjustment of the pitch direction of the stapler end, and completing the staple operation in a more flexible manner. Similarly, the clamping / firing motor can be controllably operated to controllably rotate the clamping / firing drive rotor 303 relative to the isolation device 400 and the power box assembly 300, thereby actuating the isolation rotor 401 to rotate relative to the isolation device 400, and further actuating the first drive shaft 1013 to rotate relative to the instrument box base 1011. The first drive shaft 1013 can be coupled to the first transmission component 13 through mechanical transmission. The rotational movement of the first drive shaft 1013 can drive the first transmission component 13 to move, thereby actuating the nail magazine firing sheet metal 22 in the nail magazine assembly 2 to move, and actuating the jaws 204 and the base plate 203 to complete the closed position to clamp the tissue.Afterwards, the nail magazine firing sheet metal 22 moves further to the distal end and fires the titanium nail in the jaws 204. The titanium nail passes through the tissue clamped between the jaws 204 and the base plate 203, and contacts the nail anvil pit on the base plate 203, forming a "B"-shaped titanium nail, and completing the cutting at the same time. After the anastomosis is completed, the clamping / firing motor rotates in the opposite direction, actuating the nail magazine firing sheet metal 22 to return to the initial zero position, the jaws 204 and the base plate 203 open, and the separation from the anastomosed tissue is completed. Then the nail magazine pitch pull rod 23 will also return to the initial zero position to facilitate the stapler to pull out the card, and the anastomosis action is completed.

[0110] After the stapling operation is completed, the first transmission member 13 and the second transmission member 14 of the stapler handle 1 will both retract to the initial zero position in preparation for the next replacement of the new stapler magazine assembly 2 for a new stapling operation. However, since the first transmission member 13 and the second transmission member 14 are respectively coupled to the first drive shaft 1013 and the second drive shaft 1014, and the first drive shaft 1013 and the second drive shaft 1014 are exposed at the bottom of the stapler handle 1, if the first drive shaft 1013 and the second drive shaft 1014 are accidentally touched and rotated, the first transmission member 13 and the second transmission member 14 may not be in the initial zero position, that is, the first transmission member interface 132 and the second transmission member interface 142 may not be in the initial zero position, while the firing sheet metal interface 221 and the second transmission member interface 231 of the new stapler magazine assembly 2 are in the initial zero position. At this time, the new stapler magazine assembly 2 will be unable to be installed and docked with the stapler handle 1 whose first transmission member 13 and the second transmission member 14 are not in the initial zero position, thereby affecting the use of the stapler. Therefore, it is particularly important to ensure that the first transmission component 13 and / or the second transmission component 14 are in the initial zero position and locked when the stapler magazine is replaced, so as to ensure that the stapler magazine assembly 2 can be smoothly replaced. On the other hand, because the robotic laparoscopic stapler handle 1 requires a transmission interface and a transmission mechanism for docking with the surgical robot, the three-dimensional dimensions of the stapler handle 1 are limited, especially the height dimension. If the height dimension is too large, the stapler 001 may collide with the adjacent robotic arm 500 or surgical instrument 100, affecting surgical safety. Therefore, it is particularly difficult to provide a zero-position locking structure for the first transmission component 13 on the instrument box assembly 101 of the stapler handle 1. Furthermore, the pitch control of the end effector 202 of the stapler magazine assembly 2 needs to be steplessly controlled to ensure that the stapler 001 can be operated flexibly and conveniently under the master-slave operation of the surgical robot. Therefore, it is not possible to provide a stepped pitch zero-position locking structure at the instrument box assembly 101 of the stapler handle 1 like a traditional stapler. Therefore, it is particularly necessary to invent a structure that can achieve zero-position locking of the first transmission component 13 or the first transmission component 13 and the second transmission component 14 in the narrow space of the instrument rod assembly 102.

[0111] like Figure 8 and Figure 9As shown, in one embodiment, the present invention provides an interface device for installing a nail magazine, wherein the interface device is an instrument rod interface device 10, which is a part of the instrument rod assembly 102. The instrument rod interface device 10 is located at the distal end of the instrument rod assembly 102. The instrument rod interface device 10 is used to install the nail magazine assembly 2, and has an insertion cavity 1001 for receiving the nail magazine assembly 2. It is worth noting that the insertion cavity 1001 is usually composed of the distal end of the base 12, but sometimes for the convenience of manufacturing, the base 12 may be disassembled into multiple parts. Here, we collectively refer to the main parts in the rod that may be spliced by multiple parts as the base 12. The instrument rod interface device 10 includes an instrument outer tube 11, a base 12, a first transmission component 13, a slider 15, a first locking block 16, and a first elastic member 18. The base 12 is fixedly connected to the distal end of the instrument outer tube 11, and the base 12 is provided with an axial insertion cavity 1001. The central axis of the outer tube 11 is the central axis 108. The slider 15, the first locking block 16, and the first elastic member 18 are all disposed within the lumen of the outer tube 11. At least a portion of the base 12 is located within the lumen of the outer tube 11. The outer tube 11 can be optionally configured to have different diameters at the distal end and the proximal end. Preferably, the distal end has a large diameter and the proximal end has a small diameter. The large diameter at the distal end can be conveniently matched with various types of nail magazine assemblies 2 on the market, and the small diameter at the proximal end can be more conveniently installed in the power box groove 304 where space is relatively tight, and the length of the small diameter at the proximal end of the outer tube 11 is greater than the length of the large diameter at the distal end of the outer tube 11. Such a configuration can make it easier to install the anastomosis device 001 on the isolation device 400 and the power box assembly 300. The isolation device 400 and the power box assembly 300 are respectively provided with an isolation device groove 402 and a power box groove 304 for receiving and accommodating the outer tube 11, providing a guiding constraint function for the outer tube 11 of the anastomosis device 001, so that the anastomosis device 001 is more stable when used.

[0112] like Figure 7 As shown in Figures 8, 10, 11, and 17, the first transmission component 13 has a first transmission component interface 132 at its distal end and a first transmission component groove 131 at its proximal end. When the magazine assembly 2 is not installed, the first transmission component 13 is located at an initial zero position. When the magazine assembly 2 is installed, the first transmission component 13 can move under the drive of the first drive shaft 1013 and deviate from the initial zero position.

[0113] In many embodiments, the first transmission component 13 is preferably concentric with the central axis 108 of the outer tube 11 of the instrument. Figure 8 As shown in FIG9 , the base 12 has a central channel 125 , and the first transmission component 13 can slide relative to the base 12 in the central channel 125 , that is, the first transmission component 13 can be axially slidably arranged on the base 12 .

[0114] like Figure 16 The base 12 has a push block slot 123, in which the slider 15 can slide relative to the base 12. That is, the slider 15 is axially slidably disposed on the base 12. A push block hole 153 is defined in the middle of the slider 15, through which the first transmission component 13 can pass. Both the slider 15 and the first transmission component 13 can move relative to the base 12 along the central axis 108. The description of axial sliding or movement along the central axis 108 in this context actually allows for a certain angle of deflection, which does not exceed 15°.

[0115] like Figures 7-11 As shown, the first transmission component 13 moves substantially along the direction of the central axis 108 of the outer tube 11 of the instrument. Preferably, the movement direction of the first transmission component 13 is parallel to the direction of the central axis 108. However, in actual application, a certain angular deviation between the movement direction of the first transmission component 13 and the direction of the central axis 108 is allowed, and the deviation angle does not exceed 15°. The slider 15 moves substantially along the direction of the central axis 108 of the outer tube 11 of the instrument. Preferably, the movement direction of the slider 15 is parallel to the direction of the central axis 108. However, in actual application, a certain angular deviation between the movement direction of the slider 15 and the direction of the central axis 108 is allowed, and the deviation angle does not exceed 15°.

[0116] like Figure 9 ,13,21, the slider 15 includes a first functional segment 2000, and the first functional segment 2000 includes a first driving part 151 that contacts and slides with the first driven part 161; the first functional segment 2000 can realize the locking and unlocking functions, and the first functional segment 2000 realizes the locking and unlocking of the first transmission component 13; the first locking block 16 is movable relative to the base 12, and the movement can be linear, rotation, or movement while rotating.

[0117] Specifically, the slider 15 can move between a locked position and an unlocked position. The locked and unlocked positions of the slider 15 are determined by whether the magazine assembly 2 is installed. That is, when the magazine assembly 2 is not installed, the slider 15 is in the locked position; when the magazine assembly 2 is installed, the slider 15 is in the unlocked position.

[0118] like Figure 8 The instrument rod interface device 10 further includes an oriented sheet metal piece 1004, an oriented sheet fixing block 1005, and an extension sleeve 1006. The oriented sheet metal piece 1004 is fixedly connected to the oriented sheet fixing block 1005. The oriented sheet fixing block 1005 and the extension sleeve 1006 can abut against each other. The oriented sheet metal piece 1004, the oriented sheet fixing block 1005, and the extension sleeve 1006 can all move relative to the base 12 along the central axis 108.

[0119] It is worth noting that the aforementioned movement along the direction of the central axis 108 is not completely parallel to the central axis 108. Due to processing errors or structural design, the movement directions of the above-mentioned first transmission component 13, slider 15, oriented sheet metal 1004, oriented sheet fixing block 1005 and extension sleeve 1006 will have a certain deviation angle from the direction of the central axis 108. The actual deviation angle does not exceed 15°, and is not necessarily concentric, but is only a direction indication.

[0120] When the magazine assembly 2 is fully installed, the proximal end surface 211 of the magazine docking end 21 of the magazine assembly 2 abuts the oriented sheet metal 1004 within the instrument shaft interface device 10. Under the influence of the abutment of the proximal end surface 211, the oriented sheet metal 1004, the oriented sheet fixing block 1005, and the extension sleeve 1006 move proximally relative to the base 12 along the central axis 108. The proximal end of the extension sleeve 1006 contacts the abutting surface 154 of the slider 15, thereby pushing the proximal end surface 211 of the installed magazine assembly 2 from the locked position to the unlocked position. In other words, the proximal end surface 211 of the magazine assembly 2 can actuate the abutting surface 154 of the slider 15. In other words, the proximal end surface 211 of the magazine assembly 2 can apply axial thrust to the abutting surface 154 of the slider 15. In other embodiments, the proximal end surface 211 of the magazine assembly 2 may also directly contact the push surface 154 of the slider 15 . Therefore, the proximal end surface 211 of the magazine assembly 2 can directly or indirectly contact the push surface 154 .

[0121] like Figure 14 The first locking block 16 is provided with a first locking block boss 162, which can be selectively embedded in the first transmission component groove 131; the first locking block 16 also includes a first driven portion 161 formed near the central axis.

[0122] When the nail magazine assembly 2 is not installed, the slider 15 is located at the locking position. Figure 9 , 13, 14, the first functional segment 2000 on the slider 15 has a first driving portion 151 that contacts the distal end of the first driven portion 161 on the first locking block 16, such as Figure 8At this point, the first transmission component 13 is in its neutral position, and the first locking block boss 162 on the first locking block 16 fits into the first transmission component groove 131 on the first transmission component 13. Axial movement of the first transmission component 13 is now restricted, the first locking block 16 is in its initial position, and the first transmission component 13 is locked. It is worth noting that due to the machining clearance between the first transmission component groove 131 and the first locking block boss 162, the immovable nature of the first transmission component 13 here refers to a significant range of movement, with movement permitted only within the small machining and assembly clearance.

[0123] The first transmission component groove 131 preferably has a depth of not less than 0.1 mm and a length in the direction of the central axis of not less than 0.3 mm.

[0124] When the magazine assembly 2 is fully installed, the fully inserted magazine assembly 2 pushes the slider 15 from the locked position to the unlocked position. The first functional section 2000 of the slider maintains a contact and sliding driving relationship with the first locking block 16. Preferably, the first functional section 2000 and the first locking block 16 maintain a continuous contact and sliding driving relationship.

[0125] Specifically, the first functional section 2000 on the slider 15 has a first driving portion 151 that contacts the proximal end of the first driven portion 161 on the first locking block 16. The first driving portion 151 can slide relative to the first driven portion 161 to move the first locking block boss 162 on the first locking block 16 outward and out of the first transmission component groove 131 on the first transmission component 13. The first locking block 16 moves to the unlocked position, and the first transmission component 13 can move at this time; that is, the first transmission component 13 is in an unlocked state at this time, and the first transmission component 13 can deviate from the zero position movement under the action of the coupled first drive shaft 1013.

[0126] During the displacement of the slider 15 from the locking position to the unlocking position, the first driving portion 151 and the first driven portion 161 maintain a contact and sliding driving relationship until the full displacement is completed.

[0127] In many embodiments, the instrument rod interface device 10 is circular in shape, and the nail magazine assembly 2 can be installed into the instrument rod interface device 10 along the instrument rod axis 108.

[0128] In the illustrated embodiment, the slider 15 and the first locking block 16 are both located within the outer tube of the instrument, rather than within the instrument cassette assembly 101, to reduce the three-dimensional dimensions of the stapler handle 1, particularly its height. This avoids the risk of the stapler 001 colliding with an adjacent robotic arm 500 or surgical instrument 100, which could result from an excessively large height of the instrument cassette assembly 101, thereby improving surgical safety. Furthermore, the weight of the stapler handle 1 is reduced, which reduces the load on the robotic arm 500 and makes the movement of the robotic arm 500 more flexible and lightweight.

[0129] like Figures 8 to 11 As shown, in the illustrated embodiment, the instrument rod interface device 10 also includes: a first elastic member 18 that can reset the slider 15; a second elastic member 19 that can reset the first locking block 16; and the second elastic member 19 is located inside the lumen of the instrument outer tube 11.

[0130] The first elastic member 18 is configured to apply an elastic restoring force to the slider 15 toward the locking position; the first elastic member 18 can be an independent part installation relationship with the slider 15, or it can be a part of the slider 15 or the base 12, that is, the first elastic member 18 can be connected to the slider 15 or the base 12 by a fixed connection. Common fixed connection methods include welding, or processing an elastic part integrally with the slider 15. Preferably, the first elastic member 18 is a spring, one end of the first elastic member 18 abuts the proximal end surface of the push block slide groove 123 of the base 12, and the other end of the first elastic member 18 abuts the proximal end surface of the slider 15. The first elastic member 18 is concentrically installed with the first transmission component 13. In this way, the first elastic member 18 can apply a larger restoring force to the slider 15 and save installation size. At this time, the first elastic member 18 can move the slider 15 from the unlocking position to the locking position, and the first elastic member 18 can have a high rigidity to ensure that the slider 15 can be reliably reset. Common first elastic member 18 can be in the form of a compression spring, a disc spring, a leaf spring, a spring, elastic silicone, a mutually repelling magnet group, etc. The first elastic member 18 enhances system stability and reset reliability.

[0131] The second elastic member 19 is configured to apply an elastic reset force to the first locking block 16, causing it to return from the unlocked position to the initial position. The second elastic member 19 can be mounted independently of the first locking block 16, or it can be a part of the first locking block 16 or the base 12. Specifically, the second elastic member 19 can be fixedly connected to the first locking block 16 or the base 12. Common methods of fixed connection include welding, or integrating an elastically deformable portion into the first locking block 16. Common forms of the second elastic member 19 include compression springs, disc springs, leaf springs, springs, elastic silicone rubber, or mutually repelling magnets. Preferably, the second elastic member is a spring, and the base 12 has an elastic member mounting groove 126. The second elastic member 19 can be mounted and constrained in the elastic member mounting groove 126. One side of the second elastic member 19 is in sliding contact with the first locking block 16, and the other side is in contact with the inner surface of the outer tube 11 of the instrument. This significantly reduces space waste and improves space utilization.

[0132] like Figure 11 When the magazine assembly 2 is installed in the instrument rod interface device 10, the slider 15 is pushed to the unlocking position. Specifically, the magazine assembly 2 pushes the slider 15 axially, compressing the first elastic member 18. Furthermore, the slider 15 pushes the first locking block 16 from its initial position relative to the base 12 to the unlocking position. The first locking block 16 compresses the second elastic member 19, causing the first locking block boss 162 on the first locking block 16 to disengage from the first transmission member groove 131 on the first transmission member 13. Specifically, the first locking block 16 moves outward to disengage from the first transmission member groove 131, thereby releasing the constraint on the axial displacement of the first transmission member 13 and unlocking the first transmission member 13. The outward movement of the first locking block 16 has a motion component that causes the first locking block 16 to disengage from the first transmission member groove 131. The outward movement of the first locking block 16 is preferably radial, which facilitates unlocking the first transmission member 13 located at the central axis 108. This unlocks the first transmission member 13. Through the linkage design of the slider 15 and the first locking block 16, the nail magazine assembly 2 is automatically unlocked after installation, thereby improving operation efficiency.

[0133] When the magazine assembly 2 is to be removed from the instrument rod interface 10, the first transmission member 13 must first be actuated to its initial zero position. The magazine assembly 2 can then be removed from the instrument rod interface 10. At this point, the slider 15 is pushed by the first elastic member 18 to its locked position, resetting. Furthermore, due to the slider 15's reset, it no longer pushes the first locking block 16. The first locking block 16, pushed by the second elastic member 19, deflects relative to the base 12 back to its pre-installation position. The first locking block boss 162 on the first locking block 16 approaches the first transmission member groove 131 on the first transmission member 13, allowing the first locking block 16 to return from its unlocked position to its initial position. The first transmission member 13 is now locked. This locks the first transmission member 13 and returns it to its initial position, ready for installation of a new disposable magazine assembly 2. This makes installation and removal of the stapler magazine assembly extremely convenient and quick, eliminating the need to worry about the first transmission component 13 not being in the zero position due to the drive shaft at the bottom of the stapler handle 1 accidentally rotating, thereby preventing the stapler magazine assembly from being installed. This improves the smoothness and safety of the procedure. The dual-reset elastic member configuration ensures automatic reset of each component, improving system reliability. It also avoids the risk of the first transmission component 13 being accidentally activated if the stapler handle 1 without the stapler magazine assembly 2 is accidentally installed on the surgical robot arm 500, thereby improving surgical safety. An accidentally activated first transmission component 13 could penetrate human tissue and pose a safety hazard.

[0134] In one embodiment, the slider 15 includes a first driving portion 151 that can slide in contact with a first driven portion 161 of the first locking block 16. The first driving portion 151 is configured as a partially raised structure, preferably having a curved profile, such as an arc-shaped rounded corner. The first driving portion 151 is preferably constructed from a wear-resistant material. Alternatively, the first driving portion 151 can be constructed from a wear-resistant component embedded and fixed to the slider 15. This excellent wear resistance ensures that the slider 15 can reliably push and trigger the first locking block 16 repeatedly, thereby extending the system's service life.

[0135] like Figures 8 to 14 As shown, in one embodiment, when the slider 15 is in the locked position, that is, when the first locking block 16 is in the initial position, at least a portion of the guide surface of the first follower portion 161 of the first locking block 16 is not parallel to the central axis 108 of the instrument outer tube 11. The guide surface can be a curved surface or a flat surface. The first follower portion 161 can slide in contact with the first driving portion 151 of the slider 15.

[0136] The guide surface of the first follower portion 161 can be formed of a single curved surface. When the first locking block 16 is in its initial position, the first curved surface 1601 of the first follower portion 161 of the first locking block 16 is non-parallel to the central axis 108. The first driving portion 151 on the slider 15 can slide in contact with the first follower portion 161 of the first locking block 16. When the magazine assembly 2 is not installed and the slider 15 is in the locking position, the first locking block 16 is in its initial position, and the first locking block boss 162 of the first locking block 16 engages with the first transmission member groove 131 of the first transmission member 13, locking the first transmission member 13. When the magazine assembly 2 is installed, the first driving portion 151 on the slider 15 pushes the first curved surface 1601 of the first follower portion 161 of the first locking block 16, causing the first driving portion 151 to slide in contact with the first curved surface 1601, disengaging the first locking block boss 162 of the first locking block 16 from the first transmission member groove 131 of the first transmission member 13, thereby unlocking the first transmission member 13.

[0137] Preferably, the first follower portion 161 may be composed of two or more curved surfaces, i.e., the first follower portion 161 has a first curved surface 1601 and a second curved surface 1602. The first driving portion 151 on the slider 15 and the first follower portion 161 of the first locking block 16 can slide in contact with each other. When the first locking block 16 is in the initial position, the first curved surface 1601 of the first follower portion 161 of the first locking block 16 is not parallel to the central axis 108. When the first locking block 16 is in the unlocked position, the second curved surface 1602 of the first follower portion 161 of the first locking block 16 is approximately parallel to the central axis 108. When the nail magazine assembly 2 is not installed and the slider 15 is in the locking position, the first locking block 16 is in the initial position, the first locking block boss 162 of the first locking block 16 is embedded in the first transmission component groove 131 of the first transmission component 13, and the first transmission component 13 is in a locked state; when the nail magazine assembly 2 is installed a certain distance but not completely installed, the first driving portion 151 on the slider 15 pushes the first curved surface 1601 of the first driven portion 161 on the first locking block 16, and the first driving portion 151 contacts and slides on the first curved surface 1601, so that the first locking block boss 162 of the first locking block 16 is disengaged from the first transmission component groove 131 of the first transmission component 13, so that the first transmission component 13 is in an unlocked state. Then, when the nail magazine assembly 2 is installed for the remaining distance, the first driving portion 151 on the slider 15 contacts and slides with the second curved surface 1602 of the first driven portion 161 on the first locking block 16. At this time, the second curved surface 1602 is approximately parallel to the central axis 108. The movement of the first driving portion 151 on the slider 15 does not substantially change the unlocked state of the first locking block 16. In other words, the relative sliding of the second curved surface 1602 and the first driven portion 161 at this time does not generate a displacement component that changes the unlocked state. That is, the contact and sliding of the first driving portion 151 on the slider 15 and the second curved surface 1602 of the first driven portion 161 of the first locking block 16 does not generate a movement displacement component for the first locking block 16 that causes the first locking block boss 162 of the first locking block 16 to fit into the first transmission component groove 131 of the first transmission component 13, or generates a very small movement displacement component that is insufficient to cause the first locking block 16 to fit into the first transmission component groove 131. Therefore, the first transmission component 13 can maintain the unlocked state. At this time, the first transmission component 13 can be driven to move by the first driving shaft 1013. In this way, when the nail magazine assemblies 2 with different lengths L are installed on the instrument rod interface device 10, the first locking block 16 can be ensured to move from the initial position to the unlocked position in the first installation distance, and the first transmission component 13 is unlocked; the latter installation distance will not change the unlocked state, that is, the installation distance length of the latter section of the nail magazine assembly 2 can have a certain length difference without changing the unlocked state of the first transmission component 13.

[0138] Due to differences in the manufacturing process and batches of the staple magazine assembly 2, as well as differences in the type of staple magazine assembly, the length L between the proximal end surface 211 and the mating surface 213 of the staple magazine assembly may vary significantly. Specifically, the length L of the staple magazine butt joint at the proximal end of the staple magazine assembly may vary significantly. Common staple magazine assemblies come in different colors and lengths, with common colors including gray, white, blue, gold, green, and black. Different staple magazine colors accommodate tissues of varying thicknesses to ensure effective anastomosis. Common staple magazine lengths include 30 mm, 45 mm, and 60 mm to accommodate tissues of varying sizes.

[0139] The presence of the second curved surface 1602 enables various stapler magazine assemblies 2 of varying sizes to dock with the instrument rod interface 10 of the stapler handle 1, thereby enabling the first transmission component 13 of the instrument rod interface 10 to switch from a locked state to an unlocked state. This effectively enhances the adaptability and compatibility of the stapler handle 1 with various stapler magazines, as well as its versatility and ease of use.

[0140] A transition region 1603 may be provided between the first curved surface 1601 and the second curved surface 1602. The transition region 1603 allows the first driving portion 151 on the slider 15 to smoothly slide in contact between the first curved surface 1601 and the second curved surface 1602. The segmented curved surface structure can enhance system stability and compatibility.

[0141] like Figure 14 ,16, in one embodiment, the first locking block 16 is movably provided on the base 12, and the movement can be a pivoting movement or a linear trajectory movement or a movement while rotating. Preferably, the first locking block 16 has a rotating surface 163, and the base 12 has a base constraint groove 121. The first locking block 16 can rotate around the base 12, and the rotation axis is perpendicular to the central axis 108. The slider 15 has a cavity 155 to allow the first locking block 16 to rotate, as shown in FIG. Figure 19The first transmission component 13 is locked by the first locking block 16, and the first transmission component 13 is restricted from moving distally along the central axis relative to the base 12. If the first driving shaft 1013 drives the first transmission component 13 to move distally along the central axis relative to the base 12, the first locking block boss 162 of the first locking block 16 will be subjected to a force F, and the force F and the rotating surface 163 form a lever arm d, and the lever arm d does not exceed 8 mm. Preferably, the torque generated by the force F and the lever arm d causes the first locking block 16 to move closer to the first transmission component 13 rather than away from the first transmission component 13, so that reliable locking can be ensured. On the other hand, the proximal end of the first transmission component 13 is configured to directly or indirectly abut the base 12 (not shown). Therefore, at this time, the first driving shaft 1013 cannot drive the first transmission component 13 to move proximally along the central axis relative to the base 12, so at this time the axial displacement of the first transmission component 13 is restricted.

[0142] like Figure 20As shown, in another embodiment, the first functional segment 2000 on the slider 15 has a first driving portion 151, which can be a first cam 1510. The first cam 1510 has a curved profile, and at least one cam segment on the first cam 1510 has a curved profile that is non-parallel to the central axis 108 of the instrument outer tube 11. This non-parallel cam segment can be a diagonal segment, a curved segment, etc., preferably a diagonal segment. This non-parallel cam segment is a first cam segment 1511. The first cam segment 1511 on the first cam 1510 is in contact and sliding engagement with the first follower portion 161 on the first locking block 16. The first cam 1510 can constrain the first follower portion 161 on the first locking block 16 to switch between an initial position and an unlocked position. When the nail magazine assembly 2 is not installed, the slider 15 is in the locking position, and the first locking block 16 is in the initial position under the action of the second elastic member 19; when the nail magazine assembly 2 is installed, the slider 15 moves along the central axis 108 between the distal end and the proximal end, which can move the first locking block 16 from the initial position to the unlocked position, that is, the first locking block 16 can squeeze the second elastic member 19, and the first locking block boss 162 on the first locking block 16 disengages from the first transmission component groove 131 of the first transmission component 13, which can cause the first locking block boss 162 to generate a motion displacement, thereby unlocking the first transmission component 13; when the nail magazine assembly 2 is installed, the slider 15 is in the unlocking position, the first locking block 16 is in the unlocking position, and the first transmission component 13 is in an unlocked state. When the magazine assembly 2 is ready to be disassembled, the first drive shaft 1013 is used to drive the first transmission component 13 to move to the zero position, and then the magazine assembly 2 is disassembled. The slider 15 is reset under the action of the first elastic member 18, and the first locking block 16 is reset under the action of the second elastic member 19. The first locking block boss 162 of the first locking block 16 is inserted into the first transmission component groove 131 of the first transmission component 13, and the first transmission component 13 is in a locked state. The first follower 161 can be composed of a flat surface or a curved surface profile. Preferably, the first follower 161 is composed of a curved surface profile. Common shapes of the first follower 161 can be cylindrical, spherical, or teardrop-shaped. In this way, the first follower 161 can slide smoothly on the curved surface of the first cam 1510. That is, the contact and cooperation between the first follower 161 and the first driving portion 151 of the slider 15 is constructed as a sliding pair of the cam profile surface and the follower.

[0143] Furthermore, in another embodiment, the first cam 1510 can also be two or more cam segments. In addition to the first cam segment 1511 that is not parallel to the central axis 108, the distal end of the first cam 1510 also has a second cam segment 1512. The second cam segment 1512 can be approximately parallel to the central axis 108 of the instrument outer tube 11. The existence of the approximately parallel second cam segment 1512 can allow the slider 15 to move approximately parallel to the central axis 108 for a distance without causing the first follower 161 on the first locking block 16 to undergo a large displacement movement, and the unlocking state of the first transmission component 13 will not change. That is, the relative sliding of the second cam segment 1512 that is approximately parallel to the central axis 108 and the first follower 161 does not produce a displacement component that changes the unlocking state. That is, the sliding contact between the second cam segment 1512 of the first driving portion 151 on the slider 15 and the first driven portion 161 of the first locking block 16 does not generate a displacement component for the first locking block 16 that would cause the first locking block boss 162 of the first locking block 16 to engage with the first transmission component groove 131, or the generated displacement component is small enough to cause the first locking block 16 to engage with the first transmission component groove 131, thereby maintaining the unlocked state of the first transmission component 13. At this time, the first transmission component 13 can be driven to move by the first driving shaft 1013. Therefore, when a magazine assembly 2 having a proximal end surface 211 of different lengths L (dimension along the central axis 108) is installed on the instrument rod interface device 10, the first installation distance ensures that the first locking block 16 moves from the initial position to the unlocked position, and the first transmission component 13 is unlocked; the second installation distance does not change the unlocked state of the first transmission component 13. That is, the installation distance of the second installation distance of the magazine assembly 2 can vary to a certain extent without changing the unlocked state of the first transmission component 13. The presence of the aforementioned approximately parallel second cam segments 1512 enables various types of stapler magazine assemblies 2 with large length differences to be docked with the instrument rod interface device 10 of the stapler handle 1, effectively improving the adaptability and compatibility of the stapler handle 1 with different stapler magazines, as well as the ease of use.

[0144] like Figures 21 to 24As shown, in another embodiment, the first functional section 2000 of the slider 15 has a first driving portion 151, which can be a first cam 1510. The first cam 1510 is formed by a groove, and at least one cam segment of the first cam 1510 is not parallel to the central axis 108 of the instrument outer tube 11. The first cam 1510 is in contact and sliding engagement with the first follower portion 161 of the first locking block 16. The first cam 1510 can constrain the first follower portion 161 of the first locking block 16 to switch between an initial position and an unlocked position. When the nail magazine assembly 2 is not installed, the slider 15 is in the locking position and the first locking block 16 is in the initial position; when the nail magazine assembly 2 is installed, the slider 15 is in the unlocking position and the first locking block 16 is in the unlocking position; the first follower 161 is preferably composed of the characteristics of a rotating body. The common shape of the first follower 161 can be cylindrical, conical or spherical, so that the first follower 161 can slide smoothly in the first cam 1510, that is, the contact and cooperation structure of the first follower 161 and the first driving part 151 of the slider 15 is a sliding pair of a slide groove and a rotating body.

[0145] In another embodiment, the first cam 1510 can be two or more cam segments. In one embodiment, the first cam segment 1511 at the proximal end of the first cam 1510 is not parallel to the central axis 108 of the outer tube 11 of the instrument. The non-parallel cam segment can be spiral or oblique, preferably a spiral slide. The presence of the spiral slide allows the slider 15 to move along the central axis 108 between the distal end and the proximal end, so that the first locking block 16 can be switched between the initial position and the unlocked position, so that the first locking block boss 162 on the first locking block 16 can be close to or separated from the first transmission component groove 131 of the first transmission component 13, so that the first locking block boss 162 can generate a motion displacement, thereby realizing the first transmission component 13 Locking or unlocking, further preferably, the helix angle of the spiral slide is between 15° and 75°, so that the first cam segment 1511 can smoothly actuate the first follower 161; the second cam segment 1512 of the other distal segment can be approximately parallel to the central axis 108 of the instrument outer tube 11. The existence of the approximately parallel second cam segment 1512 can make the slider 15 move approximately parallel to the central axis 108 for a distance without causing a large displacement movement of the first follower 161 on the first locking block 16, and the unlocking state of the first transmission component 13 will not change, that is, the relative sliding of the second cam segment 1512 approximately parallel to the central axis 108 and the first follower 161 does not generate a displacement component that changes the unlocking state. That is, the sliding contact between the second cam segment 1512 of the first driving portion 151 on the slider 15 and the first driven portion 161 of the first locking block 16 does not generate a displacement component for the first locking block 16 that would cause the first locking block boss 162 of the first locking block 16 to engage with the first transmission component groove 131, or the generated displacement component is minimal and insufficient to cause the first locking block 16 to engage with the first transmission component groove 131. Thus, the first transmission component 13 remains unlocked, and at this point, the first transmission component 13 can be driven to move by the first driving shaft 1013. Similarly, when a magazine assembly 2 having proximal end surfaces 211 of different lengths L (dimensions along the central axis 108) is installed on the instrument rod interface device 10, the first installation distance ensures that the first locking block 16 moves from the initial position to the unlocked position, maintaining the first transmission component 13 in the unlocked state; the second installation distance does not change the unlocked state of the first transmission component 13. That is, the second installation distance of the magazine assembly 2 can vary to a certain extent without changing the unlocked state of the first transmission component 13.The presence of the aforementioned approximately parallel second cam segments 1512 allows various types of stapler magazine assemblies 2 with significantly different lengths to be docked with the instrument rod interface device 10 of the stapler handle 1. The same length of the first segment allows the first transmission component 13 and the second transmission component 14 of the instrument rod interface device 10 to switch from a locked state to an unlocked state, while the length difference of the second segment does not change the switching function between the locked state and the unlocked state, effectively improving the adaptability and compatibility of the stapler handle 1 with different stapler magazines, as well as the ease of use. A first transition cam segment 1513 may be provided between the first cam segment 1511 and the second cam segment 1512. The first transition cam segment 1513 allows the first follower 161 of the first locking block 16 to smoothly switch between the first cam segment 1511 and the second cam segment 1512. The composite groove formed by the first cam segment 1511, the second cam segment 1512, and the first transition cam segment 1513 forms a sliding pair with the rotating body of the first follower 161, enabling precise and smooth displacement control of the first locking block 16. The segmented curved surface structure enhances system stability. The aforementioned dimensional difference, or length difference, can range from 0.01 to 30 mm, significantly improving the versatility and compatibility of stapler magazines.

[0146] Furthermore, if Figures 10 to 18 In one embodiment, the instrument rod interface device 10 further includes a second transmission component 14 and a second locking block 17. The second locking block 17 is disposed inside the lumen of the instrument outer tube 11. The distal end of the second transmission component 14 has a second transmission component interface 142, and the proximal end has a second transmission component groove 141. When the nail magazine assembly 2 is not installed, the second transmission component 14 is located at an initial zero position. When the nail magazine assembly 2 is installed, the second transmission component 14 can move under the drive of the second drive shaft 1014 and deviate from the initial zero position.

[0147] In many embodiments, the second transmission component 14 is not concentrically arranged with the central axis 108 of the instrument outer tube 11, and is preferably eccentrically arranged to be approximately parallel, that is, the extension direction of the second transmission component 14 is basically parallel to the direction of the central axis 108 of the instrument outer tube 11, but the second transmission component 14 is allowed to be deviated from the central axis 108 by a certain angle as a whole or in part, and the deflection angle does not exceed 15°, and the extension direction of the second transmission component 14 is not concentric with the central axis 108 of the instrument outer tube 11.

[0148] like Figure 10, 11,16, the base 12 has a second transmission component chute 124, and the second transmission component 14 can slide relative to the base 12 in the second transmission component chute 124, that is, the second transmission component 14 can be axially slidably arranged on the base 12. Generally speaking, the second transmission component chute 124 is located on the side of the base 12, and one side of the second transmission component 14 is in contact with the base 12, and the other side is in contact with the outer tube 11 of the instrument.

[0149] The second transmission component 14 basically moves along the direction of the central axis 108 of the outer tube of the instrument 11. Preferably, the moving direction of the second transmission component 14 is parallel to the direction of the central axis 108. However, in actual application, the moving direction of the second transmission component 14 and the direction of the central axis 108 are also allowed to have a certain angle deviation, and the deviation angle does not exceed 15°; in addition to the first functional segment, the slider 15 also includes a second functional segment 3000, and the second functional segment 3000 includes a second driving portion 152 that contacts and slides with the second driven portion 171; the second functional segment 3000 can realize the locking and unlocking of the second transmission component 14, and the second locking block 17 is movable relative to the base 12.

[0150] The second locking block 17 is provided with a second locking block boss 172 , which can be selectively embedded in the second transmission component groove 141 . The second locking block 17 further has a second driven portion 171 .

[0151] When the nail magazine assembly 2 is not installed, the slider 15 is located at the locking position. Figure 13 The second functional section 3000 on the slider 15 has a second driving portion 152 that contacts the second driven portion 171 on the second locking block 17 at the distal end in a first state. At this time, the second transmission component 14 is in the zero position, and the second locking block boss 172 on the second locking block 17 is embedded in the second transmission component groove 141 on the second transmission component 14. At this time, the second transmission component 14 cannot move axially, the second locking block 17 is in the initial position, and the second transmission component 14 is in a locked state. Similarly, due to the existence of a machining gap between the second transmission component groove 141 and the second locking block boss 172, the immovable here means that it cannot move over a large range and can only move within the small machining and assembly gap. The depth of the second transmission component groove 141 is not less than 0.1mm, and the length along the central axis is not less than 0.3mm.

[0152] When the magazine assembly 2 is fully installed, the fully inserted magazine assembly 2 pushes the slider 15 from the locked position to the unlocked position. The second functional segment 3000 of the slider maintains a contacting and sliding driving relationship with the second locking block 17. Preferably, the second functional segment 3000 and the second locking block 17 maintain a continuous contacting and driving relationship. Specifically, in a second state, the second functional segment 3000 of the slider 15 has a second driving portion 152 that is in proximal contact with the second driven portion 171 of the second locking block 17. The second functional segment 3000 of the slider 15 can slide in contact with the second driven portion 171 of the second locking block 17, disengaging the second locking block protrusion 172 of the second locking block 17 from the second transmission member groove 141 of the second transmission member 14. The second locking block 17 moves to the unlocked position, allowing the second transmission member 14 to move. Specifically, the second transmission member 14 is now in the unlocked state and can be moved away from the zero position under the action of the coupled second drive shaft 1014. During the movement of the slider 15 from the locked position to the unlocked position, the second driving portion 152 and the second driven portion 171 maintain a contact and sliding driving relationship until the full displacement is completed. In the illustrated embodiment, the second locking block 17 is located within the outer tube of the instrument, rather than within the instrument box assembly 101, to reduce the three-dimensional dimensions of the stapler handle 1, particularly the height. This avoids the risk of the stapler 001 colliding with the adjacent robotic arm 500 or surgical instrument 100, which may be caused by an excessive height of the instrument box assembly 101, thereby improving surgical safety. It also reduces the weight of the stapler handle 1, reduces the load on the robotic arm 500, and makes the movement of the robotic arm 500 more flexible and lightweight.

[0153] like Figure 11 When the magazine assembly 2 is installed on the instrument rod interface device 10, the slider 15 is pushed to the unlocking position. That is, the magazine assembly 2 pushes the slider 15 to move axially, and the slider 15 squeezes the first elastic member 18. At the same time, the slider 15 pushes the second locking block 17 from the initial position relative to the base 12 to the unlocking position. The second locking block boss 172 on the second locking block 17 disengages the second transmission component groove 141 on the second transmission component 14, and the second transmission component 14 is now unlocked. Combined with the working process of the first functional section described above, the first transmission component 13 and the second transmission component 14 can be unlocked synchronously at this time. The linkage design of the slider 15 and the first locking block 16 and the second locking block 17 allows multiple transmission components to be automatically unlocked after the magazine assembly is installed, improving operational efficiency. The synchronous unlocking mechanism of the pitch linkage assembly and the firing assembly improves the coordination of the multi-directional locking function.

[0154] When the magazine assembly 2 is to be removed from the instrument rod interface device 10, the second transmission components 14 must first be actuated to their respective initial zero positions. The magazine assembly 2 can then be removed from the instrument rod interface device 10. At this point, the slider 15 is pushed to the locked position by the first elastic member 18 to reset. Simultaneously, the slider 15 pushes the second locking block 17 in the opposite direction, causing the second locking block boss 172 on the second locking block 17 to approach the second transmission component groove 141 on the second transmission component 14. The second locking block 17 returns from the unlocked position to the initial position, and the second transmission component 14 is now locked.

[0155] Combined with the aforementioned first functional stage, the first transmission component 13 and the second transmission component 14 are simultaneously locked and returned from the unlocked position to their initial positions, ready for the next installation of a new disposable stapler magazine assembly 2. This makes installation and removal of the stapler magazine assembly extremely convenient and quick, eliminating the need to worry about issues such as the drive shaft at the bottom of the stapler handle 1 accidentally rotating and preventing the stapler magazine assembly from being installed, thereby improving the smoothness and safety of the procedure. The interlocking integrated design of the second locking block 17 ensures the synchronization of the multi-directional locking function. Furthermore, it prevents the risk of accidental activation of the first transmission component 13 or the second transmission component 14 after the stapler handle 1, without the stapler magazine assembly 2 installed, is installed on the surgical robot arm 500, thereby improving surgical safety. An accidentally activated first transmission component 13 or second transmission component 14 could penetrate human tissue and pose a safety hazard.

[0156] like Figures 10-18As shown, in one embodiment, the slider 15 has a second functional segment 3000, which includes a second driving portion 152. The second driving portion 152 may be a second cam 1520. The second cam 1520 comprises a groove. At least one cam segment of the second cam 1520 is non-parallel to the central axis 108 of the instrument outer tube 11. This non-parallel cam segment is a third cam segment 1521. The third cam segment 1521 of the second cam 1520 engages and slides with the second follower portion 171 of the second locking block 17. The third cam segment 1521 of the second cam 1520 constrains the second follower portion 171 of the second locking block 17 to switch between the first and second states. When the nail magazine assembly 2 is not installed, the slider 15 is in the locking position and the second follower 171 is in the first state; when the nail magazine assembly 2 is installed, the slider 15 is in the unlocking position and the second follower 171 is in the second state; the second follower 171 is preferably composed of the characteristics of a rotating body. The common shape of the second follower 171 can be cylindrical, conical or spherical, so that the second follower 171 can slide smoothly in the second cam 1520, that is, the contact and cooperation structure of the second follower 171 and the second driving part 152 of the slider 15 is a sliding pair of a slide groove and a rotating body, and the rotating body is selected from at least one of a cylinder, a cone or a sphere.

[0157] like Figures 10-18As shown, in another embodiment, the second cam 1520 can be two sections of slides or more, and the third cam segment 1521 at the proximal end of the second cam 1520 is not parallel to the central axis 108 of the outer tube 11 of the instrument. The non-parallel slide can be spiral or oblique, preferably a spiral slide. The presence of the spiral slide allows the slider 15 to move along the central axis 108 between the distal end and the proximal end, so that the second follower 171 on the second locking block 17 can be switched between the first state and the second state, that is, the second locking block boss 172 on the second locking block 17 can be close to or separated from the second transmission component groove 141 of the second transmission component 14, so that the second locking block boss 172 can generate a motion displacement, thereby realizing the second transmission component 14 is locked or unlocked. It is further preferred that the helix angle of the spiral slide is between 15° and 75°, so that the third cam segment 1521 can smoothly actuate the second follower 171; the fourth cam segment 1522 of the other distal segment can be approximately parallel to the central axis 108 of the instrument outer tube 11. The existence of the approximately parallel fourth cam segment 1522 can allow the slider 15 to move approximately parallel to the central axis 108 for a distance without causing a large displacement movement of the second follower 171 on the second locking block 17, and the unlocking state of the second transmission component 14 will not change. That is to say, the relative sliding of the fourth cam segment 1522 approximately parallel to the central axis 108 and the second follower 171 does not generate a displacement component that changes the unlocking state. That is, the sliding contact between the fourth cam segment 1522 of the second driving portion 152 on the slider 15 and the second driven portion 171 of the second locking block 17 does not generate a displacement component for the second locking block 17 that would cause the second locking block boss 172 of the second locking block 17 to engage with the second transmission component groove 141, or the generated displacement component is minimal and insufficient to cause the second locking block 17 to engage with the second transmission component groove 141, thereby not changing the unlocked state of the second locking block 17 and the second transmission component 14. At this point, the second transmission component 14 can be driven to move by the second driving shaft 1014. Specifically, when a magazine assembly 2 having proximal end surfaces 211 of different lengths L (dimensions along the central axis 108) is installed on the instrument rod interface device 10, the first installation distance ensures that the second driven portion 171 on the second locking block 17 transitions from the first state to the second state, thereby unlocking the second transmission component 14; the second installation distance does not change the unlocked state of the second transmission component 14. In other words, the installation distance of the magazine assembly 2 can vary to a certain extent without changing the unlocked state of the second transmission component 14.The presence of the aforementioned approximately parallel fourth cam segments 1522 allows various types of stapler magazine assemblies 2 with significantly different lengths to be docked with the instrument rod interface device 10 of the stapler handle 1. The first segment, being of the same length, switches the first transmission component 13 and the second transmission component 14 of the instrument rod interface device 10 from a locked state to an unlocked state, while the length difference of the second segment does not change the switching function between the locked and unlocked states, effectively improving the adaptability and compatibility of the stapler handle 1 with different stapler magazines, as well as its ease of use. A second transition cam segment 1523 may be provided between the third cam segment 1521 and the fourth cam segment 1522. The second transition cam segment 1523 allows the second follower portion 171 of the second locking block 17 to smoothly switch between the third cam segment 1521 and the fourth cam segment 1522. The composite groove formed between the third cam segment 1521, the fourth cam segment 1522, and the second transition cam segment 1523 forms a sliding pair with the rotating body of the second follower 171, enabling precise and smooth control of the displacement of the second locking block 17. The segmented curved surface structure enhances system stability. The aforementioned dimensional difference, or length difference, can be within the range of 0.01-20 mm, significantly improving the versatility and compatibility of stapler magazines.

[0158] In another embodiment, the second driving portion 152 on the slider 15 can also be transferred to the second locking block 17, that is, a second cam 1520 is set on the second locking block 17, and the original second follower portion 171 feature on the second locking block 17 is correspondingly transferred to the slider 15, that is, a rotating body feature similar to the aforementioned second follower portion 171 is set on the slider 15, so that the same function as mentioned above can be achieved.

[0159] It is worth noting that in one embodiment, Figure 11 The first functional segment 2000 of the middle slider 15 is located at the distal end of the slider 15, while the second functional segment 3000 is located at the proximal end of the slider 15. In other embodiments, the first functional segment 2000 of the slider 15 may be located at the proximal end, while the second functional segment 3000 is located at the distal end. This is not a limitation. Furthermore, the slider 15 may be divided, as needed, into components implementing the first functional segment 2000 and components implementing the second functional segment 3000. Such division is also within the scope of protection of the claims of the present invention.

[0160] like Figure 15 ,16, in one embodiment, the second locking block 17 is movably provided on the base 12, and the movement of the second locking block 17 relative to the base 12 can be a linear movement, a curved movement, or movement while rotating, or rotation. Preferably, the second locking block 17 has an arc surface 173, and the base 12 has a base side slide groove 122, and the second locking block 17 can slide and rotate around the central axis 108 relative to the base 12.

[0161] like Figures 2 to 4 As shown, in one embodiment, the number of the self-rotating drive shaft 1012, the second drive shaft 1014, and the first drive shaft 1013 is at least one each. In actual use, the number of the drive shafts 1012, the second drive shaft 1014, and the first drive shaft 1013 can be appropriately increased to increase the driving torque of the corresponding joints of the stapler. It should be understood that the present invention does not limit the number of drive shafts, that is, it is not limited to the three shown in this example.

[0162] It is worth noting that due to the differences in the processing and manufacturing of parts, the parallel and approximately parallel geometric relationships mentioned in this article may actually have a certain deflection angle. The component locking relationship mentioned in this article actually has a certain shaking gap between the parts due to the existence of processing gaps. The fitting relationship and abutment relationship mentioned in this article may actually have a certain assembly gap between the parts. However, the above-mentioned "there is a certain deflection angle", "there is a certain shaking of the parts", and "there may be a certain assembly gap between the parts" all fall within the scope of protection of this invention.

[0163] Further modifications and alternative embodiments will be apparent to those skilled in the art based on the disclosure herein. For example, the devices, systems, and methods may include additional components or steps that have been omitted from the block diagrams and descriptions for operational simplicity. Accordingly, this description is intended to be illustrative only and is intended to teach those skilled in the art the general manner of implementing the present disclosure. It should be understood that the various embodiments shown and described herein are to be considered exemplary. Elements and materials, as well as the arrangement of these elements and materials, may be substituted for those shown and described herein, with parts and processes being reversed, and certain features of the present teachings being usable independently, as will be apparent to those skilled in the art after having the benefit of this description. Changes may be made to the elements described herein without departing from the scope of the present disclosure and the appended claims. For example, the various technical features of the embodiments may be combined in any manner. To simplify the description, not all possible combinations of the various technical features in the above embodiments are described. However, as long as there are no inconsistencies in the combinations of these technical features, they should be considered to be within the scope of this specification.

[0164] The above-described embodiments merely represent implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art can make a number of variations and improvements without departing from the concept of the present invention, and these are all within the scope of protection of the present invention. Therefore, the description and examples are to be considered merely illustrative, and the scope of protection of the patent of the present invention shall be based on the appended claims.

Claims

1. An interface device for installing a nail magazine assembly, characterized in that: include: an outer tube of the instrument defining a central axis extending in an axial direction; a base connected to the outer tube of the device; a first transmission component, disposed on the base, wherein a distal end of the first transmission component is provided with a first transmission component interface, and a proximal end of the first transmission component is provided with a first transmission component groove; a first locking block, disposed on the base, comprising a first locking block boss selectively embedded in the groove of the first transmission component, and a first driven portion close to the central axis; a slider, disposed on the base, the slider being provided with a first functional section, the first functional section including a first driving portion cooperating with the first driven portion; A first elastic member is provided on the base and is configured to apply elastic force to the slider; wherein, The slider is configured to move between a locking position and an unlocking position; When the interface device and the nail magazine assembly are not installed, the slider is located in the locking position, and the first locking block boss is embedded in the first transmission component groove; When the interface device is installed with the nail magazine assembly, the slider is located at the unlocking position, and the first locking block boss is disengaged from the first transmission component groove.

2. The interface device according to claim 1, wherein: The first locking block is configured to move between an initial position and an unlocked position; When the slider is located at the locking position, the first locking block moves to the initial position, and the first transmission component is in a locked state; When the slider moves from the locking position to the unlocking position, the first driving portion slides along the first driven portion to drive the first locking block to move to the unlocking position, and the first transmission component is in an unlocked state.

3. The interface device according to claim 1, wherein: The slider, the first locking block and the first elastic member are all arranged inside the lumen of the outer tube of the instrument; and / or, The slider has a slider pushing surface, which is in direct or indirect contact with the proximal end surface of the magazine assembly; and / or, The distal end of the interface device is provided with an inserting cavity for receiving the nail magazine docking end located at the proximal end of the nail magazine assembly; and / or, The first transmission component is arranged concentrically with the outer tube of the instrument.

4. The interface device according to claim 1, wherein: The first locking block is connected to the base via a pivot connection structure, and the rotation axis of the pivot connection structure is perpendicular to the central axis; or, The first locking block and the base form a guide rail matching structure, and the guide rail matching structure is configured as a linear guide rail or a curved guide rail; or, the first locking block and the base are rotatably assembled.

5. The interface device according to claim 1, wherein: The first driven portion includes a first curved surface segment. When the slider is in the locking position, the first curved surface segment forms a non-parallel relationship with the central axis, and the first driving portion is in sliding contact with the first driven portion.

6. The interface device according to claim 5, characterized in that: The first driven part further includes a second curved surface segment. When the slider is located at the unlocking position, the first locking block is in the unlocking position, and the second curved surface segment is in sliding contact with the first driving part, thereby keeping the first transmission component in an unlocked state.

7. The interface device according to claim 2, wherein: The interface device further includes a second elastic member configured to apply an elastic force to the first locking block to return from the unlocked position to the initial position.

8. The interface device according to claim 1, wherein: The first driving portion is provided with a cam structure, and the cam structure includes a first cam segment which is not parallel to the central axis.

9. The interface device according to claim 8, characterized in that The cam structure further includes a second cam segment approximately parallel to the central axis.

10. The interface device according to claim 1, wherein: The interface device further includes: a second transmission component disposed on the base, wherein a distal end of the second transmission component is provided with a second transmission component interface, and a proximal end of the second transmission component is provided with a second transmission component groove; a second locking block, disposed on the base, the second locking block comprising a second locking block boss selectively embedded in the groove of the second transmission component, and a second driven portion close to the central axis; The slider is further provided with a second functional section, the second functional section including a second driving portion cooperating with the second driven portion; wherein, When the slider is located at the locking position, the second locking block boss is embedded in the second transmission component groove; When the slider is located at the unlocking position, the second locking block boss is disengaged from the second transmission component groove.

11. The interface device according to claim 10, characterized in that: The second driving portion is provided with a cam structure, and the cam structure includes a third cam segment that is not parallel to the central axis.

12. The interface device according to claim 11, characterized in that The second cam further includes a fourth cam segment approximately parallel to the central axis.

13. A surgical instrument handle, characterized in that: include: The interface device according to any one of claims 1 to 12; An instrument box assembly is provided with a rotatable drive shaft group, and the drive shaft group includes: A rotating drive shaft for driving the interface device to rotate as a whole; a first drive shaft for driving the first transmission component to slide axially; A second driving shaft is used to drive the second transmission component to slide axially.

14. A surgical instrument, characterized in that: The surgical instrument includes a nail magazine assembly and the surgical instrument handle according to claim 13.

Images