Endless bending surgical instrument operable with one hand

Abstract

A single-handedly operated endless bending surgical instrument comprises a mounting base, an end effector, a driving mechanism and a locking mechanism, a first driving part of the driving mechanism comprises an unlocking part and a driving part, the unlocking part is used to drive the locking mechanism to switch from a first locking state to a first unlocking state, to unlock a second driving part of the driving mechanism and allow the second driving part to move in a first direction; the driving part is used to drive the second driving part to move in the first direction when the locking mechanism is in the first unlocking state; the unlocking part is used to drive the locking mechanism to switch from a second locking state to a second unlocking state, to unlock the second driving part and allow the second driving part to move in a second direction, so that the second driving part drives the end effector to move; the driving part drives the second driving part to move in the second direction when the locking mechanism is in the second unlocking state, so that the second driving part drives the end effector to move, which simplifies the structure of the driving mechanism and the locking mechanism.

Description

[0001] The present application claims priority to the Chinese patent application No. 202511165746.2, filed on August 19, 2025, entitled "Endless bending surgical instrument capable of being operated by one hand", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of surgical instruments, in particular to an endless bending surgical instrument capable of being operated by one hand. BACKGROUND

[0003] In the related art, a surgical instrument is usually driven by a driving mechanism to move an end effector to a predetermined position, and a locking mechanism is used to lock the driving mechanism so that the end effector can perform a corresponding medical operation stably at the predetermined position.

[0004] The Chinese patent application No. 202180088043.8 discloses a surgical instrument, when the articulation drive device is not operated, the end effector is kept in place by a lock, and when the articulation drive device is actuated in two opposite directions to move the end effector in two opposite directions, different protrusions are needed to drive the lock to be unlocked, which results in a relatively complex structure of the drive lock. SUMMARY

[0005] The present application provides an endless bending surgical instrument capable of being operated by one hand, which aims to simplify the structure of the surgical instrument for locking and unlocking the end effector.

[0006] The present application provides an endless bending surgical instrument capable of being operated by one hand, which comprises:

[0007] a mounting seat;

[0008] an end effector, which is movably connected to the mounting seat and is used to perform a medical operation;

[0009] a driving mechanism, which comprises a first driving member and a second driving member, the first driving member and the second driving member are movably connected to the mounting seat respectively, the second driving member is connected to the end effector, the first driving member is used to drive the second driving member to move in a first direction or a second direction, so that the second driving member drives the end effector to move, and the first direction and the second direction are opposite directions;

[0010] The locking mechanism is arranged on the mounting seat, and comprises a first locking member, a second locking member, a first elastic member and a second elastic member. The first elastic member is used to drive the first locking member to move to a first locking position, so that the first locking member locks the second driving member to prevent the second driving member from moving in the first direction. The second elastic member is used to drive the second locking member to move to a second locking position, so that the second locking member locks the second driving member to prevent the second driving member from moving in the second direction.

[0011] The first driving member comprises an unlocking portion, a first driving portion and a second driving portion. The second elastic member, the second locking member, the unlocking portion, the first elastic member and the first locking member are sequentially arranged from the proximal end to the distal end of the surgical instrument.

[0012] The unlocking portion is used to drive the first locking member to move from the first locking position to a first unlocking position, so that the first locking member unlocks the second driving member to allow the second driving member to move in the first direction. The first driving portion is used to abut against the second driving member to drive the second driving member to move in the first direction.

[0013] The unlocking portion is used to drive the second locking member to move from the second locking position to a second unlocking position, so that the second locking member unlocks the second driving member to allow the second driving member to move in the second direction. The second driving portion is used to abut against the second driving member to drive the second driving member to move in the second direction.

[0014] In some embodiments, the second driving member comprises a first abutting portion and a second abutting portion.

[0015] The first driving portion and the first abutting portion are sequentially arranged from the proximal end to the distal end of the surgical instrument. The first driving portion is used to abut against the first abutting portion to drive the second driving member to move in the first direction.

[0016] The second driving portion and the second abutting portion are sequentially arranged from the distal end to the proximal end of the surgical instrument. The second driving portion is used to abut against the second abutting portion to drive the second driving member to move in the second direction.

[0017] In some embodiments, the first locking member, the first elastic member and the second abutting portion are sequentially arranged from the proximal end to the distal end of the surgical instrument. The proximal end side of the second abutting portion abuts against one end of the first elastic member, and the distal end side of the first locking member abuts against the other end of the first elastic member.

[0018] The second locking member, the second elastic member and the first abutting portion are sequentially arranged from the distal end to the proximal end of the surgical instrument, the distal end side of the first abutting portion abuts against one end of the second elastic member, and the proximal end side of the second locking member abuts against the other end of the second elastic member.

[0019] The application further provides a surgical instrument, comprising:

[0020] a mounting seat;

[0021] an end effector movably connected to the mounting seat, the end effector being used for performing a medical operation;

[0022] a driving mechanism comprising a first driving member and a second driving member, the first driving member and the second driving member being movably connected to the mounting seat respectively, the second driving member being connected to the end effector, the first driving member being used for driving the second driving member to move in a first direction or a second direction, so that the second driving member drives the end effector to move, the first direction and the second direction being opposite to each other;

[0023] a locking mechanism arranged in the mounting seat, the locking mechanism being used for locking the second driving member in a first locking state to prevent the second driving member from moving in the first direction, the locking mechanism being used for locking the second driving member in a second locking state to prevent the second driving member from moving in the second direction, the locking mechanism being further used for unlocking the second driving member in a first unlocking state to allow the second driving member to move in the first direction, and the locking mechanism being further used for unlocking the second driving member in a second unlocking state to allow the second driving member to move in the second direction;

[0024] The first driving member comprises an unlocking portion and a driving portion, the unlocking portion is used for driving the locking mechanism to switch from the first locking state to the first unlocking state, so as to unlock the second driving member and allow the second driving member to move in the first direction, and the driving portion is used for driving the second driving member to move in the first direction when the locking mechanism is in the first unlocking state.

[0025] The unlocking portion is used for driving the locking mechanism to switch from the second locking state to the second unlocking state, so as to unlock the second driving member and allow the second driving member to move in the second direction, and the driving portion is used for driving the second driving member to move in the second direction when the locking mechanism is in the second unlocking state.

[0026] In some embodiments, the locking mechanism comprises an elastic member and a locking structure, the elastic member is configured to drive the locking structure to lock the second driving member, so that the locking mechanism is in the first locked state or the second locked state, and the unlocking portion is configured to drive the locking structure to unlock the second driving member, so that the locking mechanism is in the first unlocked state or the second unlocked state.

[0027] In some embodiments, the locking structure comprises a first locking member and a second locking member, and the elastic member comprises a first elastic member and a second elastic member.

[0028] The first elastic member is configured to drive the first locking member to move from the first locking position to a first unlocking position, so that the first locking member unlocks the second driving member to allow the second driving member to move in the first direction.

[0029] The second elastic member is configured to drive the second locking member to move from the second locking position to a second unlocking position, so that the second locking member unlocks the second driving member to allow the second driving member to move in the second direction.

[0030] In some embodiments, the driving portion comprises a first driving portion and a second driving portion, and the second driving member comprises a first abutting portion and a second abutting portion.

[0031] The first driving portion is configured to abut against the first abutting portion to drive the second driving member to move in the first direction.

[0032] The second driving portion is configured to abut against the second abutting portion to drive the second driving member to move in the second direction.

[0033] In some embodiments, the first driving portion and the first abutting portion are sequentially arranged from the proximal end to the distal end of the surgical instrument, and the second driving portion and the second abutting portion are sequentially arranged from the distal end to the proximal end of the surgical instrument.

[0034] In some embodiments, the unlocking portion, the first locking member, the first elastic member, and the second abutting portion are sequentially arranged from the proximal end to the distal end of the surgical instrument, the proximal end side of the second abutting portion abuts against one end of the first elastic member, and the distal end side of the first locking member abuts against the other end of the first elastic member.

[0035] The unlocking part, the second locking member, the second elastic member, and the first abutting part are arranged sequentially from the distal end to the proximal end of the surgical instrument. The distal end of the first abutting part abuts against one end of the second elastic member, and the proximal end of the second locking member abuts against the other end of the second elastic member.

[0036] In some embodiments, the mounting base is provided with a slide rod extending along the first direction, the second abutment portion, the first elastic member and the first locking member are sleeved on the slide rod, the first locking member is fixed relative to the slide rod when it is in the first locked position, and the first locking member can move along the first direction when it is in the first unlocked position;

[0037] The second abutting part, the second elastic member, and the second locking member are sleeved on the slide rod. When the second locking member is in the second locked position, it is fixed relative to the slide rod. When the second locking member is in the second unlocked position, it can move along the second direction.

[0038] In some embodiments, the first locking member is a sheet-like structure. When the first locking member is in the first locked position, the side of the first locking member is inclined relative to the length direction of the slide rod to prevent the first locking member from moving relative to the slide rod in the first direction. The first locking member is also used to abut against the second driving member to prevent the second driving member from moving in the first direction. When the first locking member is in the first unlocked position, the side of the first locking member is substantially perpendicular to the length direction of the slide rod, so that the first locking member can move relative to the slide rod in the first direction; and / or,

[0039] The second locking member is a sheet-like structure. When the second locking member is in the second locked position, the side of the second locking member is inclined relative to the length direction of the slide rod to prevent the second locking member from moving relative to the slide rod in the second direction. The second locking member is also used to abut against the second driving member to prevent the second driving member from moving in the second direction. When the second locking member is in the second unlocked position, the side of the second locking member is substantially perpendicular to the length direction of the slide rod so that the second locking member can move relative to the slide rod in the second direction.

[0040] In some embodiments, the first driving member is used to drive the second driving member to move along the first direction or the second direction, so that when the second driving member drives the end effector to move, it drives the end effector to bend in two opposite directions respectively.

[0041] In some embodiments, the first driving part, the unlocking part, and the second driving part are located on the side of the first driving member facing the second driving member; the first abutting part and the second abutting part are located on the side of the second driving member facing the first driving member.

[0042] This application embodiment provides a method to unlock a second driving member by causing the unlocking part of the first driving member to drive the locking mechanism to switch from a first locked state to a first unlocked state, and to drive the second driving member to move along a first direction by the driving part of the first driving member when the unlocking mechanism is in the first unlocked state, thereby driving the end effector to move.

[0043] Simultaneously, by causing the unlocking part of the first driving member to drive the locking mechanism to switch from the second locked state to the second unlocked state, the second driving member is unlocked, and by causing the driving part of the first driving member to drive the second driving member to move along the second direction when the unlocking mechanism is in the second unlocked state, the end effector is activated.

[0044] Therefore, the locking and unlocking of the end effector can be controlled by the unlocking part of the first drive member, and the second drive member can be driven to move along the first or second direction by the driving part of the first drive member, so as to drive the end effector to move. The structure of the first drive member is relatively simple, which simplifies the structure of the drive mechanism and the locking mechanism. Attached Figure Description

[0045] The technical solution and other beneficial effects of this application will become apparent from the following detailed description of specific embodiments in conjunction with the accompanying drawings.

[0046] Figure 1 A schematic diagram of the structure of one embodiment of the surgical instrument provided in this application;

[0047] Figure 2 An exploded structural diagram of one embodiment of the mounting base, drive mechanism, and locking mechanism provided in this application;

[0048] Figure 3 A schematic diagram of one embodiment of the driving mechanism and locking mechanism provided in this application;

[0049] Figure 4 A schematic diagram of one embodiment of the mounting base, drive mechanism, and locking mechanism provided in this application, wherein the locking mechanism is in a first locking state and a second locking state;

[0050] Figure 5 A schematic diagram of one embodiment of the mounting base, drive mechanism, and locking mechanism provided in this application, wherein the locking mechanism is in a first unlocked state and a second locked state;

[0051] Figure 6 This is a schematic diagram of one embodiment of the mounting base, drive mechanism, and locking mechanism provided in this application, wherein the locking mechanism is in a first locked state and a second unlocked state.

[0052] Explanation of reference numerals in the attached figures:

[0053] 1-Surgical instrument; 101-Distal end; 102-Proximal end; 100-Handle assembly; 110-Fixed handle; 120-Moving handle; 200-Barrel assembly; 21-Mounting base; 22-Slide bar; 23-Drive mechanism; 231-First drive component; 2311-Unlocking part; 2312-Drive part; 2313-First drive part; 2314-Second drive part; 232-Second drive component; 2321-First abutment part; 23 22-Second abutment part; 2323-Limiting block; 24-Locking mechanism; 241-Elastic element; 2411-First elastic element; 2412-Second elastic element; 242-Locking structure; 2421-First locking element; 2422-First end; 2423-Second end; 2424-Second locking element; 2425-Third end; 2426-Fourth end; 300-End actuator; 31-Rotating element; X-First direction; Y-Second direction. Detailed Implementation

[0054] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0055] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as an obstacle to this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0056] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0057] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0058] The following disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to obscure the purpose of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0059] Figure 1 This is a schematic diagram of the structure of one embodiment of the surgical instrument provided in this application. Figure 1As shown, the surgical instrument 1 is a stapler, including a handle assembly 100, a barrel assembly 200, and an end effector 300. The handle assembly 100 includes a fixed handle 110 and at least one movable handle 120. When operating the stapler, the operator can hold the fixed handle 110 and insert the end effector 300 into the lesion site within the body via the elongated barrel assembly 200. Then, the end effector 300 is moved to a predetermined position by a drive mechanism 23. The movable handle 120 then triggers a closing mechanism to close the jaws of the end effector 300, clamping it at a specific position near the lesion site. Next, the movable handle 120 triggers a firing mechanism to remove tissue within the end effector 300, and simultaneously sutures the tissue using staples within the end effector 300. In other embodiments, the closing / firing of the jaws can be achieved electrically via a motor, rather than through the movable handle 120. For example, a separate active handle, different from the active handle 120, can be set to perform the firing action independently; or, the firing action can be achieved by electric firing instead of manual firing via the active handle.

[0060] In this embodiment, the "distal end 101" of the surgical instrument 1 refers to the end that is away from the operator when operating the surgical instrument 1, and the "proximal end 102" of the surgical instrument 1 refers to the end that is close to the operator when operating the surgical instrument 1.

[0061] Furthermore, the stapler is only one embodiment of the surgical instrument 1 in this application. In this application, the surgical instrument 1 may also be other medical instruments that require driving the end effector 300 to move and perform corresponding medical operations.

[0062] This application provides a surgical instrument, particularly a continuously bendable surgical instrument that can be operated with one hand. Detailed descriptions follow.

[0063] like Figure 2 and Figure 3 As shown, the surgical instrument 1 includes a mounting base 21, an end effector 300, a drive mechanism 23, and a locking mechanism 24. The end effector 300 is movably connected to the mounting base 21 and is used to perform medical procedures. The drive mechanism 23 is connected to the mounting base 21 and also to the end effector 300 to drive the end effector 300 to move to a predetermined position so that the end effector 300 can perform the corresponding medical procedure.

[0064] The locking mechanism 24 is used to unlock the drive mechanism 23 before or during the drive mechanism 23 drives the end effector 300, allowing the drive mechanism 23 to stably drive the end effector 300. After the drive mechanism 23 drives the end effector 300 to a predetermined position and stops driving the end effector 300, the locking mechanism 24 can lock the drive mechanism 23, so that the end effector 300 is stably held in the predetermined position, so that the end effector 300 can stably perform medical operations.

[0065] In some embodiments, the drive mechanism 23 may include a first drive member 231 and a second drive member 232. The first drive member 231 and the second drive member 232 are movably connected to the mounting base 21, and the second drive member 232 is connected to the end effector 300. The first drive member 231 is used to drive the second drive member 232 to move along a first direction X or a second direction Y, so that the second drive member 232 drives the end effector 300 to move. The first direction X and the second direction Y are opposite.

[0066] The first driving member 231 can be used to drive the second driving member 232 to move along the first direction X or the second direction Y. When the second driving member 232 drives the end actuator 300 to move, it drives the end actuator 300 to bend in two opposite directions, so that the end actuator 300 can rotate relative to the mounting base 21 to different angles in two opposite directions under the drive of the second driving member 232.

[0067] Specifically, such as Figure 2 and Figure 4 As shown, the end effector 300 can include a rotating member 31 rotatably connected to the mounting base 21, and a second driving member 232 connected to the rotating member 31. The first driving member 231 drives the second driving member 232 to move along a first direction X or a second direction Y, causing the second driving member 232 to drive the rotating member 31 to bend in two opposite directions, thereby causing the end effector 300 to bend relative to the mounting base 21 in two opposite directions. The mounting base 21, the driving mechanism 23, and the locking mechanism 24 can be housed within the barrel assembly 200.

[0068] Of course, the first driving member 231 can also be used to drive the second driving member 232 to move along the first direction X or the second direction Y, so that when the second driving member 232 drives the end actuator 300 to move, it can drive the end actuator 300 to move along two opposite directions respectively, so that the end actuator 300 can move to different positions relative to the mounting base 21 in two opposite directions under the drive of the second driving member 232.

[0069] A locking mechanism 24 is disposed on the mounting base 21. The locking mechanism 24 is used to lock the second driving member 232 in a first locked state, preventing the second driving member 232 from moving along the first direction X, thereby preventing the first driving member 231 from driving the second driving member 232 to continue moving along the first direction X to move the end effector 300. The locking mechanism 24 is also used to lock the second driving member 232 in a second locked state, preventing the second driving member 232 from moving along the second direction Y, thereby preventing the first driving member 231 from driving the second driving member 232 to continue moving along the second direction Y to move the end effector 300. Thus, the movement of the second driving member 232 in the first direction X and the second direction Y can be stably locked by the locking mechanism 24, keeping the position of the end effector 300 stable.

[0070] The locking mechanism 24 is also used to unlock the second drive member 232 in the first unlocked state, allowing the second drive member 232 to move along the first direction X, so that the first drive member 231 can drive the second drive member 232 to move along the first direction X, thereby driving the end effector 300 to move. The locking mechanism 24 is also used to unlock the second drive member 232 in the second unlocked state, allowing the second drive member 232 to move along the second direction Y, so that the first drive member 231 can drive the second drive member 232 to move along the second direction Y, thereby driving the end effector 300 to move.

[0071] Therefore, when it is necessary to drive the second drive member 232 to move along the first direction X via the first drive member 231 to move the end effector 300, the locking mechanism 24 can be in a first unlocked state, allowing the first drive member 231 to drive the second drive member 232 to move along the first direction X to move the end effector 300. During this process, the locking mechanism 24 can be in a second locked state or a second unlocked state.

[0072] When it is necessary to drive the second drive member 232 to move along the second direction Y via the first drive member 231 to move the end effector 300, the locking mechanism 24 can be in a second unlocked state, allowing the first drive member 231 to drive the second drive member 232 to move along the second direction Y to move the end effector 300. During this process, the locking mechanism 24 can be in a first locked state or a first unlocked state.

[0073] In some embodiments, the first driving member 231 includes an unlocking part 2311 and a driving part 2312. The unlocking part 2311 is used to drive the locking mechanism 24 to switch from a first locked state to a first unlocked state to unlock the second driving member 232 and allow the second driving member 232 to move along the first direction X. The driving part 2312 is used to drive the second driving member 232 to move along the first direction X when the locking mechanism 24 is in the first unlocked state.

[0074] The unlocking part 2311 is used to drive the locking mechanism 24 to switch from the second locked state to the second unlocked state, so as to unlock the second driving member 232 and allow the second driving member 232 to move along the second direction Y; the driving part 2312 is used to drive the second driving member 232 to move along the second direction Y when the locking mechanism 24 is in the second unlocked state.

[0075] The surgical instrument 1 provided in this application embodiment unlocks the second drive member 232 by driving the locking mechanism 24 from a first locked state to a first unlocked state through the unlocking part 2311 of the first drive member 231, and drives the second drive member 232 to move along the first direction X through the driving part 2312 of the first drive member 231 when the unlocking mechanism is in the first unlocked state, thereby driving the end effector 300 to move.

[0076] Simultaneously, by causing the unlocking part 2311 of the first drive member 231 to drive the locking mechanism 24 to switch from the second locked state to the second unlocked state, the second drive member 232 is unlocked. And by causing the driving part 2312 of the first drive member 231 to drive the second drive member 232 to move along the second direction Y when the unlocking mechanism is in the second unlocked state, the end effector 300 is activated.

[0077] Therefore, the locking and unlocking of the end effector 300 can be controlled by the unlocking part 2311 of the first drive member 231, and the second drive member 232 can be driven to move along the first direction X or the second direction Y by the drive part 2312 of the first drive member 231, so as to drive the end effector 300 to move. The structure of the first drive member 231 is relatively simple, which simplifies the structure of the drive mechanism 23 and the locking mechanism 24.

[0078] Simultaneously, the surgical instrument 1 locks and unlocks the second drive member 232 in the first direction X and the second direction Y via the first drive member 231. This facilitates locking and unlocking of the second drive member 232 by operating the first drive member 231 with one hand, thereby enabling independent control of the movement of the end effector 300. In some embodiments, such as Figure 2 and Figure 3 As shown, the locking mechanism 24 can include an elastic member 241 and a locking structure 242. The elastic member 241 is used to drive the locking structure 242 to lock the second driving member 232, so that the locking mechanism 24 is in a first locked state or a second locked state. The unlocking part 2311 is used to drive the locking structure 242 to unlock the second driving member 232, so that the locking mechanism 24 is in a first unlocked state or a second unlocked state.

[0079] The elastic element 241 enables the locking structure 242 to be stably held in the position where the second driving member 232 is locked. Furthermore, when the unlocking part 2311 drives the locking structure 242 to unlock the second driving member 232, placing the locking mechanism 24 in a first unlocked state or a second unlocked state, the elastic element 241 is subjected to tension or compression to increase its elastic potential energy. When the unlocking part 2311 stops driving the locking structure 242 to unlock the second driving member 232, the elastic element 241 releases its elastic potential energy, thereby driving the locking structure 242 to automatically lock the second driving member 232.

[0080] In some embodiments, such as Figure 3 and Figure 4 As shown, the locking structure 242 includes a first locking member 2421 and an elastic member 241 includes a first elastic member 2411. The first elastic member 2411 is used to drive the first locking member 2421 to move to the first locking position, so that the first locking member 2421 locks the second driving member 232, so that the locking mechanism 24 is in the first locked state, preventing the second driving member 232 from moving along the first direction X.

[0081] The unlocking part 2311 is used to drive the first locking member 2421 from the first locking position to the first unlocking position, so that the first locking member 2421 unlocks the second driving member 232, so that the locking mechanism 24 is in the first unlocked state, allowing the second driving member 232 to move along the first direction X.

[0082] The locking structure 242 further includes a second locking member 2424, and the elastic member 241 further includes a second elastic member 2412. The second elastic member 2412 is used to drive the second locking member 2424 to a second locking position, so that the second locking member 2424 locks the second driving member 232, so that the locking mechanism 24 is in a second locked state, preventing the second driving member 232 from moving along the second direction Y.

[0083] The unlocking part 2311 is used to drive the second locking member 2424 from the second locking position to the second unlocking position, so that the second locking member 2424 unlocks the second driving member 232, so that the locking mechanism 24 is in the second unlocked state, allowing the second driving member 232 to move along the second direction Y.

[0084] By causing the first elastic member 2411 to drive the first locking member 2421 to move to the first locking position, the first locking member 2421 locks the second driving member 232. By causing the second elastic member 2412 to drive the second locking member 2424 to move to the second locking position, the second locking member 2424 locks the second driving member 232. The second driving member 232 can be stably locked in the first direction X and the second direction Y, thereby improving the stability of the end effector 300 in performing medical operations.

[0085] In some embodiments, such asFigure 5 As shown, the drive unit 2312 may include a first drive unit 2313, and the second drive member 232 may include a first abutting part 2321. The first drive unit 2313 is used to abut against the first abutting part 2321 to drive the second drive member 232 to move along the first direction X.

[0086] In addition, such as Figure 6 As shown, the driving unit 2312 can include a second driving unit 2314, and the second driving member 232 can include a second abutting part 2322. The second driving unit 2314 is used to abut against the second abutting part 2322 to drive the second driving member 232 to move along the second direction Y. Thus, when the locking mechanism 24 is in the first unlocked state or the second unlocked state, the first driving member 231 can stably drive the second driving member 232 to move along the first direction X or the second direction Y.

[0087] The first driving part 2313 and the first abutting part 2321 can be arranged sequentially from the proximal end 102 to the distal end 101 of the surgical instrument 1. That is, the first driving part 2313 and the first abutting part 2321 are arranged sequentially along the first direction X, so that after the first driving part 2313 abuts against the first abutting part 2321, it can apply a thrust along the first direction X to the first abutting part 2321, thereby stably pushing the second driving member 232 to move along the first direction X.

[0088] Alternatively, the second drive unit 2314 and the second abutment unit 2322 can be arranged sequentially from the distal end 101 to the proximal end 102 of the surgical instrument 1. That is, the second drive unit 2314 and the second abutment unit 2322 are arranged sequentially along the second direction Y, so that after the second drive unit 2314 abuts against the second abutment unit 2322, a thrust along the second direction Y can be applied to the second abutment unit 2322, thereby stably pushing the second drive member 232 to move along the second direction Y.

[0089] In some embodiments, such as Figure 5 As shown, the unlocking part 2311, the first locking member 2421, the first elastic member 2411, and the second abutment part 2322 can be arranged sequentially from the proximal end 102 to the distal end 101 of the surgical instrument 1. That is, the unlocking part 2311, the first locking member 2421, the first elastic member 2411, and the second abutment part 2322 are arranged sequentially along the first direction X. Moreover, the proximal end 102 side of the second abutment part 2322 abuts against one end of the first elastic member 2411, and the distal end 101 side of the first locking member 2421 abuts against the other end of the first elastic member 2411, so that the first elastic member 2411 can drive the first locking member 2421 to move to the first locking position, so that the first locking member 2421 locks the second driving member 232.

[0090] Moreover, such as Figure 5As shown, when the unlocking part 2311 moves a certain distance along the first direction X, it can abut against the first locking member 2421 to drive the first locking member 2421 from the first locking position to the first unlocking position, so that the first locking member 2421 unlocks the second driving member 232, so that the locking mechanism 24 is in the first unlocked state.

[0091] It should be noted that the proximal side of the second abutment 2322 is the side of the second abutment 2322 that is close to the "proximal end 102" of the surgical instrument 1, and the distal side of the first locking member 2421 is the side of the first locking member 2421 that is close to the "distal end 101" of the surgical instrument 1.

[0092] Similarly, as Figure 6 As shown, the unlocking part 2311, the second locking member 2424, the second elastic member 2412, and the first abutment part 2321 can be arranged sequentially from the distal end 101 to the proximal end 102 of the surgical instrument 1. That is, the unlocking part 2311, the second locking member 2424, the second elastic member 2412, and the first abutment part 2321 are arranged sequentially along the second direction Y. Moreover, the distal end 101 side of the first abutment part 2321 abuts against one end of the second elastic member 2412, and the proximal end 102 side of the second locking member 2424 abuts against the other end of the second elastic member 2412, so that the second elastic member 2412 can drive the second locking member 2424 to move to the second locking position, so that the second locking member 2424 locks the second driving member 232.

[0093] Moreover, such as Figure 5 As shown, when the unlocking part 2311 moves a certain distance along the second direction Y, it can abut against the second locking member 2424 to drive the second locking member 2424 from the second locking position to the second unlocking position, so that the second locking member 2424 unlocks the second driving member 232, so that the locking mechanism 24 is in the second unlocking state.

[0094] It should be noted that the proximal end 102 side of the second locking member 2424 is the side of the second locking member 2424 that is close to the "proximal end 102" of the surgical instrument 1, and the distal end 101 side of the first abutment 2321 is the side of the first abutment 2321 that is close to the "distal end 101" of the surgical instrument 1.

[0095] In some embodiments, such as Figure 2 and Figure 3As shown, a sliding rod 22 extending along the first direction X can be provided on the mounting base 21. A second abutment portion 2322, a first elastic member 2411, and a first locking member 2421 are sleeved on the sliding rod 22. When the first locking member 2421 is in the first locked position, it is relatively fixed to the sliding rod 22. When the first locking member 2421 is in the first unlocked position, it can move along the first direction X. Therefore, by fixing the first locking member 2421 relative to the sliding rod 22 in the first locked position, the movement of the first locking member 2421 relative to the sliding rod 22 and the mounting base 21 along the first direction X can be restricted, thereby restricting the movement of the second driving member 232 relative to the sliding rod 22 and the mounting base 21 along the first direction X. When the first locking member 2421 is in the first unlocked position and can move along the first direction X, the movement of the second driving member 232 and the first locking member 2421 along the first direction X is allowed under the drive of the first driving member 231.

[0096] The second abutment 2322, the second elastic member 2412, and the second locking member 2424 can be sleeved on the slide rod 22. When the second locking member 2424 is in the second locked position, it is fixed relative to the slide rod 22. When the second locking member 2424 is in the second unlocked position, it can move along the second direction Y. Thus, by fixing the second locking member 2424 relative to the slide rod 22 when it is in the second locked position, the movement of the second locking member 2424 relative to the slide rod 22 and the mounting base 21 along the second direction Y can be restricted, thereby restricting the movement of the second driving member 232 relative to the slide rod 22 and the mounting base 21 along the second direction Y. When the second locking member 2424 is in the second unlocked position and can move along the second direction Y, the movement of the second driving member 232 and the second locking member 2424 along the second direction Y is allowed under the drive of the first driving member 231.

[0097] In some embodiments, the first locking member 2421 can be a sheet-like structure. When the first locking member 2421 is in the first locked position, the side of the first locking member 2421 is inclined relative to the length direction of the slide bar 22 to prevent the first locking member 2421 from moving relative to the slide bar 22 in the first direction X. The first locking member 2421 is also used to abut against the second driving member 232 to prevent the second driving member 232 from moving relative to the first direction X. When the first locking member 2421 is in the first unlocked position, the side of the first locking member 2421 is substantially perpendicular to the length direction of the slide bar 22 so that the first locking member 2421 can move relative to the slide bar 22 in the first direction X.

[0098] Therefore, the unlocking part 2311 can easily drive the first locking member 2421 from the first locked position to the first unlocked position. Moreover, when the force exerted by the unlocking part 2311 on the first locking member 2421 weakens or disappears, the first elastic member 2411 can easily drive the first locking member 2421 from the first unlocked position to the first locked position.

[0099] Specifically, when the first locking member 2421 is in the first locked position, with its side inclined relative to the length direction of the slide rod 22, the first locking member 2421 can abut against the radial sides of the slide rod 22, increasing the friction between the first locking member 2421 and the slide rod 22. This engages the first locking member 2421 with the slide rod 22, preventing the first locking member 2421 from moving relative to the slide rod 22 in the first direction X. When the first locking member 2421 is in the first unlocked position, with its side substantially perpendicular to the length direction of the slide rod 22, the friction between the first locking member 2421 and the slide rod 22 decreases, allowing the first locking member 2421 to move relative to the slide rod 22 in the first direction X.

[0100] The first locking member 2421 includes a first end 2422 near the first driving member 231 and a second end 2423 near the second driving member 232. When the first locking member 2421 is in the first locking position, and the side of the first locking member 2421 is inclined relative to the length direction of the slide bar 22, the first end 2422 of the first locking member 2421 is closer to the proximal end 102 of the surgical instrument 1 than the second end 2423.

[0101] The second driving member 232 also includes a limiting block 2323, which is located on one side of the second end 2423 of the first locking member 2421 along the second direction Y. The first locking member 2421 abuts against the limiting block 2323 to prevent the second driving member 232 from moving relative to the first locking member 2421 along the first direction X.

[0102] In some embodiments, the second locking member 2424 can be a sheet-like structure. When the second locking member 2424 is in the second locked position, the side of the second locking member 2424 is inclined relative to the length direction of the slide bar 22 to prevent the second locking member 2424 from moving relative to the slide bar 22 in the second direction Y. The second locking member 2424 is also used to abut against the second driving member 232 to prevent the second driving member 232 from moving relative to the second direction Y. When the second locking member 2424 is in the second unlocked position, the side of the second locking member 2424 is substantially perpendicular to the length direction of the slide bar 22 so that the second locking member 2424 can move relative to the slide bar 22 in the second direction Y.

[0103] Therefore, the unlocking part 2311 can easily drive the second locking member 2424 from the second locked position to the second unlocked position. Moreover, when the force exerted by the unlocking part 2311 on the second locking member 2424 weakens or disappears, the second elastic member 2412 can easily drive the second locking member 2424 from the second unlocked position to the second locked position.

[0104] Specifically, when the second locking member 2424 is in the second locked position, with its side inclined relative to the length direction of the slide rod 22, the second locking member 2424 can abut against the radial sides of the slide rod 22, increasing the friction between the second locking member 2424 and the slide rod 22. This engages the second locking member 2424 with the slide rod 22, preventing the second locking member 2424 from moving relative to the slide rod 22 in the second direction Y. When the second locking member 2424 is in the second unlocked position, with its side substantially perpendicular to the length direction of the slide rod 22, the friction between the second locking member 2424 and the slide rod 22 decreases, allowing the second locking member 2424 to move relative to the slide rod 22 in the second direction Y.

[0105] The second locking member 2424 includes a third end 2425 near the first driving member 231 and a fourth end 2426 near the second driving member 232. When the second locking member 2424 is in the second locking position, and the side of the second locking member 2424 is inclined relative to the length direction of the slide bar 22, the third end 2425 of the second locking member 2424 is closer to the distal end 101 of the surgical instrument 1 than the fourth end 2426.

[0106] The second driving member 232 also includes a limiting block 2323, which is located on one side of the third end 2425 of the second locking member 2424 along the first direction X. The second locking member 2424 abuts against the limiting block 2323 to prevent the second driving member 232 from moving relative to the second locking member 2424 along the second direction Y.

[0107] In some embodiments, the first driving part 2313, the unlocking part 2311, and the second driving part 2314 may be located on the side of the first driving member 231 facing the second driving member 232, and the first abutting part 2321 and the second abutting part 2322 may be located on the side of the second driving member 232 facing the first driving member 231, so that the first driving part 2313 and the first abutting part 2321 are close to each other, so that the first driving part 2313 drives the first abutting part 2321 to move along the first direction X. At the same time, the second driving part 2314 and the second abutting part 2322 are close to each other, so that the second driving part 2314 drives the second abutting part 2322 to move along the second direction Y.

[0108] In addition, the unlocking part 2311 can abut against the first locking member 2421 or the second locking member 2424, and drive the first locking member 2421 to move from the first locking position to the first unlocking position, or drive the second locking member 2424 to move from the second locking position to the second unlocking position.

[0109] This application also provides a one-handed, infinitely flexible surgical instrument. The one-handed, infinitely flexible surgical instrument includes a mounting base 21, an end effector 300, a drive mechanism 23, and a locking mechanism 24. The end effector 300 is movably connected to the mounting base 21 and is used to perform medical operations. The drive mechanism 23 includes a first drive member 231 and a second drive member 232, which are movably connected to the mounting base 21. The second drive member 232 is connected to the end effector 300. The first drive member 231 drives the second drive member 232 to move along a first direction X or a second direction Y, causing the second drive member 232 to move the end effector 300. The first direction X and the second direction Y are opposite.

[0110] The locking mechanism 24 is disposed on the mounting base 21. The locking mechanism 24 includes a first locking member 2421, a second locking member 2424, a first elastic member 2411, and a second elastic member 2412. The first elastic member 2411 is used to drive the first locking member 2421 to move to the first locking position, so that the first locking member 2421 locks the second driving member 232 to prevent the second driving member 232 from moving along the first direction X. The second elastic member 2412 is used to drive the second locking member 2424 to move to the second locking position, so that the second locking member 2424 locks the second driving member 232 to prevent the second driving member 232 from moving along the second direction Y.

[0111] The first driving member 231 includes an unlocking part 2311, a first driving part 2313 and a second driving part 2314, and a second elastic member 2412, a second locking member 2424, an unlocking part 2311, a first elastic member 2411 and a first locking member 2421 are arranged sequentially from the proximal end 102 to the distal end 101 of the surgical instrument 1.

[0112] The unlocking part 2311 is used to drive the first locking member 2421 from the first locking position to the first unlocking position, so that the first locking member 2421 unlocks the second driving member 232, allowing the second driving member 232 to move along the first direction X. The first driving part 2313 is used to abut against the second driving member 232 to drive the second driving member 232 to move along the first direction X.

[0113] The unlocking part 2311 is used to drive the second locking member 2424 from the second locking position to the second unlocking position, so that the second locking member 2424 unlocks the second driving member 232, allowing the second driving member 232 to move along the second direction Y. The second driving part 2314 is used to abut against the second driving member 232 to drive the second driving member 232 to move along the second direction Y.

[0114] The surgical instrument 1 provided in this application embodiment drives the first locking member 2421 from the first locking position to the first unlocking position by the unlocking part 2311 of the first driving member 231, thereby unlocking the second driving member 232. The first driving part 2313 of the first driving member 231 is used to abut against the second driving member 232 to drive the second driving member 232 to move along the first direction X, thereby driving the end effector 300 to move.

[0115] Simultaneously, by causing the unlocking part 2311 of the first driving member 231 to drive the second locking member 2424 from the second locking position to the second unlocking position, the second locking member 2424 unlocks the second driving member 232, and the second driving member 232 moves along the second direction Y. The second driving part 2314 is used to abut against the second driving member 232 to drive the second driving member 232 to move along the second direction Y, thereby driving the end effector 300 to move.

[0116] Therefore, the locking and unlocking of the end effector 300 can be controlled by the unlocking part 2311 of the first drive member 231, and the second drive member 232 can be driven to move along the first direction X or the second direction Y by the first drive part 2313 or the second drive part 2314 of the first drive member 231, so as to drive the end effector 300 to move. The structure of the first drive member 231 is relatively simple, which simplifies the structure of the drive mechanism 23 and the locking mechanism 24.

[0117] Meanwhile, the surgical instrument 1 locks and unlocks the second drive unit 232 in the first direction X and the second direction Y through the first drive unit 231. This allows the locking and unlocking of the second drive unit 232 to be achieved by operating the first drive unit 231 with one hand, thereby enabling the movement of the end effector 300 to be controlled independently.

[0118] Furthermore, the surgical instrument 1 can lock and unlock the second drive member 232 in the first direction X and the second direction Y respectively, which facilitates the stepless movement of the second drive member 232 in the first direction X and the second direction Y, thereby driving the end effector 300 to move steplessly. When the end effector 300 bends in two opposite directions, it facilitates the stepless bending of the end effector 300.

[0119] In some embodiments, the second driving member 232 includes a first abutting portion 2321 and abutting portion 2322;

[0120] The first driving part 2313 and the first abutting part 2321 are arranged sequentially from the proximal end 102 to the distal end 101 of the surgical instrument 1. The first driving part 2313 is used to abut against the first abutting part 2321 to drive the second driving member 232 to move along the first direction X.

[0121] The second drive unit 2314 and the second abutment unit 2322 are sequentially arranged from the distal end 101 to the proximal end 102 of the surgical instrument 1. The second drive unit 2314 is used to abut against the second abutment unit 2322 to drive the second drive member 232 to move along the second direction Y.

[0122] In some embodiments, the first locking member 2421, the first elastic member 2411, and the second abutting portion 2322 are sequentially arranged from the proximal end 102 to the distal end 101 of the surgical instrument 1. The proximal end 102 side of the second abutting portion 2322 abuts against one end of the first elastic member 2411, and the distal end 101 side of the first locking member 2421 abuts against the other end of the first elastic member 2411.

[0123] The second locking member 2424, the second elastic member 2412, and the first abutting part 2321 are arranged sequentially from the distal end 101 to the proximal end 102 of the surgical instrument 1. The distal end 101 side of the first abutting part 2321 abuts against one end of the second elastic member 2412, and the proximal end 102 side of the second locking member 2424 abuts against the other end of the second elastic member 2412.

[0124] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0125] The above provides a detailed description of a surgical instrument and a continuously bendable surgical instrument operable with one hand, as provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the technical solutions and core ideas of this application. Those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A continuously bendable surgical instrument operable with one hand, characterized in that, include: Mounting base; An end effector, movably connected to the mounting base, is used to perform medical procedures; The driving mechanism includes a first driving member and a second driving member. The first driving member and the second driving member are respectively movably connected to the mounting base. The second driving member is connected to the end effector. The first driving member is used to drive the second driving member to move along a first direction or a second direction, so that the second driving member drives the end effector to move. The first direction and the second direction are opposite. A locking mechanism is provided on the mounting base. The locking mechanism includes a first locking member, a second locking member, a first elastic member, and a second elastic member. The first elastic member is used to drive the first locking member to a first locking position, so that the first locking member locks the second driving member to prevent the second driving member from moving in the first direction. The second elastic member is used to drive the second locking member to a second locking position, so that the second locking member locks the second driving member to prevent the second driving member from moving in the second direction. The first driving member includes an unlocking part, a first driving part and a second driving part, and the second elastic member, the second locking member, the unlocking part, the first elastic member and the first locking member are arranged sequentially from the proximal end to the distal end of the surgical instrument. The unlocking part is used to drive the first locking member to move from the first locking position to the first unlocking position, so that the first locking member unlocks the second driving member, allowing the second driving member to move along the first direction. The first driving part is used to abut against the second driving member to drive the second driving member to move along the first direction. The unlocking part is used to drive the second locking member to move from the second locking position to the second unlocking position, so that the second locking member unlocks the second driving member, allowing the second driving member to move along the second direction. The second driving part is used to abut against the second driving member to drive the second driving member to move along the second direction.

2. The infinitely flexible surgical instrument that can be operated with one hand as described in claim 1, characterized in that, The second driving member includes a first abutting part and a second abutting part; The first driving part and the first abutting part are arranged sequentially from the proximal end to the distal end of the surgical instrument. The first driving part is used to abut against the first abutting part to drive the second driving member to move along the first direction. The second driving part and the second abutting part are arranged sequentially from the distal end to the proximal end of the surgical instrument. The second driving part is used to abut against the second abutting part to drive the second driving member to move along the second direction.

3. The infinitely flexible surgical instrument that can be operated with one hand as described in claim 2, characterized in that, The first locking member, the first elastic member, and the second abutting portion are arranged sequentially from the proximal end to the distal end of the surgical instrument. The proximal side of the second abutting portion abuts against one end of the first elastic member, and the distal side of the first locking member abuts against the other end of the first elastic member. The second locking member, the second elastic member, and the first abutting portion are arranged sequentially from the distal end to the proximal end of the surgical instrument. The distal end of the first abutting portion abuts against one end of the second elastic member, and the proximal end of the second locking member abuts against the other end of the second elastic member.

4. A surgical instrument, characterized in that, include: Mounting base; An end effector, movably connected to the mounting base, is used to perform medical procedures; The driving mechanism includes a first driving member and a second driving member. The first driving member and the second driving member are respectively movably connected to the mounting base. The second driving member is connected to the end effector. The first driving member is used to drive the second driving member to move along a first direction or a second direction, so that the second driving member drives the end effector to move. The first direction and the second direction are opposite. A locking mechanism is provided on the mounting base. The locking mechanism is used to lock the second driving member in a first locked state to prevent the second driving member from moving in the first direction, and to lock the second driving member in a second locked state to prevent the second driving member from moving in the second direction. The locking mechanism is also used to unlock the second driving member in a first unlocked state to allow the second driving member to move in the first direction, and to unlock the second driving member in a second unlocked state to allow the second driving member to move in the second direction. The first driving member includes an unlocking part and a driving part. The unlocking part is used to drive the locking mechanism to switch from the first locked state to the first unlocked state to unlock the second driving member and allow the second driving member to move along the first direction. The driving part is used to drive the second driving member to move along the first direction when the locking mechanism is in the first unlocked state. The unlocking part is used to drive the locking mechanism to switch from the second locked state to the second unlocked state, so as to unlock the second driving member and allow the second driving member to move along the second direction; the driving part is used to drive the second driving member to move along the second direction when the locking mechanism is in the second unlocked state.

5. The surgical instrument as described in claim 4, characterized in that, The locking mechanism includes an elastic element and a locking structure. The elastic element is used to drive the locking structure to lock the second driving element, so that the locking mechanism is in the first locked state or the second locked state. The unlocking part is used to drive the locking structure to unlock the second driving element, so that the locking mechanism is in the first unlocked state or the second unlocked state.

6. The surgical instrument as described in claim 5, characterized in that, The locking structure includes a first locking member and a second locking member, and the elastic member includes a first elastic member and a second elastic member; The first elastic member is used to drive the first locking member to move to the first locking position, so that the first locking member locks the second driving member to prevent the second driving member from moving along the first direction; The unlocking part is used to drive the first locking member to move from the first locking position to the first unlocking position, so that the first locking member unlocks the second driving member, allowing the second driving member to move along the first direction; The second elastic member is used to drive the second locking member to move to the second locking position, so that the second locking member locks the second driving member to prevent the second driving member from moving in the second direction; the unlocking part is used to drive the second locking member from the second locking position to the second unlocking position, so that the second locking member unlocks the second driving member to allow the second driving member to move in the second direction.

7. The surgical instrument as described in claim 6, characterized in that, The driving part includes a first driving part and a second driving part, and the second driving member includes a first abutting part and a second abutting part; The first driving part is used to abut against the first abutting part to drive the second driving member to move along the first direction; The second driving part is used to abut against the second abutting part to drive the second driving member to move along the second direction.

8. The surgical instrument as described in claim 7, characterized in that, The first driving part and the first abutting part are arranged sequentially from the proximal end to the distal end of the surgical instrument; the second driving part and the second abutting part are arranged sequentially from the distal end to the proximal end of the surgical instrument.

9. The surgical instrument as described in claim 7, characterized in that, The unlocking part, the first locking member, the first elastic member, and the second abutting part are arranged sequentially from the proximal end to the distal end of the surgical instrument. The proximal side of the second abutting part abuts against one end of the first elastic member, and the distal side of the first locking member abuts against the other end of the first elastic member. The unlocking part, the second locking member, the second elastic member, and the first abutting part are arranged sequentially from the distal end to the proximal end of the surgical instrument. The distal end of the first abutting part abuts against one end of the second elastic member, and the proximal end of the second locking member abuts against the other end of the second elastic member.

10. The surgical instrument as described in claim 9, characterized in that, The mounting base is provided with a slide rod extending along the first direction. The second abutment, the first elastic member and the first locking member are sleeved on the slide rod. When the first locking member is in the first locked position, it is fixed relative to the slide rod. When the first locking member is in the first unlocked position, it can move along the first direction. The second abutting part, the second elastic member, and the second locking member are sleeved on the slide rod. When the second locking member is in the second locked position, it is fixed relative to the slide rod. When the second locking member is in the second unlocked position, it can move along the second direction.

11. The surgical instrument as claimed in claim 10, characterized in that, The first locking member is a sheet-like structure. When the first locking member is in the first locked position, its side is inclined relative to the length direction of the slide rod to prevent the first locking member from moving relative to the slide rod in the first direction. The first locking member also abuts against the second driving member to prevent the second driving member from moving in the first direction. When the first locking member is in the first unlocked position, its side is substantially perpendicular to the length direction of the slide rod, so that the first locking member can move relative to the slide rod in the first direction; and / or, The second locking member is a sheet-like structure. When the second locking member is in the second locked position, the side of the second locking member is inclined relative to the length direction of the slide rod to prevent the second locking member from moving relative to the slide rod in the second direction. The second locking member is also used to abut against the second driving member to prevent the second driving member from moving in the second direction. When the second locking member is in the second unlocked position, the side of the second locking member is substantially perpendicular to the length direction of the slide rod so that the second locking member can move relative to the slide rod in the second direction.

12. The surgical instrument as described in claim 4, characterized in that, The first driving member is used to drive the second driving member to move along the first direction or the second direction, so that when the second driving member drives the end effector to move, it drives the end effector to bend in two opposite directions respectively.

13. The surgical instrument according to any one of claims 7 to 11, characterized in that, The first driving part, the unlocking part, and the second driving part are located on the side of the first driving member facing the second driving member; the first abutting part and the second abutting part are located on the side of the second driving member facing the first driving member.

Images