Surgical instrument

Abstract

A surgical instrument is provided. A surgical instrument includes a rear end drive assembly, a transmission assembly, and an end effector. The transmission assembly is connected to the rear end drive assembly. The transmission assembly comprises a driving rod. The end effector is connected to the distal end of the transmission assembly. Wherein the rear end driving assembly comprises a mounting seat and a locking component. The mounting seat is configured to be connected with the near end of the drive rod. The locking member is connected to the mount. The locking member is switchable between a locked state and an unlocked state. In the locked state, the locking member locks and connects the drive rod to the mounting base so that the drive rod can translate along with the mounting base in the first direction. And in the unlocking state, the driving rod can be separated from the mounting seat in the first direction. The invention provides a connecting structure of a rear-end driving assembly and a transmission assembly of a surgical instrument.

Description

Technical Field

[0001] This application relates generally to the technical field of medical devices, and more specifically to a surgical instrument. Background Technology

[0002] In minimally invasive surgery, electrosurgical instruments such as vascular sealers can be used to cut and / or seal tissue. Electrosurgical instruments include cutting electrodes and bipolar sealing electrodes. The cutting electrode cuts tissue using a high-energy-density surface. The bipolar sealing electrode is used to join two contacting target tissues together, thereby achieving a window seal.

[0003] In technologies related to robot-assisted surgery, surgical instruments include a rear-end drive assembly, a transmission assembly, and an end effector. The rear-end drive assembly and the transmission assembly are fixedly connected. The transmission assembly is connected to the end effector to actuate the end effector. Summary of the Invention

[0004] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] This application provides a surgical instrument including a rear-end drive assembly, a transmission assembly, and an end effector. The transmission assembly is connected to the rear-end drive assembly, and the transmission assembly includes a drive rod. The end effector is connected to the distal end of the transmission assembly. The rear-end drive assembly includes a mounting base and a locking member. The mounting base is configured to connect to the proximal end of the drive rod. The locking member is connected to the mounting base and is switchable between a locked state and an unlocked state. In the locked state, the locking member locks the drive rod to the mounting base, allowing the drive rod to translate with the mounting base in a first direction. In the unlocked state, the drive rod can disengage from the mounting base in the first direction.

[0006] According to the surgical instrument of this application, by providing a locking member with a locked state and an unlocked state on the mounting base of the rear drive assembly, the drive rod can be installed and removed from the mounting base as needed, thereby enabling the replacement of replaceable actuator components, including the transmission assembly and the end effector, in the rear drive assembly. This improves surgical safety and helps reduce the cost of using the surgical instrument. Attached Figure Description

[0007] The following drawings, illustrating embodiments of this application, are incorporated herein by reference and are used to understand this application. The drawings illustrate embodiments of this application and their descriptions, serving to explain the principles of this application. In the drawings,

[0008] Figure 1 A perspective view of a surgical instrument according to some embodiments of this application;

[0009] Figure 2 A front view of a surgical instrument according to some other embodiments of this application;

[0010] Figure 3 A perspective view of the distal and end effectors of a transmission assembly according to some embodiments of this application in an installed state;

[0011] Figure 4 This is a front view of the transmission assembly and end effector in the installed state according to some embodiments of this application;

[0012] Figure 5 For along Figure 2 A cross-sectional view of line AA in the diagram;

[0013] Figure 6 for Figure 1 and Figure 2 The main view of the backend driver component and axis component in the installed state;

[0014] Figure 7 For along Figure 6 A sectional view of line BB in the middle;

[0015] Figure 8 for Figure 1 A perspective view of the proximal end of the shaft assembly in a state where a portion has been removed and a local central cavity has been exposed;

[0016] Figure 9 This is a perspective view of the proximal end of the transmission assembly and the locking member in the installed state according to some embodiments of this application;

[0017] Figure 10 for Figure 9 A perspective view of the proximal end of the drive rod and the locking member of the transmission assembly in a disassembled state;

[0018] Figure 11 for Figure 9 Another perspective view of the proximal end of the drive rod and the locking member of the transmission assembly in a disassembled state;

[0019] Figure 12 for Figure 11 A schematic diagram of the structure of the first conductive component in the process;

[0020] Figure 13 for Figure 10 and Figure 11 A schematic diagram of the proximal end of the drive rod of the transmission component in the diagram;

[0021] Figure 14A perspective view of the proximal end of the transmission assembly and the locking member in the installed state according to some other embodiments of this application;

[0022] Figure 15 This is a perspective view of the proximal end of the rear drive assembly and shaft assembly according to some embodiments of this application in an installed state, with cables not shown in the figure;

[0023] Figure 16 This is a top view of the back-end drive assembly according to some other embodiments of this application after the cut-off portion of the base, showing the first cable and the second cable.

[0024] Figure 17 for Figure 16 A magnified view of point I in the image;

[0025] Figure 18 This is a top view of a back-end drive assembly according to some other embodiments of the present application after the cut-off portion of the base, showing a first cable and a second cable.

[0026] Figure 19 A top view of the rear drive assembly according to some other embodiments of this application after the cut-off portion of the housing.

[0027] Figure 20 This is a schematic diagram of the proximal end of a surgical instrument according to some other embodiments of this application, with the second anti-rotation member and shaft member disassembled.

[0028] Figure 21 for Figure 20 A perspective view of the second anti-rotation component in the middle;

[0029] Figure 22 for Figure 20 A cross-sectional view of the proximal end of the surgical instrument shown.

[0030] Figure 23 for Figure 20 A sectional view of the proximal end of the shaft assembly in the middle;

[0031] Figure 24 for Figure 4 A perspective view of the proximal end of the drive rod, the second sealing sleeve, the wrist support, the actuating element, and the proximal end of the end effector in the installed state;

[0032] Figure 25 for Figure 24 A perspective view of the proximal end of the drive rod, the second sealing sleeve, the wrist support, the actuating element, and the proximal end of the end effector in a disassembled state.

[0033] Figure 26 for Figure 24Another perspective view of the proximal end of the drive rod, the second seal, the wrist support, the actuating element, and the proximal end of the end effector in a disassembled state; and

[0034] Figure 27 A perspective view of the proximal end of the drive rod, the second sealing sleeve, the wrist support, the actuating element, and the proximal end of the end effector in an installed state according to some other embodiments of this application;

[0035] Figure 28 for Figure 27 A perspective view of the proximal end of the drive rod, the second sealing sleeve, the wrist support, the actuating element, and the proximal end of the end effector in a disassembled state. Detailed Implementation

[0036] In the following description, numerous specific details are set forth to provide a more thorough understanding of this application. However, it will be apparent to those skilled in the art that embodiments of this application may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with embodiments of this application.

[0037] To fully understand the embodiments of this application, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of this application is not limited to the specific details familiar to those skilled in the art.

[0038] It should be understood that the terminology used herein is intended only to describe particular embodiments and is not intended to limit the scope of this application. The singular forms “a,” “an,” and “the” / “the” are also intended to include the plural forms unless the context clearly indicates otherwise. When the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0039] The terms “proximal,” “proximal,” “distal,” and “farthest” are used in this text in relation to the clinician’s position relative to the handle portion of the surgical instrument. The term “proximal” / “farthest” refers to the portion closest to the clinician, and the term “farthest” / “farthest” refers to the portion furthest from the clinician’s position.

[0040] The ordinal numbers such as "first" and "second" used in this application are merely identifiers and have no other meaning, such as a specific order. Furthermore, for example, the term "first component" does not imply the existence of a "second component," and the term "second component" does not imply the existence of a "first component." It should be noted that the terms "upper," "lower," "front," "rear," "left," "right," "inner," "outer," and similar expressions used in this application are for illustrative purposes only and are not intended to be limiting.

[0041] The terms “parallel” / “perpendicular” and similar expressions used in this application include absolute parallel / perpendicular relationships and approximately parallel / perpendicular relationships (e.g., relationships that differ from absolute parallel / perpendicular relationships by a range of -5° to +5°), and have equivalent effects.

[0042] The specific embodiments of this application will be described in more detail below with reference to the accompanying drawings, which illustrate representative embodiments of this application and are not intended to limit this application.

[0043] An embodiment of this application provides a surgical instrument. This surgical instrument may be a vascular sealer, an anastomosis device, an applicator, an ultrasonic scalpel, etc.

[0044] Please refer to Figures 1 to 4 Some embodiments of this application provide a surgical instrument 10 including a rear-end drive assembly 110, a shaft assembly 150, a transmission assembly 210, and an end effector 220. The rear-end drive assembly 110 transmits power output from a power source. The proximal end of the shaft assembly 150 is connected to the rear-end drive assembly 110. The rear-end drive assembly 110 can drive the shaft assembly 150 to rotate. The transmission assembly 210 is configured to pass through the shaft assembly 150. The proximal end of the transmission assembly 210 is detachably connected to the rear-end drive assembly 110. The distal end of the transmission assembly 210 is connected to the end effector 220. The end effector 220 is detachably connected to the shaft assembly 150. The shaft assembly 150 can connect the rear-end drive assembly 110 and the end effector 220. When the shaft assembly 150 is rotated by the rear-end drive assembly 110, the end effector 220 rotates with the shaft assembly 150. The end effector 220 may include tools for surgical operations such as cutting, shearing, grasping, clamping, holding, and joining biological tissues, such as hooks, shovels, needles, clamps, and scissors. The transmission assembly 210 transmits the power output from the rear drive assembly 110 to the end effector 220 to drive it to perform corresponding surgical operations. These surgical operations include, for example, opening and closing clamps, sealing of sealing electrodes, or cutting of cutting electrodes. The transmission assembly 210 may include push-pull rods, lines, ropes, belts, etc.

[0045] Surgical instruments in the related art, due to the delicate structure of their end effectors, are difficult to clean after use and are usually designed to be discarded entirely after a single use, increasing surgical costs. According to some embodiments of this application, the end effector 220 and the transmission assembly 210 are replaceable actuation components and are detachably connected to the shaft assembly 150 and the rear drive assembly 110, respectively. After use, only the replaceable actuation components can be replaced, while the rear drive assembly 110 and the shaft assembly 150 can be reused within a specified service life. This improves surgical safety and helps reduce the operating cost of the surgical instrument 10. The replaceable actuation components can be replaced after a single use, after a preset number of uses, or even if they have not been used to the preset number of uses but are difficult to reuse using current disinfection and cleaning methods.

[0046] like Figure 7 and Figure 8 As shown, the shaft assembly 150 has a central cavity 150a. A transmission assembly 210 is configured to pass through the central cavity 150a. The shaft assembly 150 may include a shaft member 151 and a wrist member 152. The proximal end of the shaft member 151 is connected to a rear-end drive assembly 110. The distal end of the shaft member 151 is connected to the proximal end of the wrist member 152. An end effector 220 is detachably connected to the distal end of the wrist member 152. The wrist member 152 includes at least one of joints, such as a pitch joint, a yaw joint, etc. The distal end of the rear-end drive assembly 110 is connected to the wrist member 152 to drive the wrist member 152 to pitch and / or yaw relative to the shaft member 151, thereby improving the mobility of the end effector 220.

[0047] In some other embodiments of this application, the shaft assembly 150 may also exclude the wrist member 152.

[0048] In some embodiments, the surgical instrument 10 is a vascular sealer. Vascular sealers can be used in remote electrosurgical procedures, such as vascular cutting and vascular closure. The end effector 220 includes a pair of clamps capable of performing opening and closing movements, a pair of sealing electrodes disposed on each clamp, and a cutting electrode disposed on one of the clamps. The clamps are used to hold the blood vessel, the sealing electrodes are used to seal the blood vessel, and the cutting electrode is used to cut the sealed blood vessel.

[0049] See Figure 1 , Figure 3 as well as Figure 8The end effector 220 is mechanically connected to the shaft assembly 150, without electrical connection. Therefore, an electrical connection structure is not required at the connection point between the end effector 220 and the shaft assembly 150, allowing for a shorter length of the distal end of the surgical instrument 10 (including the distal end of the shaft assembly 150 and the end effector 220) to accommodate specific surgical needs, such as hysterectomy. In other words, the proximal end of the end effector 220 and the distal end of the shaft assembly 150 are insulated from each other at the connection point. Furthermore, in the shaft assembly 150 with the wrist member 152, the length of the distal end of the surgical instrument 10 (including the wrist member 152 and the end effector 220) can be shortened by more than 10 mm.

[0050] For electrosurgical instruments, the end effector 220 is typically connected to an energy source via wires. Energy (such as electrical energy) is transferred to and released from the end effector 220 via the wires, enabling the end effector 220 to perform surgical operations such as tissue cutting and hemostasis. In the example where the surgical instrument 10 is a vascular sealer, the sealing electrode and the cutting electrode are connected to an energy source located proximal to the transmission assembly 210 via three wires, and are then powered by the energy source.

[0051] Connection structure between shaft assembly and end effector

[0052] To enable a detachable connection between the shaft assembly 150 and the end effector 220, in some embodiments of this application, the wrist member 152 of the shaft assembly 150 is threadedly connected to the end effector 220. This not only facilitates the installation and removal of the replaceable actuator from the shaft assembly 150, but also ensures the stability of the movement of the replaceable actuator.

[0053] See Figure 1 , Figure 8 as well as Figure 22 The wrist component 152 includes, from proximal to distal, a first joint portion 153, a second joint portion 154, and a third joint portion 155. The second joint portion 154 is rotatably connected to the first joint portion 153 about a first axis AX1 to form a pitch joint of the surgical instrument 10. The pitch joint is used to enable the end effector 220 to move in a third direction D3. The third joint portion 155 is rotatably connected to the second joint portion 154 about a second axis AX2 to form a yaw joint of the surgical instrument 10. The yaw joint is used to enable the end effector 220 to move in a fourth direction D4. The first axis AX1 intersects the second axis AX2, preferably perpendicular to each other. The proximal end of the first joint portion 153 is connected to the distal end of the shaft component 151. The distal end of the third joint portion 155 is threadedly connected to the end effector 220. Thus, the end effector 220 of the surgical instrument 10 of this embodiment has at least two degrees of freedom: pitch and yaw.

[0054] See Figure 3, Figure 4 and Figure 8 The third joint portion 155 of the wrist member 152 is provided with a threaded portion 155a. The end effector 220 may include a base 221 and a nut sleeve 223. The nut sleeve 223 is configured to rotate relative to the base 221 of the end effector 220. When the end effector 220 is assembled to the wrist member 152, the nut sleeve 223 can be fastened to the threaded portion 155a of the wrist member 152 by rotating the nut sleeve 223 in a first rotation direction (not shown). When the end effector 220 is removed from the wrist member 152, the nut sleeve 223 can be loosened from the threaded portion 155a of the wrist member 152 by rotating the nut sleeve 223 in a second rotation direction (not shown). Here, the second rotation direction is opposite to the aforementioned first rotation direction.

[0055] In other embodiments not shown, a nut sleeve may be disposed at the third joint of the wrist member. Correspondingly, a threaded portion may be disposed at the base of the end effector.

[0056] In other embodiments, the wrist member 152 and the end effector 220 can be assembled using other detachable connection methods, such as snap-fit.

[0057] See Figure 1 , Figure 3 as well as Figure 4 For example, the end effector 220 may include a base 221 and a clamp. The clamp is mounted on the base 221. The clamp may include at least one movable clamp 222. The clamp shown in the illustrated embodiment includes a movable clamp 222 and a fixed clamp 224. The fixed clamp 224 is fixedly connected to the base 221. The movable clamp 222 is pivotally connected to the base 221 about a third axis AX3 to open and close by rotating relative to the fixed clamp 224. This configuration requires manipulation of the movable clamp 222 to perform various forms of electrosurgical procedures.

[0058] Specifically, the base 221 may include two support arms 221b. The two support arms 221b have oblong grooves 221c. One end of the movable clamp 222 and one end of the fixed clamp 224 are located between the two support arms 221b. The movable clamp 222 has a cam groove 222a. The movable clamp 222 is rotatably connected to the two support arms 221b about a third axis AX3. A drive pin 225 passes through both the cam groove 222a of the movable clamp 222 and the oblong grooves 221c of the two support arms 221b. The drive pin 225 can be connected to the rear drive assembly 110 via the transmission assembly 210. The fixed clamp 224 is fixed to the support arms 221b. Driven by the rear drive assembly 110, the transmission assembly 210 applies a pushing or pulling force to the transmission pin 225, thereby causing the transmission pin 225 to move in the cam groove 222a of the movable clamp 222 and the waist-shaped groove 221c of the support arm 221b. Since the cam groove 222a has a curved surface structure, the movable clamp 222 can rotate relative to the fixed clamp 224 to realize the opening and closing of the clamp, which is convenient for operation.

[0059] The movable clamp 222 and the fixed clamp 224 may each include a sealing electrode (not shown) and a connector (not shown). The sealing electrode is located at the distal end of the connector and can be fixedly connected to the connector. The connector of the movable clamp 222 is pivotally connected to the base 221 via a pivot shaft. The connector of the movable clamp 222 has a cam groove 222a. The connector of the fixed clamp 224 is fixedly connected to the base 221 or integrally formed. The movable clamp 222 may also include a cutting electrode (not shown). The connector is constructed as an insulating member and can be made of any suitable insulating material. The sealing electrode is physically isolated from the base 221 by the connector to maintain electrical insulation between the two.

[0060] Of course, in other embodiments not shown, the end effector can have various structural forms; for example, the end effector may include two movable clamps. The two movable clamps rotate cooperatively about a third axis AX3 to achieve opening and closing. This scheme requires simultaneous manipulation of both movable clamps to perform various forms of electrosurgical procedures.

[0061] wrist support

[0062] See Figure 3 , Figure 4 as well as Figures 24 to 28The surgical instrument 10 also includes a wrist support 230. With the end effector 220 not assembled to the shaft assembly 150, the distal end of the wrist support 230 can be mounted on the base 221. With the end effector 220 assembled to the shaft assembly 150, the wrist support 230 is located in a central cavity 150a within the wrist member 152. The wrist support 230 is configured to support movement of the wrist member 152. The wrist support 230 is made of a flexible material capable of deforming under external force, allowing it to bend with pitch and / or yaw movements of the wrist member 152. Further, the base 221 may include a first mounting portion 221a. The wrist support 230 includes a second mounting portion 231. The second mounting portion 231 mates with and is connected to the first mounting portion 221a to assemble the wrist support 230 onto the base 221.

[0063] Optionally, the first assembly part 221a and the second assembly part 231 can be connected by a snap-fit ​​mechanism to facilitate the assembly of the base 221 and the wrist support 230.

[0064] exist Figure 3 and Figure 25 In the example shown, the near end of the base 221 is provided with a mounting groove. The first mounting part 221a is a snap-fit ​​hole opened on the base 221. The snap-fit ​​hole communicates radially with the mounting groove along the base 221. Two or more snap-fit ​​holes are provided in the circumferential direction of the base 221. The second mounting part 231 is constructed as a snap-fit ​​boss on the outer periphery of the distal end of the wrist support 230. The wrist support 230 is constructed integrally or at its distal end as a structure capable of elastic deformation. During the assembly of the wrist support 230 to the base 221, the snap-fit ​​boss and the snap-fit ​​hole of the base 221 are first aligned in the axial direction of the base 221. Then, the distal end of the wrist support 230 is inserted into the mounting groove. The snap-fit ​​boss first adaptively contracts radially until it aligns radially with the snap-fit ​​hole. Then, the snap-fit ​​boss springs back radially to snap into the snap-fit ​​hole. Thus, the assembly operation of the wrist support 230 and the base 221 is completed. At this time, the engagement of the snap-fit ​​hole and the snap-fit ​​boss restricts the movement of the wrist support 230 relative to the base 221 in both the axial and circumferential directions. The axial and radial directions of the base 221 are perpendicular to each other. When the surgical instrument 10 is in the illustrated position, the axial direction of the base 221 is parallel to the central axis AX of the shaft member 151, and the circumferential direction of the base 221 is, for example, the circumferential direction of a circle centered on the central axis AX of the shaft member 151. The longitudinal direction or first direction D1 of the shaft member 151 is parallel to the central axis AX of the shaft member 151.

[0065] See Figure 3 , Figures 24 to 28For example, the wrist support 230 is also provided with a wire passage for the transmission assembly 210 and the wire to pass through, guides the transmission assembly 210 and the wire, and connects the transmission assembly 210 and the wire to the end effector 220.

[0066] Optionally, the wrist support 230 may include a through-hole 230a and a first transmission through-hole 230b. The first electrical through-hole 230a is adapted to pass through a wire. The first transmission through-hole 230b is adapted to pass through an actuating element 214 of the transmission assembly 210. The actuating element 214 is used to connect to the clamp of the end effector 220. The actuating element 214 will be further described below.

[0067] Mechanical connection between transmission components and rear drive components

[0068] In order to mount the transmission assembly 210 and the end effector 220 to the rear drive assembly 110 and transmit power, the transmission assembly 210 must be mechanically connected to the rear drive assembly 110.

[0069] See Figure 1 , Figure 3 as well as Figure 4 For example, the transmission assembly 210 includes a drive rod 211 and an actuating element 214. The proximal end of the actuating element 214 is connected to the distal end of the drive rod 211. The drive rod 211 is configured to translate along a first direction D1 of the shaft member 151. The actuating element 214 is used to actuate the end effector 220 under the drive of the drive rod 211. For example, the actuating element 214 can actuate clamps to open and close or to fire staples. Optionally, such as... Figure 4 As shown, the distal end of the actuating element 214 is connected to the drive pin 225 of the end effector 220. The drive rod 211 translates along the first direction D1 toward the distal end of the shaft assembly 150, causing the actuating element 214 to drive the clamp to close. The drive rod 211 translates along the first direction D1 toward the proximal end of the shaft assembly 150, causing the drive element 214 to drive the clamp to open. In other embodiments, the drive rod 211 may also be other inserts.

[0070] See Figure 5 , Figure 7 as well as Figures 9 to 11The rear drive assembly 110 includes a mechanical connection structure for detachable connection with the drive rod 211. This mechanical connection structure includes a mounting base 112 and a locking member 111. The mounting base 112 is configured to connect to the proximal end of the drive rod 211. The locking member 111 is connected to the mounting base 112, located between the mounting base 112 and the drive rod 211, and is switchable between a locked state and an unlocked state. In the locked state, the drive rod 211 is connected to the mounting base 112, and the locking member 111 locks the drive rod 211 and the mounting base 112 so that when the mounting base 112 translates along a first direction D1, it drives the drive rod 211 to translate along the first direction D1. In the unlocked state, the mounting base 112 can be detached from the drive rod 211.

[0071] Optionally, the mounting base 112 has a first mounting hole 112a for receiving the proximal end of the drive rod 211. Here, "receiving" can be understood as insertion or insertion.

[0072] See Figure 4 , Figure 10 ,as well as Figure 11 Furthermore, the drive rod 211 includes a main body 212, a locking part 212a, and a connecting part 213 sequentially from the distal end to the proximal end. The connecting part 213 is located at the distal end or proximal end of the drive rod 211. In the locked state, the connecting part 213 is received in the first mounting hole 112a, and the locking member 111 engages the locking part, thereby locking the drive rod to the mounting base.

[0073] The orthographic projection of the connecting portion 213 in the first direction D1 completely covers and extends the orthographic projection of the locking portion 212a in the first direction D1. Specifically, the driving rod 211 can be a cylindrical rod, and the locking portion 212a and the connecting portion 213 are coaxial cylinders. The diameter of the locking portion 212a is smaller than the diameter of the connecting portion 213. Optionally, the diameter of the main body portion is the same as the diameter of the connecting portion 213, and the diameter of the locking portion 212a is smaller than the diameter of the connecting portion 213. In other words, the locking portion 212a is formed by forming a radial groove by recessing the outer peripheral surface of the driving rod 211 along the radial direction of the driving rod 211.

[0074] See Figure 5 and Figure 10 The locking member 111 includes a locking element 113 and a locking seat 114. The locking seat 114 is connected to the mounting base 112. The locking seat 114 has a second mounting hole 114a through which the drive rod 211 passes. The second mounting hole 114a is aligned with the first mounting hole 112a. The locking element 113 is movably disposed in the locking seat 114 in a second direction D2, thereby switching between an unlocked state and a locked state. The second direction D2 intersects with the first direction. Optionally, the second direction D2 is perpendicular to the first direction D1.

[0075] See Figure 5, Figures 9 to 11 The locking element 113 is a rod-shaped body with a "T" or approximately "T" shaped cross-section. The locking element 113 includes an extension 113a extending along the second direction D2 and an operating part 113b connected to the extension 113a. A first through hole 113c and a second through hole 113d are formed on the extension 113a. The first through hole 113c and the second through hole 113d can be arranged along the second direction D2. The shape and size of the first through hole 113c are configured to allow the connecting part 213 and the locking part 212a to pass through. The shape and size of the second through hole 113d are configured to lock the locking part 212a, and when the second through hole 113d is locked to the locking part 212a, neither the connecting part 213 nor the locking part 212a can pass through the second through hole 113d. In the initial state, the second through hole 113d of the locking element 113 is aligned with the first mounting hole 112a, and neither the connecting part 213 nor the axial limiting part 212a can pass through the second through hole 113d. In the installed state, the locking element 113 moves to a position where the first through hole 113c is aligned with the first mounting hole 112a, allowing the connecting part 213 to pass through. When the locking part 212a enters the first through hole 113c, the locking element 113 moves to a position where the second through hole 113d is aligned with the first mounting hole 112a, locking the locking part 212a in the second through hole 113d, thus entering the locked state. In the locked state, the locking part 212a is locked in the second through hole 113d. Even if someone accidentally pulls out the drive rod 211 or the drive rod 211 is subjected to a pulling force, the drive rod 211 is firmly locked to the mounting base 112 because the connecting part 213 cannot pass through the second through hole 113d. In the unlocked state, the locking element 113 moves to a position where the first through hole 113c is aligned with the first mounting hole 112a, so that the locking part 212a and the connecting part 213 can pass through, so as to remove the drive rod 211 from the mounting base 112.

[0076] In some specific embodiments, the diameter of the locking part 212a can be smaller than the diameter of the connecting part 213 (as described above), and the width of the first through hole 113c in the second direction D2 can be larger than the width of the second through hole 113d, thereby realizing the locking and unlocking of the drive rod 211 and the rear drive assembly 110.

[0077] See Figure 2 , Figure 5 as well as Figure 6The operating part 113b is located outside the rear drive assembly 110 and in a position accessible to the user for unlocking and locking operations. The locking member 111 may also include a reset element 115. The reset element 115 is used to apply an elastic force to the locking member 113 when the external force is removed, so that the locking member 113 returns to its initial position. The reset element 115 may be a spring disposed along the length direction of the extension 113a, i.e., the second direction D2, and optionally the reset element 115 is a compression spring. One end of the compression spring abuts against the operating part 113b, and the other end abuts against the outer surface of the locking seat 114. The first through hole 113c on the locking member 113 is located on the side of the second through hole 113d away from the interior of the device. In the initial and locked states, the compression spring is in the extended state, and under the restoring force of the compression spring, the second through hole 113d aligns with the opening. The user switches the locking member 111 to the installed and unlocked states by applying pressure to the operating part 113b. In both the installed and unlocked states, the compression spring is in a compressed state, with the first through hole 113c aligned with the opening. In the aforementioned extended state, the compression spring can have a certain amount of compression deformation. Compared to the compressed state, the compression deformation of the compression spring in the extended state is smaller.

[0078] See Figure 5 , Figure 10 ,as well as Figure 11 A guide assembly (not shown) is provided between the locking seat 114 and the locking element 113 to guide the movement of the locking element 113 between the unlocked and locked positions. Specifically, the locking element 113 has a guide hole 113e. The guide hole 113e is an oblong or elongated hole extending along the second direction D2. The locking seat 114 is provided with a guide pin 114b, which is fixedly disposed relative to the locking seat 114. The guide pin 114b passes through the guide hole 113e. The guide pin 114b slides within the guide hole 113e along the second direction D2 when the locking element 113 moves in the second direction D2. In other examples, the guide hole may be provided in the mounting portion, and the guide pin 114b may be provided in the locking element, with the guide pin slidably disposed within the guide hole along with the locking element in the second direction D2.

[0079] In other embodiments, the guide hole 113e may be replaced by a groove-shaped structure. For example, the groove-shaped structure is an oblong groove.

[0080] The mechanical connection structure of the rear drive assembly 110 of this application enables a detachable mechanical connection with the drive rod 211 of the transmission assembly 210. The rear drive assembly 110 and the drive rod 211 can be installed, locked, and unlocked by pressing the locking element 113, facilitating the installation and removal of the transmission assembly 210 from the rear drive assembly 110.

[0081] See Figure 4 , Figure 10 as well as Figure 11 The mounting base 112 has an end cap 112d near the first mounting hole 112a. The drive rod 211 also includes a limiting end 218. This limiting end 218 engages with the end cap 112d in a first direction D1 to limit the installation position of the drive rod 211 in the mounting base 112 in the first direction D1. When installing the drive rod 211, the user inserts it into the bottom of the first mounting hole 112a, and the limiting end 218 engages with the end cap 112d. The user is then aware that the drive rod 211 is in place and can perform a locking operation.

[0082] Optionally, the rear drive assembly 110 includes a base 121. The base 121 has a mounting hole 121a suitable for mounting the mounting seat 112 and the locking seat 114. The mounting hole 121a is aligned with and communicates with the central cavity 150a of the shaft assembly 150 in a first direction D1. After passing through the central cavity 150a, the transmission assembly 210 passes through the locking seat 114 at the mounting hole 121a and is mounted on the mounting seat 112.

[0083] Electrical connection between transmission components and rear drive components

[0084] In some embodiments of this application, the surgical instrument 10 is an electrosurgical instrument. When installing the transmission assembly 210 and the rear drive assembly 110, it is also necessary to electrically connect the transmission assembly 210 and the rear drive assembly 110 to supply power to the end effector 220.

[0085] See Figure 4 , Figure 10 as well as Figure 11 At least one first conductive element 116 is provided within the mounting base 112. The number of first conductive elements 116 depends on the type of surgical instrument 10; a monopolar instrument requires only one first conductive element 116, while a bipolar instrument has two. In this embodiment, three first conductive elements 116 are provided, corresponding to the two sealing electrodes and one cutting electrode on the movable clamp 222 and the fixed clamp 224, for a total of three electrodes. Each first conductive element 116 is connected to a power source via a wire. A second conductive element 219 is provided at the location of the connecting portion 213 corresponding to the first conductive element 116. In other words, the connecting portion 213 is also electrically connected to the rear drive assembly 110. Each second conductive element 219 is used for electrical connection with one first conductive element 116.

[0086] See Figure 11 and Figure 12Optionally, the first conductive element 116 is a conductive spring. The conductive spring includes a drive rod connecting portion 116a, a wire connecting portion 116b, and a mounting portion 116c. The mounting portion 116c fixes the conductive spring to the inner wall of the mounting base, specifically, it can be embedded in a mounting groove 112c opened in the mounting base. The wire connecting portion 116b is electrically connected to a wire to receive electrical energy from a power source. The wire connecting portion 116b can be specifically configured with a clamping shape to accommodate and fix the wire. In the unassembled state, the drive rod connecting portion 116a is suspended in the first mounting hole 112a. In the assembled state, the drive rod 211 enters the first mounting hole 112a, and the drive rod connecting portion 116a is electrically connected to the second conductive element 219.

[0087] See Figure 4 , Figure 10 , Figure 11 as well as Figure 13 The second conductive element 219 can be constructed as a conductive metal ring. The conductive metal ring is sleeved on the outside of the rod of the connecting part 213 and is limited and fitted to the connecting part 213 along the axial or length direction of the main body 212 to prevent the conductive metal ring from shifting relative to the connecting part 213 during the process of the drive rod 211 being inserted into the first connecting hole 112a.

[0088] The transmission assembly 210 may also include a wire (not shown) located inside the main body 212. One end of the wire is electrically connected to the end effector 220. The other end of the wire is electrically connected to the second conductor 219. With the proximal end of the drive rod 211 connected to the first mounting hole 112a and abutting against the end cap 112d, the second conductor 219 contacts and conducts electricity to the first conductor 116. That is, the wire for connecting to the end effector 220 and the second conductor 219 runs from inside the main body 212.

[0089] See Figures 9 to 11 Furthermore, the end cap 112d has a wire-passing hole 112e. An external wire passes through the wire-passing hole 112e and is connected to the first conductive element 116.

[0090] See Figure 10 , Figure 11 as well as Figure 13In some embodiments, three wire-passing holes 112e are provided in the end cap 112d. Correspondingly, three conductive springs serving as the first conductive element 116 and three conductive metal rings serving as the second conductive elements 219 are each provided. Three external wires or three wires of the same wire each pass through the wire-passing hole 112e and are connected to the first conductive element 116. The three second conductive elements 219 are each connected to the three electrodes of the end effector 220 through wires passing through the interior of the main body 212. The three second conductive elements 219 are arranged sequentially along the first direction D1 and are insulated from each other in pairs. Further, for ease of wiring, the three second conductive elements 219 are arranged at intervals along the circumferential direction of the drive rod 211.

[0091] See Figures 9 to 11 as well as Figure 13 For example, the mounting base 112 is rotatably connected to the locking base 114 about a central axis AX parallel to the first direction D1. The mounting base 112 may include a first circumferential limiting portion (not shown). The limiting end 218 of the drive rod 211 is provided with a second circumferential limiting portion 218a. In the example where the main body 212 of the drive rod 211 is a cylindrical rod, the second circumferential limiting portion 218a is anti-rotatingly engaged with the first circumferential limiting portion in the circumferential direction of the main body 212, so that the mounting base 112 rotates with the drive rod 211 relative to the locking base 114. This prevents the first conductive element 116 and the second conductive element 219 from rotating relative to each other, thereby reducing wear on the first conductive element 116 and the second conductive element 219.

[0092] Optionally, the first circumferential limiting portion is a first groove formed on the inner surface of the end cap 112d. The second circumferential limiting portion 218a is a first boss provided on the outer circumferential surface of the limiting end 218. The cooperation between the first groove and the first boss can prevent the drive rod 211 from rotating relative to the mounting base 112.

[0093] See Figure 9 Furthermore, the surgical instrument 10 may also include a resilient reset member 119. The resilient reset member 119 is connected between the mounting base 112 and the locking base 114 to apply an elastic force to the mounting base 112 in the circumferential direction of the main body 212. The resilient reset member 119 ensures that the mounting base 112 automatically resets after the transmission assembly 210 is disassembled. For example, the resilient reset member 119 may be a torsion spring. One end of the torsion spring is mounted on the mounting base 112, and the other end is mounted on the locking base 114.

[0094] Please refer to Figure 14In some other embodiments of this application, the locking seat 114 and the mounting seat 112 are fixedly connected. The mounting seat 112 can only translate along with the locking seat 114 in the first direction D1 and cannot rotate. The drive rod 211 rotates relative to the mounting seat 112 and the locking seat 114 while being driven to rotate by the anti-rotation component described later. This scheme has a simple structure, and experiments have verified that during the rotation of the drive rod 211 relative to the mounting seat 112 and the locking seat 114, the second conductive element 219 rotates relative to the first conductive element 116, and no adverse effects such as resistance changes occur on the second conductive element 219 and the first conductive element 116.

[0095] Arrangement of pulleys for winding cables

[0096] Some embodiments of this application also provide a wiring configuration for a back-end driver component that can be used in cable-driven surgical instruments.

[0097] See Figures 15 to 18 The rear drive assembly 110 may include a first rotating member 135, a second rotating member 136, a first cable 132, a second cable 133, a first guide member 123, and a second guide member 126. The first cable 132 is wound around the first rotating member 135 and enters the shaft assembly 150 via the first guide member 123. During rotation of the first rotating member 135, the first cable 132 can be wound or unwound on the first rotating member 135. The second cable 133 is wound around the second rotating member 136 and enters the shaft assembly 150 via the second guide member 126. During rotation of the second rotating member 136, the second cable 133 can be wound or unwound on the second rotating member 136. The first guide member 123 and the second guide member 126 are disposed near the shaft assembly 150. The first guide member 123 and the second guide member 126 are spaced apart in the circumferential direction of the shaft assembly 150, and a space 110a is defined between the first guide member 123 and the second guide member 126 for the drive rod 211 to pass through.

[0098] The rotation axes of the first rotating member 135 and the second rotating member 136 are arranged parallel to the shaft assembly 150. Therefore, the first cable 132 and the second cable 133 extend in a plane perpendicular to or intersecting with the shaft assembly 150, and enter the shaft assembly 150 via the first guide member 123 and the second guide member 126 located near the shaft assembly 150, extending along the axial direction of the shaft assembly 150. The axial direction of the shaft assembly 150 is the first direction D1. Since the first guide member 123 and the second guide member 126 are located on the path from the drive rod 211 to the mounting base 112, the diameter of the drive rod 211 cannot be too small to ensure strength. If the positions of the first guide member 123 and the second guide member 126 are not properly positioned, it will lead to difficulties in connecting or assembling the drive rod 211 and the mounting base 112, and will hinder the translation of the drive rod 211. According to the embodiments of this application, by rationally designing the distribution positions of the first guide member 123 and the second guide member 126, a space 110a is left between the first guide member 123 and the second guide member 126 for the drive rod 211 to pass through. This facilitates the connection or assembly of the drive rod 211 with the mounting base 112 while ensuring smooth translation of the drive rod 211. This is particularly beneficial when the transmission assembly 210 is a replaceable actuator or part of a replaceable actuator, making the replacement of the transmission assembly 210 easier.

[0099] Specifically, the base 121 of the rear drive assembly 110 may include an opening 121d suitable for the transmission assembly 210 to pass through. This opening 121d extends through the distal end of the base 121 along a first direction D1. The opening 121d is closer to the distal end of the base 121 in the first direction D1 than the aforementioned mounting hole 121a. The aforementioned mounting hole 121a is located at the proximal end of the base 121. The opening 121d is aligned with or opposite to the mounting hole 121a in the first direction D1 and communicates with it. The first cable 132 and the second cable 133 enter the shaft assembly 150 through this opening 121d. A first guide 123 and a second guide 126 are disposed at the edge of the opening 121d. The first guide 123 and the second guide 126 can be disposed on opposite sides of the opening 121d to leave space 110a for the drive rod 211 to pass through, or they can be disposed on the same side of the opening 121d, as long as space 110a is provided. The first guide member 123 and the second guide member 126 can be located at the same height in the first direction, or at different heights in the second direction, but in cases where... Figure 16 and Figure 18 From a top-down perspective, the space 110a between the first guide member 123 and the second guide member 126 does not obstruct the passage of the drive rod 211.

[0100] In such Figure 17In this embodiment, the rear drive assembly 110 includes two first guides 123 and two second guides 126. A first end of a first cable 132 is connected to one of the two first guides 123, and a second end is connected to one of the two second guides 126. That is, the first cable 132 originates from the first rotating member 135 and branches into the central cavity 150a of the shaft assembly 150 in two paths. One path of the two first cables 132 enters the central cavity 150a of the shaft assembly 150 via the first pulley group 122. The other path of the two first cables 132 enters the central cavity 150a of the shaft assembly 150 via the second pulley group 125. A second cable 133 has a first end connected to the other of the two first guides 123 and a second end connected to the other of the two second guides 126. That is, the second cable 133 originates from the second rotating member 136 and branches into the central cavity 150a of the shaft assembly 150 in two paths. One path of the two second cables 133 enters the central cavity 150a of the shaft assembly 150 via the first pulley group 122. Another path of the two second cables 133 enters the central cavity 150a of the shaft assembly 150 via the second pulley group 125. The two first guide members 123 are two coaxially arranged fixed pulleys (also referred to as the first pulley group 122). The two second guide members 126 are two coaxially arranged fixed pulleys (also referred to as the second pulley group 125). The first pulley group 122 and the second pulley group 125 are spaced apart in the circumferential direction of the shaft assembly 150 outside the opening 121d, with a space 110a between them for the drive rod 211 to pass through. The first cable 132 and the second cable 133 are a pair of cables controlling the movement of the wrist member. In other embodiments, the first cable 132 and the second cable 133 may also be cables used to control the movement of the end effector 220. The first pulley group 122 and the second pulley group 125 may be mounted on the base 121 of the rear drive assembly 110.

[0101] Furthermore, the first cable 132 connecting the first rotating member 135 and the first guide member 123 and / or the second cable 133 connecting the second rotating member 136 and the second guide member 126 must also avoid the space 110a. That is, the first cable 132 located between the first rotating member 135 and the first guide member 123 and / or the second cable 133 located between the second rotating member 136 and the second guide member 126 are routed around the space 110a reserved for the drive rod 211 to pass through. Optionally, the route is routed around the opening 121d.

[0102] In some embodiments, due to the positional constraints of the rotating member and the guide member, the connection between the rotating member and the guide member may pass through the space 110a / opening 121d. Therefore, a deflector can be provided to change the cable path for wiring around the periphery of the space 110a / opening 121d. For example, the first guide member 123 is located on the side of the opening 121d away from the first rotating member 135 and the second rotating member 136. A first deflector 124 is provided between the first rotating member 135 and the first guide member 123. The first deflector 124 may be located on the side of the first guide member 123 away from the opening 121d. The cable between the first rotating member 135 and the first guide member 123 is wound around the first deflector 124. The first deflector 124 is used to reverse the direction of the cable between the first rotating member 135 and the first guide member 123, so that the cable can avoid the opening 121d and can be wound tangentially around the fixed pulley that serves as the first guide member 123. Since the cable changes direction via the first deflector 124 and connects to the first guide 123, it avoids space 110a / opening 121d, thereby reducing or preventing interference between the cable and the drive rod 211. The cable here can be the first cable 132 and / or the second cable 133. Correspondingly, a second deflector 127 can also be provided between the second rotating member 136 and the second guide 126. The second deflector 127 can be located on the side of the second guide 126 away from the opening 121d. The cable located between the second rotating member 136 and the second guide 126 is wound around the second deflector 127. The cable changes direction via the second deflector 127 and connects to the second guide 126. That is, the second deflector 127 is used to reverse the direction of the cable between the second rotating member 136 and the second guide 126. By providing the second deflector 127, the cable, after passing through the second deflector 127, can be wound tangentially around the fixed pulley that serves as the second guide 126. In an embodiment where the second guide 126 is located on the side of the opening 121d away from the first rotating member 135 and the second rotating member 136, the reversing action of the second guide 126 can also allow the cable to avoid the space 110a / opening 121d, thereby reducing or avoiding interference between the cable and the drive rod 211. The cable here can be the first cable 132 and / or the second cable 133.

[0103] exist Figure 16 and Figure 17In the example shown, the first guide 123 is located on the side of the opening 121d away from the first rotating member 135 and the second rotating member 136. The first deflector 124 not only serves to change the direction of the cable but also allows the cable to avoid the opening 121d / space 110a by changing its trajectory. The second guide 126 is located on the side of the opening 121d closer to the first rotating member 135 and the second rotating member 136. The cable located between the second guide 126 and the second rotating member 136 can avoid the space 110a / opening 121d. Those skilled in the art will understand that the second deflector 127 can be omitted. In some embodiments, adding the second deflector 127 can reduce or prevent the cable from detaching from / deviating from the second guide 126, i.e., it can reduce the angle at which the cable enters the second guide 126, allowing the cable to be held more stably and reliably in the second guide 126.

[0104] Specifically, in order to reserve space 110a for the drive rod 211 to pass through, the arrangement of the second guide member 126 may result in a large angle between the line connecting the rotating member and the guide member and the guide surface of the second guide member 126 (the plane perpendicular to the axis of the guide member in the cable mounting section), causing the cable to be subjected to a large torque during use. By providing the second deflector 127, the angle between the extension direction of the cable passing through the second deflector 127 and the guide surface of the second guide member 126 is reduced, thereby reducing the torque on the cable during use and extending the service life of the cable.

[0105] See Figure 16 and Figure 17Depending on the actual wiring configuration, the rear-end transmission assembly 210 may further include two first steering members 124 and two second steering members 127. For example, the first end of the first cable 132 is wound around one of the two first guide members 123 via one of the two first steering members 124, and the first end of the second cable 133 is wound around the other of the two first guide members 123 via the other of the two first steering members 124. The second end of the first cable 132 is wound around one of the two second guide members 126 via one of the two second steering members 127, and the second end of the second cable 133 is wound around the other of the two second guide members 126 via the other of the two second steering members 127. The two first steering members 124 are two coaxially arranged fixed pulleys (also called first steering pulley group 139). The two second guide members 126 are two coaxially arranged fixed pulleys (also called second steering pulley group 141). In other embodiments, the two first guide members 123 may not be two fixed pulleys arranged coaxially, but rather their positions may be relatively close, or on the same side of the opening 121d, or other suitable situations, and they may also share the first steering pulley group 139. The two second guide members 126 may not be two fixed pulleys arranged coaxially, but rather their positions may be relatively close, or on the same side of the through hole, or other suitable situations, and they may also share the second steering pulley group 141.

[0106] Optionally, in the first steering pulley assembly 139, the two first steering members 124 may not be two fixed pulleys arranged coaxially, but rather their positions may be relatively close, or they may be on the same side of the first guide member 123, or other suitable situations. In the second steering pulley assembly 141, the two second steering members 127 may not be two fixed pulleys arranged coaxially, but rather their positions may be relatively close, or they may be on the same side of the second guide member 126, or other suitable situations.

[0107] Please refer to Figure 18In other embodiments of this application, an alternative wiring method is provided, but the above arrangement also applies. The first cable 132 and the second cable 133 may also be wound around different steering members. For example, the first cable 132 includes opposing first and second portions. The first portion of the first cable 132 is sequentially wound around the first rotating member 135, one of the two first steering members 124, and one of the two first guide members 123, and extends toward the interior of the shaft assembly 150. The second portion of the first cable 132 is sequentially wound around the first rotating member 135, the other of the two first steering members 124, and the other of the two first guide members 123, and extends toward the interior of the shaft assembly 150. The first portion of the first cable 132 and the second portion of the first cable 132 have different winding directions on the first rotating member 135. During the rotation of the first rotating member 135, the first portion of the first cable 132 is wound (or released) by the first rotating member 135, while the second portion of the first cable 132 is released (or wound) by the first rotating member 135. Accordingly, the wiring method of the second cable 133 in the second rotating member 136, the two second turning members 127, and the two second guide members 126 can be arranged with reference to the wiring method of the first cable 132 in the first rotating member 135, the two first turning members 124, and the two first guide members 123.

[0108] The base 121 is equipped with the aforementioned locking member 111 and mounting base 112. The base 121 has a groove (not shown) extending along a first direction D1. The locking seat 114 of the locking member 111 has a slider (not shown). The slider slides in the groove in the first direction D1 to guide the locking seat 114 to move linearly relative to the base 121 in the first direction D1.

[0109] See Figure 15 To shorten the length of the first cable 132 located between the first rotating member 135 and the first steering member 124, and to reduce interference between the first cable 132 and the base 121, a first clearance space 121b can be provided in the base 121 for the first cable 132 to move through. The first clearance space 121b can be, for example, a first clearance groove or a first clearance hole, or a similar empty structure. Correspondingly, a second clearance space 121c can be provided in the base 121 for the second cable 133 to move through. The second clearance space 121c can be, for example, a second clearance groove or a second clearance hole, or a similar empty structure.

[0110] See Figure 19In addition, the rear drive assembly 110 may also include a third pulley block 128, a third rotating member 137, and a third cable 134. The third pulley block 128 is disposed on the base 121. The third pulley block 128 may include at least two third guide members 129. The third cable 134 passes around each of the third guide members 129 and at least one third deflector member 131. In the embodiment, the third guide members 129 and the third deflector member 131 are both fixed pulleys. A locking member 111 is movably disposed on the base 121 along a first direction D1 and connected to the third cable 134. When the third rotating member 137 rotates, the third cable 134 drives the locking member 111 to move relative to the base 121 along the first direction D1, thereby driving the transmission assembly 210 and the end effector 220 to move relative to the base 121 along the first direction D1. The third rotating member 137 is rotatably disposed on the base 121. The third rotating member 137 is used to connect to the drive device. Furthermore, the third rotating member 137 can be configured to rotate relative to the base 121 about its own axis under the action of the driving device. The axis of rotation of the third rotating member 137 is parallel to the first and second rotating members. In this embodiment, the driving device may be, for example, a drive motor. Both ends of the third cable 134 are wound around the third rotating member 137, and the winding directions of the two ends of the third cable 134 on the third rotating member 137 are opposite. In other words, when the third rotating member 137 rotates about its own axis, one end of the third cable 134 is pulled in while the other end is released.

[0111] It is understood that the function of the third rotating member 137 is to guide the third cable 134 to connect with the locking member 111, so that the locking member 111, the transmission assembly 210 and the end effector 22 can move along the first direction D1 as the third rotating member 137 rotates.

[0112] In a specific example, the third pulley assembly 128 may include two third guide members 129. The two third guide members 129 are spaced apart along a first direction D1. A third cable 134 passes around each of the two third guide members 129 and connects to a locking member 111. The connection point of the third cable 134 and the locking member 111 is located between the two third guide members 129 in the first direction D1. When the third rotating member 137 rotates, for example, counterclockwise, one end of the third cable 134 is pulled in, and the other end is released. When the third rotating member 137 rotates, for example, clockwise, the other end of the third cable 134 is pulled in, and the other end is released.

[0113] In this embodiment, a third steering member 131 is provided. The third steering member 131 is located between one of the two third guide members 129 and the third rotating member 137. The function of the third steering member 131 is to change the wiring position of the third cable 134 between the third guide member 129 and the first rotating member 135, thereby reducing or avoiding interference between the two third guide members 129 and the third rotating member 137.

[0114] Anti-rotation component between transmission assembly and shaft assembly

[0115] When the drive rod 211 in the transmission assembly 210 is locked in the rear drive assembly 110, its rotation is circumferentially hindered by the locking friction, causing the drive rod 211 to not rotate with the shaft assembly 150 during rotation. However, the distal end of the actuator 214 of the transmission assembly 210 is connected to the end effector 220. During the rotation of the shaft assembly 150, the end effector 220 and the actuator 214 will rotate with the shaft assembly 150. As a result, the proximal end of the actuator 214 connected to the drive rod 211 will remain stationary relative to the drive rod 211, while the distal end of the actuator 214 rotates with the end effector 220, which can lead to torsion and damage to the actuator 214.

[0116] To solve the above problems, see Figures 20 to 28 The surgical instruments also include an anti-rotation component (not indicated) that connects the transmission component to the shaft assembly 150 so that the transmission component 210 rotates with the shaft assembly 150.

[0117] The anti-rotation assembly may include a first anti-rotation member 217 and a second anti-rotation member 157. The second anti-rotation member 157 is disposed at the distal end of the shaft assembly 150. In an embodiment including a wrist member 152, the second anti-rotation member 157 is disposed at the proximal end of the wrist member 152. The proximal end of the second anti-rotation member 157 is fixedly connected to the shaft assembly 150 to rotate with the shaft assembly 150. The distal end of the second anti-rotation member 157 is connected to the wrist member 152 or the end effector 220 to directly or indirectly drive the end effector 220 to rotate. The proximal end of the first anti-rotation member 217 is fixedly connected to a drive rod 211 to drive the drive rod 211 to rotate. The distal end of the first anti-rotation member 217 is located above the second anti-rotation member 157 at the upper limit of the circumferential direction of the shaft assembly 150 to rotate with the second anti-rotation member 157. In other words, the first anti-rotation member 217 is fixed relative to the second anti-rotation member 157 in the circumferential direction of the shaft assembly 150. Alternatively, the first anti-rotation member 217 may be engaged with the second anti-rotation member 157 in the circumferential direction of the shaft assembly 150.

[0118] See Figure 20 and Figure 21Optionally, the proximal end of the second anti-rotation member 157 is connected to the shaft member 151. The distal end of the second anti-rotation member 157 is connected to the wrist member 152. A first lug 157b and a second lug 157f are provided on the outer surface of the second anti-rotation member 157. The first lug 157b and the second lug 157f are disposed opposite to each other at both ends of the second anti-rotation member 157. The first lug 157b is fixedly connected to the outer tube of the shaft member 151. The second lug 157f is fixedly connected to the first joint portion 153 of the wrist member 152. A receiving cavity 157c is provided inside the second anti-rotation member 157. The first anti-rotation member 217 is disposed in the receiving cavity 157c. Two limiting grooves are formed on the side wall of the receiving cavity 157c. The outer surface of the first anti-rotation member 217 has two limiting protrusions at locations corresponding to the two limiting grooves. The two limiting grooves engage with the two limiting protrusions on the first anti-rotation member 217, fixing, limiting, or preventing rotation of the second anti-rotation member 157 and the first anti-rotation member 217 in the circumferential direction of the shaft assembly 150. In other embodiments, the number of limiting grooves and limiting protrusions can be other than two, such as one, three, or more.

[0119] In an embodiment not shown, the first anti-rotation member may be provided with a limiting groove. Correspondingly, the second anti-rotation member is provided with a limiting protrusion.

[0120] like Figure 20 As shown, optionally, a first groove 151a is provided on the shaft member 151 corresponding to the first lug 157b. The first groove 151a is adapted to accommodate the first lug 157b, thereby limiting the second anti-rotation member 157 circumferentially within the shaft member 151. The first groove 151a and the first lug 157b can be fixed together by means of adhesive or the like. A second groove 153a is provided on the wrist member 152 corresponding to the second lug 157f. The second groove 153a is adapted to accommodate the second lug 157f, thereby limiting the second anti-rotation member 157 circumferentially within the wrist member 152. The second groove 153a and the second lug 157f can be fixed together by means of adhesive or the like.

[0121] Furthermore, the anti-rotation component must not impede the movement of the transmission component 210 along the first direction D1. For this, see [reference needed]. Figure 22 and Figure 23In this embodiment, the second anti-rotation member 157 is slidably connected to the first anti-rotation member 217 along the first direction D1. Optionally, the two limiting grooves extend a certain length in the first direction D1, allowing the limiting protrusion to move within the limiting grooves along the first direction D1. The two limiting grooves also guide the translation of the first anti-rotation member 217 along the first direction D1. During the opening and closing of the clamp driven by the rear drive assembly 110, the drive rod 211 translates along the first direction D1 under the driving force of the rear drive assembly 110, and drives the actuator 214 and the first anti-rotation member 217 to translate. Since the second anti-rotation member 157 is slidably connected to the first anti-rotation member 217 along the first direction D1, the transmission assembly 210 is allowed to translate as a whole. In other embodiments, the second anti-rotation member 157 may be provided with a protrusion, the first anti-rotation member 217 may be provided with a groove, or other methods may be used to achieve circumferential limiting and allow axial relative movement.

[0122] Optionally, the proximal end of the first anti-rotation member 217 is inserted into the drive rod 211 and is fixedly connected to the main body 212 of the drive rod 211 by a connecting pin 215, so as to ensure that the first anti-rotation member 217 and the main body 212 can rotate synchronously.

[0123] See Figures 24 to 26 The first anti-rotation member 217 may have a second transmission through-hole 217c. The second transmission through-hole 217c is located at the center of the first anti-rotation member 217 and is coaxially arranged with the shaft assembly 150. The actuating element 214 is disposed in the second transmission through-hole 217c of the first anti-rotation member 217, passes through the first anti-rotation member 217 and is connected to the drive rod 211, or the actuating element 214 is connected to the first anti-rotation member 217 through the second transmission through-hole 217c. The second transmission through-hole 217c is aligned with the first transmission through-hole 230b of the wrist support member 230. The first anti-rotation member 217 may also include a second electrical through-hole 217b and a cable positioning groove 217d. The second electrical through-hole 217b is located at the distal end of the first anti-rotation member 217, and the cable positioning groove 217d is located on the outer surface of the first anti-rotation member 217. The wires are threaded through the second electrical via 217b and partially accommodated in the cable positioning groove 217d. They are also limited by the second electrical via 217b and the cable positioning groove 217d to prevent multiple wires from interfering with each other. In addition, the second electrical via 217b is aligned with the first electrical via 230a of the wrist support 230 to thread the wires.

[0124] See Figure 27 and Figure 28 In another example, the first anti-rotation element 217 may also be without the second electrical via 217b.

[0125] Guide structure between transmission components and shaft components

[0126] See Figure 8,as well as Figures 24 to 28 The limiting protrusion or groove provided on the first anti-rotation member 217 can be referred to as the first limiting part 217a. The limiting groove or protrusion provided on the second anti-rotation member 157 can be referred to as the second limiting part 157a. In order to facilitate the installation of the transmission component 210 on the shaft assembly 150, the embodiments of this application provide an installation guide part 152a on the inner wall of the wrist member 152, which engages with the first limiting part 217a for guiding the installation of the transmission component 210. Optionally, the installation guide part 152a is provided along the first direction D1 along the entire length of the wrist member 152, and the wrist member 152 has a trumpet-shaped opening 152c, the proximal or distal end of which is connected to a straight guide groove 152b. In other words, the installation guide part 152a is a guide groove, which is provided through the wrist member 152 along the first direction D1. The guide groove includes the trumpet-shaped opening 152c and the straight guide groove 152b. The flared opening 152c is located at the end of the straight guide groove 152b. The flared opening 152c is provided because the mounting guide 152a breaks off at the interval between the first joint portion 153 and the second joint portion 154, and / or the mounting guide 152a breaks off at the interval between the third joint portion 155 and the second joint portion 154, thereby allowing the limiting protrusion to enter the next section of the straight guide groove more smoothly through the guiding action of the flared opening 152c. The flared opening 152c is located at the distal end of the second joint portion 154 and / or the distal end of the first joint portion 153. Further, the flared opening 152c can also be located at the proximal end of the second joint portion 154 and / or the proximal end of the third joint portion 155. Correspondingly, the first limiting portion 217a adopts the aforementioned limiting protrusion, and the second limiting portion 157a adopts the aforementioned limiting groove. When assembling the transmission assembly 210 with the shaft assembly 150, the limiting protrusion aligns with the guide groove or is aligned in the first direction D1. The limiting protrusion enters the narrowed straight guide groove 152b through the flared opening 152c, and then enters the limiting groove, thereby completing the positioning and assembly of the first anti-rotation member 217. When disassembling the transmission assembly 210 from the shaft assembly 150, the limiting protrusion exits through the flared opening 152c into a section of the straight guide groove 152b, then enters another section of the straight guide groove 152b through another flared opening 152c, and finally exits from the wrist member 152.

[0127] Instrument sealing components

[0128] See Figure 8 , Figure 20 , Figure 22 as well as Figure 23The surgical instrument 10 of this application embodiment further includes an instrument sealing member. The instrument sealing member includes a first sealing sleeve 156 disposed between the second anti-rotation member 157 and the outer tube of the shaft member 151. The second anti-rotation member 157 includes a first portion 157d connected to the outer tube of the shaft member 151 and a second portion 157e located within the outer tube of the shaft member 151. In embodiments where the second anti-rotation member 157 is configured with a circular or nearly circular cross-section, the outer diameter of the second portion 157e located within the outer tube of the shaft member 151 is smaller than the outer diameter of the first portion 157d connected to the outer tube of the shaft member 151. That is, the outer diameter of the first portion 157d of the second anti-rotation member 157 is larger than the outer diameter of the second portion 157e. The first sealing sleeve 156 is fitted onto the second portion 157e of the second anti-rotation member 157, thereby sealing the space between the second anti-rotation member 157 and the shaft member 151. On the second anti-rotation member 157, a step is formed between the first part 157d and the second part 157e, which have different diameters, to limit the first sealing sleeve in the first direction D1. Other methods can also be used to limit the first sealing sleeve 156, which will not be listed here.

[0129] See Figures 20 to 28 The instrument sealing component also includes a second sealing sleeve 240 disposed between the second anti-rotation member 157 and the drive rod 211. The distal end of the drive rod 211 is provided with a circumferentially extending mounting groove 212d, and the second sealing sleeve 240 is fitted into the mounting groove 212d of the drive rod 211 and is limited by the mounting groove 212d.

[0130] The first sealing sleeve 156 and the second sealing sleeve 240 can prevent liquids such as tissue fluid from flowing from the central cavity 150a of the shaft assembly 150 to the proximal end, thus preventing contamination of the instrument's interior. In the case of an energy-powered surgical instrument, they can also prevent liquid from flowing into the instrument's interior and causing a short circuit.

[0131] Furthermore, the first sealing sleeve 156 and the second sealing sleeve 240 are located at the same or substantially the same position in the axial direction of the shaft assembly 150. That is, in the first direction D1, the first sealing sleeve 156 and the second sealing sleeve 240 at least partially overlap. With the first sealing sleeve 156 on the outside and the second sealing sleeve 240 on the inside, they cooperate to achieve the purpose of double sealing and improve the sealing capability of the instrument sealing component.

[0132] Optionally, the first sealing sleeve 156 and the second sealing sleeve 240 described above can be made of a flexible and elastic material such as rubber that meets medical standards, so that they can be securely fitted onto the second anti-rotation member 157 and the drive rod 211 while providing a good sealing effect.

[0133] In some embodiments of this application, the surgical instrument 10 may include a replaceable actuating component and a reusable rear-end assembly. The replaceable actuating component is detachably mounted on the reusable rear-end assembly so that it can be replaced. The replaceable actuating component includes, for example, the drive assembly and end effector described above. The drive assembly is connected to the end effector. The reusable rear-end assembly includes, for example, the rear-end drive assembly and shaft assembly described above. The rear-end drive assembly is connected to the shaft assembly. When the replaceable actuating component is installed onto the reusable rear-end assembly, the drive assembly is first inserted into the shaft assembly and the proximal end of the drive assembly is assembled to the rear-end drive assembly, and then the shaft assembly is assembled with the end effector, thereby completing the assembly of the replaceable actuating component and the reusable rear-end assembly.

[0134] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Terms such as “setup” appearing herein can refer to either a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment herein may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0135] This application has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Those skilled in the art will understand that many more variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A surgical instrument, characterized in that, The surgical instruments include: Backend driver components; A transmission assembly, connected to the rear drive assembly, the transmission assembly including a drive rod; and An end effector, the end effector being connected to the distal end of the drive assembly; The backend driver component includes: Mounting bracket, configured to connect to the proximal end of the drive rod; and A locking member is connected to the mounting base and is switchable between a locked state and an unlocked state. In the locked state, the locking member locks the drive rod to the mounting base so that the drive rod can translate with the mounting base in a first direction. In the unlocked state, the drive rod can disengage from the mounting base in the first direction.

2. The surgical instrument according to claim 1, characterized in that, The mounting base has a first mounting hole for the proximal end of the drive rod to pass through. The drive rod includes a locking portion. In the locked state, the proximal end of the drive rod is located in the first mounting hole. The locking member is limited and engaged with the locking portion in the first direction to lock the drive rod and the mounting base.

3. The surgical instrument according to claim 2, characterized in that, The drive rod includes a main body and a connecting part. The locking part is provided at the proximal end of the main body and is connected to the distal end of the connecting part. The orthographic projection of the connecting part in the first direction completely covers and exceeds the orthographic projection of the locking part in the first direction.

4. The surgical instrument according to claim 3, characterized in that, The locking member includes a locking element having a through hole for a drive rod to pass through. The through hole includes a first through hole and a second through hole that are connected to each other. The first through hole and the second through hole are arranged along a second direction that intersects the first direction. The first through hole is configured to allow the connecting portion and the locking portion to pass through in the first direction. The second through hole is configured to limit the locking portion in the first direction to prevent the connecting portion and the locking portion from passing through in the first direction. In the unlocked state, the first through hole is aligned with the first mounting hole in the first direction; in the locked state, the second through hole is aligned with the first mounting hole in the first direction.

5. The surgical instrument according to claim 4, characterized in that, The locking member further includes a locking seat, and the locking element is movably connected to the locking seat along a second direction between an unlocked position and a locked position. The locking element has a through hole for a drive rod to pass through, and the drive rod is inserted into a first mounting hole of the mounting seat through the through hole in the locking element. The second direction intersects the first direction. In the unlocked state, the locking element allows the locking part to move in the through hole along the first direction; in the locked state, the locking element prevents the locking part from moving in the through hole along the first direction.

6. The surgical instrument according to claim 5, characterized in that, The locking component further includes a reset element for returning the locking component from the unlocked state to the locked state.

7. The surgical instrument according to any one of claims 1 to 6, characterized in that, The mounting base has a first mounting hole for the proximal end of the drive rod to pass through; The surgical instrument further includes a first conductive element, which is disposed on the mounting base, and at least a portion of the first conductive element is located within the first mounting hole; A second conductive element is provided on the outer periphery of the proximal end of the drive rod corresponding to the first conductive element. The second conductive element is configured to be electrically connected to the first conductive element, and the second conductive element is electrically connected to the end effector via a wire located on the drive rod.

8. The surgical instrument according to claim 7, characterized in that, The first conductive element is a conductive spring, which includes a drive rod connecting part, a wire connecting part, and a mounting part. The drive rod connecting part is suspended in the first mounting hole to electrically connect to the second conductive element. The mounting part is fixedly connected to the inner wall of the mounting base. The wire connecting part is used to fix and conductively connect to the wire; and / or The drive rod includes a connecting portion for insertion into the first mounting hole, and the second conductive element is a conductive metal ring located on the connecting portion. The conductive metal ring is connected to the connecting portion in the length direction of the connecting portion and is used to electrically connect to the first conductive element.

9. The surgical instrument according to claim 7, characterized in that, The mounting base is provided with a first circumferential limiting part inside; The proximal end of the drive rod includes a limiting end, which is adapted to be inserted into the first mounting hole. The outer periphery of the limiting end is provided with a second circumferential limiting portion, which is anti-rotationally engaged with the first circumferential limiting portion. The surgical instrument further includes a resilient reset element and a locking seat, the drive rod passing through the locking seat and connected to the mounting seat, the mounting seat being rotatably connected to the locking seat, and the resilient reset element being connected to the locking seat and the mounting seat to generate a reset torque when the mounting seat rotates relative to the locking seat.

10. The surgical instrument according to claim 7, characterized in that, The surgical instrument also includes a locking seat, through which the drive rod is connected to the mounting seat, and the drive rod is rotatable relative to the locking seat and the mounting seat, the mounting seat being fixed to the locking seat.

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