Surgical instrument

Abstract

A surgical instrument is provided. A surgical instrument includes a rear end drive assembly, a shaft assembly, a transmission assembly, an end effector, and a rotation stop assembly. The shaft assembly is connected to the rear end driving assembly. The transmission assembly comprises a driving rod which is arranged in the shaft assembly in a penetrating mode and is rotatably connected to the rear end driving assembly. The end effector is connected to the transmission assembly. The rotation stopping assembly is connected with the driving rod and the shaft assembly so that the driving rod can rotate along with the shaft assembly. Under the condition that the driving rod of the transmission assembly is locked at the driving assembly at the rear end, the rotation stopping assembly is arranged between the driving rod and the shaft assembly, so that the driving rod can rotate along with the shaft assembly, an actuating element of the transmission assembly is prevented from being damaged due to torsion relative to the driving rod, and the purpose of protecting the transmission assembly is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical instruments, and more particularly to a surgical instrument. BACKGROUND

[0002] In minimally invasive surgery, an electrosurgical instrument such as a vessel sealer can be used to transect and / or seal tissue. The electrosurgical instrument includes a cutting electrode and a bipolar sealing electrode. The cutting electrode can cut tissue by a high energy density surface. The bipolar sealing electrode is used to join two target tissues contacted thereby to achieve sealing of a window.

[0003] However, there are many deficiencies and room for improvement in the surgical instrument such as the vessel sealer in the related art. SUMMARY

[0004] A series of concepts in simplified form are introduced in the summary section, which will be further described in detail in the specific embodiments section. The summary section of the present application is not intended to mean trying to limit the key features and essential technical features of the claimed technical solutions, nor trying to determine the protection scope of the claimed technical solutions.

[0005] To at least partially solve the above problems, the present application provides a surgical instrument, which comprises:

[0006] a rear-end driving assembly;

[0007] a shaft assembly connected to the rear-end driving assembly;

[0008] a transmission assembly comprising a driving rod penetrating in the shaft assembly and rotatably connected to the rear-end driving assembly;

[0009] an end effector connected to the transmission assembly; and

[0010] a rotation-stopping assembly connecting the driving rod and the shaft assembly to make the driving rod rotate with the shaft assembly.

[0011] According to the surgical instrument of the present application, in the case that the driving rod of the transmission assembly is locked in the rear-end driving assembly, by arranging the rotation-stopping assembly between the driving rod and the shaft assembly, the driving rod can rotate with the shaft assembly, thereby preventing the actuating element of the transmission assembly from being damaged due to torsion relative to the driving rod, and achieving the purpose of protecting the transmission assembly. BRIEF DESCRIPTION OF DRAWINGS

[0012] The following drawings of the embodiments of the present application are hereby incorporated into the present application as a part of the present application for understanding the present application. The embodiments of the present application and the description thereof shown in the drawings are used to explain the principles of the present application. In the drawings,

[0013] Figure 1 A perspective view of a surgical instrument according to some embodiments of the present application;

[0014] Figure 2 A front view of a surgical instrument according to some other embodiments of the present application;

[0015] Figure 3 A perspective view of a distal end of a transmission assembly and an end effector in an assembled state according to some embodiments of the present application;

[0016] Figure 4 A front view of a transmission assembly and an end effector in an assembled state according to some embodiments of the present application;

[0017] Figure 5 A sectional view along line A-A in Figure 2 ;

[0018] Figure 6 A front view of a rear drive assembly and a shaft assembly in an assembled state in Figure 1 and Figure 2 ;

[0019] Figure 7 A sectional view along line B-B in Figure 6 ;

[0020] Figure 8 A perspective view of a proximal end of a shaft assembly in Figure 1 with a portion cut away and exposing a partial central lumen;

[0021] Figure 9 A perspective view of a proximal end of a transmission assembly and a locking member in an assembled state according to some embodiments of the present application;

[0022] Figure 10 A perspective view of a proximal end of a drive rod of a transmission assembly and a locking member in a disassembled state as shown in Figure 9 ;

[0023] Figure 11 Another perspective view of a proximal end of a drive rod of a transmission assembly and a locking member in a disassembled state as shown in Figure 9 ;

[0024] Figure 12 A structural schematic view of a first conductive member in Figure 11 ;

[0025] Figure 13 A structural schematic view of a proximal end of a drive rod of a transmission assembly in Figure 10 and Figure 11 ;

[0026] Figure 14 perspective view of the proximal end of the drive assembly and the locking member in the mounted state according to some embodiments of the present application;

[0027] Figure 15 perspective view of the proximal end of the drive assembly and the shaft assembly in the mounted state according to some embodiments of the present application, without the cables shown;

[0028] Figure 16 top view of the drive assembly according to some embodiments of the present application after the seat of the cut-out portion, with the first cable and the second cable shown;

[0029] Figure 17 is a partial enlarged view of I in Figure 16

[0030] Figure 18 top view of the drive assembly according to some embodiments of the present application after the seat of the cut-out portion, with the first cable and the second cable shown;

[0031] Figure 19 top view of the drive assembly according to some embodiments of the present application after the seat of the cut-out portion

[0032] Figure 20 schematic structural view of the proximal end of the surgical instrument according to some embodiments of the present application in the disassembled state of the second rotation stop and the shaft member;

[0033] Figure 21 is a perspective view of the second rotation stop in Figure 20

[0034] Figure 22 is a cross-sectional view of the proximal end of the surgical instrument shown in Figure 20

[0035] Figure 23 is a cross-sectional view of the proximal end of the shaft assembly in Figure 20

[0036] Figure 24 is a perspective view of the proximal end of the drive rod, the second sealing sleeve, the wrist support, the actuation element and the proximal end of the end effector shown in Figure 4

[0037] Figure 25 is a perspective view of the proximal end of the drive rod, the second sealing sleeve, the wrist support, the actuation element and the proximal end of the end effector shown in Figure 24

[0038] Figure 26 is​​​​​​Figure 24 Another perspective view of the proximal end of the drive rod, the second sealing sleeve, the wrist support, the actuation element and the proximal end of the end effector in a disassembled state;

[0039] Figure 27 A perspective view of the proximal end of the drive rod, the second sealing sleeve, the wrist support, the actuation element and the proximal end of the end effector in an assembled state according to further embodiments of the present application;

[0040] Figure 28 A perspective view of the proximal end of the drive rod, the second sealing sleeve, the wrist support, the actuation element and the proximal end of the end effector in a disassembled state. Figure 27 A perspective view of the proximal end of the drive rod, the second sealing sleeve, the wrist support, the actuation element and the proximal end of the end effector in a disassembled state. DETAILED DESCRIPTION

[0041] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application can be practiced without one or more of these specific details. In other instances, well-known features have not been described in detail so as not to unnecessarily obscure the present application.

[0042] In order to thoroughly understand the present application, detailed structures will be presented in the following description. It is obvious that the implementation of the present application is not limited to the special details familiar to those skilled in the art.

[0043] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0044] The terms "proximal", "proximally", "distal" and "distally" are used herein with respect to a clinician manipulating a handle portion of a surgical instrument. The term "proximal" / "proximally" refers to the portion closest to the clinician and the term "distal" / "distally" refers to the portion positioned away from the clinician.

[0045] The ordinal numbers such as "first" and "second" cited in the present application are merely identifiers and have no other meaning, such as a particular order, etc. Also, for example, the term "first means" does not imply, by itself, the existence of a "second means", and the term "second means" does not imply, by itself, the existence of a "first means". It is to be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", and similar expressions used in the present application are for illustrative purposes only and are not limiting.

[0046] The "parallel" / "perpendicular" and similar expressions used in the present application include an absolute parallel / perpendicular relationship and an approximate parallel / perpendicular relationship (for example, a relationship within a range of -5° to +5° from the absolute parallel / perpendicular), which can have an equivalent effect.

[0047] Hereinafter, a detailed description will be made of the specific embodiments of the present application with reference to the accompanying drawings, which illustrate representative embodiments of the present application and are not intended to limit the present application.

[0048] The embodiments of the present application provide a surgical instrument. The surgical instrument can be a vessel sealer, a stapler, a clip applier, an ultrasonic knife, etc.

[0049] The embodiments of the present application provide a surgical instrument. The surgical instrument can be a vessel sealer, a stapler, a clip applier, an ultrasonic knife, etc.

[0050] Please refer to Figures 1 to 4Some embodiments of the surgical instrument 10 provided by the present application include a rear-end driving assembly 110, a shaft assembly 150, a transmission assembly 210, and an end effector 220. The rear-end driving assembly 110 is configured to transmit power output by a power source. A proximal end of the shaft assembly 150 is connected to the rear-end driving assembly 110. The rear-end driving assembly 110 can drive the shaft assembly 150 to rotate. The transmission assembly 210 is configured to pass through the shaft assembly 150. A proximal end of the transmission assembly 210 is detachably connected to the rear-end driving assembly 110. A 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 is capable of connecting the rear-end driving assembly 110 and the end effector 220. In a state where the shaft assembly 150 is actuated to rotate by the rear-end driving assembly 110, the end effector 220 rotates with the shaft assembly 150. The end effector 220 can include tools for performing surgical operations on tissues of a living body, such as hooking, scooping, needling, clamping, shearing, gripping, and the like. The transmission assembly 210 is configured to transmit power output by the rear-end driving assembly 110 to the end effector 220 to drive the end effector 220 to perform corresponding surgical operations. The surgical operations performed by the end effector 220 can include, for example, opening and closing of clamps, sealing of sealing electrodes, cutting of cutting electrodes, and the like. The transmission assembly 210 can include push-pull rods, wires, ropes, belts, and the like.

[0051] Surgical instruments in the related art are difficult to clean after use due to the fine structure of the end effector. Therefore, the surgical instruments are usually designed to be discarded as a whole after being used once, which increases the cost of surgery. According to some embodiments of the present application, the end effector 220 and the transmission assembly 210 are replaceable execution assemblies and are detachably connected to the shaft assembly 150 and the rear-end driving assembly 110, respectively. After being used, the surgical instrument 10 can only replace the replaceable execution assemblies, and the rear-end driving assembly 110 and the shaft assembly 150 can be reused within a specified service life. On the one hand, the safety of surgery can be improved, and on the other hand, the use cost of the surgical instrument 10 can be reduced. The replaceable execution assemblies can be replaced after being used once, or can be replaced after being used a predetermined number of times, or can be replaced when they are not used a predetermined number of times but are difficult to meet the standard for being used again through current disinfection, cleaning, and the like.

[0052] As Figure 7 and Figure 8As shown, the shaft assembly 150 has a central lumen 150a. The transmission assembly 210 is configured to pass through the central lumen 150a. The shaft assembly 150 can include a shaft member 151 and a wrist member 152. A proximal end of the shaft member 151 is connected to the rear end drive assembly 110. A distal end of the shaft member 151 is connected to a proximal end of the wrist member 152. A distal end of the wrist member 152 is detachably connected to the end effector 220. The wrist member 152 includes at least one of a pitch joint, a yaw joint, or the like. A 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.

[0053] In some embodiments of the present application, the shaft assembly 150 can not include the wrist member 152.

[0054] In some embodiments, the surgical instrument 10 is a vessel sealer. The vessel sealer can be used in the operation of remote electrosurgery, such as vessel cutting and vessel sealing. The end effector 220 includes a pair of jaws that can perform opening and closing motion, a pair of sealing electrodes disposed on the pair of jaws respectively, and a cutting electrode disposed on one of the jaws. The pair of jaws are used to clamp a blood vessel, the sealing electrodes are used to seal the blood vessel, and the cutting electrode is used to cut the sealed blood vessel.

[0055] Referring to Figure 1 , Figure 3 and Figure 8 , the end effector 220 is only mechanically connected to the shaft assembly 150 at the connection therebetween, and is not electrically connected. Thus, no electrical connection structure is needed at the connection between the end effector 220 and the shaft assembly 150, and the length of the distal end of the surgical instrument 10 (including the distal end of the shaft assembly 150 and the end effector 220) can be shortened to meet the requirements of special surgeries, such as hysterectomy. In other words, the end effector 220 and the shaft assembly 150 are insulated from each other at the connection between the proximal end of the end effector 220 and the distal end of the shaft assembly 150. Further, 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.

[0056] For an electrosurgical instrument, it is also necessary to connect the end effector 220 to an energy source through a wire, and energy (such as electrical energy) is transmitted to the end effector 220 through the wire and released so that the end effector 220 can perform cutting, hemostasis, and other surgical operations on tissues. In the example where the surgical instrument 10 is a vessel sealer, the sealing electrodes and the cutting electrode are connected to the energy source at the proximal end of the transmission assembly 210 through three wires, and are fed with power by the energy source.

[0057] Connection structure of shaft assembly and end effector

[0058] To achieve detachable connection of the shaft assembly 150 and the end effector 220, the wrist member 152 of the shaft assembly 150 of some embodiments of the present application is threadedly connected with the end effector 220. This not only facilitates detachable replacement of the end effector 220 from the shaft assembly 150, but also ensures stability of movement of the end effector 220.

[0059] Referring to Figure 1 , Figure 8 and Figure 22 , the wrist member 152 comprises, in sequence from the proximal end to the distal end, 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 configured to enable movement of the end effector 220 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 configured to enable movement of the end effector 220 in a fourth direction D4. The first axis AX1 and the second axis AX2 intersect, preferably, perpendicularly to each other. The proximal end of the first joint portion 153 is connected to the distal end of the shaft member 151. The distal end of the third joint portion 155 is threadedly connected with the end effector 220. Thus, the end effector 220 of the surgical instrument 10 of the present embodiment has at least two degrees of freedom, i.e. pitch and yaw.

[0060] Referring to 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 can comprise a base 221 and a nut sleeve 223. The nut sleeve 223 is configured to be rotatable relative to the base 221 of the end effector 220. In assembling the end effector 220 to the wrist member 152, the nut sleeve 223 can be tightened to the threaded portion 155a of the wrist member 152 by rotating the nut sleeve 223 in a first rotation direction (not shown). In disassembling the end effector 220 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). The second rotation direction is opposite to the first rotation direction.

[0061] In other embodiments not shown, the nut sleeve can be provided on the third joint portion of the wrist member. Correspondingly, the threaded portion can be provided on the base of the end effector.

[0062] In other embodiments, the wrist member 152 and the end effector 220 can be assembled using other detachable connection means, such as a snap fit.

[0063] Referring to Figure 1 , Figure 3 and Figure 4 , for example, the end effector 220 can include a base 221 and a jaw. The jaw is mounted on the base 221. The jaw can include at least one movable jaw 222. The illustrated embodiment shows the jaw including one movable jaw 222 and one fixed jaw 224. The fixed jaw 224 is fixedly connected with the base 221. The movable jaw 222 is pivotally connected with the base 221 about a third axis AX3 to rotate relative to the fixed jaw 224 to achieve opening and closing. This scheme requires manipulation of the movable jaw 222 to perform various forms of electrosurgery.

[0064] In particular, the base 221 can include two arms 221b. The two arms 221b are provided with a waist-shaped slot 221c. One end of the movable jaw 222 and one end of the fixed jaw 224 are located between the two arms 221b. The movable jaw 222 is provided with a cam slot 222a. The movable jaw 222 is rotatably connected with the two arms 221b about the third axis AX3. A transmission pin 225 passes through the cam slot 222a of the movable jaw 222 and the waist-shaped slot 221c of the two arms 221b at the same time. The transmission pin 225 can be connected with the rear-end drive assembly 110 via the transmission assembly 210. The fixed jaw 224 is fixed to the arm 221b. Under the drive of the rear-end drive assembly 110, a pushing force or a pulling force is applied to the transmission pin 225 through the transmission assembly 210 to drive the transmission pin 225 to move in the cam slot 222a of the movable jaw 222 and the waist-shaped slot 221c of the two arms 221b. Since the cam slot 222a has a curved surface structure, the movable jaw 222 can be rotated relative to the fixed jaw 224 to achieve opening and closing of the jaw, facilitating manipulation.

[0065] In particular, the base 221 can include two arms 221b. The two arms 221b are provided with a waist-shaped slot 221c. One end of the movable jaw 222 and one end of the fixed jaw 224 are located between the two arms 221b. The movable jaw 222 is provided with a cam slot 222a. The movable jaw 222 is rotatably connected with the two arms 221b about the third axis AX3. A transmission pin 225 passes through the cam slot 222a of the movable jaw 222 and the waist-shaped slot 221c of the two arms 221b at the same time. The transmission pin 225 can be connected with the rear-end drive assembly 110 via the transmission assembly 210. The fixed jaw 224 is fixed to the arm 221b. Under the drive of the rear-end drive assembly 110, a pushing force or a pulling force is applied to the transmission pin 225 through the transmission assembly 210 to drive the transmission pin 225 to move in the cam slot 222a of the movable jaw 222 and the waist-shaped slot 221c of the two arms 221b. Since the cam slot 222a has a curved surface structure, the movable jaw 222 can be rotated relative to the fixed jaw 224 to achieve opening and closing of the jaw, facilitating manipulation.

[0066] In particular, the base 221 can include two arms 221b. The two arms 221b are provided with a waist-shaped slot 221c. One end of the movable jaw 222 and one end of the fixed jaw 224 are located between the two arms 221b. The movable jaw 222 is provided with a cam slot 222a. The movable jaw 222 is rotatably connected with the two arms 221b about the third axis AX3. A transmission pin 225 passes through the cam slot 222a of the movable jaw 222 and the waist-shaped slot 221c of the two arms 221b at the same time. The transmission pin 225 can be connected with the rear-end drive assembly 110 via the transmission assembly 210. The fixed jaw 224 is fixed to the arm 221b. Under the drive of the rear-end drive assembly 110, a pushing force or a pulling force is applied to the transmission pin 225 through the transmission assembly 210 to drive the transmission pin 225 to move in the cam slot 222a of the movable jaw 222 and the waist-shaped slot 221c of the two arms 221b. Since the cam slot 222a has a curved surface structure, the movable jaw 222 can be rotated relative to the fixed jaw 224 to achieve opening and closing of the jaw, facilitating manipulation.

[0067] Wrist support

[0068] Referring to Figure 3 , Figure 4 and Figures 24 to 28 , the surgical instrument 10 further comprises a wrist support 230. In a state where the end effector 220 is not assembled to the shaft assembly 150, a distal end of the wrist support 230 is mountable to the base 221. In a state where the end effector 220 is assembled to the shaft assembly 150, the wrist support 230 is located in a central cavity 150a inside the wrist member 152. The wrist support 230 is configured to be able to support the wrist member 152 movement. The wrist support 230 is made of a flexible material that is able to be deformed under external force, so that the wrist support 230 is able to bend along with the pitch movement and / or yaw movement of the wrist member 152, etc. Further, the base 221 can comprise a first assembly portion 221a. The wrist support 230 comprises a second assembly portion 231. The second assembly portion 231 cooperates with the first assembly portion 221a and is connected to each other to assemble the wrist support 230 on the base 221.

[0069] Optionally, the first assembly portion 221a and the second assembly portion 231 can be snap-fit connection, facilitating the assembly of the base 221 and the wrist support 230.

[0070] In Figure 3 and Figure 25 , the proximal end of the base 221 is provided with an assembly slot. The first assembly portion 221a is a clamping hole formed on the base 221. The clamping hole is communicated to the assembly slot along the radial direction of the base 221. The clamping hole is provided with two or more than two in the circumferential direction of the base 221. The second assembly portion 231 is configured as a clamping boss on the outer periphery of the distal end of the wrist support 230. The wrist support 230 as a whole or the distal end of the wrist support 230 is configured to be elastically deformed. In the process of assembling the wrist support 230 to the base 221, first align the clamping boss and the clamping hole of the base 221 in the axial direction of the base 221, then insert the distal end of the wrist support 230 into the assembly slot, the clamping boss is adaptively radially contracted first, until the clamping boss is aligned with the clamping hole in the radial direction, the clamping boss is reset in the radial direction to be clamped into the clamping hole. At this time, the assembly operation of the wrist support 230 and the base 221 is completed. At this time, through the cooperation of the clamping hole and the clamping boss, the movement of the wrist support 230 relative to the base 221 in the axial direction and the circumferential direction of the base 221 can be limited. Wherein, the axial direction of the base 221 and the radial direction are perpendicular to each other. When the surgical instrument 10 is in the state shown in the figure, 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 with the central axis AX of the shaft member 151 as the center. The length direction or the first direction D1 of the shaft member 151 is parallel to the central axis AX of the shaft member 151.

[0071] Referring to Figure 3 , Figures 24 to 28 For example, the wrist support 230 is further provided with a wire passage for the transmission assembly 210 and the wire, which guides the transmission assembly 210 and the wire and connects the transmission assembly 210 and the wire to the end effector 220.

[0072] Optionally, the wrist support 230 can include a first electrical via 230a and a first transmission via 230b. The first electrical via 230a is adapted to pass the wire. The first transmission via 230b is adapted to pass the actuating element 214 of the transmission assembly 210. The actuating element 214 is used to connect the clamp of the end effector 220, which will be further described below.

[0073] Mechanical connection of the transmission assembly and the rear-end driving assembly

[0074] In order to install the transmission assembly 210 and the end effector 220 to the rear-end driving assembly 110 and transmit power, at least the transmission assembly 210 needs to be mechanically connected to the rear-end driving assembly 110.

[0075] Referring to Figure 1 , Figure 3 and Figure 4 For example, the transmission assembly 210 includes a driving rod 211 and an actuating element 214. The proximal end of the actuating element 214 is connected to the distal end of the driving rod 211. The driving rod 211 is configured to be translatable along the first direction D1 of the shaft member 151. The actuating element 214 is used to actuate the end effector 220 to move under the drive of the driving rod 211. For example, the actuating element 214 can actuate the clamp to open and close or fire the anastomosis needle, etc. Optionally, as shown in Figure 4 , the distal end of the actuating element 214 is connected to the transmission pin 225 of the end effector 220. The driving rod 211 is translated along the first direction D1 towards the distal end of the shaft assembly 150, which drives the actuating element 214 to drive the clamp to close. The driving rod 211 is translated along the first direction D1 towards the proximal end of the shaft assembly 150, which drives the actuating element 214 to drive the clamp to open. In other embodiments, the driving rod 211 can also be other inserts.

[0076] Referring to Figure 5 , Figure 7 and Figures 9 to 11The rear end driving assembly 110 comprises a mechanical connection structure for detachable connection with the driving rod 211. The mechanical connection structure comprises a mounting seat 112 and a locking member 111. The mounting seat 112 is configured to be connected with the proximal end of the driving rod 211. The locking member 111 is connected to the mounting seat 112 and located between the mounting seat 112 and the driving rod 211, and is switchable between a locked state and an unlocked state. In the locked state, the driving rod 211 is connected to the mounting seat 112, and the locking member 111 locks the driving rod 211 and the mounting seat 112, so that the mounting seat 112 drives the driving rod 211 to translate in the first direction D1 when the mounting seat 112 translates in the first direction D1. In the unlocked state, the mounting seat 112 can be separated from the driving rod 211.

[0077] Optionally, the mounting seat 112 is provided with a first mounting hole 112a for receiving the proximal end of the driving rod 211. Here, the receiving can be understood as inserting or penetrating.

[0078] Referring to Figure 4 , Figure 10 , and Figure 11 , further, the driving rod 211 comprises, in sequence from the distal end to the proximal end, a main body portion 212, a locking portion 212a, and a connecting portion 213. The connecting portion 213 is located at the distal end or proximal end of the driving rod 211. In the locked state, the connecting portion 213 is accommodated in the first mounting hole 112a, and the locking member 111 stops the locking portion, thereby locking the driving rod and the mounting seat.

[0079] The connecting portion 213 completely covers and exceeds the 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 that of the connecting portion 213, and the diameter of the locking portion 212a is smaller than that of the connecting portion 213. In other words, the locking portion 212a is formed by recessing a radial groove on the outer circumferential surface of the driving rod 211 along the radial direction of the driving rod 211.

[0080] Referring to Figure 5 and Figure 10 , the locking member 111 comprises a locking element 113 and a locking seat 114. The locking seat 114 is connected with the mounting seat 112. The locking seat 114 is provided with a second mounting hole 114a for the driving rod 211 to pass through. The second mounting hole 114a is aligned with the first mounting hole 112a. The locking element 113 is movably arranged in the locking seat 114 in the second direction D2, thereby switching between the unlocked state and the locked state. The second direction D2 intersects the first direction. Optionally, the second direction D2 is perpendicular to the first direction D1.

[0081] Referring to Figure 5、 Figures 9 to 11 The locking element 113 is a rod-shaped body with a cross-section in the shape of a "T" or substantially in the shape of a "T". The locking element 113 comprises an extension 113a extending in the second direction D2 and an operation portion 113b connected to the extension 113a. The extension 113a is provided with a first through hole 113c and a second through hole 113d connected to each other. The first through hole 113c and the second through hole 113d are arranged in the second direction D2. The first through hole 113c is shaped and sized to allow the connecting portion 213 and the locking portion 212a to pass through. The second through hole 113d is shaped and sized to allow the locking portion 212a to be clamped, and when the second through hole 113d is clamped with the locking portion 212a, neither the connecting portion 213 nor the locking portion 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 portion 213 nor the axial limiting portion 212a can pass through the second through hole 113d. In the installed state, the locking element 113 is moved to a position where the first through hole 113c is aligned with the first mounting hole 112a to allow the connecting portion 213 to pass through. When the locking portion 212a enters the first through hole 113c, the locking element 113 is moved to a position where the second through hole 113d is aligned with the first mounting hole 112a, the locking portion 212a is clamped in the second through hole 113d, and the state is changed to the locked state. In the locked state, the locking portion 212a is clamped in the second through hole 113d, and even if someone accidentally pulls the driving rod 211 or the driving rod 211 is subjected to a pulling force, the connecting portion 213 cannot pass through the second through hole 113d, thereby firmly locking the driving rod 211 in the mounting seat 112. In the unlocked state, the locking element 113 is moved to a position where the first through hole 113c is aligned with the first mounting hole 112a to allow the locking portion 212a and the connecting portion 213 to pass through, so as to disassemble the driving rod 211 from the mounting seat 112.

[0082] In some specific embodiments, the diameter of the locking portion 212a can be made smaller than the diameter of the connecting portion 213 (as described above), and the width of the first through hole 113c in the second direction D2 can be made larger than the second through hole 113d, to achieve the locking and unlocking of the driving rod 211 and the rear end driving assembly 110 as described above.

[0083] Referring to Figure 2 、 Figure 5 and Figure 6The operation portion 113b is located outside the rear end driving assembly 110 and at a position accessible by a user for unlocking and locking operation. The locking member 111 can further comprise a reset element 115. The reset element 115 is configured to apply an elastic force to the locking element 113 to return the locking element 113 to the initial position when the external force is removed. The reset element 115 can be a spring arranged along the length direction of the extension portion 113a, i.e. the second direction D2. Optionally, the reset element 115 is a compression spring. One end of the compression spring is in abutment with the operation portion 113b, and the other end is in abutment with the outer surface of the locking seat 114. The first through hole 113c on the locking element 113 is located on the side of the second through hole 113d away from the interior of the instrument. In the initial state and the locked state, the compression spring is in an extended state, and the second through hole 113d is aligned with the opening under the restoring force of the compression spring. The user can apply a pressing force to the operation portion 113b to switch the locking member 111 to the mounted state and the unlocked state. In the mounted state and the unlocked state, the compression spring is in a compressed state, and the first through hole 113c is aligned with the opening. In the extended state described above, the compression spring can have a certain amount of compression deformation. The compression deformation of the compression spring in the extended state is smaller than that in the compressed state.

[0084] Referring to Figure 5 , Figure 10 , and Figure 11 , a guide assembly (not shown) is arranged between the locking seat 114 and the locking element 113 to guide the movement of the locking element 113 between the unlocked position and the locked position. Specifically, a guide hole 113e is formed on the locking element 113. The guide hole 113e is a waist-shaped hole or an oblong hole extending in the second direction D2. The locking seat 114 is provided with a guide pin 114b fixedly arranged relative to the locking seat 114. The guide pin 114b is arranged in the guide hole 113e. The guide pin 114b slides in the second direction D2 in the guide hole 113e when the locking element 113 moves in the second direction D2. In other examples, the guide hole can be arranged on the mounting portion, and the guide pin 114b can be arranged on the locking element and slidably arranged in the guide hole in the second direction D2.

[0085] In other embodiments, the guide hole 113e can be replaced by a groove-like structure. For example, the groove-like structure is a waist-shaped groove.

[0086] The mechanical connection structure of the rear end driving assembly 110 of the present application can achieve detachable mechanical connection with the driving rod 211 of the transmission assembly 210. The mounting, locking and unlocking of the rear end driving assembly 110 and the driving rod 211 can be achieved by pressing the locking element 113, which facilitates the mounting and dismounting of the transmission assembly 210 on the rear end driving assembly 110.

[0087] Referring to Figure 4 , Figure 10 and Figure 11 , the proximal end of the mounting base 112 corresponding to the first mounting hole 112a is an end cap 112d. The drive rod 211 further comprises a limiting end portion 218. The limiting end portion 218 is in limiting cooperation with the end cap 112d in the first direction D1 to define the mounting position of the drive rod 211 in the mounting base 112 in the first direction D1. When the user is mounting the drive rod 211, the drive rod 211 is inserted to the bottom of the first mounting hole 112a, and the limiting end portion 218 is combined with the end cap 112d, so that the user can realize that the drive rod 211 has been mounted in place, and thus the locking operation can be performed.

[0088] Optionally, the rear-end drive assembly 110 comprises a seat body 121. The seat body 121 has an assembly hole 121a suitable for mounting the mounting base 112 and the locking seat 114. The assembly hole 121a is aligned and communicated with the central cavity 150a of the shaft assembly 150 in the first direction D1. After the transmission assembly 210 passes through the central cavity 150a, it passes through the locking seat 114 at the assembly hole 121a and is assembled to the mounting base 112.

[0089] Electrical connection of the transmission assembly and the rear-end drive assembly

[0090] In some embodiments of the present application, the surgical instrument 10 is an electrosurgical instrument. When the transmission assembly 210 and the rear-end drive assembly 110 are mounted, the transmission assembly 210 and the rear-end drive assembly 110 also need to be electrically connected to supply power to the end effector 220.

[0091] Referring to Figure 4 , Figure 10 and Figure 11 , at least one first conductive member 116 is arranged in the mounting base 112. The number of the first conductive members 116 depends on the type of the surgical instrument 10. A single-pole instrument only needs one first conductive member 116, and a bipolar instrument needs two first conductive members 116. In the present embodiment, three first conductive members 116 are arranged corresponding to the three electrodes on the movable jaw 222 and the fixed jaw 224. Each first conductive member 116 is connected to a power source through a wire. The part of the connecting portion 213 corresponding to the first conductive member 116 is provided with a second conductive member 219. In other words, the connecting portion 213 is also electrically connected to the rear-end drive assembly 110. Each second conductive member 219 is used to electrically connect to one first conductive member 116.

[0092] Referring to Figure 11 and Figure 12Optionally, the first conductive member 116 is a conductive spring. The conductive spring includes a driving 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 seat, and can be embedded in the mounting groove 112c formed in the mounting seat. The wire connecting portion 116b is electrically connected to the wire to receive electric energy from the power supply. The wire connecting portion 116b can be configured in the shape of a clamping opening to accommodate and fix the wire. In the unassembled state, the driving rod connecting portion 116a is suspended in the first mounting hole 112a. In the assembled state, the driving rod 211 enters the first mounting hole 112a, and the driving rod connecting portion 116a is electrically connected to the second conductive member 219.

[0093] Referring to Figure 4 , Figure 10 , Figure 11 and Figure 13 , the second conductive member 219 can be configured as a conductive metal ring. The conductive metal ring is sleeved on the outside of the connecting portion 213 and is limitedly fitted to the connecting portion 213 along the axial or length direction of the main body portion 212 to prevent displacement of the conductive metal ring relative to the connecting portion 213 during insertion of the driving rod 211 into the first mounting hole 112a.

[0094] The transmission assembly 210 can further include a wire (not shown) located inside the main body portion 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 conductive member 219. In the state that the proximal end of the driving rod 211 is connected to the first mounting hole 112a and abuts against the end cover 112d, the second conductive member 219 contacts and conducts electricity to the first conductive member 116. That is, the wire for connecting to the end effector 220 and the second conductive member 219 is routed from the inside of the main body portion 212.

[0095] Referring to Figures 9 to 11 , further, the end cover 112d is provided with a wire passing hole 112e. The external wire passes through the wire passing hole 112e and is connected to the first conductive member 116.

[0096] Referring to Figure 10 , Figure 11 and Figure 13In some embodiments, three wire-through holes 112e are provided on the end cover 112d. Correspondingly, three conductive springs as the first conductive members 116 and three conductive metal rings as the second conductive members 219 are provided respectively. Three external wires or three wires of the same wire are connected to the first conductive members 116 by passing through the wire-through holes 112e respectively. The three second conductive members 219 are connected to the three electrodes of the end effector 220 by wires passing through the interior of the main body 212 respectively. The three second conductive members 219 are arranged in sequence along the first direction D1 and insulated from each other. Further, for the convenience of wiring, the three second conductive members 219 are arranged at intervals along the circumferential direction of the driving rod 211.

[0097] Referring to Figures 9 to 11 and Figure 13 For example, the mounting seat 112 is rotatably connected to the locking seat 114 about a central axis AX parallel to the first direction D1. The mounting seat 112 can include a first circumferential limiting portion (not shown). The limiting end portion 218 of the driving rod 211 is provided with a second circumferential limiting portion 218a. In the example where the main body 212 of the driving rod 211 is a cylindrical rod, the second circumferential limiting portion 218a is rotationally fitted to the first circumferential limiting portion along the circumferential direction of the main body 212, so that the mounting seat 112 rotates with the driving rod 211 relative to the locking seat 114. In this way, the first conductive members 116 and the second conductive members 219 can be prevented from rotating relative to each other, so as to reduce the wear of the first conductive members 116 and the second conductive members 219.

[0098] Alternatively, the first circumferential limiting portion is a first groove formed on the inner surface of the end cover 112d. The second circumferential limiting portion 218a is a first boss provided on the outer circumferential surface of the limiting end portion 218. The cooperation of the first groove and the first boss can prevent the driving rod 211 from rotating relative to the mounting seat 112.

[0099] Referring to Figure 9 In addition, the surgical instrument 10 can further include a resilient restoring member 119. The resilient restoring member 119 is connected between the mounting seat 112 and the locking seat 114 to apply an elastic force along the circumferential direction of the main body 212 to the mounting seat 112. The resilient restoring member 119 can ensure that the mounting seat 112 is automatically restored after the transmission assembly 210 is disassembled. For example, the resilient restoring member 119 can be a torsion spring. One end of the torsion spring is mounted on the mounting seat 112, and the other end of the torsion spring is mounted on the locking seat 114.

[0100] Referring to Figure 14In some embodiments of the present application, the locking seat 114 is fixedly connected with the mounting seat 112. The mounting seat 112 can only translate with the locking seat 114 in the first direction D1 and cannot rotate. The driving rod 211 is driven to rotate by the rotation-stopping assembly to be described later while rotating relative to the mounting seat 112 and the locking seat 114. This scheme is simple in structure, and experiments have verified that in the process of the driving rod 211 rotating relative to the mounting seat 112 and the locking seat 114, the second conductive member 219 rotates relative to the first conductive member 116, and no adverse effects such as resistance change of the second conductive member 219 and the first conductive member 116 are caused.

[0101] Arrangement for pulley around cable

[0102] Some embodiments of the present application also provide a wiring form of a rear-end driving assembly, which can be used in a cable-driven surgical instrument.

[0103] Referring to Figures 15 to 18 The rear-end driving assembly 110 can 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 inside of 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 released on the first rotating member 135. The second cable 133 is wound around the second rotating member 136 and enters the inside of 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 released on the second rotating member 136. The first guide member 123 and the second guide member 126 are arranged proximally of the shaft assembly 150. The first guide member 123 and the second guide member 126 are arranged in a 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 driving rod 211 to pass through.

[0104] The rotation axes of the first rotation member 135 and the second rotation member 136 are parallel to the shaft assembly 150. Therefore, the first cable 132 and the second cable 133 extend in a plane perpendicular or intersecting the shaft assembly 150, change direction via the first guide member 123 and the second guide member 126 disposed proximally of the shaft assembly 150 into the shaft assembly 150, and extend in 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 disposed in the path of the driving rod 211 connecting to the mounting seat 112, in order to ensure strength, the diameter of the driving rod 211 cannot be too small. If the positions of the first guide member 123 and the second guide member 126 are not reasonably designed, it will cause difficulty in connecting or assembling the driving rod 211 and the mounting seat 112, and the translation of the driving rod 211 is hindered. According to the embodiments of the present application, by reasonably 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 driving rod 211 to pass through, which facilitates the connection or assembly of the driving rod 211 and the mounting seat 112 while ensuring smooth translation of the driving rod 211. Especially in the case where the transmission assembly 210 is a replaceable execution assembly or a part of a replaceable execution assembly, the replacement of the transmission assembly 210 is facilitated.

[0105] Specifically, the seat body 121 of the rear-end driving assembly 110 can include an opening 121d adapted to pass through the transmission assembly 210. The opening 121d here penetrates the distal end of the seat body 121 in the first direction D1. The opening 121d is closer to the distal end of the seat body 121 than the aforementioned assembly hole 121a in the first direction D1. The aforementioned assembly hole 121a is located at the proximal end of the seat body 121. The opening 121d is aligned or opposite to the assembly hole 121a in the first direction D1 and communicates with each other. The first cable 132 and the second cable 133 pass through the opening 121d into the shaft assembly 150, and the first guide member 123 and the second guide member 126 are disposed at the edges of the opening 121d. The first guide member 123 and the second guide member 126 can be disposed on the two sides of the opening 121d respectively to leave a space 110a for the driving rod 211 to pass through, or can be disposed on the same side of the opening 121d as long as the space 110a can be left. The first guide member 123 and the second guide member 126 can be located at the same height in the first direction, or can be located at different heights in the second direction, but in the top view as shown in Figure 16 and Figure 18 the space 110a between the first guide member 123 and the second guide member 126 does not hinder the passage of the driving rod 211.

[0106] In the top view as shown in Figure 17In some embodiments, the rear end drive assembly 110 includes two first guides 123 and two second guides 126. The first cable 132 has a first end connected to one of the two first guides 123 and a second end connected to one of the two second guides 126. That is, the first cable 132 is split into two paths from the first pulley 135 into the central cavity 150a of the shaft assembly 150. One of the two paths of the first cable 132 passes through the first pulley set 122 into the central cavity 150a of the shaft assembly 150. The other of the two paths of the first cable 132 passes through the second pulley set 125 into the central cavity 150a of the shaft assembly 150. The 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 is split into two paths from the second pulley 136 into the central cavity 150a of the shaft assembly 150. One of the two paths of the second cable 133 passes through the first pulley set 122 into the central cavity 150a of the shaft assembly 150. The other of the two paths of the second cable 133 passes through the second pulley set 125 into the central cavity 150a of the shaft assembly 150. The two first guides 123 are coaxially arranged two fixed pulleys (also referred to as the first pulley set 122). The two second guides 126 are coaxially arranged two fixed pulleys (also referred to as the second pulley set 125). The first pulley set 122 and the second pulley set 125 are arranged in a circumferential direction of the shaft assembly 150 outside the opening 121d, and a space 110a is left between the first pulley set 122 and the second pulley set 125 for the drive rod 211 to pass through. The first cable 132 and the second cable 133 are a pair of cables for controlling the wrist member to move. In other embodiments, the first cable 132 and the second cable 133 can also be cables for controlling the end effector 220 to move. The first pulley set 122 and the second pulley set 125 can be arranged on the seat body 121 of the rear end drive assembly 110.

[0107] Further, the first cable 132 connected between the first pulley 135 and the first guide 123 and / or the second cable 133 connected between the second pulley 136 and the second guide 126 also needs to avoid the space 110a. That is, the first cable 132 between the first pulley 135 and the first guide 123 and / or the second cable 133 between the second pulley 136 and the second guide 126 is routed outside the space 110a reserved for the drive rod 211 to pass through. Optionally, the routing is performed outside the opening 121d.

[0108] In some embodiments, due to the position limitation of the rotating member and the guiding member, the line connecting the rotating member and the guiding member can pass through the space 110a / opening 121d, the turning member can be arranged to change the path of the cable to be routed outside the space 110a / opening 121d. For example, the first guiding member 123 is located at a side of the opening 121d away from the first rotating member 135 and the second rotating member 136. The first turning member 124 is arranged between the first rotating member 135 and the first guiding member 123. The first turning member 124 can be located at a side of the first guiding member 123 away from the opening 121d. The cable between the first rotating member 135 and the first guiding member 123 is routed around the first turning member 124. The first turning member 124 is used to change the direction of the cable between the first rotating member 135 and the first guiding member 123, so that the cable can avoid the opening 121d and be routed along the tangent of the fixed pulley of the first guiding member 123. Since the cable is connected to the first guiding member 123 after changing direction via the first turning member 124, the cable avoids the space 110a / opening 121d, thereby reducing or avoiding interference between the cable and the driving rod 211. The cable here can be the first cable 132 and / or the second cable 133. Correspondingly, the second turning member 127 can also be arranged between the second rotating member 136 and the second guiding member 126. The second turning member 127 can be located at a side of the second guiding member 126 away from the opening 121d. The cable between the second rotating member 136 and the second guiding member 126 is routed around the second turning member 127. The cable is connected to the second guiding member 126 after changing direction via the second turning member 127. That is, the second turning member 127 is used to change the direction of the cable between the second rotating member 136 and the second guiding member 126. By arranging the second turning member 127, the cable can be routed along the tangent of the fixed pulley of the second guiding member 126 after passing through the second turning member 127. In the embodiment in which the second guiding member 126 is located at a side of the opening 121d away from the first rotating member 135 and the second rotating member 136, the cable can also be avoided from the space 110a / opening 121d by the turning action of the second guiding member 126, thereby reducing or avoiding interference between the cable and the driving rod 211. The cable here can be the first cable 132 and / or the second cable 133.

[0109] In Figure 16 and Figure 17In the shown example, 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 rotating member 124 not only functions to reverse the cable, but also can change the direction of the cable to avoid the opening 121d / space 110a. The second guide 126 is located on the side of the opening 121d close to the first rotating member 135 and the second rotating member 136. The cable between the second guide 126 and the second rotating member 136 can avoid the space 110a / opening 121d. In this regard, those skilled in the art can understand that the second rotating member 127 can be selected not to be provided. In some embodiments, if the second rotating member 127 is added, the cable can be reduced or avoided from being separated / offset from the second guide 126, i.e., the angle of the cable entering the second guide 126 can be reduced, so that the cable can be more stably and reliably maintained in the second guide 126.

[0110] Specifically, in order to reserve the space 110a for the driving rod 211 to pass through, the second guide 126 can make the angle between the line connecting the rotating member and the guide and the guide surface of the second guide 126 (the plane of the cable mounting portion perpendicular to the axis of the guide) larger, and the cable is subjected to a larger moment in use. By providing the second rotating member 127, the angle between the extension direction of the cable passing through the second rotating member 127 and the guide surface of the second guide 126 is reduced, the moment of the cable in use is reduced, and the service life of the cable is prolonged.

[0111] Referring to Figure 16 and Figure 17According to the actual wiring condition, the rear-end transmission assembly 210 can further include two first turning pieces 124 and two second turning pieces 127. For example, the first end of the first cable 132 is wound around one of the two first guide pieces 123 via one of the two first turning pieces 124, and the first end of the second cable 133 is wound around the other of the two first guide pieces 123 via the other of the two first turning pieces 124. The second end of the first cable 132 is wound around one of the two second guide pieces 126 via one of the two second turning pieces 127, and the second end of the second cable 133 is wound around the other of the two second guide pieces 126 via the other of the two second turning pieces 127. The two first turning pieces 124 are two fixed pulleys coaxially arranged (also referred to as a first turning pulley set 139). The two second turning pieces 126 are two fixed pulleys coaxially arranged (also referred to as a second turning pulley set 141). In other embodiments, the two first guide pieces 123 can not be two fixed pulleys coaxially arranged, but can be relatively close in position, or on the same side of the opening 121d, or in other suitable conditions, and can share the first turning pulley set 139. The two second guide pieces 126 can not be two fixed pulleys coaxially arranged, but can be relatively close in position, or on the same side of the through hole, or in other suitable conditions, and can share the second turning pulley set 141.

[0112] Optionally, in the first turning pulley set 139, the two first turning pieces 124 can not be two fixed pulleys coaxially arranged, but can be relatively close in position, or on the same side of the first guide piece 123, or in other suitable conditions. In the second turning pulley set 141, the two second turning pieces 127 can not be two fixed pulleys coaxially arranged, but can be relatively close in position, or on the same side of the second guide piece 126, or in other suitable conditions.

[0113] Please refer to Figure 18In another embodiment of the present application, another wiring manner is provided, but also applicable to the above arrangement. The first cable 132 and the second cable 133 can also be wound around different turning members respectively. For example, the first cable 132 includes opposite first and second portions. The first portion of the first cable 132 is wound around, in sequence, the first turning member 135, one of the two first turning members 124, and one of the two first guide members 123, and extends towards the interior of the shaft assembly 150. The second portion of the first cable 132 is wound around, in sequence, the first turning member 135, the other of the two first turning members 124, and the other of the two first guide members 123, and extends towards the interior of the shaft assembly 150. The first portion of the first cable 132 and the second portion of the first cable 132 are wound in different directions on the first turning member 135. During rotation of the first turning member 135, the first portion of the first cable 132 is wound (or unwound) by the first turning member 135, and the second portion of the first cable 132 is unwound (or wound) by the first turning member 135. Correspondingly, the wiring manner of the second cable 133 on the second turning member 136, the two second turning members 127, and the two second guide members 126 can be arranged in the same manner as the wiring manner of the first cable 132 on the first turning member 135, the two first turning members 124, and the two first guide members 123.

[0114] The seat body 121 is provided with the locking member 111 and the mounting seat 112. The seat body 121 is provided with a sliding groove (not shown) extending along the first direction D1. The locking seat 114 of the locking member 111 is provided with a sliding block (not shown). The sliding block and the sliding groove are in sliding cooperation in the first direction D1, so as to guide the locking seat 114 to move linearly relative to the seat body 121 in the first direction D1.

[0115] Referring to Figure 15 In order to shorten the length of the first cable 132 between the first turning member 135 and the first turning member 124, and reduce the interference between the first cable 132 and the seat body 121, a first avoiding space 121b can be provided on the seat body 121 for the first cable 132 to move through. The first avoiding space 121b can be, for example, a first avoiding groove or a first avoiding hole. Correspondingly, a second avoiding space 121c can be provided on the seat body 121 for the second cable 133 to move through. The second avoiding space 121c can be, for example, a second avoiding groove or a second avoiding hole.

[0116] Referring to Figure 19In addition, the rear end driving assembly 110 can further comprise a third pulley set 128, a third rotating member 137 and a third cable 134. The third pulley set 128 is arranged to the seat body 121. The third pulley set 128 can comprise at least two third guide members 129. The third cable 134 is wound around each of the third guide members 129 and at least one third diverting member 131. In an embodiment, the third guide members 129 and the third diverting member 131 are both fixed pulleys. The locking member 111 is movably arranged to the seat body 121 along the first direction D1 and connected with the third cable 134. When the third rotating member 137 rotates, the third cable 134 drives the locking member 111 to move along the first direction D1 relative to the seat body 121, so as to drive the transmission assembly 210 and the end effector 220 to move along the first direction D1 relative to the seat body 121. The third rotating member 137 is rotatably arranged to the seat body 121. The third rotating member 137 is configured to be connected to a driving device and rotatable about its own axis relative to the seat body 121 under the action of the driving device. The rotation axis of the third rotating member 137 is parallel to the first rotating member and the second rotating member. In the embodiment, the driving device can be a driving motor for example. The two ends of the third cable 134 are wound on 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 of the two ends of the third cable 134 is pulled in while the other end is released.

[0117] It can be understood that the third rotating member 137 is configured to guide the third cable 134 to be connected with the locking member 111, so that the locking member 111, the transmission assembly 210 and the end effector 220 can move along the first direction D1 with the rotation of the third rotating member 137.

[0118] In a specific example, the third pulley set 128 can comprise two third guide members 129. The two third guide members 129 are spaced apart along the first direction D1. The third cable 134 is wound around the two third guide members 129 respectively and connected with the locking member 111. The connection position of the third cable 134 with the locking member 111 is between the two third guide members 129 along the first direction D1. When the third rotating member 137 rotates in a counterclockwise direction for example, one end of the third cable 134 is pulled in and the other end is released. When the third rotating member 137 rotates in a clockwise direction for example, the other end of the third cable 134 is pulled in and the other end is released.

[0119] In this embodiment, one third turning member 131 is provided. The third turning member 131 is located between one of the third guide members 129 and the third rotating member 137. The third turning member 131 functions to change the routing position of the third cable 134 between the third guide member 129 and the first rotating member 135, so as to reduce or avoid the interference between the third cable 134 and the third guide member 129 and the third rotating member 137 respectively.

[0120] Anti-rotation assembly between the transmission assembly and the shaft assembly

[0121] When the driving rod 211 in the transmission assembly 210 is locked in the rear end driving assembly 110, the driving rod 211 is prevented from rotating in the circumferential direction under the action of the locking friction force, so that the driving rod 211 does not rotate with the shaft during the rotation of the shaft assembly 150. However, the distal end of the actuating element 214 of the transmission assembly 210 is connected to the end effector 220, and the end effector 220 and the actuating element 214 rotate with the shaft assembly 150 during the rotation of the shaft assembly 150. Thus, the proximal end of the actuating element 214 connected to the driving rod 211 remains stationary relative to the driving rod 211, and the distal end of the actuating element 214 rotates with the end effector 220, which causes the actuating element 214 to twist and be damaged.

[0122] To solve the above problems, refer to Figures 20 to 28 The surgical instrument further comprises an anti-rotation assembly (not shown) connecting the transmission assembly with the shaft assembly 150, so that the transmission assembly 210 rotates with the shaft assembly 150.

[0123] The anti-rotation assembly can comprise a first anti-rotation member 217 and a second anti-rotation member 157. The second anti-rotation member 157 is arranged at the distal end of the shaft assembly 150. In embodiments comprising a wrist member 152, the second anti-rotation member 157 is arranged 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 the driving rod 211 to drive the driving rod 211 to rotate. The distal end of the first anti-rotation member 217 is located in the circumferential direction of the shaft assembly 150 relative to the second anti-rotation member 157 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 is limitingly engaged or rotationally engaged with the second anti-rotation member 157 in the circumferential direction of the shaft assembly 150.

[0124] Refer to Figure 20 and Figure 21Optionally, the proximal end of the second rotation-stopping member 157 is connected to the shaft member 151. The distal end of the second rotation-stopping member 157 is connected to the wrist member 152. The outer surface of the second rotation-stopping member 157 is provided with a first lug 157b and a second lug 157f. The first lug 157b and the second lug 157f are oppositely arranged at the two ends of the second rotation-stopping 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. The inner portion of the second rotation-stopping member 157 is provided with a receiving cavity 157c. The first rotation-stopping member 217 is arranged in the receiving cavity 157c. The side wall of the receiving cavity 157c is provided with two limiting grooves. The outer surface of the first rotation-stopping member 217 is provided with two limiting protrusions at the positions corresponding to the two limiting grooves. The two limiting grooves and the two limiting protrusions on the first rotation-stopping member 217 cooperate to fixedly or limitingly or rotationally connect the second rotation-stopping member 157 and the first rotation-stopping member 217 in the circumferential direction of the shaft assembly 150. In other embodiments, the number of the limiting grooves and the limiting protrusions can be other than two, such as one, three or more than three.

[0125] In an embodiment not shown, the first rotation-stopping member can be provided with limiting grooves. Correspondingly, the second rotation-stopping member is provided with limiting protrusions.

[0126] As shown in Figure 20 further optionally, the shaft member 151 is provided with a first groove 151a at the position corresponding to the first lug 157b. The first groove 151a is adapted to the first lug 157b to accommodate the first lug 157b, so that the second rotation-stopping member 157 is limited in the circumferential direction of the shaft member 151. The first groove 151a and the first lug 157b can be fixed by gluing or the like. The wrist member 152 is provided with a second groove 153a at the position corresponding to the second lug 157f. The second groove 153a is adapted to the second lug 157f to accommodate the second lug 157f, so that the second rotation-stopping member 157 is limited in the circumferential direction of the shaft member 151. The second groove 153a and the second lug 157f can be fixed by gluing or the like.

[0127] Further, the rotation-stopping assembly cannot hinder the movement of the transmission assembly 210 in the first direction D1. For this purpose, reference is made to Figure 22 and Figure 23The second rotation-stopping member 157 is slidably connected with the first rotation-stopping member 217 in the first direction D1. Optionally, two limiting grooves extend in the first direction D1 for a length, for the limiting protrusions to move in the first direction D1 in the limiting grooves. The two limiting grooves also guide the translation of the first rotation-stopping member 217 in the first direction D1. During the process of driving the clamp to open and close by the rear-end driving assembly 110, the driving rod 211 translates in the first direction D1 under the driving force of the rear-end driving assembly 110, and drives the actuating element 214 and the first rotation-stopping member 217 to translate. Since the second rotation-stopping member 157 is slidably connected with the first rotation-stopping member 217 in the first direction D1, the transmission assembly 210 is allowed to translate as a whole. In other embodiments, the second rotation-stopping member 157 can be provided with protrusions, and the first rotation-stopping member 217 can be provided with grooves, or other ways to achieve the circumferential limitation and allow axial relative movement.

[0128] Optionally, the proximal end of the first rotation-stopping member 217 is inserted into the driving rod 211, and is fixedly connected with the main body 212 of the driving rod 211 through the connecting pin 215, so as to ensure that the first rotation-stopping member 217 and the main body 212 can rotate synchronously.

[0129] Referring to Figures 24 to 26 The first rotation-stopping member 217 can have a second transmission through-hole 217c. The second transmission through-hole 217c is located at the center of the first rotation-stopping member 217, and is coaxially arranged with the shaft assembly 150. The actuating element 214 is arranged in the second transmission through-hole 217c of the first rotation-stopping member 217, and is connected to the driving rod 211 through the first rotation-stopping member 217, or the actuating element 214 is connected to the first rotation-stopping member 217 in 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 230. The first rotation-stopping member 217 can 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 rotation-stopping member 217, and the cable positioning groove 217d is located on the outer surface of the first rotation-stopping member 217. The wires are inserted into the second electrical through-hole 217b and are partially accommodated in the cable positioning groove 217d, and are limited by the second electrical through-hole 217b and the cable positioning groove 217d to prevent the wires from interfering with each other. In addition, the second electrical through-hole 217b is aligned with the first electrical through-hole 230a of the wrist support 230 to insert the wires.

[0130] Referring to Figure 27 and Figure 28 In another example, the first rotation-stopping member 217 can also not be provided with the second electrical through-hole 217b.

[0131] Guiding structure between transmission assembly and shaft assembly

[0132] Referring to Figure 8and Figures 24 to 28 The limiting protrusion or groove provided on the first rotation-stopping member 217 can be referred to as a first limiting portion 217a. The limiting groove or protrusion provided on the second rotation-stopping member 157 can be referred to as a second limiting portion 157a. In order to facilitate the installation of the transmission assembly 210 on the shaft assembly 150, the embodiment of the present application provides an installation guide portion 152a on the inner wall of the wrist member 152, which is in limiting cooperation with the first limiting portion 217a, for guiding the installation of the transmission assembly 210. Optionally, the installation guide portion 152a is provided along the first direction D1 throughout the length of the wrist member 152, and the wrist member 152 has a trumpet-shaped opening 152c, the proximal end or the distal end of which is connected with a straight guide slot 152b. In other words, the installation guide portion 152a is a guide slot, which is provided through the wrist member 152 along the first direction D1. The guide slot includes the trumpet-shaped opening 152c and the straight guide slot 152b. The trumpet-shaped opening 152c is located at the end of the straight guide slot 152b. The trumpet-shaped opening 152c is provided because the installation guide portion 152a is disconnected at the interval between the first joint portion 153 and the second joint portion 154, and / or the installation guide portion 152a is disconnected at the interval between the third joint portion 155 and the second joint portion 154, so that the limiting protrusion can more smoothly enter the next straight guide slot through the guiding action of the trumpet-shaped opening 152c. The trumpet-shaped 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 trumpet-shaped 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. Accordingly, the first limiting portion 217a adopts the limiting protrusion described above, and the second limiting portion 157a adopts the limiting groove described above. When the transmission assembly 210 is to be assembled with the shaft assembly 150, the limiting protrusion is aligned with the guide slot or in the first direction D1, the limiting protrusion enters the narrowed straight guide slot 152b through the trumpet-shaped opening 152c, and then enters the limiting groove, thereby completing the positioning assembly of the first rotation-stopping member 217. When the transmission assembly 210 is to be disassembled from the shaft assembly 150, the limiting protrusion exits a straight guide slot 152b through the trumpet-shaped opening 152c, and then enters another straight guide slot 152b through another trumpet-shaped opening 152c and finally exits the wrist member 152.

[0133] Instrument seal member

[0134] Referring to Figure 8 , Figure 20 , Figure 22 and Figure 23The surgical instrument 10 also comprises an instrument sealing member. The instrument sealing member comprises a first sealing sleeve 156 arranged between the second rotation-stopping member 157 and the outer tube of the shaft member 151. The second rotation-stopping member 157 comprises a first portion 157d connected with the outer tube of the shaft member 151 and a second portion 157e located in the outer tube of the shaft member 151. In the embodiment where the second rotation-stopping member 157 is configured in a circular or nearly circular cross section, the outer diameter of the second portion 157e located in the outer tube of the shaft member 151 is smaller than the outer diameter of the first portion 157d connected with the outer tube of the shaft member 151. That is, the outer diameter of the first portion 157d of the second rotation-stopping member 157 is larger than the outer diameter of the second portion 157e. The first sealing sleeve 156 is sleeved on the second portion 157e of the second rotation-stopping member 157, thereby sealing between the second rotation-stopping member 157 and the shaft member 151. On the second rotation-stopping member 157, a step is formed between the first portion 157d and the second portion 157e with different diameters, and the first sealing sleeve is positioned in the first direction D1. The first sealing sleeve 156 can also be positioned in other ways, which are not listed here.

[0135] Referring to Figures 20 to 28 The instrument sealing member also comprises a second sealing sleeve 240 arranged between the second rotation-stopping member 157 and the driving rod 211. The distal end of the driving rod 211 is provided with a circumferentially extending mounting groove 212d, and the second sealing sleeve 240 is sleeved on the mounting groove 212d of the driving rod 211 and is positioned by the mounting groove 212d.

[0136] The first sealing sleeve 156 and the second sealing sleeve 240 can prevent liquid such as tissue fluid from flowing from the central cavity 150a of the shaft assembly 150 to the proximal end and contaminating the inside of the instrument. In the case of an energy instrument, it can also prevent liquid from flowing into the inside of the instrument and causing short circuit.

[0137] Further, the first sealing sleeve 156 and the second sealing sleeve 240 are located at the same or approximately 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. The first sealing sleeve 156 is outside and the second sealing sleeve 240 is inside, which cooperates to achieve the purpose of double sealing and improve the sealing ability of the instrument sealing member.

[0138] Optionally, the first sealing sleeve 156 and the second sealing sleeve 240 described above can be made of flexible and elastic materials such as rubber that meet medical standards, firmly sleeved on the second rotation-stopping member 157 and the driving rod 211 while having good sealing effect.

[0139] In some embodiments of the present application, the surgical instrument 10 can include a replaceable execution assembly and a reusable rear-end assembly. The replaceable execution assembly is detachably mounted on the reusable rear-end assembly so as to be capable of being replaced. The replaceable execution assembly includes, for example, the transmission assembly and the end effector described above. The transmission assembly is connected to the end effector. The reusable rear-end assembly includes, for example, the rear-end drive assembly and the shaft assembly described above. The rear-end drive assembly is connected to the shaft assembly. When the replaceable execution assembly is mounted to the reusable rear-end assembly, the transmission assembly is first inserted into the interior of the shaft assembly and the proximal end of the transmission 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 execution assembly and the reusable rear-end assembly.

[0140] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. As used herein, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise. As used herein, the term "set" can mean either a component is directly attached to another component or a component is attached to another component through an intermediate component. The features described in one embodiment herein can be applied to another embodiment either individually or in combination with other features unless the features are not applicable to the other embodiment or are otherwise stated.

[0141] The present application has been described through the above-described embodiments, but it should be understood that the above-described embodiments are only for the purpose of example and illustration, and are not intended to limit the present application to the described embodiments. It will be understood by those skilled in the art that further variations and modifications can be made according to the teachings herein, and that such variations and modifications are within the scope of the application as claimed.

Claims

1. A surgical instrument, characterized by The surgical instrument comprises: a rear end driving assembly; a shaft assembly connected to the rear end driving assembly; a transmission assembly comprising a driving rod penetrating in the shaft assembly and rotatably connected to the rear end driving assembly; an end effector connected to the transmission assembly; and a rotation-stopping assembly connecting the driving rod and the shaft assembly to make the driving rod rotate with the shaft assembly.

2. The surgical instrument according to claim 1, wherein the rotation-stopping assembly comprises: a first rotation-stopping member fixedly connected to the driving rod; and a second rotation-stopping member fixedly connected to the shaft assembly, the second rotation-stopping member being limited in the circumferential direction of the shaft assembly relative to the first rotation-stopping member.

3. The surgical instrument of claim 2, wherein, The driving rod is movable relative to the shaft assembly in the axial direction of the shaft assembly, and the first rotation-stopping member and the second rotation-stopping member are movably connected in the axial direction of the shaft assembly.

4. The surgical instrument according to claim 2, wherein the second rotation-stopping member is internally provided with a receiving cavity in which the first rotation-stopping member is arranged, an inner wall of the second rotation-stopping member is provided with a first limiting portion, and a distal end outer surface of the first rotation-stopping member is provided with a second limiting portion connected to the first limiting portion to limit the first rotation-stopping member in the circumferential direction of the shaft assembly relative to the second rotation-stopping member.

5. The surgical instrument according to claim 4, wherein one of the first limiting portion and the second limiting portion is a limiting recess, and the other is a limiting protrusion, the limiting recess extends in the axial direction of the shaft assembly, and the limiting protrusion is movably arranged in the limiting recess in the axial direction.

6. The surgical instrument according to any one of claims 1 to 5, wherein the transmission assembly further comprises an actuating element, a proximal end of the actuating element is connected to the driving rod, a distal end of the actuating element is connected to the end effector, a transmission through hole is formed in the rotation-stopping assembly, and the actuating element is positioned in the transmission through hole and connected to the driving rod.

7. The surgical instrument according to claim 4, wherein an installation guide is arranged on an inner wall of a distal end of the shaft assembly, and the installation guide is used to cooperate with the second limiting portion to guide the installation of the transmission assembly.

8. The surgical instrument according to claim 7, wherein the installation guide is connected in alignment with the first limiting portion.

9. The surgical instrument according to claim 5, wherein the shaft assembly comprises a wrist member connected to a distal end of the second rotation-stopping member, an installation guide limiting matched with the limiting protrusion is arranged on an inner wall of the wrist member, the installation guide is a guide groove formed on the inner wall, the guide groove penetrates through the wrist member, and a proximal end of the guide groove continuously extends in the axial direction relative to the limiting recess.

10. The surgical instrument according to claim 9, wherein The wrist member comprises, in sequence from proximal end to distal end, a first joint part, a second joint part and a third joint part, the proximal end of the first joint part is connected to the distal end of the second rotation-stopping part, the second joint part is rotatably connected to the first joint part about a first axis, the third joint part is rotatably connected to the second joint part about a second axis, and the proximal end of the third joint part is connected to the end effector, The guide groove comprises a horn-shaped opening and at least two straight-line guide grooves, the horn-shaped opening is located at the end of the straight-line guide groove, and the horn-shaped opening is suitable for guiding the limiting protrusion into the straight-line guide groove.

11. The surgical instrument of claim 2, wherein The shaft assembly comprises an outer tube, and the surgical instrument further comprises a first sealing sleeve arranged between the second rotation-stopping part and the outer tube.

12. The surgical instrument of claim 11, wherein The second rotation-stopping part comprises a first part connected with the outer tube and a second part located in the outer tube, the first part is fixedly connected to the outer tube, the second part is located in the inner part of the outer tube, and the first sealing sleeve is arranged between the second rotation-stopping part and the outer tube.

13. The surgical instrument of claim 2 or 9, wherein The surgical instrument further comprises a second sealing sleeve arranged between the second rotation-stopping part and the driving rod.

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