Surgical instrument

Abstract

Provided is a surgical instrument. The surgical instrument comprises a tube body, an inner tube and an outer tube sleeved outside the inner tube, a deflection pulling assembly arranged in the inner tube, a deflection driving assembly arranged at a proximal end of the tube body, a deflection joint arranged at a distal end of the tube body, an end effector connected with the deflection joint, wherein the deflection driving assembly is connected to the deflection joint through the deflection pulling assembly, the deflection driving assembly is configured to drive the deflection joint through the deflection pulling assembly, so that the end effector is deflected relative to the tube body, and a deflection locking assembly, wherein the deflection locking assembly is configured to have a locked state of locking the deflection pulling assembly and an unlocked state of unlocking the deflection pulling assembly. The surgical instrument reliably realizes deflection of the end effector and locking of the end effector, and is more friendly to a doctor to operate.

Description

Technical Field

[0001] This invention relates to a surgical instrument. Background Technology

[0002] Many electric staplers on the market today cannot achieve jaw locking. If the jaws cannot be locked, during firing, the jaws will deflect and vibrate under the firing force, causing tissue tearing and affecting the formation of staples such as titanium staples.

[0003] Some staplers can only lock the jaws when they are closed. When such staplers are inserted or manipulated with the jaws open, they may deflect or vibrate. If the jaws cannot lock when they are open, the jaws may deflect and fail when the doctor is manipulating the tissue, thus prolonging the operation time and affecting the doctor's experience. Summary of the Invention

[0004] At least one embodiment of the present invention provides a surgical instrument that reliably enables the bending and locking of the end effector, making it more user-friendly for doctors.

[0005] An embodiment of the present invention provides a surgical instrument, comprising: a tube body including an inner tube and an outer tube sleeved outside the inner tube, wherein a bending and pulling assembly is provided in the inner tube; a bending drive assembly disposed at the proximal end of the tube body; a bending joint disposed at the distal end of the tube body; an end effector connected to the bending joint, wherein the bending drive assembly is connected to the bending joint via the bending and pulling assembly, and the bending drive assembly is configured to drive the bending joint via the bending and pulling assembly to cause the end effector to bend relative to the tube body; and a bending locking assembly, wherein the bending locking assembly is configured to have a locked state for locking the bending and pulling assembly and an unlocked state for releasing the lock on the bending and pulling assembly.

[0006] For example, the bend locking component switches between a locked state and an unlocked state.

[0007] For example, the end effector is configured to bend relative to the tube body in an unlocked state where the bending locking assembly releases the lock on the bending pull assembly.

[0008] For example, the bending locking assembly includes a movable member that is confined within a receiving space of the tube body, the receiving space extending in a direction perpendicular to the axis of the tube body. The movable member is configured to move from a position close to the axis to a position away from the axis to limit the bending pulling assembly between the movable member and the wall of the inner tube, so that the bending locking assembly is in a locked state that locks the bending pulling assembly.

[0009] For example, in the locked state of the bending and pulling assembly, the movable part and the bending and pulling assembly are in an interference fit.

[0010] For example, the movable element includes a rigid sphere.

[0011] For example, the bending and pulling assembly has multiple mating parts. In the locked state of the bending and pulling assembly, the movable member engages with one of the multiple mating parts to achieve an interference fit.

[0012] For example, the movable part and the plurality of mating parts are all located near the distal end of the tube body.

[0013] For example, the mating part includes a through hole, and in the locked state of locking the bending and pulling assembly, a portion of the movable member is located in the through hole.

[0014] For example, the diameter of the through hole is smaller than the diameter of the accommodating space.

[0015] For example, the bending drive assembly includes bending teeth, and the bending locking assembly includes a locking block and an unlocking pull member. The locking block is disposed at the proximal end of the tube body and configured to cooperate with the bending teeth. The unlocking pull member is located in the inner tube, with its proximal end connected to the locking block and its distal end cooperating with the movable member. The bending teeth are configured to rotate to drive the locking block to move outward, thereby driving the unlocking pull member to move, so that the movable member is adjusted from a locked state of locking the bending pull assembly to an unlocked state of releasing the locking of the bending pull assembly.

[0016] For example, the distal end of the unlocking pull member has an inclined side, which is configured to allow the movable member to move within the receiving space as the unlocking pull member moves along the axis of the tube.

[0017] For example, one of the locking block and the unlocking pull has a first protrusion, and the other of the locking block and the unlocking pull has a first recess, with the first protrusion and the first recess being fixedly connected.

[0018] For example, the bending and pulling assembly includes two bending and pulling members, the unlocking pulling member is located between the two bending and pulling members, and there are two movable members, which are respectively disposed on both sides of the unlocking pulling member. The distal end of the unlocking pulling member has two inclined sides, which are configured to act on the two movable members respectively, so that the movable members move within the receiving space from a position close to the axis of the tube body to a position away from the axis of the tube body.

[0019] For example, the bending tooth has a plurality of bending tooth grooves, the locking block has a protruding structure, the protruding structure has a first protrusion, the first protrusion is configured to engage with one of the plurality of bending tooth grooves of the bending tooth, the bending drive assembly further includes a locking tooth, the locking tooth has a plurality of locking tooth grooves, the protruding structure also has a second protrusion, the second protrusion is configured to engage with one of the plurality of locking tooth grooves of the locking tooth, and in the extension direction of the tube body, the second protrusion protrudes beyond the first protrusion.

[0020] For example, the angle between the two mating surfaces of the second protrusion that mate with the locking tooth groove is smaller than the angle between the two mating surfaces of the first protrusion that mate with the bent tooth groove.

[0021] For example, the outer contour of the toothed portion of the locking tooth does not exceed the outer contour of the toothed portion of the curved tooth.

[0022] For example, one of the bending tooth and the locking tooth has a second protrusion, and the other of the bending tooth and the locking tooth has a second recess. The second protrusion and the second recess cooperate to enable the bending tooth to drive the locking tooth. The second protrusion extends along the setting direction of the bending tooth and the locking tooth.

[0023] For example, in a plane perpendicular to the gear shaft of the bending tooth, the size of the second protrusion is smaller than the size of the second recess, such that there is a gap between the second protrusion and the second recess, which allows for a time difference between the release of the locking block in the bending locking assembly from the locking tooth in the bending drive assembly and the bending of the end effector.

[0024] For example, the bending drive assembly further includes a bending knob connected to the bending tooth. The bending knob is configured to drive the bending tooth to rotate, so that the bending tooth acts on the first protrusion, causing the locking block to move outward, causing the second protrusion to disengage from the locking tooth groove of the locking tooth, and gradually reducing the gap in the rotation direction until the second protrusion contacts the sidewall of the second recess, so that the bending tooth drives the locking tooth. The locking tooth is configured to rotate with the bending tooth and cause the second protrusion to enter another locking tooth groove along the tooth adjacent to the locking tooth groove, so that the second protrusion of the locking block relocks the locking tooth.

[0025] For example, the bending locking assembly further includes an elastic element configured to apply force to the locking block so that the locking block remains in the state of locking the locking tooth, and configured to cause the first protrusion to push the bending tooth to rotate in the opposite direction so that the first protrusion engages with the bending tooth groove and the bending tooth and the locking tooth are aligned.

[0026] For example, the bending pull assembly includes two bending pull members, the locking tooth further includes a drive tooth, and the bending drive assembly further includes two bending racks. The two bending racks are respectively connected to the proximal ends of the two bending pull members. The drive tooth is configured to drive the two bending pull members through the two bending racks, thereby driving the bending joint and then driving the end effector to bend.

[0027] For example, the distal end of the bending and pulling assembly extends from the tube body.

[0028] For example, the surgical instruments include a stapler. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention.

[0030] Figure 1 This is a schematic diagram of the structure of a surgical instrument provided in an embodiment of the present invention, excluding the instrument body assembly.

[0031] Figure 2A for Figure 1 A schematic diagram of its breakdown.

[0032] Figure 2B A schematic diagram of a movable part, an unlocking pull part, and a bending pull assembly in a surgical instrument provided for an embodiment of the present invention.

[0033] Figure 3 A side view of a surgical instrument in a locked state, provided for an embodiment of the present invention.

[0034] Figure 4 A top view of the locked state of a surgical instrument provided for an embodiment of the present invention.

[0035] Figure 5 A side view of a surgical instrument in its unlocked state, provided for an embodiment of the present invention.

[0036] Figure 6 A top view of the unlocked state of a surgical instrument provided for an embodiment of the present invention.

[0037] Figure 7A side view of a surgical instrument in a continued bending state, provided for an embodiment of the present invention.

[0038] Figure 8 A top view of a surgical instrument in a continued bending state, provided for an embodiment of the present invention.

[0039] Figure 9 A side view of a surgical instrument in a bent and relocked state, provided for an embodiment of the present invention.

[0040] Figure 10 A top view of a surgical instrument in a bent and re-locked state according to an embodiment of the present invention.

[0041] Figure 11 A side view of a surgical instrument with its jaws closed, provided for an embodiment of the present invention.

[0042] Figure 12A A top view of a surgical instrument provided for an embodiment of the present invention.

[0043] Figure 12B for Figure 12A An enlarged schematic diagram of the dashed circle C1.

[0044] Figure 13A This is a three-dimensional schematic diagram of a surgical instrument with its jaws closed, provided as an embodiment of the present invention.

[0045] Figure 13B for Figure 13A An enlarged schematic diagram of the dashed circle C2.

[0046] Figure 14A A top view of a surgical instrument provided for an embodiment of the present invention.

[0047] Figure 14B for Figure 14A An enlarged schematic diagram of the dashed circle C3.

[0048] Figure 14C A schematic diagram of the receiving space in the inner tube of a surgical instrument provided for an embodiment of the present invention.

[0049] Figure 15 A perspective view of a bending drive assembly for a surgical instrument provided in an embodiment of the present invention.

[0050] Figure 16 for Figure 15 A schematic diagram of its breakdown.

[0051] Figure 17 This is a schematic diagram of the bending locking assembly of a surgical instrument provided in an embodiment of the present invention in a locked state.

[0052] Figure 18This is a schematic diagram of a bending locking assembly of a surgical instrument provided in an embodiment of the present invention entering an unlocked state.

[0053] Figure 19 This is a schematic diagram of a bending drive assembly for a surgical instrument provided in an embodiment of the present invention, which drives an end effector to bend.

[0054] Figure 20 This is a schematic diagram of the bending locking assembly of a surgical instrument provided in an embodiment of the present invention starting to relock.

[0055] Figure 21 This is a schematic diagram illustrating the relocking (alignment of the bend teeth and locking teeth) of a surgical instrument provided for an embodiment of the present invention. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0057] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects.

[0058] Embodiments of the present invention provide a surgical instrument that solves the problem of jaw (end effector) bending vibration. The surgical instrument provided by the embodiments of the present invention allows the jaw to be reliably bent and reliably locked, for example, the bending of the jaw can be continuously locked, making it more user-friendly for surgeons. The surgical instrument provided by the embodiments of the present invention belongs to the field of minimally invasive surgical instruments, particularly in the field of stapler surgical instruments.

[0059] like Figure 1 , Figure 2A and Figure 2BAs shown, an embodiment of the present invention provides a surgical instrument, including: a tube body 100, a bending drive assembly 300, a bending connector 400, an end effector 500, and a bending locking assembly 900. The tube body 100 includes an inner tube 101 and an outer tube 102 sleeved outside the inner tube 101. A bending pull assembly 200 is disposed in the inner tube 101. The bending drive assembly 300 is disposed at the proximal end of the tube body 100. The bending connector 400 is disposed at the distal end of the tube body 100. The end effector 500 is connected to the bending connector 400. The bending drive assembly 300 is connected to the bending connector 400 via the bending pull assembly 200, and the bending drive assembly 300 is configured to drive the bending connector 400 via the bending pull assembly 200, thereby causing the end effector 500 to bend relative to the tube body 100. The bending locking component 900 is configured to have a locked state for locking the bending pulling component 200 and an unlocked state for releasing the lock on the bending pulling component 200.

[0060] The surgical instrument provided in the embodiments of the present invention, by setting up a bending drive assembly 300 and a bending locking assembly 900, can reliably realize the bending and locking of the end effector 500, thereby reducing the vibration of the end effector 500 / jaw and making it more user-friendly for doctors. The bending drive assembly 300 drives the bending joint 400 through the bending pull assembly 200, so that the end effector 500 bends relative to the tube body 100, reliably realizing the bending of the end effector 500. The bending locking assembly 900 locks the end effector 500 by locking the bending pull assembly 200, reliably locking the end effector 500.

[0061] In embodiments of the present invention, the proximal end and the distal end can be defined relative to the operator, with the end closer to the operator being the proximal end and the end farther from the operator being the distal end. For example, the end of a component closer to the operator is the proximal end of that component, and the end of a component farther from the operator is the distal end of that component.

[0062] like Figure 1 and Figure 2A As shown, the end effector 500 includes a first jaw 501 and a second jaw 502. The first jaw 501 and the second jaw 502 are rotatably connected. One of the first jaw 501 and the second jaw 502 is a staple cartridge base, and the other of the first jaw 501 and the second jaw 502 is a staple anchor. In this embodiment of the invention, the first jaw 501 is used as the staple cartridge base, and the second jaw 502 is used as the staple anchor. For example, the second jaw 502 can rotate relative to the first jaw 501. The end effector 500 can also be referred to as jaws. A plurality of staples can be disposed in the staple cartridge base.

[0063] For example, the bend locking component 900 switches between a locked state and an unlocked state. That is, the bend locking component 900 is either in a locked state or an unlocked state.

[0064] For example, the end effector 500 is configured to bend relative to the pipe body 100 when the bend locking assembly 900 has released the bend pulling assembly 200 from its unlocked state. That is, when the bend locking assembly 900 has locked the bend pulling assembly 200, the end effector 500 cannot bend relative to the pipe body 100 to avoid jaw jitter caused by external forces.

[0065] like Figure 1 As shown, the bending drive assembly 300 also includes a bending knob 303. The bending knob 303 can rotate to the left or right. The bending knob 303 in the bending drive assembly 300 can be disposed on the rotary drive assembly 700. The rotary drive assembly 700 includes a first housing 701 and a second housing 702. The first housing 701 and the second housing 702 can be engaged with each other.

[0066] For example, such as Figure 1 As shown, the bend knob 303 rotates counterclockwise from its initial state, causing the end effector 500 to bend to the right from its straight position. L and R on the bend knob 303 represent bending to the left and bending to the right, respectively.

[0067] like Figure 1 and Figure 2A As shown, the bending knob 303 is disposed outside the rotary drive assembly 700. The bending knob 303 may be disposed on the first housing 701. The operator can operate the bending knob 303 to rotate clockwise or counterclockwise, thereby driving the bending gear 301.

[0068] For example, such as Figure 2A As shown, the bending pull assembly 200 includes two bending pull members 202, the locking tooth 302 also includes a drive tooth 3023, and the bending drive assembly 300 also includes two bending racks 304. The two bending racks 304 are respectively connected to the proximal ends of the two bending pull members 202. The drive tooth 3023 is configured to drive the two bending pull members 202 through the two bending racks 304, so as to drive the bending joint 400, and then drive the end effector 500 to bend.

[0069] Figure 3 and Figure 4 A schematic diagram shows the locked state of the bending locking assembly 900 locking the bending pulling assembly 200. Figure 5 and Figure 6 This diagram shows the unlocked state of the bending locking assembly 900 releasing the locking of the bending pulling assembly 200 (the unlocked state in which the end effector can bend). Figure 7 and Figure 8A schematic diagram is shown of the end effector 500 / jaw continuing to bend. Figure 9 and Figure 10 A schematic diagram is shown of the relocked state after the end effector 500 / jaw is bent. Figure 11 A schematic diagram is shown with the end effector 500 / jaw in the closed state. Figure 12A A top view of a surgical instrument provided in an embodiment of the present invention is shown. Figure 12B for Figure 12A An enlarged schematic diagram of the dashed circle C1.

[0070] For example, such as Figure 2A , Figure 2B , Figure 4 , Figure 6 , Figure 8 , Figure 10 , Figure 12B As shown, the bending locking assembly 900 includes a movable member 902, which is confined within the receiving space 1003 of the tube body 100 (e.g., Figure 12B As shown, the receiving space 1003 extends along the axis perpendicular to the tube body 100. The movable member 902 is configured to move from a position close to the axis to a position away from the axis to limit the bending and pulling assembly 200 between the movable member 902 and the tube wall of the inner tube 101 (the inner wall of the second part 1012), so that the bending locking assembly 900 is in a locked state that locks the bending and pulling assembly 200. Figure 1 , Figure 4 , Figure 8 , Figure 10 ,as well as Figure 12B The central axis A1 of the tube body 100 is shown. The central axis A1 of the tube body 100 may be a dummy line. The axis of the tube body 100 refers to the central axis A1 of the tube body 100.

[0071] Figure 8 , Figure 10 The extension line A11 of the central axis A1 of the tube body 100 is also shown. For example, the extension line A11 of the central axis A1 of the tube body 100 is a line obtained by extending the central axis A1 of the tube body 100 forward. The extension line A11 of the central axis A1 of the tube body 100 can be a dummy line.

[0072] Figure 13A This is a three-dimensional schematic diagram of a surgical instrument with its jaws closed, provided as an embodiment of the present invention. Figure 13B for Figure 13A An enlarged schematic diagram of the dashed circle C2. Figure 14A A top view of a surgical instrument provided for an embodiment of the present invention. Figure 14B for Figure 14A An enlarged schematic diagram of the dashed circle C3. Figure 14CA schematic diagram of the receiving space in the inner tube of a surgical instrument provided for an embodiment of the present invention.

[0073] For example, such as Figure 4 , Figure 10 , Figure 12B , Figure 14A , Figure 14B As shown, in the locked state of the locking bending and pulling assembly 200, the movable member 902 and the bending and pulling assembly 200 are interference-fitted to improve the stability of locking the locking bending and pulling assembly 200. For example, the movable member 902 includes a rigid spherical object. An embodiment of the present invention is illustrated using a steel ball as an example of the movable member 902. The movable member 902 can also be adjusted to other materials and / or other shapes as needed.

[0074] For example, such as Figure 2A , Figure 2B , Figure 3 , Figure 7 , Figure 9 , Figure 14A , Figure 14B As shown, the bending pull assembly 200 has multiple mating parts 2010. In the locked state of the locked bending pull assembly 200, the movable member 902 engages with one of the multiple mating parts 2010 to achieve an interference fit. When the end effector 500 / jaw is at different bending angles, the movable member 902 can engage with different mating parts 2010.

[0075] For example, such as Figure 2A , Figure 2B , Figure 3 , Figure 7 , Figure 9 , Figure 14A , Figure 14B As shown, in order to better play the role of locking the bending and pulling assembly 200 and improve the stability of bending and locking, the movable part 902 and multiple mating parts 2010 are all located near the far end of the tube body 100.

[0076] For example, such as Figure 2A , Figure 2B , Figure 3 , Figure 7 , Figure 9 , Figure 14A , Figure 14B As shown, the mating part 2010 includes a through hole, and in the locked state of the locking bending pull assembly 200, a portion of the movable member 902 is located in the through hole.

[0077] For example, if the mating part 2010 is a through hole, the diameter of the through hole is smaller than the diameter of the receiving space 1003, so as to facilitate the confinement of the movable member 902 between the bending pull assembly 200 and the unlocking pull member 901. Figure 14CAs shown, the inner tube 101 can be perforated laterally (in a direction perpendicular to the central axis A1) to facilitate the formation of the receiving space 1003. The inner tube 101 includes a first part 1011 and a second part 1012, with a channel 1016 between the first part 1011 and the second part 1012, in which the bending and pulling assembly 200 can be disposed. The movable member 902 and the unlocking pull member 901 constitute a remote locking assembly.

[0078] like Figure 2A , Figure 2B , Figure 4 , Figure 6 , Figure 8 , Figure 10 , Figure 12B , Figure 13A , Figure 14A , Figure 14B As shown, two bending pull members 202 are respectively located on both sides of the central axis A1. For example, each bending pull member 202 can be arranged in a channel. Figure 14C The portion of the perforation located between the two bent pull members 202 is the receiving space 1003.

[0079] like Figure 14C As shown, the inner tube 101 has a window 1018 through which the installation of the unlocking pull member 901 and / or the movable member 902 can be observed. The movable member 902 can be inserted laterally from both sides after the unlocking pull member 901 is installed, and then two bent pull members 202 are installed along the channel 1016, confining the movable member 902 between the bent pull members 202 and the unlocking pull member 901. Thus, the movable member 902 can only move laterally within the receiving space 1003.

[0080] For example, such as Figure 2A , Figures 3 to 14A As shown, the bending drive assembly 300 includes a bending tooth 301, and the bending locking assembly 900 includes a locking block 601 and an unlocking pull member 901. The locking block 601 is located at the proximal end of the tube body 100 and is configured to cooperate with the bending tooth 301. The unlocking pull member 901 is located in the inner tube 101 and is positioned between two bending pull members 202. The proximal end of the unlocking pull member 901 is connected to the locking block 601, and the distal end of the unlocking pull member 901 cooperates with the movable member 902. The bending tooth 301 is configured to rotate to drive the locking block 601 to move outward, thereby driving the unlocking pull member 901 to move, so that the movable member 902 is adjusted from the locked state of locking the bending pull assembly 200 to the unlocked state of releasing the lock on the bending pull assembly 200.

[0081] For example, such as Figure 2A , Figures 3 to 12A , Figures 13A to 14AAs shown, the bending locking assembly 900 also includes an elastic element 602, which is configured to apply force to the locking block 601 to facilitate the locking of the locking block 601 to the locking teeth 302.

[0082] For example, such as Figure 2B , Figure 5 and Figure 12B As shown, a receiving space 9015 can be provided at the distal end of the unlocking pull member 901, and an elastic member 9019 can be provided within the receiving space 9015 to make the front and rear forces of the unlocking pull member 901 more balanced. Of course, the elastic member 9019 may not be provided. For example, the elastic member 9019 includes a spring.

[0083] For example, such as Figure 2A , Figure 2B , Figure 3 and Figure 14A As shown, one of the locking block 601 and the unlocking pull member 901 has a first protrusion 6018, and the other has a first recess 9018. The first protrusion 6018 and the first recess 9018 are fixedly connected. For example, the first protrusion 6018 can be inserted into the first recess 9018 to achieve a fixed connection. Of course, other methods can also be used to achieve a fixed connection, as long as the locking block 601 can drive the unlocking pull member 901. In this embodiment of the invention, the locking block 601 has a first protrusion 6018 and the unlocking pull member 901 has a first recess 9018. For example, the first recess 9018 can be a through hole or a groove. The locking block 601 is configured to drive the unlocking pull member 901. The locking block 601 is configured to drive the unlocking pull member 901 to move in the extension direction of the central axis A1.

[0084] For example, such as Figure 14A and Figure 14B As shown, the distal end of the unlocking pull member 901 has an inclined side 9016, which is configured such that as the unlocking pull member 901 moves along the axis of the tube body 100, the movable member 902 moves within the receiving space 1003. That is, the movable member 902 can move laterally. For example, the movable member 902 can move toward or away from the central axis. For example, when the unlocking pull member 901 moves from the proximal end to the distal end along the axis of the tube body 100, the movable member 902 moves away from the central axis. When the unlocking pull member 901 moves from the distal end to the proximal end along the axis of the tube body 100, the movable member 902 can move freely within the space, for example, it can move toward the central axis.

[0085] For example, the unlocking pull member 901 is located between two bending pull members 202. Two movable members 902 are provided, positioned on either side of the unlocking pull member 901. The distal end of the unlocking pull member 901 has two inclined sides 9016, configured to act on the two movable members 902 respectively, causing the movable members 902 to move within the receiving space 1003 from a position close to the axis of the tube body 100 to a position away from the axis of the tube body 100. Figure 14B As shown, one movable member 902 engages with a mating portion 2010 of the bending pull member 202 on the same side as the movable member 902, and another movable member 902 engages with a mating portion 2010 of the bending pull member 202 on the same side as the other movable member 902. When the end effector 500 / jaw is at different bending angles, the mating portions 2010 engaging with the two movable members 902 may be different. For example, at the maximum bending angle to the right, the left movable member 902 may engage with the mating portion 2010 closest to the proximal end of the left bending pull member 202, and the right movable member 902 may engage with the mating portion 2010 closest to the distal end of the right bending pull member 202. For example, at the maximum bending angle to the left, the movable member 902 on the left can engage with the mating part 2010 closest to the far end of the bending pull member 202 on the left, and the movable member 902 on the right can engage with the mating part 2010 closest to the proximal end of the bending pull member 202 on the right. Figure 14B The movable part 902 closer to the observer (the movable part 902 at the bottom of the figure) is the left movable part 902, and the movable part 902 farther away from the observer (the movable part 902 at the top of the figure) is the right movable part 902.

[0086] like Figure 12B and Figure 14B As shown, the unlocking pull 901 passes through the receiving space 1003. (As indicated) Figure 12B and Figure 14B As shown, the distal end 9013 of the unlocking pull member 901 extends beyond the receiving space 1003. Whether the unlocking pull member 901 moves distally or proximally, the distal end 9013 of the unlocking pull member 901 extends beyond the receiving space 1003. This arrangement allows the movable member 902 to be positioned between the unlocking pull member 901 and the bending pull member 202, facilitating bending locking. The distal end 9013 is located at the distal end of the inclined side 9016. Figure 12BAs shown, the distal end 9013 of the unlocking pull member 901 moves between position P1 and position P2. When the distal end 9013 of the unlocking pull member 901 is in position P1, the unlocking pull member 901 is in an unlocked state, releasing the bending pull assembly 200 from its lock, allowing the bending pull assembly 200 to move along the central axis A1. When the distal end 9013 of the unlocking pull member 901 is in position P2, the unlocking pull member 901 is in a locked state, locking the bending pull assembly 200 and preventing it from moving along the central axis A1, thereby locking the end effector in a bending motion.

[0087] like Figure 3 and Figure 4 As shown, the bending locking assembly 900 is in the locked state of locking the bending pulling assembly 200. Under the elastic force of the elastic member 602, the inclined side 9016 of the unlocking pull member 901 pushes the movable member 902 in the lateral direction (outward). The movable member 902 and the mating part 2010 engage. The degree of freedom of the bending pulling assembly 200 in the extension direction of the central axis A1 is locked by the two movable members 902.

[0088] like Figure 5 and Figure 6 As shown, continue rotating the bend knob 303. The bend knob 303 drives the bend tooth 301 to rotate, and the bend locking assembly 900 is in the unlocked state. After rotating the bend knob 303, the bend knob 303 drives the bend tooth 301 to rotate. The helical tooth surface on the bend tooth 301 drives the locking block 601 to move outward (to the right). The locking block 601 overcomes the elastic force of the elastic member 602 and drives the unlocking pull member 901 to move proximally (to the right). The force applied to the movable member 902 by the unlocking pull member 901 disappears, and the bend pulling assembly 200 / bend pulling member 202 can move along the extension direction parallel to the central axis A1, and can move from proximity to distality, or from distality to proximity.

[0089] like Figure 7 and Figure 8 As shown, the surgical instrument is in a continuous bending state. The bending knob 303 is rotated continuously, which drives the bending tooth 301 to rotate. The bending tooth 301 drives the locking tooth 302 to rotate, and the locking tooth 302 drives the bending pull assembly 200 / bending pull member 202 to move, causing the end effector 500 / jaw to turn.

[0090] like Figure 9 and Figure 10As shown, the surgical instrument is in a bent and relocked state. After rotating the bending knob 303 to the next position, under the elastic force of the elastic element 602, the locking block 601 moves to the left and engages with the bending tooth 301 / locking tooth 302. At the same time, the unlocking pull 901 also moves to the left under the elastic force. The inclined side of the unlocking pull 901 pushes the movable element 902 outward (horizontally, in the vertical direction in the figure). The movable element 902 engages with the mating part 2010 on the bending pull 202. The degree of freedom of the bending pull in the extension direction of the central axis A1 is relocked by the movable element 902, for example, the steel ball.

[0091] The surgical instruments provided in the embodiments of the present invention can continuously lock the jaw deflection, reduce jaw vibration, and are more user-friendly for doctors.

[0092] like Figures 15 to 21 As shown, the bending knob 303 is operated manually by rotation. The bending knob 303 drives the bending gear 301 to rotate, which in turn drives the locking gear 302 to rotate. The driving gear 3023 on the locking gear 302 drives the bending rack 304 to move, converting the rotational motion into axial linear motion. The bending rack 304 then drives the bending pull member 202 to move linearly along the axial direction, which in turn drives the bending connector 400 to rotate. Here, the motion is converted from axial linear motion to rotation. For example, the bending connector 400 can be fixedly connected to the jaws / end effector 500 (e.g., the staple cartridge base). Thus, the manual rotation operation of the bending knob 303 is converted into the bending motion of the staple cartridge base (jaws).

[0093] The function of the locking block 601 is to lock the locking tooth 302 in one direction. The elastic element 602 provides continuous pressure to the locking block 601, causing the locking block 601 to press against the locking tooth 302 and / or the bending tooth 301.

[0094] When the bending knob 303 is rotated, the force can be transmitted in the positive direction to the bending tooth 301, the locking tooth 302, the bending rack 304, the bending pull 202, the bending joint 400, and the end effector 500 (first jaw 501, staple cartridge base).

[0095] When the end effector 500 (first jaw 501, staple cartridge base) is subjected to reverse force, the force is transmitted in the reverse direction, from the end effector 500 (first jaw 501, staple cartridge base), through the bending joint 400, bending pull member 202, bending rack 304, locking tooth 302 to the locking block 601 in sequence. At this time, the force will not be transmitted to the bending tooth 301 and bending button 303, thus forming a one-way locking function.

[0096] For example, such as Figures 15 to 21As shown, the bending tooth 301 has a plurality of bending tooth grooves 3010, and the locking block 601 has a protruding structure 6016. The protruding structure 6016 has a first protrusion 6011, which is configured to cooperate with one of the bending tooth grooves 3010 of the plurality of bending tooth grooves 3010 of the bending tooth 301.

[0097] For example, such as Figures 15 to 21 As shown, the bending drive assembly 300 also includes a locking tooth 302 having a plurality of locking grooves 3020, and the protrusion structure 6016 also has a second protrusion 6012 configured to engage with one of the locking grooves 3020 of the locking tooth 302.

[0098] For example, such as Figure 15 and Figure 16 As shown, in the extending direction of the tube body 100, the second protrusion 6012 protrudes from the first protrusion 6011 to facilitate the engagement of the second protrusion 6012 with the locking tooth 302 and the engagement of the first protrusion 6011 with the bending tooth 301.

[0099] The first protrusion 6011 is provided corresponding to the bending tooth 301, and the second protrusion 6012 is provided corresponding to the locking tooth 302. The setting directions of the first protrusion 6011 and the second protrusion 6012 are parallel to the setting directions of the bending tooth 301 and the locking tooth 302. Figure 2A , Figure 15 and Figure 16 As shown, corresponding to the design where the bending tooth 301 is on top and the locking tooth 302 is on the bottom, the first protrusion 6011 is on top and the second protrusion 6012 is on the bottom.

[0100] For example, such as Figure 16 and Figure 17 As shown, the angle between the two mating surfaces (matting surface S21 and mating surface S22) of the second protrusion 6012 that mate with the locking tooth groove 3020 is smaller than the angle between the two mating surfaces (matting surface S11 and mating surface S12) of the first protrusion 6011 that mate with the bent tooth groove 3010. For example, the angle between mating surfaces S21 and S22 can be considered as the angle between the tangents at the contact points of mating surfaces S21 and S22 with the second protrusion 6012, and the angle between mating surfaces S21 and S22 is smaller. The angle between mating surfaces S11 and S12 is the angle between the planar mating surface S21 and the planar mating surface S22.

[0101] For example, such as Figure 16 and Figure 17As shown, the tooth angle Ac of the locking tooth 302 is smaller than the tooth angle Ad of the bending tooth 301, so that when the bending tooth 301 rotates, it pushes the locking block 601 outward, thereby causing the second protrusion 6012 to disengage from the locking tooth groove 3020, thus releasing the locking of the locking tooth 302. For example, the tooth angle Ac can be the angle between the tangents of the locking tooth groove 3020 at the contact points with the mating surfaces S21 and S22, respectively. The tooth angle Ad is the angle between the surfaces of the bending tooth groove 3010 that contact the mating surfaces S11 and S12, respectively.

[0102] For example, such as Figures 17 to 21 As shown, the outer contour of the toothed portion of the locking tooth 302 (the portion between the two furthest locking tooth slots 3020, corresponding to the acute angle central angle) does not exceed the outer contour of the toothed portion of the curved tooth 301 (the portion between the two furthest teeth, corresponding to the acute angle central angle). This arrangement facilitates that each locking tooth slot 3020 corresponds to one curved tooth slot 3010.

[0103] For example, one of the bending tooth 301 and the locking tooth 302 has a second protrusion 310, and the other of the bending tooth 301 and the locking tooth 302 has a second recess 320. The second protrusion 310 and the second recess 320 cooperate to enable the bending tooth 301 to drive the locking tooth 302. The second protrusion 310 may be a cylindrical protrusion, but is not limited to this. The second recess 320 may be a through hole or a groove; in this embodiment of the invention, the second recess 320 is a through hole. In this embodiment of the invention, the bending tooth 301 has a second protrusion 310, and the locking tooth 302 has a second recess 320. In other embodiments, the bending tooth 301 may have a second recess 320, and the locking tooth 302 may have a second protrusion 310. In this case, the second protrusion 310 of the locking tooth 302 is disposed towards the bending tooth 301, that is, disposed on the upper surface of the locking tooth 302.

[0104] For example, the second protrusion 310 extends along the direction in which the bending tooth 301 and the locking tooth 302 are positioned. The second protrusion 310 may extend in the vertical direction. The second protrusion 310 is disposed on the lower surface of the bending tooth 301.

[0105] For example, such as Figures 17 to 21 As shown, in a plane perpendicular to the gear shaft of the bending tooth 301, the size of the second protrusion 310 is smaller than the size of the second recess 320, such that there is a gap 3012 between the second protrusion 310 and the second recess 320. This gap 3012 allows for a time difference between the release of the locking block 601 in the bending locking assembly 900 from locking the locking tooth 302 in the bending drive assembly 300 and the bending of the end effector 500. Figure 17 and Figure 18As shown, the time difference is the time taken from the alignment of the bending tooth 301 and the locking tooth 302 to the reduction of the gap 3012 in the rotation direction to zero in the rotation direction.

[0106] For example, such as Figure 1 and Figure 2A As shown, the bending knob 303 is connected to the bending tooth 301. The bending knob is configured to drive the bending tooth 301 to rotate, so that the bending tooth 301 acts on the first protrusion 6011, causing the locking block 601 to move outward, driving the second protrusion 6012 to disengage from the locking groove 3020 of the locking tooth 302, and gradually reducing the gap 3012 in the rotational direction until the second protrusion 310 contacts the sidewall of the second recess 320 (the gap 3012 in the rotational direction is zero), so that the bending tooth 301 drives the locking tooth 302 (as shown). Figure 19 As shown), the locking tooth 302 is configured to rotate with the bent tooth 301 and cause the second protrusion 6012 to enter another locking tooth groove 3020 along the tooth adjacent to the locking tooth groove 3020, so that the second protrusion 6012 of the locking block 601 relocks the locking tooth 302 (starts relocking).

[0107] For example, such as Figure 21 As shown, the elastic member 602 is configured to apply force to the locking block 601 so that the locking block 601 remains in the state of locking the locking tooth 302, and is configured to cause the first protrusion 6011 to push the bent tooth 301 to rotate in the opposite direction. Figure 21 (in the opposite direction of the arrow shown), so that the first protrusion 6011 engages with the bent tooth groove 3010, and the bent tooth 301 and the locking tooth 302 are aligned. Thus, relocking is completed. Figure 2A As shown, the locking block 601 and the elastic element 602 constitute a locking assembly 600 (proximal locking assembly) for the locking tooth 302. The locking assembly 600 is configured to lock the locking tooth 302. Thus, a dual locking structure of proximal and distal locking is formed. This dual locking structure helps to improve the stability of the bending lock.

[0108] For example, the first protrusion 6011 pushes the bending tooth 301 to rotate in the opposite direction. Figure 21 When the arrow is pointing in the opposite direction, the position of the locking tooth 302 remains unchanged (does not rotate), and thus the bending position of the end effector remains unchanged.

[0109] For example, the first protrusion 6011 pushes the bending tooth 301 to rotate in the opposite direction. Figure 21 When the arrow is in the opposite direction, the position of the locking block 601 remains unchanged, and thus the position of the unlocking pull member 901 connected to the locking block 601 remains unchanged, and the movable member 902 is located at the position of the locking bending pull member 202.

[0110] For example, the proximal locking and the distal locking (dual locking) are consistent. When the movable part 902 locks the bending pull part 202, the locking block 601 locks the locking tooth 302.

[0111] For example, such as Figure 21 As shown, the elastic element 602 is configured such that the first protrusion 6011 pushes the bending tooth 301 to rotate in the opposite direction, so that the first protrusion 6011 engages with the bending tooth groove 3010, and the bending tooth 301 and the locking tooth 302 are aligned (in the plan view, the center of the second protrusion 310 coincides with the center of the second recess 320). Thus, relocking is completed.

[0112] The bending tooth 301 has a second protrusion 310 (two cylinders) and a large-angle tooth shape, the locking tooth 302 has a second recess 320 (two circular through holes) and a small-angle tooth shape, the locking block 601 has a first protrusion 6011 (large-angle insertion protrusion) corresponding to the large-angle tooth shape and a second protrusion 6012 (small-angle insertion protrusion) corresponding to the small-angle tooth shape to cooperate with the bending tooth 301 and the locking tooth 302 respectively (locked state), the second protrusion 310 on the bending tooth 301 and the second recess 320 on the locking tooth cooperate with each other, and there is an initial gap 3012 between them. When the bending tooth 301 initially rotates, the second protrusion 310 does not contact the edge of the second recess 320, and the rotation of the bending tooth 301 cannot drive the locking tooth 302 to rotate. The large-angle teeth on the bending tooth 301 push the first protrusion 6011 (large-angle insertion protrusion) on the locking block 601, pushing the locking block 601 outward. At this time, the small-angle teeth on the locking tooth 302 will also separate from the second protrusion 6012 (small-angle insertion protrusion) on the locking block 601 (unlocking). Afterward, the second protrusion 310 on the bending tooth 301 contacts the edge of the second recess 320 on the locking tooth 302, causing the locking tooth 302 to rotate together. After shifting to the next gear, under the spring force of the elastic element 602, the second protrusion 6012 (small-angle insertion protrusion) of the locking block 601 inserts into the small-angle tooth profile of the locking tooth 302 (relocking). Simultaneously, under the spring force of the elastic element 602, the first protrusion 6011 (large-angle insertion protrusion) of the locking block 601 pushes the large-angle tooth profile of the curved tooth 301, causing the curved tooth 301 to rotate in the opposite direction. This allows the first protrusion 6011 (large-angle insertion protrusion) to fully insert into the large-angle tooth profile of the curved tooth 301, at which point the curved tooth 301 and the locking tooth 302 are perfectly aligned. The gear shift is complete. Each locking tooth groove 3020 and its corresponding curved tooth groove 3010 correspond to one gear. In the embodiment of the present invention, at each gear, the locking assembly 600 has a locked state that locks the locking tooth 302 (e.g., Figure 17As shown). During gear shifting, the locking assembly 600 has an unlocked state, releasing the locking tooth 302 (as shown). Figure 18 and Figure 19 As shown, the bending drive assembly 300 can drive the end effector 500 to bend relative to the pipe body 100.

[0113] Locking block 601 can continuously lock end effector 500 (first jaw 501, staple cartridge base) so that it can be locked in multiple positions to achieve continuous locking.

[0114] The switching process for end effector 500 / jaw lock is as follows.

[0115] (1) When the bending knob 303 is not turned, the unlocking pull 901 (limited by the inner tube 101 and can only move left and right along the axis) under the action of the spring force of the elastic member 602, the inclined surface of the unlocking pull 901 presses against the two movable members 902 (or other objects), causing the movable members 902 to move up and down (the movable members 902 are limited in the inner tube 101 and can only move up and down along the vertical axis), and cooperate with the mating part 2010 on the bending pull 202 (engaged). At this time, one side of the bending pull 202 is limited by the inner tube 101 and the other side is limited by the movable member 902. The movable member 902 and the bending pull 202 form an interference fit, and the bending pull 202 cannot move left and right, which is equivalent to the jaws being locked.

[0116] (2) When the bending knob 303 is turned, the gap between the bending tooth 301 and the locking tooth 302 has not yet been eliminated, the force of the bending tooth 301 has not been transmitted to the locking tooth 302, and the jaws have not deflected. The force is transmitted along the bending tooth 301 to the locking block 601, and then from the locking block 601 to the unlocking pull member 901, causing the unlocking pull member 901 to move to the right, thereby eliminating the pressure of the unlocking pull member 901 on the movable member 902. The interference between the movable member 902 and the bending pull member 202 is also eliminated. In this state, the bending pull member 202 can move freely left and right, and the bending pull member 202 is in the unlocked state.

[0117] (3) Continue to rotate the bending knob 303. At this time, the gap between the bending tooth 301 and the locking tooth 302 is eliminated. The bending tooth 301 drives the locking tooth 302 to rotate together. The locking tooth 302 drives the bending pull 202 to move left and right. The bending pull 202 drives the bending joint to move to achieve the deflection of the jaws.

[0118] (4) After continuing to rotate the bend knob 303 to the first position, under the elastic force of the elastic element 602, the locking block 601 moves to the left and engages with the bend tooth 301 / locking tooth 302. At the same time, the unlocking pull 901 also moves to the left under the spring force. The inclined side of the unlocking pull 901 pushes the two movable parts 902 up and down respectively. The movable parts 902 engage with the mating part 2010 on the bend pull 202. The degree of freedom of the bend pull 202 in the left and right direction (the extension direction of the central axis A1) is locked again by the movable part 902. At the same time, under the spring force, the locking block 601 pushes the bend tooth 301 to reverse and align with the locking tooth 302. The gap between the bend tooth 301 and the locking tooth 302 reappears.

[0119] The above completes one gear shifting process. Repeated operation can achieve gear shifting by deflecting the calipers. Before and after shifting, the calipers are in a locked state. During shifting, the calipers are in an unlocked state.

[0120] For example, such as Figure 14A As shown, the distal end of the bending pull assembly 200 extends from the tube body 100. The distal ends of the two bending pull members 202 also extend from the tube body 100. The movable member 902 of the bending locking assembly 900 is located near the distal end of the tube body 100 to improve the stability of the bending lock. The unlocking pull member 901 and the movable member 902 in the bending locking assembly 900 form a distal lock, constituting a distal locking assembly.

[0121] like Figure 2A , Figures 3 to 12A , Figure 13A ,as well as Figure 14B As shown, the surgical instrument also includes a connector 406. For example, a portion of the connector 406 is located within the tube body 100. For example, the distal end of the connector 406 is connected to a bend joint 400. For example, the distal end of the connector 406 is rotatably connected to the bend joint 400. Figures 15 to 16 As shown, the locking block 601 has a first protrusion 6018, and the surgical instrument also includes a limiting plate 618 having a limiting groove 6180, in which the first protrusion 6018 is movable. For example, the limiting plate 618 may be fixed in the cavity of the rotary drive assembly 700.

[0122] For example, surgical instruments include staplers. Embodiments of the present invention are illustrated using a stapler as an example. Surgical instruments may also be other instruments as needed.

[0123] Where there is no conflict, features of the same embodiment and different embodiments of the present invention can be combined with each other.

[0124] The above are merely exemplary embodiments of the present invention and are not intended to limit the scope of protection of the present invention, which is determined by the appended claims.

Claims

1. A surgical instrument, characterized in that, include: The tube body (100) includes an inner tube (101) and an outer tube (102) sleeved outside the inner tube (101), wherein the inner tube (101) is provided with a bending and pulling assembly (200). A bending drive assembly (300) is disposed at the proximal end of the tube body (100); A bend joint (400) is provided at the distal end of the pipe body (100); An end effector (500) is connected to the bend joint (400), wherein the bend drive assembly (300) is connected to the bend joint (400) via the bend pull assembly (200), the bend drive assembly (300) being configured to drive the bend joint (400) via the bend pull assembly (200) such that the end effector (500) bends relative to the pipe body (100); and A bending locking assembly (900) is configured to have a locked state for locking the bending pulling assembly (200) and an unlocked state for releasing the lock on the bending pulling assembly (200). The bending locking assembly (900) includes a movable member (902) which is confined within a receiving space (1003) of the tube body (100). The receiving space (1003) extends along a direction perpendicular to the axis of the tube body (100). The movable member (902) is configured to move from a position close to the axis to a position away from the axis to limit the bending pulling assembly (200) between the movable member (902) and the wall of the inner tube (101), so that the bending locking assembly (900) is in a locked state that locks the bending pulling assembly (200).

2. The surgical instrument according to claim 1, characterized in that, The bend-locking component (900) switches between a locked state and an unlocked state.

3. The surgical instrument according to claim 1, characterized in that, The end effector (500) is configured to bend relative to the tube body (100) in an unlocked state where the bend locking assembly (900) releases the lock on the bend pulling assembly (200).

4. The surgical instrument according to claim 1, characterized in that, When the bending and pulling assembly (200) is locked, the movable part (902) and the bending and pulling assembly (200) are in an interference fit.

5. The surgical instrument according to claim 1, characterized in that, The movable element (902) includes a rigid sphere.

6. The surgical instrument according to claim 4, characterized in that, The bending and pulling assembly (200) has multiple mating parts (2010). When the bending and pulling assembly (200) is locked, the movable member (902) engages with one of the multiple mating parts (2010) to achieve an interference fit.

7. The surgical instrument according to claim 6, characterized in that, The movable part (902) and the plurality of mating parts (2010) are both located near the far end of the tube body (100).

8. The surgical instrument according to claim 6, characterized in that, The mating part (2010) includes a through hole, and in the locked state of locking the bending and pulling assembly (200), a portion of the movable member (902) is located in the through hole.

9. The surgical instrument according to claim 8, characterized in that, The diameter of the through hole is smaller than the diameter of the accommodating space (1003).

10. The surgical instrument according to any one of claims 1-9, characterized in that, The bending drive assembly (300) includes a bending gear (301). The bending locking assembly (900) includes a locking block (601) and an unlocking puller (901). The locking block (601) is located at the proximal end of the tube body (100) and configured to engage with the bending tooth (301). The unlocking pull member (901) is located in the inner tube (101), the proximal end of the unlocking pull member (901) is connected to the locking block (601), and the distal end of the unlocking pull member (901) cooperates with the movable member (902). The bending tooth (301) is configured to rotate to drive the locking block (601) to move outward, thereby driving the unlocking pull member (901) to move, so that the movable member (902) is adjusted from the locked state of locking the bending pull assembly (200) to the unlocked state of releasing the lock on the bending pull assembly (200).

11. The surgical instrument according to claim 10, characterized in that, The distal end of the unlocking pull member (901) has an inclined side (9016) configured such that the movable member (902) moves within the receiving space (1003) as the unlocking pull member (901) moves along the axis of the tube body (100).

12. The surgical instrument according to claim 10, characterized in that, One of the locking block (601) and the unlocking pull member (901) has a first protrusion (6018), and the other of the locking block (601) and the unlocking pull member (901) has a first recess (9018), and the first protrusion (6018) and the first recess (9018) are fixedly connected.

13. The surgical instrument according to claim 10, characterized in that, The bending and pulling assembly (200) includes two bending and pulling members (202), and the unlocking pull member (901) is located between the two bending and pulling members (202). There are two movable members (902), which are respectively disposed on both sides of the unlocking pull member (901). The distal end of the unlocking pull member (901) has two inclined side surfaces (9016), which are configured to act on the two movable members (902) respectively, so that the movable members (902) move within the receiving space (1003) from a position close to the axis of the tube body (100) to a position away from the axis of the tube body (100).

14. The surgical instrument according to claim 10, characterized in that, The bending tooth (301) has a plurality of bending tooth grooves (3010), and the locking block (601) has a protruding structure (6016), the protruding structure (6016) having a first protrusion (6011), the first protrusion (6011) being configured to engage with one of the bending tooth grooves (3010) of the bending tooth (301). The bending drive assembly (300) further includes a locking tooth (302) having a plurality of locking slots (3020), and the protruding structure (6016) further has a second protrusion (6012) configured to engage with one of the plurality of locking slots (3020) of the locking tooth (302). In the extending direction of the tube body (100), the second protrusion (6012) protrudes from the first protrusion (6011).

15. The surgical instrument according to claim 14, characterized in that, The angle between the two mating surfaces (S21, S22) of the second protrusion (6012) that mate with the locking groove (3020) is smaller than the angle between the two mating surfaces (S11, S12) of the first protrusion (6011) that mate with the bent groove (3010).

16. The surgical instrument according to claim 14, characterized in that, The outer contour of the toothed portion of the locking tooth (302) does not exceed the outer contour of the toothed portion of the bending tooth (301).

17. The surgical instrument according to claim 14, characterized in that, One of the bending tooth (301) and the locking tooth (302) has a second protrusion (310), and the other of the bending tooth (301) and the locking tooth (302) has a second recess (320). The second protrusion (310) and the second recess (320) cooperate to enable the bending tooth (301) to drive the locking tooth (302). The second protrusion (310) extends along the direction in which the bending tooth (301) and the locking tooth (302) are positioned.

18. The surgical instrument according to claim 17, characterized in that, In a plane perpendicular to the gear shaft of the bending tooth (301), the size of the second protrusion (310) is smaller than the size of the second recess (320) such that there is a gap (3012) between the second protrusion (310) and the second recess (320), which allows for a time difference between the release of the locking block (601) in the bending locking assembly (900) from the locking of the locking tooth (302) in the bending drive assembly (300) and the bending of the end effector (500).

19. The surgical instrument according to claim 18, characterized in that, The bending drive assembly (300) further includes a bending knob (303), which is connected to the bending tooth (301). The bending knob (303) is configured to drive the bending tooth (301) to rotate, so that the bending tooth (301) acts on the first protrusion (6011), causing the locking block (601) to move outward, driving the second protrusion (6012) to disengage from the locking groove (3020) of the locking tooth (302), and gradually reducing the gap in the rotation direction. 3012) until the second protrusion (310) contacts the sidewall of the second recess (320) so that the bending tooth (301) drives the locking tooth (302), the locking tooth (302) being configured to rotate with the bending tooth (301) and cause the second protrusion (6012) to enter another locking tooth groove (3020) along the tooth adjacent to the locking tooth groove (3020) so that the second protrusion (6012) of the locking block (601) relocks the locking tooth (302).

20. The surgical instrument according to claim 19, characterized in that, The bending locking assembly (900) further includes an elastic element (602) configured to apply force to the locking block (601) so that the locking block (601) remains in the state of locking the locking tooth (302), and configured to cause the first protrusion (6011) to push the bending tooth (301) to rotate in the opposite direction so that the first protrusion (6011) engages with the bending tooth groove (3010) and the bending tooth (301) and the locking tooth (302) are aligned.

21. The surgical instrument according to claim 14, characterized in that, The bending pull assembly (200) includes two bending pull members (202), the locking tooth (302) also includes a drive tooth (3023), the bending drive assembly (300) also includes two bending racks (304), the two bending racks (304) are respectively connected to the proximal ends of the two bending pull members (202), and the drive tooth (3023) is configured to drive the two bending pull members (202) through the two bending racks (304) to drive the bending joint (400), and then drive the end effector (500) to bend.

22. The surgical instrument according to any one of claims 1-9, characterized in that, The distal end of the bending and pulling assembly (200) extends from the tube body (100).

23. The surgical instrument according to any one of claims 1-9, characterized in that, The surgical instruments include a stapler.

Images