Surgical instrument

Abstract

A surgical instrument is provided. The surgical instrument comprises a tube body, a deflection pulling member arranged in the tube body, a deflection driving assembly arranged at a proximal end of the tube body, a deflection joint assembly arranged at a distal end of the tube body, and an end effector connected to the deflection joint assembly. The deflection driving assembly is configured to drive the deflection joint assembly through the deflection pulling member, so that the end effector is deflected relative to the tube body. The deflection driving assembly comprises a power driving member, a deflection transmission member, and a deflection transmission matching member. The power driving member is in transmission matching with the deflection transmission member. The deflection transmission member links the deflection transmission matching member to make the deflection transmission matching member perform linear displacement movement. The deflection transmission matching member is connected to a proximal end of the deflection pulling member to realize powered deflection of the end effector.

Description

Technical Field

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

[0002] Surgical instruments comprise a body assembly, a cannula assembly (tube body), and a jaw assembly (end effector), where the jaw assembly (end effector) is the actuating mechanism of the surgical instrument. For example, surgical instruments include cutting and suturing devices. Surgical instruments such as cutting and suturing devices can be used to cut and suture tissues within human cavities. Summary of the Invention

[0003] At least one embodiment of the present invention provides a surgical instrument that enables powered bending of an end effector.

[0004] An embodiment of the present invention provides a surgical instrument, comprising: a tube body with a bending and pulling member disposed therein; a bending drive assembly disposed at the proximal end of the tube body; a bending joint assembly disposed at the distal end of the tube body; and an end effector connected to the bending joint assembly. The bending drive assembly is configured to drive the bending joint assembly via the bending and pulling member, thereby causing the end effector to bend relative to the tube body. The bending drive assembly includes a power drive member, a bending transmission member, and a bending transmission mating member. The power drive member is in transmission engagement with the bending transmission member. The bending transmission member links with the bending transmission mating member to cause the bending transmission mating member to perform linear displacement. The bending transmission mating member is connected to the proximal end of the bending and pulling member to achieve powered bending of the end effector.

[0005] For example, the surgical instrument also includes an unlocking element, through which the proximal end of the bending drive engagement is connected to the bending pull, the unlocking element being detachable and configured to be removable in the event of a failure of the powered bending to release the connection between the bending drive engagement and the bending pull.

[0006] For example, the unlocking element has an unlocking structure to be adapted to a tool used for unlocking.

[0007] For example, the unlocking structure includes a groove located on the top surface of the unlocking member.

[0008] For example, the groove includes a slotted groove.

[0009] For example, the unlocking component includes a pin.

[0010] For example, the bending transmission fitting includes a main body and a first threaded hole disposed in the main body, and the bending transmission component is connected to the first threaded hole of the bending transmission fitting.

[0011] For example, the bending transmission fitting also includes a first through hole provided in the main body, and the unlocking member passes through the first through hole and is connected to the bending pulling member.

[0012] For example, the tube includes a guide rail located therein, the guide rail extending along the axial direction of the tube, and the bending transmission fitting is connected to the guide rail so that the bending transmission fitting performs the linear displacement movement along the axial direction of the tube.

[0013] For example, the bending transmission fitting also includes a receiving space disposed in the main body, and the guide rail is located in the receiving space.

[0014] For example, the bending pull member is limited by the guide rail so that the bending pull member moves along the axial direction of the tube body.

[0015] For example, the surgical instrument also includes a circuit board with a sensor located above the bending drive assembly and configured to determine the degree of bending of the end effector.

[0016] For example, the output end of the power drive component is fixedly connected to the bending transmission component to drive the bending transmission component to rotate, and the bending transmission fitting is sleeved on the bending transmission component and configured to perform the linear displacement movement along the axial direction of the pipe body as the bending transmission component rotates.

[0017] For example, surgical instruments also include a cutting assembly comprising a cutting blade and a connecting rod connected to the cutting blade, the connecting rod having a resilience, such that a bent end effector returns to its original position under the resilience force of the connecting rod.

[0018] For example, the connecting rod is configured to extend from the tube body to the end effector during the return-to-center process of the end effector.

[0019] For example, the bending joint assembly includes a bending rack fixedly connected to the distal end of the bending pull member, a gear meshing with the bending rack, and a bending joint connected to the gear. One end of the bending joint has a mating tooth that meshes with the gear, and the other end of the bending joint is fixedly connected to the end effector.

[0020] For example, surgical instruments may also include a rotation drive assembly configured to drive the tube body such that the tube body and the end effector rotate relative to the central axis of the tube body.

[0021] For example, the surgical instruments include a stapler. Attached Figure Description

[0022] 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.

[0023] Figure 1 A three-dimensional schematic diagram of a portion of the structure of a surgical instrument and a tool for unlocking provided in an embodiment of the present invention.

[0024] Figure 2 for Figure 1 An exploded view of the portion of the surgical instrument related to the bending of the end effector, and... Figure 1 The diagram shows a tool used for unlocking.

[0025] Figure 3 This is an exploded view of a portion of the structure of a surgical instrument provided in an embodiment of the present invention.

[0026] Figure 4 This is a front view of a portion of the structure of a surgical instrument provided in an embodiment of the present invention.

[0027] Figure 5 for Figure 4 An enlarged schematic diagram of the dashed circle C1 in the diagram.

[0028] Figure 6 This is a front view of a bending transmission component in a surgical instrument provided according to an embodiment of the present invention.

[0029] Figure 7 This is a three-dimensional schematic diagram of a bending transmission fitting in a surgical instrument according to an embodiment of the present invention.

[0030] Figure 8A This is a side view of an unlocking element in a surgical instrument provided according to an embodiment of the present invention.

[0031] Figure 8B A schematic diagram (front view of the unlocking member) of an unlocking member in a surgical instrument provided according to an embodiment of the present invention.

[0032] Figure 9 This is a side view of a bending and pulling member in a surgical instrument according to an embodiment of the present invention.

[0033] Figure 10 This is a schematic diagram of a portion of the structure of a surgical instrument provided in an embodiment of the present invention from another perspective.

[0034] Figure 11 This is a three-dimensional schematic diagram of a frame in a surgical instrument provided according to an embodiment of the present invention.

[0035] Figure 12This is a top view of a power drive (bending motor) in a surgical instrument provided according to an embodiment of the present invention.

[0036] Figure 13 This is a schematic diagram of the end effector of a surgical instrument provided in an embodiment of the present invention bending to the left.

[0037] Figure 14 for Figure 13 Enlarged schematic diagram of the dashed coil C2.

[0038] Figure 15 This is a schematic diagram of the end effector of a surgical instrument provided in an embodiment of the present invention bending to the right.

[0039] Figure 16 for Figure 15 Enlarged schematic diagram of the dashed coil C3.

[0040] Figure 17 This is a schematic diagram of the end effector in a surgical instrument provided according to an embodiment of the present invention in a straightened state.

[0041] Figure 18 for Figure 17 Enlarged schematic diagram of the dotted coil C4.

[0042] Figure 19 This is a schematic diagram of a circuit board, a sensor on the circuit board, and a bending transmission fitting in a surgical instrument according to an embodiment of the present invention.

[0043] Figure 20 This is a schematic diagram of the zero position, left limit position, and right limit position of a bending transmission fitting in a surgical instrument according to an embodiment of the present invention.

[0044] Figure 21 This is a front view of a portion of the structure of a surgical instrument provided in an embodiment of the present invention.

[0045] Figure 22 This is a three-dimensional schematic diagram of a connecting rod and a cutting blade in a surgical instrument provided according to an embodiment of the present invention. Detailed Implementation

[0046] 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.

[0047] 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.

[0048] 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.

[0049] Currently, most laparoscopic staplers on the market use manual rotation of a knob to bend the jaw assembly. During operation, the operator needs to use one hand to operate the handle of the stapler and the other hand to control the bending of the jaw assembly (end effector) by rotating the knob. The drawback of this method is that it cannot be operated with one hand and can only achieve a fixed bending angle.

[0050] like Figures 1 to 3 As shown, an embodiment of the present invention provides a surgical instrument 100, which includes: a tube 10, a bending drive assembly 20, a bending joint assembly 30, and an end effector 40. A bending pull member 101 is provided within the tube 10. The bending drive assembly 20 is disposed at the proximal end of the tube 10. The bending joint assembly 30 is disposed at the distal end of the tube 10. The end effector 40 is connected to the bending joint assembly 30. The bending drive assembly 20 is configured to drive the bending joint assembly 30 via the bending pull member 101, thereby causing the end effector 40 to bend relative to the tube 10.

[0051] like Figure 2 , Figure 3 and Figure 5 As shown, the bending drive assembly 20 includes a power drive component 201, a bending transmission component 202, and a bending transmission mating component 203. The power drive component 201 and the bending transmission component 202 are in transmission mating. The bending transmission component 202 is linked to the bending transmission mating component 203 so that the bending transmission mating component 203 makes linear displacement movement. The bending transmission mating component 203 is connected to the proximal end of the bending pull component 101 to realize the power bending of the end effector 40.

[0052] The surgical instrument provided in at least one embodiment of the present invention has a power drive component 201 that is driven by a bending transmission component 202. The bending transmission component 202 is linked to a bending transmission component 203 to make the bending transmission component 203 perform linear displacement. The bending transmission component 203 is connected to the proximal end of the bending pull component 101, which can realize the power bending of the end effector. Thus, the operator can realize the power bending of the end effector by operating it with one hand.

[0053] For example, such as Figures 2 to 5 As shown, the output end of the power drive component 201 is fixedly connected to the bending transmission component 202 to drive the bending transmission component 202 to rotate. The bending transmission fitting component 203 is sleeved on the bending transmission component 202 and is configured to make linear displacement movement along the axial direction of the pipe body 10 as the bending transmission component 202 rotates.

[0054] In embodiments of the present invention, the power drive component 201 may be an electric motor, specifically a bending motor. This enables the electric bending of the end effector. In other words, the surgical instrument has an electric bending function. The bending motor may have a built-in gearbox.

[0055] In an embodiment of the present invention, the bending transmission fitting 203 may be in the form of a nut, that is, it may be a bending nut.

[0056] In an embodiment of the present invention, the power drive component 201, the bending transmission component 202, and the bending transmission mating component 203 cooperate to realize the bending of the end effector.

[0057] like Figure 3 As shown, the tube body 10 includes an inner tube 1001 and an outer tube 1002. The inner tube 1001 is located inside the outer tube 1002. The inner tube 1001 and the outer tube 1002 form a sleeve.

[0058] like Figures 1 to 4 As shown, the end effector 40 includes a first jaw 401 and a second jaw 402. The first jaw 401 and the second jaw 402 are rotatably connected. One of the first jaw 401 and the second jaw 402 is a staple cartridge base, and the other of the first jaw 401 and the second jaw 402 is an anvil. In this embodiment of the invention, the first jaw 401 is used as the staple cartridge base, and the second jaw 402 is used as the anvil. For example, the second jaw 402 can rotate relative to the first jaw 401. The end effector 40 can also be referred to as a jaw assembly. A plurality of staples can be disposed in the staple cartridge base.

[0059] For example, such as Figure 2 and Figure 5As shown, the surgical instrument also includes an unlocking element 50, through which the bending drive engagement 203 and the bending pull 101 are connected. The proximal end of the bending drive engagement 203 and the bending pull 101 are connected via the unlocking element 50, which is detachable and configured to be removable in the event of a failure of the powered bending mechanism, thereby releasing the connection between the bending drive engagement 203 and the bending pull 101.

[0060] For example, such as Figure 3 and Figure 5 As shown, the tube body 10 includes a guide rail 102 located therein, which extends along the axial direction of the tube body 10. A bending transmission fitting 203 is connected to the guide rail 102, so that the bending transmission fitting 203 can perform linear displacement movement along the axial direction of the tube body 10. The axial direction of the tube body 10 is the extension direction of the central axis A0 of the tube body 10. Figure 21 The central axis A0 of the tube 10 is shown. The central axis A0 extends in the longitudinal direction of the tube 10.

[0061] The inner tube 1001 can serve as the guide rail 102. Of course, in other embodiments, the guide rail 102 can also be other components instead of the inner tube 1001.

[0062] Figure 6 A bending transmission component 202 is shown. One end of the bending transmission component 202 is connected to and fixed to the power drive component 201. The bending transmission component 202 can be rotated by the power drive component 201. For example, the bending transmission component 202 can be a screw.

[0063] Figure 7 The bending transmission fitting 203 is shown. The bending transmission fitting 203 can be disposed on the bending transmission component 202 and driven by the bending transmission component 202 to perform linear displacement movement. The bending transmission fitting 203 can perform linear displacement movement along the extension direction of the bending transmission component 202 (along the extension direction of the screw).

[0064] For example, such as Figure 7 As shown, the bending transmission fitting 203 also includes a receiving space 2034 disposed in the main body 2031. Figure 5 and Figure 7 As shown, the guide rail 102 can be located in the receiving space 2034. The proximal end of the bending pull member 101 can be located in the receiving space 2034. The receiving space 2034 communicates with the first through hole 2033. For example, as Figure 5 As shown, the bending pull member 101 is limited by the guide rail 102 so that the bending pull member 101 moves along the axial direction of the tube body 10. The bending pull member 101 is located on one side of the central axis of the tube body 10, for example, on the right side of the axis of the tube body 10. Of course, embodiments of the present invention include, but are not limited to, this.

[0065] For example, such as Figure 2 and Figure 7 As shown, the bending transmission fitting 203 includes a main body 2031 and a first threaded hole 2032 disposed in the main body 2031. The bending transmission component 202 is connected to the first threaded hole 2032 of the bending transmission fitting 203. The external thread of the bending transmission component 202 can engage with the first threaded hole 2032 to drive the bending transmission fitting 203 to move.

[0066] For example, such as Figure 7 As shown, the bending transmission fitting 203 also includes a first through hole 2033 disposed in the main body 2031, such as Figure 2 and Figure 7 As shown, the unlocking member 50 passes through the first through hole 2033 and is connected to the bending pull member 101. The unlocking member 50 passes through the first through hole 2033 and is connected to the proximal end of the bending pull member 101 located in the receiving space 2034.

[0067] For example, such as Figure 8A and Figure 8B As shown, the unlocking component 50 has an unlocking structure 501 to be adapted to a tool 500 for unlocking (e.g., Figure 1 and Figure 2 (As shown). The tool 500 for unlocking can remove the unlocking member 50 by engaging with the unlocking structure 501. For example, the unlocking structure 501 includes a groove. For example, the groove includes a slot. The unlocking structure 501 may be located on the top surface of the unlocking member 50. For example, the unlocking member 50 includes a pin.

[0068] The bending drive assembly 203 and the bending pull assembly 101 are connected via an unlocking member 50. The unlocking member 50 has an unlocking structure 501, which can be a slot on the top surface of the unlocking member 50. A tool 500 for unlocking can be used to remove the unlocking member 50 to disconnect the bending drive assembly 203 from the bending pull assembly 101. In the event of a power-driven bending failure, such as an electric bending operation, the unlocking member 50 is removed manually, thereby disconnecting the bending drive assembly 203 from the bending pull assembly 101. After disconnection, the end effector (jaw assembly) can be straightened, facilitating its removal from the user. This solves the problem of the end effector (jaw assembly) remaining in a bent state and difficult to remove from the user in the event of a power-driven bending failure.

[0069] like Figure 9As shown, the proximal end of the bending pull member 101 is provided with a second threaded hole 1010 that mates with the unlocking member 50. The unlocking member 50 can be connected to the second threaded hole 1010 at the proximal end of the bending pull member 101. The unlocking member 50 can be fixed to the bending pull member 101 through the second threaded hole 1010, thereby enabling the bending transmission mating member 203 to be connected to the bending pull member 101.

[0070] like Figure 10 and Figure 11 As shown, the surgical instrument also includes a frame 211. For example, the frame 211 can be secured to the body assembly 90 (such as...). Figure 1 (As shown). Frame 211 includes a first receiving space 2111 and a second receiving space 2112. The second receiving space 2112 is used to house the bending transmission component 202. At least a portion of the bending transmission mating component 203 may be disposed in the second receiving space 2112. The first receiving space 2111 is used to house the power drive component 201. The first receiving space 2111 and the second receiving space 2112 are connected through a second through hole 2116. At least one of the power drive component 201 and the bending transmission component 202 passes through the second through hole 2116 to connect with each other. Frame 211 also includes a third through hole 2110. The third through hole 2110 may be a bearing mounting hole. Bearing 212 (e.g. Figure 10 (As shown) can be set at the third through hole 2110 (e.g.) Figure 11 (as shown), to be connected to the bending drive 202.

[0071] For example, the power drive component 201 is mounted and fixed inside the frame 211. The rear end of the bending transmission component 202 is fixedly connected to the power drive component 201, and the front end of the bending transmission component 202 is connected to the bearing 212 and mounted on the frame 211 to provide support and reduce the swaying of the bending transmission component 202.

[0072] like Figure 12 As shown, the power drive component 201 can be in the form of an electric motor (bending motor).

[0073] like Figure 13 and Figure 14 As shown, the end effector 40 bends to the left. Figure 13 and Figure 14 The state shown is the state where the end effector 40 bends to the left to its limit. That is, the state where it bends to the left to its maximum bending angle. For example, the power drive 201 rotates from the initial state along the first direction, causing the end effector 40 to bend to the left from the straight state.

[0074] like Figure 15 and Figure 16 As shown, the end effector 40 bends to the right. Figure 15 and Figure 16The state shown represents the end effector 40 bending to the right to its limit. That is, bending to the right to its maximum bending angle. For example, the power drive 201 rotates from its initial state along the second direction, causing the end effector 40 to bend to the right from its straight position. One of the first and second directions is clockwise, and the other is counterclockwise.

[0075] like Figure 17 and Figure 18 As shown, the end effector 40 is in a straight position. The end effector 40 can be in a straight position or in a bent position. Figure 17 The double arrows shown indicate that the end effector 40 can bend to the left or to the right.

[0076] For example, the bending angle can be the angle between the end effector 40 and the extension of the central axis A0 of the tube body 10.

[0077] For example, such as Figure 2 , Figure 14 , Figure 16 and Figure 18 As shown, the bending joint assembly 30 includes a bending rack 301 fixedly connected to the distal end of the bending pull member 101, a gear 302 meshing with the bending rack 301, and a bending joint 303 connected to the gear 302. One end of the bending joint 303 has a mating tooth 3031 that meshes with the gear 302, and the other end of the bending joint 303 is fixedly connected to the end effector 40. One of the two bending racks 301 is fixedly connected to the distal end of the bending pull member 101.

[0078] The power drive component 201 drives the bending transmission component 202 to rotate. Since the bending transmission mating component 203 is restricted from rotating by the guide rail 102, it moves linearly along the bending transmission component 202, causing the bending pull component 101 to move linearly along the axis of the tube body 10. The bending pull component 101 drives the bending rack 301 to move linearly. The bending rack 301 drives the gear 302 to rotate, thus converting the linear motion along the axis of the tube body 10 into rotation. The gear 302 meshes with the bending joint 303, causing it to rotate. The bending joint 303 is fixed to the end effector 40, for example, it can be fixed to the first jaw 401. Thus, the power output of the bending drive assembly 20 is converted into the bending motion of the end effector (jaw assembly).

[0079] For example, the bending rack 301 and the bending pull member 101 can be fixed together by welding two pieces together, connecting them to each other, or as a whole as a single part. The embodiments of the present invention do not limit this.

[0080] like Figure 2As shown, the bending joint assembly 30 may further include a connector 306 disposed at the bending joint assembly 30. A gear 302 is disposed on the connector 306. For example, the connector 306 may be disposed within the tube body 10. For example, the connector 306 may be fixed to the inner tube 1001 of the tube body 10.

[0081] For example, such as Figure 14 , Figure 16 ,as well as Figure 18 As shown, in the bending joint assembly 30, two gears 302 are used to generate sufficient bending stroke required for left and right bending, while ensuring that the bending rack 301 does not interfere with the bending joint 303.

[0082] For example, such as Figure 14 , Figure 16 ,as well as Figure 18 As shown, the two gears 302 are not meshed with each other, but only mesh with the bent rack 301 respectively. This ensures the reliability of the transmission and avoids structural interference.

[0083] For example, such as Figure 14 , Figure 16 ,as well as Figure 18 As shown, two gears 302 are provided, and the two gears 302 are arranged along the extension direction of the central axis of the tube body. Providing two gears 302 facilitates smoother bending of the end effector 40. The gears 302 can be mounted on the connector 306. For example, the connector 306 can be fixedly connected to the inner tube 1001. The bending joint 303 is fixedly connected to the end effector 40. The bending joint 303 can be fixedly connected to the first jaw 401 in the end effector 40.

[0084] For example, such as Figure 3 , Figure 5 and Figure 19 As shown, the surgical instrument also includes a circuit board 60, on which a sensor 601 is provided. The sensor 601 is located above the bending transmission mating member 203 and is configured to determine the degree of bending of the end effector 40.

[0085] Figure 20 The bending transmission assembly 203 is shown to have a zero position P0, a left extreme position P1, and a right extreme position P2. Because the bending transmission assembly 203 performs linear displacement, the sensor 601 can be positioned at the zero position P0, the left extreme position P1, or the right extreme position P2. When the sensor 601 is at the zero position P0, the end effector is in a straightened state (e.g., ...). Figure 17 (As shown). When sensor 601 is at the left extreme position P1, the end effector is at the left bending extreme position (as shown). Figure 13(As shown). When sensor 601 is at the right extreme position P2, the end effector is at the rightward bending extreme position (as shown). Figure 15 (As shown).

[0086] When the end effector 40 is not bent (jaw assembly is straightened), that is, when the extension direction of the end effector 40 coincides with the extension line of the central axis A0 of the pipe body 10, the bending angle of the end effector 40 is zero degrees. Bending of the end effector 40 refers to the end effector 40 having a non-zero angle with the extension line of the central axis A0 of the pipe body 10. In other words, bending of the end effector 40 refers to the situation where, in a top view or bottom view, the end effector 40 bends to the left or right.

[0087] For example, such as Figure 21 As shown, the surgical instrument also includes a rotation drive assembly 80, configured to drive the tube body 10 such that the tube body 10 and the end effector 40 rotate relative to the axis of the tube body 10. The axis of the tube body 10 is its central axis A0. For example, the inner tube 1001 and the outer tube 1002 of the tube body 10 are concentrically arranged. That is, the central axis of the inner tube 1001 and the central axis of the outer tube 1002 coincide, both being the central axis A0. The rotation drive assembly 80 in the embodiments of the present invention can adopt suitable components and forms as needed.

[0088] For example, such as Figure 3 and Figure 22 As shown, the surgical instrument also includes a cutting assembly 70, which includes a cutting blade 701 and a connecting rod 702 connected to the cutting blade 701. The connecting rod 702 has a resilience, allowing the bent end effector 40 to return to its original position under the resilience of the connecting rod 702, thus achieving automatic return. The automatic return of the end effector (jaw assembly) facilitates the removal of the medical device's tip from the body via a trocar, improving the safety and ease of use of the medical device.

[0089] For example, such as Figure 3 As shown, the connecting rod 702 is configured to extend from the tube body 10 to the end effector 40 during the return process of the end effector 40. This state allows the spring force of the connecting rod 702 to return the bent end effector 40 to its original position.

[0090] For example, the connecting rod 702 can be formed from thin metal sheets, such as thin iron sheets, and can be formed from four thin iron sheets. The connecting rod 702 is equivalent to an elastic sheet; it is straight under normal conditions, bends under stress, and has a tendency and force to recover its deformation. After unlocking, that is, after the connection between the bending transmission fitting and the bending pull fitting is released, this force can allow the bending end actuator to return to its original position.

[0091] When the bending drive assembly 20 fails to function (e.g., due to a depleted battery or a malfunction of the power drive 201, such as the bending motor), the unlocking piece 50 can be removed (by unscrewing the pin) using the unlocking tool 500. Consequently, the bending pull 101 is no longer connected to the bending transmission engagement 203, and the bending pull 101 is no longer locked by the bending transmission 202 and the power drive 201 (e.g., the gearbox of the bending motor), allowing it to move freely in the axial direction. The end effector will also essentially return to its original position under the action of the connecting rod 702 connected to the cutting blade in the cutting assembly 70, thus allowing the surgical instruments to be smoothly removed from the human body.

[0092] like Figure 3 As shown, the surgical instrument also includes a cutter cover 703 to protect the cutter.

[0093] like Figure 3 As shown, the surgical instrument also includes a generator 707, which may be disposed in the second body portion 902.

[0094] like Figure 3 As shown, the surgical instrument also includes a firing rack 712. The firing generator 707 drives the firing rack 712 to fire the connecting rod 702 and the cutting blade on the connecting rod 702 via the firing lever 711.

[0095] like Figure 3 As shown, the surgical instrument may also include a firing manual retraction device 713 to retract the cutting blade to its original position after firing, so as to facilitate the next firing of the cutting blade.

[0096] like Figure 1 , Figure 2 , Figure 10 and Figure 21 As shown, the surgical instrument also includes a body assembly 90. The body assembly 90 may include a first body portion 901 and a second body portion 902. For example, the first body portion 901 includes a cutting drive assembly. For example, the cutting drive assembly includes a firing rack. For example, the second body portion 902 includes a cutting drive component. For example, the cutting drive component includes a firing generator.

[0097] For example, the torque of the power drive 201 can only flow from the input end (motor side) to the output end (load side); conversely, if torque is applied at the output end, the mechanism cannot rotate in the reverse direction, i.e., it locks up.

[0098] For example, the threads of the bending screw mate with the threads of the bending nut. For example, the bending screw has a self-locking characteristic. For example, the bending screw is a self-locking screw, meaning its threads have a self-locking characteristic (the helix angle is less than the equivalent friction angle). The bending nut can be locked at any position on the bending screw without requiring an additional locking structure.

[0099] Force can be transmitted in the positive direction, that is, the force provided by the power drive component 201 is transmitted sequentially to the bending transmission component 202, the bending transmission mating component 203, the bending pull component 101, the bending rack 301, the gear 302, the bending joint 303, and the end effector (first jaw 401).

[0100] When the end effector (first jaw 401) is subjected to reverse force, the force is transmitted in the reverse direction, starting from the end effector (first jaw 401) and sequentially transmitted to the bending joint 303, gear 302, bending rack 301, and bending pull member 101. At this time, the force will not be transmitted to the bending drive assembly 20, that is, it will not be transmitted to the power drive member 201, thus forming a one-way locking function.

[0101] Since both the gear and rack are rigid structures, and the bending puller 101 is limited within the tube 10, the entire bending structure can be considered as a rigid structure, and the bending drive assembly 20 can continuously lock the bending angle of the end effector (jaw assembly).

[0102] The above description uses a bending motor as an example of a power drive component 201; however, embodiments of the present invention include, but are not limited to, this. The power drive component 201 can be at least one of a rotating power component with a rotating shaft, such as a motor, a hydraulic actuator, a pneumatic actuator, or a variable torque output actuator.

[0103] For example, surgical instruments include staplers, which may be cutting staplers. Embodiments of the present invention are described using a stapler as an example. Surgical instruments may also be other instruments as needed.

[0104] Where there is no conflict, features of the same embodiment and different embodiments of the present invention can be combined with each other.

[0105] The above description is merely an exemplary embodiment of the present invention and is 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 (10) is provided with a bending and pulling member (101) inside the tube body (10). A bending drive assembly (20) is disposed at the proximal end of the tube body (10); A bending joint assembly (30) is disposed at the distal end of the tube body (10); and An end effector (40) is connected to the bending joint assembly (30), wherein the bending drive assembly (20) is configured to drive the bending joint assembly (30) via the bending pull member (101) so that the end effector (40) bends relative to the tube body (10). The bending drive assembly (20) includes a power drive component (201), a bending transmission component (202), and a bending transmission mating component (203). The power drive component (201) is in transmission mating with the bending transmission component (202). The bending transmission component (202) is linked to the bending transmission mating component (203) to make the bending transmission mating component (203) perform linear displacement. The bending transmission mating component (203) is connected to the proximal end of the bending pull component (101) to realize the power bending of the end effector (40). The output end of the power drive component (201) is fixedly connected to the bending transmission component (202) to drive the bending transmission component (202) to rotate. The bending transmission fitting component (203) is sleeved on the bending transmission component (202) and configured to perform linear displacement motion along the axial direction of the tube body (10) as the bending transmission component (202) rotates.

2. The surgical instrument according to claim 1, characterized in that, It also includes an unlocking element (50), the proximal end of the bending drive engagement (203) and the bending pull (101) are connected by the unlocking element (50), the unlocking element (50) is detachable and configured to be removable in the event of failure of the power bending, so as to release the connection between the bending drive engagement (203) and the bending pull (101).

3. The surgical instrument according to claim 2, characterized in that, The unlocking component (50) has an unlocking structure (501) to be adapted to a tool for unlocking.

4. The surgical instrument according to claim 3, characterized in that, The unlocking structure (501) includes a groove located on the top surface of the unlocking member (50).

5. The surgical instrument according to claim 4, characterized in that, The groove includes a straight groove.

6. The surgical instrument according to claim 2, characterized in that, The unlocking component (50) includes a pin.

7. The surgical instrument according to claim 2, characterized in that, The bending transmission fitting (203) includes a main body (2031) and a first threaded hole (2032) disposed in the main body (2031). The bending transmission component (202) is connected to the first threaded hole (2032) of the bending transmission fitting (203).

8. The surgical instrument according to claim 7, characterized in that, The bending transmission fitting (203) also includes a first through hole (2033) provided in the main body (2031), and the unlocking member (50) passes through the first through hole (2033) and is connected to the bending pulling member (101).

9. The surgical instrument according to claim 7, characterized in that, The tube (10) includes a guide rail (102) located therein, the guide rail (102) extending along the axial direction of the tube (10), and the bending transmission fitting (203) is connected to the guide rail (102) so that the bending transmission fitting (203) performs the linear displacement movement along the axial direction of the tube (10).

10. The surgical instrument according to claim 9, characterized in that, The bending transmission fitting (203) also includes a receiving space (2034) disposed in the main body (2031), and the guide rail (102) is located in the receiving space (2034).

11. The surgical instrument according to claim 9, characterized in that, The bending pull member (101) is limited by the guide rail (102) so that the bending pull member (101) moves along the axial direction of the tube body (10).

12. The surgical instrument according to claim 1, characterized in that, It also includes a circuit board (60) on which a sensor (601) is provided. The sensor (601) is located above the bending transmission assembly (203) and is configured to determine the degree of bending of the end effector (40).

13. The surgical instrument according to claim 1, characterized in that, It also includes a cutting assembly (70), which includes a cutting blade (701) and a connecting rod (702) connected to the cutting blade (701). The connecting rod has a resilience, and the bent end effector (40) returns to its original position under the action of the resilience force of the connecting rod (702).

14. The surgical instrument according to claim 13, characterized in that, The connecting rod (702) is configured to extend from the tube (10) to the end effector (40) during the return process of the end effector (40).

15. The surgical instrument according to claim 1, characterized in that, The bending joint assembly (30) includes a bending rack (301) fixedly connected to the distal end of the bending pull member (101), a gear (302) meshing with the bending rack (301), and a bending joint (303) connected to the gear (302). One end of the bending joint (303) has a mating tooth (3031) that meshes with the gear (302), and the other end of the bending joint (303) is fixedly connected to the end effector (40).

16. The surgical instrument according to claim 1, characterized in that, It also includes a rotary drive assembly (80) configured to drive the tube body (10) such that the tube body (10) and the end effector (40) rotate relative to the central axis of the tube body (10).

17. The surgical instrument according to any one of claims 1-16, characterized in that, The surgical instruments include a stapler.

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