End actuator and anastomat

Abstract

The utility model relates to an end actuator and an anastomat. The end actuator comprises a body, a nail felt, a nail bin seat, a nail bin, a percussion block, a push broach assembly and a safety mechanism, a groove is formed in the face, facing the nail felt, of a push broach rod of the push broach assembly, the far-end area of the safety mechanism is connected to the nail felt, and the middle area of the safety mechanism has elastic deformation capacity and arches in the direction close to the percussion block. When the safety mechanism is in the locking state, the near-end area of the safety mechanism inclines towards the direction close to the push broach rod, and the near-end area of the safety mechanism is inserted into the groove when the safety mechanism is in the locking state; when the clamping component is closed and the percussion block is located at the near end of the nail bin, the percussion block abuts against the middle area of the safety mechanism, the middle area elastically deforms to enable the near end area to be separated from the groove, and the safety mechanism is unlocked. The safety mechanism is simple in structure, the groove is formed in the push broach rod, the push broach rod and the safety mechanism can be locked in a matched mode without adding other parts, convenience is achieved, and the size of the end actuator can be reduced easily.

Description

Technical Field

[0001] The utility model relates to the technical field of staplers, in particular to an end actuator and a stapler. Background Art

[0002] Laparoscopic staplers are commonly used instruments in laparoscopic surgery. The head end of the laparoscopic stapler is an openable and closable jaw. After the jaws are closed to clamp the tissue, the firing handle can be pulled to push the cutting knife and firing block forward. While the cutting knife cuts the tissue, the firing block pushes the stapler upward and staples the corresponding tissue.

[0003] After the operator completes the above-mentioned suturing action, the operator needs to reset the laparoscopic stapler and then replace the new stapler so that the laparoscopic stapler can perform the next suturing operation. However, during the operation, the operator may fire the stapler again without replacing the fired stapler (i.e., the old stapler). At this time, after the cutting knife is pushed out, the tissue will be cut, but there are no staplers in the stapler to suture the tissue, which will cause serious problems such as bleeding and leakage of contents. This risk also exists when the stapler is not installed, so a locking mechanism must be used to distinguish and lock the laparoscopic stapler with the old stapler installed and without the stapler installed to prevent the laparoscopic stapler from being fired by mistake.

[0004] Most of the existing laparoscopic staplers have an outer diameter of 12 mm. Some surgical procedures require a stapler with a smaller diameter to complete the surgery due to the small operating space in the cavity. However, the existing locking mechanism is relatively complex and cannot be applied to staplers with a smaller diameter. Utility Model Content

[0005] The utility model aims to provide an end actuator with a simpler structure and suitable for anastomosis devices with smaller diameters.

[0006] Another object of the utility model is to provide a stapler.

[0007] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0008] An end effector includes a body;

[0009] A pair of clamping members disposed at the distal end of the main body and capable of opening and closing, one of the pair of clamping members having a nail magazine seat, a nail magazine detachably disposed in the nail magazine seat, and a firing block disposed at the proximal end of the nail magazine and capable of moving toward the distal end of the nail magazine, and the other having a nail felt;

[0010] A push knife assembly, comprising a push knife rod slidably arranged in the main body along the axial direction of the main body and a cutting knife connected to the distal end of the push knife rod;

[0011] A safety mechanism having a locking state that prevents the push blade assembly from moving toward the distal end and an unlocking state that allows the push blade assembly to move toward the distal end,

[0012] A groove is provided on a side of the pusher rod facing the nail felt, the distal region of the safety mechanism is connected to the nail felt, the middle region has elastic deformation capability and arches toward the direction close to the firing block, and the proximal region is inclined toward the direction close to the pusher rod.

[0013] When the safety mechanism is in a locked state, the proximal region of the safety mechanism is inserted into the groove; when the clamping member is closed and the firing block is located at the proximal end of the nail magazine, the firing block abuts against the middle region of the safety mechanism, and the middle region of the safety mechanism undergoes elastic deformation so that its proximal region is separated from the groove, and the safety mechanism is in an unlocked state.

[0014] Preferably, the proximal end portion of the nail felt has a recessed area matched with the distal end region of the safety mechanism, and the distal end region of the safety mechanism is connected to the recessed area.

[0015] Preferably, the safety mechanism is formed by bending a rod and is bilaterally symmetrical.

[0016] Preferably, the main body includes an outer shell, a transmission component slidably arranged in the outer shell along the axial direction of the outer shell, and a connecting seat connected to the clamping member, one of the transmission component and the connecting seat has a slide groove, and the other has a rotating shaft adapted to the slide groove, the rotating shaft is inserted into the slide groove so that the connecting seat and the transmission component are rotatably and slidably connected, and the connecting seat can swing left and right relative to the outer shell under the drive of the transmission component.

[0017] Further preferably, the transmission assembly includes a transmission member controlled by a control mechanism, a follower and an elastic member connected between the housing and the follower, the distal ends of the transmission member and the follower are provided with the slide groove, and the slide groove extends in the left and right directions, when the transmission member moves toward the proximal direction, the connecting seat rotates and moves the follower toward the distal end; when the transmission member moves toward the distal direction, the connecting seat rotates and moves the follower toward the proximal end,

[0018] The elastic member causes the driven member to have a tendency to move toward an initial position.

[0019] Preferably, the main body further comprises a connecting piece, the connecting piece comprises two connecting pieces arranged relatively on upper and lower sides of the connecting seat, one end of the connecting piece is connected to the outer shell, and the other end is rotatably connected to the connecting seat.

[0020] Further preferably, a proximal region of one end of the connecting piece is bent and inserted into the shell and a distal region has a convex portion, and a stamping groove is provided in a region of the shell corresponding to the convex portion.

[0021] Preferably, the outer diameter of the main body is not greater than 8 mm.

[0022] Preferably, the end actuator further comprises a protection pad detachably connected to the nail magazine and located between the nail magazine and the nail felt.

[0023] The utility model also provides a stapler, which comprises the end actuator as described above.

[0024] Due to the application of the above technical solution, the utility model has the following advantages compared with the prior art:

[0025] The end effector provided by the utility model limits the movement of the push knife assembly toward the distal end of the nail magazine assembly by setting a safety mechanism, effectively preventing the situation where the nail magazine is not installed or the fired nail magazine is not replaced, thereby avoiding the occurrence of medical accidents or damage to normal tissues, and having high safety.

[0026] The safety mechanism has a simple structure. By providing a groove on the push knife rod, it can be locked with the safety mechanism without providing other components, which is very convenient and helps to reduce the size of the end actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic structural diagram of the end effector of Example 1;

[0028] Figure 2 It is a structural schematic diagram of the end effector of Example 1 from another angle;

[0029] Figure 3 is an exploded view of the end effector of Example 1;

[0030] Figure 4 This is a schematic diagram of the nail felt and the safety mechanism of Example 1;

[0031] Figure 5 is a cross-sectional view of the end effector of Example 1, wherein the safety mechanism is in an unlocked state;

[0032] Figure 6 This is a structural diagram of the safety mechanism in the unlocked state of Example 1

[0033] Figure 7 is a cross-sectional view of the end effector of Example 1, wherein the safety mechanism is in a locked state;

[0034] Figure 8 This is a schematic diagram of the structure of the insurance institution in Example 1;

[0035] Fig. 9 This is a schematic diagram of the structure of the connecting seat and the transmission assembly of Example 1, wherein the transmission assembly is in the initial position;

[0036] Fig.10 for Fig. 9 A magnified schematic diagram of part A;

[0037] Fig.11 This is a schematic diagram of the structure of the connecting base after rotation in Example 1;

[0038] Fig.12 This is a structural schematic diagram of the connecting base of Example 1 rotating toward another angle;

[0039] Fig.13 This is a schematic diagram of the connection between the clamping member and the main body of Example 1;

[0040] Fig.14 This is a schematic diagram of the structure of the connecting piece in Example 1;

[0041] Fig.15 This is a schematic diagram of the connection between the clamping member and the main body at another angle in Example 1;

[0042] Fig.16 This is a schematic diagram of the structure of the connecting piece under Example 1;

[0043] Fig.17 It is an exploded schematic diagram of the main body of Example 1 (the entire main body is not shown);

[0044] Wherein: 1. main body; 11. shell; 111. stamping area; 112. stamping groove; 12. connecting seat; 121. first rotating shaft; 122. second rotating shaft; 123. third rotating shaft; 13. transmission member; 131. transmission member slide groove; 14. driven member; 141. driven member slide groove; 15. elastic member; 16. connecting piece; 161. convex part; 162. hole;

[0045] 2. Nail felt; 21. Depressed area;

[0046] 3. Nail magazine seat; 31. Tool path;

[0047] 4. Nail magazine; 41. Firing block;

[0048] 5. Safety mechanism; 51. Distal end region of the safety mechanism; 52. First inclined region; 53. Curved region; 54. Second inclined region; 55. Proximal end region of the safety mechanism; 551. Stopper;

[0049] 6. Protective pad; 61. Wedge;

[0050] 71. cutting knife; 72. pusher rod; 721. groove. DETAILED DESCRIPTION

[0051] Most of the end effectors of laparoscopic staplers in the prior art have an outer diameter of 12 mm, which results in a small operating space in some procedures (such as thoracoscopic surgery). An end effector with a smaller diameter is required to complete the surgery, and an end effector with a smaller diameter places higher requirements on the design of the safety mechanism 5, etc. The safety mechanism 5 with a simpler structure and convenient operation is the key to achieving a smaller diameter. In addition, a larger swing angle of the stapler can increase the operating space of the surgery. In addition, since multiple anastomoses are often required in one operation, disposable staplers will lead to increased surgical costs and poor economic benefits. The stapler with a replaceable stapler 4 can be anastomosed again by replacing the stapler 4 after anastomosis, which is economical. However, since the stapler with a replaceable stapler 4 will undergo multiple firing processes, the connection strength between the various components of the stapler is required to be higher, especially the connection between the clamping member and the main body of the stapler.

[0052] The inventor has simplified the structure of the safety mechanism 5 by designing the safety mechanism 5. It is only necessary to open a groove 721 on the pusher rod 72, and it can be locked with the safety mechanism 5 without adding other components, which makes it possible to reduce the size of the end actuator. Furthermore, the inventor has designed the transmission assembly, the connecting seat 12, etc., so that the maximum deflection angle of the stapler head can reach 55°, and the swing angle is larger. The inventor has also designed a replaceable stapler 4. In the case of multiple anastomoses in one operation, only one stapler and multiple replaceable stapler magazines 4 are needed to complete the operation, thereby reducing the cost of the operation; at the same time, the connection strength is increased by the design of the connecting piece 16, and the design of the protective pad 6 can protect the stapler assembly in the transport package, and can be used as a tool for disassembling the stapler 4.

[0053] The utility model is further described below in conjunction with the embodiments shown in the accompanying drawings.

[0054] Example 1

[0055] A stapler includes an instrument platform (not shown in the figure), a handle (not shown in the figure) movably connected to the instrument platform, and an end effector detachably connected to the distal end of the instrument platform. The instrument platform and the handle can adopt the commonly used structures in the prior art and will not be described in detail in this application.

[0056] like Figures 1 to 3As shown, the end effector includes a main body 1 and a pair of clamping members arranged at the distal end of the main body 1, and the pair of clamping members have a clamping state that can be closed relative to each other to clamp the tissue to be cut in the middle and an open state that can be opened relative to each other. Specifically, one of the pair of clamping members is a nail felt 2, which is fixedly installed at the distal end of the main body 1; the other is a nail magazine assembly, which is rotatably arranged at the distal end of the main body 1, and specifically includes a nail magazine seat 3 arranged opposite to the nail anvil, a nail magazine 4 detachably arranged in the nail magazine seat 3, and a firing block 41 slidably arranged in the nail magazine 4, the nail magazine 4 can store anastomosis staples (not shown in the figure) for stapling, and the firing block 41 can move from the proximal end of the nail magazine 4 to the distal end of the nail magazine 4 along the axial direction of the nail magazine 4. In the initial state, the firing block 41 is located at the proximal end of the nail magazine 4. The nail anvil, the nail magazine 4, and the nail magazine seat 3 are respectively formed with a knife groove 31 having a guiding function and extending along their respective axial directions.

[0057] The end effector further includes a push knife assembly, which includes a push knife rod 72 and a cutting knife 71. The push knife rod 72 is disposed in the main body 1 and can move axially along the main body 1. The push knife rod 72 is operatively connected to an actuation source such as a handle of a medical stapler, and a groove 721 is provided on a side of the push knife rod 72 facing the staple felt 2. In this embodiment, the groove 721 is provided on the lower side of the push knife rod 72. The cutting knife 71 is fixedly connected or formed at the distal end of the push knife rod 72. Under the action of the push knife rod 72, the cutting knife 71 can push the firing block 41 to move distally and push the staples out of the staple magazine 4 in sequence, and then staple them to the tissue under the cooperation of the staple anvil. Further, the cutting knife 71 includes an upper crossbeam, a main body 1 of the cutting knife 71, and a lower crossbeam arranged in sequence from top to bottom, and a cutting blade for cutting tissue is fixedly arranged or formed on the main body 1 of the cutting knife 71. The upper crossbeam cooperates with the outer end surface of the nail magazine seat 3, and the lower crossbeam cooperates with the surface of the nail anvil opposite to the anvil surface. When the cutting knife 71 moves toward the distal end under the action of the pusher rod 72, the upper crossbeam drives the nail magazine seat 3 to rotate so that the end effector is closed to clamp the target tissue. When the end effector is in the closed state, the pusher assembly can move in the above-mentioned feed groove 31 along the axial direction of the main body 1.

[0058] like Figures 4 to 8 As shown, the end actuator also includes a safety mechanism 5, which has a locking state that prevents the push knife assembly from moving toward the distal end (see Figure 7 ) and an unlocked state that allows the push blade assembly to move distally (see Figure 5 and Figure 6 ).

[0059] Specifically, the distal region 51 of the safety mechanism is connected to the nail felt 2, the middle region has elastic deformation capability and arches in the direction close to the firing block 41, and the proximal region is inclined in the direction close to the pusher rod 72. When the safety mechanism 5 is in the locked state, the proximal region 55 of the safety mechanism is inserted into the groove 721, thereby preventing the pusher assembly from moving to the distal end; when the clamping member is closed and the firing block 41 is located at the proximal end of the nail magazine 4, the firing block 41 abuts against the middle region of the safety mechanism 5, and the middle region of the safety mechanism 5 undergoes elastic deformation so that its proximal region is separated from the groove 721, thereby allowing the pusher assembly to move to the distal end, and the safety mechanism 5 is in the unlocked state. The structure of the safety mechanism 5 is simpler, and no other components need to be added. It can be locked by cooperating with the groove 721 of the pusher rod 72, and is suitable for end actuators of smaller sizes.

[0060] More specifically, the safety mechanism 5 is formed by bending a rod and is bilaterally symmetrical. The proximal region 55 of the safety mechanism extends along the length direction of the nail felt 2, and can be welded or glued to the nail felt 2. In order to increase the connection strength between the safety mechanism 5 and the nail felt 2, the proximal end of the nail felt 2 has a recessed region 21 adapted to the distal region 51 of the safety mechanism, and the distal region 51 of the safety mechanism is connected to the recessed region 21. The provision of the recessed region 21 can increase the contact area between the proximal region 55 of the safety mechanism and the nail felt 2, thereby increasing the connection strength.

[0061] The middle area of ​​the safety mechanism 5 includes a first inclined area 52 extending obliquely upward, a curved area 53 arching upward, and a second inclined area 54 extending obliquely downward. When the clamping member is closed and the firing block 41 is located at the proximal end of the nail magazine 4, the firing block 41 abuts against the curved area 53 and applies a downward squeezing force to the curved area 53, causing the middle area of ​​the safety mechanism 5 to deform, thereby driving the proximal area 55 of the safety mechanism to move downward and separate from the groove 721. In the case of firing again without installing the nail magazine 4 or without replacing the fired nail magazine 4, due to the absence of the firing block 41, the proximal area 55 of the safety mechanism will be inserted into the groove 721 to achieve locking, thereby avoiding medical accidents caused by misfiring.

[0062] The proximal region 55 of the safety mechanism is in a “U” shape, and has a stop portion 551 extending in the left-right direction. When the safety mechanism 5 is in a locked state, the movement of the push blade assembly toward the distal end will be blocked by the stop portion 551 .

[0063] The proximal outer diameter of the main body 1 is preferably 12 mm, so as to be adapted to the existing instrument platform; the distal outer diameter is preferably 8 mm, which is smaller than the size of the anastomosis device in the prior art and can be adapted to smaller specifications of the puncture device. The main body 1 includes a shell 11, a transmission assembly and a connecting seat 12. The transmission assembly is slidably arranged in the shell 11 along the axial direction of the shell 11, one of the transmission assembly and the connecting seat 12 has a slide groove, and the other has a rotating shaft adapted to the slide groove. The rotating shaft is inserted into the slide groove so that the connecting seat 12 is rotatably and slidably connected to the transmission assembly. The connecting seat 12 can swing left and right relative to the shell 11 under the drive of the transmission assembly. The clamping member is connected to the connecting seat 12, and the swing of the connecting seat 12 can drive the clamping assembly to swing.

[0064] Specifically, see Figures 9 to 12 The transmission assembly includes a transmission member 13 controlled by a control mechanism (such as a handle), a follower member 14, and an elastic member 15 connected between the housing 11 and the follower member 14. The distal ends of the transmission member 13 and the follower member 14 are respectively provided with a transmission member slide groove 131 and a follower slide groove 141, and the transmission member slide groove 131 and the follower slide groove 141 extend in the left-right direction. Correspondingly, the connecting seat 12 is provided with a first rotating shaft 121 adapted to the transmission member slide groove 131 and a second rotating shaft 122 adapted to the follower slide groove 141. When the transmission member 13 moves toward the proximal direction, the connecting seat 12 rotates and moves the follower member 14 toward the distal end (see Fig.11 ); When the transmission member 13 moves toward the distal direction, the connecting seat 12 rotates and moves the follower 14 toward the proximal end (see Fig.12 ), the elastic member 15 makes the follower 14 have an initial position (see Fig.10 Through the size design of the slide groove, the maximum deflection angle of the connecting seat 12 in the present application can reach 55°.

[0065] like Figures 13 to 17As shown, the main body 1 also includes a connecting piece 16, and the connecting piece 16 has two connecting pieces (i.e., an upper connecting piece 16 and a lower connecting piece 16) relatively arranged on the upper and lower sides of the connecting seat 12, one end of the connecting piece 16 is connected to the housing 11, and the other end is rotatably connected to the connecting seat 12. Specifically, the proximal region of one end of the connecting piece 16 is bent and inserted into the plastic shaft of the housing 11 (the housing 11 includes a metal sleeve and a plastic shaft assembled in the metal sleeve), and a convex portion 161 is provided on the distal region, and a stamping groove 112 is provided in the region corresponding to the convex portion 161 of the metal sleeve of the housing 11, and the region corresponding to the stamping groove 112 is a stamping region 111, which can be stamped after assembly is completed to support the convex portion 161, thereby increasing the connection strength and preventing the connecting piece 16 from being lifted and being pulled out of the metal sleeve when the device is fired. When the stapler is firing for anastomosis, tissue resistance will be transmitted to the connection between the connecting piece 16 and the housing 11. Since the replaceable staple cartridge 4 causes a single component to undergo multiple firing processes, the connection is easily damaged. The connection strength can be increased by the bending design of the connecting piece 16 and the design of the convex portion 161. A hole 162 is provided at the other end of the connecting piece 16, and the connecting seat 12 has a third rotating shaft 123 adapted to the hole 162. The third rotating shaft 123 is inserted into the hole 162 and is rotatably connected to the hole 162.

[0066] like Figure 3 As shown, the end effector further includes a protective pad 6 detachably connected to the nail magazine 4 and located between the nail magazine 4 and the nail felt 2. The detachable connection method can be, for example, a snap connection. Preferably, the distal end of the protective pad 6 has a wedge 61. By adding the protective pad 6, the nail magazine assembly can be protected in the transport package, and the design of the wedge 61 can be used as a tool for disassembling the nail magazine 4. When disassembling the nail magazine 4, the wedge 61 is inserted between the nail magazine 4 and the nail magazine seat 3, and it is very convenient to pry the nail magazine 4 off the nail magazine seat 3.

[0067] In the above, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the embodiments of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0068] In the description of the embodiments of the present utility model, it is necessary to understand that the distal end refers to the end of the instrument or component away from the operator, and the proximal end refers to the end of the instrument or component close to the operator; the axial direction refers to the direction parallel to the line connecting the distal and proximal centers of the instrument or component; the inside and the outside are positions defined by the distance relative to the center of the instrument or component, where the inside is the position close to the center of the instrument or component, and the outside is the position away from the center of the instrument or component; the upper and the lower refer to the orientation of the instrument in actual use or working state. The description of the above-mentioned directional words is only for the convenience of describing the embodiments of the present utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present utility model.

[0069] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present utility model, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0070] In the embodiments of the present utility model, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them. Moreover, the first feature being "above", "above" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0071] The disclosure above provides many different embodiments or examples for realizing different structures of the embodiments of the present utility model. In order to simplify the disclosure of the embodiments of the present utility model, the components and settings of specific examples are described above. Of course, they are only examples, and the purpose is not to limit the embodiments of the present utility model. In addition, the embodiments of the present utility model can repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0072] The above embodiments are only for illustrating the technical concept and features of the utility model, and their purpose is to enable people familiar with the technology to understand the content of the utility model and implement it accordingly, and they cannot be used to limit the protection scope of the utility model. Any equivalent changes or modifications made according to the spirit of the utility model should be included in the protection scope of the utility model.

Claims

1. An end effector, comprising a body; A pair of clamping members disposed at the distal end of the main body and capable of opening and closing, one of the pair of clamping members having a nail magazine seat, a nail magazine detachably disposed in the nail magazine seat, and a firing block disposed at the proximal end of the nail magazine and capable of moving toward the distal end of the nail magazine, and the other having a nail felt; A push knife assembly, comprising a push knife rod slidably arranged in the main body along the axial direction of the main body and a cutting knife connected to the distal end of the push knife rod; A safety mechanism having a locking state that prevents the push blade assembly from moving toward the distal end and an unlocking state that allows the push blade assembly to move toward the distal end, Features: A groove is provided on a side of the pusher rod facing the nail felt, the distal region of the safety mechanism is connected to the nail felt, the middle region has elastic deformation capability and arches toward the direction close to the firing block, and the proximal region is inclined toward the direction close to the pusher rod. When the safety mechanism is in a locked state, the proximal region of the safety mechanism is inserted into the groove; when the clamping member is closed and the firing block is located at the proximal end of the nail magazine, the firing block abuts against the middle region of the safety mechanism, and the middle region of the safety mechanism undergoes elastic deformation to separate its proximal region from the groove, and the safety mechanism is in an unlocked state.

2. The end effector according to claim 1, Features: The proximal end portion of the nail felt has a recessed area matched with the distal end region of the safety mechanism, and the distal end region of the safety mechanism is connected to the recessed area.

3. The end effector according to claim 1, Features: The safety mechanism is formed by bending a rod and is bilaterally symmetrical.

4. The end effector according to claim 1, Features: The main body includes an outer shell, a transmission component slidably arranged in the outer shell along the axial direction of the outer shell, and a connecting seat connected to the clamping member, one of the transmission component and the connecting seat has a slide groove, and the other has a rotating shaft adapted to the slide groove, the rotating shaft is inserted into the slide groove so that the connecting seat and the transmission component are rotatably and slidably connected, and the connecting seat can swing left and right relative to the outer shell under the drive of the transmission component.

5. The end effector according to claim 4, Features: The transmission assembly includes a transmission member controlled by a control mechanism, a follower, and an elastic member connected between the housing and the follower. The distal ends of the transmission member and the follower are provided with the slide groove, which extends in the left and right directions. When the transmission member moves toward the proximal direction, the connecting seat rotates and moves the follower toward the distal end; when the transmission member moves toward the distal direction, the connecting seat rotates and moves the follower toward the proximal end. The elastic member causes the driven member to have a tendency to move toward an initial position.

6. The end effector according to claim 4, Features: The main body also includes a connecting piece, which has two connecting pieces arranged relatively on the upper and lower sides of the connecting seat, one end of the connecting piece is connected to the shell, and the other end is rotatably connected to the connecting seat.

7. The end effector according to claim 6, Features: The proximal region of one end of the connecting piece is bent and inserted into the shell, and a convex portion is provided on the distal region, and a stamping groove is provided in the area of ​​the shell corresponding to the convex portion.

8. The end effector according to claim 1, Features: The outer diameter of the main body is not greater than 8 mm.

9. The end effector according to claim 1, Features: The end actuator also includes a protection pad detachably connected to the nail magazine and located between the nail magazine and the nail felt.

10. A stapler, Features: The stapler comprises the end effector according to any one of claims 1 to 9.

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