Surgical instrument

Abstract

A surgical instrument is provided. A surgical instrument includes a posterior end drive assembly, a shaft assembly, and an insert. The shaft assembly is connected to the rear end driving assembly. The insertion piece penetrates through the shaft assembly and is connected to the rear end driving assembly. The rear end driving assembly comprises a first rotating piece, a second rotating piece, a first guiding piece, a second guiding piece, a first cable and a second cable. The first guide is disposed at the proximal end of the shaft assembly. The second guide is disposed at the proximal end of the shaft assembly. The first cable is wound on the first rotating piece and enters the shaft assembly through the first guiding piece. The second cable is wound on the second rotating piece and enters the shaft assembly through the second guiding piece. The first guiding piece and the second guiding piece are arranged in the circumferential direction of the shaft assembly at intervals. And a space for the insertion piece to pass through is defined between the first guide piece and the second guide piece. The positions of the first guide part and the second guide part are reasonably arranged, so that the driving rod can be conveniently assembled, and the movement of the driving rod can be reduced or prevented from being hindered.

Description

Technical Field

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

[0002] In minimally invasive surgery, electrosurgical instruments, such as vessel sealers, can be used to transect and / or seal tissue. Electrosurgical instruments consist of a cutting electrode and a bipolar sealing electrode. The cutting electrode cuts tissue using a high-energy-density surface. The bipolar sealing electrode seals the two target tissues, sealing the window.

[0003] However, there are many deficiencies and room for improvement in surgical instruments such as vascular sealers in the related art. Utility Model Content

[0004] The Summary of the Utility Model introduces a series of simplified concepts that will be further described in the Detailed Description of the Implementation Method. The Summary of the Utility Model of this application is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

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

[0006] Back-end drive components;

[0007] a shaft assembly connected to the rear end drive assembly; and

[0008] An insert, the insert being disposed through the shaft assembly and connected to the rear end drive assembly, wherein the rear end drive assembly comprises:

[0009] a first rotating member;

[0010] a second rotating member;

[0011] a first guide member disposed at a proximal end of the shaft assembly;

[0012] a second guide member disposed at a proximal end of the shaft assembly;

[0013] a first cable, the first cable being wound around the first rotating member and entering the shaft assembly through the first guide member; and

[0014] a second cable, the second cable being wound around the second rotating member and entering the shaft assembly through the second guide member;

[0015] The first guide member and the second guide member are spaced apart along the circumference of the shaft assembly, and a space for the insert to pass through is defined between the first guide member and the second guide member.

[0016] According to the surgical instrument of the present application, by rationally arranging the positions of the first and second guide members, the first and second cables can be guided to change the directions of the first and second cables on the proximal side of the shaft assembly. Because the first and second guide members are spaced apart in the circumferential direction of the shaft assembly and can reserve space for the drive rod to pass through, this can facilitate assembly of the drive rod with the rear end drive assembly while reducing or avoiding obstruction to the movement of the drive rod.

[0017] Optionally, the rear-end drive assembly further includes a seat body, which is connected to the proximal end of the shaft assembly, and the seat body has an opening, which is suitable for passing the insert, and the first cable and the second cable enter the shaft assembly through the opening, and the first guide member and the second guide member are arranged at the edge of the opening.

[0018] Optionally, a first steering member is provided between the first rotating member and the first guide member, the first cable is connected to the first guide member via the first steering member, and the first steering member is used to change the direction of the first cable entering the first guide member from the first rotating member.

[0019] Optionally, a second steering member is provided between the second rotating member and the second guide member, the second cable is connected to the second guide member via the second steering member, and the second steering member is used to change the direction of the second cable entering the second guide member from the second rotating member.

[0020] Optionally, the first cable between the first rotating member, the first steering member and the first guide member avoids the opening; and / or

[0021] The first cable includes a first section located between the first rotating member and the first steering member and a second section located between the first steering member and the first guide member, the first guide member includes a guide surface, and the angle between the extension direction of the first section and the tangent of the guide surface is greater than the angle between the extension direction of the second section and the tangent of the guide surface.

[0022] Optionally, the first guide member is located on a side of the opening away from the first rotating member and the second rotating member, the first steering member is located on a side of the first guide member away from the opening, and the first cable between the first rotating member, the first steering member and the first guide member avoids the opening; and / or

[0023] The first cable includes a first section located between the first rotating member and the first steering member and a second section located between the first steering member and the first guide member, the first steering member is a fixed pulley, and the fixed pulley includes a guide surface. The angle between the extension direction of the first section and the tangent of the guide surface is greater than the angle between the extension direction of the second section and the tangent of the guide surface.

[0024] Optionally, the second cable between the second rotating member, the second steering member and the second guide member avoids the opening; and / or

[0025] The second cable includes a first section located between the second rotating member and the second steering member and a second section located between the second steering member and the second guide member, the second guide member includes a guide surface, and the angle between the extension direction of the first section and the tangent of the guide surface is greater than the angle between the extension direction of the second section and the tangent of the guide surface.

[0026] Optionally, the second guide member is located on a side of the opening away from the second rotating member and the second rotating member, the second steering member is located on a side of the second guide member away from the opening, and the second cable between the second rotating member, the second steering member and the second guide member avoids the opening; and / or

[0027] The second cable includes a first section located between the second rotating member and the second steering member and a second section located between the second steering member and the second guide member, the second steering member is a fixed pulley, and the fixed pulley includes a guide surface. The angle between the extension direction of the first section and the tangent of the guide surface is greater than the angle between the extension direction of the second section and the tangent of the guide surface.

[0028] Optionally, the second guide member is located on a side of the opening close to the second rotating member, the second cable includes a second section located between the second rotating member and the second steering member and a second section located between the second steering member and the second guide member, the second guide member includes a guide surface, and the angle between the extension direction of the second section and the tangent of the guide surface is greater than the angle between the extension direction of the second section and the tangent of the guide surface.

[0029] Optionally, the rear end drive assembly includes two first guide members and two second guide members, the first end and the second end of the first cable are respectively connected to the two first guide members, the first end and the second end of the second cable are respectively connected to the two second guide members, and the first guide member and the second guide member are both fixed pulleys.

[0030] wherein the two first guide members are coaxially arranged, and the two second guide members are coaxially arranged; or

[0031] One of the first guide members is coaxially arranged with one of the second guide members, and another of the first guide members is coaxially arranged with another of the second guide members.

[0032] Optionally, the shaft assembly comprises a shaft member;

[0033] The first guide and the second guide are disposed at different heights in the first direction, which is parallel to a central axis of the shaft member. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The following drawings of the embodiments of the present application are hereby incorporated as part of the present application for understanding the present application. The drawings show the embodiments of the present application and their descriptions, and are used to explain the principles of the present application. In the drawings,

[0035] Figure 1 is a stereoscopic view of a surgical instrument according to some embodiments of the present application;

[0036] Figure 2 is a front view of a surgical instrument according to some other embodiments of the present application;

[0037] Figure 3 is a stereoscopic view of the distal end of the transmission assembly and the end effector in an installed state according to some embodiments of the present application;

[0038] Figure 4 is a front view of a transmission assembly and an end effector in an installed state according to some embodiments of the present application;

[0039] Figure 5 For the Figure 2 A cross-sectional view of line AA in FIG;

[0040] Figure 6 for Figure 1 and Figure 2 A front view of the rear end drive assembly and shaft assembly in the installed state;

[0041] Figure 7 For the Figure 6 A cross-sectional view along line BB in FIG.

[0042] Figure 8 for Figure 1 A three-dimensional view of the proximal end of the shaft assembly in a state where a portion of the proximal end of the shaft assembly is cut away and a portion of the central lumen is exposed;

[0043] Figure 9 is a perspective view of a proximal end of a transmission assembly and a locking member in an installed state according to some embodiments of the present application;

[0044] Figure 10 for Figure 9 A perspective view of the proximal end of the drive rod and the locking member of the transmission assembly in a disassembled state;

[0045] Figure 11 for Figure 9 Another perspective view of the proximal end of the drive rod and the locking member of the transmission assembly shown in a disassembled state;

[0046] Figure 12 for Figure 11 A schematic structural diagram of the first conductive member in FIG.

[0047] Figure 13 for Figure 10 and Figure 11 A schematic structural diagram of the proximal end of the drive rod of the transmission assembly;

[0048] Figure 14 is a three-dimensional view of the proximal end of the transmission assembly and the locking member in an installed state according to some other embodiments of the present application;

[0049] Figure 15 A perspective view of a rear end drive assembly and a proximal end of a shaft assembly in an installed state according to some embodiments of the present application, wherein cables are not shown;

[0050] Figure 16 A top view of a rear end drive assembly after a portion of the base body is cut away according to some other embodiments of the present application, showing a first cable and a second cable;

[0051] Figure 17 for Figure 16 A partial enlarged view of point Ⅰ in FIG;

[0052] Figure 18 FIG1 is a top view of a rear end drive assembly according to some further embodiments of the present application after a portion of the base body is cut away, showing a first cable and a second cable;

[0053] Figure 19 A top view of the rear end drive assembly after the base body is cut off according to some other embodiments of the present application

[0054] Figure 20 is a schematic structural diagram of a proximal end of a surgical instrument according to some further embodiments of the present application, in a state where a second rotation-stopping member and a shaft component are disassembled;

[0055] Figure 21 for Figure 20 A three-dimensional view of the second anti-rotation member;

[0056] Figure 22for Figure 20 a cross-sectional view of the proximal end of the surgical instrument shown;

[0057] Figure 23 for Figure 20 a cross-sectional view of the proximal end of the shaft assembly;

[0058] Figure 24 for Figure 4 A perspective view of the proximal end of the drive rod, the second sealing sleeve, the wrist support, the actuating element, and the proximal end of the end effector in an installed state;

[0059] Figure 25 for Figure 24 A perspective view of the proximal end of the drive rod, the second sealing sleeve, the wrist support, the actuating element, and the proximal end of the end effector in a disassembled state;

[0060] Figure 26 for Figure 24 Another perspective view showing the proximal end of the drive rod, the second sealing sleeve, the wrist support, the actuating element, and the proximal end of the end effector in a disassembled state; and

[0061] Figure 27 is a perspective view of a proximal end of a drive rod, a second sealing sleeve, a wrist support, an actuating element, and a proximal end of an end effector in an installed state according to other embodiments of the present application;

[0062] Figure 28 for Figure 27 A perspective view of the proximal end of the drive rod, the second sealing sleeve, the wrist support, the actuating element, and the proximal end of the end effector in a disassembled state is shown. DETAILED DESCRIPTION

[0063] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it will be apparent to those skilled in the art that the present application embodiments can be implemented without one or more of these details. In other examples, some technical features well known in the art are not described to avoid confusion with the present application embodiments.

[0064] In order to fully understand the embodiments of the present application, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of the present application is not limited to the specific details familiar to those skilled in the art.

[0065] It should be understood that the terminology used herein is intended only to describe specific embodiments and is not intended to limit the present application. The singular forms "a," "an," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. When the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0066] The terms "proximal," "proximal end," "distal," and "distal end" are used herein with respect to a clinician manipulating the handle portion of a surgical instrument. The terms "proximal" / "proximal end" refer to the portion closest to the clinician, and the terms "distal" / "distal end" refer to the portion positioned away from the clinician.

[0067] Ordinal numbers such as "first" and "second" used in this application are merely identifiers and do not convey any other meaning, such as a specific order. Furthermore, for example, the term "first component" itself does not imply the existence of a "second component," nor does the term "second component" itself imply the existence of a "first component." It should be noted that the terms "upper," "lower," "front," "back," "left," "right," "inner," "outer," and similar expressions used in this application are for illustrative purposes only and are not limiting.

[0068] The terms "parallel" / "perpendicular" and similar expressions used in this application include absolute parallel / perpendicular relationships and approximately parallel / perpendicular relationships (for example, a relationship that differs from absolute parallel / perpendicular by -5° to +5°), which can have equivalent effects.

[0069] Hereinafter, specific embodiments of the present application will be described in more detail with reference to the accompanying drawings. These drawings illustrate representative embodiments of the present application and do not limit the present application.

[0070] An embodiment of the present application provides a surgical instrument, which may be a vascular sealer, an anastomosis device, a clip applier, an ultrasonic scalpel, or the like.

[0071] Please refer to Figures 1 to 4Some embodiments of the present application provide a surgical instrument 10 that includes a rear-end drive assembly 110, a shaft assembly 150, a transmission assembly 210, and an end effector 220. The rear-end drive assembly 110 is used to transmit power output by a power source. The proximal end of the shaft assembly 150 is connected to the rear-end drive assembly 110. The rear-end drive assembly 110 can drive the shaft assembly 150 to rotate. The transmission assembly 210 is configured to pass through the shaft assembly 150. The proximal end of the transmission assembly 210 is detachably connected to the rear-end drive assembly 110. The distal end of the transmission assembly 210 is connected to the end effector 220. The end effector 220 is detachably connected to the shaft assembly 150. The shaft assembly 150 can connect the rear-end drive assembly 110 and the end effector 220. When the shaft assembly 150 is actuated by the rear-end drive assembly 110 to rotate, the end effector 220 rotates along with the shaft assembly 150. The end effector 220 may include a tool for performing surgical operations such as cutting, shearing, grasping, clamping, gripping, or joining tissue, such as a hook, spatula, needle, clamp, or scissors. The transmission assembly 210 is used to transmit power output from the rear-end drive assembly 110 to the end effector 220, thereby driving the end effector 220 to perform the corresponding surgical operation. Examples of surgical operations include opening and closing clamps, sealing with a sealing electrode, or cutting with a cutting electrode. The transmission assembly 210 may include push-pull rods, wires, ropes, or belts.

[0072] Surgical instruments in the related art are typically designed to be discarded as a whole after a single use due to the delicate structure of their end effectors, making them difficult to clean after use. This increases surgical costs. According to some embodiments of the present application, the end effector 220 and transmission assembly 210 are replaceable actuators, removably connected to the shaft assembly 150 and rear drive assembly 110, respectively. After use, the surgical instrument can be replaced with only the replaceable actuator, while the rear drive assembly 110 and shaft assembly 150 can be reused within their specified service life. This improves surgical safety and helps reduce the cost of surgical instrument 10. The replaceable actuator can be replaced after a single use, after a preset number of uses, or after it has not been used the preset number of times but has difficulty meeting the standards for reuse through current disinfection and cleaning methods.

[0073] like Figure 7 and Figure 8As shown, the shaft assembly 150 has a central cavity 150a. The transmission assembly 210 is configured to pass through the central cavity 150a. The shaft assembly 150 may include a shaft member 151 and a wrist member 152. The proximal end of the shaft member 151 is connected to the rear-end drive assembly 110. The distal end of the shaft member 151 is connected to the proximal end of the wrist member 152. The end effector 220 is detachably connected to the distal end of the wrist member 152. The wrist member 152 includes at least one joint such as a pitch joint and a yaw joint. The distal end of the rear-end drive assembly 110 is connected to the wrist member 152 to drive the wrist member 152 to perform pitch and / or yaw motion relative to the shaft member 151, thereby improving the mobility of the end effector 220.

[0074] In other embodiments of the present application, the shaft assembly 150 may not include the wrist member 152 .

[0075] In some embodiments, surgical instrument 10 is a vessel sealer. The vessel sealer can be used in remote electrosurgery procedures, such as vessel cutting and sealing. The end effector 220 includes a pair of clamps that can open and close, a pair of sealing electrodes disposed on each clamp, and a cutting electrode disposed on one of the clamps. The clamps are used to clamp a vessel, the sealing electrodes are used to seal the vessel, and the cutting electrode is used to sever the sealed vessel.

[0076] See Figure 1 、 Figure 3 as well as Figure 8 , the connection between the end effector 220 and the shaft assembly 150 is only mechanically connected, and not electrically connected. Therefore, there is no need to set an electrical connection structure at the connection between the end effector 220 and the shaft assembly 150, so that the length of the distal end of the surgical instrument 10 (including the distal end of the shaft assembly 150 and the end effector 220) can be shortened to adapt to special surgical needs, such as hysterectomy. In other words, at the connection position between the proximal end of the end effector 220 and the distal end of the shaft assembly 150, the two are insulated from each other. Further, in the shaft assembly 150 with the wrist member 152, the length of the distal end of the surgical instrument 10 (including the wrist member 152 and the end effector 220) can be shortened by more than 10 mm.

[0077] For electrosurgical instruments, it is also necessary to connect the end effector 220 to an energy source via wires. Energy (e.g., electrical energy) is transmitted to and released from the end effector 220 via the wires, allowing the end effector 220 to perform surgical operations such as cutting and hemostasis on tissue. In the example where the surgical instrument 10 is a blood vessel sealer, the sealing electrode and the cutting electrode are connected to the energy source located at the proximal end of the transmission assembly 210 via three wires, and are then fed by the energy source.

[0078] Connection structure between shaft assembly and end effector

[0079] In order to achieve a detachable connection between the shaft assembly 150 and the end effector 220, in some embodiments of the present application, the wrist member 152 of the shaft assembly 150 is threadedly connected to the end effector 220. This not only facilitates the removal and installation of the replaceable actuator assembly from the shaft assembly 150, but also ensures the stability of the movement of the replaceable actuator assembly.

[0080] See Figure 1 、 Figure 8 as well as Figure 22 The wrist member 152 includes a first joint portion 153, a second joint portion 154 and a third joint portion 155 from the proximal end to the distal end. The second joint portion 154 is rotatably connected to the first joint portion 153 around the first axis AX1 to form a pitch joint of the surgical instrument 10. The pitch joint is used to enable the end effector 220 to move in the third direction D3. The third joint portion 155 is rotatably connected to the second joint portion 154 around the second axis AX2 to form a yaw joint of the surgical instrument 10. The yaw joint is used to enable the end effector 220 to move in the fourth direction D4. The first axis AX1 and the second axis AX2 intersect, and are preferably perpendicular to each other. The proximal end of the first joint portion 153 is connected to the distal end of the shaft member 151. The distal end of the third joint portion 155 is threadedly connected to the end effector 220. Thus, the end effector 220 of the surgical instrument 10 of this embodiment has at least two degrees of freedom, pitch and yaw.

[0081] See Figure 3 、 Figure 4 and Figure 8 , the third joint portion 155 of the wrist member 152 is provided with a threaded portion 155a. The end effector 220 may include a base 221 and a nut sleeve 223. The nut sleeve 223 is configured to be rotatable relative to the base 221 of the end effector 220. When the end effector 220 is assembled to the wrist member 152, the nut sleeve 223 can be fastened to the threaded portion 155a of the wrist member 152 by rotating the nut sleeve 223 along a first rotation direction (not indicated). When the end effector 220 is disassembled from the wrist member 152, the nut sleeve 223 can be loosened from the threaded portion 155a of the wrist member 152 by rotating the nut sleeve 223 along a second rotation direction (not indicated). The second rotation direction here is opposite to the aforementioned first rotation direction.

[0082] In other embodiments not shown, the nut sleeve may be provided at the third joint portion of the wrist member. Correspondingly, the threaded portion may be provided at the base of the end effector.

[0083] In other embodiments, the wrist member 152 and the end effector 220 may be assembled using other detachable connection methods, such as snap-fit.

[0084] See Figure 1 、 Figure 3 as well as Figure 4 For example, the end effector 220 may include a base 221 and a clamp. The clamp is mounted on the base 221. The clamp may include at least one movable clamp 222. The clamp shown in the illustrated embodiment includes a movable clamp 222 and a fixed clamp 224. The fixed clamp 224 is fixedly connected to the base 221. The movable clamp 222 is pivotally connected to the base 221 about a third axis AX3 so as to rotate relative to the fixed clamp 224 to open and close. This solution requires manipulation of the movable clamp 222 to perform various forms of electrosurgery.

[0085] Specifically, the base 221 may include two arms 221b. The two arms 221b are provided with waist-shaped grooves 221c. One end of the movable pliers 222 and one end of the fixed pliers 224 are located between the two arms 221b. The movable pliers 222 are provided with cam grooves 222a. The movable pliers 222 are rotatably connected to the two arms 221b around a third axis AX3. A transmission pin 225 simultaneously passes through the cam grooves 222a of the movable pliers 222 and the waist-shaped grooves 221c of the two arms 221b. The transmission pin 225 can be connected to the rear end drive assembly 110 via the transmission assembly 210. The fixed pliers 224 are fixed to the arms 221b. Driven by the rear-end drive assembly 110, a thrust or pull is applied to the transmission pin 225 through the transmission assembly 210 to drive the transmission pin 225 to move in the cam groove 222a of the movable clamp 222 and the waist groove 221c of the support arm 221b. Since the cam groove 222a has a curved structure, the movable clamp 222 can rotate relative to the fixed clamp 224 to realize the opening and closing of the clamp, which is convenient for operation.

[0086] Among them, the movable clamp 222 and the fixed clamp 224 can each include a sealing electrode (not marked) and a connecting piece (not marked). The sealing electrode is located at the distal end of the connecting piece and can be fixedly connected to the connecting piece. The connecting piece of the movable clamp 222 can be pivoted to the base 221 through a pivot shaft. The connecting piece of the movable clamp 222 is provided with a cam groove 222a. The connecting piece of the fixed clamp 224 is fixedly connected to the base 221 or integrally formed. The movable clamp 222 can also include a cutting electrode (not marked). The connecting piece is constructed as an insulating component, which can be made of any suitable insulating material. The sealing electrode is physically isolated from the base 221 by the connecting piece to maintain electrical insulation between the two.

[0087] Of course, in other embodiments not shown, the end effector can have various structures. For example, the end effector can include two movable forceps. The two movable forceps rotate cooperatively about the third axis AX3 to open and close. This solution requires simultaneous manipulation of the two movable forceps to perform various types of electrosurgery.

[0088] wrist support

[0089] See Figure 3 、 Figure 4 as well as Figures 24 to 28 The surgical instrument 10 further includes a wrist support 230. When the end effector 220 is not assembled to the shaft assembly 150, the distal end of the wrist support 230 can be mounted to the base 221. When the end effector 220 is assembled to the shaft assembly 150, the wrist support 230 is located in the central cavity 150a within the wrist member 152. The wrist support 230 is configured to support the movement of the wrist member 152. The wrist support 230 is made of a flexible material that can deform under external forces, allowing the wrist support 230 to bend with the pitch and / or yaw movements of the wrist member 152. Furthermore, the base 221 may include a first mounting portion 221a. The wrist support 230 includes a second mounting portion 231. The second mounting portion 231 cooperates with and connects to the first mounting portion 221a to mount the wrist support 230 on the base 221.

[0090] Optionally, the first assembly portion 221 a and the second assembly portion 231 may be snap-fit ​​connections to facilitate assembly of the base 221 and the wrist support 230 .

[0091] exist Figure 3 and Figure 25 In the illustrated example, the proximal end of the base 221 is provided with an assembly slot. A first assembly portion 221a is a snap-fitting hole formed in the base 221. The snap-fitting hole is radially connected to the assembly slot. Two or more snap-fitting holes are provided circumferentially around the base 221. A second assembly portion 231 is configured as a snap-fitting boss on the outer periphery of the distal end of the wrist support 230. The wrist support 230 as a whole or the distal end of the wrist support 230 is configured to be elastically deformable. During assembly of the wrist support 230 to the base 221, the snap-fitting boss and the snap-fitting hole of the base 221 are first aligned axially of the base 221. The distal end of the wrist support 230 is then inserted into the assembly slot. The snap-fitting boss initially adaptively contracts radially until it is radially aligned with the snap-fitting hole. At this point, the snap-fitting boss rebounds radially to snap into the snap-fitting hole. This completes the assembly of the wrist support 230 and the base 221. At this time, the engagement holes and the engagement bosses cooperate to restrict the wrist support 230 from moving relative to the base 221 in both the axial and circumferential directions. The axial and radial directions of the base 221 are perpendicular to each other. When the surgical instrument 10 is in the illustrated position, the axial direction of the base 221 is parallel to the central axis AX of the shaft member 151. The circumferential direction of the base 221 is, for example, the circumferential direction of a circle centered on the central axis AX of the shaft member 151. The longitudinal direction or first direction D1 of the shaft member 151 is parallel to the central axis AX of the shaft member 151.

[0092] See Figure 3 、 Figures 24 to 28 For example, the wrist support 230 is also provided with a wire passage for the transmission component 210 and the wire to pass through, guiding the transmission component 210 and the wire, and connecting the transmission component 210 and the wire to the end effector 220.

[0093] Optionally, wrist support 230 may include a first electrical via 230a and a first transmission via 230b extending therethrough. First electrical via 230a is suitable for receiving a wire. First transmission via 230b is suitable for receiving an actuator 214 of transmission assembly 210. Actuator 214 is used to connect to the clamp of end effector 220. Actuator 214 will be described further below.

[0094] Mechanical connection between the transmission assembly and the rear drive assembly

[0095] In order to install the transmission assembly 210 and the end effector 220 to the rear end drive assembly 110 and perform power transmission, it is necessary to at least mechanically connect the transmission assembly 210 to the rear end drive assembly 110 .

[0096] See Figure 1 、 Figure 3 as well as Figure 4 For example, the transmission assembly 210 includes a driving rod 211 and an actuating element 214. The proximal end of the actuating element 214 is connected to the distal end of the driving rod 211. The driving rod 211 is configured to be translatable along the first direction D1 of the shaft member 151. The actuating element 214 is used to actuate the end effector 220 to move under the drive of the driving rod 211. For example, the actuating element 214 can actuate the clamp to open and close or the staples to be fired. Optionally, as Figure 4 As shown, the distal end of the actuating element 214 is connected to the drive pin 225 of the end effector 220. The drive rod 211 translates along the first direction D1 toward the distal end of the shaft assembly 150, driving the actuating element 214 to close the clamp. The drive rod 211 translates along the first direction D1 toward the proximal end of the shaft assembly 150, driving the drive element 214 to open the clamp. In other embodiments, the drive rod 211 may also be another insert.

[0097] See Figure 5 、 Figure 7 as well as Figures 9 to 11, the rear end drive assembly 110 includes a mechanical connection structure for detachably connecting to the drive rod 211. The mechanical connection structure includes a mounting seat 112 and a locking member 111. The mounting seat 112 is configured to be connected to the proximal end of the drive rod 211. The locking member 111 is connected to the mounting seat 112, is located between the mounting seat 112 and the drive rod 211, and can switch between a locked state and an unlocked state. In the locked state, the drive rod 211 is connected to the mounting seat 112, and the locking member 111 locks the drive rod 211 and the mounting seat 112, so that when the mounting seat 112 translates along the first direction D1, it drives the drive rod 211 to translate along the first direction D1. In the unlocked state, the mounting seat 112 can be separated from the drive rod 211.

[0098] Optionally, the mounting seat 112 is provided with a first mounting hole 112a for receiving the proximal end of the driving rod 211. The term "receiving" herein may be understood as inserting or penetrating.

[0099] See Figure 4 、 Figure 10 ,as well as Figure 11 Furthermore, the drive rod 211 includes, from distal end to proximal end, a main body 212, a locking portion 212a, and a connecting portion 213. The connecting portion 213 is located at the distal end, or proximal end, of the drive rod 211. In the locked state, the connecting portion 213 is received within the first mounting hole 112a, and the locking member 111 engages the locking portion, thereby locking the drive rod to the mounting base.

[0100] The orthographic projection of the connecting portion 213 in the first direction D1 completely covers and exceeds the orthographic projection of the locking portion 212a in the first direction D1. Specifically, the driving rod 211 can be a cylindrical rod, and the locking portion 212a and the connecting portion 213 are coaxial cylinders. The diameter of the locking portion 212a is smaller than the diameter of the connecting portion 213. Optionally, the main body and the connecting portion 213 have the same diameter, and the diameter of the locking portion 212a is smaller than the diameter of the connecting portion 213. In other words, the locking portion 212a is formed by forming a radial groove on the outer peripheral surface of the driving rod 211 along the radial direction of the driving rod 211.

[0101] See Figure 5 and Figure 10 The locking member 111 includes a locking element 113 and a locking seat 114. The locking seat 114 is connected to the mounting seat 112. The locking seat 114 defines a second mounting hole 114a for the drive rod 211 to pass through. The second mounting hole 114a is aligned with the first mounting hole 112a. The locking element 113 is movably disposed in the locking seat 114 in a second direction D2, thereby switching between an unlocked state and a locked state. The second direction D2 intersects the first direction. Optionally, the second direction D2 is perpendicular to the first direction D1.

[0102] See Figure 5、 Figures 9 to 11 The locking element 113 is a rod-shaped body with a "T"-shaped or approximately "T"-shaped cross section. The locking element 113 includes an extension portion 113a extending along the second direction D2 and an operating portion 113b connected to the extension portion 113a. A first through hole 113c and a second through hole 113d are provided on the extension portion 113a. The first through hole 113c and the second through hole 113d can be arranged along the second direction D2. The shape and size of the first through hole 113c are set to allow the connecting portion 213 and the locking portion 212a to pass through. The shape and size of the second through hole 113d are set to lock the locking portion 212a, and when the second through hole 113d is locked with the locking portion 212a, neither the connecting portion 213 nor the locking portion 212a can pass through the second through hole 113d. In the initial state, the second through hole 113d of the locking element 113 is aligned with the first mounting hole 112a, and neither the connecting portion 213 nor the axial limiting portion 212a can pass through the second through hole 113d. In the installed state, the locking element 113 moves to a position where the first through hole 113c is aligned with the first mounting hole 112a, allowing the connecting portion 213 to pass through. When the locking portion 212a enters the first through hole 113c, the locking element 113 moves to a position where the second through hole 113d is aligned with the first mounting hole 112a, and the locking portion 212a is stuck in the second through hole 113d, turning into a locked state. In the locked state, the locking portion 212a is stuck in the second through hole 113d. Even if someone accidentally pulls out the drive rod 211 or the drive rod 211 is subjected to a pulling force, the connecting portion 213 cannot pass through the second through hole 113d, thereby firmly locking the drive rod 211 to the mounting seat 112. In the unlocked state, the locking element 113 moves to a position where the first through hole 113 c is aligned with the first mounting hole 112 a to allow the locking portion 212 a and the connecting portion 213 to pass through, so as to remove the driving rod 211 from the mounting seat 112 .

[0103] In some specific embodiments, the diameter of the locking portion 212a can be made smaller than the diameter of the connecting portion 213 (as described above), and the width of the first through hole 113c in the second direction D2 can be made larger than the second through hole 113d, thereby achieving the locking and unlocking of the above-mentioned drive rod 211 and the rear end drive assembly 110.

[0104] See Figure 2 、 Figure 5 as well as Figure 6The operating portion 113b is located outside the rear-end drive assembly 110 and is within easy reach of the user, allowing them to unlock and lock the device. The locking member 111 may also include a reset element 115. This reset element 115 is used to apply an elastic force to the locking member 113 upon removal of the external force, thereby returning the locking member 113 to its initial position. The reset element 115 may be a spring disposed along the length of the extension 113a, i.e., in the second direction D2. Optionally, the reset element 115 may be a compression spring. One end of the compression spring abuts the operating portion 113b, and the other end abuts the outer surface of the locking seat 114. The first through-hole 113c in the locking member 113 is located on the side of the second through-hole 113d that is away from the interior of the device. In the initial and locked states, the compression spring is extended, and the restoring force of the compression spring aligns the second through-hole 113d with the opening. The user applies pressure to the operating portion 113b to transition the locking member 111 to the installed and unlocked states. In the installed and unlocked states, the compression spring is in a compressed state, with the first through hole 113c aligned with the opening. In the extended state, the compression spring can have a certain amount of compression deformation. Compared to the compressed state, the compression deformation of the compression spring in the extended state is smaller.

[0105] See Figure 5 、 Figure 10 ,as well as Figure 11 A guide assembly (not shown) is provided between the locking seat 114 and the locking element 113 to guide the movement of the locking element 113 between the unlocking position and the locking position. Specifically, a guide hole 113e is provided on the locking element 113. The guide hole 113e is a waist-shaped hole or an oblong hole extending along the second direction D2. The locking seat 114 is provided with a guide pin 114b, which is fixed relative to the locking seat 114. The guide pin 114b is passed through the guide hole 113e. When the locking element 113 moves in the second direction D2, the guide pin 114b slides in the guide hole 113e along the second direction D2. In other examples, the guide hole can be provided in the mounting portion, the guide pin 114b can be provided in the locking element, and the guide pin is slidably provided in the guide hole along with the locking element in the second direction D2.

[0106] In other embodiments, the guide hole 113e may be replaced by a groove-shaped structure, for example, a waist-shaped groove.

[0107] The mechanical connection structure of the rear end drive assembly 110 of the present application can achieve a detachable mechanical connection with the drive rod 211 of the transmission assembly 210. By pressing the locking element 113, the rear end drive assembly 110 and the drive rod 211 can be installed, locked, and unlocked, facilitating the installation and removal of the transmission assembly 210 from the rear end drive assembly 110.

[0108] See Figure 4 、 Figure 10 as well as Figure 11 The proximal end of the mounting base 112 corresponding to the first mounting hole 112a is provided with an end cap 112d. The drive rod 211 further includes a limiting end portion 218. The limiting end portion 218 cooperates with the end cap 112d in a limiting manner in the first direction D1 to define the installation position of the drive rod 211 in the mounting base 112 in the first direction D1. When installing the drive rod 211, the user inserts the drive rod 211 into the bottom of the first mounting hole 112a. The limiting end portion 218 engages with the end cap 112d, and the user recognizes that the drive rod 211 is properly installed, thereby enabling the locking operation.

[0109] Optionally, rear-end drive assembly 110 includes a base 121. Base 121 has an assembly hole 121a adapted to receive mounting base 112 and locking base 114. Assembly hole 121a is aligned with and communicates with central cavity 150a of shaft assembly 150 in a first direction D1. After passing through central cavity 150a, transmission assembly 210 passes through locking base 114 at assembly hole 121a and is assembled to mounting base 112.

[0110] Electrical connection between transmission assembly and rear drive assembly

[0111] In some embodiments of the present application, the surgical instrument 10 is an electrosurgical instrument. When the transmission assembly 210 and the rear end drive assembly 110 are installed, the transmission assembly 210 and the rear end drive assembly 110 also need to be electrically connected to power the end effector 220.

[0112] See Figure 4 、 Figure 10 as well as Figure 11 At least one first conductive member 116 is disposed within the mounting base 112. The number of first conductive members 116 depends on the type of surgical instrument 10. A monopolar instrument requires only one first conductive member 116, while a bipolar instrument requires two first conductive members 116. In this embodiment, three first conductive members 116 are provided, corresponding to the two sealing electrodes and one cutting electrode on the movable forceps 222 and the fixed forceps 224, for a total of three electrodes. Each first conductive member 116 is connected to a power source via a wire. A second conductive member 219 is disposed on the portion of the connecting portion 213 corresponding to the first conductive member 116. In other words, the connecting portion 213 is also electrically connected to the rear-end drive assembly 110. Each second conductive member 219 is used to electrically connect to a first conductive member 116.

[0113] See Figure 11 and Figure 12Optionally, the first conductive member 116 is a conductive spring. The conductive spring includes a drive rod connecting portion 116a, a wire connecting portion 116b and a mounting portion 116c. The mounting portion 116c fixes the conductive spring to the inner wall of the mounting seat, and specifically can be embedded in a mounting groove 112c opened on the mounting seat. The wire connecting portion 116b is electrically connected to the wire to receive electrical energy from a power source. The wire connecting portion 116b can be specifically configured into a shape with a clamp to accommodate and fix the wire. When not assembled, the drive rod connecting portion 116a is suspended in the first mounting hole 112a. When assembled, the drive rod 211 enters the first mounting hole 112a, and the drive rod connecting portion 116a is electrically connected to the second conductive member 219.

[0114] See Figure 4 、 Figure 10 、 Figure 11 as well as Figure 13 The second conductive member 219 can be configured as a conductive metal ring. The conductive metal ring is sleeved onto the exterior of the connecting portion 213 and is positionally engaged with the connecting portion 213 along the axial or lengthwise direction of the main body 212 to prevent the conductive metal ring from shifting relative to the connecting portion 213 when the drive rod 211 is inserted into the first connecting hole 112a.

[0115] The transmission assembly 210 may further include a wire (not shown) located within the main body 212. One end of the wire is electrically connected to the end effector 220. The other end of the wire is electrically connected to the second conductive member 219. When the proximal end of the drive rod 211 is connected to the first mounting hole 112a and abuts the end cap 112d, the second conductive member 219 contacts and conducts electricity to the first conductive member 116. In other words, the wires connecting to the end effector 220 and the second conductive member 219 are routed from within the main body 212.

[0116] See Figures 9 to 11 Furthermore, the end cover 112d is provided with a wire hole 112e through which an external wire passes to be connected to the first conductive member 116.

[0117] See Figure 10 、 Figure 11 as well as Figure 13In some embodiments, three wire holes 112e are provided in the end cap 112d. Accordingly, three conductive springs serving as the first conductive member 116 and three conductive metal rings serving as the second conductive member 219 are provided. Three external wires or three wires of the same wire each pass through the wire hole 112e and are connected to the first conductive member 116. The three second conductive members 219 are each connected to the three electrodes of the end effector 220 through a wire passing through the interior of the main body 212. The three second conductive members 219 are arranged in sequence along the first direction D1 and are insulated from each other. Furthermore, to facilitate wiring, the three second conductive members 219 are spaced apart along the circumferential direction of the drive rod 211.

[0118] See Figures 9 to 11 as well as Figure 13 For example, the mounting seat 112 is rotatably connected to the locking seat 114 around a central axis AX parallel to the first direction D1. The mounting seat 112 may include a first circumferential limit portion (not shown). The limit end 218 of the driving rod 211 is provided with a second circumferential limit portion 218a. In the example in which the main body 212 of the driving rod 211 is a cylindrical rod body, the second circumferential limit portion 218a is fixedly engaged with the first circumferential limit portion along the circumferential direction of the main body 212, so that the mounting seat 112 rotates relative to the locking seat 114 together with the driving rod 211. This can prevent the first conductive member 116 and the second conductive member 219 from rotating relative to each other, thereby reducing the wear of the first conductive member 116 and the second conductive member 219.

[0119] Optionally, the first circumferential limiter is a first groove formed on the inner surface of the end cap 112d. The second circumferential limiter 218a is a first boss provided on the outer circumferential surface of the limiter end 218. The cooperation between the first groove and the first boss can prevent the drive rod 211 from rotating relative to the mounting seat 112.

[0120] See Figure 9 In addition, the surgical instrument 10 may further include an elastic reset member 119. The elastic reset member 119 is connected between the mounting seat 112 and the locking seat 114 to apply an elastic force to the mounting seat 112 along the circumferential direction of the main body 212. The elastic reset member 119 can ensure that the mounting seat 112 automatically resets after the transmission assembly 210 is disassembled. For example, the elastic reset member 119 can be a torsion spring. One end of the torsion spring is mounted on the mounting seat 112, and the other end of the torsion spring is mounted on the locking seat 114.

[0121] Please refer to Figure 14In some other embodiments of the present application, the locking seat 114 is fixedly connected to the mounting seat 112. The mounting seat 112 can only translate in the first direction D1 along with the locking seat 114 and cannot rotate. The driving rod 211 is driven to rotate by the anti-rotation assembly described later while rotating relative to the mounting seat 112 and the locking seat 114. This solution has a simple structure and has been verified by experiments. During the process of the driving rod 211 rotating relative to the mounting seat 112 and the locking seat 114, the second conductive member 219 rotates relative to the first conductive member 116, and no adverse effects such as resistance changes will be generated on the second conductive member 219 and the first conductive member 116.

[0122] Arrangement of pulleys for winding cables

[0123] Some embodiments of the present application also provide a wiring form of a rear-end drive component, which can be used for cable-driven surgical instruments.

[0124] See Figures 15 to 18 The rear-end drive assembly 110 may include a first rotating member 135, a second rotating member 136, a first cable 132, a second cable 133, a first guide 123, and a second guide 126. The first cable 132 is wound around the first rotating member 135 and enters the interior of the shaft assembly 150 via the first guide 123. During the rotation of the first rotating member 135, the first cable 132 can be reeled in or released from the first rotating member 135. The second cable 133 is wound around the second rotating member 136 and enters the interior of the shaft assembly 150 via the second guide 126. During the rotation of the second rotating member 136, the second cable 133 can be reeled in or released from the second rotating member 136. The first guide 123 and the second guide 126 are disposed proximally of the shaft assembly 150. The first guide 123 and the second guide 126 are spaced apart in the circumferential direction of the shaft assembly 150, and a space 110a is defined between the first guide 123 and the second guide 126 for the drive rod 211 to pass through.

[0125] The rotation axes of the first rotating member 135 and the second rotating member 136 are arranged parallel to the shaft assembly 150. Therefore, the first cable 132 and the second cable 133 extend on a plane perpendicular to or intersecting the shaft assembly 150, and change direction through the first guide member 123 and the second guide member 126 arranged on the proximal side of the shaft assembly 150 to enter the shaft assembly 150, and extend along the axial direction of the shaft assembly 150. The axial direction of the shaft assembly 150 is the first direction D1. Since the first guide member 123 and the second guide member 126 are arranged on the path where the drive rod 211 is connected to the mounting seat 112, in order to ensure strength, the diameter of the drive rod 211 cannot be too small. If the position setting of the first guide member 123 and the second guide member 126 is unreasonable, it will make the connection or assembly of the drive rod 211 and the mounting seat 112 difficult, and the translation of the drive rod 211 will be hindered. According to the embodiments of the present application, by rationally designing the distribution positions of the first guide member 123 and the second guide member 126, a space 110a for the drive rod 211 to pass through is reserved between the first guide member 123 and the second guide member 126. This facilitates the connection or assembly of the drive rod 211 with the mounting base 112 while ensuring smooth translation of the drive rod 211. This facilitates the replacement of the transmission assembly 210, particularly when the transmission assembly 210 is a replaceable actuator or a portion of a replaceable actuator.

[0126] Specifically, the base 121 of the rear-end drive assembly 110 may include an opening 121d suitable for inserting the transmission assembly 210. The opening 121d extends through the distal end of the base 121 along the first direction D1. The opening 121d is closer to the distal end of the base 121 in the first direction D1 than the aforementioned assembly hole 121a. The aforementioned assembly hole 121a is located at the proximal end of the base 121. The opening 121d is aligned with or opposite to the assembly hole 121a in the first direction D1 and is in communication with each other. The first cable 132 and the second cable 133 enter the shaft assembly 150 through the opening 121d, and the first guide member 123 and the second guide member 126 are disposed at the edges of the opening 121d. The first guide member 123 and the second guide member 126 may be disposed on either side of the opening 121d to leave a space 110a for the drive rod 211 to pass through, or they may be disposed on the same side of the opening 121d, as long as the space 110a is left. The first guide member 123 and the second guide member 126 may be located at the same height in the first direction, or at different heights in the second direction. Figure 16 and Figure 18 In a top view, the space 110 a between the first guide member 123 and the second guide member 126 does not hinder the passage of the driving rod 211 .

[0127] In such Figure 17In this embodiment, the rear end drive assembly 110 includes two first guides 123 and two second guides 126. The first end of the first cable 132 is connected to one of the two first guides 123, and the second end is connected to one of the two second guides 126. That is, the first cable 132 originates from the first rotating member 135 and enters the central lumen 150a of the shaft assembly 150 in two ways. One of the two first cables 132 passes through the first pulley assembly 122 and enters the central lumen 150a of the shaft assembly 150. The other of the two first cables 132 passes through the second pulley assembly 125 and enters the central lumen 150a of the shaft assembly 150. The first end of the second cable 133 is connected to the other of the two first guides 123, and the second end is connected to the other of the two second guides 126. That is, the second cable 133 originates from the second rotating member 136 and enters the central lumen 150a of the shaft assembly 150 in two ways. One of the two second cables 133 passes through the first pulley assembly 122 and enters the central lumen 150a of the shaft assembly 150. The other of the two second cables 133 enters the central cavity 150a of the shaft assembly 150 via the second pulley set 125. The two first guide members 123 are two coaxially arranged fixed pulleys (also referred to as the first pulley set 122). The two second guide members 126 are two coaxially arranged fixed pulleys (also referred to as the second pulley set 125). The first pulley set 122 and the second pulley set 125 are spaced apart circumferentially outside the opening 121d of the shaft assembly 150, leaving a space 110a between the first pulley set 122 and the second pulley set 125 for the drive rod 211 to pass through. The first cable 132 and the second cable 133 are a pair of cables that control the movement of the wrist member. In other embodiments, the first cable 132 and the second cable 133 can also be used to control the movement of the end effector 220. The first pulley set 122 and the second pulley set 125 can be mounted on the base 121 of the rear end drive assembly 110.

[0128] Furthermore, the first cable 132 connected between the first rotating member 135 and the first guide member 123 and / or the second cable 133 connected between the second rotating member 136 and the second guide member 126 must also avoid this space 110a. That is, the first cable 132 between the first rotating member 135 and the first guide member 123 and / or the second cable 133 between the second rotating member 136 and the second guide member 126 are routed outside the space 110a reserved for the passage of the drive rod 211. Alternatively, the cables can be routed outside the opening 121d.

[0129] In some embodiments, due to the positional limitations of the rotating member and the guide member, the line connecting the rotating member and the guide member may pass through the space 110a / opening 121d. Therefore, a deflection member can be provided to redirect the cable route, allowing it to be routed around the periphery of the space 110a / opening 121d. For example, the first guide member 123 is located on the side of the opening 121d away from the first rotating member 135 and the second rotating member 136. A first deflection member 124 is provided between the first rotating member 135 and the first guide member 123. The first deflection member 124 can be located on the side of the first guide member 123 away from the opening 121d. The cable between the first rotating member 135 and the first guide member 123 is wound around the first deflection member 124. The first deflection member 124 is used to redirect the cable between the first rotating member 135 and the first guide member 123, allowing the cable to avoid the opening 121d and be routed tangentially around the fixed pulley serving as the first guide member 123. Because the cable changes direction via the first deflection member 124 before connecting to the first guide member 123, it avoids the space 110a / opening 121d, thereby reducing or preventing interference between the cable and the drive rod 211. The cable here can be the first cable 132 and / or the second cable 133. Correspondingly, a second deflection member 127 can also be provided between the second rotating member 136 and the second guide member 126. The second deflection member 127 can be located on the side of the second guide member 126 away from the opening 121d. The cable between the second rotating member 136 and the second guide member 126 is wound around the second deflection member 127. The cable changes direction via the second deflection member 127 before connecting to the second guide member 126. In other words, the second deflection member 127 is used to reverse the direction of the cable between the second rotating member 136 and the second guide member 126. The provision of the second deflection member 127 allows the cable to be wound tangentially around the fixed pulley serving as the second guide member 126 after passing through the second deflection member 127. In the embodiment where the second guide member 126 is located on a side of the opening 121d away from the first rotating member 135 and the second rotating member 136, the reversing action of the second guide member 126 can also allow the cables to avoid the space 110a / opening 121d, thereby reducing or preventing interference between the cables and the driving rod 211. The cables here can be the first cable 132 and / or the second cable 133.

[0130] exist Figure 16 and Figure 17In the example shown, the first guide member 123 is located on the side of the opening 121d away from the first rotating member 135 and the second rotating member 136. The first deflection member 124 not only changes the direction of the cable but also redirects the cable away from the opening 121d / space 110a by changing its direction. The second guide member 126 is located on the side of the opening 121d closer to the first rotating member 135 and the second rotating member 136. The cable located between the second guide member 126 and the second rotating member 136 can avoid the space 110a / opening 121d. Those skilled in the art will appreciate that the second deflection member 127 can be omitted. In some embodiments, the addition of the second deflection member 127 can reduce or prevent the cable from detaching from or deviating from the second guide member 126. This can reduce the angle at which the cable enters the second guide member 126, allowing the cable to be more stably and reliably retained within the second guide member 126.

[0131] Specifically, to reserve space 110a for the drive rod 211 to pass through, the provision of the second guide member 126 may result in a larger angle between the line connecting the rotating member and the guide member and the guide surface of the second guide member 126 (a plane perpendicular to the axis of the guide member in the cable mounting portion), subjecting the cable to greater torque during use. The provision of the second deflection member 127 reduces the angle between the extension direction of the cable passing through the second deflection member 127 and the guide surface of the second guide member 126, reducing the torque applied to the cable during use and thereby extending the cable's service life.

[0132] See Figure 16 and Figure 17Depending on the actual wiring situation, the rear-end transmission assembly 210 may further include two first deflection members 124 and two second deflection members 127. For example, the first end of the first cable 132 is routed around one of the two first guide members 123 via one of the two first deflection members 124, and the first end of the second cable 133 is routed around the other of the two first guide members 123 via the other of the two first deflection members 124. The second end of the first cable 132 is routed around one of the two second guide members 126 via one of the two second deflection members 127, and the second end of the second cable 133 is routed around the other of the two second guide members 126 via the other of the two second deflection members 127. The two first deflection members 124 are coaxially arranged fixed pulleys (also referred to as a first deflection pulley set 139). The two second guide members 126 are coaxially arranged fixed pulleys (also referred to as a second deflection pulley set 141). In other embodiments, the two first guide members 123 may not be two coaxial fixed pulleys, but may be positioned relatively close to each other, or on the same side of the opening 121d, or in other suitable situations, and may also share the first deflection pulley set 139. The two second guide members 126 may not be two coaxial fixed pulleys, but may be positioned relatively close to each other, or on the same side of the through hole, or in other suitable situations, and may also share the second deflection pulley set 141.

[0133] Alternatively, in the first deflection pulley assembly 139, the two first deflection members 124 may not be coaxial fixed pulleys, but may be positioned relatively close to each other, or may be on the same side of the first guide member 123, or in other suitable situations. In the second deflection pulley assembly 141, the two second deflection members 127 may not be coaxial fixed pulleys, but may be positioned relatively close to each other, or may be on the same side of the second guide member 126, or in other suitable situations.

[0134] Please refer to Figure 18In some other embodiments of the present application, another wiring method is provided, but the above arrangement is also applicable. The first cable 132 and the second cable 133 can also be wound around different steering members. For example, the first cable 132 includes a first part and a second part relative to each other. The first part of the first cable 132 is wound around the first rotating member 135, one of the two first steering members 124 and one of the two first guide members 123 in sequence, and extends toward the interior of the shaft assembly 150. The second part of the first cable 132 is wound around the first rotating member 135, the other of the two first steering members 124 and the other of the two first guide members 123 in sequence, and extends toward the interior of the shaft assembly 150. The winding directions of the first part of the first cable 132 and the second part of the first cable 132 on the first rotating member 135 are different. During the rotation of the first rotating member 135, the first part of the first cable 132 is wound (or released) by the first rotating member 135, and the second part of the first cable 132 is released (or wound) by the first rotating member 135. Accordingly, the wiring method of the second cable 133 in the second rotating member 136, the two second steering members 127, and the two second guide members 126 can be arranged with reference to the wiring method of the first cable 132 in the first rotating member 135, the two first steering members 124, and the two first guide members 123.

[0135] The locking member 111 and mounting base 112 are mounted on the base 121. The base 121 defines a sliding groove (not labeled) extending along the first direction D1. The locking base 114 of the locking member 111 includes a slider (not labeled). The slider slidably engages with the sliding groove in the first direction D1 to guide the locking base 114 to move linearly relative to the base 121 in the first direction D1.

[0136] See Figure 15 To shorten the length of the first cable 132 between the first rotating member 135 and the first deflecting member 124, and to reduce interference between the first cable 132 and the base 121, a first escape space 121b can be provided in the base 121, through which the first cable 132 can move. The first escape space 121b can be, for example, a first escape groove or a first escape hole, or other vacant structure. Correspondingly, a second escape space 121c can be provided in the base 121, through which the second cable 133 can move. The second escape space 121c can be, for example, a second escape groove or a second escape hole, or other vacant structure.

[0137] See Figure 18In some embodiments, the first cable 132 includes a first segment located between the first rotating member 135 and the first deflecting member 124, and a second segment located between the first deflecting member 124 and the first guide member 123. The first guide member 123 includes a guide surface. The angle between the extension direction of the first segment and the tangent of the guide surface is greater than the angle between the extension direction of the second segment and the tangent of the guide surface.

[0138] Continue reading Figure 18 In some embodiments, the first cable 132 includes a first segment located between the first rotating member 135 and the first deflection member 124, and a second segment located between the first deflection member 124 and the first guide member 123. The first deflection member 124 is a fixed pulley. The fixed pulley includes a guide surface. The angle between the extension direction of the first segment and the tangent of the guide surface is greater than the angle between the extension direction of the second segment and the tangent of the guide surface.

[0139] See also Figure 18 In some embodiments, the second cable 133 includes a first segment located between the second rotating member 136 and the second deflecting member 127, and a second segment located between the second deflecting member 127 and the second guide member 126. The second guide member 126 includes a guide surface. The angle between the extension direction of the first segment and the tangent of the guide surface is greater than the angle between the extension direction of the second segment and the tangent of the guide surface.

[0140] See also Figure 18 In some embodiments, the second cable 133 includes a first segment located between the second rotating member 136 and the second deflection member 127, and a second segment located between the second deflection member 127 and the second guide member 126. The second deflection member 127 is a fixed pulley. The fixed pulley includes a guide surface. The angle between the extension direction of the first segment and the tangent of the guide surface is greater than the angle between the extension direction of the second segment and the tangent of the guide surface.

[0141] See Figure 19In addition, the rear-end drive assembly 110 may further include a third pulley assembly 128, a third rotating member 137, and a third cable 134. The third pulley assembly 128 is mounted on the base 121. The third pulley assembly 128 may include at least two third guide members 129. The third cable 134 passes through each third guide member 129 and at least one third deflection member 131. In an embodiment, both the third guide member 129 and the third deflection member 131 are fixed pulleys. The locking member 111 is movably mounted on the base 121 in the first direction D1 and is connected to the third cable 134. When the third rotating member 137 rotates, the third cable 134 drives the locking member 111 to move relative to the base 121 in the first direction D1, thereby driving the transmission assembly 210 and the end effector 220 to move relative to the base 121 in the first direction D1. The third rotating member 137 is rotatably mounted on the base 121. The third rotating member 137 is configured to be connected to a drive device. The third rotating member 137 can be configured to rotate about its own axis relative to the base 121 under the action of a drive device. The rotation axis of the third rotating member 137 is parallel to the first and second rotating members. In this embodiment, the drive device can be, for example, a drive motor. Both ends of the third cable 134 are wound around the third rotating member 137, and the ends of the third cable 134 are wound in opposite directions on the third rotating member 137. In other words, when the third rotating member 137 rotates about its own axis, one of the two ends of the third cable 134 is pulled in, while the other is released.

[0142] It can be understood that the function of the third rotating member 137 is to guide the third cable 134 to connect with the locking member 111 , so that the locking member 111 , the transmission assembly 210 and the end effector 22 can move along the first direction D1 as the third rotating member 137 rotates.

[0143] In a specific example, the third pulley assembly 128 may include two third guide members 129. The two third guide members 129 are spaced apart along the first direction D1. The third cable 134 passes around the two third guide members 129 and is connected to the locking member 111. The connection position between the third cable 134 and the locking member 111 is located between the two third guide members 129 in the first direction D1. When the third rotating member 137 rotates, for example, counterclockwise, one end of the third cable 134 is pulled in and the other end is released. When the third rotating member 137 rotates, for example, clockwise, the other end of the third cable 134 is pulled in and the other end is released.

[0144] In this embodiment, a single third deflection member 131 is provided. The third deflection member 131 is located between one of the two third guide members 129 and the third rotating member 137. The third deflection member 131 functions to change the routing position of the third cable 134 between the third guide member 129 and the first rotating member 135, thereby reducing or preventing interference between the third cable 134 between the two third guide members 129 and the third rotating member 137.

[0145] Anti-rotation assembly between transmission assembly and shaft assembly

[0146] When the drive rod 211 in the transmission assembly 210 is locked in the rear drive assembly 110, the locking friction prevents its rotation circumferentially. As a result, the drive rod 211 does not rotate with the shaft assembly 150 during rotation. However, the distal end of the actuating element 214 in the transmission assembly 210 is connected to the end effector 220. As the shaft assembly 150 rotates, the end effector 220 and the actuating element 214 rotate with the shaft assembly 150. As a result, the proximal end of the actuating element 214 connected to the drive rod 211 remains stationary relative to the drive rod 211, while the distal end of the actuating element 214 rotates with the end effector 220. This can cause the actuating element 214 to twist and possibly be damaged.

[0147] To solve the above problems, see Figures 20 to 28 The surgical instrument further includes a rotation-stop assembly (not shown), which connects the transmission assembly to the shaft assembly 150 so that the transmission assembly 210 rotates following the shaft assembly 150 .

[0148] The detent assembly may include a first detent 217 and a second detent 157. The second detent 157 is disposed at the distal end of the shaft assembly 150. In embodiments including the wrist member 152, the second detent 157 is disposed at the proximal end of the wrist member 152. The proximal end of the second detent 157 is fixedly connected to the shaft assembly 150 so as to rotate with the shaft assembly 150. The distal end of the second detent 157 is connected to the wrist member 152 or the end effector 220 to directly or indirectly drive the end effector 220 to rotate. The proximal end of the first detent 217 is fixedly connected to the drive rod 211 so as to drive the drive rod 211 to rotate. The distal end of the first detent 217 is located at the upper circumferential limit of the shaft assembly 150 relative to the second detent 157 so as to rotate with the second detent 157. In other words, the first detent 217 is fixed relative to the second detent 157 in the circumferential direction of the shaft assembly 150. Alternatively, the first anti-rotation member 217 is engaged with the second anti-rotation member 157 at the circumferential upper limit position or anti-rotation of the shaft assembly 150.

[0149] See Figure 20 and Figure 21Optionally, the proximal end of the second stop member 157 is connected to the shaft member 151. The distal end of the second stop member 157 is connected to the wrist member 152. A first lug 157b and a second lug 157f are provided on the outer surface of the second stop member 157. The first lug 157b and the second lug 157f are relatively arranged at two ends of the second stop member 157. The first lug 157b is fixedly connected to the outer tube of the shaft member 151. The second lug 157f is fixedly connected to the first joint portion 153 of the wrist member 152. An accommodating chamber 157c is provided inside the second stop member 157. The first stop member 217 is arranged in the accommodating chamber 157c. Two limiting grooves are provided on the side wall of the accommodating chamber 157c. Two limiting protrusions are provided on the outer surface of the first rotation stopper 217 at locations corresponding to the two limiting grooves. The two limiting grooves cooperate with the two limiting protrusions on the first rotation stopper 217 to fix, limit, or prevent the second rotation stopper 157 from rotating circumferentially with the first rotation stopper 217. In other embodiments, the number of limiting grooves and limiting protrusions can be other than two, such as one, three, or more than three.

[0150] In an embodiment not shown, the first rotation-stopping member may be provided with a limiting groove, and correspondingly, the second rotation-stopping member may be provided with a limiting protrusion.

[0151] like Figure 20 As shown, further optionally, a first groove 151a is provided on the shaft member 151 at a location corresponding to the first lug 157b. The first groove 151a is adapted to accommodate the first lug 157b, thereby limiting the second rotation stop 157 to the shaft member 151 in the circumferential direction of the shaft member 151. The first groove 151a and the first lug 157b can be fixed by gluing or other means. A second groove 153a is provided on the wrist member 152 at a location corresponding to the second lug 157f. The second groove 153a is adapted to accommodate the second lug 157f, thereby limiting the second rotation stop 157 to the wrist member 152 in the circumferential direction of the shaft member 151. The second groove 153a and the second lug 157f can be fixed by gluing or other means.

[0152] Furthermore, the anti-rotation assembly cannot hinder the movement of the transmission assembly 210 along the first direction D1. Figure 22 and Figure 23In this embodiment, the second stop 157 is slidably connected to the first stop 217 along the first direction D1. Optionally, the two limiting grooves extend a certain length in the first direction D1, allowing the limiting protrusion to move in the limiting groove along the first direction D1. The two limiting grooves also serve to guide the translation of the first stop 217 along the first direction D1. In the process of the rear-end drive assembly 110 driving the clamp to open and close, the drive rod 211 translates along the first direction D1 under the action of the driving force of the rear-end drive assembly 110, and drives the actuating element 214 and the first stop 217 to translate. Since the second stop 157 is slidably connected to the first stop 217 along the first direction D1, the transmission assembly 210 is allowed to translate as a whole. In other embodiments, the second stop 157 may be provided with a protrusion, the first stop 217 may be provided with a groove, or other methods may be used to achieve circumferential limitation and allow axial relative movement.

[0153] Optionally, the proximal end of the first stopper 217 is inserted into the driving rod 211 and fixedly connected to the main body 212 of the driving rod 211 via a connecting pin 215 to ensure that the first stopper 217 and the main body 212 can rotate synchronously.

[0154] See Figures 24 to 26 , the first stop member 217 may have a second transmission through hole 217c. The second transmission through hole 217c is located at the center of the first stop member 217 and is coaxially arranged with the shaft assembly 150. The actuating element 214 is arranged in the second transmission through hole 217c of the first stop member 217, and is connected to the drive rod 211 through the first stop member 217, or the actuating element 214 is connected to the first stop member 217 in the second transmission through hole 217c. The second transmission through hole 217c is aligned with the first transmission through hole 230b of the wrist support member 230. The first stop member 217 may also include a second electrical through hole 217b and a cable positioning groove 217d. The second electrical through hole 217b is located at the distal end of the first stop member 217, and the cable positioning groove 217d is located on the outer surface of the first stop member 217. The wires are routed through second electrical via 217b and partially accommodated in cable positioning slot 217d. The second electrical via 217b and cable positioning slot 217d provide a positional limit to prevent interference between the wires. Furthermore, second electrical via 217b is aligned with first electrical via 230a of wrist support 230 to facilitate routing of the wires.

[0155] See Figure 27 and Figure 28 In another example, the first rotation-stopping member 217 may not be provided with the second electrical via 217b.

[0156] Guide structure between transmission assembly and shaft assembly

[0157] See Figure 8,as well as Figures 24 to 28 The limiting protrusion or groove provided on the above-mentioned first stop member 217 can be referred to as the first limiting portion 217a. The limiting groove or protrusion provided on the above-mentioned second stop member 157 can be referred to as the second limiting portion 157a. In order to facilitate the installation of the transmission assembly 210 on the shaft assembly 150, the embodiment of the present application is provided with an installation guide portion 152a on the inner wall of the wrist member 152, which is limitedly matched with the first limiting portion 217a and is used to guide the installation of the transmission assembly 210. Optionally, the installation guide portion 152a is provided along the first direction D1 within the entire length of the wrist member 152, and has a trumpet-shaped opening 152c on the wrist member 152, and the proximal end or distal end of the trumpet-shaped opening 152c is connected to a linear guide groove 152b. In other words, the installation guide portion 152a is a guide groove, which is provided through the wrist member 152 along the first direction D1. The guide groove includes a trumpet-shaped opening 152c and a linear guide groove 152b. The trumpet-shaped opening 152c is located at the end of the linear guide groove 152b. The trumpet-shaped opening 152c is provided because the installation guide portion 152a is disconnected at the interval between the first joint portion 153 and the second joint portion 154, and / or the installation guide portion 152a is disconnected at the interval between the third joint portion 155 and the second joint portion 154, thereby enabling the limiting projection to enter the next section of the linear guide groove more smoothly through the guiding effect of the trumpet-shaped opening 152c. The trumpet-shaped opening 152c is located at the far end of the second joint portion 154 and / or the far end of the first joint portion 153. Further, the trumpet-shaped opening 152c can also be located at the proximal end of the second joint portion 154 and / or the proximal end of the third joint portion 155. Accordingly, the first limiting portion 217a adopts the above-mentioned limiting projection, and the second limiting portion 157a adopts the above-mentioned limiting groove. When assembling the transmission assembly 210 and the shaft assembly 150, the limiting protrusion is aligned with the guide groove or aligned in the first direction D1. The limiting protrusion enters the narrowed linear guide groove 152b through the trumpet-shaped opening 152c and then enters the limiting groove, thereby completing the positioning and assembly of the first rotation stop 217. When disassembling the transmission assembly 210 and the shaft assembly 150, the limiting protrusion exits one section of the linear guide groove 152b through the trumpet-shaped opening 152c, then enters another section of the linear guide groove 152b through the other trumpet-shaped opening 152c, and finally exits the wrist member 152.

[0158] Instrument sealing components

[0159] See Figure 8 、 Figure 20 、 Figure 22 as well as Figure 23The surgical instrument 10 of the present embodiment further includes an instrument sealing member. The instrument sealing member includes a first sealing sleeve 156 disposed between a second stopper 157 and the outer tube of the shaft member 151. The second stopper 157 includes a first portion 157d connected to the outer tube of the shaft member 151 and a second portion 157e located within the outer tube of the shaft member 151. In embodiments where the second stopper 157 is configured to have a circular or nearly circular cross-section, the outer diameter of the second portion 157e located within the outer tube of the shaft member 151 is smaller than the outer diameter of the first portion 157d connected to the outer tube of the shaft member 151. In other words, the outer diameter of the first portion 157d of the second stopper 157 is larger than the outer diameter of the second portion 157e. The first sealing sleeve 156 is sleeved over the second portion 157e of the second stopper 157, thereby providing a seal between the second stopper 157 and the shaft member 151. On the second rotation stopper 157, a step is formed between the first portion 157d and the second portion 157e of different diameters to limit the first sealing sleeve in the first direction D1. Other methods can also be used to limit the first sealing sleeve 156, which are not listed here.

[0160] See Figures 20 to 28 The instrument sealing member further includes a second sealing sleeve 240 disposed between the second rotation stop 157 and the drive rod 211. A circumferentially extending mounting groove 212d is provided at the distal end of the drive rod 211. The second sealing sleeve 240 is sleeved on the mounting groove 212d of the drive rod 211 and is limited in position by the mounting groove 212d.

[0161] The first sealing sleeve 156 and the second sealing sleeve 240 can prevent liquids such as tissue fluid from flowing from the central cavity 150a of the shaft assembly 150 to the proximal end and contaminating the interior of the instrument. In the case where the surgical instrument is an energy instrument, they can also prevent liquids from flowing into the instrument and causing a short circuit.

[0162] Furthermore, the first sealing sleeve 156 and the second sealing sleeve 240 are located at the same or substantially the same position in the axial direction of the shaft assembly 150. That is, in the first direction D1, the first sealing sleeve 156 and the second sealing sleeve 240 at least partially overlap. With the first sealing sleeve 156 on the outside and the second sealing sleeve 240 on the inside, they achieve a double seal and enhance the sealing capability of the device's sealing component.

[0163] Optionally, the first sealing sleeve 156 and the second sealing sleeve 240 can be made of a flexible and elastic material that meets medical standards, such as rubber, and can be firmly mounted on the second stop member 157 and the driving rod 211 while having a good sealing effect.

[0164] In some embodiments of the present application, the surgical instrument 10 may include a replaceable actuator and a reusable rear end assembly. The replaceable actuator is detachably mounted on the reusable rear end assembly so that it can be replaced. The replaceable actuator includes, for example, the above-mentioned transmission assembly and the end effector. The transmission assembly is connected to the end effector. The reusable rear end assembly includes, for example, the above-mentioned rear end drive assembly and the shaft assembly. The rear end drive assembly is connected to the shaft assembly. When the replaceable actuator is installed to the reusable rear end assembly, the transmission assembly is first inserted into the interior of the shaft assembly and the proximal end of the transmission assembly is assembled to the rear end drive assembly, and then the shaft assembly is assembled to the end effector, thereby completing the assembly of the replaceable actuator and the reusable rear end assembly.

[0165] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art in the technical field of this application. The terms used herein are only for describing specific implementation purposes and are not intended to limit this application. Terms such as "setting" appearing in this document can mean that one component is directly attached to another component, or that one component is attached to another component through an intermediate component. Features described in this document in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise specified.

[0166] The present application has been described through the above embodiments, but it should be understood that the above embodiments are for illustrative and illustrative purposes only and are not intended to limit the present application to the described embodiments. Those skilled in the art will appreciate that many more variations and modifications may be made based on the teachings of this application, and all of these variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A surgical instrument, characterized in that: The surgical instrument comprises: Back-end drive components; a shaft assembly connected to the rear end drive assembly; and an insert, the insert being passed through the shaft assembly and connected to the rear end drive assembly, Wherein, the back-end drive component includes: a first rotating member; a second rotating member; a first guide member disposed at a proximal end of the shaft assembly; a second guide member disposed at a proximal end of the shaft assembly; a first cable, the first cable being wound around the first rotating member and entering the shaft assembly through the first guide member; and a second cable, the second cable being wound around the second rotating member and entering the shaft assembly through the second guide member; The first guide member and the second guide member are spaced apart along the circumference of the shaft assembly, and a space for the insert to pass through is defined between the first guide member and the second guide member.

2. The surgical instrument according to claim 1, wherein: The rear end drive assembly also includes a seat body, which is connected to the proximal end of the shaft assembly. The seat body has an opening, which is suitable for passing the insert. The first cable and the second cable enter the shaft assembly through the opening, and the first guide member and the second guide member are arranged at the edge of the opening.

3. The surgical instrument according to claim 2, characterized in that A first steering member is provided between the first rotating member and the first guide member. The first cable is connected to the first guide member via the first steering member. The first steering member is used to change the direction of the first cable entering the first guide member from the first rotating member.

4. The surgical instrument according to claim 2, wherein: A second steering member is provided between the second rotating member and the second guide member. The second cable is connected to the second guide member via the second steering member. The second steering member is used to change the direction of the second cable entering the second guide member from the second rotating member.

5. The surgical instrument according to claim 3, characterized in that The first cable between the first rotating member, the first steering member and the first guiding member avoids the opening; and / or The first cable includes a first section located between the first rotating member and the first steering member and a second section located between the first steering member and the first guide member, the first guide member includes a guide surface, and the angle between the extension direction of the first section and the tangent of the guide surface is greater than the angle between the extension direction of the second section and the tangent of the guide surface.

6. The surgical instrument according to claim 3, characterized in that The first guide member is located on a side of the opening away from the first rotating member and the second rotating member, the first steering member is located on a side of the first guide member away from the opening, and the first cable between the first rotating member, the first steering member and the first guide member avoids the opening; and / or The first cable includes a first section located between the first rotating member and the first steering member and a second section located between the first steering member and the first guide member, the first steering member is a fixed pulley, and the fixed pulley includes a guide surface. The angle between the extension direction of the first section and the tangent of the guide surface is greater than the angle between the extension direction of the second section and the tangent of the guide surface.

7. The surgical instrument according to claim 4, characterized in that The second cable between the second rotating member, the second steering member and the second guide member avoids the opening; and / or The second cable includes a first section located between the second rotating member and the second steering member and a second section located between the second steering member and the second guide member, the second guide member includes a guide surface, and the angle between the extension direction of the first section and the tangent of the guide surface is greater than the angle between the extension direction of the second section and the tangent of the guide surface.

8. The surgical instrument according to claim 4, wherein: The second guide member is located on a side of the opening away from the second rotating member and the second rotating member, the second turning member is located on a side of the second guide member away from the opening, and the second cable between the second rotating member, the second turning member and the second guide member avoids the opening; and / or The second cable includes a first section located between the second rotating member and the second steering member and a second section located between the second steering member and the second guide member, the second steering member is a fixed pulley, and the fixed pulley includes a guide surface. The angle between the extension direction of the first section and the tangent of the guide surface is greater than the angle between the extension direction of the second section and the tangent of the guide surface.

9. The surgical instrument according to claim 4, characterized in that The second guide member is located on a side of the opening close to the second rotating member, the second cable includes a second section located between the second rotating member and the second steering member and a second section located between the second steering member and the second guide member, the second guide member includes a guide surface, and an angle between an extension direction of the second section and a tangent of the guide surface is greater than an angle between an extension direction of the second section and a tangent of the guide surface.

10. The surgical instrument according to any one of claims 1 to 9, characterized in that The rear end drive assembly includes two first guides and two second guides, the first end and the second end of the first cable are respectively connected to the two first guides, the first end and the second end of the second cable are respectively connected to the two second guides, and the first guide and the second guide are both fixed pulleys. wherein the two first guide members are coaxially arranged, and the two second guide members are coaxially arranged; or One of the first guide members is coaxially arranged with one of the second guide members, and another of the first guide members is coaxially arranged with another of the second guide members.

11. The surgical instrument according to any one of claims 1 to 9, characterized in that The shaft assembly includes a shaft member; The first guide and the second guide are disposed at different heights in a first direction parallel to a central axis of the shaft member.

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