Surgical instrument

Abstract

The present disclosure discloses a surgical instrument comprising: a body; the rotary shell is rotatably connected to the machine body; a part of the sleeve assembly is accommodated in the rotary shell; a jaw assembly; the push rod is connected to the jaw assembly; the jaw assembly rotates relative to the cannula assembly in response to the proximal or distal movement of the push rod; the driving mechanism comprises a motor and a lead screw nut structure, and in response to rotation of the motor, a lead screw drives a nut to move towards the near side or the far side so as to drive the push rod to move towards the near side or the far side; the lead screw nut structure further comprises a first fixing piece, and the connection between the push rod and the nut is released in response to the fact that the first fixing piece is detached from the nut. The nut comprises a first axial side face, a second axial side face and a surrounding face, the surrounding face comprises an outer side face, and the first fixing piece is detachably connected to the outer side face. Therefore, no part blocking exists between the first fixing piece and the dismounting hole, and a dismounting tool can smoothly enter from the dismounting hole and is connected with the first fixing piece so as to dismount the first fixing piece.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a surgical instrument. BACKGROUND

[0002] Surgical cutting stapler is a commonly used medical device to replace manual suturing, the main working principle of which is to cut off the tissue by using a cutting knife and to anastomose the tissue by using titanium staples, similar to a stapler. According to the different body parts to which it is applied, the stapler can be divided into various types. The working principle of the surgical cutting stapler is to enter the patient's body through the cannula of the puncture device precisely positioned at the surgical site, then make a longitudinal incision in the tissue and apply anastomosis staples on the opposite sides of the incision, thereby cutting off and anastomosing the tissue. SUMMARY

[0003] The present disclosure is implemented by the following technical solutions:

[0004] A surgical instrument, comprising:

[0005] a body;

[0006] a rotating housing rotatably connected to the body;

[0007] a sleeve assembly connected to the body at a proximal end, the sleeve assembly having a portion received in the rotating housing, the rotating housing being connected to the sleeve assembly;

[0008] a jaw assembly connected to the sleeve assembly at a distal end of the sleeve assembly;

[0009] a push rod movably disposed in the sleeve assembly, the push rod being connected to the jaw assembly at a distal end of the push rod, the jaw assembly being rotatable relative to the sleeve assembly in response to proximal or distal movement of the push rod;

[0010] a drive mechanism received in the rotating housing, the drive mechanism being configured to drive proximal or distal movement of the push rod;

[0011] the drive mechanism comprising a motor and a lead screw nut structure, the lead screw nut structure comprising a lead screw and a nut cooperating with the lead screw, the motor being connected to the lead screw, the nut being connected to the push rod, the lead screw being rotatable to drive proximal or distal movement of the nut, and thereby the push rod, in response to driving of the motor;

[0012] the lead screw nut structure further comprising a first fixing member, the first fixing member being detachably connected to the nut, the first fixing member connecting the push rod to the nut in response to the first fixing member being connected to the nut, the connection of the push rod to the nut being released in response to the first fixing member being detached from the nut;

[0013] The nut comprises a first axial side, a second axial side and a surrounding surface between the first axial side and the second axial side, the surrounding surface comprises an inner side and an outer side, the inner side faces the sleeve assembly, the first fixing member is detachably connected to the outer side.

[0014] In one embodiment, the screw nut structure further comprises a first plate body and a second plate body, one end of the lead screw is rotatably arranged on the first plate body, the part of the lead screw matched with the nut is between the first plate body and the second plate body, the nut is between the first plate body and the second plate body and matched with the lead screw, the first axial side faces the first plate body, and the second axial side faces the second plate body.

[0015] In one embodiment, the screw nut structure further comprises a connecting portion connected between the first plate body and the second plate body, the outer side comprises a shielding portion and a separated portion, the shielding portion is opposite to the connecting portion, and the separated portion is staggered with the connecting portion, and the first fixing member is detachably connected to the separated portion.

[0016] In one embodiment, the surgical instrument further comprises a returning mechanism, the returning mechanism comprises an elastic assembly, one end of the elastic assembly is connected to the sleeve assembly, and the other end of the elastic assembly is connected to the jaw assembly; when the jaw assembly is in the straight hitting state, the elastic assembly is in an initial state, and when the jaw assembly is in the curved hitting state, the elastic assembly is in a deformed state.

[0017] When the push rod is connected to the nut through the first fixing member, in response to the driving of the motor, the nut drives the push rod to move, so as to switch the jaw assembly between the straight hitting state and the curved hitting state.

[0018] When the jaw assembly is in the curved hitting state, in response to the first fixing member being detached from the nut, the elastic assembly in the deformed state returns to the initial state through its own elastic force, so as to drive the jaw assembly to switch from the curved hitting state to the straight hitting state.

[0019] In one embodiment, the elastic assembly comprises a knife rod, one end of the knife rod is connected to the jaw assembly, and the other end of the knife rod is connected to the sleeve assembly; when the jaw assembly is in the straight hitting state, the knife rod is in the initial state; when the jaw assembly switches from the straight hitting state to the curved hitting state, the knife rod is bent, so that the knife rod switches from the initial state to the deformed state.

[0020] In one embodiment, the first fastener comprises a screw, the nut comprises a screw hole, the driving mechanism further comprises a connecting member, the connecting member is connected to the push rod, the connecting member comprises a connecting hole, the screw penetrates through the connecting hole and cooperates with the screw hole, so that the connecting member is connected to the nut, and then the push rod is connected to the nut.

[0021] In one embodiment, the rotating housing comprises a dismounting hole, the dismounting hole provides a passage for dismounting the first fastener connected to the nut from the nut.

[0022] In one embodiment, the surgical instrument further comprises a separating cover, the separating cover is detachably mounted to the rotating housing, when the separating cover is mounted to the rotating housing, the dismounting hole is covered, and when the separating cover is separated from the rotating housing, the dismounting hole is exposed. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a structural schematic diagram of a surgical instrument of one embodiment of the present disclosure;

[0024] Figure 2 is an exploded view of a rotating housing of one embodiment of the present disclosure;

[0025] Figure 3 is an exploded view of a sleeve assembly of one embodiment of the present disclosure;

[0026] Figure 4 is a structural schematic diagram of a constraint groove of a rotating housing of one embodiment of the present disclosure;

[0027] Figure 5 is a structural schematic diagram of one angle of a driving mechanism of one embodiment of the present disclosure;

[0028] Figure 6 is a structural schematic diagram of another angle of a driving mechanism of one embodiment of the present disclosure;

[0029] Figure 7 is a structural schematic diagram of a jaw assembly in a straight hitting state of one embodiment of the present disclosure;

[0030] Figure 8 is a structural schematic diagram of a jaw assembly in a curved hitting state of one embodiment of the present disclosure;

[0031] Figure 9 is a sectional view of a rotating housing in a first plane of one embodiment of the present disclosure;

[0032] Figure 10 is a structural schematic diagram of a motor and a nut in one angle of one embodiment of the present disclosure;

[0033] Figure 11is a front view of a motor and nut according to an embodiment of the present disclosure;

[0034] Figure 12 is a structural diagram of torque received by a nut according to an embodiment of the present disclosure;

[0035] Figure 13 is a structural diagram of a ball screw nut structure according to an embodiment of the present disclosure;

[0036] Figure 14 is an exploded view of a ball screw nut structure according to an embodiment of the present disclosure;

[0037] Figure 15 is a structural diagram of a spring installed on a lead screw according to an embodiment of the present disclosure;

[0038] Figure 16 is a structural diagram of a spring and a stopper installed on a lead screw according to an embodiment of the present disclosure;

[0039] Figure 17 is an exploded view of a spring and a stopper installed on a lead screw according to an embodiment of the present disclosure;

[0040] Figure 18 is a structural diagram of a first positioning structure and a second positioning structure at one angle according to an embodiment of the present disclosure;

[0041] Figure 19 is a structural diagram of a first positioning structure and a second positioning structure at another angle according to an embodiment of the present disclosure;

[0042] Figure 20 is a structural diagram of a protrusion and a plug-in groove according to an embodiment of the present disclosure;

[0043] Figure 21 is an exploded view of a first fixing member, a nut, and a push rod according to an embodiment of the present disclosure;

[0044] Figure 22 is a structural diagram of a rotating housing and a separation cover according to an embodiment of the present disclosure;

[0045] Figure 23 is a structural diagram of an outer side surface of a nut according to an embodiment of the present disclosure, showing an outer side surface and a first axial side surface;

[0046] Figure 24 is a structural diagram of a nut according to an embodiment of the present disclosure, showing an inner side surface and a second axial side surface.

[0047] Figure 25 is a structural diagram of a nut according to an embodiment of the present disclosure;

[0048] Figure 26 is an exploded view of a nut and a plate member according to an embodiment of the present disclosure;

[0049] Figure 27 is a structural schematic diagram of a motor mounted on a rotating shell according to an embodiment of the present disclosure;

[0050] Figure 28 is an exploded view of a motor and a rotating shell according to an embodiment of the present disclosure;

[0051] Figure 29 is a structural schematic diagram of a motor mounted on a rotating shell from another angle according to an embodiment of the present disclosure;

[0052] Figure 30 is a structural schematic diagram of a motor mounted on a rotating shell from another angle according to an embodiment of the present disclosure; Figure 29 is a structural schematic diagram of a motor mounted on a rotating shell from another angle according to an embodiment of the present disclosure.

[0053] is a structural schematic diagram of a motor mounted on a rotating shell from another angle according to an embodiment of the present disclosure.

[0054] 100, body; 110, electric slip ring; 120, operating member;

[0055] 200, rotating shell; 210, constraint groove; 220, dismounting hole; 230, separation cover; 240, motor accommodating rack; 241, distal end limiting part; 242, proximal end limiting part; 243, locking cover; 2431, receiving part; 244, avoiding part; 245, bearing seat; 246, bearing;

[0056] 300, driving mechanism; 310, motor; 311, motor body; 312, output shaft; 313, electric connection part;

[0057] 320, transmission member; 321, first gear; 322, second gear;

[0058] 400, screw nut structure; 410, screw; 420, nut; 421, nut through hole; 4211, avoiding groove; 422, screw hole; 423, first axial side; 424, second axial side; 425, surrounding surface; 426, inner side surface; 427, outer side surface; 428, first surface; 429, second surface; 4291, third surface; 430, first plate body; 431, first through hole; 440, second plate body; 441, protruding part; 450, fixing column; 460, connecting part; 470, connecting member; 471, first part; 472, second part; 473, connecting hole; 480, first fixing member; 481, screw; 482, stud; 483, nut; 490, plate body member;

[0059] 500, sleeve assembly; 510, inner sleeve; 511, accommodating groove; 512, matching groove; 513, oblong part; 514, insertion groove; 520, outer sleeve; 521, exposed groove; 530, push rod; 540, connecting rod;

[0060] 600, jaw assembly; 610, end effector; 620, angle turning piece;

[0061] 710, first axial limiting assembly; 720, second axial limiting assembly; 730, fixed part; 740, clutch structure; 741, mounting groove; 742, mounting segment; 743, matching part; 744, elastic sheet; 745, matching surface; 746, hollow part; 747, mounting opening; 748, outer opening; 749, inner opening; 750, stop part;

[0062] 810, first positioning structure; 811, first positioning part; 8111, first protrusion; 812, first positioning groove; 820, second positioning structure; 821, second positioning part; 8211, second protrusion; 822, second positioning groove; 830, third positioning structure; 831, third positioning part;

[0063] K0, central axis; K1, first axis; K2, second axis; K3, third axis; K4, fourth axis; X, transverse direction; Y, longitudinal direction; Z, vertical direction. DETAILED DESCRIPTION

[0064] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, further detailed description will be made to the present disclosure with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure, and are not used to limit the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the scope of protection of the present disclosure.

[0065] It should be understood that the terms "proximal" and "distal" used herein are relative to the clinician who manipulates the handle of the anastomat. The term "proximal" refers to the part close to the clinician, and the term "distal" refers to the part away from the clinician. That is, the handle is proximal, and the jaw assembly is distal, and the proximal end of a certain part means the end relatively close to the handle, and the distal end means the end relatively close to the jaw assembly. The terms "upper" and "lower" are used with reference to the relative positions of the anvil seat and the staple cartridge seat of the jaw assembly. Specifically, the anvil seat is "upper", and the staple cartridge seat is "lower". However, the anastomat can be used in many directions and positions, so these terms expressing relative positional relationship are not limited and absolute.

[0066] In the present disclosure, unless specifically defined and limited otherwise, the terms "connected", "coupled", and the like, are used broadly and encompass both direct and indirect connections, as well as fixed and movable connections. Other definitions will be apparent from their context. It should be further noted that the use of "adapted" and "configured" herein does not imply that the components so described are modified or altered in any way. For example, a processing unit can be adapted and configured to perform operations, which in some embodiments, are software operations performed by the processing unit executing appropriate code.

[0067] Embodiments of the present disclosure relate to a surgical instrument, for example, a stapler, such as Figures 1 to 3 As shown, the surgical instrument includes a body 100, a rotating housing 200, a sleeve assembly 500, a jaw assembly 600, a push rod 530, and a drive mechanism 300. The proximal end of the sleeve assembly 500 is connected to the body 100, and the distal end of the sleeve assembly 500 is connected to the jaw assembly 600. The push rod 530 is accommodated in the sleeve assembly 500, and the distal end of the push rod 530 is connected to the jaw assembly 600. The rotating housing 200 is rotatably connected to the body 100 and connected to the sleeve assembly 500. The rotating housing 200 can rotate about its own rotation axis and drive the sleeve assembly 500 and the jaw assembly 600 to rotate. For example, the rotation axis of the rotating housing 200 and the rotation axis of the sleeve assembly 500 are collinear and are arranged along the central axis K0. The drive mechanism 300 is configured to drive the push rod 530 to move proximally or distally. When the push rod 530 moves proximally or distally, the drive mechanism 300 drives the jaw assembly 600 to swing relative to the sleeve assembly 500.

[0068] In the surgical operation, the medical staff first punctures the human body to make the puncture sleeve pass through the human body, and then the medical staff makes the jaw assembly 600 and part of the sleeve assembly 500 pass through the puncture sleeve into the human body, the outer diameter of the rotating shell 200 is large, and cannot enter the puncture sleeve, that is, the part of the sleeve assembly 500 entering the puncture sleeve is located at the distal side of the rotating shell 200. The jaw assembly 600 is used to clamp the target human tissue, the user can rotate the rotating shell 200 to make the jaw assembly 600 rotate around the axis of the sleeve assembly 500, and operate the driving mechanism 300 to make the push rod 530 drive the jaw assembly 600 to swing relative to the sleeve assembly 500, so as to adjust the position of the jaw assembly 600, so that the jaw assembly 600 can be adjusted to a suitable position to align the target human tissue. After the jaw assembly 600 aligns the target tissue, in response to the operation of the user, the sleeve assembly 500 drives the jaw assembly 600 to close to clamp the target tissue. The surgical instrument also includes a cutting knife assembly (not shown in the figure), after the target tissue is clamped, the user operates to make the cutting knife assembly cut the clamped target tissue, and after the cutting is completed, the cutting knife assembly moves proximally to perform a back knife. Then the medical staff operates the jaw assembly to open to make the jaw assembly 600 switch from the closed state to the open state to release the target tissue, and finally the surgical instrument is removed from the human body to complete the operation.

[0069] The rotating shell 200 includes an upper shell 201 and a lower shell 202 connected to each other, and the upper shell 201 and the lower shell 202 are both substantially semicircular, so that the rotating shell 200 is substantially cylindrical. The sleeve assembly 500 is partially accommodated in the rotating shell 200, and the part accommodated in the rotating shell 200 is connected with the rotating shell 200, so that the rotating shell 200 can drive the sleeve assembly 500 and the jaw assembly 600 to rotate.

[0070] For example, the sleeve assembly 500 includes an inner sleeve 510 and an outer sleeve 520 sleeved on the inner sleeve 510, and the push rod 530 is slidably connected to the inner sleeve 510. For example, the inner sleeve 510 is provided with a receiving groove 511 along the length direction, and the push rod 530 is accommodated in the receiving groove 511 and can move proximally or distally relative to the inner sleeve 510. For example, the outer sleeve 520 has an exposed groove 521 exposing part of the inner sleeve 510. Figure 3 and Figure 4 As shown in the drawings, the exposed part of the inner sleeve 510 has an oblong part 513. An oblong constraint groove 210 is formed in the rotating shell 200, and when the sleeve assembly 500 is installed in the rotating shell 200, the oblong part 513 is clamped into the constraint groove 210, so that the proximal end of the sleeve assembly 500 is connected with the rotating shell 200, and then the rotating shell 200 can drive the sleeve assembly 500 and the push rod 530 to rotate synchronously when the rotating shell 200 rotates.

[0071] The driving mechanism 300 is disposed in the rotating housing 200 to avoid the risk of being damaged due to exposure. The proximal end of the push rod 530 is exposed in the exposed slot 521 and is connected to the driving mechanism 300. The driving mechanism 300 is connected to the rotating housing 200, so that the rotating housing 200 can drive the driving mechanism 300 to rotate when the rotating housing 200 rotates, that is, when the rotating housing 200 rotates, the sleeve assembly 500, the push rod 530 and the driving mechanism 300 rotate synchronously with the rotating housing 200, and the relative positions of the sleeve assembly 500, the push rod 530 and the driving mechanism 300 do not change, and the driving mechanism 300 can always be connected with the push rod 530 and can drive the push rod 530 to move. The connection mode of the driving mechanism 300 and the rotating housing 200 is described in detail below.

[0072] For example, as shown in Figure 5 and Figure 6 , the driving mechanism 300 includes a motor 310 and a lead screw nut structure 400, the lead screw nut structure 400 includes a lead screw 410 and a nut 420 cooperating with the lead screw 410, the motor 310 is connected with the lead screw 410, the nut 420 is connected to the push rod 530, in response to the rotation of the motor 310, the motor 310 drives the lead screw 410 to rotate, the rotating lead screw 410 drives the nut 420 to move proximally or distally, and in turn drives the push rod 530 to move proximally or distally, so that the jaw assembly 600 swings relative to the sleeve assembly 500.

[0073] For example, as shown in Figure 7 and Figure 8 , the jaw assembly 600 includes an end effector 610 for clamping human tissue and an angle deflector 620, one end of which is connected to the end effector 610, and the other end is rotatably connected to the sleeve assembly 500, so that the end effector 610 can swing relative to the sleeve assembly 500. The distal end of the push rod 530 is connected to the angle deflector 620, for example, the surgical instrument further includes a connecting rod 540, the proximal end of which is rotatably connected to the distal end of the push rod 530, and the distal end of the connecting rod 540 is rotatably connected to the angle deflector 620, in response to the proximal or distal movement of the push rod 530, the connecting rod 540 drives the angle deflector 620 to rotate relative to the sleeve assembly 500, and in turn makes the end effector 610 swing relative to the sleeve assembly 500. The user can swing the end effector 610 to the desired position by controlling the rotation of the motor 310.

[0074] For example, the jaw assembly 600 has a straight hitting state and a curved hitting state, as shown in Figure 7As shown, when the jaw assembly 600 is in the straight punching state, the length direction of the jaw assembly 600 is substantially parallel to the axis (i.e. the central axis K0) of the sleeve assembly 500. When the jaw assembly 600 is in the curved punching state, the length direction of the jaw assembly 600 is at an angle with the axis (i.e. the central axis K0) of the sleeve assembly 500.

[0075] The driving mechanism 300 of the present disclosure can keep the jaw assembly 600 in the desired position. The lead screw 410 cooperates with the nut 420, the thread angle of the lead screw 410 is smaller than the static friction angle, so that the lead screw nut structure 400 has a self-locking function, when the lead screw 410 is not driven by the motor 310, the nut 420 is locked by the lead screw 410 and cannot move along the axis direction of the lead screw 410, when the jaw assembly 600 is subjected to external force and tends to swing, the push rod 530 connected to the jaw assembly 600 tends to move proximally or distally, since the push rod 530 is connected to the nut 420 and the nut 420 is locked by the lead screw 410, the push rod 530 cannot move proximally or distally, thereby the jaw assembly 600 cannot swing, so that when the jaw assembly 600 is subjected to external force, it can still be kept in the position desired by the user without swinging.

[0076] For example, as shown in Figure 5 and Figure 6 The driving mechanism 300 further comprises a transmission member 320, which is connected to both the motor 310 and the lead screw 410, the motor 310 is in transmission connection with the lead screw 410 through the transmission member 320, in response to the rotation of the motor 310, the transmission member 320 moves to drive the lead screw 410 to rotate, and the rotating lead screw 410 drives the nut 420 to move proximally or distally.

[0077] In the embodiment of the present disclosure, as shown in Figure 4 , Figure 5 and Figure 9 In the rotating housing 200, the motor 310 is arranged along a first axis K1, for example, the axis of the output shaft 312 of the motor 310 is the first axis K1; the lead screw 410 is arranged along a second axis K2, for example, the lead screw 410 rotates around the second axis K2. The first axis K1 is parallel to the second axis K2. Both the first axis K1 and the second axis K2 are arranged along the circumferential direction of the sleeve assembly 500.

[0078] The length direction of the push rod 530 is parallel to the central axis K0, and the central axis K0 is parallel to both the first axis K1 and the second axis K2. The lead screw 410 is driven by the motor 310 to rotate around the second axis K2, and the nut 420 is driven to move along the second axis K2 to drive the push rod 530 to move proximally or distally.

[0079] For example, as shown in Figure 5 and Figure 9The surgical instrument includes a transverse direction X, a longitudinal direction Y, and a vertical direction Z. The longitudinal direction Y is parallel to the axis of the cannula assembly 500. The vertical direction Z is a direction from the central axis K0 to the first axis K1. The transverse direction X is perpendicular to both the vertical direction Z and the longitudinal direction Y. The central axis K0, the first axis K1, and the second axis K2 are all arranged along the longitudinal direction Y.

[0080] In a direction from the second axis K2 to the first axis K1, the projection of the lead screw 410 falls at least partially on the motor 310. The direction from the second axis K2 to the first axis K1 is perpendicular to the first axis K1 and the second axis K2 and points to the first axis K1.

[0081] In the embodiments of the present disclosure, the lead screw 410 and the motor 310 both extend along the longitudinal direction Y, and the projection of the lead screw 410 in the direction from the second axis K2 to the first axis K1 falls at least partially on the motor 310, thereby reducing the length of the drive mechanism 300 in the longitudinal direction Y. This avoids the situation that the length of the rotating housing 200 in the longitudinal direction Y is increased, the effective length of the cannula assembly 500 is increased, the strength of the cannula assembly 500 is reduced, or, in the case where the total length of the cannula assembly 500 is unchanged, the length of the part of the cannula assembly 500 outside the rotating housing 200 is reduced, which is not conducive to reaching the deep surgical area.

[0082] Since the cannula assembly 500 is partially arranged in the rotating housing 200 and the cannula assembly 500 is coaxially arranged with the rotating housing 200, the interior of the rotating housing 200 generally forms an annular space, and the drive mechanism 300 is arranged in the annular space. The first axis K1 and the second axis K2 are both arranged along the circumferential direction of the cannula assembly 500, so that the layout of the drive mechanism 300 in the annular space is reasonable, and the situation that the drive mechanism 300 interferes with the cannula assembly 500 or the rotating housing 200 or the outer diameter of the rotating housing 200 needs to be increased does not occur. The first axis K1 and the second axis K2 are both arranged along the circumferential direction of the cannula assembly 500 means that the first axis K1 and the second axis K2 are both located in the annular space, and the first axis K1 and the second axis K2 are both located in the circumferential direction of the cannula assembly 500.

[0083] For example, the outer diameter of the cannula assembly 500 is greater than or equal to 8.5 mm and less than or equal to 15 mm, and the inner diameter of the rotating housing 200 is greater than or equal to 36 mm and less than or equal to 48 mm.

[0084] For example, the distance between the first axis K1 and the central axis K0 is greater than or equal to 10 mm and less than or equal to 16 mm, and the distance between the second axis K2 and the central axis K0 is greater than or equal to 9.5 mm and less than or equal to 16 mm. This makes the layout of the motor 310 and the lead screw 410 in the above-mentioned annular space more reasonable.

[0085] The cross section of the nut 420 is substantially long strip-shaped. For example, as shown in Figure 10 and Figure 11 , the length direction of the nut 420 is arranged in the vertical direction Z, and the nut 420 has the longest extension in the above-mentioned length direction. The above-mentioned arrangement makes the long strip shape of the nut 420 substantially arranged in the vertical direction, thereby reducing the space size occupied by the nut 420 in the transverse direction X, and further reducing the space size occupied by the drive mechanism 300 in the transverse direction X, so as to avoid the drive mechanism 300 interfering with the rotating shell 200, or the case of needing to increase the outer diameter of the rotating shell 200.

[0086] For example, in the vertical direction Z, a part of the nut 420 overlaps the sleeve assembly 500, and a part overlaps the motor 310, in other words, the projection of the nut 420 in the transverse direction X falls on the sleeve assembly 500 and the motor 310. The above-mentioned arrangement reduces the length of the drive mechanism 300 and the sleeve assembly 500 in the vertical direction Z, optimizes the layout of the drive mechanism 300 and the sleeve assembly 500 in the rotating shell 200, so as to avoid the drive mechanism 300 interfering with the rotating shell 200, or the case of needing to increase the outer diameter of the rotating shell 200.

[0087] In one embodiment, as shown in Figure 5 and Figure 6 , the transmission member 320 includes a first gear 321 and a second gear 322, the first gear 321 is connected to the motor 310, and the second gear 322 is connected to the lead screw 410, the first gear 321 and the second gear 322 are engaged, so that the motor 310 and the lead screw 410 are drivingly connected, and when the motor 310 rotates, the lead screw 410 is driven to rotate through the first gear 321 and the second gear 322.

[0088] The motor 310 comprises a motor body 311 and a reduction box 312, the motor body 311 is connected to the reduction box 312, and the first gear 321 is connected to the reduction box 312. In one scheme, the motor body 311 is connected to the first gear 321, the second gear 322 is connected to the reduction box 312, and the output shaft of the reduction box 312 is connected to the lead screw 410. The rotation speed of the output shaft connected to the motor body 311 is fast, so that the rotation speed of the first gear 321 is fast, which causes the rotation speed of the second gear 322 engaged with the first gear 321 to be fast, the stability of the transmission of the two is poor, and large noise is generated. In the present disclosure, the first gear 321 is connected to the output shaft of the reduction box 312, the rotation speed of the first gear 321 and the second gear 322 is low, the stability of the transmission is good, and large noise is not generated.

[0089] As shown in Figure 9 , the first gear 321 and the second gear 322 are accommodated in the rotating shell 200 and located between the rotating shell 200 and the part of the sleeve assembly 500 accommodated in the rotating shell 200, for example, the plane where the first gear 321 and the second gear 322 are located is the first plane, for example Figure 9 , the cross section of the surgical instrument in the first plane is the first plane. In the first plane, the rotating shell 200 and the sleeve assembly 500 generally form an annular surface. Due to the limited size of the annular surface, if the first gear 321 and the second gear 322 occupy a larger area in the annular surface, the first gear 321 or the second gear 322 will interfere with the rotating shell 200 or the sleeve assembly 500. For example, in the embodiment of the present disclosure, the difference between the outer diameter of the first gear 321 and the outer diameter of the second gear 322 is greater than or equal to -3.5 mm and less than or equal to 3.5 mm, so that the first gear 321 and the second gear 322 occupy a smaller area in the annular surface, thereby avoiding the interference between the transmission member 320 and the sleeve or the rotating shell 200, or the additional increase in the outer diameter of the rotating shell 200.

[0090] In the case where the distance between the first axis K1 and the second axis K2 is constant, the smaller the absolute value of the difference between the outer diameter of the first gear 321 and the outer diameter of the second gear 322, the smaller the sum of the areas occupied by the first gear 321 and the second gear 322 in the first plane, specifically in the annular surface, for the following reasons:

[0091] When the outer diameter of the first gear 321 and the outer diameter of the second gear 322 are equal, for example, the outer diameter of the first gear 321 and the outer diameter of the second gear 322 are both r, the distance between the first axis K1 and the second axis K2 is 2r. The area of the first gear 321 in the first plane is πr 2 , and the area of the second gear 322 is also πr 2The area occupied by the first gear 321 and the second gear 322 in the first plane is the sum of the areas of the first gear 321 and the second gear 322, i.e. 2πr 2 .

[0092] When the outer diameter of the first gear 321 is not equal to the outer diameter of the second gear 322, for example, the outer diameter of the first gear 321 is r+a, the outer diameter of the second gear 322 is r-a, the distance between the first axis K1 and the second axis K2 is 2r, and the difference between the outer diameter of the first gear 321 and the outer diameter of the second gear 322 is 2a. The area of the first gear 321 in the first plane is π(r+a) 2 , the area of the second gear 322 in the first plane is π(r-a) 2 , and the area occupied by the first gear 321 and the second gear 322 in the first plane is the sum of the areas of the first gear 321 and the second gear 322, i.e. 2πr 2 +2πa 2 Compared with the case where the outer diameter of the first gear 321 is equal to the outer diameter of the second gear 322, when the outer diameter of the first gear 321 is not equal to the outer diameter of the second gear 322, the area occupied is 2πa more 2 It can be seen that when the outer diameter of the first gear 321 is equal to the outer diameter of the second gear 322 (i.e. a is equal to 0), the area occupied by the first gear 321 and the second gear 322 in the first plane is the smallest. For example, compared with the case where the outer diameters are equal, the smaller the absolute value of the difference between the outer diameters of the first gear 321 and the second gear 322, the closer the areas of the first gear 321 and the second gear 322 will be to the area where the outer diameters are equal. That is, the area corresponding to the smaller absolute value of the difference between the outer diameters is smaller than the area corresponding to the larger absolute value of the difference between the outer diameters.

[0093] For example, the outer diameter of the first gear 321 is equal to the outer diameter of the second gear 322. This makes the area occupied by the first gear 321 and the second gear 322 in the first plane the smallest, and enables the transmission member 320 to be better accommodated in the annular surface.

[0094] For example, as shown in Figure 9 , the lead screw 410 is arranged on the side of the driving mechanism 300 close to the push rod 530. This makes the lead screw 410 closer to the push rod 530 than the output shaft 312 of the motor 310. When the motor 310 and the lead screw 410 are arranged along the circumference of the sleeve assembly 500, making the lead screw 410 closer to the push rod 530 can improve the stability of the lead screw 410 driving the push rod 530.

[0095] In response to the driving of the motor 310, the lead screw 410 drives the nut 420 to move, and the nut 420 drives the push rod 530 to move, thereby realizing the movement of the lead screw-nut structure 400 driving the push rod 530. In this process, as shown in Figure 12As shown, the nut 420 is subjected to a driving force from the lead screw 410 along the second axis K2. The nut 420 is also subjected to the resistance of the push rod 530 moving along the third axis K3. The resistance is opposite to the driving force and will cause the nut 420 to rotate. The greater the rotation tendency of the nut 420, the more likely the nut 420 is to overturn or deform, resulting in unstable movement of the push rod 530.

[0096] The shorter the distance between the second axis K2 and the third axis K3 (the distance between the lead screw 410 and the push rod 530), the smaller the tendency of the nut 420 to rotate, which makes the nut 420 less prone to tipping over or deformation, and makes the push rod 530 move more stably.

[0097] For example, such as Figure 9 As shown, the outer diameter of the second gear 322 is smaller than that of the first gear 321 to reduce the distance between the second axis K2 and the third axis K3. The push rod 530 is disposed on the outer wall of the inner sleeve 510. The distance between the third axis K3 and the second axis K2 extends along the radial direction of the lead screw 410. The second gear 322 has a certain width in the radial direction of the lead screw 410. To avoid interference between the second gear 322 and the inner sleeve 510, the distance between the lead screw 410 and the outer wall of the inner sleeve 510 must be greater than or equal to the radius of the second gear 322. When the outer diameter of the second gear 322 is smaller than that of the first gear 321, the radius of the second gear 322 is smaller, which allows the distance between the lead screw 410 and the outer wall of the inner sleeve 510 to be smaller. This, in turn, makes the distance between the second axis K2 and the third axis K3 smaller, enabling the drive mechanism 300 to drive the push rod 530 more stably. For example, the difference in outer diameter between the first gear 321 and the second gear 322 is greater than 0 and less than or equal to 3.5 mm.

[0098] For example, a portion of the second gear 322 is located within the exposed groove 521 and is separated from the inner sleeve 510. This separation means that the second gear 322 does not contact the inner sleeve 510, so as to avoid interference between the second gear 322 and the inner sleeve 510 when the second gear 322 rotates. The fact that a portion of the second gear 322 enters the exposed groove 521 allows the distance between the second axis K2 and the outer wall of the inner sleeve 510 to be closer, thereby making the distance between the second axis K2 and the push rod 530 closer, and making the distance between the second axis K2 and the third axis K3 smaller, so that the drive mechanism 300 can drive the push rod 530 to move more stably.

[0099] like Figure 13 and Figure 14As shown, the screw-nut structure 400 further comprises a first plate body 430, a second plate body 440, and a fixing column 450. The second plate body 440 is arranged in parallel with the first plate body 430, and both the first plate body 430 and the second plate body 440 are connected to the rotating shell 200. The fixing column 450 is connected between the first plate body 430 and the second plate body 440. The first plate body 430 is provided with a first through hole 431, and the screw 410 penetrates through the first through hole 431, so that one end of the screw 410 is rotatably arranged in the first plate body 430. The screw 410 enters between the first plate body 430 and the second plate body 440, and the portion of the nut 420 cooperating with the screw 410 is located between the first plate body 430 and the second plate body 440. The inner wall of the first through hole 431 is used to stop the screw 410 in the radial direction, so as to avoid the movement of the screw 410 in the radial direction, thereby avoiding the shaking of the screw 410 in the radial direction when the screw 410 rotates, so as to improve the stability of the movement of the screw-nut structure 400. For example, the proximal end of the screw 410 is rotatably connected to the second plate body 440, or there is a certain gap between the proximal end of the screw 410 and the second plate body 440.

[0100] The nut 420 is provided with a nut through hole 421, and the fixing column 450 penetrates through the nut through hole 421. The outer wall of the fixing column 450 is configured to stop the inner wall of the nut through hole 421. The outer wall of the fixing column 450 and the inner wall of the nut through hole 421 abut each other, so as to limit the rotation of the nut 420 around the second axis K2. When the rotating screw 410 drives the nut 420 to move, the nut 420 has a tendency to rotate synchronously with the screw 410, so that the screw 410 may not be able to drive the nut 420 to move. The arrangement of the fixing column 450 limits the rotation of the nut 420 along the second axis K2, so that the screw 410 can stably drive the nut 420 to move.

[0101] For example, the screw-nut structure 400 comprises two fixing columns 450 as described above. The nut 420 is provided with two nut through holes 421. One of the fixing columns 450 penetrates through one of the nut through holes 421, and the other fixing column 450 penetrates through the other nut through hole 421. One of the nut through holes 421 is located on one side of the screw 410, and the other nut through hole 421 is located on the other side of the screw 410. Both of the fixing columns 450 are arranged along the second axis K2, so as to guide the nut 420 to move along the second axis K2, so as to improve the stability of the movement of the nut 420. For example, the two nut through holes 421 are symmetrically arranged relative to the second axis K2, so that the two fixing columns 450 are also symmetrically arranged relative to the second axis K2, that is, so that the force generated by the mutual abutment of one of the fixing columns 450 and the nut through hole 421 is symmetric to the force generated by the mutual abutment of the other fixing column 450 and the nut through hole 421 relative to the second axis K2, so that the movement of the nut 420 is more stable.

[0102] For example, as shown in FIG. 6, the screw-nut structure 400 further comprises a third plate body 460, and the third plate body 460 is arranged in parallel with the first plate body 430 and the second plate body 440. The third plate body 460 is connected to the first plate body 430 and the second plate body 440. The third plate body 460 is provided with a third through hole 461, and the screw 410 penetrates through the third through hole 461, so that the proximal end of the screw 410 is rotatably arranged in the third plate body 460. The screw 410 enters between the first plate body 430, the second plate body 440, and the third plate body 460, and the portion of the nut 420 cooperating with the screw 410 is located between the first plate body 430, the second plate body 440, and the third plate body 460. Figures 13 to 17As shown, the screw-nut structure 400 further comprises a first axial limiting assembly 710 and a second axial limiting assembly 720, both of which are connected to the screw rod 410. The first axial limiting assembly 710 is arranged on one side of the first plate body 430, and the second axial limiting assembly 720 is arranged on the other side of the first plate body 430. For example, the first axial limiting assembly 710 is arranged on the first side of the first plate body 430, and the second axial limiting assembly 720 is arranged on the second side of the first plate body 430. The first side is one side of the first plate body 430 in the thickness direction, and the second side is the other side of the first plate body 430 in the thickness direction. Both the first axial limiting assembly 710 and the second axial limiting assembly 720 protrude in the radial direction of the screw rod 410. The first axial limiting assembly 710 is used to abut against the first side of the first plate body 430 to limit the movement of the screw rod 410 in the axial direction toward the second side. The second axial limiting assembly 720 is used to abut against the second side of the first plate body 430 to limit the movement of the screw rod 410 in the axial direction toward the first side. The first axial limiting assembly 710 and the second axial limiting assembly 720 limit the movement of the screw rod 410 in the axial direction toward the first side and the second side, i.e., limit the movement of the screw rod 410 in the axial direction. At the same time, the first through hole 431 limits the movement of the screw rod 410 in the radial direction, so that the screw rod 410 can only rotate around the second axis K2 to drive the movement of the nut 420.

[0103] For example, one of the first axial limiting assembly 710 and the second axial limiting assembly 720 comprises a fixed part 730, and the other comprises a clutch structure 740. The fixed part 730 is connected to the screw rod 410, for example, fixedly connected or integrally formed with the screw rod 410. The clutch structure 740 is detachably connected to the screw rod 410. For another example, both the first axial limiting assembly 710 and the second axial limiting assembly 720 comprise the above-mentioned clutch structure 740.

[0104] For example, the fixed part 730 is fixedly connected or integrally formed with the screw rod 410. For example, the fixed part 730 is arranged protruding in the radial direction of the screw rod 410, so that the fixed part 730 can abut against the first plate body 430 to limit the movement of the screw rod 410 in the second axis K2. For example, the fixed part 730 is arranged in an annular shape, and the fixed part 730 is coaxially arranged with the screw rod 410. The outer diameter of the fixed part 730 is greater than the inner diameter of the first through hole 431.

[0105] The clutch structure 740 comprises a mounting groove 741 and a matching part 743, the mounting groove 741 is arranged on the lead screw 410, and the matching part 743 is detachably connected with the mounting groove 741. When the clutch structure 740 is separated from the lead screw 410, the matching part 743 is separated from the mounting groove 741. When the clutch structure 740 is connected with the lead screw 410, the matching part 743 is embedded in the mounting groove 741. One side wall of the mounting groove 741 is located on one side of the thickness direction of the matching part 743, and the other side wall of the mounting groove 741 is located on the other side of the thickness direction of the matching part 743. The thickness direction of the matching part 743 is parallel to the second axis K2, so that the mounting groove 741 can limit the movement of the matching part 743 along the second axis K2 through the two side walls to position the matching part 743. The matching part 743 is stopped by the first plate body 430 to limit the movement of the lead screw 410 along the second axis K2.

[0106] For example, the mounting groove 741 is an annular groove arranged around the circumferential direction of the second axis K2, and the groove bottom of the annular groove forms a mounting section 742. For example, the matching part 743 comprises a spring piece 744, the spring piece 744 comprises a matching surface 745, a hollow part 746 and a mounting opening 747. The matching surface 745 forms the hollow part 746, the mounting opening 747 is connected with the hollow part 746, the hollow part 746 is generally circularly arranged, and the mounting opening 747 has an inner opening close to the hollow part 746 and an outer opening away from the hollow part 746. The width of the outer opening is greater than that of the inner opening, so that the mounting opening 747 is generally trapezoidal.

[0107] When the spring piece 744 is mounted, the outer opening is aligned with the mounting section 742, and the spring piece 744 is moved along the radial direction of the mounting section 742. The mounting section 742 enters the mounting opening 747 from the outer opening, and the outer diameter of the mounting section 742 is greater than that of the inner opening. When moving from the outer opening to the inner opening, the mounting section 742 deforms the spring piece 744 to increase the width of the mounting opening 747, until the mounting section 742 enters the hollow part 746 through the inner opening. At this time, the mounting section 742 is separated from the mounting opening 747, the spring piece 744 is reset, the mounting section 742 is matched with the hollow part 746, and the mounting of the spring piece 744 in the mounting groove 741 is completed. At this time, the matching surface 745 is located in the mounting groove 741, one side wall of the mounting groove 741 is located on one side of the thickness direction of the matching surface 745, and the other side wall of the mounting groove 741 is located on the other side of the thickness direction of the matching surface 745, so as to position the spring piece 744.

[0108] In one embodiment, the matching part 743 comprises a spring piece 744, and the spring piece 744 is used to abut against the first plate body 430 after being mounted in the mounting groove 741.

[0109] In another embodiment, the fitting part 743 comprises a stopper 750 and an elastic piece 744, the stopper 750 is movably sleeved on the lead screw 410, the stopper 750 is used to stop against the first plate body 430 when the clutch structure 740 is connected with the lead screw 410, the elastic piece 744 and the mounting groove 741 are located on the side of the stopper 750 away from the first plate body 430, and the elastic piece 744 abuts against the stopper 750, the elastic piece 744 is positioned by the mounting groove 741 and can provide a supporting force to the stopper 750, so as to avoid the stopper 750 from moving along the second axis K2, so that the stopper 750 can stably stop against the first plate body 430, thereby limiting the movement of the lead screw 410 along the second axis K2. When the fitting part 743 is installed, the stopper 750 is first sleeved on the proximal end of the lead screw 410, the stopper 750 is pushed towards the first plate body 430 until the stopper 750 substantially stops against the first plate body 430, and the stopper 750 is located between the first plate body 430 and the mounting groove 741, and then the elastic piece 744 is installed in the mounting groove 741 to complete the installation of the fitting part 743.

[0110] For example, the first axial limiting assembly 710 comprises the fixed part 730, the second axial limiting assembly 720 comprises the clutch structure 740, and the fitting part 743 comprises the elastic piece 744. When the lead screw 410 is installed, the proximal end of the lead screw 410 is passed through the first plate body 430, the lead screw 410 is moved proximally until the fixed part 730 stops against one side of the first plate body 430, at this time the mounting groove 741 is located on the other side of the first plate body 430, and then the elastic piece 744 is installed in the mounting groove 741 and abuts against the first plate body 430.

[0111] For example, the first axial limiting assembly 710 comprises the fixed part 730, the second axial limiting assembly 720 comprises the clutch structure 740, and the fitting part 743 comprises the stopper 750 and the elastic piece 744. When the lead screw 410 is installed, the proximal end of the lead screw 410 is passed through the first plate body 430, and the stopper 750 is sleeved on the lead screw 410 from the proximal end of the lead screw 410, the lead screw 410 is moved proximally until the fixed part 730 stops against one side of the first plate body 430, and the stopper 750 is moved distally until it stops against the other side of the first plate body 430, at this time the mounting groove 741 is located on the proximal side of the stopper 750, and then the elastic piece 744 is installed in the mounting groove 741 and abuts against the stopper 750.

[0112] For example, the first axial limiting assembly 710 comprises a first clutch structure, and the second axial limiting assembly 720 comprises a second clutch structure, both of which are the same as the clutch structure 740 described above. For example, the lead screw 410 is threaded through the first plate body 430, the mounting groove 741 of the first clutch structure is located on one side of the first plate body 430, and the mounting groove 741 of the second clutch structure is located on the other side of the first plate body 430. The mating portions 743 of the first clutch structure and the second clutch structure are matched with the mounting grooves 741 to complete the installation of the first clutch structure and the second clutch structure.

[0113] For example, as shown in Figure 18 and Figure 19 The rotating shell 200 comprises a first positioning structure 810 connected with the first plate body 430. The first positioning structure 810 is used to improve the stability of the first plate body 430 and connect the first plate body 430 with the rotating shell 200.

[0114] For example, the first positioning structure 810 comprises two first positioning portions 811 protruding from the inner wall of the rotating shell 200. A first positioning groove 812 is formed between the two first positioning portions 811, and the first plate body 430 is accommodated in the first positioning groove 812. Both of the first positioning portions 811 abut against the first plate body 430 to position the first plate body 430 and fix the first plate body 430 to the rotating shell 200. For example, both of the first positioning portions 811 comprise protrusions 8111 protruding from the inner wall of the rotating shell 200. For example, the first protrusions 8111 are generally plate-shaped. One of the first protrusions 8111 is located on one side of the first plate body 430, and the other first protrusion 8111 is located on the other side of the first plate body 430 to clamp the first plate body 430 between the two first protrusions 8111. For example, a first positioning groove 812 is formed between the two first protrusions 8111 to clamp the first plate body 430.

[0115] When the motor 310 drives the lead screw 410 to rotate and the lead screw 410 tends to move along the second axis K2, the lead screw 410 abuts against the first plate body 430 through the first axial limiting assembly 710 or the second axial limiting assembly 720 and applies a force to the first plate body 430, so that the first plate body 430 tends to move and tilt. If the first plate body 430 moves and tilts, it will cause the axis of the lead screw 410 to move or deviate, resulting in changes in the movement direction of the nut 420 and instability of the movement or even transmission failure. The first plate body 430 is limited and supported by the first positioning groove 812, and the first positioning portions 811 provide a supporting force to the first plate body 430 to prevent the first plate body 430 from moving or deviating.

[0116] In another embodiment, the screw-nut structure 400 further comprises a connecting portion 460, one end of the connecting portion 460 is connected to the first plate body 430, and the other end of the connecting portion 460 is connected to the second plate body 440, for example, the connecting portion 460 is integrally formed with the first plate body 430 and the second plate body 440, that is, the first plate body 430, the second plate body 440 and the connecting portion 460 form a plate body member 490, for example, the plate body member 490 is arranged in a substantially U-shaped manner, and since the first plate body 430, the second plate body 440 and the connecting portion 460 are integrated, the force applied by the screw 410 acts on the plate body member 490. The surgical instrument comprises a second positioning structure 820 connected to the second plate body 440 and / or the connecting portion 460, and the second positioning structure 820 is used to provide a supporting force for the plate body member 490 to improve the stability of the first plate body 430.

[0117] The second positioning structure 820 comprises at least two second positioning portions 821, one of which is located on one side of the second plate body 440, and the other of which is located on the other side of the second plate body 440, so as to provide a supporting force for the second plate body 440, and further provide a supporting force for the plate body member 490 to improve the stability of the first plate body 440.

[0118] In one embodiment, the second positioning structure 820 is connected to the second plate body 440, for example, the second positioning structure 820 comprises the above-mentioned two second positioning portions 821, and a second positioning groove 822 is formed between the two second positioning portions 821, the second plate body 440 is accommodated in the second positioning groove 822, and the two second positioning portions 821 are in abutment with the second plate body 440, the second plate body 440 is limited and supported by the second positioning groove 822, and the second positioning portions 821 provide a supporting force for the second plate body 440, for example, the two second positioning portions 820 each comprise a second protrusion 8211 protruding from the inner wall of the rotating shell 200. The second protrusion 8211 is arranged in a substantially plate-shaped manner, one of the first protrusions 8211 is located on one side of the second plate body 440, and the other of the second protrusions 8211 is located on the other side of the second plate body 440, so as to clamp the second plate body 440 between the two second protrusions 8211, for example, a second positioning groove 822 is formed between the two second protrusions 8211, and the second plate body 440 is clamped in the second positioning groove 822.

[0119] The direction in which the second positioning portion 820 abuts against the second plate body 440 is parallel to the axis direction of the screw 410, so that the force applied by the screw 410 to the first plate body 430 is counteracted by the supporting force provided by the second positioning portion 821 for the plate body member 490, so that the first plate body 430 is not prone to tilting, thereby improving the stability of the movement of the screw 410 and the nut 420.

[0120] In one embodiment, the first positioning structure 810 and the second positioning structure 820 jointly enable the plate member 490 to be connected to the rotating housing 200, so that the plate member 490 can rotate with the rotating housing 200. The stability of the movement of the lead screw 410 and the nut 420 can be further improved.

[0121] For example, the rotating housing 200 further comprises a third positioning structure 830, which comprises a plurality of third positioning portions 831 arranged along the transverse direction X, a part of the third positioning portions 831 being located on one side of the plate member 490 along the transverse direction X, and another part of the third positioning portions 831 being located on the other side of the plate member 490 along the transverse direction X, so as to limit the movement of the plate member 490 along the transverse direction X. For example, the third positioning portions 831 comprise a right limiting portion 8311 and two left limiting portions 8312, the right limiting portion 8311 abutting against the connecting portion 460, and one of the left limiting portions 8312 abutting against the first plate body 430 and the other left limiting portion 8312 abutting against the second plate body 440. The third positioning structure 830 limits the movement of the plate member 490 along the transverse direction X, so as to avoid the plate member 490 from being deviated along the transverse direction X when the rotating housing 200 rotates.

[0122] For example, as shown in Figure 20 the lead screw nut structure 400 further comprises a protruding portion 441 connected to the first plate body 430 and / or the second plate body 440, for example, the protruding portion 441 is connected to the second plate body 441, and the sleeve assembly 500 comprises a plug-in slot 514, the protruding portion 441 being embedded in the plug-in slot 514, so that the plate member 490 is connected to the sleeve assembly 500, for example, the protruding portion 441 is plugged into the plug-in slot 514 along the radial direction, one side wall of the plug-in slot 514 being located on one side of the protruding portion 441 along the longitudinal direction Y, and the other side wall being located on the other side of the protruding portion 441 along the longitudinal direction Y. When the plate member 490 is subjected to a force from the lead screw 410 along the direction of the second axis K2, i.e. along the longitudinal direction Y, the slot wall of the plug-in slot 514 provides a support force along the longitudinal direction Y to the second plate body 440, so as to improve the stability of the plate member 490 and make the first plate body 430 less likely to be tilted, thereby improving the stability of the movement of the nut 420. For example, the plug-in slot 514 is formed in the portion of the inner sleeve 510 located in the exposed slot 521. For example, the protruding portion 441 can also be connected to the first plate body 430, or two protruding portions 441 can be provided, one being connected to the first plate body 430 and the other being connected to the second plate body 440.

[0123] As shown in Figure 21 the lead screw nut structure 400 further comprises a connecting member 470, one end of the connecting member 470 being connected to the nut 420 and the other end being connected to the proximal end of the push rod 530, so that the nut 420 drives the push rod 530 to move through the connecting member 470.

[0124] In one embodiment, the connecting member 470 is detachably connected with the nut 420, and the screw-nut structure 400 further comprises a first fixing member 480, which is detachably connected with the nut 420, and in response to the connection of the first fixing member 480 with the nut 420, the first fixing member 480 connects the push rod 530 with the nut 420; in response to the disconnection of the first fixing member 480 from the nut 420, the connection of the push rod 530 with the nut 420 is released. In other words, the connecting member 470 is detachably connected with the nut 420 through the first fixing member 480. The motor 310 has a first state and a second state, for example, the motor 310 can normally work when it is in the first state, and the motor 310 cannot normally work when it is in the second state. When the jaw assembly 600 is in the bent punching state and the motor 310 is in the second state, the motor 310 cannot normally work, and at the same time, the nut 420 cannot be moved due to the locking of the nut 420 by the screw rod 410, so that the push rod 530 is locked, and in turn, the jaw assembly 600 is kept in the bent punching state and cannot swing back to the straight punching state, and the jaw assembly 600 in the bent punching state cannot pass through the puncture sleeve, resulting in that the surgical instrument cannot be separated from the human body. At this time, the user can release the connection of the first fixing member 480 with the nut 420, that is, separate the first fixing member 480 from the nut 420, so as to separate the connecting member 470 from the nut 420, and in turn, release the connection of the push rod 530 with the nut 420, so as to release the locking of the push rod 530 by the driving mechanism 300, and enable the push rod 530 to move proximally or distally. For example, the surgical instrument further comprises a returning mechanism, and the returning mechanism comprises a resilient assembly, the resilient assembly is in a released state when the jaw assembly 600 is in the straight punching state, and the resilient assembly is in a compressed state when the jaw assembly 600 is in the bent punching state. In response to the disconnection of the first fixing member 480 from the nut 420, the push rod 530 is separated from the nut 420, the locking of the push rod 530 is released, the resilient assembly is switched from the compressed state to the released state, the jaw assembly 600 is switched from the bent punching state to the straight punching state, and in turn, the jaw assembly 600 can pass through the puncture sleeve to separate from the human body. The specific structure of the resilient assembly is described below.

[0125] For example, the surgical instrument further comprises a disassembling tool (not shown in the figure), when it is necessary to release the connection of the nut 420 with the push rod 530, the user can use the disassembling tool to operate the first fixing member 480, so as to separate the nut 420 from the connecting member 470 and in turn release the locking of the push rod 530.

[0126] For example, the first fastener 480 includes a screw 481, the nut 420 includes a threaded hole 422, the connecting member 470 includes a connecting hole 473, the screw 481 penetrates the connecting hole 473 and cooperates with the threaded hole 422, so that the connecting member 470 is connected with the nut 420, and then the nut 420 is connected with the push rod 530. For example, the dismounting tool includes a screwdriver, when it is needed to release the connection between the nut 420 and the push rod 530, the user rotates the screw 481 by using the screwdriver, so that the screw 481 is rotated to be separated from the threaded hole 422, and then the connecting member 470 is separated from the nut 420, so as to release the connection between the push rod 530 and the nut 420.

[0127] For example, in combination with Figure 21 and Figure 22 , the rotating shell 200 includes a dismounting hole 220, the dismounting hole 220 provides a passage for dismounting the first fastener 480 connected with the nut 420 from the nut 420, the dismounting hole 220 is opposite to the first fastener 480, for example, opposite to the screw 481, the screwdriver can penetrate the dismounting hole 220 to cooperate with the screw 481, and then rotate the screw 481 to complete the dismounting of the screw 481. For example, the surgical instrument further includes a separation cover 230, the separation cover 230 is detachably mounted on the rotating shell 200, and the separation cover 230 covers the dismounting hole 220 when the separation cover 230 is mounted on the rotating shell 200. In response to the separation cover 230 being detached from the rotating shell 200, the dismounting hole 220 is exposed, so that the user can dismount the screw 481 by using the screwdriver.

[0128] The screw 481 includes a threaded shank 482 and a nut 483 connected with the threaded shank 482, for example, the width of the dismounting hole 220 is smaller than the outer diameter of the nut 483, that is, after the screw 481 is dismounted and separated from the nut 420, the screw 481 cannot be separated from the rotating shell 200 from the dismounting hole 220, so as to avoid the screw 481 from being scattered outside the machine body 100 to interfere with the normal operation of the surgery.

[0129] For example, the first fastener 480 includes a screw 481, the nut 420 includes a threaded hole 422, the connecting member 470 includes a connecting hole 473, the screw 481 penetrates the connecting hole 473 and cooperates with the threaded hole 422, so that the connecting member 470 is connected with the nut 420, and then the nut 420 is connected with the push rod 530. For example, the dismounting tool includes a screwdriver, when it is needed to release the connection between the nut 420 and the push rod 530, the user rotates the screw 481 by using the screwdriver, so that the screw 481 is rotated to be separated from the threaded hole 422, and then the connecting member 470 is separated from the nut 420, so as to release the connection between the push rod 530 and the nut 420. Figures 23 to 25As shown, the nut 420 comprises a first axial side 423, a second axial side 424 and a surrounding surface 425 connected between the first axial side 423 and the second axial side 424, the first axial side 423 is located at one side of the nut 420 in the direction of the second axis K2, the second axial side 424 is located at the other side of the nut 420, for example, the first axial side 423 is located at the distal side of the nut 420, the second axial side 424 is located at the proximal side of the nut 420, the first axial side 423 faces the first plate body 430, and the second axial side 424 faces the second plate body 440. The surrounding surface 425 comprises an inner side 426 facing the sleeve assembly 500 and an outer side 427 connected to the inner side 426, wherein the inner side 426 is not limited to one surface facing the sleeve assembly 500, and can comprise multiple surfaces facing the sleeve assembly 500, or one surface facing part of the sleeve assembly 500. The first fixing member 480 is detachably connected to the outer side 427, for example, the screw hole 422 is arranged on the outer side 427. When the first fixing member 480 is connected to the nut 420, the direction of the axis of the first fixing member 480 is the fourth axis K4.

[0130] For example, as shown in Figure 9 、 Figures 21 to 25 The disassembly hole 220 is arranged at the intersection of the fourth axis K4 and the rotating shell 200, so that when the screwdriver enters the rotating shell 200 from the disassembly hole 220, it can move along the fourth axis K4 to connect with the screw 481 to disassemble the screw 481. When the first fixing member 480 is detachably connected to the outer side 427, there is no component blocking the movement of the screwdriver along the fourth axis K4 between the first fixing member 480 and the disassembly hole 220, so that the screwdriver can smoothly enter the first fixing member 480 from the disassembly hole 220 to disassemble the first fixing member 480.

[0131] If the first fixing member 480 is arranged on the inner side 426, since the inner side 426 faces the sleeve assembly 500, or the inner side faces the sleeve assembly 500 and the motor 310, part of the sleeve assembly 500 and the motor 310 is located on the fourth axis K4, that is, part of the sleeve assembly 500 is located on the path of the screwdriver entering the rotating shell 200, which blocks the screwdriver entering the rotating shell 200 along the axis, causing the disassembly of the first fixing member 480 to fail. If the first fixing member 480 is arranged on the first axial side 423, since the first axial side 423 faces the first plate body 430, part of the first plate body 430 is located on the fourth axis K4, which blocks the disassembly of the first fixing member 480 by the screwdriver. Since the second axial side 424 faces the second plate body 440, the same as the first plate body 430, arranging the first fixing member 480 on the second axial side 424 also cannot complete the disassembly of the first fixing member 480 by the screwdriver.

[0132] For example, the outer side 427 includes a separation portion and a shielding portion, the separation portion is misaligned with the connecting portion 460, and the shielding portion is opposite to the connecting portion 460, which means that the projection of the connecting portion 460 falls on the shielding portion in the direction perpendicular to the shielding portion. The first fixing member 480 is detachably connected to the separation portion.

[0133] For example, the nut 420 is generally provided in an oblong shape, such as a cuboid, and the outer side 427 includes a first surface 428, a second surface 429, and a third surface 4291, the second surface 429 is opposite to the inner side 426, the first surface 428 is connected between the inner side 426 and the second surface 429, and the third surface 4291 is connected between the inner side 426 and the second surface 429. In the embodiment in which the lead screw nut assembly 400 only includes the first plate body 430 and the second plate body 440 and does not include the connecting portion 460, the first fixing member 480 is detachably connected to any position of the first surface 428, the second surface 429, and the third surface 4291; in the embodiment in which the lead screw nut assembly 400 includes the connecting portion 460, at least one of the first surface 428, the second surface 429, and the third surface 4291 has a portion opposite to the connecting portion 460, for example, the second surface 429 has a portion opposite to the connecting portion 460, the second surface 429 includes a third separation portion 4293 and a third shielding portion 4292, the third separation portion 4293 is misaligned with the connecting portion 460, and the third shielding portion 4292 is opposite to the connecting portion 460, which means that the projection of the connecting portion 460 falls on the third shielding portion 4292 in the direction perpendicular to the third shielding portion 4292. The first fixing member 480 is detachably connected to the first surface 428 or the third surface 4291, or connected to the third separation portion 4293.

[0134] The connecting portion 460 includes a first portion 471 and a second portion 472, the first portion 471 is connected to the second portion 472, the first portion 471 is used to connect the nut 420, and the second portion 472 is used to connect the push rod 530, for example, the connecting portion 460 is connected to the push rod 530 through a second fixing member, such as a screw. For example, the first portion 471 and the second portion 472 are both provided in a plate shape, the first portion 471 is generally parallel to the first surface 428 and is detachably connected to the first surface 428 through the first fixing member 480, and the second portion 472 is generally parallel to the rod body side of the push rod 530 facing the nut 420, for example, the rod body side is generally perpendicular to the first surface 428, so that the first portion 471 is generally perpendicular to the second portion 472, and the connecting portion 460 is generally provided in an “L” shape.

[0135] For example, the elastic assembly includes a knife bar (not shown in the figure), the proximal end of the knife bar is connected to the feed drive assembly, the distal end is connected to the jaw assembly 600 and enters the jaw assembly 600, and when the jaw assembly 600 is in the bent state, the knife bar is bent to be in the compressed state. In response to the push rod 530 being separated from the nut 420, the locking of the push rod 530 is released, the knife bar is switched from the compressed state to the released state, and the knife bar is switched from the bent state to the straight state, and the jaw assembly 600 is switched from the bent state to the straight state, so that the surgical instrument can be smoothly separated from the human body. Of course, the return mechanism can also include other structures, and the disclosure only takes the knife bar as an example to illustrate the return structure.

[0136] For example, the width of the nut 420 is greater than or equal to 4.5 mm and less than or equal to 10.5 mm, and the width direction of the nut 420 is parallel to the second axis K2. The nut 420 of this embodiment has a certain width, so that the nut 420 can more stably drive the push rod 530 to move, and the length of the lead screw nut structure 400 in the direction of the second axis K2 is not too long, avoiding the need to additionally increase the longitudinal length of the rotating shell 200, and the invalid length of the sleeve assembly 500 and the push rod 530. For example, the length of the nut 420 in the direction of the second axis K2 is the width of the nut 420, and the ratio of the length to the width of the nut 420 is greater than or equal to 1.7 and less than or equal to 3.5.

[0137] Compared with the nut 420 with smaller length in the direction of the second axis K2, the nut 420 has a certain width in the direction of the second axis K2, which improves the matching area of the nut 420 and the lead screw 410, and at the same time improves the length of the nut through hole 421, thereby improving the matching area of the fixing column 450 and the nut through hole 421, and improving the limiting effect of the lead screw 410 on the nut 420. The limiting effect of the fixing column 450 on the nut 420 enables the nut 420 to more stably drive the push rod 530 to move. On the other hand, the nut 420 in this embodiment has a certain width, which improves the rigidity of the nut 420, reduces the probability of deformation of the nut 420 due to the action force during transmission, and improves the stability of the nut 420 driving the push rod 530 to move.

[0138] When the jaw assembly 600 is in the straight state, the push rod 530 is in the initial position, as shown in Figure 13As shown, at this time, the nut 420 is generally located in the middle of the portion of the lead screw 410 between the first plate body 430 and the second plate body 440, so that the nut 420 has space for proximal and distal movement, for example, in response to the lead screw 410 driving the nut 420 to move proximally, the push rod 530 drives the jaw assembly 600 to swing in a direction, when the jaw is rotated relative to the sleeve assembly 500 to the limit position and cannot continue to rotate in this direction, the nut 420 is close to the second plate body 440, for example, abuts the second plate body 440, or there is a certain gap between the second plate body 440. Similarly, for example, in response to the lead screw 410 driving the nut 420 to move distally, the push rod 530 drives the jaw assembly 600 to swing in another direction, when the jaw is rotated relative to the sleeve assembly 500 to the limit position and cannot continue to rotate in this direction, for example, the nut 420 is close to the second axial limiting assembly 720, for example, abuts the second axial limiting assembly 720, or there is a certain gap between the second axial limiting assembly 720.

[0139] For example, the distal end of the nut 420 is provided with a relief groove 4211 extending along the second axis K2, when the nut 420 moves distally and drives the jaw assembly 600 to rotate to the limit position, at least part of the second axial limiting assembly 720 enters the relief groove 4211, and the second axial limiting assembly 720 does not interfere with the nut 420. That is, the second axial limiting assembly 720 does not additionally increase the distance between the first plate body 430 and the second plate body 440. Further, the length of the lead screw nut structure 400 in the longitudinal direction Y is reduced, facilitating the arrangement of other components in the rotating housing 200, for example, other components include a circuit board.

[0140] As shown, Figures 26 to 30 The motor 310 includes a motor body 311 and an output shaft 312 connected to the motor body, the output shaft 312 is connected to the transmission member 320, for example, connected to the first gear 321, and the rotating housing 200 further includes a motor mounting assembly for stably mounting the motor 310 in the rotating housing 200, so that the motor 310 can rotate with the rotating housing 200.

[0141] For example, the motor mounting assembly includes a motor receiving frame 240, the motor receiving frame 240 includes a distal end limiting portion 241 and a proximal end limiting portion 242, the distal end limiting portion 241 is used to abut the distal end of the motor 310, and the proximal end limiting portion 242 is used to abut the proximal end of the motor 310, the proximal end limiting portion 242 and the distal end limiting portion 241 limit the movement of the motor 310 along the first axis K1.

[0142] The motor accommodating rack 240 further comprises a locking cover 243, which cooperates with the rotating shell 200 to lock when the motor body 311 is accommodated in the motor accommodating rack 240, and is located on one side of the motor body 311 in the radial direction, and the rotating shell 200 is located on the other side of the motor body 311 in the radial direction to block the movement of the motor body 311 in the radial direction. For example, the locking cover 243 is located between the sleeve assembly 500 and the motor 310, and the locking cover 243 further comprises a receiving portion 2431 comprising an arc-shaped groove which is fitted with the outer sleeve 520.

[0143] For example, as shown in Figure 2 、 Figure 9 and Figure 27 , the rotating shell 200 further comprises a relief portion 244 which protrudes from the rotating shell 200 in the radial direction, and the relief portion 244 is hollow to form a relief space 2441. For example, the distal end limiting portion 241 is arranged in the relief space 2441, and the motor 310 is partially accommodated in the relief space 2441, and the first gear 321 is partially accommodated in the relief space 2441.

[0144] As shown in Figure 29 and Figure 30 , the motor mounting assembly further comprises a bearing seat 245 connected to the rotating shell 200, a bearing 246 mounted in the bearing seat 245, and the bearing seat 245 is arranged at the distal end of the output shaft 312, at least a part of the distal end of the output shaft 312 is located in the bearing 246, and the bearing 246 cooperates with the output shaft 312 to stabilize the rotation of the output shaft 312 and avoid radial shaking.

[0145] The body 100 further comprises a power supply and an electric slip ring 110 connected to the power supply, and the motor 310 further comprises an electrical connection portion 313 connected to the motor body 311. For example, the first gear 321 is connected to the distal end of the motor 310, and the electrical connection portion 313 is located at the proximal end of the motor 310. The electrical connection portion 313 is connected to the electric slip ring 110 to make the motor body 311 conductive with the power supply. For example, the electric slip ring 110 is generally annular and is arranged around the central axis K0, and the electrical connection portion 313 is in contact with the electric slip ring 110 to connect with the electric slip ring 110. In response to the rotation of the rotating shell 200, the motor body 311 and the electrical connection portion 313 rotate with the rotating shell 200, and the electrical connection portion 313 rotates around the central axis K0. The movement track of the electrical connection portion 313 is always located on the electric slip ring 110 arranged around the central axis K0, that is, when the rotating shell 200 rotates, the motor 310 can always be connected with the power supply through the electrical connection portion 313 and the electric slip ring 110.

[0146] As shown in Figure 1As shown, the surgical instrument further comprises a master module arranged in the body 100 and an operation member 120 arranged on the surface of the body 100 for a user to operate, the operation member 120 is electrically connected with the master module, and the master module is electrically connected with the motor 310. The operation member 120 is configured to send an electrical signal to the master module when operated, and the master module controls the motor 310 to rotate after receiving the electrical signal. For example, the operation member 120 comprises a scroll wheel, the scroll wheel is electrically connected with the master module, in response to the scroll wheel rotating to the left, the master module controls the motor 310 to rotate in a first circumferential direction to drive the jaw assembly 600 to swing to the left; in response to the scroll wheel rotating to the right, the master module controls the motor 310 to rotate in a second circumferential direction to drive the jaw assembly 600 to swing to the right. For another example, the operation member 120 comprises a left-turn button and a right-turn button, the left-turn button and the right-turn button are both connected with the master module, in response to the left-turn button being triggered, the master module controls the motor 310 to rotate in the first circumferential direction to drive the jaw assembly 600 to swing to the left; in response to the right-turn button being triggered, the master module controls the motor 310 to rotate in the second circumferential direction to drive the jaw assembly 600 to swing to the right.

[0147] It should be understood that, although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that those skilled in the art can understand.

[0148] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present disclosure, and are not used to limit the protection scope of the present disclosure, and any equivalent embodiments or changes made without departing from the spirit of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A surgical instrument, characterized by, The surgical instrument comprises: a body; a rotating housing rotatably connected to the body; a sleeve assembly connected to the body at a proximal end, the sleeve assembly having a portion received in the rotating housing, the rotating housing being connected to the sleeve assembly; a jaw assembly connected to the sleeve assembly at a distal end of the sleeve assembly; a push rod movably arranged in the sleeve assembly, the push rod being connected to the jaw assembly at a distal end of the push rod, the jaw assembly being rotatable relative to the sleeve assembly in response to proximal or distal movement of the push rod; a drive mechanism received in the rotating housing, the drive mechanism being configured to drive proximal or distal movement of the push rod; the drive mechanism comprising a motor and a screw-nut structure, the screw-nut structure comprising a screw and a nut cooperating with the screw, the motor being connected to the screw, the nut being connected to the push rod, the screw being rotatable to drive proximal or distal movement of the nut in response to driving of the motor, thereby driving proximal or distal movement of the push rod; the screw-nut structure further comprising a first fixing member, the first fixing member being detachably connected to the nut, the first fixing member connecting the push rod to the nut in response to connection of the first fixing member to the nut, the connection of the push rod to the nut being released in response to detachment of the first fixing member from the nut; the nut comprising a first axial side, a second axial side, and a surrounding surface between the first axial side and the second axial side, the surrounding surface comprising an inner side and an outer side, the inner side facing the sleeve assembly, the first fixing member being detachably connected to the outer side.

2. The surgical instrument of claim 1, wherein, the screw-nut structure further comprising a first plate and a second plate, one end of the screw being rotatably arranged in the first plate, the portion of the screw cooperating with the nut being between the first plate and the second plate, the nut being between the first plate and the second plate and cooperating with the screw, the first axial side facing the first plate, the second axial side facing the second plate.

3. The surgical instrument of claim 2, wherein, the screw-nut structure further comprising a connecting portion connected between the first plate and the second plate, the outer side comprising a shielding portion opposite the connecting portion and a separation portion staggered with the connecting portion, the first fixing member being detachably connected to the separation portion.

4. The surgical instrument of claim 1, wherein, the surgical instrument further comprising a return mechanism, the return mechanism comprising an elastic assembly connected at one end to the sleeve assembly and at the other end to the jaw assembly, the elastic assembly being in an initial state when the jaw assembly is in a straight firing state, the elastic assembly being in a deformed state when the jaw assembly is in a curved firing state; the push rod being connected to the nut through the first fixing member, the nut driving the push rod to move in response to driving of the motor, so as to switch the jaw assembly between the straight firing state and the curved firing state. The jaw assembly is in a bent state, and in response to the first fixing member being detached from the nut, the elastic assembly in the deformed state returns to the initial state by its own elasticity to drive the jaw assembly to switch from the bent state to the straight state.

5. The surgical instrument of claim 4, wherein, The elastic assembly comprises a blade rod, one end of the blade rod is connected with the jaw assembly, and the other end of the blade rod is connected with the sleeve assembly; when the jaw assembly is in the straight state, the blade rod is in the initial state; When the jaw assembly switches from the straight state to the bent state, the blade rod is bent, and the blade rod switches from the initial state to the deformed state.

6. The surgical instrument of claim 1, wherein, The first fixing member comprises a screw, the nut comprises a screw hole, the driving mechanism further comprises a connecting member, the connecting member is connected with the push rod, the connecting member comprises a connecting hole, the screw penetrates through the connecting hole and cooperates with the screw hole to connect the connecting member with the nut, and then the push rod is connected with the nut.

7. The surgical instrument of claim 1, wherein, The rotating shell comprises a detachment hole, and the detachment hole provides a passage for the first fixing member connected with the nut to be detached from the nut.

8. The surgical instrument of claim 7, wherein, The surgical instrument further comprises a separation cover, the separation cover is detachably mounted on the rotating shell, when the separation cover is mounted on the rotating shell, the detachment hole is covered, and when the separation cover is separated from the rotating shell, the detachment hole is exposed.

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