Surgical instrument

Abstract

The utility model provides a surgical instrument which comprises a rod assembly, an end actuator, a connecting component and a locking mechanism, the end actuator is connected with the rod assembly through the connecting component and can move relative to the rod assembly, and the connecting component can rotate relative to the rod assembly around a rotating axis; the locking mechanism comprises two oppositely-arranged angle adjusting pieces and a locking piece, the two angle adjusting pieces abut against the connecting component so as to adjust the angle of the connecting component relative to the rod assembly, first racks are arranged on the two angle adjusting pieces respectively, and the locking piece comprises two second racks. The locking piece can move towards or away from the two angle adjusting pieces. The utility model solves the problems of high component manufacturing cost, high maintenance cost and unstable locking state in the prior art.

Description

TECHNICAL FIELD

[0001] The utility model relates to surgical instrument manufacturing field especially, relate to a surgical instrument. BACKGROUND

[0002] Staplers are often used in endoscopic surgical procedures to replace traditional open surgical instruments. The use of staplers often requires a smaller incision, which can reduce post-operative recovery time and complications. Therefore, a series of staplers suitable for accurately placing the end effector through the sleeve of the trocar at the desired surgical site have been developed, and these end effectors can enter the human body to capture soft tissue and cut.

[0003] In the patent CN101327141B, including shaft, end effector, joint and locking member, the joint includes first joint member and second joint member, one of the first joint member and the second joint member is installed to the end effector, the other of the first joint member and the second joint member is installed to the shaft, the first joint member can move relative to the second joint member around the rotation axis, the first joint member includes: the first part with the first outer periphery, the first part extends between the rotation axis and the first outer periphery; the second part with the second outer periphery, the second part extends between the rotation axis and the second outer periphery. The first part and the second part form the tooth and the groove defined between the tooth.

[0004] The locking member can include end portion and shaft portion, wherein the end portion can include the groove, the groove can be configured to receive the tooth of the locking member in a close fit or even interference fit relationship.

[0005] The end effector can swing a certain angle, and can be locked by the locking member after swinging a certain angle to prevent it from swinging; specifically, when the end effector needs to swing a certain angle, first pull the knob to the proximal end, drive the shaft portion to move to the proximal end, so that the groove is separated from the tooth, then drive the centering shaft on both sides to move through the rotation knob mechanism, the centering shaft extrudes the centering surface to make the first joint member pivot, and then the end effector swings to the desired position, when the end effector swings to the desired position, release the knob, the shaft portion moves to the distal end under the action of the spring, and then the groove is re-engaged with the tooth to realize locking.

[0006] However, in the patent, the tooth is formed on the first joint member, and this machining process itself leads to high manufacturing cost of the joint member; when the tooth on the joint member is damaged, the whole joint needs to be replaced, so the surgical instrument in the patent has the problem of high maintenance cost. In addition, the end portion of the locking member only engages with one tooth of the gear, and the locking stability is low. Practical new type content

[0007] The utility model discloses a surgical instrument to solve the problems of high component processing cost, high maintenance cost and low locking stability of the surgical instrument in the prior art.

[0008] In order to realize the above-mentioned purpose of the utility model, one embodiment of the utility model provides a surgical instrument, which comprises:

[0009] A rod assembly;

[0010] An end effector;

[0011] A connecting member, the end effector is connected with the rod assembly through the connecting member and can move relative to the rod assembly, and the connecting member can rotate relative to the rod assembly around a rotation axis;

[0012] And a locking mechanism, the locking mechanism comprises two oppositely arranged angle adjusting members and a locking piece, the two angle adjusting members are respectively in abutment with the connecting member to adjust the angle of the connecting member relative to the rod assembly, a first gear rack is arranged on each of the two angle adjusting members, the locking piece comprises two second gear racks arranged corresponding to each first gear rack, and the locking piece can move towards or away from the two angle adjusting members to enable each second gear rack to mesh with or separate from the corresponding first gear rack.

[0013] As a further improvement of the embodiment of the utility model, the locking mechanism comprises a first elastic member, the first elastic member is connected with the locking piece and can provide an elastic force for separating the locking piece from the two first gear racks.

[0014] As a further improvement of the embodiment of the utility model, the locking mechanism comprises an abutting member, the proximal end of the locking piece has an inclined surface, and the abutting member can abut on the inclined surface to enable the locking piece to move towards the two angle adjusting members against the elastic force of the first elastic member and enable each second gear rack to mesh with at least part of the corresponding first gear rack.

[0015] As a further improvement of the embodiment of the utility model, the locking mechanism comprises a second elastic member, the second elastic member is sleeved on the abutting member and provides an elastic pressure along the axial direction of the abutting member to enable the abutting member to abut on the inclined surface and enable the locking piece to move towards the two angle adjusting members against the elastic force of the first elastic member.

[0016] As a further improvement of the embodiment of the utility model, wherein, the abutment piece includes the shaft portion parallel to the axial direction of the rod assembly and the end portion provided at the distal end of the shaft portion, the shaft portion is provided with at least one flange extending from the sidewall of the shaft portion, and the second elastic member is sleeved on the shaft portion and is configured to abut against the flange, so that the end portion abuts on the inclined surface.

[0017] As a further improvement of the embodiment of the utility model, wherein, the end portion has a cylindrical surface for abutting against the inclined surface.

[0018] As a further improvement of the embodiment of the utility model, wherein, the surgical instrument further comprises a driving unit, the driving unit is in transmission cooperation with the abutment piece to separate the abutment piece from the locking piece, and further separate the locking piece from the two first racks under the elastic force of the first elastic member.

[0019] As a further improvement of the embodiment of the utility model, wherein, the two angle adjusting members are arranged in parallel to the axial direction of the rod assembly, and the locking piece can move towards or away from the two angle adjusting members in a direction perpendicular to the plane in which the two angle adjusting members are located.

[0020] As a further improvement of the embodiment of the utility model, wherein, the angle adjusting member is arranged as an angle adjusting shaft, the angle adjusting shaft is arranged in a direction perpendicular to the axial direction of the rod assembly, and the connecting member has a centering surface arranged at the distal end opposite to the end effector, and the centering surface is laterally spaced apart to provide a cylindrical abutting surface for abutting against the two angle adjusting shafts.

[0021] As a further improvement of the embodiment of the utility model, wherein, a damping member is sleeved on the angle adjusting shaft to provide damping force in the axial direction of the angle adjusting shaft.

[0022] Compared with the prior art, the utility model has the beneficial effects that:

[0023] The locking piece has low manufacturing cost and convenient replacement, and the meshing cooperation of the two second racks and the two first racks has strong stability, so that the problems of high manufacturing cost, high maintenance cost and unstable locking state in the prior art can be effectively solved. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 A surgical instrument is provided for an embodiment of the utility model;

[0025] Figure 2 For Figure 1 Partial explosion structure schematic view;

[0026] Figure 3 for Figure 2 Structural diagram of the connecting component;

[0027] Figure 4 for Figure 2 Schematic diagram of the central locking component;

[0028] Figure 5 for Figure 2 Schematic diagram of the middle abutment component;

[0029] Figure 6 for Figure 1 A schematic diagram of the cross-sectional structure;

[0030] Figure 7 for Figure 6 Enlarged view at point M;

[0031] Figure 8 This is a partial structural diagram of the locking mechanism in one embodiment of the present invention when it is locked.

[0032] Figure 9 for Figure 8 The main view;

[0033] Figure 10 for Figure 9 A schematic diagram of the structure after the locking mechanism is unlocked.

[0034] The above description of the figures includes the following reference numerals:

[0035] 1. Rod assembly;

[0036] 2. End effector;

[0037] 21. Anchor seat;

[0038] 22. Box unit;

[0039] 221. Warehouse base;

[0040] 222. Pinned storage;

[0041] 3. Connecting components;

[0042] 31. Calmness;

[0043] 311. Cylindrical abutment part;

[0044] 4. Locking mechanism;

[0045] 41. Angle adjustment component;

[0046] 411. First rack;

[0047] 412. Damping components;

[0048] 42. Locking components;

[0049] 421 second rack;

[0050] 422 slope

[0051] 43 first elastic member;

[0052] 44 abutting member;

[0053] 441 shaft portion;

[0054] 4411 flange;

[0055] 442 end portion;

[0056] 4421 cylindrical surface;

[0057] 45 second elastic member;

[0058] 5 driving unit;

[0059] 51 trigger;

[0060] 52 connecting rod;

[0061] 521 fixed shaft;

[0062] 6 sleeve;

[0063] 61 guide. DETAILED DESCRIPTION

[0064] It should be noted that the embodiments and features in the embodiments in the present application can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0065] It should be noted that, unless otherwise specified, all technical and scientific terms used in the present application have the same meaning as generally understood by those skilled in the art to which the present application belongs.

[0066] In the present application, unless otherwise specified, the orientation words such as "upper, lower, top, bottom" are generally directed to the directions shown in the drawings, or are directed to the vertical, perpendicular or gravity directions of the components themselves; similarly, for the convenience of understanding and description, "inner, outer" refers to the inner and outer relative to the contour of each component, but the above orientation words are not used to limit the present application.

[0067] In order to solve the problems of high component processing cost, high maintenance cost and unstable locking state of the surgical instrument in the prior art, the present application provides a surgical instrument.

[0068] The content and principle of the present application will be further described in detail below in combination with the accompanying drawings and specific embodiments.

[0069] As Figures 1-10 shown, the surgical instrument provided by the utility model, including rod assembly 1, end effector 2, connecting member 3 and locking mechanism 4.

[0070] The end effector 2 is connected with the rod assembly 1 through the connecting member 3 and can move relative to the rod assembly 1, and the connecting member 3 can rotate relative to the rod assembly 1 around a rotation axis;

[0071] It should be noted that the end effector 2 in the utility model can include a staple seat 21 and a cartridge unit 22, and the cartridge unit 22 specifically includes a staple cartridge 222 and a cartridge base 221, and the staple cartridge 222 is detachably arranged on the cartridge base 221.

[0072] In all embodiments, the staple cartridge 222 is located between the staple seat 21 and the cartridge base 221. The staple seat 21 can be pivotally connected to the staple cartridge channel and can be pivoted between an open position and a closed position by an end effector closure system. In order to deploy the staples from the staple cartridge 222, the surgical instrument can further include a staple driver configured to traverse the staple cartridge 222 and a firing driver for advancing the staple driver within the staple cartridge. In various embodiments, the staple seat 21 can be configured to deform at least a portion of the staples during deployment of the staples from the staple cartridge 222.

[0073] It can be understood that the end effector 2 moves relative to the rod assembly 1, which is specifically manifested as the opening or closing of the end effector 2 itself, and the rotation of the end effector 2 by the connecting member 3 relative to the rod assembly 1 by a certain angle.

[0074] Further, the locking mechanism 4 includes two oppositely arranged angle adjusting members 41 and locking members 42, and the two angle adjusting members 41 respectively abut against the connecting member 3 to adjust the angle of the connecting member 3 relative to the rod assembly 1.

[0075] In the embodiment, when the end effector 2 enters the human body and contacts the tissue to be cut, the tissue to be cut can exert a certain force on the end effector 2, and the two angle adjusting members 41 respectively abut against the connecting member 3, so as to adjust the angle of the end effector 2 relative to the rod assembly 1.

[0076] Further, each of the two angle adjusting members 41 is provided with a first gear rack 411, and the locking member 42 comprises two second gear racks 421 corresponding to the first gear racks 411.

[0077] The locking member 42 is movable towards or away from the two angle adjusting members 41, so that each second gear rack 421 is engaged with or separated from a corresponding first gear rack 411. When the second gear rack 421 is engaged with the first gear rack 411, the two angle adjusting members 41 are fixed relative to the locking member 42.

[0078] It can be understood that, in the embodiment, the locking member 42 is movable towards the two angle adjusting members 41, so that at least part of one second gear rack 421 is engaged with at least part of one first gear rack 411, and at least part of the other second gear rack 421 is engaged with at least part of the other first gear rack 411.

[0079] Through the engagement of the two second gear racks 421 and the two first gear racks 411, the positions of the two angle adjusting members 41 can be fixed, so that the angle of the end effector 2 relative to the rod assembly 1 after adjustment can be locked.

[0080] In this way, the locking member 42 has low manufacturing cost and is convenient to replace, and the engagement of the two second gear racks 421 and the two first gear racks 411 has strong stability. Therefore, the problems of high manufacturing cost and high maintenance cost of components and unstable locking state in the prior art can be effectively solved.

[0081] It should be noted that, in the present application, the distal end and the proximal end are relative to the operator, the end closer to the operator is the proximal end, and the end farther away from the operator, i.e. the end closer to the surgical position, is the distal end. For example, Figure 1 the left side in Figure 1 is the distal end, and the right side is the proximal end. In the present application, the axial direction refers to the axial direction of the rod assembly 1, i.e. the extension direction of the end effector 2.

[0082] The present application will be further described in detail with reference to specific embodiments.

[0083] In various embodiments, reference is made to Figures 1-10The surgical instrument may include a lever assembly 1 and an end effector 2, wherein the end effector 2 is pivotally connected to the lever assembly 1 via a connecting member 3. As described above, the connecting member 3 allows the end effector 2 to articulate relative to the lever assembly 1 about a rotation axis. In various situations, the surgeon can articulate the end effector 2 to more easily access surgical sites within the patient's body.

[0084] Specifically, the surgeon can insert the end effector 2 and the rod assembly 1 into a puncture cannula, which is at least partially inserted into the patient's body, and once the end effector 2 is through the puncture cannula, the end effector 2 can pivot or articulate in order to position the end effector 2, for example, relative to soft tissue, in a surgical position to be sutured and / or cut.

[0085] More specifically, in various embodiments, the surgical instrument further includes a cannula 6 fitted onto the lever assembly 1. The surgeon can insert the end effector 2 and the cannula 6 into the puncture cannula, thereby placing the end effector 2 and at least a portion of the lever assembly 1 within the body. The end effector 2 can then pivot or articulate to position it, for example, relative to soft tissue, in a surgical location requiring suturing and / or cutting. Once the end effector 2 is positioned, the relationship between the end effector 2 and the lever assembly 1 can be secured or locked by a locking mechanism 4.

[0086] Further, refer to Figure 2 , Figure 4 and Figure 6 As shown, the locking mechanism 4 further includes a first elastic element 43 connected to the locking member 42, which continuously provides elastic force to keep the locking member 42 tending to separate from the two first racks 411, that is, to keep the two second racks 421 on the locking member 42 tending to separate from the corresponding two first racks 411. When the external force is released, the first elastic element 43 causes the locking member 42 to reset (i.e., separate from the two first racks 411). In this case, the angle of the connecting member 3 relative to the rod assembly 1 can be adjusted by the two angle adjustment elements 41 abutting against the connecting member 3.

[0087] Further, refer to Figure 3 , Figure 4 and Figure 7 As shown, the locking mechanism 4 is also equipped with an abutment 44. The locking member 42 has a ramp 422 near its proximal end, and the abutment 44 is designed to abut against the ramp 422. When the abutment 44 acts on the ramp 422, it pushes the locking member 42 to overcome the elastic force of the first elastic member 43 and move towards the two angle adjusting members 41, thereby causing each second rack 421 to at least partially mesh with the corresponding first rack 411.

[0088] The two second racks 421 can lock the two angle adjusting members 41, thus locking the angle between the connecting member 3 and the rod assembly 1, i.e. the angle between the end effector 2 and the rod assembly 1. After the angle between the end effector 2 and the rod assembly 1 is locked, the operator can operate the end effector 2 to cut the tissue of interest.

[0089] Reference Figure 7 As shown, the locking mechanism 4 further comprises a second elastic member 45, which is sleeved on the abutting member 44. The main function of the second elastic member 45 is to provide a continuous and stable elastic pressure along the axial direction of the abutting member 44. With this design, the elastic force of the second elastic member 45 can make the abutting member 44 tightly abut against the inclined surface 422 of the proximal end of the locking member 42, so that the locking member 42 overcomes the elastic force of the first elastic member 43 and moves towards the two angle adjusting members 41, so that the two second racks 421 are locked with the two first racks 411.

[0090] When unlocking is needed, the elastic force of the second elastic member 45 is overcome to separate the abutting member 44 from the inclined surface 422, and then the locking member 42 is reset under the action of the first elastic member 43. This structure not only enhances the stability and reliability of the locking mechanism, but also ensures the simplicity of its operation.

[0091] Preferably, the abutting member 44 comprises a shaft portion 441 and an end portion 442 connected with each other, and the shaft portion 441 is parallel to the axial direction of the rod assembly, which ensures the stability of the abutting member during movement. The end portion 442 is arranged at the distal end of the shaft portion 441, which makes the abutting member more accurately act on the inclined surface 422.

[0092] In particular, referring to Figure 5 As shown, the shaft portion 441 is provided with at least one flange 4411 extending from the side wall of the shaft portion, which provides an abutting point for the second elastic member 45. The second elastic member 45 is sleeved on the shaft portion 441 and abuts against the flange 4411, which makes the second elastic member 45 provide a continuous elastic pressure for the abutting member 44. Under the action of the elastic force, the end portion 442 can tightly abut against the inclined surface 422, thus realizing the stable locking of the locking mechanism 4.

[0093] Further, the end portion 442 of the abutting member 44 is designed with a cylindrical surface 4421, which tightly abuts against the inclined surface 422. This design makes the abutting member 44 achieve balanced force transmission to the inclined surface 422. Compared with the traditional design, this structure has higher accuracy and stability, lower manufacturing cost and higher structural strength.

[0094] The surgical instrument further comprises a driving unit 5, which mainly consists of a trigger 51 and a connecting rod 52, for controlling the relative position between the abutting member 44 and the locking member 42, and realizing the unlocking and locking of the locking structure.

[0095] Specifically, one end of the connecting rod 52 is pivotally connected with the trigger 51, and the other end is sleeved on a fixed shaft 521 and can pivot relative to the fixed shaft 521. The abutting member 44 is drivingly connected between the two ends of the connecting rod 52 by a connecting member. When the trigger 51 rotates around the fixed shaft 521, the abutting member 44 will move towards or away from the locking member 42 along its axial direction through the driving of the connecting rod 52.

[0096] Specific unlocking process is as follows: when the connecting member needs to be unlocked, the user manually rotates the trigger 51 counterclockwise (i.e. pulls the trigger 51 towards the proximal end), and the connecting rod 52 moves and drives the abutting member 44 to move towards the proximal end. This movement causes the abutting member 44 to separate from the locking member 42, and then under the elastic force of the first elastic member 43, the locking member 42 separates from the two first racks 411, realizing the unlocking of the locking mechanism 4. The structure after unlocking is shown in Figure 10 In this case, the user adjusts the angle of the end effector 2 relative to the rod assembly 1 by pulling the trigger 51.

[0097] The locking process is the opposite: when the driving unit 5 is in an inactive state, the abutting member 44 is reset under the action of the first elastic member or other reset mechanism, re-abuts with the locking member 42, and realizes locking through the interaction of the locking member 42 with the two first racks 411. This design ensures the stability and safety of the connecting member during the operation. The structure after locking is shown in Figures 8-9 In this process, the operator does not need to operate the trigger 51, so the hand is released, and other operations can be smoothly performed.

[0098] Further, in the present embodiment, the two angle adjusting members 41 are arranged parallel to the axial direction of the rod assembly 1, and their main function is to adjust the angle of the connecting member. The locking member 42 is configured to move towards or away from the angle adjusting members 41 in a direction perpendicular to the plane in which the two angle adjusting members 41 are located. When the locking member 42 moves towards the angle adjusting members 41, it will lock the two angle adjusting members 41, and then lock the position of the connecting member 3; when the locking member 42 moves away from the angle adjusting members 41, it allows the connecting member 3 to be angle-adjusted.

[0099] It should be noted that after the locking state of the two angle adjustment members 41 is released, the surgeon can articulate the end effector 2 relative to the rod assembly 1. Thereafter, the surgeon can re-center the end effector 2, that is, align the end effector 2 and the rod assembly 1 along a line. Thus, the surgical instrument is restored to the initial state in Figure 1 , that is, the axial direction of the end effector 2 is parallel to the axial direction of the rod assembly 1.

[0100] Further, the angle adjustment members 41 are configured as angle adjustment shafts, and the two shafts are arranged in a spaced-apart manner in a direction perpendicular to the axial direction of the rod assembly, so that they can adjust the connecting member 3 at different angle positions.

[0101] Preferably, as shown in Figure 3 , in the present embodiment, the connecting member 3 has a centering surface 31 arranged at a distal end facing away from the end effector, and the centering surface 31 is arranged in a spaced-apart manner in a transverse direction with cylindrical abutting portions 311 for abutting against the two angle adjustment shafts.

[0102] Generally, the angle adjustment shafts are arranged in a spaced-apart manner in a direction perpendicular to the axial direction of the rod assembly. When it is necessary to adjust the angle of the connecting member 3, the angle adjustment shafts can be operated to achieve this. Since the angle adjustment shafts are arranged in a spaced-apart manner in a direction perpendicular to the axial direction of the rod assembly, they can be adjusted at multiple angle positions to meet different surgical requirements. The two cylindrical abutting portions 311 on the centering surface 31 cooperate with the angle adjustment shafts, so that the connecting member can be kept stable during adjustment. This design ensures the accuracy and reliability of the minimally invasive surgical instrument during surgery.

[0103] Further, as shown in Figure 2 , a damping member 412 is cleverly sleeved on the angle adjustment shaft, and the damping force of the damping member 412 is much smaller than the elastic force of the first elastic member 43 and the second elastic member 45. The damping member 412 can provide a stable damping force for the angle adjustment shaft in the axial direction of the angle adjustment shaft. One end of the damping member 412 is closely connected to the angle adjustment shaft, and this design makes the angle adjustment more stable when subjected to external force, thereby enhancing the operation stability and use comfort of the instrument.

[0104] It can be understood that in this way, when the end effector 2 is located inside the human body, the end effector 2 can adaptively adjust the angle when subjected to the force exerted by the human tissue, and has good stability during the angle adjustment.

[0105] It should be noted that in the present utility model, as described above, the surgical instrument further comprises a sleeve 6, the rod assembly 1 is arranged in the sleeve 6, and at least part of the locking mechanism 4 and the connecting member 3 are arranged in the sleeve 6.

[0106] Further, the inner side of the sleeve 6 is provided with a guide 61, which mainly functions to accurately guide the movement direction of the angle adjusting shaft. Meanwhile, one end of the damping member 412 is fixedly connected to the angle adjusting shaft, and the other end is connected to the guide 61. Such a design ensures the stability and accuracy of the angle adjusting shaft during movement. The guide 61 is usually fixedly arranged on the rod assembly 1.

[0107] In summary, the embodiments of the present application achieve the following technical effects:

[0108] The locking member 42 has low manufacturing cost and is convenient to replace, and the meshing of the two second racks 421 and the two first racks 411 has strong stability. Therefore, the problems of high manufacturing cost, high maintenance cost and unstable locking state of components in the prior art can be effectively solved.

[0109] Obviously, the above-described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the protection scope of the present application.

[0110] It is to be noted that the terms used herein are only intended to describe specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise, and it will be further understood that the terms "comprise" and / or "include" when used herein specify the presence of stated features, steps, operations, devices, components and / or combinations thereof.

[0111] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present application are used for distinguishing between similar objects and not necessarily for describing a specific sequential or chronological order. It is to be understood that the use of the terms so designated is interchangeable under appropriate circumstances such that the descriptive terms can be used out of the illustrated or described specific order.

[0112] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A surgical instrument, characterized by, The surgical instrument comprises: a rod assembly; an end effector; a connecting member connecting the end effector with the rod assembly and movable relative to the rod assembly, the connecting member being rotatable relative to the rod assembly about a rotation axis; and a locking mechanism comprising two oppositely arranged angle adjusting members and a locking member, the two angle adjusting members respectively abutting against the connecting member to adjust the angle of the connecting member relative to the rod assembly, each of the two angle adjusting members being provided with a first rack, and the locking member comprising two second racks corresponding to each of the first racks, the locking member being movable towards or away from the two angle adjusting members to make each of the second racks engage or disengage with the corresponding first rack.

2. The surgical instrument of claim 1, wherein, The locking mechanism comprises a first elastic member connected with the locking member and capable of providing an elastic force to make the locking member disengage with the two first racks.

3. The surgical instrument of claim 2, wherein, The locking mechanism comprises an abutting member, the proximal end of the locking member being provided with a slope surface, and the abutting member being capable of abutting against the slope surface to make the locking member move towards the two angle adjusting members against the elastic force of the first elastic member and make each of the second racks engage with at least part of the corresponding first rack.

4. The surgical instrument of claim 3, wherein, The locking mechanism comprises a second elastic member sleeved on the abutting member and capable of providing an elastic pressure along the axial direction of the abutting member to make the abutting member abut against the slope surface and make the locking member move towards the two angle adjusting members against the elastic force of the first elastic member.

5. The surgical instrument of claim 4, wherein, The abutting member comprises a shaft portion parallel to the axial direction of the rod assembly and an end portion provided at the distal end of the shaft portion, the shaft portion being provided with at least one flange extending from the side wall of the shaft portion, and the second elastic member being sleeved on the shaft portion and configured to abut against the flange to make the end portion abut against the slope surface.

6. The surgical instrument of claim 5, wherein, The end portion has a cylindrical surface for abutting against the slope surface.

7. The surgical instrument of claim 4, wherein, The surgical instrument further comprises a driving unit in driving cooperation with the abutting member to make the abutting member disengage with the locking member, and thus make the locking member disengage with the two first racks under the elastic force of the first elastic member.

8. The surgical instrument of claim 1, wherein, The two angle adjusting members are arranged parallel to the axial direction of the rod assembly, and the locking member is movable towards or away from the two angle adjusting members in a direction perpendicular to the plane in which the two angle adjusting members are arranged.

9. The surgical instrument of claim 8, wherein, The angle adjusting members are arranged as angle adjusting shafts, the angle adjusting shafts being arranged in a direction perpendicular to the axial direction of the rod assembly, and the connecting member being provided with a centering surface arranged at the distal end opposite to the end effector, the centering surface being laterally spaced apart to provide a cylindrical abutting surface for abutting against the two angle adjusting shafts.

10. The surgical instrument of claim 9, wherein, The angle adjusting shafts are sleeved with a damping member capable of providing a damping force in the axial direction of the angle adjusting shafts.

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