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, a gear 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, racks are arranged on the two angle adjusting pieces respectively, the racks are meshed with the gear, and the locking piece is arranged on the connecting component. The locking piece can be matched with the gear to limit rotation of the gear. The utility model solves the problems of high part processing cost and maintenance cost of the surgical instrument 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 circumference, the first part extends between the rotation axis and the first outer circumference; the second part with the second outer circumference, the second part extends between the rotation axis and the second outer circumference. 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 to prevent it from swinging after swinging a certain angle; 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, which itself leads to high manufacturing cost of the joint member, and when the tooth on the joint member is damaged, the whole joint needs to be replaced, so the surgical instrument in the patent also has the problem of high maintenance cost. UTILITY MODEL CONTENTS

[0007] The utility model discloses a surgical instrument to solve the problem of high component processing cost and maintenance cost of surgical instrument in 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, a gear 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, the two angle adjusting members are respectively provided with a gear rack, the gear rack is engaged with the gear, and the locking piece can be matched with the gear to limit the rotation of the gear.

[0013] As a further improvement of the embodiment of the utility model, the locking piece can engage at least one gear tooth of the gear to limit the rotation of the gear.

[0014] As a further improvement of the embodiment of the utility model, the locking piece 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 end portion is provided with a groove, and the groove is configured to accommodate at least one gear tooth of the gear in a tight fit or interference fit manner.

[0015] As a further improvement of the embodiment of the utility model, the gear has a spacing groove between any two adjacent gear teeth, and the locking piece can engage at least one spacing groove to limit the rotation of the gear.

[0016] As a further improvement of the embodiment of the utility model, the locking piece 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 end portion comprises an abutment protrusion, and the abutment protrusion is arranged to be inserted into the spacing groove in a tight fit or interference fit manner.

[0017] As a further improvement of the embodiment of the utility model, the locking mechanism comprises a biasing member, the biasing member is sleeved on the shaft portion and is configured to bias the end portion to engage with the gear.

[0018] As a further improvement of the utility model embodiment, further include drive unit, drive unit includes drive gear and drive rack, drive rack is along parallel to the axial direction of the rod assembly and with the shaft part transmission cooperation, drive gear can drive drive rack towards proximal end movement, to make the shaft part towards proximal end movement, and make the end part and the gear separate.

[0019] As a further improvement of the utility model embodiment, further include drive unit, drive unit includes drive gear and drive rack, drive rack is along parallel to the axial direction of the rod assembly and with the shaft part transmission cooperation, drive gear can drive drive rack towards proximal end movement, to make the shaft part towards proximal end movement, and make the end part and the gear separate.

[0020] As a further improvement of the utility model embodiment, further include drive unit, drive unit includes drive gear and drive rack, drive rack is along parallel to the axial direction of the rod assembly and with the shaft part transmission cooperation, drive gear can drive drive rack towards proximal end movement, to make the shaft part towards proximal end movement, and make the end part and the gear separate.

[0021] As a further improvement of the utility model embodiment, further include drive unit, drive unit includes drive gear and drive rack, drive rack is along parallel to the axial direction of the rod assembly and with the shaft part transmission cooperation, drive gear can drive drive rack towards proximal end movement, to make the shaft part towards proximal end movement, and make the end part and the gear separate.

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

[0023] By the locking piece with gear cooperation can limit gear rotation, thereby limiting the rack movement with gear engagement, further make the position of two angle adjusting piece be fixed, can lock the angle of adjusting end effector relative to the rod assembly, the manufacturing cost of gear is low, and convenient to replace, effectively solve the problem of high cost of component manufacturing, maintenance in prior art. 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 of;

[0026] Figure 3 For Figure 2 Structure schematic view of connecting member in;

[0027] Figure 4 For Figure 1 Partial cross-section structure schematic view of;

[0028] Figure 5 For Figure 4 Enlarged view of A in;

[0029] Figure 6 A partial structural diagram of a surgical instrument with its end effector in a locked state, provided as an embodiment of the present invention;

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

[0031] Figure 8 for Figure 6 Schematic diagram of the central locking component;

[0032] Figure 9 A partial structural diagram of a surgical instrument in a locked state, provided for another embodiment of the present invention;

[0033] Figure 10 for Figure 9 Enlarged view at point N;

[0034] Figure 11 for Figure 9 A schematic diagram of the central locking component.

[0035] The above description of the figures includes the following reference numerals:

[0036] 1. Rod assembly;

[0037] 2. End effector;

[0038] 21. Anchor seat;

[0039] 22. Storage compartment unit;

[0040] 221. Warehouse base;

[0041] 222. Pinned storage;

[0042] 3. Connecting components;

[0043] 31. Calmness;

[0044] 4. Locking mechanism;

[0045] 41. Angle adjustment component;

[0046] 411. Gear rack;

[0047] 412. Damping components;

[0048] 42. Gear;

[0049] 421. Gear teeth;

[0050] 422. Gear shaft;

[0051] 423. Interval grooves;

[0052] 43, locking member;

[0053] 4311, 4321, shaft portion;

[0054] 43111, 43211, buckle;

[0055] 4312, 4322, end portion;

[0056] 43121, groove;

[0057] 43221, abutting protrusion;

[0058] 43122, 43222, flange;

[0059] 44, biasing member;

[0060] 5, drive unit;

[0061] 51, drive gear;

[0062] 52, drive rack;

[0063] 53, transmission rod;

[0064] 531, hook;

[0065] 6, sleeve;

[0066] 61, first guide;

[0067] 62, second guide. DETAILED DESCRIPTION

[0068] It should be noted that the embodiments in the present application and the features in the embodiments 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 the embodiments.

[0069] 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.

[0070] In the present application, unless otherwise specified, the orientation words such as "up, down, top, bottom" are generally directed to the directions shown in the drawings, or are directed to the vertical, perpendicular or gravity direction 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 itself, but the above orientation words are not used to limit the present application.

[0071] In order to solve the problem of high processing cost and maintenance cost of components of surgical instruments in the prior art, the present application provides a surgical instrument.

[0072] The utility model makes further detailed description in connection with the drawings below.

[0073] As Figures 1-11 The utility model provides surgical instruments, including rod assembly 1, end effector 2, connecting member 3 and locking mechanism 4.

[0074] End effector 2 is connected with rod assembly 1 through connecting member 3 and can move relative to rod assembly 1, and connecting member 3 can rotate relative to rod assembly 1 around a rotation axis.

[0075] 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.

[0076] In at least one embodiment, 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.

[0077] 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 relative to the rod assembly 1 via the connecting member 3 by a certain angle.

[0078] Further, the locking mechanism 4 includes two oppositely arranged angle adjusting members 41, a gear 42 and a locking member 43, 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.

[0079] In this 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, thereby adjusting the angle of the end effector 2 relative to the rod assembly 1.

[0080] Furthermore, each of the two angle adjusting members 41 is provided with a rack 411, which meshes with the gear 42, and the locking member 43 can cooperate with the gear 42 to restrict the rotation of the gear 42.

[0081] With this configuration, the locking element 43 can cooperate with the gear 42 to restrict the rotation of the gear 42, thereby restricting the movement of the rack 411 meshing with the gear 42. This fixes the positions of the two angle adjustment elements 41, thus locking the angle of the rear end actuator 2 relative to the rod assembly 1. The gear 42 has low manufacturing cost and is easy to replace, effectively solving the problems of high component manufacturing cost and high maintenance cost in the prior art.

[0082] It should be noted that in this application, "distal" and "proximal" are relative to the operator. The end closer to the operator is the proximal end, and the end farther from the operator, i.e., closer to the surgical site, is the distal end. Figure 1 As shown, in Figure 1 The left side is the distal end, and the right side is the proximal end. Axial direction refers to the axial direction of the rod assembly 1, which is also the extension direction of the end effector 2.

[0083] The present invention will be further described in detail below with reference to specific embodiments.

[0084] In various implementation methods, refer to Figures 1-11 The 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.

[0085] 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.

[0086] More specifically, in various embodiments, the surgical instrument further comprises a sleeve 6, which is sleeved on the rod assembly 1, and the surgeon can insert the end effector 2 and the sleeve 6 into the puncture sleeve, so that the end effector 2 and at least part of the rod assembly 1 are located in the human body, and the end effector 2 can be pivoted or articulated to position the end effector 2, for example, relative to the soft tissue, in a surgical position to be sutured and / or cut. Once the end effector 2 is positioned, the interrelationship between the end effector 2 and the rod assembly 1 can be fixed or locked by the locking mechanism 4, which will be described in detail below. Embodiment 1

[0087] Referring to Figures 6-8 , a surgical instrument provided by an embodiment of the present application is shown.

[0088] Referring to Figure 6 , it is shown that in the present embodiment, the locking member 43 is designed to be engaged with at least one tooth 421 of the gear 42, thereby effectively limiting the rotation of the gear 42.

[0089] In specific implementation, the locking member 43 can form a close fitting relationship with the tooth 421 through its specific structural shape, such as a groove. When the locking member 43 is engaged with the tooth 421, the rotation of the gear 42 is hindered, thereby realizing the limitation of the rotation of the gear 42 and ensuring the locking of the angle adjusting member 41 by the gear 42.

[0090] Specifically, referring to Figure 8 , it is shown that the locking member 43 comprises a shaft portion 4311 parallel to the axial direction of the rod assembly 1, and an end portion 4312 at the distal end of the shaft portion. The end portion 4312 is particularly provided with a groove 43121, which is carefully designed to stably accommodate at least one tooth 421 of the gear 42 in a close fit or interference fit manner.

[0091] Through this structure, when the locking member 43 is matched with the gear 42, the groove 43121 and the tooth 421 form a close connection, effectively limiting the rotation of the gear 42. This design not only embodies the ingenuity of the mechanical structure, but also ensures the stability and reliability of the operation, providing important technical support for the use of the surgical instrument. Embodiment 2

[0092] Referring to Figures 9-11 , a surgical instrument provided by another embodiment of the present application is shown.

[0093] Referring to Figure 9As shown, the gear 42 is characterized in that, between any two adjacent teeth 421, a spacing groove 423 is arranged. The spacing groove 423 cooperates with the locking member 43, so that the locking member 43 can engage at least one spacing groove 423, thereby effectively limiting the rotation of the gear 42. This structural design not only enhances the stability of the locking, but also provides more flexibility and reliability for the locking operation.

[0094] Further referring to Figure 11 As shown, the locking member 43 includes a shaft portion 4321 parallel to the axial direction of the rod assembly 1, and an end portion 4322 arranged at the distal end of the shaft portion. In particular, the end portion 4322 is provided with an abutting protrusion 43221, which is carefully designed to be inserted into the spacing groove 423 of the gear 42 in a tight or interference fit. When the abutting protrusion 43221 is inserted into the spacing groove 423, a tight and stable connection is formed between them, thereby effectively limiting the rotation of the gear 42.

[0095] This design not only improves the reliability of the locking function, but also embodies the ingenuity and practicality of the utility model in the mechanical structure design.

[0096] It should be noted that in the above two embodiments, the locking mechanism 4 is combined with Figure 6 and Figure 9 As shown, the locking mechanism 4 further includes a biasing member 44, which is cleverly sleeved on the shaft portion 4311 or the shaft portion 4321 of the locking member 43. The biasing member 44 functions to apply a biasing force to bias the end portion 4312 or the end portion 4322 of the locking member into a state of close engagement with the gear 42. This design enhances the stability and reliability of the locking mechanism 4, ensuring that the locking member 43 can effectively limit the rotation of the gear 42 during operation.

[0097] It should be noted that in the utility model, as described above, the surgical instrument further includes 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 is arranged in the sleeve 6. The sleeve 6 is provided with a first guide 61 for guiding the axial movement of the shaft portion 4311, and the first guide 61 is usually fixedly connected with the rod assembly 1.

[0098] Further referring to Figure 6As shown, the inside of the sleeve 6 is provided with an abutting portion abutting against the biasing member 44. The abutting portion is usually arranged on the rod assembly 1 and can arrange the biasing member 44 between the abutting portion and at least one flange 43122 extending from the end portion 4312, so that the end portion 4322 of the locking member 43 can be engaged with the gear 42 under the elastic action of the biasing member 44 when no other external force is received. That is, the interval groove 423 can stably accommodate at least one tooth 421 of the gear 42 in a tight fit or interference fit manner.

[0099] Corresponding to Figure 9 As shown in FIG. 4, the biasing member 44 can be arranged between the abutting portion and at least one flange 43222 extending from the end portion 4322, so that the end portion 4322 of the locking member 43 can be engaged with the gear 42 under the elastic action of the biasing member 44 when no other external force is received. That is, the abutting protrusion 43221 can be inserted into the interval groove 423 of the gear 42 in a tight fit or interference fit manner.

[0100] It should be noted that the biasing member 44 can be arranged in various embodiments of the utility model.

[0101] In at least one embodiment of the utility model, referring to Figure 4 As shown, the surgical instrument further comprises a driving unit 5. The driving unit 5 mainly comprises a driving gear 51 and a driving rack 52. The driving rack 52 is arranged along the axial direction parallel to the rod assembly 1 and is in transmission cooperation with the shaft portion 4311 of the locking member 43. When the driving gear 51 is driven by a driving force, it can drive the driving rack 52 to move towards the proximal end. Due to the transmission cooperation between the driving rack 52 and the shaft portion 4311, this movement will further drive the shaft portion 4311 to move towards the proximal end. With this movement, the end portion 4312 of the locking member 43 will finally be separated from the gear 42, thereby releasing the locking state of the gear 42. This design makes the locking and unlocking operation more convenient and controllable, further improving the practicability and operation flexibility of the surgical instrument.

[0102] It should be noted that after releasing the locking state of the gear 42, the surgeon can make the end effector 2 articulate 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 returns 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.

[0103] Generally, the driving rack 52 is connected with the shaft part 4311 through a transmission rod 53, one end of the transmission rod 53 is connected with the driving rack 52, and the other end is provided with a clamping hook 531. The shaft part is provided with a buckle 43111 or a buckle 43211, and the clamping hook 531 can be matched with the buckle 43111 or the buckle 43211, so as to ensure that the force can be effectively transmitted, and the damaged part can be quickly disassembled and maintained.

[0104] In some embodiments, with reference to Figures 4-5 As shown, the two angle adjusting members 41 are arranged in parallel to the axial direction of the rod assembly 1, which ensures the stability of the structure and the smoothness of the operation. On the side of each angle adjusting member 41 facing the other, a rack 411 is arranged respectively. The gear 42 is ingeniously arranged between the two racks 411 and forms a precise meshing relationship with the two racks 411 respectively, thereby realizing flexible adjustment and locking function of the angle.

[0105] Preferably, the two racks 411 are arranged in parallel to each other and are located in the same plane, which ensures the meshing accuracy between the gear 42 and the rack 411. The central axis of the gear 42 is provided with a gear shaft 422 which is perpendicular to the aforementioned plane and is stably fixed in the sleeve 6, thereby providing stable support for the rotation of the gear 42 and ensuring the overall structural strength and rigidity of the locking mechanism 4.

[0106] Further, the angle adjusting members 41 are specially designed as angle adjusting shafts which are arranged in a spaced manner in the direction perpendicular to the axial direction of the rod assembly 1, which ensures the stability of the structure and the flexibility of the angle adjustment. The connecting member 3 has a centering surface 31 which is arranged opposite to the distal end of the end effector 2. The distal ends of the two adjusting shafts are in close abutment with the centering surface 31 respectively, thereby realizing precise angle control and stable support effect.

[0107] Further, the angle adjusting shafts are ingeniously sleeved with a damping member 412 which can provide stable damping force for the angle adjusting shafts in the axial direction thereof. One end of the damping member 412 is in close connection with the angle adjusting shaft, and the other end is connected with the rod assembly 1, which makes the angle adjustment more stable when subjected to external force, thereby enhancing the operation stability and use comfort of the instrument.

[0108] 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 after receiving the force applied by the human tissue, and has good stability during the angle adjustment.

[0109] Further, with reference to Figure 6 orFigure 9 As shown, the inner sleeve 6 is provided with a second guide 62, which is also fixedly connected to the rod assembly 1, and the main function of the guide is 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 second guide 62. Such a design ensures the stability and accuracy of the angle adjusting shaft during movement.

[0110] In summary, the embodiments of the utility model realize the following technical effects:

[0111] The locking member 43 cooperates with the gear 42 to limit the rotation of the gear 42, thereby limiting the movement of the rack 411 engaged with the gear 42, and further fixing the positions of the two angle adjusting members 41, so that the angle of the end effector 2 relative to the rod assembly 1 after adjustment can be locked, the gear 42 has low manufacturing cost and is convenient to replace, and effectively solves the problems of high component manufacturing cost and high maintenance cost in the prior art.

[0112] Obviously, the above-described embodiments are only a part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative labor should belong to the protection scope of the utility model.

[0113] It should 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, unless the context clearly indicates otherwise, and it should be understood that when the terms "comprise" and / or "include" are used in the specification, there is a feature, step, work, device, component and / or combination thereof.

[0114] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0115] The above only describes the preferred embodiments of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the utility model shall be included in the protection scope of the utility model.

Claims

1. A surgical instrument, characterized by, The application relates to a locking mechanism for a surgical instrument, comprising: 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, a gear 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, the two angle adjusting members respectively having a gear rack arranged thereon, the gear rack being engaged with the gear, and the locking member being engageable with the gear to limit rotation of the gear.

2. The surgical instrument of claim 1, wherein, The locking member is capable of engaging at least one gear tooth of the gear to limit rotation of the gear.

3. The surgical instrument of claim 2, wherein, The locking member comprises a shaft portion parallel to the axial direction of the rod assembly and an end portion arranged at the distal end of the shaft portion, the end portion being provided with a recess configured to accommodate at least one gear tooth of the gear in a tight fit or interference fit.

4. The surgical instrument of claim 1, wherein, The gear has a spacing recess between any two adjacent gear teeth, and the locking member is capable of engaging at least one spacing recess to limit rotation of the gear.

5. The surgical instrument of claim 4, wherein, The locking member comprises a shaft portion parallel to the axial direction of the rod assembly and an end portion arranged at the distal end of the shaft portion, the end portion comprising an abutting protrusion arranged to be inserted into the spacing recess in a tight fit or interference fit.

6. The surgical instrument of claim 3 or 5, wherein, The locking mechanism comprises a biasing member sleeved on the shaft portion and configured to bias the end portion into engagement with the gear.

7. The surgical instrument of claim 6, wherein, The application further relates to a driving unit comprising a driving gear and a driving gear rack, the driving gear rack being arranged along the axial direction of the rod assembly and in transmission cooperation with the shaft portion, and the driving gear being capable of driving the driving gear rack to move towards the proximal end so as to move the shaft portion towards the proximal end and separate the end portion from the gear.

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 each of the two adjusting members is provided with the gear rack on the side facing the other adjusting member, and the gear is arranged between the two gear racks and engaged with the two gear racks respectively.

9. The surgical instrument of claim 8, wherein, The angle adjusting members are arranged as angle adjusting shafts 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 facing away from the end effector, and the distal ends of the two adjusting shafts respectively abut against the centering surface.

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

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