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 motor is arranged along a first axis, the lead screw is arranged along a second axis, the first axis is parallel to the second axis, at least part of projection of the lead screw falls on the motor in the direction from the second axis to the first axis, and the first axis and the second axis are arranged in the circumferential direction of the sleeve assembly. According to the arrangement, the driving mechanism is reasonably arranged in the rotating shell, and the situation that the driving mechanism interferes with the sleeve assembly or the rotating shell or the outer diameter of the rotating shell needs to be increased is avoided.

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 is to use a cutting knife to disconnect the tissue and use a titanium nail to anastomose the tissue, which is similar to a stapler. According to the different parts of the body, it can be divided into various staplers. The working principle of the surgical cutting stapler is to enter the patient's body through the precisely positioned sleeve of the puncture device at the surgical site, then make a longitudinal incision in the tissue and apply anastomosis nails on the opposite sides of the incision, thereby disconnecting and anastomosing the tissue. SUMMARY

[0003] The present disclosure is achieved by the following technical scheme: a surgical instrument, comprising:

[0004] a machine body;

[0005] a rotating shell rotatably connected to the machine body;

[0006] a sleeve assembly connected to the machine body at the proximal end and coaxially arranged with the rotating shell, part of the sleeve assembly being accommodated in the rotating shell;

[0007] a jaw assembly, the proximal end of the jaw assembly being connected to the distal end of the sleeve assembly;

[0008] a push rod movably arranged in the sleeve assembly, the distal end of the push rod being connected to the jaw assembly; in response to the proximal or distal movement of the push rod, the jaw assembly rotates relative to the sleeve assembly;

[0009] a drive mechanism accommodated in the rotating shell, the drive mechanism being configured to drive the proximal or distal movement of the push rod;

[0010] the drive mechanism comprises a motor and a screw nut structure, the screw nut structure comprising a screw and a nut matched with the screw, the motor being connected to the screw, and the nut being connected to the proximal end of the push rod; in response to the rotation of the motor, the screw is driven to rotate by the motor, and the rotating screw drives the nut to move proximally or distally to drive the push rod to move proximally or distally;

[0011] the motor is arranged along a first axis, the screw is arranged along a second axis, the first axis is parallel to the second axis, in the direction from the second axis to the first axis, the projection of the screw at least partially falls on the motor, and the first axis and the second axis are arranged around the circumference of the sleeve assembly.

[0012] In one embodiment, the outer diameter of the sleeve assembly 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 is greater than or equal to 36 mm and less than or equal to 48 mm.

[0013] In one embodiment, the sleeve assembly is disposed along a central axis, the distance between the first axis and the central axis is greater than or equal to 10 mm and less than or equal to 16 mm, and the distance between the second axis and the central axis is greater than or equal to 9.5 mm and less than or equal to 16 mm.

[0014] In one embodiment, the length direction of the nut is disposed along a vertical direction.

[0015] In one embodiment, in the vertical direction, a portion of the nut overlaps with the sleeve assembly, and a portion of the nut overlaps with the motor.

[0016] In one embodiment, the drive mechanism further comprises a transmission member, the motor is connected to the lead screw through the transmission member; the transmission member comprises a first gear connected to the motor and a second gear connected to the lead screw, the first gear is engaged with the second gear.

[0017] In one embodiment, the difference between the outer diameter of the first gear and the outer diameter of the second gear is greater than or equal to -3.5 mm and less than or equal to 3.5 mm.

[0018] In one embodiment, the outer diameter of the first gear is equal to the outer diameter of the second gear.

[0019] In one embodiment, the outer diameter of the second gear is smaller than the first gear.

[0020] In one embodiment, the sleeve assembly comprises an inner sleeve and an outer sleeve sleeved on the inner sleeve, the outer sleeve is provided with an exposed groove, at least a portion of the inner sleeve is exposed by the exposed groove, the proximal end of the push rod is disposed on the exposed portion of the inner sleeve, and a portion of the second gear is located in the exposed groove and is spaced apart from the inner sleeve.

[0021] In one embodiment, the lead screw is disposed on the side of the drive mechanism close to the push rod.

[0022] In one embodiment, the lead screw nut structure further comprises a first plate body, a second plate body, and a fixing column connected between the first plate body and the second plate body; one end of the lead screw is rotatably disposed on the first plate body, the portion of the lead screw matched with the nut is located between the first plate body and the second plate body, the nut is located between the first plate body and the second plate body and is matched with the lead screw; the fixing column penetrates through the nut to limit the rotation of the nut around the second axis.

[0023] In one embodiment, the screw-nut structure further comprises a first axial limiting component and a second axial limiting component connected to the screw, the first axial limiting component is arranged on one side of the first plate body and is configured to abut against the first plate body, and the second axial limiting component is arranged on the other side of the first plate body and is configured to abut against the first plate body to limit the movement of the screw along the second axis.

[0024] In one embodiment, one of the first axial limiting component and the second axial limiting component comprises a fixed part, and the other comprises a clutch structure, the fixed part is connected to the screw, and the clutch structure is detachably connected to the screw.

[0025] In one embodiment, the first axial limiting component and the second axial limiting component both comprise a clutch structure, and the clutch structure is detachably connected to the screw.

[0026] In one embodiment, the clutch structure comprises a mounting groove and a matching part, the mounting groove is arranged on the screw, and the matching part is detachably connected to the mounting groove, when the matching part is matched with the mounting groove, the matching part is configured to abut against the first plate body.

[0027] In one embodiment, the matching part comprises a spring piece, a groove bottom of the mounting groove forms a mounting section, and the spring piece is clamped into the mounting section to connect the matching part with the mounting groove.

[0028] In one embodiment, the matching part further comprises a stop part, the stop part is sleeved on the screw, when the clutch structure is mounted on the screw, the stop part is located between the first plate body and the spring piece, one side of the stop part is configured to abut against the first plate body, and the other side is configured to abut against the spring piece.

[0029] In one embodiment, the fixed part is fixedly connected with the screw or is integrally formed with the screw, the fixed part is arranged protruding along the radial direction of the screw, and the fixed part is configured to abut against the first plate body. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 FIG. 1 is a structural schematic diagram of a surgical instrument according to an embodiment of the present disclosure;

[0031] Figure 2 FIG. 5 is an exploded view of a rotating shell according to an embodiment of the present disclosure;

[0032] Figure 3 FIG. 8 is an exploded view of a sleeve assembly according to an embodiment of the present disclosure;

[0033] Figure 4is a structural diagram of a constraint groove of a rotating shell of an embodiment of the present disclosure;

[0034] Figure 5 is a structural diagram of a drive mechanism from one angle of an embodiment of the present disclosure;

[0035] Figure 6 is a structural diagram of a drive mechanism from another angle of an embodiment of the present disclosure;

[0036] Figure 7 is a structural diagram of a jaw assembly in a straight punching state of an embodiment of the present disclosure;

[0037] Figure 8 is a structural diagram of a jaw assembly in a curved punching state of an embodiment of the present disclosure;

[0038] Figure 9 is a sectional view of a rotating shell in a first plane of an embodiment of the present disclosure;

[0039] Figure 10 is a structural diagram of a motor and a nut from one angle of an embodiment of the present disclosure;

[0040] Figure 11 is a front view of a motor and a nut of an embodiment of the present disclosure;

[0041] Figure 12 is a structural diagram of a torque received by a nut of an embodiment of the present disclosure;

[0042] Figure 13 is a structural diagram of a lead screw nut structure of an embodiment of the present disclosure;

[0043] Figure 14 is an exploded view of a lead screw nut structure of an embodiment of the present disclosure;

[0044] Figure 15 is a structural diagram of a spring sheet mounted to a lead screw of an embodiment of the present disclosure;

[0045] Figure 16 is a structural diagram of a spring sheet and a stopper mounted to a lead screw of an embodiment of the present disclosure;

[0046] Figure 17 is an exploded view of a spring sheet and a stopper mounted to a lead screw of an embodiment of the present disclosure;

[0047] Figure 18 is a structural diagram of a first positioning structure and a second positioning structure from one angle of an embodiment of the present disclosure;

[0048] Figure 19 is a structural diagram of a first positioning structure and a second positioning structure from another angle of an embodiment of the present disclosure;

[0049] Figure 20 is a structural schematic view of the protrusion and the insertion slot of an embodiment of the present disclosure;

[0050] Figure 21 is an exploded view of the first fixing member, the nut and the push rod of an embodiment of the present disclosure;

[0051] Figure 22 is a structural schematic view of the rotating shell and the separation cover of an embodiment of the present disclosure;

[0052] Figure 23 is a structural schematic view of the outer side surface of the nut of an embodiment of the present disclosure, showing the outer side surface and the first axial side surface;

[0053] Figure 24 is a structural schematic view of the nut of an embodiment of the present disclosure from another angle, showing the inner side surface and the second axial side surface.

[0054] Figure 25 is a structural schematic view of the nut of an embodiment of the present disclosure;

[0055] Figure 26 is an exploded view of the nut and the plate member of an embodiment of the present disclosure;

[0056] Figure 27 is a structural schematic view of the motor installed in the rotating shell of an embodiment of the present disclosure;

[0057] Figure 28 is an exploded view of the motor and the rotating shell of an embodiment of the present disclosure;

[0058] Figure 29 is a structural schematic view of the motor installed in the rotating shell of an embodiment of the present disclosure from another angle;

[0059] Figure 30 is a structural schematic view of the nut of an embodiment of the present disclosure; Figure 29 is a structural schematic view of the nut of an embodiment of the present disclosure.

[0060] is a structural schematic view of the nut of an embodiment of the present disclosure.

[0061] 100, body; 110, electric slip ring; 120, operating member;

[0062] 200, rotating shell; 210, constraint slot; 220, dismounting hole; 230, separation cover; 240, motor receiving rack; 241, distal end limiting portion; 242, proximal end limiting portion; 243, locking cover; 2431, receiving portion; 244, avoiding portion; 245, bearing seat; 246, bearing;

[0063] 300, driving mechanism; 310, motor; 311, motor body; 312, output shaft; 313, electric connection portion;

[0064] 320, transmission member; 321, first gear; 322, second gear;

[0065] 400, screw nut structure; 410, screw; 420, nut; 421, nut through hole; 4211, avoiding slot; 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 piece; 471, first part; 472, second part; 473, connecting hole; 480, first fixing piece; 481, screw; 482, stud; 483, nut; 490, plate body member;

[0066] 500, sleeve assembly; 510, inner sleeve; 511, accommodating groove; 512, matching groove; 513, oblong part; 514, plug-in groove; 520, outer sleeve; 521, exposed groove; 530, push rod; 540, connecting rod;

[0067] 600, jaw assembly; 610, end effector; 620, angle turning piece;

[0068] 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 side opening; 749, inner side opening; 750, stop part;

[0069] 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;

[0070] 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

[0071] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, further detailed description will be provided to the present disclosure by combining with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and 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 fall within the scope of protection of the present disclosure.

[0072] It should be understood that the terms "proximal" and "distal" used herein are relative to the clinician who manipulates the handle of the stapler. 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, the jaw assembly is distal, and the proximal end of a certain part indicates the end relatively close to the handle, and the distal end indicates the end relatively close to the jaw assembly. The terms "upper" and "lower" are used as a reference to the relative positions of the anvil seat and the cartridge seat of the jaw assembly. Specifically, the anvil seat is "upper" and the cartridge seat is "lower". However, the stapler can be used in many directions and positions, so these terms expressing relative position relationship are not limited and absolute.

[0073] In the present disclosure, unless otherwise explicitly specified and limited, the terms "connected", "connected" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be movably connected, or it can be integrated; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements such as abutment. For those of ordinary skill in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances. It should be noted that when the "connected" and "connected" are limited by adjectives, they have the meaning limited by the corresponding adjectives, and only exclude the cases that obviously need to be excluded, and do not exclude other possible cases, such as "detachably connected" refers to detachable connection, and does not include integration, but movable connection is not excluded.

[0074] Embodiments of the present disclosure relate to a surgical instrument, for example, a stapler, such as Figures 1 to 3As 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 driving 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 around its 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 is collinear with the rotation axis of the sleeve assembly 500, and both are arranged along the central axis K0. The driving mechanism 300 is configured to drive the push rod 530 to move proximally or distally, and when the push rod 530 moves proximally or distally, the driving mechanism 300 drives the jaw assembly 600 to swing relative to the sleeve assembly 500.

[0075] During the surgical operation, the medical staff first punctures the human body to make the puncture sleeve penetrate the human body, and then the medical staff makes the jaw assembly 600 and part of the sleeve assembly 500 enter the human body through the puncture sleeve. The outer diameter of the rotating housing 200 is relatively large, and cannot enter the puncture sleeve, that is, the part of the sleeve assembly 500 that enters the puncture sleeve is located distally of the rotating housing 200. The jaw assembly 600 is used to clamp the target human tissue. The user can rotate the rotating housing 200 to make the jaw assembly 600 rotate around 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 the cutting knife assembly to cut the clamped target tissue. After 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 switch the jaw assembly 600 from the closed state to the open state to release the target tissue. Finally, the surgical instrument is removed from the human body to complete the operation.

[0076] The rotating housing 200 includes an upper housing 201 and a lower housing 202 connected to each other. The upper housing 201 and the lower housing 202 are both arranged in a substantially semicircular shape, so that the rotating housing 200 is substantially cylindrical. Part of the sleeve assembly 500 is accommodated in the rotating housing 200, and the part accommodated in the rotating housing 200 is connected to the rotating housing 200, so that the rotating housing 200 can drive the sleeve assembly 500 and the jaw assembly 600 to rotate.

[0077] For example, the sleeve assembly 500 includes an inner sleeve 510 and an outer sleeve 520 sleeved on the inner sleeve 510, and a 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 a 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. As shown in Figure 3 and Figure 4 The exposed part of the inner sleeve 510 has an oblong portion 513. An oblong constraint groove 210 is formed in the rotating housing 200, and when the sleeve assembly 500 is installed in the rotating housing 200, the oblong portion 513 is clamped into the constraint groove 210, so that the proximal end of the sleeve assembly 500 is connected to the rotating housing 200, and the sleeve assembly 500 and the push rod 530 are driven to rotate synchronously with the rotating housing 200 when the rotating housing 200 rotates.

[0078] The driving mechanism 300 is arranged 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 groove 521 and connected to the driving mechanism 300. The driving mechanism 300 is connected to the rotating housing 200, so that the driving mechanism 300 is driven 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. The driving mechanism 300 can always be connected to the push rod 530 and drive the push rod 530 to move. The connection mode of the driving mechanism 300 and the rotating housing 200 is described below.

[0079] For example, as shown in Figure 5 and Figure 6 The driving mechanism 300 includes a motor 310 and a screw nut structure 400. The screw nut structure 400 includes a screw rod 410 and a nut 420 matched with the screw rod 410. The motor 310 is connected to the screw rod 410, and the nut 420 is connected to the push rod 530. In response to the rotation of the motor 310, the motor 310 drives the screw rod 410 to rotate, and the rotating screw rod 410 drives the nut 420 to move proximally or distally, thereby driving the push rod 530 to move proximally or distally to swing the jaw assembly 600 relative to the sleeve assembly 500.

[0080] For example, as shown in Figure 7 and Figure 8As shown, the jaw assembly 600 includes an end effector 610 for clamping human tissue and an angle turning piece 620 connected to the end effector 610 at one end and rotatably connected to the sleeve assembly 500 at the other end, 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 turning piece 620. The surgical instrument further includes a connecting rod 540 rotatably connected to the distal end of the push rod 530 at the proximal end and rotatably connected to the angle turning piece 620 at the distal end. In response to the proximal or distal movement of the push rod 530, the connecting rod 540 drives the angle turning piece 620 to rotate relative to the sleeve assembly 500, thereby causing the end effector 610 to 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.

[0081] For example, the jaw assembly 600 has a straight firing state and a curved firing state, as shown in Figure 7 As shown, when the jaw assembly 600 is in the straight firing state, the length direction of the jaw assembly 600 is generally parallel to the axis (i.e., the central axis K0) of the sleeve assembly 500. When the jaw assembly 600 is in the curved firing state, the length direction of the jaw assembly 600 is at an angle to the axis (i.e., the central axis K0) of the sleeve assembly 500.

[0082] The driving mechanism 300 of the present disclosure can keep the jaw assembly 600 in the desired position. 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 preventing the jaw assembly 600 from swinging. Thus, when the jaw assembly 600 is subjected to external force, it can still be kept in the desired position without swinging.

[0083] For example, as shown in Figure 5 and Figure 6 As shown, the driving mechanism 300 further includes a transmission member 320 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.

[0084] In the embodiments of the present disclosure, as shown inFigure 4 , Figure 5 and Figure 9 As shown, within the rotating housing 200, the motor 310 is positioned 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 positioned along a second axis K2, for example, the lead screw 410 rotates around the second axis K2. The first axis K1 and the second axis K2 are parallel. Both the first axis K1 and the second axis K2 are arranged along the circumferential direction of the sleeve assembly 500.

[0085] The length of the push rod 530 is parallel to the central axis K0, which 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, which in turn drives the nut 420 to move along the second axis K2, thereby moving the push rod 530 to the near or far side.

[0086] For example, such as Figure 5 and Figure 9 As shown, the surgical instruments include 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, and the vertical direction Z is the 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 set along the longitudinal direction Y.

[0087] In the direction from the second axis K2 to the first axis K1, at least a portion of the projection of the lead screw 410 falls 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 towards the first axis K1.

[0088] In the embodiments of this disclosure, both the lead screw 410 and the motor 310 extend along the longitudinal direction Y. Part of the projection of the lead screw 410 in the direction from the second axis K2 to the first axis K1 falls on the motor 310, which reduces the length of the drive mechanism 300 in the longitudinal direction Y. This avoids the situation where the drive mechanism 300 is too long in the longitudinal direction Y, causing the rotating housing 200 to extend in the longitudinal direction Y, increasing the ineffective length of the sleeve assembly 500, reducing the strength of the sleeve assembly 500, or, with the total length of the sleeve assembly 500 remaining unchanged, causing the length of the part of the sleeve assembly 500 outside the rotating housing 200 to decrease, which is not conducive to reaching the deep surgical area.

[0089] Since the sleeve assembly 500 is partially located inside the rotating housing 200, and the sleeve assembly 500 and the rotating housing 200 are coaxially arranged, a roughly annular space is formed inside the rotating housing 200, and the drive mechanism 300 is disposed within the aforementioned annular space. The first axis K1 and the second axis K2 are both arranged along the circumferential direction of the sleeve assembly 500, ensuring a reasonable layout of the drive mechanism 300 within the aforementioned annular space. This avoids interference between the drive mechanism 300 and the sleeve assembly 500 or the rotating housing 200, or the need to increase the outer diameter of the rotating housing 200. The arrangement of the first axis K1 and the second axis K2 along the circumferential direction of the sleeve assembly 500 means that both the first axis K1 and the second axis K2 are located within the aforementioned annular space, and both the first axis K1 and the second axis K2 are located in the circumferential direction of the sleeve assembly 500.

[0090] For example, the outer diameter of the sleeve 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.

[0091] 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 arrangement of the motor 310 and the lead screw 410 within the aforementioned annular space more reasonable.

[0092] The cross-section of nut 420 is approximately elongated. For example, as... Figure 10 and Figure 11 As shown, the length direction of the nut 420 is generally arranged along the vertical direction Z. The nut 420 has the longest extension distance in the aforementioned length direction. This arrangement makes the elongated shape of the nut 420 generally arranged in the vertical direction, thereby reducing the space occupied by the nut 420 in the horizontal direction X, and further reducing the space occupied by the drive mechanism 300 in the horizontal direction X, so as to avoid interference between the drive mechanism 300 and the rotating housing 200, or the need to increase the outer diameter of the rotating housing 200.

[0093] For example, in the vertical direction Z, part of the nut 420 overlaps with the sleeve assembly 500 and part overlaps with the motor 310. In other words, part of the projection of the nut 420 in the horizontal direction X falls on the sleeve assembly 500 and part falls on the motor 310. The above arrangement reduces the length of the drive mechanism 300 and the sleeve assembly 500 in the vertical direction Z, and optimizes the layout of the drive mechanism 300 and the sleeve assembly 500 within the rotating housing 200, so as to avoid interference between the drive mechanism 300 and the rotating housing 200, or the need to increase the outer diameter of the rotating housing 200.

[0094] In one embodiment, such as Figure 5and Figure 6 As shown, the transmission component 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 mesh to make the motor 310 and the lead screw 410 drive each other. When the motor 310 rotates, it drives the lead screw 410 to rotate through the first gear 321 and the second gear 322.

[0095] The motor 310 includes a motor body 311 and a gearbox 312. The motor body 311 is connected to the gearbox 312, and a first gear 321 is connected to the gearbox 312. In one embodiment, the motor body 311 is connected to the first gear 321, and a second gear 322 is connected to the gearbox 312. The output shaft of the gearbox 312 is connected to a lead screw 410. The output shaft of the motor body 311 rotates at a relatively high speed, causing the first gear 321 to rotate at a relatively high speed, which in turn causes the second gear 322 to rotate at a relatively high speed. This results in poor transmission stability and generates significant noise. In this disclosure, the first gear 321 is connected to the output shaft of the gearbox 312. The rotational speeds of the first gear 321 and the second gear 322 are lower, resulting in better transmission stability and less noise.

[0096] like Figure 9 As shown, the first gear 321 and the second gear 322 are housed within the aforementioned rotating housing 200 and are located between the rotating housing 200 and the portion of the sleeve assembly 500 housed within the rotating housing 200. For example, the plane containing the first gear 321 and the second gear 322 is a first plane. Figure 9 The cross-section of the surgical instrument is a first plane. Within this first plane, the rotating housing 200 and the sleeve assembly 500 generally form an annular surface. Due to the limited size of this annular surface, if the area occupied by the first gear 321 and the second gear 322 within the annular surface is large, interference between the first gear 321 or the second gear 322 and the rotating housing 200 or the sleeve assembly 500 is likely to occur. For example, in the embodiments of this 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, making the area occupied by the first gear 321 and the second gear 322 within the annular surface smaller. This avoids interference between the transmission component 320 and the sleeve or rotating housing 200, or the need to increase the outer diameter of the rotating housing 200.

[0097] 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 plane, the smaller the reason is as follows:

[0098] When the outer diameter of the first gear 321 is equal to the outer diameter of the second gear 322, 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 in the first plane is also πr 2 , then the area occupied by the first gear 321 and the second gear 322 in the first plane, that is, the sum of the areas of the first gear 321 and the second gear 322, is 2πr 2 .

[0099] 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, and 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, that is, the sum of the areas of the first gear 321 and the second gear 322, is 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 2 more. 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 (that is, when 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.

[0100] 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 makes the transmission member 320 better able to be accommodated in the above-mentioned annular surface.

[0101] For example, as Figure 9As shown, the lead screw 410 is arranged on the driving mechanism 300 close to the push rod 530. Thus, compared with the output shaft 312 of the motor 310, the lead screw 410 is closer to the push rod 530. When the motor 310 and the lead screw 410 are arranged along the circumference of the sleeve assembly 500, the lead screw 410 is closer to the push rod 530, which can improve the stability of the lead screw 410 driving the push rod 530.

[0102] 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 lead screw-nut structure 400 driving the push rod 530 to move. In this process, as shown in Figure 12 As shown, the nut 420 is subjected to the driving force applied by the lead screw 410 along the second axis K2, and the nut 420 is also subjected to the resistance to the movement of the push rod 530 along the third axis K3, which is opposite to the direction of the driving force and tends to make the nut 420 rotate. The greater the tendency of the nut 420 to rotate, the more likely the nut 420 is to be tilted or deformed, which leads to the instability of the movement of the push rod 530.

[0103] 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, and thus the nut 420 is less likely to be tilted or deformed, and the movement of the push rod 530 is more stable.

[0104] For example, as shown in Figure 9 As shown, the outer diameter of the second gear 322 is smaller than the outer diameter of the first gear 321, so as to reduce the distance between the second axis K2 and the third axis K3. The push rod 530 is arranged on the outer wall of the inner sleeve 510, and 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, and in order to avoid the 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 is greater than or equal to the radius of the second gear 322. When the outer diameter of the second gear 322 is smaller than the outer diameter of the first gear 321, the radius of the second gear 322 is smaller, i.e., the distance between the lead screw 410 and the outer wall of the inner sleeve 510 can be smaller, so that the distance between the second axis K2 and the third axis K3 is smaller, and thus the driving mechanism 300 can more stably drive the push rod 530 to move. For example, the difference between the outer diameters of the first gear 321 and the second gear 322 is greater than 0 and less than or equal to 3.5 mm.

[0105] For example, the second gear 322 has a part located in the exposed slot 521 and separated from the inner sleeve 510, where the separation means that the second gear 322 does not contact the inner sleeve 510 to avoid interference between the second gear 322 and the inner sleeve 510 when the second gear 322 rotates. The second gear 322 has a part entering the exposed slot 521, which can make the distance between the second axis K2 and the outer wall of the inner sleeve 510 closer, and further make the distance between the second axis K2 and the push rod 530 closer, and make the distance between the second axis K2 and the third axis K3 smaller, so that the driving mechanism 300 can more stably drive the push rod 530 to move.

[0106] As shown in Figure 13 and Figure 14 The lead screw nut structure 400 further includes 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 lead screw 410 penetrates through the first through hole 431, so that one end of the lead screw 410 is rotatably arranged in the first plate body 430. The lead screw 410 enters between the first plate body 430 and the second plate body 440, and the part of the nut 420 cooperating with the lead 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 lead screw 410 in the radial direction to avoid the movement of the lead screw 410 in the radial direction, so as to avoid the lead screw 410 from shaking in the radial direction when rotating, thereby improving the stability of the movement of the lead screw nut structure 400. For example, the proximal end of the lead screw 410 is rotatably connected to the second plate body 440, or there is a certain gap between the proximal end of the lead screw 410 and the second plate body 440.

[0107] 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 to limit the rotation of the nut 420 around the second axis K2. When the rotating lead screw 410 drives the nut 420 to move, the nut 420 has a tendency to rotate synchronously with the lead screw 410, so that the lead 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 lead screw 410 can stably drive the nut 420 to move.

[0108] For example, the lead screw nut structure 400 includes two fixed posts 450 as described above. The nut 420 has two nut through holes 421. One fixed post 450 passes through one nut through hole 421, and the other fixed post 450 passes through the other nut through hole 421. One nut through hole 421 is located on one side of the lead screw 410, and the other nut through hole 421 is located on the other side of the lead screw 410. Both fixed posts 450 are arranged along the second axis K2 to guide the nut 420 to move along the second axis K2, thereby improving the stability of the nut 420's movement. For example, the two nut through holes 421 are symmetrically arranged with respect to the second axis K2, so that the two fixed posts 450 are also symmetrically arranged with respect to the second axis K2. This means that the force generated by the mutual abutment between one fixed post 450 and the nut through hole 421 is symmetrical with respect to the second axis K2 as the force generated by the mutual abutment between the other fixed post 450 and the nut through hole 421, making the movement of the nut 420 more stable.

[0109] For example, such as Figures 13 to 17 As shown, the lead screw nut structure 400 also includes a first axial limiting component 710 and a second axial limiting component 720. Both the first axial limiting component 710 and the second axial limiting component 720 are connected to the lead screw 410. The first axial limiting component 710 is disposed on one side of the first plate 430, and the second axial limiting component 720 is disposed on the other side of the first plate 430. For example, the first axial limiting component 710 is disposed on the first side of the first plate 430, and the second axial limiting component 720 is disposed on the second side of the first plate 430. The first side is one side in the thickness direction of the first plate 430, and the second side is the other side in the thickness direction of the first plate 430. Both the first axial limiting component 710 and the second axial limiting component 720 protrude radially along the lead screw 410. The first axial limiting component 710 abuts against the first side of the first plate 430 to restrict the lead screw 410 from moving to the second side along the axial direction. The second axial limiting component 720 abuts against the second side of the first plate 430 to restrict the lead screw 410 from moving to the first side along the axial direction. The first axial limiting component 710 and the second axial limiting component 720 restrict the lead screw 410 from moving to the first and second sides along the axial direction, that is, restrict the lead screw 410 from moving in the axial direction. At the same time, the first through hole 431 restricts the movement of the lead screw 410 in the radial direction, so that the lead screw 410 can only rotate around the second axis K2 to drive the nut 420 to move.

[0110] For example, one of the first axial limiting assembly 710 and the second axial limiting assembly 720 comprises the fixing part 730, and the other comprises the clutch structure 740. The fixing part 730 is connected to the lead screw 410, for example, the fixing part 730 is fixedly connected to the lead screw 410 or is integrally formed with the lead screw 410, and the clutch structure 740 is detachably connected to the lead screw 410. For another example, the first axial limiting assembly 710 and the second axial limiting assembly 720 both comprise the clutch structure 740.

[0111] For example, the fixing part 730 is fixedly connected to the lead screw 410 or is integrally formed with the lead screw 410, for example, the fixing part 730 is protrudingly arranged along the radial direction of the lead screw 410, so that the fixing part 730 can be stopped by the first plate body 430, thereby limiting the movement of the lead screw 410 along the second axis K2. For example, the fixing part 730 is annularly arranged, the fixing part 730 is coaxially arranged with the lead screw 410, and the outer diameter of the fixing part 730 is greater than the inner diameter of the first through hole 431.

[0112] The clutch structure 740 comprises a mounting groove 741 and a matching part 743. The mounting groove 741 is formed in 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.

[0113] For example, the mounting groove 741 is an annular groove formed along 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 portion 746, and a mounting opening 747. The matching surface 745 forms the hollow portion 746, the mounting opening 747 is connected with the hollow portion 746, the hollow portion 746 is generally circularly arranged, and the mounting opening 747 has an inner opening close to the hollow portion 746 and an outer opening away from the hollow portion 746. The width of the outer opening is greater than that of the inner opening, so that the mounting opening 747 is generally trapezoidal.

[0114] In the installation of the elastic piece 744, the outer side opening is aligned with the installation section 742, and the elastic piece 744 is moved along the radial direction of the installation section 742, the installation section 742 enters the installation opening 747 from the outer side opening, the outer diameter of the installation section 742 is larger than the inner side opening, the installation section 742 deforms the elastic piece 744 when moving from the outer side opening to the inner side opening, increases the width of the installation opening 747, until the installation section 742 passes through the inner side opening and enters the hollow portion 746, at this time the installation section 742 is separated from the installation opening 747, the elastic piece 744 resets, the installation section 742 cooperates with the hollow portion 746, and the installation of the elastic piece 744 in the installation groove 741 is completed. At this time, the fitting surface 745 is located in the installation groove 741, one side wall of the installation groove 741 is located on one side of the thickness direction of the fitting surface 745, and the other side wall of the installation groove 741 is located on the other side of the thickness direction of the fitting surface 745, so as to position the elastic piece 744.

[0115] In one embodiment, the fitting part 743 includes an elastic piece 744, and after the elastic piece 744 is installed in the installation groove 741, the elastic piece 744 is used to abut against the first plate body 430.

[0116] In another embodiment, the fitting part 743 includes a stop portion 750 and an elastic piece 744, the stop portion 750 is movably sleeved on the lead screw 410, when the coupling structure 740 is connected with the lead screw 410, the stop portion 750 is used to abut against the first plate body 430, the elastic piece 744 and the installation groove 741 are located on the side away from the first plate body 430, and the elastic piece 744 abuts against the stop portion 750, the elastic piece 744 is positioned by the installation groove 741 and can provide a supporting force to the stop portion 750, so as to avoid the movement of the stop portion 750 along the second axis K2, so that the stop portion 750 can stably abut against the first plate body 430, thereby limiting the movement of the lead screw 410 along the second axis K2. In the installation of the fitting part 743, the stop portion 750 is first sleeved on the proximal end of the lead screw 410, and the stop portion 750 is pushed towards the first plate body 430 until the stop portion 750 abuts against the first plate body 430 and the stop portion 750 is located between the first plate body 430 and the installation groove 741, and then the elastic piece 744 is installed in the installation groove 741 to complete the installation of the fitting part 743.

[0117] For example, the first axial limiting assembly 710 includes a fixed portion 730, the second axial limiting assembly 720 includes a coupling structure 740, and the fitting part 743 includes an elastic piece 744. In the installation of the lead screw 410, the proximal end of the lead screw 410 passes through the first plate body 430, and the lead screw 410 moves proximally until the fixed portion 730 abuts against one side of the first plate body 430, at this time the installation groove 741 is located on the other side of the first plate body 430, the elastic piece 744 is installed in the installation groove 741, and the elastic piece 744 abuts against the first plate body 430.

[0118] For example, the first axial limiting assembly 710 includes a fixing part 730, the second axial limiting assembly 720 includes a clutch structure 740, and the mating part 743 includes a stop part 750 and a spring piece 744. When installing the lead screw 410, the proximal end of the lead screw 410 passes through the first plate 430, and the stop part 750 is looped around the lead screw 410 from the proximal end of the lead screw 410. The lead screw 410 moves proximally until the fixing part 730 abuts against one side of the first plate 430, and moves distally until it abuts against the other side of the first plate 430. At this time, the mounting groove 741 is located proximally to the stop part 750, and the spring piece 744 is installed in the mounting groove 741, with the spring piece 744 abutting against the stop part 750.

[0119] For example, the first axial limiting component 710 includes a first clutch structure, and the second axial limiting component 720 includes a second clutch structure. Both the first clutch structure and the second clutch structure are the same as the clutch structure 740 described above. For example, the lead screw 410 passes through the first plate 430 until the mounting groove 741 of the first clutch structure is located on one side of the first plate 430 and the mounting groove 741 of the second clutch structure is located on the other side of the first plate 430. The mating part 743 of the first clutch structure and the second clutch structure is mated with the mounting groove 741 to complete the installation of the first clutch structure and the second clutch structure.

[0120] For example, such as Figure 18 and Figure 19 As shown, the rotating housing 200 includes a first positioning structure 810, which is connected to the first plate 430. The first positioning structure 810 is used to improve the stability of the first plate 430 and to connect the first plate 430 to the rotating housing 200.

[0121] For example, the first positioning structure 810 includes two first positioning parts 811, which protrude from the inner wall of the rotating housing 200. A first positioning groove 812 is formed between the two first positioning parts 811. The first plate 430 is received in the first positioning groove 812, and both first positioning parts 811 abut against the first plate 430 to position the first plate 430 and fix the first plate 430 to the rotating housing 200. For example, both first positioning parts 811 include protrusions 8111 protruding from the inner wall of the rotating housing 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 430, and the other first protrusion 8111 is located on the other side of the first plate 430, so as to clamp the first plate 430 between the two first protrusions 8111. For example, the first positioning groove 812 is formed between the two first protrusions 8111, and the first positioning groove 812 clamps the first plate 430.

[0122] When the motor 310 drives the screw rod 410 to rotate, the screw rod 410 tends to move along the second axis K2, and the screw rod 410 abuts against the first plate body 430 and applies a force to the first plate body 430 through the first axial limiting assembly 710 or the second axial limiting assembly 720, so that the first plate body 430 tends to move and tilt. If the first plate body 430 moves and tilts, the axis of the screw rod 410 will move or deviate, which will change the movement direction of the nut 420 and cause unstable movement or even transmission failure. The first plate body 430 is limited and supported by the first positioning groove 812, and the first positioning portion 811 provides a support force to the first plate body 430 to prevent the first plate body 430 from moving or deviating.

[0123] In another embodiment, the screw rod nut structure 400 further comprises a connecting portion 460 connected to the first plate body 430 at one end and connected to the second plate body 440 at the other end. 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. Since the first plate body 430, the second plate body 440 and the connecting portion 460 are integrated, the force applied by the screw rod 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 support force to the plate body member 490 to improve the stability of the first plate body 430.

[0124] 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 support force to the second plate body 440 and further provide a support force to the plate body member 490 to improve the stability of the first plate body 440.

[0125] In one embodiment, the second positioning structure 820 is connected with the second plate body 440, for example, the second positioning structure 820 includes the two second positioning portions 821 described above, the two second positioning portions 821 form the second positioning slot 822 therebetween, the second plate body 440 is accommodated in the second positioning slot 822, and the two second positioning portions 821 are both in abutment with the second plate body 440, the second plate body 440 is limited and supported by the second positioning slot 822, and the second positioning portions 821 provide support force to the second plate body 440, for example, the two second positioning portions 820 each include the second protrusion 8211 protruding from the inner wall of the rotating shell 200. The second protrusion 8211 is generally plate-shaped, one of the first protrusions 8211 is located on one side of the second plate body 440, and the other second protrusion 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, the two second protrusions 8211 form the second positioning slot 822 described above, and the second positioning slot 822 clamps the second plate body 440.

[0126] The direction in which the second positioning portion 820 abuts against the second plate body 440 is parallel to the axis direction of the lead screw 410, so the action force applied by the lead screw 410 to the first plate body 430 is counteracted by the support force provided by the second positioning portion 821 to the plate body member 490, so that the first plate body 430 is less likely to tilt, thereby improving the stability of the movement of the lead screw 410 and the nut 420.

[0127] In one embodiment, the first positioning structure 810 and the second positioning structure 820 jointly connect the plate body member 490 to the rotating shell 200, so that the plate body member 490 can rotate with the rotating shell 200. This can further improve the stability of the movement of the lead screw 410 and the nut 420.

[0128] For example, the rotating shell 200 further includes a third positioning structure 830, the third positioning structure 830 includes a plurality of third positioning portions 831, the third positioning portions 831 are arranged along the transverse direction X, a part of the third positioning portions 831 are located on one side of the plate body member 490 in the transverse direction X, and the other part of the third positioning portions 831 are located on the other side of the plate body member 490 in the transverse direction X, so as to limit the movement of the plate body member 490 in the transverse direction X. For example, the third positioning portion 831 includes the right limiting portion 8311 and the two left limiting portions 8312, the right limiting portion 8311 abuts against the connecting portion 460, one of the left limiting portions 8312 abuts against the first plate body 430, and the other left limiting portion 8312 abuts against the second plate body 440. The third positioning structure 830 limits the movement of the plate body member 490 in the transverse direction X, so as to avoid the plate body member 490 from deviating in the transverse direction X when the rotating shell 200 rotates.

[0129] For example, as shown in FIG. 6, the third positioning structure 830 includes the right limiting portion 8311 and the two left limiting portions 8312, the right limiting portion 8311 abuts against the connecting portion 460, one of the left limiting portions 8312 abuts against the first plate body 430, and the other left limiting portion 8312 abuts against the second plate body 440. Figure 20As shown, the lead screw nut structure 400 also includes a protrusion 441, which is connected to the first plate 430 and / or the second plate 440. For example, the protrusion 441 is connected to the second plate 441. The sleeve assembly 500 includes a insertion groove 514, in which the protrusion 441 is embedded, so that the plate member 490 is connected to the sleeve assembly 500. For example, the protrusion 441 is inserted into the insertion groove 514 in the radial direction. One sidewall of the insertion groove 514 is located on one side of the protrusion 441 in the longitudinal direction Y, and the other sidewall is located on the other side of the protrusion 441 in the longitudinal direction Y. When the plate member 490 is subjected to a force from the lead screw 410 along the second axis K2, i.e., a force along the longitudinal direction Y, the groove wall of the insertion slot 514 provides a support force along the longitudinal direction Y to the second plate 440, thereby improving the stability of the plate member 490, making the first plate 430 less prone to tilting, and improving the stability of the nut 420's movement. For example, the insertion slot 514 is formed in the portion of the inner sleeve 510 located within the exposed groove 521. For example, the protrusion 441 can also be connected to the first plate 430, or there can be two protrusions 441, one connected to the first plate 430 and the other connected to the second plate 440.

[0130] like Figure 21 As shown, the lead screw nut structure 400 also includes a connector 470. One end of the connector 470 is connected to the nut 420, and the other end is connected to the proximal end of the push rod 530. The nut 420 drives the push rod 530 to move through the connector 470.

[0131] In one embodiment, the connecting member 470 is detachably connected with the nut 420, and the lead 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 lead screw 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. 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 reset mechanism, and the reset mechanism comprises a resilient assembly. When the jaw assembly 600 is in the straight punching state, the resilient assembly is in a released state, and when the jaw assembly 600 is in the bent punching state, the resilient assembly is in a compressed 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.

[0132] For example, the surgical instrument further comprises a disassembly tool (not shown in the figure), and when it is necessary to release the connection of the nut 420 with the push rod 530, the user can use the disassembly 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.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] For example, the rotating shell 200 includes a first fastener 480, the first fastener 480 is connected with the nut 420, and the nut 420 is connected with the push rod 530. Figures 23 to 25As shown, the nut 420 includes 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, and 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, and 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 includes 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 include 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.

[0137] 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.

[0138] 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 first fixing member 480 arranged on the second axial side 424 cannot be disassembled by the screwdriver.

[0139] 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.

[0140] 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.

[0141] 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.

[0142] 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 mechanism.

[0143] 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.

[0144] 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 cooperation 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 cooperation 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.

[0145] 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.

[0146] 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.

[0147] 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.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] 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 trajectory 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.

[0153] 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.

[0154] 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.

[0155] 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 utility model relates to a surgical stapling instrument, comprising: a handle; a rotating housing rotatably connected to the handle; a sleeve assembly connected to the handle at a proximal end and coaxially arranged with the rotating housing, the sleeve assembly having a portion housed in the rotating housing; 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 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 housed in the rotating housing, the drive mechanism configured to drive proximal or distal movement of the push rod; 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 connected to the lead screw, the nut connected to the proximal end of the push rod, the lead screw being driven to rotate by the motor in response to rotation of the motor, the rotating lead screw driving proximal or distal movement of the nut to drive proximal or distal movement of the push rod; the motor arranged along a first axis, the lead screw arranged along a second axis, the first axis parallel to the second axis, a projection of the lead screw in a direction from the second axis to the first axis at least partially falling on the motor, the first axis and the second axis both arranged around a circumference of the sleeve assembly.

2. The surgical instrument of claim 1, wherein, an outer diameter of the sleeve assembly is greater than or equal to 8.5 mm and less than or equal to 15 mm, and an inner diameter of the rotating housing is greater than or equal to 36 mm and less than or equal to 48 mm.

3. The surgical instrument of claim 1, wherein, the sleeve assembly arranged along a central axis, a distance between the first axis and the central axis is greater than or equal to 10 mm and less than or equal to 16 mm, and a distance between the second axis and the central axis is greater than or equal to 9.5 mm and less than or equal to 16 mm.

4. The surgical instrument of claim 1, wherein, a length direction of the nut is arranged in a substantially vertical direction.

5. The surgical instrument of claim 1, wherein, a portion of the nut overlaps with the sleeve assembly and a portion of the nut overlaps with the motor in the vertical direction.

6. The surgical instrument of claim 1, wherein, the drive mechanism further comprising a transmission member, the motor connected to the lead screw through the transmission member, the transmission member comprising a first gear connected to the motor and a second gear connected to the lead screw, the first gear engaged with the second gear.

7. The surgical instrument of claim 6, wherein, a difference between an outer diameter of the first gear and an outer diameter of the second gear is greater than or equal to -3.5 mm and less than or equal to 3.5 mm.

8. The surgical instrument of claim 7, wherein, the outer diameter of the first gear is equal to the outer diameter of the second gear.

9. The surgical instrument of claim 7, wherein, the outer diameter of the second gear is smaller than the outer diameter of the first gear.

10. The surgical instrument of claim 6, wherein, the sleeve assembly comprising an inner sleeve and an outer sleeve arranged around the inner sleeve, the outer sleeve having an exposed slot, at least a portion of the inner sleeve exposed by the exposed slot, the proximal end of the push rod arranged at the exposed portion of the inner sleeve, the second gear having a portion located in the exposed slot and spaced apart from the inner sleeve by a certain distance.

11. The surgical instrument of claim 1, wherein, the lead screw arranged on a side of the drive mechanism close to the push rod.

12. The surgical instrument of claim 1, wherein, The screw nut structure further comprises a first plate body, a second plate body, a fixing column connected between the first plate body and the second plate body; one end of the screw is rotatably arranged on the first plate body, and the part of the screw matched with the nut is located between the first plate body and the second plate body, and the nut is located between the first plate body and the second plate body and matched with the screw; the fixing column penetrates the nut to limit the rotation of the nut around the second axis.

13. The surgical instrument of claim 12, wherein, The screw nut structure further comprises a first axial limiting component and a second axial limiting component connected to the screw, the first axial limiting component is arranged on one side of the first plate body and configured to abut against the first plate body, and the second axial limiting component is arranged on the other side of the first plate body and configured to abut against the first plate body to limit the movement of the screw along the second axis.

14. The surgical instrument of claim 13, wherein, One of the first axial limiting component and the second axial limiting component comprises a fixed part, and the other comprises a clutch structure, the fixed part is connected to the screw, and the clutch structure is detachably connected to the screw.

15. The surgical instrument of claim 13, wherein, Both the first axial limiting component and the second axial limiting component comprise a clutch structure, and the clutch structure is detachably connected to the screw.

16. The surgical instrument of claim 14 or 15, wherein, The clutch structure comprises a mounting groove and a matching part, the mounting groove is opened on the screw, and the matching part is detachably connected with the mounting groove, when the matching part is matched with the mounting groove, the matching part is configured to abut against the first plate body.

17. The surgical instrument of claim 16, wherein, The matching part comprises a spring piece, a groove bottom of the mounting groove forms a mounting section, and the spring piece is clamped into the mounting section to connect the matching part with the mounting groove.

18. The surgical instrument of claim 17, wherein, The matching part further comprises a stop part, the stop part is sleeved on the screw, when the clutch structure is mounted on the screw, the stop part is located between the first plate body and the spring piece, one side of the stop part is configured to abut against the first plate body, and the other side is configured to abut against the spring piece.

19. The surgical instrument of claim 14, wherein, The fixed part is fixedly connected with the screw or integrally formed with the screw, the fixed part is protrusively arranged along the radial direction of the screw, and the fixed part is configured to abut against the first plate body.

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