Surgical instrument

Abstract

The surgical instrument is provided with the steering driving assembly capable of driving the end actuator to steer, the steering driving assembly comprises a rotating mechanism with a first thread and a moving mechanism with a second thread, and the lead angle of the first thread is smaller than the static friction angle when the second thread is matched with the first thread, namely, the lead angle of the second thread is smaller than the static friction angle when the second thread is matched with the first thread. Self-locking can be achieved through cooperation of the first thread and the second thread, and when a user needs to adjust the angle of the end actuator, the user can rotate the rotating mechanism so that the steering module can rotate relative to the extending module; when the end actuator is adjusted in place, a user does not apply external force to the rotating mechanism any more, the steering module can stop at the angle after adjustment in place under the action of the self-locking characteristic of the first thread and the second thread, and therefore the surgical instrument is easy to operate and convenient to use.

Description

Technical Field

[0001] This disclosure relates to a surgical instrument. Background Technology

[0002] During surgical procedures, surgical instruments are used to perform surgical operations. For example, some surgical instruments include an end effector, a main body assembly, and an operating component. The end effector is connected to the distal end of the main body assembly. During surgery, the end effector is inserted into the patient's body, and the operation of the end effector is controlled by the operating component to perform the surgical operation. Summary of the Invention

[0003] In view of the shortcomings of the prior art, this disclosure aims to provide a surgical instrument.

[0004] This disclosure is achieved through the following technical solution:

[0005] A surgical instrument includes a fixation component, a body component, an end effector, and a steering drive component;

[0006] The main component includes a steering module and an extension module. The steering module is rotatably connected to the extension module. The steering module is configured to rotate relative to the extension module about a first rotation axis. The extension module is connected to the fixed component.

[0007] The end effector is connected to the steering module;

[0008] The steering drive assembly includes a rotation mechanism and a movement mechanism;

[0009] The rotating mechanism is rotatably connected to the fixed assembly, the rotating mechanism has a first thread, and the extension direction of the rotation axis of the rotating mechanism is parallel to the axial direction of the extension module.

[0010] The moving mechanism is configured to move relative to the fixed assembly along the axial direction of the extension module. The moving mechanism has a second thread that is drivably engaged with the first thread. The second thread is configured to couple with the first thread when the first thread stops rotating to keep the first thread in a stopped state, and is configured to decouple from the first thread when the first thread rotates to allow rotation of the first thread. Furthermore, the moving mechanism is rotatably connected to the steering module, which is configured to rotate relative to the moving mechanism about a second rotation axis that is parallel to and offset from the first rotation axis.

[0011] In response to the rotation mechanism rotating in a first rotation direction, the first thread and the second thread are decoupled, and the first thread rotates relative to the second thread in the first rotation direction to drive the moving mechanism to move distally along the axial direction of the extension module, thereby driving the steering module to rotate about the first rotation axis in a first swing direction; in response to the rotation mechanism rotating in a second rotation direction opposite to the first rotation direction, the first thread and the second thread are decoupled, and the first thread rotates relative to the second thread in the second rotation direction to drive the moving mechanism to move proximally along the axial direction of the extension module, thereby driving the steering module to rotate about the first rotation axis in a second swing direction opposite to the first swing direction; in response to the rotation mechanism stopping rotating, the second thread is coupled to the first thread to prevent the rotation mechanism from rotating relative to the moving mechanism.

[0012] For example, the lead angle of the first thread is smaller than the static friction angle when the second thread mates with the first thread.

[0013] For example, the rotating mechanism is configured to rotate only relative to the fixed component, and the moving mechanism is configured to move only along the axial direction of the extension module.

[0014] For example, the fixing component includes a frame and a bearing, the rotating mechanism includes a first rotating member having the first thread, the bearing includes a first ring portion and a second ring portion that are concentrically arranged and rotatable relative to each other, the first rotating member is connected to the first ring portion, and the frame is connected to the second ring portion.

[0015] For example, the first rotating member has a first limiting part and a second limiting part arranged sequentially at intervals along the axial direction of the extension module, and the first limiting part and the second limiting part clamp the first ring part on both sides of the first ring part in the axial direction of the extension module.

[0016] And / or,

[0017] The frame has a connecting part that is interference-fitted with the second ring part.

[0018] For example, the rotating mechanism is coaxially arranged with the extension module, and the main body component passes through the rotating mechanism.

[0019] For example, the fixing assembly includes an interconnected frame and a first stop member, the central axis of the first stop member coinciding with the rotation axis of the rotating mechanism; one of the first stop member and the rotating mechanism is provided with a first stop portion in its circumferential direction, the first stop portion having a plurality of first stop slots, and a first protrusion between two adjacent first stop slots; the first stop member and the other of the rotating mechanism are connected by a first mating pin, the first mating pin being configured to extend and retract radially in the rotating mechanism;

[0020] In its initial state, the first mating pin is accommodated in one of the first gear slots;

[0021] In response to the rotation of the rotating mechanism, the first mating pin rotates relative to the first gear position, and the first protrusion abuts against the first mating pin, causing the first mating pin to retract and disengage from the first gear position slot in its initial state; in response to the continued rotation of the rotating mechanism, the first mating pin disengages from the first protrusion and extends to enter the adjacent first gear position slot.

[0022] For example, the moving mechanism includes a movable member and a connecting rod connected to each other, the movable member having the second thread, the movable member being configured to move axially along the extension module when the rotating mechanism rotates, the connecting rod extending axially along the extension module, and the distal end of the connecting rod being rotatably connected to the steering module.

[0023] For example, the rotation axis of the rotating mechanism coincides with the central axis of the moving member, and the main body component passes through the moving member and the rotating mechanism.

[0024] For example, one of the moving member and the fixed component has a first guide structure and the other has a second guide structure, at least one of the first guide structure and the second guide structure extends along the axial direction of the extension module, and the first guide structure and the second guide structure cooperate to make the moving member move only along the axial direction of the extension module.

[0025] For example, the steering module has a first limiting structure, the extension module has a second limiting structure, and the steering module has a deflection stop position;

[0026] In response to the steering module rotating to the point where the first limiting structure abuts against the second limiting structure, the steering module is located at the deflection stop position.

[0027] For example, the surgical instrument further includes a rotary drive assembly, which includes a second rotating member and a connecting member. The connecting member is connected to the second rotating member and to the main body assembly, and the rotation axis of the second rotating member extends along the axial direction of the extension module.

[0028] In response to the rotation of the second rotating member, the second rotating member drives the main body assembly to rotate about the axial direction of the extension module via the connecting member.

[0029] For example, the fixing assembly includes an interconnected frame and a second stop member, the central axis of the second stop member coinciding with the rotation axis of the second rotating member; one of the second stop member and the second rotating member is provided with a second stop portion in its circumferential direction, the second stop portion having a plurality of second stop grooves, and a second protrusion between two adjacent second stop grooves; the second stop member and the other of the second rotating members are connected by a second mating pin, the second mating pin being configured to extend and retract radially in the second rotating member;

[0030] In its initial state, the second mating pin is accommodated in one of the second gear slots;

[0031] In response to the rotation of the second rotating member, the second mating pin rotates relative to the second gear position, and the second protrusion abuts against the second mating pin, causing the second mating pin to retract and disengage from the second gear position slot in its initial state; in response to the continued rotation of the second rotating member, the second mating pin disengages from the second protrusion and extends to enter the adjacent second gear position slot.

[0032] For example, the main component also includes a clamping mechanism;

[0033] The clamping mechanism includes a first sleeve and a second sleeve, the first sleeve being rotatably connected to the second sleeve, the steering module being housed in the first sleeve, the extension module being housed in the second sleeve, and the second sleeve being movably connected to the fixing component.

[0034] The end effector includes a first clamping arm and a second clamping arm, both of which are movably connected to the steering module;

[0035] In response to the clamping mechanism moving distally along the axial direction of the extension module, the second sleeve causes the first clamp arm and the second clamp arm to move closer to each other, thereby causing the clamp between the first clamp arm and the second clamp arm to close.

[0036] For example, the main body component also includes a clamping mechanism, which is movably connected to the fixing component and accommodated in the second sleeve and the first sleeve. The clamping mechanism includes a deformation part and a clamping part. The deformation part extends from the second sleeve to the first sleeve. The deformation part is configured to adapt to the angle of the steering module relative to the extension module. The clamping part is connected to the distal end of the deformation part.

[0037] In response to the clamping mechanism moving distally along the axial direction of the extension module, the clamping part pushes the clamp distally until the clamp enters between the first clamping arm and the second clamping arm. Attached Figure Description

[0038] Figure 1 A three-dimensional schematic diagram of a surgical instrument provided in an embodiment of this disclosure;

[0039] Figure 2 for Figure 1 Sectional view of section AA;

[0040] Figure 3 for Figure 1 A three-dimensional schematic diagram of the steering drive assembly of the surgical instrument shown, wherein the operating element of the rotating mechanism is not shown;

[0041] Figure 4 for Figure 1 A partial cross-sectional view of the steering module of the surgical instrument shown in the diagram when it is in the deflection stop position on side A.

[0042] Figure 5 for Figure 1 A partial cross-sectional view of the steering module of the surgical instrument shown in the diagram when it is in the deflection stop position on side B.

[0043] Figure 6 for Figure 1 The diagram shows the coordination between the steering module and the extension module of the surgical instrument when the steering module is in the deflection stop position on side A.

[0044] Figure 7 for Figure 1 The diagram shows the coordination between the steering module and the extension module of the surgical instrument when the steering module is in the deflection stop position on side B.

[0045] Figure 8 for Figure 1 A three-dimensional schematic diagram of a portion of the steering module of the surgical instrument shown.

[0046] Figure 9 for Figure 1 A three-dimensional schematic diagram of a portion of the extension module of the surgical instrument shown.

[0047] Figure 10-A for Figure 1 A three-dimensional schematic diagram of the rotating mechanism of the surgical instrument shown.

[0048] Figure 10-B for Figure 10-A A three-dimensional schematic diagram of the rotating mechanism shown from another angle;

[0049] Figure 11 for Figure 1 A three-dimensional schematic diagram of the moving part of the moving mechanism of the surgical instrument shown.

[0050] Figure 12 for Figure 1 A three-dimensional schematic diagram of the fixation components of the surgical instrument shown;

[0051] Figure 13 for Figure 1 A sectional view of a portion of the surgical instrument shown in section BB;

[0052] Figure 14 for Figure 13 A sectional view of section C-C;

[0053] Figure 15 for Figure 13 Sectional view of section DD;

[0054] Figure 16 for Figure 1 A cross-sectional view of the surgical instruments shown in their initial state;

[0055] Figure 17 for Figure 1 The surgical instrument shown is in a clipping state, where the clip has not yet reached the end effector;

[0056] Figure 18 for Figure 1 The surgical instrument shown is in a clipped state, with the clip already in the end effector.

[0057] Figure 19 for Figure 1 The surgical instrument shown is in a clipped state, where the clip is not yet fully closed.

[0058] Figure 20 for Figure 1 The surgical instrument shown is in a clipped state, where the clip is about to be fully closed.

[0059] Figure 21 for Figure 1 The surgical instrument shown is in a clipped state, where the clip is fully closed.

[0060] Figure 22 for Figure 1 A three-dimensional schematic diagram of the clamping chamber of the surgical instrument shown;

[0061] Figure 23 for Figure 22 A three-dimensional schematic diagram of the clamping chamber from another angle;

[0062] Figure 24 for Figure 22A schematic diagram showing the stacking of clamps in the clamping compartment;

[0063] Figure 25 for Figure 1 A partial cross-sectional view of the surgical instruments shown in their initial state;

[0064] Figure 26 for Figure 1 The surgical instrument shown is a partial cross-sectional view in the clamping state, where the clamp has not yet reached the end effector;

[0065] Figure 27 for Figure 1 A partial cross-sectional view of the surgical instrument shown in the clamping state, where the clamp has reached the end effector;

[0066] Figure 28 for Figure 1 The surgical instrument shown is a partial cross-sectional view in the reset state, where the clip delivery part has exited the clip delivery channel.

[0067] The reference numerals in the above figures are:

[0068] 100-Fixed component, 110-Frame, 111-Connecting part, 120-Bearing, 121-First ring part, 122-Second ring part, 130-First gear position component, 131-First gear position part, 131a-First gear position groove, 131b-First protrusion, 140-Guide groove, 150-Second gear position component, 151-Second gear position part, 151a-Second gear position groove, 151b-Second protrusion;

[0069] 200 - Main component, 210 - Steering module, 211 - First limiting structure, 211a - First limiting structure on side A, 211b - First limiting structure on side B, 212 - Pivot hole, 220 - Extension module, 221 - Second limiting structure, 221a - Second limiting structure on side A, 221b - Second limiting structure on side B, 222 - Pivot shaft, 230 - Feeding mechanism, 231 - Deformation part, 232 - Feeding Clamping part, 233-pushing part, 234-first pushing member, 235-first resetting member, 240-clamping mechanism, 241-first sleeve, 242-second sleeve, 243-pivoting part, 244-second pushing member, 245-second resetting member, 250-clamping chamber, 251-clamp, 251a-first clamp, 252-clamping channel, 252a-inlet, 252b-outlet, 253-biasing member;

[0070] 300 - End effector, 310 - First clamping arm, 320 - Second clamping arm;

[0071] 400-Steering drive assembly, 410-Rotation mechanism, 411-First thread, 412-First rotating element, 412a-First limiting part, 412b-Second limiting part, 412c-First mating pin, 412d-First elastic element, 413-Operating element, 420-Moving mechanism, 421-Second thread, 422-Moving element, 422a-Guide protrusion, 422b-First moving part, 422c-Second moving part, 422d-Mating groove, 422e-Mating edge, 423-Connecting rod;

[0072] 500 - Rotary drive assembly; 510 - Second rotating component; 511 - Second mating pin; 512 - Second elastic component; 520 - Connecting component;

[0073] 600 - Operating component; 610 - Clamping handle; 620 - Clamping handle;

[0074] Z1 - First rotating shaft, Z2 - Second rotating shaft. Detailed Implementation

[0075] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0076] It is important to understand that the terms "proximal," "posterior," "distal," and "anterior" used in this article are relative to the clinician manipulating the handle assembly of the surgical instrument. The terms "proximal" and "posterior" refer to the portion closer to the clinician, while "distal" and "anterior" refer to the portion farther from the clinician. That is, the manipulating component is the proximal end, and the end effector is the distal end. For example, the proximal end of a component refers to the end relatively closer to the manipulating component, while the distal end refers to the end relatively closer to the end effector.

[0077] In this disclosure, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, a movable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, such as contact. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances. It should be noted that when "connected" or "linked" is preceded by a qualifier, it has the meaning defined by that qualifier, excluding only obviously excluding cases, but not other possible cases. For example, "detachable connection" refers to a detachable connection, excluding an integral part, but movable connections are not excluded.

[0078] The term "axial" refers to the length direction of the extension module 220.

[0079] Reference Figures 1 to 5 This disclosure provides a surgical instrument, including a fixation component 100, a main body component 200, an end effector 300, and a steering drive component 400.

[0080] The main component 200 includes a steering module 210 and an extension module 220, wherein the steering module 210 is rotatably connected to the extension module 220, for example, referring to... Figure 8 The steering module 210 has a pivot hole 212, as shown in the reference. Figure 9 The extension module 220 has a pivot shaft 222, which is rotatably inserted into the pivot hole 212 to achieve a rotatable connection between the steering module 210 and the extension module 220; see reference. Figure 3 The steering module 210 is configured to rotate relative to the extension module 220 about the first rotation axis Z1, and the extension module 220 is connected to the fixed component 100.

[0081] Reference Figures 1 to 3 The end effector 300 is connected to the steering module 210;

[0082] Reference Figure 2 and Figure 3 The steering drive assembly 400 includes a rotating mechanism 410 and a moving mechanism 420; the rotating mechanism 410 is rotatably connected to the fixed assembly 100, see reference. Figure 10-A The rotating mechanism 410 has a first thread 411, and the extension direction of the rotation axis of the rotating mechanism 410 is parallel to the axial direction of the extension module 220; the moving mechanism 420 is configured to move relative to the fixed assembly 100 along the axial direction of the extension module 220, as shown in the reference. Figure 11The moving mechanism 420 has a second thread 421 that is drivably engaged with the first thread 411. The second thread 421 is configured to couple with the first thread 411 when the first thread 411 stops rotating so that the first thread 411 remains in a stopped state, and is configured to decouple from the first thread 411 when the first thread 411 rotates so that the first thread 411 can rotate. Thus, the rotation of the rotating mechanism 410 about the axial direction of the extension module 220 can be converted into the movement of the moving mechanism 420 along the axial direction of the extension module 220.

[0083] Furthermore, referring to Figures 3 to 5 The moving mechanism 420 is rotatably connected to the steering module 210. The steering module 210 is configured to rotate relative to the moving mechanism 420 about a second rotation axis Z2. The second rotation axis Z2 is parallel to and offset from the first rotation axis Z1. Thus, when the moving mechanism 420 moves in the axial direction of the extension module 220, the moving mechanism 420 can drive the steering module 210 to rotate about the first rotation axis Z1. The rotatable steering module 210 can drive the end effector 300 to rotate.

[0084] Reference Figure 2 and Figure 4 In response to the rotation of the rotating mechanism 410 along the first rotation direction, the first thread 411 and the second thread 421 are decoupled. The first thread 411 rotates relative to the second thread 421 along the first rotation direction to drive the moving mechanism 420 to move distally along the axial direction of the extension module 220, thereby driving the steering module 210 about the first rotation axis Z1 along the first swing direction (i.e. Figure 2 Rotate in the clockwise direction shown; refer to Figure 2 and Figure 5 In response to the rotation mechanism 410 rotating in a second rotation direction opposite to the first rotation direction, the first thread 411 and the second thread 421 are decoupled. The first thread 411 rotates relative to the second thread 421 in the second rotation direction to drive the moving mechanism 420 to move proximally along the axial direction of the extension module 220, thereby driving the steering module 210 about the first rotation axis Z1 in a second swing direction opposite to the first swing direction (i.e., Figure 2 (as shown in the counterclockwise direction); Based on the above, the steering drive assembly 400 can improve the flexibility of surgical instruments, making it easier for the end effector 300 to reach the human tissue to be operated on;

[0085] In response to the rotation mechanism 410 stopping, the second thread 421 couples with the first thread 411 to prevent the rotation mechanism 410 from rotating relative to the moving mechanism 420. For example, the lead angle of the first thread 411 is smaller than the static friction angle when the second thread 421 engages with the first thread 411. That is, the engagement of the first thread 411 and the second thread 421 can achieve self-locking. When the rotation mechanism 410 and the moving mechanism 420 are not subjected to external force, the first thread 411 and the second thread 421 can maintain their original relative positions, thereby keeping the steering module 410 and the extension module 420 at their original relative angles. Thus, when the user needs to adjust the angle of the end effector 300, the user can rotate the rotation mechanism 410 to make the steering module 410 rotate relative to the extension module 420. After the end effector 300 is adjusted to the correct position, the user no longer applies external force to the rotation mechanism 410, and the steering module 410 stops at the adjusted angle under the action of the self-locking characteristic of the first thread 411 and the second thread 421. In summary, the surgical instruments provided in this disclosure are simple to operate and easy to use.

[0086] The rotating mechanism 410 is configured to rotate only relative to the fixed component 100 and cannot move along the axial direction of the extension module 220. The moving mechanism 420 is configured to move only along the axial direction of the extension module 220 and cannot rotate relative to the fixed component 100. Therefore, when the rotating mechanism 410 rotates relative to the fixed component 100, the first thread 411 can smoothly drive the second thread 421 to move along the axial direction of the extension module 200, thereby causing the moving mechanism 420 to move along the axial direction of the extension module 220. (Refer to...) Figure 2 and Figure 12 The fixing component 100 includes a frame 110 and a bearing 120. The rotating mechanism 410 includes a first rotating member 412 with a first thread 411. The bearing 120 includes a first ring portion 121 and a second ring portion 122 that are concentrically arranged and rotatable relative to each other. For example, the bearing 120 can be a rolling bearing such as a deep groove ball bearing. The first rotating member 412 is connected to the first ring portion 121, and the frame 110 is connected to the second ring portion 122. The bearing 120 can avoid friction caused by the rotation of the first rotating member 412 relative to the frame 110, thereby extending the service life of the surgical instruments.

[0087] There are various ways to connect the first rotating component 412 to the bearing 120, for example, referring to Figure 10-B The first rotating member 412 has a first limiting portion 412a and a second limiting portion 412b arranged sequentially at intervals along the axial direction of the extension module 220, as shown in the figure. Figure 2The first limiting part 412a and the second limiting part 412b clamp the first ring part 121 on both sides of the first ring part 121 in the axial direction of the extension module 220. For example, the first limiting part 412a can be configured to be detachably connected to the main body of the first rotating member 412. During installation, the first limiting part 412a is first removed, the first rotating member 412 is inserted into the first ring part 121 so that the second limiting part 412b abuts against one side of the first ring part 121, and then the first limiting part 412a is connected to the main body of the first rotating member 412 so that the first ring part 121 is clamped between the first limiting part 412a and the second limiting part 412b. The above installation process is simple and quick.

[0088] There are various ways to connect the bearing 120 to the frame 110, for example, refer to Figure 12 The frame 110 has a connecting part 111, which is interference-fitted with the second ring part 122. The interference fit connects the bearing 120 and the frame 110, which helps to reduce the number of parts and thus simplify the structure of the surgical instrument.

[0089] Reference Figure 2 The rotating mechanism 410 and the extension module 220 are coaxially arranged, and the main component 200 passes through the rotating mechanism 410. The rotating mechanism 410 surrounds the main component 200 in the circumferential direction. The structural layout is relatively reasonable and convenient for user operation; for example, refer to Figure 1 , Figure 2 , Figure 10-A and Figure 10-B The rotating mechanism 410 includes a first rotating member 412 and an operating member 413. The operating member 413 is connected to the first rotating member 412. The operating member 413 is provided with a groove structure or friction structure in its circumferential direction for the user to contact and apply force. The user can drive the first rotating member 412 to rotate by applying external force to the operating member 413.

[0090] Reference Figure 2 and Figure 12 The fixing assembly 100 includes a frame 110 and a first stop member 130 connected to each other, the central axis of the first stop member 130 coinciding with the rotation axis of the rotation mechanism 410; see reference. Figure 13 and Figure 14 The first gear member 130 has a first gear portion 131 in its circumferential direction. The first gear portion 131 has a plurality of first gear grooves 131a, and a first protrusion 131b is provided between two adjacent first gear grooves 131a. The rotating mechanism 410 is connected to a first mating pin 412c. For example, the first mating pin 412c can be connected to the operating member 413. The first mating pin 412c is configured to extend and retract radially in the rotating mechanism 410. For example, refer to Figure 13 and Figure 14The rotating mechanism 410 is connected to a first elastic element 412d, which is arranged radially along the rotating mechanism 410. The first mating pin 412c is telescopically connected to the rotating mechanism 410 through the first elastic element 412d.

[0091] Reference Figure 14 In its initial state, the first mating pin 412c is accommodated in one of the first gear slots 131a. In response to the rotation of the rotating mechanism 410, the first mating pin 412c rotates relative to the first gear position 131, and the first protrusion 131b abuts against the first mating pin 412c, causing the first mating pin 412c to retract and disengage from the first gear slot 131a in its initial state. In response to the continued rotation of the rotating mechanism 410, the first mating pin 412c disengages from the first protrusion 131b and extends to enter the adjacent first gear slot 131a. During the rotation of the rotating mechanism 410, the engagement between the first mating pin 412c and the first gear position 131 provides force feedback to the user, giving the steering operation a clear feel.

[0092] In other embodiments, the first stop member 130 may be connected to the first mating pin 412c, and the rotating mechanism 410 may have a first stop portion 131.

[0093] Reference Figure 2 and Figure 3 The moving mechanism 420 includes a movable member 422 and a connecting rod 423 connected to each other. The movable member 422 has a second thread 421 and is configured to move axially along the extension module 220 when the rotating mechanism 410 rotates. The connecting rod 423 extends axially along the extension module 220, and its distal end is rotatably connected to the steering module 210. By configuring the moving mechanism 420 into two parts, the movable member 422 with the second thread 421 and the connecting rod 423, the two parts can be machined separately, facilitating manufacturing. Furthermore, the connecting rod 423 can be configured as a slender rod to reduce the space occupied by the moving mechanism 420 while achieving the connection between the movable member 422 and the steering module 210.

[0094] It should be noted that the connecting rod 423 may consist of only a single member. When the connecting rod 423 moves axially along the extension module 220, causing the steering module 410 to rotate, the single member needs to deform to accommodate the angle of the steering module 410. Alternatively, the connecting rod 423 may also consist of multiple members, which are hinged together to improve the lifting effect.

[0095] Reference Figure 2The rotation axis of the rotating mechanism 410 coincides with the central axis of the moving part 422. The main body component 200 passes through the moving part 422 and the rotating mechanism 410, so that the first thread 411 of the rotating mechanism 410 and the second thread 421 of the moving part 422 can form a fit in the circumferential direction of the main body component 200, ensuring the fit range of the first thread 411 and the second thread 421, and making the force on the moving part 422 more uniform.

[0096] One of the movable member 422 and the fixed assembly 100 has a first guide structure and the other has a second guide structure. At least one of the first and second guide structures extends along the axial direction of the extension module 220. The first and second guide structures cooperate to allow the movable member 422 to move only along the axial direction of the extension module 220. For example, the first guide structure is a guide protrusion 422a, and the second guide structure is a guide groove 140, see reference. Figure 11 The movable part 422 has a guide protrusion 422a, as shown in the figure. Figure 12 The fixing component 100 has a guide groove 140, and a guide protrusion 422a is accommodated in the guide groove 140. The guide groove 140 extends along the axial direction of the extension module 220. The cooperation between the guide groove 140 and the guide protrusion 422a restricts the moving member 422 to move only along the axial direction of the extension module 220, so as to avoid the moving member 422 from moving unexpectedly and to ensure the stability of the steering action.

[0097] The steering module 210 has a first limiting structure 211, the extension module 220 has a second limiting structure 221, and the steering module 210 has a deflection stop position. In response to the steering module 210 rotating to the point where the first limiting structure 211 abuts against the second limiting structure 221, the steering module 210 is located at the deflection stop position. The first limiting structure 211 and the second limiting structure 221 can limit the rotation range of the steering module 210 by abutting against each other.

[0098] For example, refer to Figure 8 The steering module 210 has two first limiting structures 211, namely, the first limiting structure 211a on side A and the first limiting structure 211b on side B, as shown in the figure. Figure 9 The extension module 220 has two second limiting structures 221, namely, a second limiting structure 221a on side A and a second limiting structure 221b on side B. (Refer to...) Figure 4 and Figure 6 When the steering module 210 rotates along the first swing direction until the first limiting structure 211a on side A abuts against the second limiting structure 221a on side A, the steering module 210 reaches the deflection stop position on side A; refer to Figure 5 and Figure 7When the steering module 210 rotates along the second swing direction until the first limiting structure 211b on side B abuts against the second limiting structure 221b on side B, the steering module 210 reaches the deflection stop position on side B. The rotatable range of the steering module 210 is limited to the deflection stop position on side A and the deflection stop position on side B.

[0099] Reference Figure 1 , Figure 2 and Figure 13 The surgical instrument also includes a rotary drive assembly 500, which includes a second rotating member 510 and a connecting member 520. The connecting member 520 is connected to the second rotating member 510 and to the main body assembly 200. The rotation axis of the second rotating member 510 extends along the axial direction of the extension module 220. In response to the rotation of the second rotating member 510, the second rotating member 510 drives the main body assembly 200 to rotate about the axial direction of the extension module 220 via the connecting member 520, thereby causing the end effector 300 to rotate about the axial direction of the extension module 220. The rotary drive assembly 500 can further improve the flexibility of the surgical instrument, making it easier for the end effector 300 to reach the human tissue to be operated on.

[0100] Reference Figure 2 and Figure 12 The fixing assembly 100 includes a frame 110 and a second stop member 150 connected to each other, the central axis of the second stop member 150 coinciding with the rotation axis of the second rotating member 510; see reference. Figure 13 and Figure 15 The second gear member 150 has a second gear portion 151 in its circumferential direction. The second gear portion 151 has a plurality of second gear grooves 151a, and a second protrusion 151b is provided between two adjacent second gear grooves 151a. A second mating pin 511 is connected in the second rotating member 510. The second mating pin 511 is configured to extend and retract in the radial direction of the second rotating member 510. For example, the second rotating member 510 is connected to a second elastic member 512. The second elastic member 512 is arranged in the radial direction of the second rotating member 510. The second mating pin 511 is telescopically connected to the second rotating member 510 through the second elastic member 512.

[0101] Reference Figure 15In its initial state, the second mating pin 511 is accommodated in one of the second gear slots 151a. In response to the rotation of the second rotating member 510, the second mating pin 511 rotates relative to the second gear position 151, and the second protrusion 151b abuts against the second mating pin 511, causing the second mating pin 511 to retract and disengage from the second gear slot 151a in its initial state. In response to the continued rotation of the second rotating member 510, the second mating pin 511 disengages from the second protrusion 151b and extends to enter the adjacent second gear slot 151a. During the rotation of the second rotating member 510, the engagement between the second mating pin 511 and the second gear position 151 provides force feedback to the user, giving the steering operation a clear feel.

[0102] In other embodiments, the second stop member 150 may be connected to the second mating pin 511, and the second rotating member 510 may have the second stop portion 151.

[0103] The embodiments disclosed herein can be applied to clamping pliers, see reference. Figures 16 to 21 The main component 200 also includes a clamping mechanism 240. For example, a clamping chamber 250 is installed on the main component 200, and a clamp 251 is stored in the clamping chamber 250. The clamping mechanism 240 includes a first sleeve 241 and a second sleeve 242. The first sleeve 241 is rotatably connected to the second sleeve 242. A steering module 210 is housed in the first sleeve 241, and an extension module 220 is housed in the second sleeve 242. The second sleeve 242 is movably connected to the fixing component 100. The end effector 300 includes a first clamping arm 310 and a second clamping arm 320. Both the first clamping arm 310 and the second clamping arm 320 are movably connected to the steering module 210.

[0104] Reference Figures 18 to 21 In response to the clamping mechanism 240 moving distally along the axial direction of the extension module 220, the second sleeve 242 causes the first clamp arm 310 and the second clamp arm 320 to move closer to each other, thereby causing the clamp 251 between the first clamp arm 310 and the second clamp arm 320 to close, so as to apply the clamp 251 to the blood vessel or tissue.

[0105] For example, refer to Figures 16 to 21 The main component 200 also includes a clamping mechanism 230, which is movably connected to the fixing component 100 and housed within the second sleeve 242 and the first sleeve 241. The clamping mechanism 230 includes a deformation portion 231 and a clamping portion 232. The deformation portion 231 extends from the second sleeve 242 to the first sleeve 241 and is configured to adapt to the angle between the steering module 210 and the extension module 220. The clamping portion 232 is connected to the distal end of the deformation portion 231 and is used to push against the clamp 251. (Refer to...) Figure 4 and Figure 5When the steering module 210 rotates relative to the extension module 220, the clamping part 232 located in the first sleeve 241 rotates together with the steering module 210, causing the deformation part 231 to deform, so as to ensure that the clamping mechanism 230 can still push the clamp 251 into the end actuator 300 after the steering module 210 rotates.

[0106] Reference Figures 16 to 18 In response to the distal movement of the clamping mechanism 230 along the axial direction of the extension module 220, the clamping part 232 pushes the clamp 251 distally until the clamp 251 enters between the first clamp arm 310 and the second clamp arm 320; then, referring to Figures 18 to 21 The clamping mechanism 240 moves to the distal side so that the first clamp arm 310 and the second clamp arm 320 drive the clamp 251 to close.

[0107] For example, refer to Figure 13 When a rotary drive assembly 500 is provided based on an embodiment in which the main component 200 also includes a clamping mechanism 240, the connector 520 is connected to the second rotating component 510 and inserted into the second sleeve 242. When the second rotating component 510 rotates around the axial direction of the extension module 220, the connector 520 drives the second sleeve 242 to rotate, so that the main component 200 as a whole rotates around the axial direction of the extension module 220.

[0108] In some embodiments, refer to Figure 13 The movable component 422 includes a first movable part 422b and a second movable part 422c connected to each other. The first movable part 422b has a second thread 421, and the second movable part 422c is sleeved on the second sleeve 242. The second movable part 422c forms a sliding fit with the second sleeve 242 in the axial direction of the extension module 220, so that the second sleeve 242 can provide a limiting and guiding function for the movable component 422, further improving the stability of the movement of the movable component 422.

[0109] For example, refer to Figure 13The connector 520 passes through the second moving part 422c and is inserted into the second sleeve 242. The first moving part 422b has a mating edge 422e, and the second moving part 422c has a mating groove 422d. The mating edge 422e and the mating groove 422d are in clearance fit. When the rotating mechanism 410 rotates, causing the first moving part 422b to move along the axial direction of the extension module 220, the mating edge 422e and the inner wall of the mating groove 422d form an abutment, so the second moving part 422c moves with the first moving part 422b. When the second rotating member 510 rotates, it drives the connector 520 to rotate. When the connector 520 drives the second moving part 422c and the second sleeve 242 to rotate around the axial direction of the extension module 220, the mating groove 422d rotates relative to the mating edge 422e, so the rotation of the second moving part 422c will not drive the first moving part 422b to rotate. It is understandable that the first moving part 422b could also be configured to have a mating groove 422d and the second moving part 422c to have a mating edge 422e, which would achieve the same effect.

[0110] The following combination Figure 1 , Figures 16 to 28 The specific structure and operation of the clip delivery mechanism 230, clip application mechanism 240, clip chamber 250, and operating component 600 in some embodiments of the surgical instruments provided in this disclosure are described below. It should be noted that the following content is merely illustrative and is not intended to limit the scope of this disclosure.

[0111] Reference Figure 1 The surgical instrument also includes an operating assembly 600, which includes a clip delivery handle 610 and a clip application handle 620. The clip delivery handle 610 is drivably connected to the clip delivery mechanism 230, and the clip application handle 620 is drivably connected to the clip application mechanism 240.

[0112] Reference Figures 16 to 21 The clamping mechanism 230 further includes a first pushing member 234 and a pushing part 233. The first pushing member 234, the pushing part 233, the deformation part 231, and the clamping part 232 are connected sequentially from the proximal side to the distal side. A first reset member 235 is provided between the first pushing member 234 and the fixing assembly 100. When the clamping mechanism 230 moves to the distal side, the first reset member 235 stores energy, and the release of energy by the first reset member 235 can cause the clamping mechanism 230 to move to the proximal side. The clamping mechanism 240 further includes a second pushing member 234. The actuator 244 and the pivot 243 are connected. The first sleeve 241 and the second sleeve 242 are rotatably connected through the pivot 243. The second sleeve 242 is connected to the second pusher 244. The end effector 300 is located at the far end of the first sleeve 241. A second reset member 245 is provided between the second pusher 244 and the fixed assembly 100. When the clamping mechanism 240 moves to the far side, the second reset member 245 stores energy. When the second reset member 245 releases energy, it can make the clamping mechanism 240 move to the proximal side.

[0113] Reference Figures 22 to 28 The clamping chamber 250 has a clamping channel 252, with an inlet 252a and an outlet 252b at opposite ends. The clamping chamber 250 stores a plurality of clamps 251, which are stacked sequentially in a direction perpendicular to the inlet 252a to the outlet 252b, with one clamp 251 located in the clamping channel 252. The clamping chamber 250 is also provided with a biasing member 253, which is configured to apply a force toward the clamping channel 212 to the plurality of clamps 211 in the clamping chamber 250.

[0114] Reference Figure 1 , Figures 16 to 21 The clamping chamber 250 is installed on the first sleeve 241. The inlet 252a of the clamping channel 252 is used for the clamping mechanism 230 to enter, and the outlet 252b is connected to the end actuator 300.

[0115] In the initial state, refer to Figure 16 and Figure 25 One of the clamps 251 in the clamping chamber 250 is located in the clamping channel 252. For ease of description, this clamp 251 is named the first clamp 251a. The clamping part 232 is located at the entrance 252a of the clamping chamber 250.

[0116] Surgical instruments are ready to fire, refer to Figures 16 to 18 , Figures 25 to 27 The clamping handle 610 drives the first pusher 234 to move distally, causing the pusher 233, the deformation part 231, and the clamping part 232 to move distally. The clamping part 232 moves distally along the clamping channel 252 and abuts against the first clamp 251a located in the clamping channel 252. The clamping part 232 continues to move distally so that the first clamp 251a in the clamping channel 252 passes through the outlet 252b and enters the end effector 300; then, referring to... Figures 18 to 21 The clamping handle 620 drives the second pusher 244 to move distally, causing the second sleeve 242 and the first sleeve 241 to move distally. The second sleeve 242 pushes the first sleeve 241 to move distally through the pivot part 243. The first sleeve 241 houses part of the first clamp arm 310 and the second clamp arm 320 inside, so that the first clamp arm 310 and the second clamp arm 320 move closer to each other, thereby causing the first clamp 251a in the end effector 300 to close.

[0117] Surgical instruments are now in the reset position, refer to... Figure 28The clamping mechanism 230 moves to the proximal side, so that the clamping part 232 returns to its initial position after passing through the clamping channel 252, the clamping channel 252 is emptied, the biasing member 253 releases energy and pushes the remaining clamps 251 in the clamping chamber 250 toward the clamping channel 252, until one clamp 251 reaches the clamping channel 252, preparing for the next firing.

[0118] The embodiments disclosed herein can also be applied to other surgical instruments such as staplers, and the specific functions of the surgical instruments do not affect the steering drive assembly 400 of the embodiments disclosed herein.

[0119] In summary, the surgical instrument provided in this embodiment is equipped with a steering drive assembly 400 capable of turning the end effector 300. The steering drive assembly 400 includes a rotating mechanism 410 with a first thread 411 and a moving mechanism 420 with a second thread 421. The lead angle of the first thread 411 is smaller than the static friction angle when the second thread 421 engages with the first thread 411. That is, the engagement of the first thread 411 and the second thread 421 can achieve self-locking. When the rotating mechanism 410 and the moving mechanism 420 are not subjected to external force, the first thread 411 and the second thread 421 can maintain their original relative positions, thereby keeping the steering module 410 and the extension module 420 at their original relative angles. Therefore, when the user needs to adjust the angle of the end effector 300, the user can rotate the rotating mechanism 410 to make the steering module 410 rotate relative to the extension module 420; when the end effector 300 is adjusted to the correct position, the user no longer needs to apply external force to the rotating mechanism 410, and the steering module 410 can be stopped at the adjusted angle under the action of the self-locking characteristics of the first thread 411 and the second thread 421. Therefore, the surgical instrument provided in this embodiment is simple to operate and easy to use.

[0120] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0121] The detailed descriptions listed above are merely specific descriptions of feasible implementations of this disclosure and are not intended to limit the scope of protection of this disclosure. All equivalent implementations or modifications made without departing from the spirit of the art of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A surgical instrument, characterized in that, Includes fixed components, main body components, end effectors, and steering drive components; The main component includes a steering module and an extension module. The steering module is rotatably connected to the extension module. The steering module is configured to rotate relative to the extension module about a first rotation axis. The extension module is connected to the fixed component. The end effector is connected to the steering module; The steering drive assembly includes a rotation mechanism and a movement mechanism; The rotating mechanism is rotatably connected to the fixed assembly, the rotating mechanism has a first thread, and the extension direction of the rotation axis of the rotating mechanism is parallel to the axial direction of the extension module. The moving mechanism is configured to move relative to the fixed assembly along the axial direction of the extension module. The moving mechanism has a second thread that is drivably engaged with the first thread. The second thread is configured to couple with the first thread when the first thread stops rotating to keep the first thread in a stopped state, and is configured to decouple from the first thread when the first thread rotates to allow rotation of the first thread. Furthermore, the moving mechanism is rotatably connected to the steering module, which is configured to rotate relative to the moving mechanism about a second rotation axis that is parallel to and offset from the first rotation axis. In response to the rotation mechanism rotating in a first rotation direction, the first thread and the second thread are decoupled, and the first thread rotates relative to the second thread in the first rotation direction to drive the moving mechanism to move distally along the axial direction of the extension module, thereby driving the steering module to rotate about the first rotation axis in a first swing direction; in response to the rotation mechanism rotating in a second rotation direction opposite to the first rotation direction, the first thread and the second thread are decoupled, and the first thread rotates relative to the second thread in the second rotation direction to drive the moving mechanism to move proximally along the axial direction of the extension module, thereby driving the steering module to rotate about the first rotation axis in a second swing direction opposite to the first swing direction; in response to the rotation mechanism stopping rotating, the second thread is coupled to the first thread to prevent the rotation mechanism from rotating relative to the moving mechanism.

2. The surgical instrument according to claim 1, characterized in that, The lead angle of the first thread is smaller than the static friction angle when the second thread mates with the first thread.

3. The surgical instrument according to claim 1, characterized in that, The rotating mechanism is configured to rotate only relative to the fixed component, and the moving mechanism is configured to move only along the axial direction of the extension module.

4. The surgical instrument according to claim 1, characterized in that, The fixed assembly includes a frame and a bearing. The rotating mechanism includes a first rotating member with the first thread. The bearing includes a first ring portion and a second ring portion that are concentrically arranged and rotatable relative to each other. The first rotating member is connected to the first ring portion, and the frame is connected to the second ring portion.

5. The surgical instrument according to claim 4, characterized in that, The first rotating member has a first limiting part and a second limiting part arranged sequentially at intervals along the axial direction of the extension module. The first limiting part and the second limiting part clamp the first ring part on both sides of the first ring part along the axial direction of the extension module. And / or, The frame has a connecting part that is interference-fitted with the second ring part.

6. The surgical instrument according to claim 1, characterized in that, The rotating mechanism is coaxially arranged with the extension module, and the main component passes through the rotating mechanism.

7. The surgical instrument according to claim 1, characterized in that, The fixing assembly includes an interconnected frame and a first stop member, the central axis of which coincides with the rotation axis of the rotating mechanism; one of the first stop member and the rotating mechanism is provided with a first stop portion in its circumferential direction, the first stop portion having a plurality of first stop grooves, and a first protrusion between two adjacent first stop grooves; the first stop member and the other of the rotating mechanism are connected by a first mating pin, the first mating pin being configured to extend and retract in the radial direction of the rotating mechanism; In its initial state, the first mating pin is accommodated in one of the first gear slots; In response to the rotation of the rotating mechanism, the first mating pin rotates relative to the first gear position, and the first protrusion abuts against the first mating pin, causing the first mating pin to retract and disengage from the first gear position slot in its initial state; in response to the continued rotation of the rotating mechanism, the first mating pin disengages from the first protrusion and extends to enter the adjacent first gear position slot.

8. The surgical instrument according to claim 1, characterized in that, The moving mechanism includes a movable member and a connecting rod connected to each other. The movable member has the second thread and is configured to move along the axial direction of the extension module when the rotating mechanism rotates. The connecting rod extends along the axial direction of the extension module, and the distal end of the connecting rod is rotatably connected to the steering module.

9. The surgical instrument according to claim 8, characterized in that, The rotation axis of the rotating mechanism coincides with the central axis of the moving part, and the main body component passes through the moving part and the rotating mechanism.

10. The surgical instrument according to claim 8, characterized in that, One of the moving member and the fixed component has a first guide structure and the other has a second guide structure, at least one of the first guide structure and the second guide structure extends along the axial direction of the extension module, and the first guide structure and the second guide structure cooperate to make the moving member move only along the axial direction of the extension module.

11. The surgical instrument according to claim 1, characterized in that, The steering module has a first limiting structure, the extension module has a second limiting structure, and the steering module has a deflection stop position; In response to the steering module rotating to the point where the first limiting structure abuts against the second limiting structure, the steering module is located at the deflection stop position.

12. The surgical instrument according to claim 1, characterized in that, The surgical instrument further includes a rotary drive assembly, which includes a second rotating member and a connecting member. The connecting member is connected to the second rotating member and to the main body assembly, and the rotation axis of the second rotating member extends along the axial direction of the extension module. In response to the rotation of the second rotating member, the second rotating member drives the main body assembly to rotate about the axial direction of the extension module via the connecting member.

13. The surgical instrument according to claim 12, characterized in that, The fixing assembly includes an interconnected frame and a second stop component, the central axis of which coincides with the rotation axis of the second rotating component; one of the second stop component and the second rotating component has a second stop portion in its circumferential direction, the second stop portion having a plurality of second stop grooves, and a second protrusion between two adjacent second stop grooves; the other of the second stop component and the second rotating component are connected by a second mating pin, the second mating pin being configured to extend and retract radially in the second rotating component; In its initial state, the second mating pin is accommodated in one of the second gear slots; In response to the rotation of the second rotating member, the second mating pin rotates relative to the second gear position, and the second protrusion abuts against the second mating pin, causing the second mating pin to retract and disengage from the second gear position slot in its initial state; in response to the continued rotation of the second rotating member, the second mating pin disengages from the second protrusion and extends to enter the adjacent second gear position slot.

14. The surgical instrument according to claim 1, characterized in that, The main component also includes a clamping mechanism; The clamping mechanism includes a first sleeve and a second sleeve, the first sleeve being rotatably connected to the second sleeve, the steering module being housed in the first sleeve, the extension module being housed in the second sleeve, and the second sleeve being movably connected to the fixing component. The end effector includes a first clamping arm and a second clamping arm, both of which are movably connected to the steering module; In response to the clamping mechanism moving distally along the axial direction of the extension module, the second sleeve causes the first clamp arm and the second clamp arm to move closer to each other, thereby causing the clamp between the first clamp arm and the second clamp arm to close.

15. The surgical instrument according to claim 14, characterized in that, The main component also includes a clamping mechanism, which is movably connected to the fixed component and accommodated in the second sleeve and the first sleeve. The clamping mechanism includes a deformation part and a clamping part. The deformation part extends from the second sleeve to the first sleeve. The deformation part is configured to adapt to the angle of the steering module relative to the extension module. The clamping part is connected to the distal end of the deformation part. In response to the clamping mechanism moving distally along the axial direction of the extension module, the clamping part pushes the clamp distally until the clamp enters between the first clamping arm and the second clamping arm.

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