Surgical instruments and their end effector assemblies

Abstract

[Problem] This application relates to the medical device field and provides surgical instruments and their end effector assemblies. [Solution] The end effector assembly includes a proximal body portion including a bending member and a firing member, and a distal execution portion including a staple cartridge assembly and a staple anvil assembly, which is rotatably connected to the proximal body portion via an articulation assembly. The articulation assembly includes a proximal connecting member fixedly connected to the distal end of the proximal body portion, and a distal connecting member fixedly connected to the proximal end of the distal execution portion and joined to the proximal connecting member, which is provided with at least one drive bending portion, wherein the bending member includes a distal connecting member that operably drives the drive bending portion to bend the distal execution portion relative to the proximal body portion, and a retaining member that is rotatably connected to the proximal and distal connecting members, respectively, and has a retaining passage for housing the firing member. The present invention makes it possible to reduce the bending radius of the end effector assembly, making it adaptable to narrow spaces, and providing reliable movement of the firing member.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical instruments, and more particularly to a surgical instrument for performing clamping, cutting, and anastomosis, and an end effector assembly thereof.

Background Art

[0002] A surgical stapler is a surgical instrument commonly used in laparoscopic surgery and is suitable for anastomosing and cutting tissues. Generally, it includes a knob assembly, an elongate body assembly, and an end effector assembly. When used during surgery, a portion of the elongate body assembly and the end effector assembly enter the patient's body through a passage established by a trocar. By operating the knob assembly, a physician can bend the end effector assembly at a specific angle with respect to the elongate body assembly to adapt to different tissue cutting and anastomosis positions. In some specific surgical environments, there is a need for the end effector assembly to provide a larger bending angle in order to reduce the trauma and the number of stapling positions and thereby reduce the possibility of anastomotic leakage.

[0003] To increase the bending angle of end effector assemblies, conventional designs have used double or multiple joints to achieve end effector assemblies that can bend at large angles. While progressive bending methods using multiple pivot axes can provide larger bending angles, this also increases the length of the joints and the bending radius of the end effector assembly, making it unsuitable for narrow surgical environments such as the pelvic cavity. Conventional designs also include end effectors that employ single-pivot bending, where the launching member, composed of multiple metal sheets, forms a large bend at a single pivot. For example, if the end effector bends 90°, the launching member must also bend 90° at a single pivot. When surgery is performed in this state, if there is no limiting mechanism, or if the structure of the limiting mechanism is unreasonable, the launching member may easily pop out of the joint or pivot, or stack on top of the joint or pivot. [Overview of the Initiative] [Problems that the invention aims to solve]

[0004] Therefore, the present invention provides a surgical instrument that has a small bending radius, is adaptable to narrow spaces, and has reliable movement of the firing member. [Means for solving the problem]

[0005] To address the above technical challenges, the present invention provides the following technical solutions.

[0006] An end-effector assembly of a surgical instrument includes a bending member and a launching member, and comprises a proximal body portion that defines a longitudinal axis, and a distal execution portion that includes a staple cartridge assembly and a staple anvil assembly, the opposing surfaces of the staple cartridge assembly and staple anvil assembly forming a nip surface for gripping tissue, and which is rotatably connected to the proximal body portion via an articulation assembly. The articulation assembly comprises a proximal connecting member fixedly connected to the distal end of the proximal body portion, and a distal connecting member fixedly connected to the proximal end of the distal execution portion and joined to the proximal connecting member, having at least one drive bending portion, wherein the bending member includes a distal connecting member that drives the drive bending portion to bend the distal execution portion relative to the proximal body portion, and a retaining member that is rotatably connected to the proximal connecting member and the distal connecting member, respectively, and has a retaining passage for housing the launching member.

[0007] In some embodiments of the present invention, the distal end of the proximal connecting member has a tooth-like structure, the near end of the distal connecting member has a tooth-like structure that interlocks with the proximal connecting member, the interlocking position of the distal connecting member and the proximal connecting member forms the pivot point of the distal execution portion, and when the distal execution portion extends along the longitudinal axis, the drive bending portion is installed so as not to overlap with the longitudinal axis.

[0008] In some embodiments of the present invention, the retaining member is provided with a proximal pivot axis and a distal pivot axis, the proximal pivot axis of the retaining member pivots with the proximal pivot hole of the proximal connecting member, the distal pivot axis of the retaining member pivots with the distal pivot hole of the distal connecting member, and the line connecting the axes of the proximal pivot axis and the distal pivot axis is located within the retaining passage.

[0009] In some embodiments of the present invention, the joint assembly further includes a first connecting piece having two connecting holes, wherein the proximal pivot axis and distal pivot axis of the retaining member pass through the proximal pivot hole of the proximal connecting member and the distal pivot hole of the distal connecting member, respectively, and are riveted to the connecting holes of the connecting members.

[0010] In some embodiments of the present invention, the distal connecting member is provided with a first drive bending portion and a second drive bending portion, and the bending member is connected to the first drive bending portion and the second drive bending portion, respectively, via a transmission assembly.

[0011] In some embodiments of the present invention, the transmission assembly includes a first rack whose near end is connected to the bending member, and a first bending transmission member fixedly connected to the first rack and connected to one of the drive bending portions of the distal connecting member; a second rack installed opposite to the first rack at a distance from it, and a second bending transmission member fixedly connected to the second rack and connected to the other of the drive bending portions of the distal connecting member; and at least one gear located between the first rack and the second rack and connected to the first rack and the second rack by meshing with them, respectively.

[0012] In some embodiments of the present invention, the first drive bending portion and the second drive bending portion are configured as pivots fixedly connected to the distal connecting member, and the first bending transmission member or the second bending transmission member is riveted or sleeve-joined to the pivot.

[0013] In some embodiments of the present invention, the first drive bending portion of the distal connecting member is configured as a pivot whose axial direction is perpendicular to the nip surface, a connecting sleeve is provided at the far end of the first bending transmission member, and the first bending transmission member is sleeve-mounted to the first drive bending portion via the connecting sleeve.

[0014] In some embodiments of the present invention, the second drive bending portion of the distal connecting member is configured as a protruding block whose axial direction is parallel to the nip surface, a rivet connection hole is provided at the distal end of the second bending transmission member, and the second drive bending portion is connected to the second bending transmission member via the rivet connection hole.

[0015] In some embodiments of the present invention, the retaining passage is a unidirectional arc-shaped passage, and the first and second support walls forming the retaining passage are bent in the same direction, and when the launching member is bent to the position of the maximum angle, the first support wall is adapted to support the outer wall of the launching member, and the second support wall is adapted to support the inner wall of the launching member.

[0016] In some embodiments of the present invention, the arc length of the first support wall is shorter than the arc length of the second support wall.

[0017] In some embodiments of the present invention, the portion of the retaining member where the first support wall is located is a first support region, the portion of the retaining member where the second support wall is located is a second support region, the near end surface of the first support region is located distal to the near end surface of the second support region, and the far end surface of the first support region is located proximal to the far end surface of the second support region.

[0018] In some embodiments of the present invention, when the distal execution portion extends along the longitudinal axial direction, the distal edge of the first support wall is substantially in line with the inner wall of the launch passage in the distal execution portion, and the proximal end of the first support wall is substantially in line with the inner wall of the passage supporting the relative sliding of the launch member in the proximal main body portion.

[0019] In some embodiments of the present invention, when the distal execution portion extends along the longitudinal axial direction, a gap is fitted between the distal end of the first support wall and the proximal end of the firing passage in the distal connecting member, and the proximal end of the first support wall is gap fitted with the distal end of the firing passage in the proximal connecting member.

[0020] In some embodiments of the present invention, the proximal connecting member is provided with a first limit projection on a side surface facing the retaining member, the first limit projection facing the near end surface of the first support region and having a first gap, and the distal connecting member is provided with a second limit projection on a side surface facing the retaining member, the second limit projection facing the far end surface of the first support region and having a second gap.

[0021] In some embodiments of the present invention, the first limit projection and the second limit projection each have a first side surface positioned opposite the first support area and a second side surface positioned opposite the launching member, and the angle between the first side surface and the second side surface is between 80° and 100°.

[0022] In some embodiments of the present invention, when the distal execution portion extends along the longitudinal axial direction, the second side surfaces of the first limit projection and the second limit projection are parallel to the longitudinal axis.

[0023] In some embodiments of the present invention, when the distal execution portion extends along the longitudinal axial direction, the first side surface of the first limit projection is positioned parallel to the near end surface of the first support region in the holding member, and the first side surface of the second limit projection is positioned parallel to the far end surface of the first support region in the holding member.

[0024] In some embodiments of the present invention, the holding passage is a bidirectional arc-shaped passage, the arc-shaped directions of the first and second support walls forming the holding passage project outward, and when the distal execution portion is bent relative to the proximal main body portion, the first or second support wall supports the bent outer arc surface of the launching member.

[0025] In some embodiments of the present invention, the portion where the first support wall of the holding member is located is the first support region, the outer wall of the first support region is the first outer arc wall, the first outer arc wall has the same arc-shaped direction as the first support wall, and the arc length is longer than the arc length of the first support wall. Both ends of the first outer arc wall and the first support wall transition through the first transition wall respectively. The portion where the second support wall of the holding member is located is the second support region, the outer wall of the second support region is the second outer arc wall, the second outer arc wall has the same arc-shaped direction as the second support wall, and the arc length is longer than the arc length of the second support wall. Both ends of the second outer arc wall and the second support wall transition through the second transition wall respectively.

[0026] In some embodiments of the present invention, when the distal execution portion is bent to the maximum bending angle with respect to the proximal body portion, the first transition wall or the second transition wall proximal to the holding member limits the position of the proximal inner arc surface of the firing member, and the first transition wall or the second transition wall distal to the holding member limits the position of the distal inner arc surface of the firing member.

[0027] In some embodiments of the present invention, the partial region where the firing member cooperates with the proximal first transition wall or the second transition wall is the bending transition region proximal to the firing member, and the partial region where the firing member cooperates with the distal first transition wall or the second transition wall is the bending transition region distal to the firing member.

[0028] In some embodiments of the present invention, when the distal execution portion is bent to the maximum bending angle with respect to the proximal body portion, the proximal end of the proximal first transition wall or the second transition wall abuts against the inner wall of the firing passage in the proximal connecting member, thereby restricting the bending of the firing member, and the distal end of the distal first transition wall or the second transition wall abuts against the inner wall of the firing passage in the distal connecting member, thereby restricting the bending of the firing member.

[0029] In some embodiments of the present invention, when the distal execution part extends along the longitudinal axis, the distal edges of the first support wall and the second support wall are substantially in line with the inner wall of the firing passage in the distal execution part, and the proximal ends of the first support wall and the second support wall are substantially in line with the inner wall of the passage that supports the relative slide of the firing member in the proximal body part.

[0030] In some embodiments of the present invention, when the end effector assembly is in the loading waiting position, the distal execution part forms an angle other than 0° with respect to the longitudinal axis.

[0031] In some embodiments of the present invention, the proximal body part further includes a locking member rotatably sleeved on its proximal side, the locking member includes a first locking part, and when the end effector assembly is in the loading waiting position, the first locking part cooperates with the bending member to lock the bending member.

[0032] In some embodiments of the present invention, the locking member includes a second locking part, and when the end effector assembly is in the loading waiting position, the second locking part cooperates with the firing member to lock the firing member.

[0033] In some embodiments of the present invention, the first locking part of the locking member and the bending member, and the second locking part of the locking member and the firing member are locked through a method of rotational insertion respectively.

[0034] In some embodiments of the present invention, the locking member is formed as a semi - annular sleeve having a notch, the first locking part is a first protrusion in which the side wall with a notch formed along the locking member extends in the circumferential direction, and the second locking part is a second protrusion extending inward along the inner wall of the locking member.

[0035] In some embodiments of the present invention, the proximal body portion includes a support body, the locking member is sleeve-joined to the proximal end of the support body, and the first locking portion and the second locking portion are each located at the far end of the locking member.

[0036] In some embodiments of the present invention, the locking member further includes a release drive unit, and when the end effector assembly is in a loading position, the release drive unit receives a circumferential force to rotate the locking member around it, thereby releasing it from the bending member and the launching member.

[0037] The present invention also provides surgical instruments including a knob assembly, an elongated body assembly, and an end effector assembly selectively joined to the elongated body assembly, which are sequentially connected from the near end to the far end. The end execution assembly uses the end execution assembly.

[0038] The technical effects of the proposed technology in this invention will be described in detail in the following section on specific embodiments. [Brief explanation of the drawing]

[0039] To help understand the objectives and advantages of the present invention, preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. [Figure 1] This is a schematic diagram showing the structure of a specific embodiment of a surgical instrument according to the present invention. [Figure 2] This is a schematic diagram showing the structure of a specific embodiment of the end effector assembly for a surgical instrument according to the present invention. [Figure 3] This is an exploded view of a specific embodiment of the end effector assembly for a surgical instrument according to the present invention. [Figure 4] This is an exploded view of a specific example of the structure of an end effector assembly according to the present invention. [Figure 5] This is an exploded view of a specific example of the structure of an end effector assembly according to the present invention. [Figure 6] This is a schematic diagram showing the structure of a specific embodiment of a holding member in a surgical instrument according to the present invention. [Figure 7] This is a schematic diagram showing a specific embodiment of the first distal connecting member in a surgical instrument according to the present invention. [Figure 8] This is a schematic diagram of a surgical instrument according to the present invention in which the distal execution portion extends along the longitudinal axial direction. [Figure 9] This is an enlarged view of a part of the structure shown in Figure 8. [Figure 10] This is a schematic diagram showing a partial joint assembly in which the distal execution portion of the present invention extends along the longitudinal axial direction. [Figure 11] This is a schematic diagram showing the case where the distal execution portion of the surgical instrument according to the present invention is bent to its maximum bending angle. [Figure 12] This is a magnified view of a part of the structure shown in Figure 11. [Figure 13] This is a schematic diagram showing a partial joint assembly in the present invention when the distal execution portion is at its maximum bending angle. [Figure 14] This is a schematic diagram showing the structure of the end effector assembly of the present invention in an unloaded state. [Figure 15] This is a magnified view of a part of the structure shown in Figure 14. [Figure 16] This is a schematic diagram showing a portion of the joint assembly of the end effector assembly according to the present invention in an unloaded state. [Figure 17] This is a schematic diagram showing a partial joint assembly of the end effector assembly according to the present invention in a bent state. [Figure 18] This is a schematic diagram showing another specific embodiment of the lower proximal connecting member in the present invention. [Figure 19] This is a schematic diagram showing another specific embodiment of the lower distal connecting member in the present invention. [Figure 20] This is an enlarged view of a part of the structure in another specific embodiment of the surgical instrument according to the present invention, where the distal execution portion extends along the longitudinal axial direction. [Figure 21]This is a schematic diagram showing a partial joint assembly in another specific embodiment of the present invention, where the distal execution portion extends along the longitudinal axial direction. [Figure 22] This is a schematic diagram showing a specific embodiment of the end effector assembly for a surgical instrument according to the present invention. [Figure 23] This is a magnified view of a portion of Figure 4. [Figure 24] This is a schematic diagram showing a specific embodiment of the first support body in the end effector assembly according to the present invention. [Figure 25] This is a schematic diagram showing a partial structure of the firing member in the end effector assembly according to the present invention. [Figure 26] This is a schematic diagram showing the structure of the firing member in the end effector assembly according to the present invention. [Figure 27] This is a magnified view of a part of the structure shown in Figure 26. [Figure 28] This is a schematic diagram showing the structure of the firing coupling member in the end effector assembly according to the present invention. [Figure 29] This is a schematic diagram showing the connection between the end effector assembly and the elongated body assembly of a surgical instrument according to the present invention. [Figure 30] This is a schematic diagram showing the structure of the locking member in the end effector assembly according to the present invention. [Figure 31] This is a schematic diagram showing the structure in which the locking member is in the locked position in the end effector assembly according to the present invention. [Figure 32] This is a schematic diagram showing the structure of the end effector assembly according to the present invention, in which the locking member is in the unlocked position. [Figure 33] This drawing shows another structural configuration of the first bending transmission member and the second bending transmission member in the end effector assembly according to the present invention. [Figure 34] This is a schematic diagram showing another embodiment of the end effector assembly according to the present invention, in which the distal execution portion extends along the longitudinal axial direction. [Figure 35]This is an enlarged view of a part of the structure shown in Figure 34. [Figure 36] This is an exploded view of a partial structure of a second specific embodiment of the end effector assembly according to the present invention. [Figure 37] This is an exploded view of a partial structure of a second specific embodiment of the end effector assembly according to the present invention. [Figure 38] This is a schematic diagram showing the structure of a second specific embodiment of a holding member in a surgical instrument according to the present invention. [Figure 39] This is a plan view showing a second specific embodiment of a holding member in a surgical instrument according to the present invention. [Figure 40] This is a schematic diagram showing a specific embodiment of the first distal connecting member in a surgical instrument according to the present invention. [Figure 41] This is a schematic diagram showing a case in which the distal execution portion of a surgical instrument according to the present invention extends along the longitudinal axial direction. [Figure 42] This is an enlarged view of a part of the structure shown in Figure 41. [Figure 43] This is a schematic diagram showing a partial joint assembly in which the distal execution portion of the present invention extends along the longitudinal axial direction. [Figure 44] This is a schematic diagram showing the case where the distal execution portion of the surgical instrument according to the present invention is bent to its maximum bending angle. [Figure 45] This is an enlarged view of a part of the structure shown in Figure 44. [Figure 46] This is a schematic diagram showing a partial joint assembly in the present invention when the distal execution portion is at its maximum bending angle. [Figure 47] This drawing shows an alternative structure of the first bending transmission member and the second bending transmission member in the end effector assembly according to the present invention. [Modes for carrying out the invention]

[0040] The technical aspects of the present invention are described below clearly and completely with reference to the accompanying drawings, but it is clear that the embodiments described are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art without creative effort based on embodiments of the present invention are all within the scope of the present invention.

[0041] In describing the present invention, the directions or positional relationships indicated by terms such as "center," "up," "down," "left," "right," "vertical," "horizontal," "inside," and "outside" are based on the directions or positional relationships shown in the accompanying drawings and are intended to facilitate and simplify the description of the present invention. They do not indicate or imply that the device or component in question has a specific direction or must be configured and operated in a specific direction. Therefore, they should not be interpreted as limitations on the present invention. Furthermore, terms such as "first," "second," and "third" are used merely to describe the purpose and should not be interpreted as indicating or implying relative importance.

[0042] In describing the present invention, unless otherwise explicitly defined and limited, the terms “attachment,” “connection,” and “linking” should be interpreted broadly. For example, these may be fixed connections, detachable connections, integral connections, direct connections, indirect connections via an intermediate medium, or internal communication between two components. Those skilled in the art will be able to understand the specific meaning of these terms in the present invention depending on the specific circumstances.

[0043] Furthermore, the technical features of the different embodiments of the present invention described below can be combined with each other, insofar as they do not contradict each other. In the following description, identical or similar components are indicated by the same drawing symbols.

[0044] In each embodiment of the present invention, "distal end / side" refers to the end of the surgical instrument that is away from the operator when operating it, and "proximal end / side" refers to the end / side that is closer to the operator when operating the surgical instrument.

[0045] The following are specific examples of surgical instruments. Generally, the examples of surgical instruments described herein are endoscopic surgical cutting and anastomosis instruments. However, it should be noted that the surgical instruments may also be non-endoscopic surgical cutting and anastomosis instruments, such as open surgical instruments used in open abdominal surgery.

[0046] The surgical instrument 100 shown in Figure 1 includes a knob assembly 10, an elongated body assembly 20, and an end effector assembly 30. Here, the knob assembly 10 is suitable for the operator to manipulate the surgical instrument 100, and the knob assembly 10 can perform surgical operations such as tissue clamping / closing, suturing / anastomosis, and cutting by controlling the movement of the end effector assembly 30 via the elongated body assembly 20.

[0047] The knob assembly 10 includes a knob housing 11 that can be grasped by the user in a conventional manner. In a specific embodiment, the surgical instrument 100 is operated to close and release the end effector assembly 30 via a trigger. In a specific embodiment, the surgical instrument 100 performs cutting and suturing operations on the end effector assembly 30 by operating the end effector assembly to close and release it in the manner of a push knob, button, etc., located on the knob assembly 10. In other alternative embodiments, the surgical instrument 100 can also be operated to open the jaws of the end effector assembly 30 and release tissue in the manner of a trigger, push knob, button, etc., located on the knob assembly 10. The knob housing 11 is substantially T-shaped overall and includes a main body portion extending along a longitudinal axis C and a gripping portion extending substantially perpendicular to the longitudinal axis C or inclined at a certain angle to the longitudinal axis C. Space for mounting a drive mechanism is formed inside the main body portion and the gripping portion.

[0048] As shown in Figure 1, the elongated assembly 20 includes a tubular housing 21 that defines the longitudinal axis C. Inside the tubular housing 21 is a transmission rod assembly (not shown), the near end of which is connected to the output end of a drive mechanism inside the knob assembly 10. As shown in Figure 3, its far end is connected to the launching member 35 and the bending member 36 of the end effector assembly 30, transmitting the driving force of the drive mechanism to the end effector assembly 30. Specifically, the transmission rod assembly includes a launching rod and a bending drive rod. The launching rod is used to perform the launching operation of the end effector assembly 30 by transmitting the driving force from the launching drive to the launching member 35 of the end effector assembly 30. The bending drive rod performs the bending of the end effector assembly 30 by transmitting the driving force from the bending drive assembly to the bending member 36 of the end effector assembly 30.

[0049] As shown in Figure 1, the surgical instrument 100 described in an embodiment of the present invention further includes a rotating head 13. The rotating head 13 is attached distally to the knob assembly 10 and provided at the near end of the elongated body assembly 20, and when the rotating head 13 is operated to rotate about the longitudinal axis C of the surgical instrument 100, the elongated body assembly 20 and the end effector assembly 30 can be linked to rotate together.

[0050] The end effector assembly 30 is used to manipulate tissue to perform specific surgical operations such as tissue clamping, suturing / anastomosis, and cutting. To achieve bending the end effector assembly 30 to a predetermined angle with respect to the longitudinal axis C of the elongated body assembly 20, as shown in Figure 2, the end effector assembly 30 includes a proximal body 30a and a distal execution part 30b, the proximal body 30a and the distal execution part 30b are pivotally rotated via a joint assembly 38. Thus, the surgical instrument 100 further includes a bending drive assembly and a bending transmission assembly, as shown in Figure 3, which drive the joint assembly 38 to bend, the bending transmission assembly including a bending member 36 operably connected to the bending drive assembly. The bending drive assembly includes a bending knob 12 attached to a rotating head 13 and a bending drive rod (not shown) located inside the elongated body assembly 20, the bending drive rod being connected to the bending member 36. The operator can drive the bending drive rod to move by manipulating the bending knob 12 to rotate it. Specifically, when the bending knob 12 is operated to rotate clockwise from its initial position, the bending drive rod is linked to move the bending member 36 to the far end, and when the bending knob 12 is operated to rotate counterclockwise from its initial position, the bending drive rod is linked to move the bending member 36 towards the near end, and the same applies in the reverse case.

[0051] A specific embodiment of the end effector assembly 30 in the surgical instrument 100 described in the present invention will be described in detail below with reference to Figure 2. The end effector assembly 30 is detachably attached to the distal end of the elongated body assembly 20 of the surgical instrument 100. The proximal body portion 30a of the end effector assembly 30 is inserted into the elongated body assembly 20 by a push-in method and can be locked to the housing of the elongated body assembly 20 by rotation. The distal execution portion 30b includes a staple cartridge assembly 31 and a staple anvil assembly 32. The staple cartridge assembly 31 and the staple anvil assembly 32 can move relative to each other to close their jaws and clamp the tissue jaws. The surfaces of the staple cartridge assembly 31 and the staple anvil assembly 32 facing each other form a nip surface for clamping tissue. In a specific embodiment, the staple anvil assembly 32 pivots operably toward the staple cartridge assembly 31 until the jaws of the end effector assembly 30 close and the tissue is clamped. The staple anvil assembly 32 pivots operably toward the staple cartridge assembly 31 until the jaws of the end effector assembly 30 open and the tissue is released. In an alternative embodiment, the staple cartridge assembly 31 of the end effector assembly 30 pivots operably toward the staple anvil assembly 32 until the jaws of the end effector assembly 30 close and the tissue is clamped. The staple cartridge assembly 31 also pivots operably toward the staple cartridge assembly 31 until the jaws of the end effector assembly 30 open and the tissue is released.

[0052] Specifically, as shown in Figures 2 and 3, the proximal body portion 30a of the end effector assembly 30 is detachably connected to the far end of the elongated body assembly 20. The proximal body portion 30a includes an elongated outer tube 33, a support body 34 located inside the outer tube 33, a slidable launching member 35 located inside the support body 34, and a bending member 36. Here, the outer tube 33 has a longitudinal axis C that extends in the same direction as the tubular housing 21 of the elongated body assembly 20. The support body 34 includes a first semi-support body 34a and a second semi-support body 34b. The proximal end of the second semi-support body 34b includes a joint portion 34c for connection to the elongated body assembly 20, and the joint portion 34c is provided with a joint projection for detachably connecting to the elongated body assembly 20 in a buckle-connected manner. Specifically, a connecting piece 361 is provided at the near end of the bending member 36 in the end effector assembly 30, which engages with the hook at the far end of the bending drive rod located inside the elongated body assembly 20. A launching connecting member 353 is provided at the near end of the launching member 35 inside the end effector assembly 30, which engages with the far end of the launching rod in the elongated body assembly 20. This enables rotational engagement and locking between the end effector assembly 30 and the elongated body assembly 20.

[0053] A passage is defined between the first semi-support body 34a and the second semi-support body 34b for slidably receiving a launching member 35. The launching member 35 includes an elongated launching beam 351 which can consist of a single sheet material or multiple stacked sheet materials. Here, the actuari 352 of the launching member 35 has an "E" shaped beam structure, and a portion of it abuts against a staple push slide block and slides integrally toward the far end of the staple cartridge assembly 31 to perform the corresponding surgical operation. For example, when the launching member 35 is driven to move from the near end to the far end, a portion of the actuari 352 in the launching member 35 moves toward the far end together with the staple push slide block. The staple push slide block acts on a staple driver to push suture staples out of the staple cartridge assembly 31, thereby achieving the operation of anastomosis of tissue, while the cutting blade 354 in the actuari 352 cuts the tissue. A launching coupling section 353, formed as a sleeve structure with an opening, is installed at the near end of the launching beam 351. The near end of the launching coupling section 353 is provided with a hole configured to receive the far end of the launching rod 22 when the near end of the end effector assembly 30 is joined to the elongated assembly 20.

[0054] Referring to Figure 3, in the distal execution section 30b of the end effector assembly 30, the staple cartridge assembly 31 includes a staple cartridge 312, a staple cartridge base 311, and a staple push slide block positioned within the cavity between the staple cartridge 312 and the staple cartridge base 311. The near end of the launching member 35 is connected to a launching rod inside the elongated assembly 20, and the far end of the launching member 35 abuts against the staple push slide block and slides / moves integrally along the longitudinal axis to perform the corresponding surgical operation. The staple cartridge assembly 31 further includes a staple push member and suture staples located inside the staple cartridge 312, and when the launching member 35 is driven to move from the near end to the far end, the staple push slide block is pushed to move. The staple push slide block achieves the operation of anastomosis of tissue by acting on the staple push member to push the suture staples out of the staple cartridge 312. The staple anvil assembly 32 includes a staple anvil housing 321 and a staple support seat 322 located inside the staple anvil housing 321. The staple support seat 322 is coupled with the staple cartridge 312 to enable the bending of suture staples. The surface of the staple support seat 322 is provided with a plurality of staple holes, and the staple holes correspond one-to-one with the holes from which staples emerge in the staple cartridge 312, so that when tissue is anastomosed, the suture staples in the holes from which staples emerge come into contact with the staple holes.

[0055] Referring to Figures 3 to 5, the joint assembly 38 includes a proximal connecting member 381a fixedly connected to the distal end of the proximal main body 30a, and a distal connecting member 382a fixedly connected to the distal execution part 30b. Specifically, the proximal connecting member 381a is fixedly connected to the support body 34 via a structure comprising a positioning projection and a positioning slot, or the proximal connecting member 381a and the support body 34 are integrally molded through a process such as welding or injection molding. The distal connecting member 382a is fixedly connected to the distal execution part 30b via a positioning pin. As shown in Figure 4, the distal end of the proximal connecting member 381a and the proximal end of the distal connecting member 382a have a tooth-like structure that interlocks and connects them to each other, and the interlocking position of the two forms the pivot point A of the distal execution portion 30b. The distal connecting member 382a is provided with at least one drive bending portion 383a that is connected to the bending member 36, and when the bending member 36 slides relative to the support body 34, it acts directly or indirectly on the drive bending portion 383a of the distal connecting member 382a, causing the distal connecting member 382a to swing around the interlocking position of the distal connecting member 382a due to the action of the interlocking teeth, thereby enabling the distal execution portion 30b to bend relative to the proximal body portion 30a. When the distal execution portion 30b extends along the longitudinal axis C (see Figure 4), the drive bending portion 383a is installed spaced apart from the longitudinal axis C and located at the far end of the pivot point A; that is, the drive bending portion 383a does not overlap with the longitudinal axis C.

[0056] By using a different joining method between the proximal connecting member 381a and the distal connecting member 382a, the distal connecting member 382a can bend and oscillate around the proximal connecting member 381a, while both are supported relatively stably. This reduces the shaking caused by the bending and oscillating of the joint point during the firing process of surgical instruments, and prevents tissue damage due to traction. Figures 34 and 35 show a proximal connecting member 581a and a distal connecting member 582a described in another embodiment. In the region of the proximal connecting member 581a facing the distal connecting member 582a, a joining portion is provided, and the joining portion is a friction wheel with high frictional force. The proximal connecting member 581a and the distal connecting member 582a are connected via a connecting piece 585 having a groove / slit. The connecting piece 585 is configured as an elastic piece with a certain amount of elastic deformation, and can expand or contract its groove / slit under the action of an external force to achieve elastic deformation. The connecting piece 585 is provided with two connecting holes and is axially connected to the proximal connecting member 581a and the distal connecting member 582a via pins. In the initial state, the distance between the two connecting holes in the connecting piece 585 is slightly shorter than the axial distance between the proximal connecting member 581a and the distal connecting member 582a. After connecting the connecting piece 585 to the proximal connecting member 581a and the distal connecting member 582a, the connecting piece 585 is stretched and deformed, and contraction and tension are applied to the proximal connecting member 581a and the distal connecting member 582a. This causes the proximal connecting member 581a to come into close contact with the distal connecting member 582a, increasing the relative frictional force and ensuring the positioning of the bent position of the distal connecting member 582a.

[0057] To ensure stability in the movement of the launch member 35 toward the far end after the distal execution section 30b is bent relative to the proximal main body section 30a, and to prevent problems such as parts of the sheet-like launch beam 351 flying out or stacking due to excessive bending force of the launch member 35 (i.e., bias force that causes the launch member 35 to be bent and deformed), the joint assembly 38 further includes a retaining member 384 for accommodating the bent position of the launch member 35, and the retaining member 384 is connected to a proximal connecting member 381a and a distal connecting member 382a which are coupled to each other via two pivot axes. Specifically, as shown in Figures 10, 13, and 16, the retaining member 384 is connected to the proximal pivot hole 51 of the proximal connecting member 381a via the proximal pivot shaft 41 and to the distal pivot hole 52 of the distal connecting member 382a via the distal pivot shaft 42, thereby allowing it to pivot and swing together with the distal connecting member 382a around the proximal pivot shaft 41 relative to the proximal connecting member 381a. The joint assembly 38 further includes a first connecting piece 385 to which the ends of the pivot shafts 41 and 42 of the retaining member 384 are riveted. Specifically, as shown in Figures 2 and 3, the first connecting piece 385 is provided with two connecting holes, and the ends of the proximal pivot shaft 41 and distal pivot shaft 42 of the retaining member 384 are riveted to the connecting holes of the first connecting piece 385. The retaining member 384 has a retaining passage 43 suitable for housing at least a portion of the firing beam 351 in the firing member 35. At least a portion of the firing beam 351 in the firing member 35 is drilled inside the retaining passage 43 and is movable along its extension direction.

[0058] Figures 4 to 21 show specific embodiments of the end effector assembly 30 described in the present invention. In this embodiment, the end effector assembly 30 includes a retaining member 384 in which the retaining passage 43 is configured to have an arc-shaped structure, as shown in Figure 6. The retaining passage 43 is formed by a first support wall 43a and a second support wall 43b located on both sides of the firing beam 351. The arc-shaped bending directions of the first support wall 43a and the second support wall 43b are the same, the first support wall 43a is suitable for matching with the outer arc surface of the maximum bending of the firing beam 351, and the second support wall 43b is suitable for matching with the inner arc surface of the maximum bending of the firing beam 351.

[0059] Referring to Figure 9, the proximal connecting member 381a includes a launch passage 53, its near end facing the launch passage of the proximal main body 30a, and its far end facing the holding passage 43 of the holding member 384. Similarly, the distal connecting member 382a also has a launch passage 54, its far end facing the launch passage of the far end main body 30a, and its near end facing the holding passage 43 of the holding member 384. When the distal execution section 30b extends along the longitudinal axis C, the launch passage 53 of the proximal connecting member 381a and the launch passage 54 of the distal connecting member 382a extend in the same direction and are positioned opposite each other, making it suitable for the launch beam 351 to extend along a linear direction. The first support wall 43a and the second support wall 43b in the holding passage 43 both bend to the same side, allowing the launch beam 351 of the launch member 35 to bend to one side at the largest possible angle. When the launch beam 351 is at its maximum one-sided bend angle, the distal execution section 30b can achieve a larger one-sided bend angle by providing better support and limits to its inner and outer arc surfaces, respectively. The first support wall 43a and the second support wall 43b of the holding passage 43 both bend to the same side, providing support and limits to the launch beam 351 when the distal execution section 30b is at its maximum one-sided bend position. However, since the holding passage 43 has a certain width, the distal execution section 30b is still allowed to bend in the opposite direction. This allows the end effector assembly 30 to achieve an overall asymmetrical bend angle.

[0060] More specifically, the portion of the holding member 384 where the first support wall 43a is located is the first support region 384a, and the portion of the holding member 384 where the second support wall 43b is located is the second support region 384b. In order to prevent the holding member 384 from interfering with the launching member 35, the proximal connecting member 381a, or the distal connecting member 382a during operation, the arc length of the first support wall 43a is shorter than the arc length of the second support wall 43b. Here, the proximal end face of the first support region 384a is located distal to the proximal end face of the second support region 384b, and the far end face of the first support region 384a is located proximal to the far end face of the second support region 384b. In this configuration, as shown in Figure 12, when the distal execution section 30b bends to its maximum bending angle, there is a certain gap between both ends of the first support wall 43a in the holding member 384 and the proximal connecting member 381a and the distal connecting member 382a. Here, as shown in Figure 9, the gap between the proximal end of the first support wall 43a and the distal end of the firing passage 53 in the proximal connecting member 381a is t1, and the gap between the distal end of the first support wall 43a and the proximal end of the firing passage 54 in the distal connecting member 382a is t2. Here, as shown in Figures 9 and 10, when the distal execution section 30b extends along the longitudinal axis C, the distal edge of the first support wall 43a is substantially in line with the inner wall of the firing passage of the distal execution section 30b and the firing passage 54 in the distal connecting member 382a. Since the launch beam 351 extends along the launch path of the proximal main body 30a to the launch path of the distal execution unit 30b, that is, the distal edge of the first support wall 43a is located on the outer wall that can contact or approach the launch beam 351, i.e., it is positioned relatively close to the line connecting the axes of the proximal pivot axis 41 and the distal pivot axis 42. More specifically, the distance between the proximal edge of the first support wall 43a and the axis of the proximal pivot axis 41 is shorter than a first set value of 0.1 mm to 2 mm. Similarly, the near end of the first support wall 43a is substantially in line with the inner wall of the launch passage in the proximal main body 30a and the inner wall of the launch passage 53 in the proximal connecting member 381a, and the proximal edge of the first support wall 43a is located on the outer wall that can contact or approach the launch beam 351, that is, it is positioned relatively close to the line connecting the axes of the proximal pivot axis 41 and the distal pivot axis 42.The distance between the distal edge of the first support wall 43a and the axis of the distal pivot shaft 42 is shorter than the second set value of 0.5 mm to 1 mm. In this way, during the bending process of the distal execution section 30b, the size of the gap t1 between the near end of the first support wall 43a and the far end of the launch passage in the proximal connecting member 381a is constant or changes slightly, and the size of the gap t2 between the far end of the first support wall 43a and the near end of the launch passage in the upper distal connecting member 382a is also constant or changes slightly. During the bending process of the distal execution section 30b, the problem of not being able to effectively limit the launch member 35 due to a large change in the gap between the holding member 384 and the proximal connecting member 381a and the distal connecting member 382a is avoided. In an alternative embodiment, the firing beam 351 can be effectively limited by further reducing the gap t2 between the far end of the first support wall 43a and the near end of the firing passage 54 in the distal connecting member 382a, and the gap t1 between the near end of the first support wall 43a and the far end of the firing passage 53 in the proximal connecting member 381a. For example, if the distal execution section 30b extends along the longitudinal axis C, the far end of the first support wall 43a is gap-fitted with the near end of the firing passage 54 in the distal connecting member 382a, i.e., the gap between them is very narrow, and the near end of the first support wall 43a is gap-fitted with the far end of the firing passage 53 in the proximal connecting member 381a, i.e., the gap between them is very narrow. When the first position of the distal execution portion 30b, which extends in the longitudinal axis C direction, swings to the maximum bending position, the gap between the holding member 384 and the proximal connecting member 381a and the distal connecting member 382a narrows.

[0061] The end effector assembly 30 described in the embodiment of the present invention forms a pivot point A of the distal execution portion 30b by interlocking its joint assembly 38 with the proximal connecting member 381a and the distal connecting member 382a, allowing it to bend at a large angle even with a small bending radius. At the same time, the distal connecting member 382a is provided with a drive bending portion 383a, and because the distance between the interlocking point (pivot point A) of the proximal connecting member 381a and the distal connecting member 382a is relatively wide, the bending driving force is reduced even with the same bending force moment, making it easy to achieve bending drive. Furthermore, since the holding member 384 is pivotably connected to the proximal connecting member 381a and the distal connecting member 382a via two pivot axes 41 and 42, the center distance between the proximal connecting member 381a and the distal connecting member 382a is constant. Therefore, the consistency of the firing stroke is ensured to the greatest extent possible in both the bent and extended states, and the formation of staples in the furthest row can be guaranteed for electric staplers.

[0062] To further improve the bending stability of the distal execution portion 30b, the distal connecting member 382a is provided with two drive bending portions 383a and 383b, and the bending member 36 is connected to the two drive bending portions 383a and 383b via a transmission assembly 39. The two drive bending portions 383a and 383b are located on opposite sides of the longitudinal axis C, with one side of the distal connecting member 382a receiving a force in the far end direction and the other side receiving a force in the near end direction. By providing drive bending portions 383 on both sides of the distal connecting member 382a, the bending driving force of the bending member 36 is further reduced, and the bending stability of the distal connecting member 382a is further improved.

[0063] Referring to Figures 4 and 5, the transmission assembly 39 includes a first rack 391 connected to the bending member 36 and attached to the support body 34 inside the proximal body portion 30a (see Figure 3, not shown in Figure 4), and a first bending transmission member 393 fixedly connected to the first rack 391 and connected to the first drive bending portion 383a in the distal connecting member 382a. The transmission assembly 39 further includes a second rack 392 installed on the support body 34 and spaced apart from and opposite to the first rack 391, a second bending transmission member 394 fixedly connected to the second rack 392 and connected to the second drive bending portion 383b in the distal connecting member 382a, and two gears 395 located between the first rack 391 and the second rack 392 and rotatably connected to the gear support frame 396 of the support body 34. In the embodiment shown in Figure 4, the two gears 395 are installed to mesh with and connect to the first rack 391 and the second rack 392, respectively. When the bending member 36 is operated to move distally, the first rack 391 and the first bending transmission member 393 are pushed distally, and the movement of the gears 395 is linked to the rotation of the gears 395, and the second rack 392 is moved proximal, and the second bending transmission member 394 is moved proximal, thereby bending the distal connecting member 382a.

[0064] As an alternative embodiment, as shown in Figures 8 and 9, the first drive bending portion 383a of the distal connecting member 382a is configured as a pivot structure with its axial direction perpendicular to the nip surface, and the second drive bending portion 383b is configured as a protruding block structure with its axial direction parallel to the nip surface. Similarly, a connecting sleeve 393a is provided at the far end of the first bending transmission member 393, and the first bending transmission member 393 is sleeve-mounted to the first drive bending portion 383a via the connecting sleeve 393a. A rivet joining hole 394a is provided at the far end of the second bending transmission member 394, and the second drive bending portion 383b is combined with the rivet joining hole 394a to rivet-join the second bending transmission member 394 and the distal connecting member 382a. Here, when the distal execution section 30b is operated to bend, the bending radius at the position where the first drive bending section 383a is located (i.e., the bending radius when the first bending transmission member 393 connected to the first drive bending section 383a is bent) is smaller than the bending radius at the position where the second drive bending section 383b is located (i.e., the bending radius when the second bending transmission member 394 connected to the second drive bending section 383b is bent).

[0065] The end effector assembly 30 described in the embodiment of the present invention is operated to bend at a large angle mainly toward one side of the longitudinal axis C, and since the bending radius of the first drive bending portion 383a in the distal connecting member 382a is always smaller than the bending radius of the second drive bending portion 383b, the amount of deformation of the first bending transmission member 393 is greater than the amount of deformation of the second bending transmission member 394. The connection reliability between the first bending transmission member 393 and the distal connecting member 382a can be improved by using a connecting sleeve 393a which is sleeve-joined to the first drive bending portion 383a.

[0066] Figures 8 to 13 show the movement of the joints of the end effector assembly 30 provided by an embodiment of the present invention. As shown in Figures 8 to 10, the distal execution portion 30b extends along the longitudinal axis C. That is, when the distal execution portion 30b extends in the same direction as the proximal main body portion 30a, the angle between the distal execution portion 30b and the longitudinal axis C is 0° or approximately 0°, and the first drive bending portion 383a and the second drive bending portion 383b of the distal connecting member 382a are located at the distal end of pivot point A. When the bending knob 12 of the surgical instrument 100 is operated, the bending member 36 moves proximal, and the first drive bending portion 383a and the second drive bending portion 383b move in conjunction to rotate around pivot point A. As a result, the distal execution portion 30b is bent in a direction that gradually moves away from the longitudinal axis C, and eventually reaches the position of maximum bending angle on one side, as shown in Figures 11 to 13. Note that during the process in which the distal execution portion 30b bends relative to the proximal main body portion 30a, the occlusal position (i.e., pivot point A) of the proximal connecting member 381a and the distal connecting member 382a is not fixed, but changes in accordance with the change in the position of the occlusal teeth.

[0067] In a specific embodiment, the joint assembly 38 can achieve the bending motion of the distal execution portion 30b by using a proximal connecting member 381a and a distal connecting member 382a. As an alternative embodiment, referring to Figures 3 to 5, the proximal connecting member is provided with two proximal connecting members, an upper proximal connecting member 381a and a lower proximal connecting member 381b. The distal connecting member is provided with two distal connecting members, an upper distal connecting member 382a and a lower distal connecting member 382b. In this embodiment, the upper proximal connecting member 381a extends distally from the distal end of the first semi-support body 34a and is fixedly connected, for example, by a combination of slots and engaging projections. Similarly, the lower proximal connecting member 381b extends distally from the far end of the second semi-support body 34b, and the lower proximal connecting member 381b and the second semi-support body 34b are fixedly connected via a method of combining slots and engaging projections. The upper distal connecting member 382a is connected to the staple cartridge assembly 31, and the lower distal connecting member 382b is connected to the staple anvil assembly 32. By installing two sets of proximal connecting members and two sets of distal connecting members, the bending stability of the distal execution section 30b can be further improved.

[0068] Specifically, the upper distal connecting member 382a is connected to the staple cartridge base 311 via a positioning pin, thereby fixing the upper distal connecting member 382a to the staple cartridge base 311 in an immovable state. The lower distal connecting member 382b is connected to the staple anvil housing 321 via a positioning pin, thereby fixing the lower distal connecting member 382b to the staple anvil housing 321 in an immovable state. Furthermore, the upper distal connecting member 382a and the lower distal connecting member 382b are connected via a positioning pin, thereby fixing the upper distal connecting member 382a to the lower distal connecting member 382b. This allows the staple cartridge assembly 31 and the staple anvil assembly 32 to work together and achieve synchronous bending. The upper distal connecting member 382a and the lower distal connecting member 382b are fixedly connected to the staple cartridge assembly 31 and the staple anvil assembly 32 in an immovable state, while the staple cartridge assembly 31 and / or staple anvil assembly 32 can pivot and rotate in the closing and opening directions relative to the upper distal connecting member 382a and the lower distal connecting member 382b. By installing the two proximal and distal connecting members, the bending synchronization between the staple anvil assembly 32 and the staple cartridge assembly 31 of the distal execution section 30b is improved, the bending action position becomes more uniform, and the bending becomes more stable. Of course, it is also possible to install only one proximal connecting member 381a and one distal connecting member 382a, and even in this case, the distal execution section 30b can bend around the pivot point A formed by the proximal connecting member 381a and the distal connecting member 382a.

[0069] Furthermore, in this embodiment, the retaining member 384 is housed within a mounting space formed by the region between the upper and lower distal connecting members 382a, 382b and the upper and lower proximal connecting members 381a, 381a, thereby preventing exposure to the outside and ensuring the movement stability of the launching member 35. Specifically, as shown in Figure 10, the upper proximal connecting member 381a is provided with a proximal pivot hole 51, and the upper distal connecting member 382a is provided with a distal pivot hole 52. The proximal pivot shaft 41 of the retaining member 384 passes through the proximal pivot hole 51 of the upper proximal connecting member 381a, and the distal pivot shaft 42 of the retaining member 384 passes through the distal pivot hole 52 of the upper distal connecting member 382a, and the ends of the pivot shafts 41 and 42 are riveted to the first connecting piece 385. Here, the first connecting piece 385 is provided with two connecting holes, and the ends of the proximal pivot shaft 41 and distal pivot shaft 42 of the retaining member 384 are riveted to the connecting holes of the first connecting piece 385.

[0070] The joint assembly 38 further includes a second connecting piece 386, and as shown in Figure 3, the lower proximal connecting member 381b and the lower distal connecting member 382b are riveted to the second connecting piece 386 via a pivot axis. The second connecting piece 386 is provided with two connecting holes, and the ends of the pivot axes in the lower proximal connecting member 381b and the lower distal connecting member 382b are riveted to the connecting holes in the second connecting piece 386.

[0071] In an alternative embodiment, in order to more appropriately accommodate the firing member 35 inside the joint assembly 38 and prevent the firing beam 351 of the firing member 35 from protruding from or overlapping with the joint, a first limit protrusion 61 is further provided on the side surface of the lower proximal connecting member 381b facing the holding member 384. A part of the side surface of the first limit protrusion 61 further limits the bending position of the firing member 35. The first limit protrusion 61 faces the proximal end surface of the first support region 384a in the holding member 384 and has a first gap t1', specifically, t1' < t1. When the distal execution part 30b swings from a first position extending in the longitudinal axis direction to the maximum bending position, the first gap t1' does not change or changes slightly. As shown in FIG. 21, the first limit protrusion 61 has a first side surface installed opposite to the proximal end surface of the first support region 384a and a second side surface installed opposite to the firing member 35. The first side surface is installed perpendicular to the second side surface. In other alternative embodiments, based on the maximum bending angle of the distal execution part 30b, the included angle between the first side surface and the second side surface of the first limit protrusion 61 is between 80° and 100°. By installing the above-mentioned first limit protrusion 61, in the process of the end effector assembly changing from the extended state to the maximum bending angle, at the proximal part of the joint assembly 38, the gap t1' between the holding member 384 and the first limit protrusion 61 is always small, and the firing beam 351 is surely bent under the limiting action of the holding member 384 and the first limit protrusion 61.

[0072] Similarly, as shown in FIG. 19, a second limit protrusion 62 is provided on the side surface of the lower distal connecting member 382b facing the holding member 384. A part of the side surface of the second limit protrusion 62 further limits the bending position of the firing member 35. The second limit protrusion 62 faces the distal end surface of the first support region 384a in the holding member 384 and has a second gap t2', specifically, t2' < t2. When the distal execution part 30b swings from the first position extending in the longitudinal axis direction to the maximum bending position, the second gap t2' does not change or changes slightly. As shown in FIG. 21, the second limit protrusion 62 also has a first side surface installed opposite to the first support region 384a and a second side surface installed opposite to the firing member 35, and the first side surface is installed perpendicular to the second side surface. In other alternative embodiments, based on the maximum bending angle of the distal execution part 30b, the included angle between the first side surface and the second side surface is between 80° and 100°. By installing the above-mentioned second limit protrusion 62, in the process of the end effector assembly changing from the extended state to the maximum bending angle, at the distal end of the joint assembly 38, the gap t2' between the holding member 384 and the first limit protrusion 61 is always small, and the firing beam is surely bent under the limiting action of the holding member 384 and the second limit protrusion 62.

[0073] In other alternative embodiments, the first limit protrusion 61 may be installed on the proximal connecting member 381a, and the second limit protrusion 62 may be installed on the distal connecting member 382a.

[0074] Also, as shown in FIG. 21, when the distal execution part 30b extends along the longitudinal axis direction, the second side surfaces of the first limit protrusion 61 and the second limit protrusion 62 are parallel to the longitudinal axis. The first side surface of the first limit protrusion 61 is installed parallel to the proximal end surface of the first support region 384a in the holding member 384, and the first side surface of the second limit protrusion 62 is parallel to the distal end surface of the first support region 384a in the holding member 384.

[0075] In an alternative embodiment, in order to adapt the end effector assembly 30 described in an embodiment of the present invention to the main body (including the knob assembly and the elongated body assembly) of a conventional surgical instrument 100, that is, to adapt the same main body (including the knob assembly and the elongated body assembly) of the same surgical instrument 100 to an end effector assembly having the same specifications and size as the end effector assembly 30 described in an embodiment of the present invention, a predetermined bending angle is set in the effector assembly 30 before it is first loaded onto the surgical instrument. For example, as shown in Figure 14, when the end effector assembly 30 is in the loading position, the distal execution portion 30b forms a first binding angle α1 set with the longitudinal axis C.

[0076] Specifically, after attaching the end effector assembly 30, which is in the loading waiting position, to the elongated assembly 20 of the surgical instrument 100, the bending knob 12 of the knob assembly 10 moves the bending member 36 proximal by a first distance. Thus, as shown in Figures 11 and 12, the distal execution portion 30b of the end effector assembly 30, which is already bent at a first angle α1, bends further to a second angle α2 in a direction away from the longitudinal axis C. Similarly, after attaching the end effector assembly 30, which is in the loading waiting position, to the elongated assembly 20 of the surgical instrument 100, the bending knob 12 of the knob assembly 10 moves the bending member 36 distally by a second distance. Therefore, as shown in Figures 8 and 9, the distal execution portion 30b of the end effector assembly 30, based on its state already bent at the first angle α1, pivots and rotates further toward the longitudinal axis C, ultimately becoming 0° or approximately 0° from the longitudinal axis C. Here, the first distance may be the same as or different from the second distance.

[0077] When the end effector assembly 30 described in the embodiment of the present invention is applied to a conventional surgical instrument 100, the first distance can correspond to the distance the bending member 36 moves when the end effector assembly 30 is bent to the maximum angle to the right, and the second distance can correspond to the distance the bending member 36 moves when the end effector assembly 30 is bent to the maximum angle to the left. By installing the above-described end effector assembly 30, the versatility and applicability of the end effector assembly described in the embodiment of the present invention are further improved.

[0078] Furthermore, in the end effector assembly 30 described in the embodiment of the present invention, a guide groove 341 (see Figures 23 and 24) is defined between the first semi-support body 34a and the second semi-support body 34b, slidably housing a launching member 35, forming a slidable passage. The launching member 35 includes an elongated launching beam 351 that is slidably connected to the guide groove 341. The guide groove 341 extends along the longitudinal axial direction and penetrates the extended regions of the first semi-support body 34a and the second semi-support body 34b, so that both the near and far ends of the support body 34 can limit the launching beam 351. The near end of the launching beam 351 is hooked and connected to the launching connecting member 353. Specifically, as shown in Figures 22 and 23, the launching connecting member 353 is formed into a sleeve structure having an opening, and the proximal end of the launching beam 351 is configured to have an opening, with a first hook portion 3511 and a second hook portion 3512 installed opposite each other at its proximal end. The launching connecting member 353 is provided with a launching connecting portion 3531, and the first hook portion 3511 and the second hook portion 3512 are hooked onto the opposing sides of the launching connecting portion 3531. A guide chute 3532 is installed at the far end of the launching connecting portion 3531 in the launching connecting member 353, and the guide chute 3532 extends along the longitudinal axial direction and is suitable for restricting the position of both sides of the launching beam 351 perpendicular to the longitudinal axial direction. For example, if the launch beam 351 is configured as a stacked sheet material, the guide chute 3532 prevents the stacked sheet-like launch beam 351 from shifting when it bends by restricting its position by engaging with the sheet-like surfaces on both sides of the launch beam 351. As shown in Figures 26 and 27, the launch connecting member 353 is further equipped with a safety mechanism 355 to prevent the launch member 35 from being launched secondarily. Here, the specific structure of the safety mechanism 355 is described in detail in the Chinese patent application No. CN202210770831.1. The entire contents of this application are incorporated herein by reference and will not be repeated here.

[0079] Furthermore, as shown in Figure 29, the proximal main body portion 30a further includes a locking member 37 for positioning the bending member 36 and the launching member 35 in their initial positions when the end effector assembly 30 is in the loading waiting position. Specifically, as shown in Figure 12, the locking member 37 includes a first locking portion 371 and a second locking portion 372. When the end effector assembly 30 is in the loading waiting position, the first locking portion 371 engages with the bending member 36 to lock it, and the second locking portion 372 engages with the launching member 35 to lock it. Using this locking member 37, the bending member 36 and the launching member 35 can be locked simultaneously.

[0080] Here, the locking member 37 is rotatably sleeve-mounted on the joint portion 34c located proximal to the support body 34, and can be switched between a locked position and an unlocked position. As shown in Figure 31, when the locking member 37 is rotated to the locked position, the first locking portion 371 locks in conjunction with the bending member 36, and the second locking portion 372 locks in conjunction with the launching member 35, at which point the end effector assembly 30 is in the loading waiting position. As shown in Figure 32, when the locking member 37 is rotated to the unlocked position, the first locking portion 371 is released from the bending member 36, the second locking portion 372 is released from the launching member 35, and the bending member 36 is unlocked from the launching member 35 and becomes slidable relative to the support body 34.

[0081] The locking member 37 is locked to the bending member 36 and the launching member 35, respectively, by being rotated and inserted. Specifically, as shown in Figure 12, the locking member 37 is configured as a semi-annular sleeve having a notch, and the semi-annular sleeve has a first wall surface 374 and a second wall surface 375 that are installed opposite each other and form the notch. The first locking portion 371 is configured as a first projection extending circumferentially along the side wall of the locking member 37 in which the notch is formed (i.e., the first wall surface 374 or the second wall surface 375), and the second locking portion 372 is configured as a second projection extending inward along the inner wall of the locking member 37. Accordingly, as shown in Figures 31 and 32, the bending member 36 is provided with a bending lock groove 362, and when the lock member 37 rotates to the locked position, the first projection of the lock member 37 is inserted into the bending lock groove 362 in the bending member 36, locking the bending member 36. The firing beam 351 is provided with a firing lock groove 3513 (see Figure 25), and when the lock member 37 rotates to the locked position, the second projection of the lock member 37 is inserted into the firing lock groove 3513 in the firing member 35, and locking the firing member 35.

[0082] As shown in Figures 30 to 32, the locking member 37 further includes a lock release drive unit 373. When the end effector assembly 30 is in the loading position, the lock release drive unit 373 receives a circumferential force from a drive projection inside the elongated assembly 20, causing the locking member 37 to rotate around the support body 34 and to release the bending member 36 and the launching member 35. Here, the lock release drive unit 373 is configured as an extension sheet extending toward the near end along the end face of the near end of the semi-annular sleeve. At the same time, in order to improve the rotational safety of the locking member 37, two lock release drive units 373 are installed on the locking member 37 symmetrically in the circumferential direction, and therefore, two drive projections for driving the lock release drive units 373 are provided on the inner wall of the elongated body of the elongated assembly 20.

[0083] Figures 36 to 47 show an end effector assembly 60 described in another embodiment of the present invention. Some structural components of the end effector assembly 60 described in this embodiment employ the same design as the end effector assembly 30. Therefore, structures or components employing the same design as the end effector assembly 30 will be described using the drawing numbers of the end effector assembly 30. In this embodiment, the end effector assembly 60 includes a retaining member 684, the retaining passage 643 of the retaining member 684 is configured as an arc-shaped structure as shown in Figure 38 or Figure 39. The arc-shaped passage is formed by a first support wall 643a and a second support wall 643b located on both sides of the firing beam 351, with the bending direction of the first support wall 643a being opposite to the bending direction of the second support wall 643b. The first support wall 643a and the second support wall 643b protrude outward in an arc direction, and when the distal execution portion 60b of the end effector assembly 60 bends relative to the proximal main body portion 60a, the first support wall 643a or the second support wall 643b supports the bent outer arc surface of the launching member 35.

[0084] As shown in Figure 42, similar to the embodiment described above, the proximal connecting member 681a of the end effector assembly 60 includes a firing passage 653 whose near end faces the firing passage of the proximal main body 60a and whose far end faces the holding passage 643 of the holding member 684. Accordingly, the distal connecting member 682a also has a firing passage 654 whose far end faces the firing passage of the far end main body 60a and whose near end faces the holding passage 643 of the holding member 684. When the distal execution unit 60b extends along the longitudinal axis C, the firing passage 653 of the proximal connecting member 681a and the firing passage 654 of the distal connecting member 682a extend in the same direction and are positioned opposite each other, making it suitable for the firing beam 351 to extend along a linear direction.

[0085] Referring to Figures 38 and 39, the portion of the retaining member 684 where the first support wall 643a is located is the first support region 644, and the outer wall of the first support region 644 is the first outer arc wall 644a. The first outer arc wall 644a has the same arc direction as the first support wall 643a, and its arc length is longer than the arc length of the first support wall 643a, and both ends of the first outer arc wall 644a and the first support wall 643a are transitioned via the first transition wall 644b. The portion of the retaining member 684 where the second support wall 643b is located is the second support region 645, and the outer wall of the second support region 645 is the second outer arc wall 645a. The second outer arc wall 645a has the same arc direction as the second support wall 643b, and its arc length is longer than the arc length of the second support wall 643b, and both ends of the second outer arc wall 645a and the second support wall 643b are transitioned via the second transition wall 645b.

[0086] Figures 41 and 42 show the end effector assembly 60 in a non-bent position, i.e., the distal execution portion 60b extends along the longitudinal axis C. In this case, the distal edges of the first support wall 643a and the second support wall 643b are substantially aligned with the inner walls of the firing passage 654 in the distal execution portion 60b and the distal connecting member 682a, and the near ends of the first support wall 643a and the second support wall 643b are substantially aligned with the inner walls of the firing passage 653 in the proximal main body portion 60a and the proximal connecting member 681a. As a result, the firing beam 351 receives limit protection from the first support wall 643a and the second support wall 643b in the holding member 684 when extended.

[0087] Referring to Figures 44 and 45, when the distal execution portion 60b bends to the maximum bending angle in a first direction relative to the proximal main body portion 60a, the first transition wall 644b at the proximal end of the holding member 684 supports and restricts the position of the proximal inner arc surface of the launching member 35, the first transition wall 644b at the distal end of the holding member 684 supports and restricts the position of the distal inner arc surface of the launching member 35, and the second support wall 643b of the holding member 684 restricts the position of the maximum bending outer arc surface of the launching member 35. When the distal execution portion 60b bends to its maximum bending angle in a second direction (opposite to the first direction) relative to the proximal main body portion 60a, the second transition wall 645b proximal to the retaining member 684 restricts the position of the proximal inner arc surface of the launching member 35, the second transition wall 645b distal to the retaining member 684 restricts the position of the distal inner arc surface of the launching member 35, and the first support wall 643a of the retaining member 684 restricts the position of the maximum bending outer arc surface of the launching member 35. The three positional limit protections in the retaining member 684 ensure that the launching member 35 is bent according to a preset bending position, preventing it from flying out of the joint assembly 68.

[0088] Referring to Figure 45, the portion region in which the launching member 35 engages with the proximal first transition wall 644b or the second transition wall 645b is the proximal bending transition region of the launching member 35, and the portion region in which the launching member 35 engages with the distal first transition wall 644b or the second transition wall 645b is the distal bending transition region of the launching member 35. In order to better engage the first transition wall 644b or the second transition wall 645b of the holding member 684 with the launching member 35 and to limit the position of the launching member 35, the portion region of the first transition wall 644b or the second transition wall 645b in the holding member 684 is a flat structure. As a result, the contact area between the launching member 35 and the side wall of the launching beam 351 is increased, and a better limiting effect can be achieved.

[0089] Referring to Figure 45, when the distal execution section 60b bends to the maximum bending angle relative to the proximal main body section 60a, the near end of the first transition wall 644b or the second transition wall 645b located proximal to the first transition wall 644b or the second transition wall 645b substantially contacts the inner wall of the firing passage 653 of the proximal connecting member 681a, thereby limiting the bending of the firing member 35. At the same time, the far end of the distal first transition wall 644b or the second transition wall 645b substantially contacts the inner wall of the firing passage 654 in the distal connecting member 682a, thereby limiting the bending of the firing member 35. As a result, the firing beam 351 can receive limit protection from the holding member 684 in a portion of the joint assembly 68.

[0090] In the embodiment of the present invention, the end effector assembly 60 is configured such that the joint assembly 68 forms the pivot point B (shown in Figures 43 and 46) of the distal execution portion 60b by interlocking the proximal connecting member 681a and the distal connecting member 682a, thereby enabling bending at a large angle even with a relatively small bending radius. Similar to the previously described embodiment, in this embodiment, the distal connecting member 682a is also provided with a drive bending portion 683a, and because the distance between it and the interlocking point of the proximal connecting member 681a and the interlocking point of the distal connecting member 682a (pivot point B) is relatively large, the bending driving force is reduced and bending driving becomes easier under the same bending force moment. Furthermore, since the holding member 684 is connected to the proximal connecting member 681a and the distal connecting member 682a via two pivot axes, the center distance between the proximal connecting member 681a and the distal connecting member 682a is constant. Therefore, the consistency of the firing stroke can be guaranteed to the greatest extent possible in both the bent and extended states, and in electric staplers, the formation of staples in the furthest row can be guaranteed.

[0091] In this embodiment, the transmission assembly of the end effector assembly 60 employs the same structure as the transmission assembly 39 of the end effector assembly 30 in order to realize bending operations on the proximal main body portion 60a, and will not be described in detail here. In this embodiment, in order to improve the bending stability of the distal execution portion 60b, two drive bending portions 683, a first drive bending portion 683a and a second drive bending portion 683b, may be provided on the distal connecting member 682a, as shown in Figures 42 and 45. The bending member 36 is connected to the first drive bending portion 683a and the second drive bending portion 683b via the transmission assembly 39, and the first drive bending portion 683a and the second drive bending portion 683b are located on opposite sides of the longitudinal axis C, respectively. One side of the distal connecting member 682a receives a force toward the far end, and the other side receives a force toward the near end. By installing drive bending sections 683 on both sides of the distal connecting member 682a, the bending driving force of the bending member 36 is further reduced, and the bending stability of the distal connecting member 682a is further improved.

[0092] In one embodiment, as shown in Figures 40, 42, and 45, the two drive bending portions 683a and 683b of the distal connecting member 682a are drive rotating shaft structures whose axial direction is perpendicular to the nip surface. The distal ends of the first bending transmission member 393 and the second bending transmission member 394 are each provided with rivet joining holes. The first drive bending portion 683a and the second drive bending portion 683a are combined with the rivet joining holes to achieve riveting of the first bending transmission member 393, the second bending transmission member 394, and the distal connecting member 682a. In other alternative embodiments, the drive bending portions 683a and 683b of the distal connecting member 682a are a drive rotating shaft structure whose axial direction is parallel to the nip surface, the first bending transmission member 393 and / or the second bending transmission member 394 are provided with a connecting sleeve, and the first bending transmission member 393, the second bending transmission member 394 and the distal connecting member 682a are connected by a method in which the connecting sleeve is sleeve-joined to the drive rotating shaft.

[0093] As alternative embodiments, based on the above-described embodiment, Figures 33 and 47 show alternative structural configurations of the first bending transmission member 393 and the second bending transmission member 394, respectively. Specifically, the first bending transmission member 393 and the second bending transmission member 394 are configured in a chain configuration formed from a plurality of rotatably connected rod bodies, which can bend in conjunction with the distal execution portion 30b and distal execution portion 60b when they bend at a large angle relative to the proximal body portion 30a and proximal body portion 60a. The chain configuration structure can adapt to relatively large bending deformations by rotating each rod body between pivot axes, and when using elastic materials at large bending angles, it is possible to avoid problems such as breakage caused by exceeding the elastic deformation amount of the elastic material.

[0094] Similar to the embodiments described above, in this embodiment as well, the joint assembly 68 can employ a method using one proximal connecting member 681a and one distal connecting member 682a, or it may employ a method using two proximal connecting members and / or two distal connecting members, which will not be described in detail here.

[0095] Next, Figures 41 to 46 will be combined to describe in detail the movement process of the joint in the end effector assembly 60 provided in an embodiment of the present invention. As shown in Figures 41 to 43, when the distal execution portion 60b extends along the longitudinal axis C, that is, when the distal execution portion 60b extends in the same direction as the proximal main body portion 60a, the angle between the distal execution portion 60b and the longitudinal axis C is 0° or approximately 0°. That is, the end effector assembly 60 is in a loading-awaiting or unused initial state / position (hereinafter referred to as the loading-awaiting position), and the first drive bending portion 683a and the second drive bending portion 683b of the distal connecting member 682a are located at the far end of the pivot point B, respectively. When the bending knob 12 of the surgical instrument 100 is operated, the bending member 36 moves proximal, and the first drive bending section 683a and the second drive bending section 683b move in conjunction to rotate around the pivot point B. As a result, as shown in Figures 44 to 46, the distal execution section 60b bends in a first direction that gradually moves away from the longitudinal axis C, and eventually reaches a position / state with the maximum bending angle in the first direction. When the bending knob 12 of the surgical instrument 100 is operated, the bending member 36 moves distal, and the first drive bending section 683a and the second drive bending section 683b move in conjunction to rotate around the pivot point B. As a result, the distal execution section 60b bends in a second direction (opposite direction to the first direction) that gradually moves away from the longitudinal axis C, and eventually reaches a position / state with the maximum bending angle (not shown) in the second direction. The position / state with the maximum bending angle in the second direction is mirror-symmetric to the position / state with the maximum bending angle in the first direction, with the longitudinal axis C as the axis of symmetry.

[0096] Naturally, the embodiments described above are merely illustrative examples for clarity and do not limit the embodiments. Those skilled in the art can make various other modifications and changes based on the above description. There is no need, nor is there any possibility, to comprehensively list all embodiments. Obvious modifications and changes resulting therefrom still fall within the scope of the invention.

Claims

1. A proximal main body portion that includes a bending member and a launching member and defines the longitudinal axis, An end-effector assembly for a surgical instrument, comprising a staple cartridge assembly and a staple anvil assembly, wherein the opposing surfaces of the staple cartridge assembly and the staple anvil assembly form a nip surface for gripping tissue, and the distal execution portion is rotatably connected to the proximal body via an articulation assembly, The aforementioned joint assembly is A proximal connecting member fixedly connected to the far end of the proximal main body, A distal connecting member is fixedly connected to the proximal end of the distal execution portion and joined to the proximal connecting member, and is provided with at least one drive bending portion, wherein the bending member is a distal connecting member that drives the drive bending portion in an operable manner so as to bend the distal execution portion relative to the proximal main body portion, An end effector assembly characterized by including a retaining member rotatably connected to the proximal connecting member and the distal connecting member, respectively, and having a retaining passage for housing the firing member.

2. The end effector assembly according to claim 1, characterized in that the distal end of the proximal connecting member has a tooth-like structure, the proximal end of the distal connecting member has a tooth-like structure that interlocks with the proximal connecting member, the interlocking position of the distal connecting member and the proximal connecting member forms the pivot point of the distal execution portion, and when the distal execution portion extends along the longitudinal axis, the drive bending portion is installed so as not to overlap with the longitudinal axis.

3. The end effector assembly for a surgical instrument according to claim 1 or 2, characterized in that the retaining member is provided with a proximal pivot axis and a distal pivot axis, the proximal pivot axis of the retaining member pivots with the proximal pivot hole of the proximal connecting member, the distal pivot axis of the retaining member pivots with the distal pivot hole of the distal connecting member, and the line connecting the axes of the proximal pivot axis and the distal pivot axis is located within the retaining passage.

4. The end effector assembly according to any one of claims 1 to 3, wherein the joint assembly further includes a first connecting piece having two connecting holes, the proximal pivot axis and distal pivot axis of the retaining member pass through the proximal pivot hole of the proximal connecting member and the distal pivot hole of the distal connecting member, respectively, and are riveted to the connecting holes of the connecting members.

5. The end effector assembly according to any one of claims 1 to 4, characterized in that the distal connecting member is provided with a first drive bending portion and a second drive bending portion, and the bending member is connected to the first drive bending portion and the second drive bending portion, respectively, via a transmission assembly.

6. The aforementioned transmission assembly is The near end is a first rack connected to the bending member, and a first bending transmission member fixedly connected to the first rack, the first bending transmission member connected to one of the drive bending portions of the distal connecting member, A second rack installed opposite to the first rack at a distance from it, and a second bending transmission member fixedly connected to the second rack, the second bending transmission member being connected to the other side of the drive bending portion of the distal connecting member, The end effector assembly according to claim 5, characterized by including at least one gear located between a first rack and a second rack, and which meshes with and connects to the first rack and the second rack, respectively.

7. The end effector assembly according to claim 6, characterized in that the first drive bending portion and the second drive bending portion are configured as pivots fixedly connected to the distal connecting member, and the first bending transmission member or the second bending transmission member is riveted or sleeve-joined to the pivot.

8. The end effector assembly according to claim 6, characterized in that the first drive bending portion in the distal connecting member is configured as a pivot whose axial direction is perpendicular to the nip surface, a connecting sleeve is provided at the far end of the first bending transmission member, and the first bending transmission member is sleeve-mounted to the first drive bending portion via the connecting sleeve.

9. The end effector assembly according to claim 6, characterized in that the second drive bending portion in the distal connecting member is configured as a protruding block whose axial direction is parallel to the nip surface, a rivet connection hole is provided at the far end of the second bending transmission member, and the second drive bending portion is connected to the second bending transmission member via the rivet connection hole.

10. The end effector assembly according to any one of claims 1 to 9, characterized in that the retaining passage is a unidirectional arc-shaped passage, the first support wall and the second support wall forming the retaining passage are bent in the same direction, and when the launching member is bent to the position of the maximum angle, the first support wall is adapted to support the outer wall of the launching member and the second support wall is adapted to support the inner wall of the launching member.

11. The end effector assembly according to claim 10, characterized in that the arc length of the first support wall is shorter than the arc length of the second support wall.

12. The end effector assembly according to claim 11, characterized in that the portion of the retaining member where the first support wall is located is a first support region, the portion of the retaining member where the second support wall is located is a second support region, the near end surface of the first support region is located distal to the near end surface of the second support region, and the far end surface of the first support region is located proximal to the far end surface of the second support region.

13. The end effector assembly according to claim 10, characterized in that, when the distal execution portion extends along the longitudinal axial direction, the distal edge of the first support wall is substantially in line with the inner wall of the launch passage in the distal execution portion, and the near end of the first support wall is substantially in line with the inner wall of the passage supporting the relative sliding of the launch member in the proximal main body portion.

14. The end effector assembly according to claim 13, characterized in that, when the distal execution portion extends along the axial direction of the longitudinal direction, there is a gap fitting between the distal end of the first support wall and the near end of the firing passage in the distal connecting member, and the near end of the first support wall is gap fitted with the distal end of the firing passage in the proximal connecting member.

15. The end effector assembly according to any one of claims 12 to 14, characterized in that the proximal connecting member has a first limit projection on the side surface facing the retaining member, the first limit projection facing the near end surface of the first support region and having a first gap, and the distal connecting member has a second limit projection on the side surface facing the retaining member, the second limit projection facing the far end surface of the first support region and having a second gap.

16. The end effector assembly according to claim 15, characterized in that the first limit projection and the second limit projection each have a first side surface positioned opposite to the first support area and a second side surface positioned opposite to the launching member, and the angle between the first side surface and the second side surface is between 80° and 100°.

17. The end effector assembly according to claim 16, characterized in that when the distal execution portion extends along the longitudinal axial direction, the second side surfaces of the first limit projection and the second limit projection are parallel to the longitudinal axis.

18. The end effector assembly according to claim 16 or 17, characterized in that when the distal execution portion extends along the longitudinal axial direction, the first side surface of the first limit projection is positioned parallel to the near end surface of the first support region in the holding member, and the first side surface of the second limit projection is positioned parallel to the far end surface of the first support region in the holding member.

19. The end effector assembly according to any one of claims 1 to 9, characterized in that the retaining passage is a bidirectional arc-shaped passage, the arc-shaped directions of the first support wall and the second support wall forming the retaining passage protrude outward, and when the distal execution portion is bent relative to the proximal main body portion, the first support wall or the second support wall supports the bent outer arc surface of the firing member.

20. The portion of the holding member where the first support wall is located is the first support region, the outer wall of the first support region is the first outer arc wall, the first outer arc wall has the same arc direction as the first support wall, and its arc length is longer than the arc length of the first support wall, and both ends of the first outer arc wall and the first support wall transition via the first transition wall, The end effector assembly according to claim 19, characterized in that the portion of the retaining member where the second support wall is located is a second support region, the outer wall of the second support region is a second outer arc wall, the second outer arc wall has the same arc direction as the second support wall and its arc length is longer than the arc length of the second support wall, and both ends of the second outer arc wall and the second support wall transition via a second transition wall.

21. The end effector assembly according to claim 20, characterized in that when the distal execution portion bends to the maximum bending angle relative to the proximal main body portion, the first or second transition wall located proximal to the holding member restricts the position of the proximal inner arc surface in the firing member, and the first or second transition wall located distal to the holding member restricts the position of the distal inner arc surface in the firing member.

22. The end effector assembly according to claim 20 or 21, characterized in that the portion region in which the launching member combines with the proximal first transition wall or the second transition wall is a bending transition region located proximal to the launching member, and the portion region in which the launching member combines with the distal first transition wall or the second transition wall is a bending transition region located distal to the launching member.

23. An end effector assembly according to any one of claims 20 to 22, characterized in that when the distal execution portion bends to the maximum bending angle relative to the proximal main body portion, the near end of the proximal first transition wall or the second transition wall substantially abuts against the inner wall of the launch passage in the proximal connecting member, thereby limiting the bending of the launch member, and the far end of the distal first transition wall or the second transition wall substantially abuts against the inner wall of the launch passage in the distal connecting member, thereby limiting the bending of the launch member.

24. The end effector assembly according to any one of claims 19 to 23, characterized in that, when the distal execution portion extends along the longitudinal axis, the distal edges of the first support wall and the second support wall are substantially in line with the inner wall of the launch passage in the distal execution portion, and the near ends of the first support wall and the second support wall are substantially in line with the inner wall of the passage that supports the relative sliding of the launch member in the proximal main body portion.

25. The end effector assembly according to any one of claims 1 to 18, characterized in that when the end effector assembly is in a position awaiting loading, the distal execution portion forms a clamping angle other than 0° with respect to the longitudinal axis.

26. The end effector assembly according to claim 25, wherein the proximal main body further includes a locking member rotatably sleeved and mounted proximal thereto, the locking member includes a first locking portion, and when the end effector assembly is in a position awaiting loading, the first locking portion engages with the bending member to lock the bending member.

27. The end effector assembly according to claim 26, wherein the locking member includes a second locking portion, and when the end effector assembly is in a position awaiting loading, the second locking portion engages with the launching member to lock the launching member.

28. The end effector assembly according to claim 27, characterized in that the first locking portion of the locking member and the bending member, and the second locking portion of the locking member and the launching member are locked by a method of rotation and insertion.

29. The end effector assembly according to claim 27 or 28, characterized in that the locking member is formed as a semi-annular sleeve having a notch, the first locking portion is a first projection extending circumferentially from a side wall having a notch formed along the locking member, and the second locking portion is a second projection extending inward along the inner wall of the locking member.

30. The end effector assembly according to any one of claims 27 to 29, characterized in that the proximal body portion includes a support body, the locking member is sleeve-joined to the near end of the support body, and the first locking portion and the second locking portion are each located at the far end of the locking member.

31. The end effector assembly according to any one of claims 26 to 30, wherein the locking member further includes a lock release drive unit, and when the end effector assembly is in a loading position, the lock release drive unit receives a circumferential force to rotate the locking member around it, thereby releasing the assembly from the bending member and the launching member.

32. A surgical instrument comprising a knob assembly, an elongated body assembly, and an end effector assembly selectively joined to the elongated body assembly, all connected sequentially from the proximal to the distal end, The end effector assembly is a surgical instrument characterized by using the end effector assembly described in any one of claims 1 to 31.

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