Surgical instrument

Abstract

A surgical instrument, comprising a jaw assembly (100), a sleeve assembly (400), an angle turning member (210), an angle connection assembly, and a cutting blade assembly. The jaw assembly (100) is rotatably connected to the sleeve assembly (400); the cutting blade assembly comprises a blade bar (330); the angle connection assembly comprises a first angle connection member (140) and a second angle connection member (150); the surgical instrument further comprises a limiting assembly (300); the sleeve assembly (400) comprises an outer sleeve (420) and an inner sleeve (410); and the limiting assembly (300) comprises limiting members (310). The surgical instrument has a first state and a second state. In the first state, the limiting members (310) are position-limited by the outer sleeve (420) located at a proximal position and are separated from the second angle connection member (150) located at a straight position; when the outer sleeve (420) moves to a distal position, the limiting members (310) are released to move toward a distal end, so that the surgical instrument is switched to be in the second state; and the limiting members (310) are located on both sides of the second angle connection member (150) located at the straight position so as to stop the rotation of the second angle connection member (150).

Description

surgical instruments

[0001] This application claims priority to Chinese Patent Application No. 202310797337.9 filed on June 30, 2023, and the contents of the above-mentioned Chinese patent application disclosure are hereby incorporated by reference in their entirety as a part of this application. Technical Field

[0002] Embodiments of the present disclosure relate to a surgical instrument. Background Art

[0003] A surgical stapler is a commonly used medical device that replaces manual suturing. Its primary working principle is to separate tissue using a cutting blade and staple it together using titanium staples, similar to a stapler. Staplers are categorized into various types based on their suitability for different body parts. A surgical stapler operates by inserting a cannula precisely positioned at the surgical site into the patient's body, creating a longitudinal incision in the tissue and applying staples on opposite sides of the incision, thereby separating and staplerizing the tissue.

[0004] Summary of the Invention

[0005] The present disclosure provides a surgical instrument that can prevent the second angle connecting member from rotating during cutting, thereby preventing the knife rod from twisting and ensuring cutting efficiency.

[0006] The embodiments of the present disclosure include: a surgical instrument, comprising a jaw assembly, a cannula assembly, an angle steering member, an angle connecting assembly, and a cutting knife assembly, wherein the jaw assembly is rotatably connected to the cannula assembly via the angle steering member; the cutting knife assembly comprises a knife rod and a knife head connected to the distal end of the knife rod;

[0007] The angle connection assembly includes a first angle connection member and a second angle connection member, wherein the distal end of the first angle connection member is rotatably connected to the angle steering member, the distal end of the second angle connection member is rotatably connected to the proximal end of the first angle connection member, and the proximal end of the second angle connection member is rotatably connected to the sleeve assembly; the first angle connection member is provided with a first receiving groove, and the second angle connection member is provided with a second receiving groove, and the knife rod is accommodated in the second receiving groove and the first receiving groove from proximal to distal;

[0008] The surgical instrument also includes a limit assembly, the sleeve assembly includes an outer sleeve and an inner sleeve, the limit assembly is arranged on the inner sleeve, the outer sleeve is movably sleeved on the outside of the inner sleeve, the limit assembly includes a limit piece, the surgical instrument has a first state and a second state, in the first state, the limit piece is configured to be limited by the outer sleeve located in the proximal position and separated from the second angle connector in the straight position; when the outer sleeve is configured to move from the proximal position to the distal position, the limit piece is released to move toward the distal end so that the surgical instrument switches to the second state; in the second state, the limit piece is configured to be located on both sides of the second angle connector in the straight position to stop the rotation of the second angle connector.

[0009] Furthermore, the limiting assembly further includes a movable groove, which is opened in the inner sleeve along the axial direction of the sleeve assembly, and the limiting member is movably accommodated in the movable groove along the axial direction.

[0010] Furthermore, the limiting member includes a limiting column and an elastic member, the limiting column is movably accommodated in the movable groove along the axial direction, one end of the elastic member is connected to the groove wall of the movable groove, and the other end is connected to the limiting column; in the first state, the outer sleeve is configured to be in the proximal position and restrain the limiting column, so that the limiting member is separated from the second angle connection member in the straight position, and the elastic member is compressed; when the outer sleeve is configured to move from the proximal position to the distal position, the elastic member is released, driving the limiting column to move toward the distal end, so that the surgical instrument is in the second state.

[0011] Furthermore, the limiting column includes a column body and a protrusion arranged on the column body, one end of the elastic member is connected to the protrusion, and the other end is connected to the groove wall of the movable groove; the outer sleeve is provided with a restraining part, and in the first state, the outer sleeve is configured to be located at the proximal position, and the restraining part is configured to abut against the protrusion to restrain the limiting member, and the elastic member is compressed; when the outer sleeve is configured to move to the distal position, the restraining part moves distally, and the elastic member is released to allow the limiting column to move distally.

[0012] Furthermore, the outer sleeve is provided with a through slot, the restricting portion is a protrusion provided in the through slot, and the protrusion extends in a direction toward the limiting column.

[0013] Furthermore, when the outer sleeve is located at the distal position, the jaw assembly is in a closed state, and when the outer sleeve is located at the proximal position, the jaw assembly is in an open state; when the outer sleeve is configured to move from the proximal position to the distal position, the jaw assembly switches from the open state to the closed state, and when the outer sleeve is configured to move from the distal position to the proximal position, the jaw assembly switches from the closed state to the open state.

[0014] Furthermore, the jaw assembly has a first turning state relative to the sleeve assembly. In the first turning state, the angle between the jaw assembly and the sleeve assembly is less than or equal to a first angle; when the jaw assembly is in the first turning state, the second angle connector is in a straight position.

[0015] The beneficial effect of the present disclosure is that when the surgical instrument is in the second state, the second angle connecting member is stopped from rotating, which can prevent the second angle connecting member from rotating during cutting, thereby preventing the knife rod from twisting and ensuring cutting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] FIG1 is a schematic structural diagram of a surgical instrument disclosed herein;

[0017] FIG2 is a schematic structural diagram of a rotatable connection between a jaw assembly and a sleeve assembly according to the present invention;

[0018] FIG3 is a schematic structural diagram of an angle connection assembly disclosed herein;

[0019] FIG4 is a schematic structural diagram of an angle connection assembly offset according to the present disclosure;

[0020] FIG5 is a schematic structural diagram of the second angle connector of the present invention in a straight-hitting position and the surgical instrument in a first state;

[0021] FIG6 is a schematic structural diagram of the second angle connector of the present invention in the straight-hitting position and the surgical instrument in the second state;

[0022] 7 to 11 are schematic structural diagrams of the motion conversion mechanism of the outer sleeve driving jaws disclosed herein;

[0023] FIG12 is a schematic structural diagram of the cooperation between the restricting portion and the raised portion of the present disclosure;

[0024] FIG13 is a cross-sectional view of a bushing assembly of the present disclosure;

[0025] FIG14 is an exploded view of the sleeve assembly and the angle connection assembly of the present disclosure;

[0026] FIG15 is a structural schematic diagram of another embodiment of the present disclosure in which the second angle connector is in the straight-hitting position and the surgical instrument is in the first state;

[0027] FIG16 is a structural schematic diagram of another embodiment of the present disclosure in which the second angle connector is in the straight-hitting position and the surgical instrument is in the second state;

[0028] FIG17 is a schematic structural diagram of a second angle connector offset according to the present invention;

[0029] FIG18 is a schematic structural diagram of a first angle connecting member, a second angle connecting member and a sliding member of the angle steering member disclosed herein;

[0030] FIG19 is a schematic structural diagram of the second angle connector of the present invention in a steering position and the surgical instrument in a first state;

[0031] FIG20 is a schematic structural diagram of the second angle connector of the present invention in a turning position and the surgical instrument in a second state;

[0032] FIG21 is a schematic structural diagram of the steering drive structure and motion conversion structure of the present disclosure;

[0033] FIG22 is a schematic structural diagram of the steering drive structure of the present invention;

[0034] FIG23 is a schematic structural diagram of the connecting rod assembly of the present disclosure in a first position;

[0035] FIG24 is a schematic structural diagram of the connecting rod assembly of the present disclosure in the second position;

[0036] FIG25 is a schematic structural diagram of the locking member of the present invention in an unlocked state;

[0037] FIG26 is a schematic structural diagram of the locking member of the present invention in a locked state;

[0038] FIG27 is a schematic structural diagram of an angle steering member disclosed herein;

[0039] FIG28 is a top view of an angle steering member of the present disclosure;

[0040] FIG29 is a schematic structural diagram of the lever member when the outer sleeve of the present invention is in the proximal position;

[0041] FIG30 is a schematic structural diagram of the lever member when the outer sleeve of the present invention is in the distal position;

[0042] FIG31 is an exploded schematic diagram of the motion conversion structure of the present disclosure;

[0043] FIG32 is a cross-sectional view of the motion conversion structure of the present disclosure;

[0044] FIG33 is a schematic structural diagram of a lever member when the outer sleeve is in a proximal position according to another embodiment of the present disclosure;

[0045] FIG34 is a schematic structural diagram of a lever member when the outer sleeve is in a distal position according to another embodiment of the present disclosure;

[0046] FIG35 is a schematic structural diagram of the unlocking assembly of the present disclosure, with the connecting rod assembly located in the second position; and

[0047] FIG36 is a schematic structural diagram of the unlocking assembly of the present invention, wherein the connecting rod assembly is located in the first position.

[0048] Description of the drawings: 100, jaw assembly; 110, cartridge seat; 111, oblique waist-shaped groove; 120, anvil seat; 121, first follower; 122, second follower; 123, pin; 130, locking member; 140, first angle connector; 150, second angle connector; 141, first receiving slot; 151, second receiving slot; 210, angle deflector; 211, wall portion; 2111, groove; 212, mating portion; 213, deflection hole; 214, outer peripheral surface; 215, middle arc surface; 216, first side surface; 217, second side surface; 218, left abutting portion; 219, right abutting portion; 300, limit assembly; 310, limit member; 311, limit column; 3111, raised portion; 312, elastic member; 320, movable groove; 330, tool rod; 400, sleeve assembly; 410, inner sleeve; 411, ejector seat; 412, sliding groove; 413, tool holder; 414, straight portion receiving groove; 420, outer sleeve; 421, first driving portion; 422, second driving portion; 423, first movable groove; 425, body; 426, driving tube; 4261, first driving portion; 4262, second driving portion; 427, through groove; 428, restricting portion; 430, spring; 440, push block; 450, sliding member; 451, third receiving groove; 500, motion conversion structure; 511, lever member; 512, rotating portion; 513, first connecting portion; 5131, first end rod; 514, second connecting part; 5141, second end rod; 5142, waist-shaped groove; 600, frame; 610, connecting rod assembly; 611, first connecting rod; 612, second connecting rod; 700, steering drive structure; 710, operating handle; 740, gear assembly; 741, left gear part; 742, right gear part; 750, push rod assembly; 751, left push rod; 752, right push rod; 760, first transmission member; 800, operating assembly; 810, handle; 910, release button; 911, drive rod; 920, unlocking rod. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not intended to limit the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present disclosure.

[0050] It should be understood that the terms "proximal" (also referred to as the proximal end, the proximal end) and "distal" (also referred to as the distal end, the distal end) used herein are relative to the clinician who manipulates the handle of the stapler. The term "proximal" refers to the part close to the clinician, and the term "distal" refers to the part away from the clinician. That is, the handle is the proximal side, and the jaw assembly is the distal side. For example, the proximal end of a component refers to the end relatively close to the handle, and the distal end refers to the end relatively close to the jaw assembly. The terms "upper" and "lower" are based on the relative positions of the anvil and the staple magazine seat of the jaw assembly. Specifically, the anvil is at the "upper" and the staple magazine seat is at the "lower". However, the stapler can be used in many directions and positions, so these terms expressing relative positional relationships are not restrictive and absolute.

[0051] In the present disclosure, unless otherwise clearly stipulated and limited, the terms such as "connected" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, a movably connection, or an integral body; it can be directly connected, or indirectly connected through an intermediate medium, or it can be internal communication between two elements or an interactive relationship between two elements such as abutment. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances. It should be noted that when there are qualifiers before "connected" and "connection", they have the meaning defined by the corresponding qualifiers, and only exclude situations that obviously need to be excluded, and do not exclude other possible situations. For example, "detachably connected" refers to a detachable connection, and does not include integration, but movably connected, etc. are not excluded.

[0052] The surgical instrument comprises a jaw assembly, a cannula assembly, a cutting blade assembly, and an operating assembly. The jaw assembly and the cannula assembly are rotatably connected, and an angle connector is provided at the rotational connection. When the jaw assembly is used for surgery, the medical staff first operates the operating assembly to rotate the jaw assembly to an appropriate angle, and the blade rod of the cutting blade assembly bends accordingly. The angle connector receives and limits the blade rod to prevent local curling of the blade rod. In surgical instruments with large turning angles, the angle connector includes at least two rotatably connected angle connectors. The relative rotation of the two angle connectors allows the jaw assembly to rotate at a larger angle. When the second angle connector is in a straight position, the distal end of the second angle connector is rotatably connected to the first angle connector, and the proximal end is rotatably connected to the cannula assembly. When the second angle connector is in the straight position and the cutting blade assembly advances, the blade rod moves distally. The blade rod itself has a certain elastic force. During the distal movement of the blade rod, the elastic force of the blade rod may cause the second angle connector to rotate, causing the blade rod to twist, increasing the advance resistance and reducing the advance efficiency.

[0053] An embodiment of the present disclosure provides a surgical instrument, which may be a stapler, as shown in Figures 1 to 2. The surgical instrument includes a jaw assembly 100, a sleeve assembly 400, an angle steering member 210, an angle connecting assembly, and a cutting knife assembly. When the surgical instrument is working, part of the surgical instrument extends into the human body. The medical staff controls the rotation of the jaw assembly 100, controls the jaw assembly 100 to close when the jaw assembly 100 rotates to a suitable position to clamp the human tissue, and then controls the cutting knife assembly to fire to cut the human tissue. After the cutting is completed, the jaw assembly 100 is opened to release the tissue. After the jaw assembly 100 is rotated to the initial state, the surgical instrument is removed from the human body to complete the surgical operation.

[0054] As shown in Figure 2, the jaw assembly 100 is rotatably connected to the sleeve assembly 400 via an angled steering member 210, allowing the jaw assembly 100 to rotate relative to the sleeve assembly 400. The cutting knife assembly includes a cutter head (not shown) and a cutter bar 330. The cutter head is disposed within the jaw assembly 100 and is used to cut tissue. The cutter bar 330 is connected to the cutter head and is used to drive the cutter head forward and backward. The cutter bar 330 extends in the direction of the sleeve assembly 400 and is driven to move relative to the sleeve assembly 400 to drive the cutter head to move. When the jaw assembly 100 rotates, it swings relative to the sleeve assembly 400. The cutter bar 330 has a certain degree of flexibility and swings with the jaw assembly 100. The angle connection assembly includes a first angle connection member 140 and a second angle connection member 150. The distal end of the first angle connection member 140 is rotatably connected to the angle deflection member 210. The distal end of the second angle connection member 150 is rotatably connected to the proximal end of the first angle connection member 140, and the proximal end is rotatably connected to the sleeve assembly 400. The angle connection assembly is disposed between the jaw assembly 100 and the sleeve assembly 400. When the jaw assembly 100 rotates relative to the sleeve assembly 400, the angle connection assembly is driven by the angle deflection member 210 to swing, and the first angle connection member 140 and the second angle connection member 150 can rotate relative to each other.

[0055] As shown in FIG3 , the first angle connector 140 and the second angle connector 150 are each provided with a receiving groove for accommodating a portion of the knife rod 330. Specifically, the first angle connector 140 is provided with a first receiving groove 141, and the second angle connector 150 is provided with a second receiving groove 151. The knife rod 330 passes through the first receiving groove 141 and the second receiving groove 151 in sequence. The portion of the knife rod 330 located in the first receiving groove 141 is limited and stopped by the groove walls on both sides of the first receiving groove 141, and the portion of the knife rod 330 located in the second receiving groove 151 is limited and stopped by the groove walls on both sides of the second receiving groove 151. When the jaw assembly 100 rotates relative to the sleeve assembly 400, the angle connector rotates, causing the knife rod 330 to bend and be limited by the first receiving groove 141 and the second receiving groove 151, so that the knife rod 330 extends along the path of the first receiving groove 141 and the second receiving groove 151.

[0056] The second angle connector 150 has a straight position, as shown in Figure 3. When the second angle connector 150 is in the straight position, the length direction of the second angle connector 150 is basically consistent with the axial direction of the sleeve assembly 400. Since the distal end of the second angle connector 150 is rotatably connected to the proximal end of the first angle connector 140, the hinge between the first angle connector 140 and the second angle connector 150 is movable. When the second angle connector 150 is in the straight position and the cutting knife assembly advances, the knife rod 330 moves toward the distal end, and the cutting knife assembly 300 is subjected to the resistance of the cut tissue. The knife rod 330 will bend laterally under the action of its own elastic force, thereby causing the hinge between the first angle connector 140 and the second angle connector 150 to move laterally, thereby causing the first angle connector 140 and the second angle connector 450 to rotate. As shown in Figure 4, the rotation of the first angle connector 140 and the second angle connector 450 causes the knife rod 330 to produce additional bending, thereby increasing the advance resistance and reducing the advance efficiency.

[0057] The sleeve assembly 400 includes an outer sleeve 420 and an inner sleeve 410. The outer sleeve 420 is movably mounted on the outer sleeve 410. The limit assembly 300 is disposed on the inner sleeve 410. The outer sleeve 420 has a proximal position and a distal position. The surgical instrument further includes a limit assembly 300, as shown in Figures 5 and 6. The limit assembly 300 includes a limit member 310. The surgical instrument has a first state and a second state. As shown in Figure 5, in the first state, the outer sleeve 420 is in the proximal position and the second angle connector 150 is in the upright position. The limit member 310 is constrained by the outer sleeve 420 in the proximal position and separated from the second angle connector 150. As shown in Figure 6, in the second state, the outer sleeve 420 is in the distal position and the second angle connector 150 is in the upright position. The limit member 310 is released to move distally. The limit members 310 are located on both sides of the second angle connector 150 to prevent the second angle connector 150 from rotating.

[0058] When the jaw assembly 100 is driven to rotate relative to the sleeve assembly 400, the outer sleeve 420 is in the proximal position, the stopper 310 is constrained, and the second angled connector 150 is in the upright position, placing the surgical instrument in the first position. The stopper 310 is separated from the second angled connector 150, allowing the second angled connector 150 to rotate freely with the jaw assembly 100. After the jaw assembly 100 has completed its rotation, and before or during cutting, the outer sleeve 420 is in the distal position, the stopper 310 is released, and when the second angled connector 150 is in the upright position, the surgical instrument is in the second position. The stopper 310 moves distally to both sides of the second angled connector 150 to prevent rotation of the second angled connector 150. This prevents the knife rod 330 from bending due to the rotation of the second angled connector 150, thereby reducing cutting efficiency. The stoppers 310 are located on either side of the second angle connector 150, occupying the rotational space of the second angle connector 150 and thereby preventing the second angle connector 150 from rotating. In one embodiment, the stoppers 310 fill the gap between the second angle connector 150 and the sleeve assembly 400 to occupy the rotational space of the second angle connector 150. In another embodiment, the stoppers 310 are located on either side of the second angle connector 150 and are fixed in the rotational direction of the second angle connector 150.

[0059] The outer sleeve 420 is connected to the jaw assembly 100. When the outer sleeve 420 is in the distal position, the jaw assembly 100 is in a closed state. When the outer sleeve 420 is in the proximal position, the jaw assembly 100 is in an open state. When the outer sleeve 420 is in the distal position, the jaw assembly 100 is closed and the limit assembly 300 is in the second state. The cutting is performed after the jaw assembly 100 is closed. The outer sleeve 420 is used to switch the state of the limit assembly 300. When the jaw assembly is closed (before cutting), the surgical instrument is in the second state. When cutting, the second angle connector 150 in the upright position is stopped by the rotation of the limit assembly 300. This prevents the knife rod 330 from bending due to the rotation of the second angle connector 150, thereby reducing the cutting efficiency.

[0060] Switching the outer sleeve 420 from the proximal position to the distal position, and switching the jaw assembly 100 from the open state to the closed state, is achieved in the following manner:

[0061] As shown in Figures 7 to 11, the jaw assembly 100 includes a staple cartridge seat 110, an anvil 120 rotatably connected to the staple cartridge seat 110, and a motion conversion mechanism is provided between the outer sleeve 420 and the anvil 120 of the jaw assembly 100. The motion conversion mechanism converts the linear motion of the outer sleeve 420 into the pivotal motion of the anvil 120, thereby enabling the anvil 120 to pivot relative to the staple cartridge seat 110 to close or open the jaw assembly 100. Specifically, when the outer sleeve 420 moves toward the proximal end, the motion conversion mechanism drives the anvil 120 to pivot upward to open the jaw assembly 100. When the outer sleeve 420 moves toward the distal end, the motion conversion mechanism drives the anvil 120 to pivot downward to close the jaw assembly 100.

[0062] Specifically, the outer sleeve 420 includes a body 425 and a drive tube 426 connected thereto, wherein the drive tube 426 drives the anvil 120 to pivot upward or downward to open or close the jaw assembly 100. The body 425 and the drive tube 426 are connected by a hinge.

[0063] The motion conversion mechanism includes a first driving member 4261 and a second driving member 4262 provided on the driving tube 426 , and a first driven portion 121 and a second driven portion 122 provided on the anvil 120 .

[0064] The first driving member 4261 drives the anvil 120 to open. The first driving member 4261 is a protrusion provided on the driving tube 426 and extends obliquely along the lower right side. The second driving member 4262 drives the anvil 120 to close. The second driving member 4262 is a driving surface at the distal end of the driving tube 426.

[0065] Correspondingly, the first follower 121 can be coupled with the first driving member 4261. The first follower 121 is a protrusion provided on the anvil 120 and extends upward. The second follower 122 can be coupled with the second driving member 4262. The second follower 122 is an abutting surface at the proximal end of the anvil 120.

[0066] A guiding mechanism is also provided between the anvil 120 and the nail magazine seat 110. The guiding mechanism includes a pin 123 provided on the anvil 120 and an oblique waist-shaped groove 111 provided on the nail magazine seat 110. The oblique waist-shaped groove 111 extends upwardly in a direction from the proximal end to the distal end.

[0067] Please refer to the state changes in Figures 11 to 10. When the jaw assembly 100 needs to be closed, the main body 425 of the outer sleeve 420 pushes the drive tube 426 to move toward the distal end, and the second drive member 4262 of the drive tube 426 abuts against the second follower portion 122 of the anvil seat 120. The pin 123 moves from the proximal lower end of the oblique waist-shaped groove 111 to the distal upper end, and the anvil seat 120 pivots downward, and the jaw assembly 100 is closed.

[0068] Please refer to the state changes from Figure 10 to Figure 11. When the jaw assembly 100 needs to be opened, the main body 425 of the outer sleeve 420 pulls the drive tube 426 toward the proximal end, and the first driving member 4261 of the drive tube 426 abuts against the first driven portion 121 of the anvil 120. The pin 123 moves from the far upper end of the oblique waist-shaped groove 111 to the proximal lower end, and the anvil 120 pivots upward, and the jaw assembly 100 opens.

[0069] As shown in Figures 5 and 6, the stopper assembly 300 includes a movable groove 320, which is defined in the inner sleeve 410 along the axis of the sleeve assembly 400. The stopper 310 is movably disposed within the movable groove 320. The inner sleeve 410 is located proximal to the second angle connector 150. When the stopper 310 is released, it moves distally along the axis of the sleeve assembly 400. When the second angle connector 150 is in the upright position, the stopper 310 can be positioned on either side of the second angle connector 150 to prevent rotation of the second angle connector 150. In one embodiment, two stoppers 310 are formed, each having two movable grooves 320 defined in the inner sleeve 410. The two stoppers 310 are movably disposed within the two movable grooves 320, respectively. When released, the two stoppers 310 both move distally, extending from either side of the second angle connector 150 in the upright position to prevent rotation of the second angle connector 150. The limiting member 310 is located on both sides of the second angle connecting member 150 and both sides of the limiting member 310 abut against the groove wall of the movable groove 320 to achieve the fixation of the limiting member 310 in the rotation direction of the second angle connecting member 150.

[0070] The inner sleeve 410 includes a tool holder 413, and the movable slot 320 is defined in the tool holder 413. The tool holder 413 defines a tool holder receiving slot 414. The tool rod 330 passes through the tool holder receiving slot 414, the second receiving slot 151, and the first receiving slot 141 in sequence. The two movable slots 320 are located on either side of the tool holder receiving slot 414.

[0071] The limiting member 310 includes a limiting column 311 and an elastic member 312. The limiting column 311 is movably arranged in the movable groove 412. One end of the elastic member 312 is connected to the groove wall of the movable groove 412, and the other end is connected to the limiting column 311. When the outer sleeve 420 is in the proximal position, it restricts the limiting column 311, so that the limiting member 310 is separated from the second angle connecting member 150. At this time, the elastic member 312 is compressed; when the outer sleeve 420 moves from the proximal position to the distal position, the outer sleeve 420 no longer restricts the limiting column 311, the elastic member 312 is released, and the elastic member 312 drives the limiting column 311 to move toward the distal end, so that the limiting assembly 300 is in the second state.

[0072] Furthermore, as shown in Figures 5, 6, 12 and 13, the limiting column 311 includes a column body and a protrusion 3111 provided on the column body. One end of the elastic member 312 abuts against the protrusion 3111, and the other end abuts against the bottom of the movable groove 412. The outer sleeve 420 is provided with a restraining portion 428. When the outer sleeve 420 is located at the proximal position, the restraining portion 428 abuts against the protrusion 3111 to restrain the limiting member 310, so that the elastic member 312 is compressed; when the outer sleeve 420 moves to the distal position, the restraining portion 428 moves distally and no longer restrains the limiting member 310, and the elastic member 312 is released to drive the limiting column 311 to move distally. Among them, the outer sleeve 420 is provided with a through groove 427, and the restricting part 428 is arranged in the through groove 427. The restricting part 428 is specifically a protrusion. The restricting part 428 extends in the direction of the limiting column 311, that is, extends toward the inner sleeve 410, so that when the outer sleeve 420 is in the proximal position, the restricting part 428 can resist the protrusion 3111.

[0073] As shown in FIG14 , the inner cannula 410 further includes a pin holder 411 and a sliding member 450. The sliding member 450 is slidably connected to the pin holder 411 and can slide along the axis of the cannula assembly 400. The pin holder 411 and the sliding member 450 are both located below the tool holder 413. The sliding member 450 is rotatably connected to the second angle connecting member 150. When the jaw assembly 100 rotates relative to the cannula assembly 400 from the straight-strike position, the angle connecting assembly rotates with the jaw assembly 100 and pushes the sliding member 450 to slide proximally, causing the knife bar 330 to bend.

[0074] In another embodiment, as shown in Figures 15 and 16, the sliding member 450 is arranged between the second angle connecting member 150 and the tool holder 413, and the sliding member 450 is provided with a third receiving groove 451, which is connected to the second receiving groove 151. Accordingly, the movable groove 320 is transformed from being opened on the tool holder 413 in the previous embodiment to being opened on the sliding member 450, and the two movable grooves 320 are respectively located on both sides of the third receiving groove 451.

[0075] The proximal end of the angle steering member 210 is rotatably connected to the sleeve assembly 400, and the distal end is fixedly connected to the jaw assembly 100, so that the rotation of the angle steering member 210 can drive the jaw assembly 100 to rotate relative to the sleeve assembly 400. The first angle connecting member 140 is connected to the distal end of the angle steering member 210. When the angle steering member 210 rotates, it drives the first angle connecting member 140 to rotate, and the first angle connecting member 140 drives the second angle connecting member 150 to rotate. The distal end of the first angle connecting member 140 is rotated in both the X direction and the Y direction. The X and Y directions are perpendicular to each other. The rotation of the first angle connector 140 will drive the rotation of the second angle connector 150, causing displacement in the X and Y directions. The rotation of the second angle connector 150 will cause the proximal end of the second receiving slot 151 to be off the axis of the sleeve assembly 400. As shown in Figure 17, the proximal end of the second receiving slot 151 is offset from the tool holder receiving slot 414. The tool rod 330 needs to bend significantly to enter the second receiving slot 151, resulting in poor transmission of the feed force. To solve the above problem, the proximal end of the second angle connector 150 is rotatably connected to the sliding member 450, which can only slide in the axial direction of the sleeve assembly 400 and drive the sliding member 450 to move along the axis of the sleeve assembly 400. The provision of the sliding member 450 limits the movement of the proximal end of the second angle connector 150, so that the proximal end of the second angle connector 150 is always located on the axis of the sleeve assembly 400. The proximal end of the second receiving groove 151 is located on the axis of the sleeve assembly 400, and the tool holder receiving groove 414 is located on the axis of the sleeve assembly 400. The proximal opening of the second receiving groove 151 is aligned with the distal opening of the tool holder receiving groove 414. The part of the knife rod 330 located between the tool holder receiving groove 414 and the second receiving groove 151 extends along the axis of the sleeve assembly 400 and can enter the second receiving groove 151 without bending, which does not affect the transmission of the feeding force, thereby ensuring the normal feeding and feeding efficiency.

[0076] It should be noted that the jaw assembly 100 has a first turning state and a second turning state when rotating relative to the sleeve assembly 400. In the first turning state, the angle between the jaw assembly 100 and the sleeve assembly 400 is less than or equal to the first angle, while in the second turning state, the angle between the jaw assembly 100 and the sleeve assembly 400 is greater than the first angle. When the jaw assembly 100 is in the first turning state, the second angle connector 150 is in a straight position, and the length direction of the second angle connector 150 is substantially aligned with the axis direction of the sleeve assembly 400. When the jaw assembly 100 is in the second turning state, the second angle connector 150 is in a turned position, and the length direction of the second angle connector 150 is at a certain angle to the axis direction of the sleeve assembly 400. In this embodiment, the first angle is the maximum angle at which the second angle connector 150 remains in the straight position after the jaw assembly 100 rotates relative to the sleeve assembly 400. In this embodiment, the first angle is 20°. Of course, if the dimensions of the first angle connector 140 or the second angle connector 150 are different, the first angle may also be other values.

[0077] As shown in Figures 3 and 4, when the jaw assembly 100 is in the first turning state and the second angle connector 150 is in the upright position, the portion of the knife rod 330 between the blade holder receiving slot 414 and the second receiving slot 151 extends in a straight line. If the second angle connector 150 is not stopped by the rotation of the limit assembly 300 during cutting, the knife rod 330 encounters resistance from the tissue being cut, and under its own elastic force, the second angle connector 150 rotates, causing the knife rod 330 to undergo a first bend between the second receiving slot 151 and the blade holder receiving slot 414 and a second bend between the second receiving slot 151 and the first receiving slot 141. The first and second bends are in substantially opposite directions, causing the knife rod 330 to twist. Twisting refers to two or more bends in substantially opposite directions in the knife rod 330. During cutting, the twisting of the knife rod 330 affects the transmission of the cutting force, reducing cutting efficiency. When the blade holder receiving slot 414 and the jaw assembly 100 are in the second turning state and the second angle connector 150 is in the turning position, the portion of the knife rod 330 between the blade holder receiving slot 414 and the second receiving slot 151 is in a bent state, and the knife rod 330 only bends once. If the second angle connector 150 is not stopped by the rotation of the limit assembly 300 during cutting, the knife rod 330 will encounter resistance from the tissue being cut, and under its own elastic force, the second angle connector 150 will rotate, causing the bending angle of the portion of the knife rod 330 between the blade holder receiving slot 414 and the second receiving slot 151 to change. However, the knife rod 330 still only bends once, and the knife rod 330 does not twist. Therefore, the rotation of the second angle connector 150 in the turning position has little effect on the transmission of the cutting force and the cutting efficiency. Therefore, the limit assembly 300 of this embodiment only needs to stop the rotation of the second angle connector 150 in the upright position to solve the problem of the knife rod 330 being twisted, which affects the transmission of the feed force and the feed efficiency.

[0078] As shown in Figures 19 and 20, the jaw assembly 100 is in the second turning state, and when the jaw assembly 100 is rotated to the maximum angle relative to the sleeve assembly 400 (taking rotation to the left as an example), the second angle connecting member 150 is in the turning position, and the outer sleeve 420 is at the proximal position. The limiting column 311 on the left is pressed by the turning side (left side) of the second angle connecting member 150 and moves proximally, causing the protrusion 3111 to move proximally, and the elastic member 312 on the left is compressed and separated from the restricting portion 428 on the left side of the outer sleeve 420. The protrusion 3111 of the limiting column 311 on the right is in contact with the restricting portion 428 on the right side of the outer sleeve 420. The outer sleeve 420 switches to the distal position, and the restraining parts 428 on the left and right sides thereof move distally, and the elastic member 312 on the right side is released, pushing the limiting column 311 on the right side to move distally. When the limiting column 311 on the right side moves to the extreme position, the protrusion 3111 on the right side abuts against the restraining part 428 on the right side of the outer sleeve 420; the limiting column 311 on the left side remains in place because it is pressed by the turning side (left side) of the second angle connecting member 150.

[0079] When the jaw assembly 100 is in the second turning state, the angle of rotation of the jaw assembly 100 to the left relative to the sleeve assembly 400 is less than the maximum angle, and the left limit column 311 is not pressed by the turning side (left side) of the second angle connecting member 150, the outer sleeve 420 is in the proximal position, and the protrusions 3111 of the left and right limit columns 311 are both in contact with the restraining portion 428 of the outer sleeve 420. When the outer sleeve 420 switches to the distal position, the elastic member 312 on the right side is completely released, pushing the limiting column 311 on the right side to move distally. When the limiting column 311 on the right side moves to the extreme position, the protrusion 3111 on the right side abuts against the restraining portion 428 on the right side of the outer sleeve 420; the elastic member 312 on the left side is released, pushing the limiting column 311 on the right side to move distally to abut against the turning side (left side) of the second angle connecting member 150, and the protrusion 3111 on the left side is located proximal to the restraining portion 428 on the left side of the outer sleeve 420.

[0080] The surgical instrument includes an operating assembly 800 , which includes a frame 600 and a steering drive structure 700 provided on the frame 600 . Medical personnel operate the steering drive structure 700 to rotate the jaw assembly 100 relative to the sleeve assembly 400 .

[0081] As shown in Figures 2, 21, and 22, the steering drive structure 700 includes an operating handle 710 and a transmission assembly. The transmission assembly includes a first transmission member 760, a second transmission member, and a push rod assembly 750. The first transmission member 760 is connected to the second transmission member, which is connected to the angle steering member 210 via the push rod assembly 750. The operating handle 710 is slidably connected to the first transmission member 760. When the operating handle 710 is moved, it slides relative to the first transmission member 760 to switch from a locked position to an unlocked position. In response to rotation of the operating handle 710, the first transmission member 760 is driven by the operating handle 710 to rotate, which in turn drives the push rod assembly 750 to move via the second transmission member. The operating handle 710 slides relative to the first transmission member 760 and drives the first transmission member 760 to rotate. The second transmission member converts the torque applied by the medical staff to the operating handle 710 into a force that drives the push rod assembly 750 to move linearly.

[0082] Specifically, the second transmission member includes a gear assembly 740, a first transmission member 760 meshes with the gear assembly 740, and the gear assembly 740 meshes with the push rod assembly 750. In response to the rotation of the operating handle 710, the first transmission member 760 drives the gear assembly 740 to rotate, and the gear assembly 740 drives the push rod assembly 750 to move, thereby driving the angle steering member 210 to rotate. In this embodiment, the push rod assembly 750 includes a left push rod 751 and a right push rod 752, and the left push rod 751 and the right push rod 752 are respectively connected to the two sides of the angle steering member 210. The gear assembly 740 includes a left gear portion 741 and a right gear portion 742, and the left gear portion 741 and the right gear portion 742 are both rotatably connected to the frame 600 and are respectively provided on both sides of the first transmission member 760. The left gear unit 741 and the right gear unit 742 each include two coaxially arranged upper and lower gears. The left push rod 751 meshes with the lower gear of the left gear unit 741, and the right push rod 752 meshes with the lower gear of the right gear unit 742. The first transmission member 760 meshes with both the upper gears of the left gear unit 741 and the upper gears of the right gear unit 742. When a medical professional rotates the operating handle 710, the first transmission member 760 drives the left and right gear units 741, 742 to rotate, causing the left and right gear units 741, 742 to rotate in opposite directions, thereby causing the left and right push rods 751, 752 to move in opposite directions. The left push rod 751 and the right push rod 752 both extend along the length direction of the sleeve assembly 400, and the distal ends of the left push rod 751 and the right push rod 752 are connected to the angle steering member 210. Specifically, the angle steering member 210 includes a left abutting portion 218 and a right abutting portion 219. The left push rod 751 abuts against the left abutting portion 218, and the right push rod 752 abuts against the right abutting portion 219. When the operating handle 710 rotates to drive the left push rod 751 and the right push rod 752 to move, such as when the operating handle 710 is rotated clockwise, the left push rod 751 moves toward the distal end and the right push rod 752 moves toward the proximal end. The left push rod 751 pushes the left abutting portion 218 of the angle steering member 210 to move distally, causing the angle steering member 210 to rotate to the right, and the right abutting portion 219 is driven to move proximally, always abutting against the right push rod 752. Rotate the operating knob counterclockwise to move the left push rod 751 toward the proximal end, and similarly, the right push rod 752 moves toward the distal end. The angle steering member 210 rotates to the left so that the push rod assembly 750 can drive the angle steering member 210 to rotate, thereby driving the jaw assembly 100 to rotate.

[0083] The operating assembly 800 further includes a handle 810. After the steering is completed, the medical staff actuates the handle 810 to move the outer sleeve 420 from the distal position to the proximal position, thereby closing the jaw assembly 100. Actuating the handle 810 to move the outer sleeve 420 from the distal position to the proximal position is achieved by the following structure:

[0084] As shown in Figures 23 and 24, the frame 600 is provided with a link assembly 610, which includes a first link 611 and a second link 612. The distal end of the first link 611 is connected to the proximal end of the outer sleeve 420, and the distal end of the outer sleeve 420 is connected to the jaw assembly 100. The proximal end of the second link 612 is rotatably connected to the frame 600, and the distal end is rotatably connected to the proximal end of the first link 611. When actuated, the handle 810 can engage with the link assembly 610 and drive the link assembly 610 to move. The connecting rod assembly 610 has a first position and a second position. When the connecting rod assembly 610 is in the first position, the first connecting rod 611 and the second connecting rod 612 form an angle with each other, and the outer sleeve 420 is in the proximal position; when the connecting rod assembly 610 is in the second position, the first connecting rod 611 and the second connecting rod 612 are collinear or substantially collinear, so that the connecting rod assembly 610 self-locks in the second position, and the outer sleeve 420 is in the distal position. Under the self-locking action of the connecting rod assembly 610, the outer sleeve 420 remains in the distal position.

[0085] Collinearity means that the first link 611 and the second link 612 are located on the same straight line, with an angle of 180° between them. Substantially collinearity means that the first link 611 and the second link 612 are past their dead center positions, and the angle between them is greater than 0° and less than 5°. When the link assembly 610 is at its dead center (corresponding to collinearity) or substantially at its dead center (corresponding to substantially collinearity), the pressure angle between the first link 611 and the second link 612 is substantially 90°. When an external force is applied to either the first link 611 or the second link 612, the torque exerted on the other link is zero, preventing the link assembly 610 from moving and causing it to self-lock in the second position. This locks the jaw assembly 100 in the closed position.

[0086] During the process of switching the connecting rod assembly 610 from the first position to the second position, the hinge point gradually moves to the upper side (the side away from the gripping part of the handle 810). Since the proximal end of the second connecting rod 612 is connected to the frame 600, the hinge point at the distal end of the second connecting rod 612 moves distally. At the same time, the rotation of the first connecting rod 611 causes the distal end of the first connecting rod 611 to move toward the distal end. As can be seen from the above, the distal end of the first connecting rod 611 is connected to the proximal end of the outer sleeve 420, and the distal end of the outer sleeve 420 is connected to the jaw assembly 100. Therefore, the connecting rod assembly 610 can drive the outer sleeve 420 to move distally, so that the outer sleeve 420 is located at the distal position.

[0087] Among them, the handle 810 is provided with a supporting portion 811, which is located on the lower side of the connecting rod assembly 610. During the process of switching the connecting rod assembly 610 from the first position to the second position, the handle 810 supports the first connecting rod 611611 or the second connecting rod 612612 through the supporting portion 811 so as to be operably engaged with the connecting rod assembly 610. When the connecting rod assembly 610 is in the second position and locked in the second position, the support portion 811 separates from the connecting rod assembly 610 when the handle 810 is reset and rebounded. When the handle 810 is subsequently actuated, the handle 810 switches from the initial position to the pressing position, and the support portion 811 moves with the movement of the handle 810. The support portion 100 contacts the connecting rod assembly 610 in the second position only when the handle 810 reaches the pressing position (the end point of the movement trajectory of the support portion 100), that is, the support portion 811 does not contact the connecting rod assembly 610 during the movement, so the handle 810 cannot drive the connecting rod assembly 610 during subsequent actuation. Specifically, the support portion 811 is a rod body, and the handle 810 is operably engaged with the connecting rod assembly 610 by abutting the second connecting rod 612 through the support portion 811. During the rotation of the second connecting rod 612, the support portion 811 can always abut the second connecting rod 612.

[0088] The outer sleeve 420 is located at the distal end position, and the connecting rod assembly 610 is self-locked in the second position, locking the outer sleeve 420 at the distal end position.

[0089] The surgical instrument further includes a jaw locking structure, which includes a locking element 130. The outer sleeve 420 is connected to the locking element 130. The locking element 130 has a locked state and an unlocked state. In the locked state, the locking element 130 is locked with the angle connector to prevent the jaw assembly 100 from rotating relative to the sleeve assembly 400. In the unlocked state, the locking element 130 is unlocked from the angle connector, allowing the jaw assembly 100 to rotate relative to the sleeve assembly 400 in response to rotation of the operating handle 710. The outer sleeve 420 is movable along the axis of the sleeve assembly 400. When the outer sleeve 420 is in the proximal position, the jaw assembly 100 is in the open state and the locking element 130 is in the unlocked state. When the outer sleeve 420 moves from the proximal position to the distal position, the jaw assembly 100 is driven to switch from the open state to the closed state, and the locking element 130 is driven to move, causing the locking element 130 to switch to the locked state. In other words, when the jaw assembly 100 switches to the closed state, the jaw assembly 100 is locked and cannot rotate.

[0090] The outer sleeve 420 moves from the distal position to the proximal position so that the locking member 130 locks the angle turning member 210 in the following manner:

[0091] As shown in Figures 27 and 28, the angle steering member 210 has an outer peripheral surface 214. The outer peripheral surface 214 is arranged on the periphery of the angle steering member 210 around the rotation axis of the angle steering member 210. Specifically, the outer peripheral surface 214 includes a central arcuate surface 215, a first side surface 216, and a second side surface 217. The first side surface 216 and the second side surface 217 are respectively located on either side of the central arcuate surface 215. The angle steering member 210 also includes a mating portion 212 and a wall portion 211. The wall portion 211 has a certain thickness. The mating portion 212 is disposed on the inner side of the wall portion 211, and the outer peripheral surface 214 is located on the outer side of the wall portion 211. The wall portion 211 separates the mating portion 212 from the outer peripheral surface 214.

[0092] In one embodiment, as shown in Figures 24 to 32, the jaw locking structure further includes a motion conversion structure 500. The motion conversion structure 500 includes a lever member 511, a rotating portion 512, a first connecting portion 513, and a second connecting portion 514. The lever member 511 is connected to the rotating portion 512 and is rotatably connected to the frame 600 through the rotating portion 512. The first connecting portion 513 and the second connecting portion 514 are respectively located on either side of the rotating portion 512. The first connecting portion 513 is connected to the outer sleeve 420, and the second connecting portion 514 is connected to the locking member 130. The movement of the outer sleeve 420 drives the first connecting portion 513 to move, thereby driving the lever member 511 to rotate. When the lever member 511 rotates, the movement of the second connecting portion 514 drives the locking member 130 to move. The movement direction of the first connecting portion 513 is opposite to the movement direction of the second connecting portion 514. In response to the movement of the outer sleeve 420 in the first direction, the locking member 130 moves in the second direction. The first direction is opposite to the second direction, and both the first direction and the second direction are parallel to or collinear with the axis of the sleeve assembly 400. As shown in Figures 29 and 30, when the outer sleeve 420 moves proximally, the first connecting portion 513 rotates clockwise and the second connecting portion 514 rotates counterclockwise, driving the locking member 130 to move distally. When the outer sleeve 420 moves distally, the first connecting portion 513 rotates counterclockwise and the second connecting portion 514 rotates clockwise, driving the locking member 130 to move proximally.

[0093] For example, the distance between the second connecting portion 514 and the rotating portion 512 is smaller than the distance between the first connecting portion 513 and the rotating portion 512. In the lever structure, the distance between the first connecting portion 513 and the rotating portion 512 is the power arm, and the distance between the second connecting portion 514 and the rotating portion 512 is the resistance arm. When the outer sleeve 420 drives the lever member 511 to rotate and drives the locking member 130 to move, the power arm is longer and the resistance arm is shorter. The lever structure is a force-saving lever, making it easier for the outer sleeve 420 to drive the locking member 130 to move. At the same time, when the locking member 130 is in the locked position, the outer sleeve 420 is locked at the distal position by the operating assembly 800. The locking force applied to the outer sleeve 420 provides a greater locking force to the locking member 130 through the lever member 511, so that the locking member 130 is better maintained in the locked position.

[0094] In this embodiment, two lever members 511 are formed, and the rotation axes of the two lever members 511 are coaxially arranged. The first connecting portions 513 of the two lever members 511 are connected by a first end rod 5131, and the second connecting portions 514 of the two lever members 511 are connected by a second end rod 5141, so that the two lever members 511 move synchronously. The two lever members 511 are connected by the first end rod 5131 and the second end rod 5141, forming a frame as a whole. When the lever members 511 rotate, the two lever members 511 rotate synchronously, improving the stability of the rotation of the lever members 511. The first end rod 5131 is connected to the outer sleeve 420, so that the first connecting portions 513 of the two lever members 511 are connected to the outer sleeve 420; the second end rod 5141 is connected to the locking member 130, so that the second connecting portions 514 of the two lever members 511 are connected to the locking member 130. Of course, in other embodiments, the lever member 511 may be provided with only one, the first connecting portion 513 of the lever member 511 is provided with a connecting structure connected to the outer sleeve 420, which may be a rod body or a hole, and the second connecting portion 514 of the lever member 511 is provided with a connecting structure connected to the locking member 130, which may be a rod body or a hole, etc., which is not specifically limited in this embodiment.

[0095] The outer sleeve 420 moves along the axis of the sleeve assembly 400, with a linear motion path. However, when the lever member 511 rotates, its first connection portion 513 rotates around the rotating portion 512, with an arcuate motion path. The linearly moving outer sleeve 420 is connected to the first connection portion 513 that moves along the arc. Because the motion path of the outer sleeve 420 differs from the motion path of the first connection portion 513 of the lever member 511, the first connection portion 513 is prone to getting stuck during motion. To address this issue, in this embodiment, the outer sleeve 420 and the first connection portion 513 are movably connected via a guide structure. When the outer sleeve 420 moves along a first direction, the guide structure drives the first connection portion 513 to rotate around the rotating portion 512 of the lever member 511. The first direction is parallel to or collinear with the axis of the sleeve assembly 400.

[0096] The direction of the axis of the sleeve assembly 400 is the X direction, and the Y direction is perpendicular to the X direction. The outer sleeve 420 can only move in the X direction, pushing the lever member 511 to rotate, so that the first connecting portion 513 rotates. The rotation of the first connecting portion 513 produces displacement in both the X direction and the Y direction. In the X direction, the first connecting portion 513 moves with the outer sleeve 420. In the Y direction, the first connecting portion 513 moves relative to the outer sleeve 420 through the guide structure and is always connected to the outer sleeve 420, so that the first connecting portion 513 can rotate smoothly while maintaining connection with the outer sleeve 420, avoiding the occurrence of rotation jamming.

[0097] When the lever member 511 is driven to rotate, the movement path of the second connecting portion 514 is arc-shaped. The second connecting portion 514 connects to and drives the locking member 130 to move only in the X direction. In order to enable the second connecting portion 514 to drive the locking member 130 to move only in the X direction, the second connecting portion 514 and the locking member 130 are movably connected via a guide structure. When the second connecting portion 514 rotates around the rotating portion 512, it is displaced in both the X and Y directions. In the X direction, the locking member 130 moves with the second connecting portion 514. In the Y direction, the locking member 130 moves relative to the second connecting portion 514 via the guide structure, so that the second connecting portion 514 is always connected to the locking member 130, and the second connecting portion 514 drives the locking member 130 to move via the guide structure.

[0098] The guide structure includes a motion rod and a limiting groove 423. One of the outer sleeve 420 and the first connecting part 513 is provided with a motion rod, and the other has a limiting groove 423. The motion rod is located in the limiting groove 423. When the outer sleeve 420 moves in the first direction, the first connecting part 513 is driven to move along the first direction (X direction) through the guide structure. The motion rod slides along the length direction of the limiting groove 423 (i.e., the Y direction) to make the first connecting part 513 move relative to the outer sleeve 420, thereby allowing the first connecting part 513 to be displaced in the Y direction.

[0099] In the guiding structure in which the first connecting part 513 is connected to the outer sleeve 420, the moving rod is connected to the first connecting part 513, specifically the first end rod 5131. The outer sleeve 420 is provided with a first driving part 421 and a second driving part 422. The first driving part 421 and the second driving part 422 are arranged on the lower side of the outer sleeve 420 and extend roughly along the Y direction. A limiting groove 423 is formed between the first driving part 421 and the second driving part 422. The limiting groove 423 extends roughly along the Y direction. The first end rod 5131 is located in the limiting groove 423 and can move in the limiting groove 423 along the length direction of the limiting groove 423 (roughly the Y direction).

[0100] In the guide structure connecting the second connecting portion 514 to the locking member 130, the movable rod is the second end rod 5141, which is connected to the locking member 130. The proximal end of the locking member 130 defines a slot through which the locking member 130 engages with the second end rod 5141, allowing the second end rod 5141 to drive the locking member 130 toward the proximal or distal end. The inner sleeve 410 defines a sliding slot 412, within which the second end rod 5141 is disposed. Within the sliding slot 412, the second end rod 5141 can only move in the X-direction. The limiting groove 423 is defined on the lever member 511, specifically a waist-shaped groove 5142. The ends of the second end rod 5141 are respectively positioned within the waist-shaped grooves 5142 of the two lever members 511, which extend along the Y-direction. When the lever member 511 rotates, the ends of the second end rod 5141 are respectively positioned within the waist-shaped grooves 5142 of the two lever members 511 and slide along the length of the waist-shaped grooves 5142 (displacing along the Y-direction), allowing the second connecting portion 514 to only drive the locking member 130 to move in the X-direction. In an embodiment where the transmission structure has only one lever member 511, the lever member 511 is disposed on one side of the sleeve assembly 400. One end of the second end rod 5141 is fixedly connected to the locking member 130, while the other end is positioned within the limiting groove 423.

[0101] In another embodiment, as shown in Figures 33 and 34, the mating portion 212 is arranged on the distal side of the angle steering member 210, and the first connecting portion 513 and the second connecting portion 514 are both arranged on one side of the rotating portion 512. When the outer sleeve 420 switches from the proximal position to the proximal position, the locking member 130 is driven to move distally through the lever member 511 to cooperate with the mating portion 212 to lock the angle steering member 210.

[0102] In another embodiment, the motion conversion structure 500 includes a gear and two racks (not shown). The gear is rotatably mounted on the frame 600. The two racks are a first rack and a second rack, respectively. The first rack and the second rack are disposed on either side of the gear and mesh with the gear. When the gear rotates, the two racks move in opposite directions. The first rack is connected to the outer sleeve 420, and the second rack is connected to the locking member 130. The outer sleeve 420 drives the lever member 511 to move the first rack in a first direction, thereby driving the gear to rotate, and in turn, the second rack to move in a second direction. The first direction is opposite to the second direction. When the outer sleeve 420 moves distally, it drives the first rack distally, causing the gear to rotate, thereby driving the second rack and the locking member 130 proximally. When the outer sleeve 420 moves proximally, it drives the first rack proximally, causing the gear to rotate, thereby driving the second rack and the locking member 130 distally.

[0103] After the jaw assembly 100 is closed and the angle steering member 210 is locked, the cutting knife assembly moves distally to advance, cut the tissue and trigger the suturing assembly. After the advancement is completed, the cutting knife assembly moves proximally to retract. The surgical instrument also includes a motor assembly and a main control module. The main control module is electrically connected to the motor assembly, and the motor assembly is connected to the cutting knife assembly. The main control module controls the operation of the motor assembly according to the position of the handle 810 and the position of the cutting knife assembly to achieve the advancement and retraction of the cutting knife assembly.

[0104] After the knife is retracted, the medical staff opens the jaw assembly 100. The surgical instrument also includes an unlocking assembly, as shown in Figures 35 and 36. The unlocking assembly includes a release button 910 provided outside the housing of the operating assembly 800, and an unlocking rod 920 located inside the housing of the operating assembly 800 and abutting against the connecting rod assembly 610 located in the second position. The unlocking rod 920 is linked to the release button 910. The release button 910 has a driving rod 911. When the medical staff operates the release button 910, specifically when the release button 910 is pushed, the release button 910 and the driving rod 911 rotate synchronously. The rotating driving rod 911 acts on the release rod to rotate the unlocking rod 920. The unlocking rod 920 abuts against one end of the connecting rod assembly 610 and moves downward to push the connecting rod assembly 610, so that the connecting rod assembly 610 returns to the first position, and the jaw assembly 100 opens to release human tissue. When the release button 910 is not operated, the unlocking lever 920 is located above the connecting rod assembly 610, and the connecting rod assembly 610 is self-locked in the second position. When the medical staff operates the release button 910, the unlocking lever 920 rotates, and one end of the unlocking lever 920 moves downward to push the connecting rod assembly 610, so that the connecting rod assembly 610 is no longer in the second position, thereby releasing the self-locking state of the connecting rod assembly 610. The outer sleeve 420 is equipped with a spring 430. One end of the spring 430 is connected to the frame 600, and the other end is connected to the push block 440. The push block 440 is connected to the first connecting rod 611. When the connecting rod assembly 610 is in the second position, the spring 430 is in a compressed state and the outer sleeve 420 is in a distal position. When the connecting rod assembly 610 is in the first position, the spring 430 is in a released state. When the medical staff operates the release button 910, so that the connecting rod assembly 610 is no longer in the second position, the spring 430 is released, pushing the push block 440 toward the proximal end, and the connecting rod assembly 610 moves to the first position, causing the jaw assembly 100 to open and the outer sleeve 420 to move to the proximal position, thereby driving the locking member 130 to move to the unlocked state. After the knife is retracted, the medical staff operates the release button 910 to open the jaw assembly 100, then operates the push handle 710 to rotate the jaw assembly 100 to the straight-aft position, and finally removes the jaw assembly 100 from the human body.

[0105] It should be understood that although the present disclosure is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the present disclosure is only for the sake of clarity. Those skilled in the art should regard the present disclosure as a whole. The technical solutions in each implementation method can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0106] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present disclosure. They are not intended to limit the scope of protection of the present disclosure. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A surgical instrument, comprising a jaw assembly, a sleeve assembly, an angle turning member, an angle connecting assembly, and a cutting knife assembly, wherein: The jaw assembly is rotatably connected to the sleeve assembly through the angle turning member; the cutting knife assembly includes a knife rod and a knife head connected to the distal end of the knife rod; The angle connection assembly comprises a first angle connection member and a second angle connection member, the distal end of the first angle connection member is rotatably connected to the angle steering member, the distal end of the second angle connection member is rotatably connected to the proximal end of the first angle connection member, and the proximal end of the second angle connection member is rotatably connected to the sleeve assembly; the first angle connection member is provided with a first receiving groove, the second angle connection member is provided with a second receiving groove, and the knife rod is accommodated in the second receiving groove and the first receiving groove from proximal to distal; The surgical instrument further includes a limiting assembly, the sleeve assembly includes an outer sleeve and an inner sleeve, the limiting assembly is arranged on the inner sleeve, the outer sleeve is movably sleeved outside the inner sleeve, the limiting assembly includes a limiting member, and the surgical instrument has a first state and a second state; In the first state, the limiting member is configured to be limited by the outer sleeve located at the proximal position and separated from the second angle connecting member in the straight position; when the outer sleeve is configured to move from the proximal position to the distal position, the limiting member is released to move distally, so that the surgical instrument switches to the second state; In the second state, the limiting member is configured to be located at both sides of the second angle connecting member in the straight position to stop the second angle connecting member from rotating.

2. The surgical instrument according to claim 1, wherein: The limiting assembly further comprises a movable groove, which is opened in the inner sleeve along the axial direction of the sleeve assembly, and the limiting member is movably accommodated in the movable groove along the axial direction.

3. The surgical instrument according to claim 2, wherein: The limiting member comprises a limiting column and an elastic member, wherein the limiting column is movably accommodated in the movable groove along the axial direction, and one end of the elastic member is connected to the groove wall of the movable groove, and the other end is connected to the limiting column; In the first state, the outer sleeve is configured to be in the proximal position and constrain the limiting column, so that the limiting member is separated from the second angle connecting member in the straight position, and the elastic member is compressed; when the outer sleeve is configured to move from the proximal position to the distal position, the elastic member is released, driving the limiting column to move toward the distal end, so that the surgical instrument is in the first state. Two states.

4. The surgical instrument according to claim 3, wherein: The limiting column comprises a column body and a protrusion arranged on the column body, one end of the elastic member is connected to the protrusion, and the other end is connected to the groove wall of the movable groove; the outer sleeve is provided with a restricting portion, in the first state, the outer sleeve is configured to be located at the proximal position, the restricting portion is configured to abut against the protrusion to restrict the limiting member, and the elastic member is compressed; The outer sleeve is configured such that when the outer sleeve moves to the distal end position, the restricting portion moves distally and the elastic member is released, so that the limiting column moves distally.

5. The surgical instrument according to claim 4, wherein: The outer sleeve is provided with a through slot, the restricting portion is a protrusion arranged in the through slot, and the protrusion extends in a direction toward the limiting column.

6. The surgical instrument according to claim 1, wherein: When the outer sleeve is located at the distal end, the jaw assembly is in a closed state, and when the outer sleeve is located at the proximal end, the jaw assembly is in an open state; The outer sleeve is configured to switch the jaw assembly from the open state to the closed state when moving from the proximal position to the distal position, and the outer sleeve is configured to switch the jaw assembly from the closed state to the open state when moving from the distal position to the proximal position.

7. The surgical instrument according to claim 1, wherein: The jaw assembly has a first turning state relative to the sleeve assembly. In the first turning state, the angle between the jaw assembly and the sleeve assembly is less than or equal to a first angle; when the jaw assembly is in the first turning state, the second angle connector is in a straight position.

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