Surgical instrument and end effector assembly thereof

Abstract

A surgical instrument (100) and an end effector assembly (30) thereof. The end effector assembly comprises: a proximal main body portion (30a), which comprises a bending member (36) and a firing member (35); and a distal effector portion (30b), which comprises a staple cartridge assembly (31) and a staple anvil assembly (32), wherein the distal effector portion (30b) is pivotally connected to the proximal main body portion (30a) by means of a joint assembly (38), and characterized in that, the joint assembly (38) comprises: a proximal connector (381a), which is fixedly connected to a distal end of the proximal main body portion (30a); a distal connector (382a), which is fixedly connected to a proximal end of the distal effector portion (30b), the distal connector (382a) being connected to the proximal connector (381a) in an engaged manner, the distal connector (382a) being provided with at least one driven-to-bend portion (383a), and the bending member (36) operably driving the driven-to-bend portion (383a) to move, such that the distal effector portion (30b) is bent relative to the proximal main body portion (30a); and a holder (384), which is pivotally connected to each of the proximal connector (381a) and the distal connector (382a), wherein the holder (384) is provided with a holding channel (43), which is configured to accommodate the firing member (35).

Description

Surgical instrument and end-effector assembly thereof Technical Field

[0001] The present invention relates to the field of surgical instruments, and in particular to a clamping, cutting and stapling surgical instrument and an end execution assembly thereof. Background Art

[0002] Surgical anastomosis instruments are commonly used surgical instruments in laparoscopic surgery and are suitable for anastomosis and cutting of tissues. They usually include a handle assembly, a slender body and an end execution assembly. When used during surgery, a part of the slender body assembly and the end execution assembly enter the patient's body through the passage established by the puncture device. The doctor can operate the handle assembly to bend the end execution assembly to a certain angle relative to the slender body assembly to adapt to different tissue cutting and anastomosis positions. In certain specific surgical environments, it is often necessary for the end execution assembly to provide a larger bending angle to achieve a smaller wound and fewer staple positions, thereby reducing the probability of anastomotic leakage.

[0003] To increase the bending angle of the end effector assembly, existing designs use dual or even multiple joints to achieve large-angle bending. While this allows for a larger bending angle due to the progressive bending of multiple pivots, it also increases the length of the joints, increasing the bending radius of the end effector assembly and making it unsuitable for narrow surgical environments such as the pelvis. Existing designs also use end effectors that bend on a single pivot. The firing member, comprised of multiple metal sheets, forms a significant bend at the single pivot. For example, when the end effector bends 90°, the firing member also needs to bend 90° at the single pivot. When performing a surgical operation in this state, the firing member can easily pop out of the joint or pivot or become stacked at the joint or pivot if there is no limiting mechanism or if the limiting mechanism has an unreasonable structure.

[0004] Summary of the Invention

[0005] To this end, the present invention proposes a surgical instrument with a small bending radius that can adapt to narrow spaces and a firing component that can move reliably.

[0006] In view of the above technical problems, the present invention provides the following technical solutions:

[0007] 19. The method of claim 18, wherein the distal end of the distal end of the scissors-type surgical instrument comprises a first end and a second end, wherein the distal end of the scissors-type surgical instrument comprises a first end and a second end, and a second end and a second end, respectively, wherein the distal end of the scissors-type surgical instrument comprises a first end and a second end, wherein the distal end of the scissors-type surgical instrument comprises a first end and a second end, wherein the distal end of the scissors-type surgical instrument comprises a first end and a second end, wherein the distal end of the scissors-type surgical instrument comprises a first end and a second end, wherein the distal end of the scissors-type surgical instrument comprises a first end and a second end, wherein the distal end of the scissors-type surgical instrument comprises a first end and a second end, wherein the distal end of the scissors-type surgical instrument comprises a first end and a second end, wherein the distal end of the scissors-type surgical instrument comprises a first end and a second end, wherein the distal end of the scissors-type surgical instrument comprises a first end and a second end, wherein the distal end of the scissors-type surgical instrument comprises a first end and a second end,

[0008] In some embodiments of the present invention, the distal end of the proximal connecting member has a toothed structure, and the proximal end of the distal connecting member has a toothed structure that engages with the proximal connecting member; the engaging position of the distal connecting member and the proximal connecting member forms the pivot point of the distal actuator, and when the distal actuator extends along the longitudinal axis, the drive bending portion is not arranged to overlap with the longitudinal axis.

[0009] In some embodiments of the present invention, a proximal pivot axis and a distal pivot axis are respectively provided on the retaining member; the proximal pivot axis of the retaining member is pivotally engaged with the proximal pivot hole of the proximal connecting member, and the distal pivot axis of the retaining member is pivotally engaged with the distal pivot hole of the distal connecting member; the axis connecting the proximal pivot axis and the distal pivot axis is located in the retaining channel.

[0010] In some embodiments of the present invention, the joint assembly further includes a first connecting plate, which is provided with two connecting holes, and the proximal pivot axis and the distal pivot axis of the retaining member respectively pass through the proximal pivot hole of the proximal connecting member and the distal pivot hole of the distal connecting member and are riveted to the connecting holes of the connecting member.

[0011] In some embodiments of the present invention, the distal connecting member is provided with a first driving bending portion and a second driving bending portion, and the bending member is respectively connected to the first driving bending portion and the second driving bending portion through a transmission assembly.

[0012] In some embodiments of the present invention, the transmission assembly includes: a first rack and a first bending transmission member fixedly connected to the first rack, the proximal end of the first rack is connected to the bending member, and the first bending transmission member is connected to one of the driving bending parts of the distal connecting member; a second rack and a second bending transmission member fixedly connected to the second rack, the second rack is arranged relative to the first rack at an interval, and the second bending transmission member is connected to another driving bending part of the distal connecting member; at least one gear is located between the first rack and the second rack, and is meshed with the first rack and the second rack respectively.

[0013] In some embodiments of the present invention, the first drive bending portion and the second drive bending portion are constructed as a pivot fixedly connected to the distal connecting member, and the first bending transmission member or the second bending transmission member is riveted or sleeved on the pivot.

[0014] In some embodiments of the present invention, the first driving bending portion of the distal connecting member is constructed as a pivot whose axial direction is perpendicular to the clamping surface, and a connecting sleeve is provided at the distal end of the first bending transmission member, and the first bending transmission member is sleeved on the first driving bending portion through the connecting sleeve.

[0015] In some embodiments of the present invention, the second driving bending portion of the distal connecting member is constructed as a protrusion whose axial direction is parallel to the clamping surface, and a rivet hole is provided at the distal end of the second bending transmission member, and the second driving bending portion is connected to the second bending transmission member through the rivet hole.

[0016] In some embodiments of the present invention, the retaining channel is a one-way arc-shaped channel, and the first support wall and the second support wall forming the retaining channel are bent in the same direction. When the firing component is bent to the maximum angle position, the first support wall is suitable for supporting the outer wall of the firing component, and the second support wall is suitable for supporting the inner wall of the firing component.

[0017] In some embodiments of the present invention, the arc length of the first supporting wall is smaller than the arc length of the second supporting wall.

[0018] In some embodiments of the present invention, the portion where the first support wall of the retaining member is located is the first support area, the portion where the second support wall of the retaining member is located is the second support area, the proximal surface of the first support area is located distal to the proximal surface of the second support area, and the distal surface of the first support area is located proximal to the distal surface of the second support area.

[0019] In some embodiments of the present invention, when the distal actuator extends along the longitudinal axis, the distal edge of the first support wall and the inner wall of the firing channel of the distal actuator are substantially in a straight line; the proximal end of the first support wall and the inner wall of the channel supporting the relative sliding of the firing component in the proximal main body are substantially in a straight line.

[0020] In some embodiments of the present invention, when the distal actuator extends along the longitudinal axis, the distal end of the first support wall is gap-fitted with the proximal end of the firing channel of the distal connecting member, and the proximal end of the first support wall is gap-fitted with the distal end of the firing channel of the proximal connecting member.

[0021] In some embodiments of the present invention, the proximal connecting member is provided with a first limiting protrusion on a side surface facing the retaining member, the first limiting protrusion is opposite to the proximal surface of the first support area and has a first gap; the distal connecting member is provided with a second limiting protrusion on a side surface facing the retaining member, the second limiting protrusion is opposite to the distal surface of the first support area and has a second gap.

[0022] In some embodiments of the present invention, the first limiting protrusion and the second limiting protrusion respectively have a first side surface arranged opposite to the first supporting area and a second side surface arranged opposite to the firing component, and the angle between the first side surface and the second side surface is between 80° and 100°.

[0023] In some embodiments of the present invention, when the distal actuator extends along the longitudinal axis, the second side surfaces of the first limiting protrusion and the second limiting protrusion are parallel to the longitudinal axis.

[0024] In some embodiments of the present invention, when the distal actuator extends along the longitudinal axis, the first side surface of the first limiting protrusion is arranged parallel to the proximal surface of the first support area of ​​the retaining member, and the first side surface of the second limiting protrusion is parallel to the distal surface of the first support area of ​​the retaining member.

[0025] In some embodiments of the present invention, the retaining channel is a bidirectional arc-shaped channel, and the arc directions of the first support wall and the second support wall forming the retaining channel protrude toward the outside. When the distal actuator bends relative to the proximal main body, the first support wall or the second support wall supports the bent outer arc surface of the firing component.

[0026] In some embodiments of the present invention, the portion where the first support wall of the retaining member is located is the first support area, the outer side wall of the first support area is the first outer arc wall, the first outer arc wall has the same arc direction as the first support wall, and the arc length is greater than the arc length of the first support wall, and the first outer arc wall and the two ends of the first support wall are transitioned through the first transition wall respectively; the portion where the second support wall of the retaining member is located is the second support area, the outer side wall of the second support area is the second outer arc wall, the second outer arc wall has the same arc direction as the second support wall, and the arc length is greater than the arc length of the second support wall, and the second outer arc wall and the two ends of the second support wall are transitioned through the second transition wall respectively.

[0027] In some embodiments of the present invention, when the distal actuator is bent to the maximum bending angle relative to the proximal main body, the first transition wall or the second transition wall on the proximal side of the retaining element limits the position of the proximal inner arc surface of the firing component, and the first transition wall or the second transition wall on the distal side of the retaining element limits the position of the distal inner arc surface of the firing component.

[0028] In some embodiments of the present invention, the partial area where the firing member cooperates with the first transition wall or the second transition wall on the proximal side is the curved transition zone on the proximal side of the firing member, and the partial area where the firing member cooperates with the first transition wall or the second transition wall on the distal side is the curved transition zone on the distal side of the firing member.

[0029] In some embodiments of the present invention, when the distal actuator is bent to the maximum bending angle relative to the proximal main body, the proximal end of the first transition wall or the second transition wall on the proximal side substantially abuts against the inner wall of the firing channel of the proximal connecting piece to limit the bending of the firing component, and the distal end of the first transition wall or the second transition wall on the distal side substantially abuts against the inner wall of the firing channel of the distal connecting piece to limit the bending of the firing component.

[0030] In some embodiments of the present invention, when the distal actuator extends along the longitudinal axis, the distal edges of the first support wall and the second support wall are substantially in a straight line with the inner wall of the firing channel of the distal actuator, and the proximal ends of the first support wall and the second support wall are substantially in a straight line with the inner wall of the channel supporting the relative sliding of the firing component in the proximal main body.

[0031] In some embodiments of the present invention, when the end effector assembly is in the ready-to-load position, the distal effector forms an angle other than 0° with respect to the longitudinal axis.

[0032] In some embodiments of the present invention, the proximal main body portion also includes a locking member rotatably mounted on its proximal side, and the locking member includes a first locking portion. When the end execution assembly is in the loading position, the first locking portion cooperates with the bending member to lock the bending member.

[0033] In some embodiments of the present invention, the locking element includes a second locking portion, and when the end effector assembly is in the ready-to-load position, the second locking portion cooperates with the firing member to lock the firing member.

[0034] In some embodiments of the present invention, the first locking portion of the locking member and the bending member, and the second locking portion of the locking member and the firing member are locked by rotationally plugging together.

[0035] In some embodiments of the present invention, the locking member is formed as a semi-annular sleeve with a notch, the first locking portion is a first protrusion extending circumferentially along the side wall of the locking member forming the notch, and the second locking portion is a second protrusion extending inward along the inner wall of the locking member.

[0036] In some embodiments of the present invention, the proximal main body portion includes a supporting body, the locking member is sleeved on the proximal end of the supporting body, and the first locking portion and the second locking portion are respectively located at the distal end of the locking member.

[0037] In some embodiments of the present invention, the locking member further includes an unlocking drive portion. When the end execution assembly is in the loading position, the unlocking drive portion is acted upon by a circumferential force, driving the locking member to rotate and disengage from the bending member and the firing member.

[0038] The present invention also provides a surgical instrument, comprising a handle assembly, a slender body assembly, and an end execution assembly selectively engaged with the slender body assembly, which are sequentially connected from the proximal end to the distal end. The end execution assembly adopts the end execution assembly.

[0039] The technical effects of the technical solution of the present invention are described in detail in the following specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, which will help to understand the objects and advantages of the present invention.

[0041] FIG1 is a schematic structural diagram of a specific embodiment of a surgical instrument of the present invention;

[0042] FIG2 is a schematic structural diagram of a specific embodiment of an end effector assembly of a surgical instrument of the present invention;

[0043] FIG3 is an exploded view of a specific embodiment of an end effector assembly of a surgical instrument of the present invention;

[0044] FIG4 is an exploded view of a portion of the structure of a specific embodiment of an end effector assembly of the present invention;

[0045] FIG5 is an exploded view of a portion of the structure of a specific embodiment of an end effector assembly of the present invention;

[0046] FIG6 is a schematic structural diagram of a specific embodiment of a retaining member in a surgical instrument of the present invention;

[0047] FIG7 is a schematic diagram of a specific embodiment of the first distal connecting member in the surgical instrument of the present invention;

[0048] FIG8 is a schematic diagram of the distal implement of the surgical instrument of the present invention extending along the longitudinal axis;

[0049] FIG9 is an enlarged view of a portion of the structure of FIG8 ;

[0050] FIG10 is a schematic diagram of a portion of a joint assembly when the distal implement of the present invention is along the longitudinal axis;

[0051] FIG11 is a schematic diagram of the distal implement of the surgical instrument of the present invention when bent to the maximum bending angle;

[0052] FIG12 is an enlarged view of a portion of the structure of FIG11;

[0053] FIG13 is a schematic diagram of a portion of the joint assembly of the distal implement of the present invention at the maximum bending angle;

[0054] FIG14 is a schematic structural diagram of the end effector assembly of the present invention in an unloaded state;

[0055] FIG15 is an enlarged view of a portion of the structure of FIG14;

[0056] FIG16 is a schematic diagram of a portion of a joint assembly of an end effector assembly of the present invention in an unloaded state;

[0057] FIG17 is a schematic diagram of a portion of a joint assembly of an end effector assembly in a bent state according to the present invention;

[0058] FIG18 is a schematic diagram of another specific embodiment of the lower proximal connecting member of the present invention;

[0059] FIG19 is a schematic diagram of another specific embodiment of the lower distal connecting member of the present invention;

[0060] FIG20 is an enlarged view of a portion of the structure of another specific embodiment of the surgical instrument of the present invention, wherein the distal implement extends along the longitudinal axis;

[0061] FIG21 is a schematic diagram of a portion of a joint assembly when the distal implement is along the longitudinal axis in another specific embodiment of the present invention;

[0062] FIG22 is a schematic diagram of a specific embodiment of an end effector assembly of a surgical instrument of the present invention;

[0063] FIG23 is a partially enlarged view of FIG4 ;

[0064] FIG24 is a schematic diagram of a specific embodiment of the first support body in the end effector assembly of the present invention;

[0065] FIG25 is a schematic diagram of a portion of the structure of a firing member in the end effector assembly of the present invention;

[0066] FIG26 is a schematic structural diagram of a firing member in an end effector assembly of the present invention;

[0067] FIG27 is an enlarged view of a portion of the structure of FIG26;

[0068] FIG28 is a schematic structural diagram of a firing connector in an end effector assembly of the present invention;

[0069] FIG29 is a schematic diagram illustrating the connection between the end effector assembly and the elongated body assembly of the surgical instrument of the present invention;

[0070] FIG30 is a schematic structural diagram of a locking member in an end effector assembly of the present invention;

[0071] FIG31 is a schematic structural diagram of the end effector assembly of the present invention with the locking member in the locked position;

[0072] FIG32 is a schematic structural diagram of the end effector assembly of the present invention in an unlocked position;

[0073] FIG33 is a diagram showing another structural form of the first bending transmission member and the second bending transmission member of the present invention;

[0074] FIG34 is a schematic diagram of another embodiment of an end effector assembly of the present invention, wherein the distal effector extends along the longitudinal axis;

[0075] FIG35 is an enlarged view of a portion of the structure of FIG34;

[0076] FIG36 is an exploded view of a portion of the structure of a second specific embodiment of an end effector assembly of the present invention;

[0077] FIG37 is an exploded view of a portion of the structure of a second specific embodiment of an end effector assembly of the present invention;

[0078] FIG38 is a schematic structural diagram of a second specific embodiment of a retaining member in a surgical instrument of the present invention;

[0079] FIG39 is a top view of a second embodiment of a retaining member in a surgical instrument of the present invention;

[0080] FIG40 is a schematic diagram of a specific embodiment of the first distal connecting member of the surgical instrument of the present invention;

[0081] FIG41 is a schematic diagram of the distal implement of the surgical instrument of the present invention extending along the longitudinal axis;

[0082] FIG42 is an enlarged view of a portion of the structure of FIG41;

[0083] FIG43 is a schematic diagram of a portion of a joint assembly when the distal implement of the present invention is along the longitudinal axis;

[0084] FIG44 is a schematic diagram of the distal implement of the surgical instrument of the present invention when bent to the maximum bending angle;

[0085] FIG45 is an enlarged view of a portion of the structure of FIG44;

[0086] FIG46 is a schematic diagram of a portion of the joint assembly of the distal implement of the present invention at the maximum bending angle;

[0087] FIG47 shows another structural form of the first bending transmission member and the second bending transmission member of the present invention. DETAILED DESCRIPTION

[0088] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0089] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0090] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediary, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0091] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as there is no conflict between them. In the following description, the same or similar elements are represented by the same figure marks.

[0092] In various embodiments of the present invention, the “distal end / side” refers to the end of the surgical instrument that is away from the operator during operation, and the “proximal end / side” refers to the end / side of the surgical instrument that is close to the operator during operation.

[0093] The following is a specific embodiment of a surgical instrument. Generally speaking, the embodiment of the surgical instrument described herein is an endoscopic surgical cutting and stapling instrument. However, it should be noted that the surgical instrument can also be a non-endoscopic surgical cutting and stapling instrument, such as an open surgical instrument used in open surgery.

[0094] The surgical instrument 100 shown in FIG1 includes a handle assembly 10, an elongated body assembly 20, and an end effector assembly 30. The handle assembly 10 is adapted to allow an operator to manipulate the surgical instrument 100. The handle assembly 10 can control the movement of the end effector assembly 30 via the elongated body assembly 20 to perform surgical operations, such as clamping / closing, suturing / anastomosis, and cutting tissue.

[0095] The handle assembly 10 includes a handle housing 11 that can be gripped by a user in a conventional manner. In one embodiment, the surgical instrument 100 uses a trigger to control the closing and firing of the end effector assembly 30. In another embodiment, the surgical instrument 100 can also use a push button or other means provided on the handle to control the closing and firing of the end effector assembly 30, so that the end effector assembly 30 performs cutting and suturing operations. In other alternative embodiments, the surgical instrument 100 can also use a trigger, push button or other means provided on the handle assembly 10 to control the opening of the jaws of the end effector assembly 30 to release tissue. The handle housing 11 is generally T-shaped and includes a main body extending along the longitudinal axis C and a grip extending approximately perpendicular to the longitudinal axis C or at an angle relative to the longitudinal axis C. The main body and grip define a mounting space for the drive mechanism.

[0096] As shown in FIG1 , the elongated body assembly 20 includes a tubular housing 21 defining a longitudinal axis C. A transmission rod assembly (not shown) is disposed within the tubular housing 21. The proximal end of the transmission rod assembly is connected to the output end of the drive mechanism within the handle assembly 10. As shown in FIG3 , the distal end of the transmission rod assembly is connected to the firing member 35 and the bending member 36 of the end effector assembly 30, thereby transmitting the driving force of the drive mechanism to the end effector assembly 30. Specifically, the transmission rod assembly includes a firing rod and a bending drive rod. The firing rod is configured to transmit the driving force of the firing drive to the firing member 35 of the end effector assembly 30, thereby achieving the firing operation of the end effector 30. The bending drive rod is configured to transmit the driving force of the bending drive assembly to the bending member 36 of the end effector assembly 30, thereby achieving the bending of the end effector 30.

[0097] As shown in Figure 1, the surgical instrument 100 described in an embodiment of the present invention also includes a rotating head 13, which is installed on the distal side of the handle assembly 10 and is provided at the proximal end of the slender body assembly 20. When the rotating head 13 is operated to rotate around the longitudinal axis C of the surgical instrument 100, it can drive the slender body assembly 20 and the end execution assembly 30 to rotate together.

[0098] The end effector assembly 30 is used to manipulate tissue to perform specific surgical procedures, such as clamping, suturing / anastomosis, and cutting. To achieve a desired angle of bend relative to the longitudinal axis C of the elongated body assembly 20, as shown in FIG2 , the end effector assembly 30 includes a proximal body portion 30a and a distal effector portion 30b, which are pivotally connected via a joint assembly 38. Accordingly, the surgical instrument 100 also includes a bending drive assembly that drives the joint assembly 38 to bend, and a bending transmission assembly. As shown in FIG3 , the bending transmission assembly includes a bending member 36 operably connected to the bending drive assembly. The bending drive assembly includes a bending knob 12 mounted on the rotating head 13 and a bending drive rod (not shown) located within the elongated body assembly 20, which is connected to the bending member 36. The operator rotates the bending knob 12 to drive the bending drive rod. Specifically, when the bending knob 12 is rotated clockwise from the initial position, the bending drive rod drives the bending member 36 to move toward the distal end; when the bending knob 12 is rotated counterclockwise from the initial position, the bending drive rod drives the bending member 36 to move toward the proximal end; and vice versa.

[0099] The following, in conjunction with FIG2 , describes in detail a specific embodiment of the end effector assembly 30 of the surgical instrument 100 of the present invention. The end effector assembly 30 is removably mounted on 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 can be inserted into the elongated body assembly 20 and rotated relative to the housing of the elongated body assembly 20 to lock the end effector 30 thereto. The distal effector portion 30b includes a cartridge assembly 31 and an anvil assembly 32. The cartridge assembly 31 and anvil assembly 32 are movable relative to each other to close the jaws and thereby clamp tissue. Opposing surfaces of the cartridge assembly 31 and anvil assembly 32 form a clamping surface for clamping tissue. In one specific embodiment, the anvil assembly 32 is operable to pivot toward the cartridge assembly 31 to close the jaws of the end effector 30 to clamp tissue; the anvil assembly 32 is then pivoted away from the cartridge assembly 31 to open the jaws of the end effector 30 to release tissue. In an alternative embodiment, the staple cartridge assembly 31 of the end effector assembly 30 can be operated to pivot toward the anvil assembly 32 until the jaws of the end effector assembly 30 are closed to clamp tissue; and the staple cartridge assembly 31 can be operated to pivot away from the staple cartridge assembly 31 until the jaws of the end effector assembly 30 are opened to release tissue.

[0100] Specifically as shown in Figures 2 and 3, the proximal main body 30a of the end execution assembly 30 is detachably connected to the distal end of the slender body assembly 20, and the proximal main body 30a includes a slender outer tube 33, a support body 34 disposed in the outer tube 33, a firing member 35 slidably disposed in the support body 34, and a bending member 36; wherein, the outer tube 33 has a longitudinal axis C extending in the same direction as the tubular outer shell 21 of the slender body assembly 20; the support body 34 includes a first half support body 34a and a second half support body 34b, and the proximal end of the second half support body 34b includes a coupling portion 34c for connection to the slender body assembly 20, and a coupling lug is provided on the coupling portion 34c for releasably coupling to the slender body assembly 20 in a snap-on connection manner. Specifically, a connecting piece 361 is provided at the proximal end of the bending member 36 of the end execution assembly 30, which cooperates with the hook at the distal end of the bending drive rod located inside the slender body assembly 20. A firing connecting piece 353 is provided at the proximal end of the firing member 35 in the end execution assembly 30, which cooperates with the distal end of the firing rod of the slender body assembly 20, thereby realizing the rotational engagement and locking of the end execution assembly 30 and the slender body assembly 20.

[0101] A passage for slidably receiving the firing member 35 is defined between the first half support body 34a and the second half support body 34b. The firing member 35 includes an elongated firing beam 351, which can be constructed from a single sheet of material or from multiple stacked sheets. The working portion 352 of the firing member 35 is shaped like an I-beam, a portion of which contacts the staple pusher and can slide integrally toward the distal end of the staple cartridge assembly 31 to perform a corresponding surgical procedure. For example, when the firing member 35 is driven from the proximal end to the distal end, a portion of the working portion 352 of the firing member 35 moves distally along with the staple pusher. The staple pusher acts on the staple driver to push the staples out of the staple cartridge assembly 31, completing the tissue anastomosis operation. Simultaneously, the cutting blade 354 on the working portion 352 cuts the tissue. A firing connection portion 353 is provided at the proximal end of the firing beam 351. The firing connection portion 353 is formed as a sleeve structure with an opening, and a hole is provided at the proximal end of the firing connection portion 353, which is configured to receive the distal end of the firing rod 22 when the proximal end of the end execution assembly 30 is engaged with the slender body assembly 20.

[0102] As shown in FIG3 , in the distal actuator 30b of the end actuator assembly 30, the staple cartridge assembly 31 includes a staple cartridge 312, a staple cartridge base 311, and a staple pusher slide disposed in a cavity between the staple cartridge 312 and the staple cartridge base 311. The proximal end of the firing member 35 is connected to the firing rod within the elongated body assembly 20, while the distal end of the firing member 35 abuts against the staple pusher slide and can slide / move integrally along the longitudinal axis to perform the corresponding surgical operation. The staple cartridge assembly 31 also includes a staple pusher and staples within the staple cartridge 312. When the firing member 35 is driven to move from the proximal end to the distal end, the staple pusher slide moves, which acts on the staple pusher to push the staples out of the staple cartridge 312, thereby achieving tissue anastomosis. The anvil assembly 32 includes an anvil shell 321 and a stapler seat 322 located inside the anvil shell 321. The stapler seat 322 cooperates with the staple magazine 312 to achieve the bending operation of the suture staples. The surface of the stapler seat 322 is provided with a plurality of staple buds, which correspond one-to-one to the positions of the staple holes on the staple magazine 312. When tissue is anastomosed, the suture staples in the staple holes abut against the staple buds.

[0103] 3-5 , the joint assembly 38 includes a proximal connector 381a fixedly connected to the distal end of the proximal main body portion 30a, and a distal connector 382a fixedly connected to the distal actuator portion 30b; specifically, the proximal connector 381a is fixedly connected to the support body 34 through a matching structure of a positioning protrusion and a positioning slot, or the proximal connector 381a and the support body 34 are integrally formed through processes such as welding and injection molding. The distal connecting member 382a is fixedly connected to the distal actuator 30b by 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 toothed structure that is meshed with each other, and the meshing position of the two forms the pivot point A of the distal actuator 30b. The distal connecting member 382a is provided with at least one driving bending portion 383a connected to the bending member 36. When the bending member 36 slides relative to the support body 34, it can directly or indirectly act on the driving bending portion 383a of the distal connecting member 382a, so that the distal connecting member 382a can swing around the meshing position between the distal connecting member 382a and the distal connecting member 382a under the action of the meshing teeth, thereby realizing the bending of the distal actuator 30b relative to the proximal main body 30a. When the distal actuator 30b extends along the longitudinal axis C (see FIG4 ), the driving bend 383a is spaced apart from the longitudinal axis C and is located at the distal end of the pivot point A, that is, the driving bend 383a does not coincide with the longitudinal axis C.

[0104] The proximal connector 381a and the distal connector 382a may also be connected in other ways to allow the distal connector 382a to bend or swing around the proximal connector 381a. At the same time, the two can provide relatively stable support, reducing the shaking caused by bending or swinging during the firing process of the surgical instrument, thereby avoiding pulling and damaging the tissue. Figures 34 and 35 show a proximal connector 581a and a distal connector 582a according to another embodiment. The areas where the proximal connector 581a and the distal connector 582a face each other are provided with a coupling portion, which is a friction wheel with greater friction. The proximal connector 581a and the distal connector 582a are connected by a connecting piece 585 having a groove / crack. The connecting piece 585 is constructed in the form of a spring with a certain amount of elastic deformation. Under the action of an external force, its groove / crack can be expanded or contracted to achieve elastic deformation. The connecting piece 585 is provided with two connecting holes, which are respectively connected to the proximal connecting piece 581a and the distal connecting piece 582a through a pin shaft. In the initial state, the distance between the two connecting holes of the connecting piece 585 is slightly smaller than the axial spacing between the proximal connecting piece 581a and the distal connecting piece 582a. After the connecting piece 585 is respectively connected to the proximal connecting piece 581a and the distal connecting piece 582a, the connecting piece 585 is stretched and deformed, and the contraction tension force is applied to the proximal connecting piece 581a and the distal connecting piece 582a, so that the proximal connecting piece 581a and the distal connecting piece 582a are in close contact to increase the relative friction force and ensure the positioning of the bending position of the distal connecting piece 582a.

[0105] In order to ensure the stability of the firing member 35 moving toward the distal end after the distal execution part 30b is bent relative to the proximal main body part 30a, and to avoid the problem that the bending force of the firing member 35 (that is, the biasing force that causes the firing member 35 to bend and deform) is too large, resulting in the partial sheet-like firing beam 351 popping out or stacking, as shown in Figures 3-6, the joint assembly 38 also includes a retaining member 384 for accommodating the bending position of the firing member 35, and the retaining member 384 is connected to the cooperating proximal connecting member 381a and the distal connecting member 382a through two pivot shafts. 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 a proximal pivot axis 41 and to the distal pivot hole 52 of the distal connecting member 382a via a distal pivot axis 42, so that the retaining member 384 can pivot and swing relative to the proximal connecting member 381a about the proximal pivot axis 41. The joint assembly 38 also includes a first connecting plate 385, to which the ends of the pivot axes 41 and 42 of the retaining member 384 are riveted. As shown in Figures 2 and 3, the first connecting plate 385 is provided with two connecting holes, to which the ends of the proximal pivot axis 41 and distal pivot axis 42 of the retaining member 384 are riveted. The retaining member 384 has a retaining channel 43, which is suitable for accommodating at least a portion of the firing beam 351 of the firing component 35, so that it passes through the retaining channel 43 and can move along the extension direction thereof.

[0106] Figures 4 to 21 show a specific embodiment of the end execution assembly 30 of the present invention. In this embodiment, the end execution assembly 30 includes a retaining member 384, and its retaining channel 43 is constructed as an arc structure as shown in Figure 6. The retaining channel 43 is formed by a first support wall 43a and a second support wall 43b located on both sides of the firing beam 351, and the 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 cooperating with the maximum bending outer arc surface of the firing beam 351, and the second support wall 43b is suitable for cooperating with the maximum bending inner arc surface of the firing beam 351.

[0107] 9 , the proximal connector 381a includes a firing channel 53, the proximal end of which faces the firing channel of the proximal body portion 30a, and the distal end of which faces the retaining channel 43 of the retaining member 384. Correspondingly, the distal connector 382a also includes a firing channel 54, the distal end of which faces the firing channel of the distal body portion 30a, and the proximal end of which faces the retaining channel 43 of the retaining member 384. When the distal actuator 30b extends along the longitudinal axis C, the firing channel 53 of the proximal connector 381a and the firing channel 54 of the distal connector 382a extend in the same direction and are positioned opposite each other, enabling the firing beam 351 to extend in a straight line. Because the first support wall 43a and the second support wall 43b of the retaining channel 43 are both curved toward the same side, the firing beam 351 of the firing member 35 is allowed to unilaterally bend to the greatest possible angle. When the firing beam 351 is at its maximum unilateral bending angle, the inner and outer curved surfaces thereof are provided with better support and position limiting, respectively, enabling the distal effector 30b to achieve a greater unilateral bending angle. It will be appreciated that although the first support wall 43a and the second support wall 43b of the retaining channel 43 are both curved toward the same side to provide support and position limiting for the firing beam 351 when the distal effector 30b is at its maximum unilateral bending position, the retaining channel 43 has a certain width, which still allows the distal effector 30b to bend in the opposite direction to a certain angle, thereby enabling the end effector 30 to achieve an overall asymmetric bending angle.

[0108] More specifically, the portion of the retaining member 384 where the first support wall 43a is located is the first support area 384a, and the portion of the retaining member 384 where the second support wall 43b is located is the second support area 384b. To prevent the retaining member 384 from interfering with the firing member 35, the proximal connector 381a, or the distal connector 382a during operation, the arc length of the first support wall 43a is shorter than the arc length of the second support wall 43b. The proximal end surface of the first support area 384a is located distally of the proximal end surface of the second support area 384b, and the distal end surface of the first support area 384a is located proximal of the distal end surface of the second support area 384b. Thus, as shown in FIG12 , when the distal actuator 30b is bent to its maximum angle, a certain gap remains between the ends of the first support wall 43a of the retaining member 384 and the proximal connector 381a and the distal connector 382a. As shown in FIG9 , the gap between the proximal end of the first support wall 43a and the distal end of the firing channel 53 of the proximal connector 381a is t1, and the gap between the distal end of the first support wall 43a and the proximal end of the firing channel 54 of the distal connector 382a is t2. As shown in FIG9 and FIG10 , when the distal actuator 30b extends along the longitudinal axis C, the distal edge of the first support wall 43a and the firing channel of the distal actuator 30b and the inner wall of the firing channel 54 of the distal connector 382a are substantially aligned. Since the firing beam 351 extends from the firing channel of the proximal body portion 30a to the firing channel of the distal actuator 30b, the distal edge of the first support wall 43a is located in a position where it can contact or approach the outer wall of the firing beam 351, that is, it is relatively close to the axis connecting the axial centers of the proximal pivot axis 41 and the distal pivot axis 42. More specifically, the distance between the proximal side of the first support wall 43a and the axial center of the proximal pivot axis 41 is less than a first set value, which is 0.1 mm to 2 mm. Similarly, the proximal end of the first support wall 43a is substantially aligned with the inner wall of the firing channel of the proximal main body 30a and the inner wall of the firing channel 53 of the proximal connecting member 381a. The proximal side of the first support wall 43a is located at a position where it can contact or approach the outer wall of the firing beam 351, that is, at a position relatively close to the axis connecting the proximal pivot axis 41 and the distal pivot axis 42. The distance between the distal side of the first support wall 43a and the axial center of the distal pivot axis 42 is less than a second set value, which is 0.5 mm to 1 mm. In this way, when the distal execution part 30b is bending, the size of the gap t1 between the proximal end of the first support wall 43a and the distal end of the firing channel of the proximal connecting member 381a remains unchanged or changes slightly, and the size of the gap t2 between the distal end of the first support wall 43a and the proximal end of the firing channel of the upper distal connecting member 382a also remains unchanged or changes slightly.To avoid the problem of the firing member 35 not being effectively restrained due to a significant change in the gap between the retaining member 384 and the proximal and distal connectors 381a and 382a during bending of the distal actuator 30b, in which case the firing member 35 cannot be effectively restrained, in an alternative embodiment, the firing beam 351 can be effectively restrained by further reducing the gap t2 between the distal end of the first support wall 43a and the proximal end of the firing channel 54 of the distal connector 382a, as well as the gap t1 between the proximal end of the first support wall 43a and the distal end of the firing channel 53 of the proximal connector 381a. For example, when the distal actuator 30b extends along the longitudinal axis C, the distal end of the first support wall 43a and the proximal end of the firing channel 54 of the distal connector 382a have a clearance fit, i.e., a very small gap between them; and the proximal end of the first support wall 43a and the distal end of the firing channel 53 of the proximal connector 381a have a clearance fit, i.e., a very small gap between them. This allows the gaps between the retaining member 384 and the proximal and distal connecting members 381a and 382a to be smaller when the first position extending in the direction of the longitudinal axis C of the distal actuator 30b swings to the maximum bending position.

[0109] In the end effector assembly 30 described in this embodiment of the present invention, its joint assembly 38 forms the distal effector 30b's pivot point A through the intermeshing of the proximal connector 381a and the distal connector 382a. This allows for large-angle bending while maintaining a relatively small bending radius. Furthermore, the distal connector 382a is provided with a driving bending portion 383a, which is spaced farther apart from the meshing point (pivot point A) between the proximal connector 381a and the distal connector 382a. This reduces the driving force for bending under the same bending torque, making it easier to achieve actuated bending. In addition, since the retaining member 384 is pivotally connected to the proximal connecting member 381a and the distal connecting member 382a through two pivot shafts 41, 42, the center distance between the proximal connecting member 381a and the distal connecting member 382a is constant, thereby ensuring the consistency of the firing stroke in the bent state and the straightened state to the greatest extent; for the electric stapler, the formation of the farthest row of staples can be guaranteed.

[0110] In order to further improve the bending stability of the distal actuator 30b, two driving bending parts 383a and 383b are provided on the distal connecting member 382a, and the bending member 36 is connected to the two driving bending parts 383a and 383b through the transmission assembly 39. The two driving bending parts 383a and 383b are respectively located on opposite sides of the longitudinal axis C. One side of the distal connecting member 382a is subjected to a force toward the distal end, and the other side is subjected to a force toward the proximal end. By arranging the driving bending parts 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 can be improved.

[0111] As shown in Figures 4 and 5, the transmission assembly 39 includes a first rack 391 connected to the bending member 36, the first rack 391 is installed on the support body 34 inside the proximal main body 30a (see Figure 3, not shown in Figure 4), a first bending transmission member 393 fixedly connected to the first rack 391, the first bending transmission member 393 is connected to the first driving bending portion 383a of the distal connecting member 382a; the transmission assembly 39 also includes a second rack 392 arranged on the support body 34, the second rack 392 is spaced apart and opposite to the first rack 391, and a second bending transmission member 394 fixedly connected to the second rack 392, the second bending transmission member 394 is connected to the second driving bending portion 383b of the distal connecting member 382a; and two gears 395 located between the first rack 391 and the second rack 392, the two gears 395 are rotatably connected to the gear support frame 396 of the support body 34. In the embodiment shown in FIG4 , the gear 395 includes two gears 395 that are respectively meshed with the first rack 391 and the second rack 392. When the bending member 36 is operated to move distally, the first rack 391 and the first bending transmission member 393 are pushed distally. The movement of the gear 395 rotates the gear 395 and moves the second rack 392 proximally, which in turn drives the second bending transmission member 394 proximally, causing the distal connector 382a to bend.

[0112] As an alternative embodiment, as shown in Figures 8 and 9, the first driving bend portion 383a of the distal connecting member 382a is constructed as a pivot structure with its axis perpendicular to the clamping surface, and the second driving bend portion 383b is constructed as a protrusion structure with its axis parallel to the clamping surface. Accordingly, the distal end of the first bending transmission member 393 is provided with a connecting sleeve 393a, which is sleeved onto the first driving bend portion 383a via the connecting sleeve 393a; the distal end of the second bending transmission member 394 is provided with a rivet hole 394a, which cooperates with the second driving bend portion 383b to achieve riveting of the second bending transmission member 394 to the distal connecting member 382a. In which, when the distal actuator 30b is operated to bend, the bending radius of the position of the first drive bending portion 383a (that is, the bending radius of the first bending transmission member 393 connected to the first drive bending portion 383a when it is bent) is smaller than the bending radius of the position of the second drive bending portion 383b (that is, the bending radius of the second bending transmission member 394 connected to the second drive bending portion 383b when it is bent).

[0113] Since the end execution assembly 30 described in the embodiment of the present invention is mainly operated to bend a large angle to one side of the longitudinal axis C, the bending radius of the first drive bending portion 383a of the distal connection member 382a is always smaller than the bending radius of the second drive bending portion 383b, resulting in the deformation of the first bending transmission member 393 being greater than the deformation of the second bending transmission member 394. The first bending transmission member 393 can improve the connection reliability between the first bending transmission member 393 and the distal connection member 382a by adopting a connecting sleeve 393a to be sleeved on the first drive bending portion 383a.

[0114] Figures 8-13 illustrate the articulation process of the end effector assembly 30 provided by an embodiment of the present invention. As shown in Figures 8-10 , the distal effector 30b extends along the longitudinal axis C. That is, when the distal effector 30b and the proximal body portion 30a extend in the same direction, the angle between the distal effector 30b and the longitudinal axis C is 0° or approximately 0°. The first and second drive bend portions 383a, 383b of the distal connector 382a are respectively located distal to the pivot point A. Operating the bend knob 12 of the surgical instrument 100 causes the bend member 36 to move proximally, driving the first and second drive bend portions 383a, 383b to pivot about the pivot point A, causing the distal effector 30b to bend gradually away from the longitudinal axis C, ultimately reaching a position of maximum unilateral bend angle, as shown in Figures 11-13 . It is understandable that during the bending of the distal actuator 30b relative to the proximal body portion 30a, the meshing position (i.e., pivot point A) of the proximal connecting member 381a and the distal connecting member 382a does not remain fixed, but changes with the position of the meshing teeth.

[0115] In a specific embodiment, the joint assembly 38 can achieve the bending movement of the distal actuator 30b by using a proximal connector 381a and a distal connector 382a; as an alternative embodiment, referring to Figures 3-5, two proximal connectors are provided, namely, an upper proximal connector 381a and a lower proximal connector 381b, and two distal connectors are also provided, namely, an upper distal connector 382a and a lower distal connector 382b. In this embodiment, an upper proximal connector 381a extends distally from the distal end of the first half support body 34a and is fixedly connected by, for example, a slot engaging a latching protrusion. Similarly, a lower proximal connector 381b extends distally from the distal end of the second half support body 34b and is fixedly connected to the second half support body 34b by a slot engaging a latching protrusion. The upper distal connector 382a is connected to the staple cartridge assembly 31, and the lower distal connector 382b is connected to the anvil assembly 32. Providing two sets of proximal connectors and two sets of distal connectors further improves the bending stability of the distal actuator 30b.

[0116] Specifically, the upper distal connecting member 382a is connected to the staple cartridge base 311 via a positioning pin, thereby ensuring a fixed and non-rotatable connection between the upper distal connecting member 382a and the staple cartridge base 311. The lower distal connecting member 382b is connected to the anvil housing 321 via a positioning pin, thereby ensuring a fixed and non-rotatable connection between the lower distal connecting member 382b and the anvil housing 321. In addition, the upper distal connecting member 382a and the lower distal connecting member 382b are connected via a positioning pin, thereby ensuring a fixed connection between the upper distal connecting member 382a and the lower distal connecting member 382b, thereby driving the staple cartridge assembly 31 and the anvil assembly 32 to achieve synchronous bending. It is understood that the upper distal connector 382a and the lower distal connector 382b are fixedly connected to the staple cartridge assembly 31 and the anvil assembly 32 in a non-bendable manner, while the staple cartridge assembly 31 and / or the anvil assembly 32 can pivot relative to the upper distal connector 382a and the lower distal connector 382b in closing and opening directions. Providing two upper and lower proximal connectors and a distal connector, respectively, allows for better synchronization of the bending of the anvil assembly 32 and the staple cartridge assembly 31 of the distal actuator 30b, more uniform bending positions, and smoother bending. It is also understood that one proximal connector 381a and one distal connector 382a can also be provided, which can similarly enable the distal actuator 30b to bend about the pivot point A formed by the proximal connector 381a and the distal connector 382a.

[0117] Furthermore, in this embodiment, the retaining member 384 is accommodated within the installation space formed by the area between the upper and lower distal connecting members 382a, 382b and the upper and lower proximal connecting members 381a, 381a, preventing it from being exposed to the outside, thereby ensuring the movement stability of the firing 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. The ends of the pivot shafts 41 and 42 are riveted to the first connecting piece 385. The first connecting piece 385 is provided with two connecting holes, and the ends of the proximal pivot shaft 41 and the distal pivot shaft 42 of the retaining member 384 are riveted to the connecting holes of the first connecting piece 385 .

[0118] The joint assembly 38 further includes a second connecting piece 386. As shown in FIG. 3, the lower proximal connecting piece 381b and the lower distal connecting piece 382b are respectively riveted to the second connecting piece 386 through a rotating shaft. Two connecting holes are provided on the second connecting piece 386, and the end portions of the rotating shafts on the lower proximal connecting piece 381b and the lower distal connecting piece 382b are riveted to the connecting holes of the second connecting piece 386.

[0119] In order to better accommodate the firing member 35 in the joint assembly 38 and prevent the firing beam 351 of the firing member 35 from popping out or stacking in the joint, in an alternative embodiment, the lower proximal connecting piece 381b further has a first limiting protrusion 61 on a side surface facing the holding member 384. A part of the side surface of the first limiting protrusion 61 further limits the bending position of the firing member 35. The first limiting protrusion 61 is opposite to the proximal end surface of the first support area 384a of the holding member 384 and has a first gap t1', specifically, t1' < t1. When the distal actuating portion 30b swings from the first position extending in the longitudinal axis direction to the maximum bending position, the first gap t1' remains unchanged or changes slightly. As shown in FIG. 21, the first limiting protrusion 61 has a first side surface opposite to the proximal side surface of the first support area 384a and a second side surface opposite to the firing member 35, and the first side surface is perpendicular to the second side surface. In other alternative embodiments, according to the maximum bending angle of the distal actuating portion 30b, the included angle between the first side surface and the second side surface of the first limiting protrusion 61 is between 80° and 100°. Through the setting of the above first limiting protrusion 61, during the process of the end actuating assembly from the straight state to the maximum bending angle, in the proximal side of the joint assembly 38, the gap t1' between the holding member 384 and the first limiting protrusion 61 is always small, and the firing beam 351 can be reliably bent under the limiting action of the holding member 384 and the first limiting protrusion 61.

[0120] Correspondingly, as shown in FIG. 19, a second limiting protrusion 62 is provided on a side surface of the lower distal connecting member 382b facing the holding member 384. A part of the side surface of the second limiting protrusion 62 further limits the bending position of the firing member 35. The second limiting protrusion 62 is opposite to the distal end surface of the first supporting area 384a of 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' remains unchanged or changes slightly. As shown in FIG. 21, the second limiting protrusion 62 also has a first side surface opposite to the first supporting area 384a and a second side surface opposite to the firing member 35, and the first side surface is perpendicular to the second side surface. In other alternative embodiments, according to 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°. Through the setting of the second limiting protrusion 62, during the process of the end execution assembly changing from the straight state to the maximum bending angle, the gap t2' between the holding member 384 and the first limiting protrusion 61 at the distal side of the joint assembly 38 is always small, and the firing beam can be reliably bent under the limiting action of the holding member 384 and the second limiting protrusion 62.

[0121] It can be understood that in other alternative embodiments, the first limiting protrusion 61 can also be provided on the proximal connecting member 381a, and the second limiting protrusion 62 can also be provided on the distal connecting member 382a.

[0122] In addition, as shown in FIG. 21, when the distal execution part 30b extends along the longitudinal axis direction, the second side surfaces of the first limiting protrusion 61 and the second limiting protrusion 62 are parallel to the longitudinal axis. The first side surface of the first limiting protrusion 61 is parallel to the proximal end surface of the first supporting area 384a of the holding member 384, and the first side surface of the second limiting protrusion 62 is parallel to the distal end surface of the first supporting area 384a of the holding member 384.

[0123] In order to enable the end execution assembly 30 described in the embodiments of the present invention to be adapted to the main body part (including the handle assembly and the elongated body assembly) of the surgical instrument 100 in the prior art, that is, the end execution assembly 30 described in the embodiments of the present invention can be adapted to the same main body part (including the handle assembly and the elongated body assembly) of the surgical instrument 100 as the end execution assembly of the same specification and size in the existing design. In alternative embodiments, when the end execution assembly 30 has not been initially loaded onto the surgical instrument, a certain bending angle is preset. For example, as shown in FIG. 14, when the end execution assembly 30 is in the waiting-to-be-loaded position, the distal execution part 30b forms a set first included angle α1 with the longitudinal axis C.

[0124] Specifically, after the end effector assembly 30 is mounted on the elongated body assembly 20 of the surgical instrument 100 in the pre-loaded position, the bending knob 12 of the handle assembly 10 is operated to move the bending member 36 proximally by a first distance. Accordingly, the distal effector portion 30b of the end effector assembly 30, having already been bent at the first angle α1, is further bent away from the longitudinal axis C to a second angle α2, as shown in Figures 11 and 12. Similarly, after the end effector assembly 30 is mounted on the elongated body assembly 20 of the surgical instrument 100 in the pre-loaded position, the bending member 36 is moved distally by a second distance. Accordingly, the distal effector portion 30b of the end effector assembly 30, having already been bent at the first angle α1, is further pivoted toward the longitudinal axis C, ultimately forming a 0° or substantially 0° relationship with the longitudinal axis C, as shown in Figures 8 and 9. The first distance and the second distance may be the same or different.

[0125] When the end effector assembly 30 of the embodiment of the present invention is adapted to a conventional surgical instrument 100, the first distance may correspond to the distance the bending member 36 moves when the end effector 30 is bent to the right to its maximum angle; the second distance may correspond to the distance the bending member 36 moves when the end effector 30 is bent to the left to its maximum angle. This configuration of the end effector 30 further enhances the versatility and adaptability of the end effector assembly of the embodiment of the present invention.

[0126] Furthermore, in the end effector assembly 30 according to the embodiment of the present invention, a guide slot 341 (see Figures 23 and 24 ) is defined between the first half support body 34a and the second half support body 34b to form a sliding passage. The firing member 35 includes an elongated firing beam 351 slidably connected to the guide slot 341. The guide slot 341 extends along the longitudinal axis and penetrates the extended area of ​​the first half support body 34a and the second half support body 34b, so that the firing beam 351 can be limited at both the proximal and distal ends of the support body 34. The proximal end of the firing beam 351 is hooked and connected to the firing connecting piece 353. Specifically, as shown in Figures 22 and 23, the firing connecting piece 353 is formed into a sleeve structure with an opening, and the proximal side of the firing beam 351 is constructed into a structure with an opening, and its proximal end portion has a first hook portion 3511 and a second hook portion 3512 that are relatively set. A firing connecting portion 3531 is provided on the firing connecting piece 353, and the first hook portion 3511 and the second hook portion 3512 are hooked on the firing connecting portion On the two opposite sides of 3531, the firing link 353 is provided with guide slides 3532 at the distal end of the firing link 3531. The guide slides 3532 extend along the longitudinal axis and are suitable for limiting the position of the two side surfaces of the firing beam 351 perpendicular to the longitudinal axis. For example, when the firing beam 351 is configured as a stack of sheets, the guide slides 3532 are used to cooperate with the sheet-like surfaces on both sides of the firing beam 351 to limit its position and prevent the stacked sheet-like firing beams 351 from shifting when turning. As shown in Figures 26 and 27, the firing link 353 is also provided with a safety mechanism 355 for preventing the firing member 35 from firing a second time. The specific structure of the safety mechanism 355 is described in detail in Application No. 202210770831.1, which is incorporated by reference in its entirety and will not be repeated here.

[0127] As further shown in Figure 29, the proximal main body portion 30a also includes a locking member 37 for ensuring that the bending member 36 and the firing member 35 are in the initial position when the end execution assembly 30 is in the waiting position for loading. 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 execution assembly 30 is in the waiting position for loading, the first locking portion 371 cooperates with the bending member 36 to achieve locking of the bending member 36, and the second locking portion 372 cooperates with the firing member 35 to achieve locking of the firing member 35. The use of this locking member 37 can simultaneously achieve locking of the bending member 36 and the firing member 35.

[0128] In which, the locking member 37 can be rotatably mounted on the coupling portion 34c located on the proximal side of the support body 34, and can be switched between a locked position and an unlocked position. When the locking member 37 is rotated to the locked position, as shown in Figure 31, the first locking portion 371 cooperates with the bending member 36 to lock, and the second locking portion 372 cooperates with the firing member 35 to lock. At this time, the end execution assembly 30 is in the loading position; when the locking member 37 is rotated to the unlocked position, as shown in Figure 32, the first locking portion 371 is released from the bending member 36, and the second locking portion 372 is released from the firing member 35. The bending member 36 is unlocked from the firing member 35 and can slide relative to the support body 34.

[0129] The locking member 37 is locked with the bending member 36 and the firing member 35 by means of rotational plugging. Specifically, as shown in FIG12 , the locking member 37 is configured as a semi-annular sleeve with a notch, and the semi-annular sleeve has a first wall 374 and a second wall 375 that are arranged opposite to each other and form the notch. The first locking portion 371 is configured as a first protrusion extending circumferentially along the side wall (i.e., the first wall 374 or the second wall 375) of the notch formed by the locking member 37, and the second locking portion 372 is configured as a second protrusion extending inwardly along the inner wall of the locking member 37. Correspondingly, as shown in FIG31 and FIG32 , The bending member 36 is provided with a bending locking groove 362. When the locking member 37 is rotated to the locking position, the first protrusion of the locking member 37 is inserted into the bending locking groove 362 of the bending member 36, thereby achieving the locking of the bending member 36; the firing beam 351 is provided with a firing locking groove 3513 (refer to Figure 25). When the locking member 37 is rotated to the locking position, the second protrusion of the locking member 37 is inserted into the firing locking groove 3513 of the firing member 35, thereby achieving the locking of the firing member 35.

[0130] As shown in Figures 30-32, the locking member 37 further includes an unlocking drive portion 373. When the end effector assembly 30 is in the loading position, the unlocking drive portion 373 is acted upon by the circumferential force of the driving protrusion within the slender body assembly 20, driving the locking member 37 to rotate about the support body 34 and disengage from the bending member 36 and the firing member 35. The unlocking drive portion 373 is configured as an extension piece extending proximally along the proximal end surface of the semi-annular sleeve. To improve the rotational stability of the locking member 37, two unlocking drive portions 373 are symmetrically provided on the locking member 37 along the circumferential direction. Correspondingly, two driving protrusions for driving the unlocking drive portion 373 are provided on the inner wall of the slender body assembly 20.

[0131] Figures 36-47 illustrate an end effector assembly 60 according to another embodiment of the present invention. It will be appreciated that portions of the structure of the end effector assembly 60 of this embodiment share the same design as the end effector assembly 30. Therefore, structures or components sharing the same design as the end effector assembly 30 will be described using the same reference numerals as those used in the end effector assembly 30. In this embodiment, the end effector assembly 60 includes a retaining member 684. The retaining channel 643 of the retaining member 684 is configured as an arcuate structure, as shown in Figures 38 and 39. The arcuate channel is formed by a first support wall 643a and a second support wall 643b located on either side of the firing beam 351. The first support wall 643a and the second support wall 643b curve in opposite directions and are convex outward. When the distal effector portion 60b of the end effector assembly 60 bends relative to the proximal body portion 60a, the first support wall 643a or the second support wall 643b supports the curved outer surface of the firing member 35.

[0132] 42 , similar to the previous embodiment, the proximal connector 681a of the end effector assembly 60 includes a firing channel 653, whose proximal end faces the firing channel of the proximal body portion 60a and whose distal end faces the retaining channel 643 of the retaining member 684. Correspondingly, the distal connector 682a also includes a firing channel 654, whose distal end faces the firing channel of the distal body portion 60a and whose proximal end faces the retaining channel 643 of the retaining member 684. When the distal effector 60b extends along the longitudinal axis C, the firing channel 653 of the proximal connector 681a and the firing channel 654 of the distal connector 682a extend in the same direction and are positioned opposite each other, suitable for triggering the linear extension of the firing beam 351.

[0133] 38 and 39 , the portion of the retaining member 684 where the first support wall 643a is located is a first support area 644. The outer wall of the first support area 644 is a first outer arc wall 644a. The first outer arc wall 644a has the same arc direction as the first support wall 643a and a greater arc length than the first support wall 643a. First transition walls 644b transition between the first outer arc wall 644a and the first support wall 643a at both ends. The portion of the retaining member 684 where the second support wall 643b is located is a second support area 645. The outer wall of the second support area 645 is a second outer arc wall 645a. The second outer arc wall 645a has the same arc direction as the second support wall 643b and a greater arc length than the second support wall 643b. Second transition walls 645b transition between the second outer arc wall 645a and the second support wall 643b at both ends.

[0134] 41 and 42 illustrate the end effector assembly 60 in a non-bent position, i.e., the distal effector 60b extends along the longitudinal axis C. In this position, the distal edges of the first and second support walls 643a, 643b are substantially aligned with the firing channel of the distal effector 60b and the inner wall of the firing channel 654 of the distal connector 682a. The proximal ends of the first and second support walls 643a, 643b are substantially aligned with the firing channel of the proximal body 60a and the inner wall of the firing channel 653 of the proximal connector 681a. This allows the firing beam 351 to be protected by the first and second support walls 643a, 643b of the retaining member 684 when in a straight position.

[0135] 44 and 45 , when the distal executive portion 60b is bent in the first direction relative to the proximal main body portion 60a to the maximum bending angle, the first transition wall 644b on the proximal side of the retaining member 684 supports and limits the proximal inner arc position of the firing component 35, the first transition wall 644b on the distal side of the retaining member 684 supports and limits the distal inner arc position of the firing component 35, and the second support wall 643b of the retaining member 684 limits the maximum bending outer arc position of the firing component 35. When the distal actuator 60b is bent relative to the proximal body 60a in a second direction (opposite to the first direction) to a maximum bending angle, the proximal second transition wall 645b of the retaining element 684 limits the proximal inner arc position of the firing member 35. The distal second transition wall 645b of the retaining element 684 limits the distal inner arc position of the firing member 35. The first support wall 643a of the retaining element 684 limits the maximum bending outer arc position of the firing member 35. The three position limiting protections of the retaining element 684 allow the firing member 35 to bend at a predetermined bending position, preventing it from popping out of the joint assembly 68.

[0136] 45 , the portion of the firing member 35 that cooperates with the proximal first transition wall 644b or the second transition wall 645b is a proximal curved transition zone of the firing member 35, and the portion of the firing member 35 that cooperates with the distal first transition wall 644b or the second transition wall 645b is a distal curved transition zone of the firing member 35. In order to better cooperate with the first transition wall 644b or the second transition wall 645b of the retaining member 684 and the firing member 35 to limit the position of the firing member 35, a portion of the first transition wall 644b or the second transition wall 645b of the retaining member 684 is a straight surface structure, which can increase the contact area with the side wall of the firing beam 351 of the firing member 35, thereby achieving a better limiting effect.

[0137] As shown in Figure 45, when the distal execution portion 60b is bent to the maximum bending angle relative to the proximal main body portion 60a, the proximal end of the first transition wall 644b or the second transition wall 645b located on the proximal side substantially abuts the inner wall of the firing channel 653 of the proximal connecting member 681a to limit the bending of the firing component 35, and the distal end of the first transition wall 644b or the second transition wall 645b located on the distal side substantially abuts the inner wall of the firing channel 654 of the distal connecting member 682a to limit the bending of the firing component 35, so that the firing beam 351 can be protected by the retaining member 684 in a partial area of ​​the joint assembly 68.

[0138] In the end effector assembly 60 described in this embodiment of the present invention, its joint assembly 68 forms the distal effector 60b's pivot point B (as shown in Figures 43 and 46) by meshing the proximal connector 681a with the distal connector 682a. This allows for large-angle bending while maintaining a relatively small bending radius. Similar to the aforementioned embodiment, in this embodiment, the distal connector 682a is also provided with a driving bending portion 683a. This portion is spaced further apart from the meshing point (pivot point B) between the proximal connector 681a and the distal connector 682a. This reduces the driving force for bending under the same bending torque, making it easier to achieve a driving bending motion. In addition, since the retaining member 684 is connected to the proximal connecting member 681a and the distal connecting member 682a through two pivot shafts, the center distance between the proximal connecting member 681a and the distal connecting member 682a is constant, thereby ensuring the consistency of the firing stroke in the bent state and the straightened state to the greatest extent; for the electric stapler, the formation of the farthest row of staples can be guaranteed.

[0139] It can be understood that the transmission assembly of the end execution assembly 60 described in this embodiment adopts the same structure as the transmission assembly 39 of the end execution assembly 30 to achieve the operation of bending the proximal main body 60a, which will not be repeated here. Moreover, in this embodiment, in order to further improve the bending stability of the distal actuator 60b, as shown in Figures 42 and 45, two driving bending parts 683 may also be provided on the distal connecting member 682a: a first driving bending part 683a and a second driving bending part 683b. The bending member 36 is connected to the first and second driving bending parts 683a, 683b respectively through the transmission assembly 39. The first and second driving bending parts 683a, 683b are respectively located on opposite sides of the longitudinal axis C. One side of the distal connecting member 682a is subjected to a force toward the distal end, and the other side is subjected to a force toward the proximal end. By arranging the driving bending parts 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 can be improved.

[0140] In one embodiment, as shown in Figures 40, 42, and 45, the two driving bends 683a and 683b of the distal connector 682a are drive shaft structures whose axial direction is perpendicular to the clamping surface; the distal ends of the first bending transmission member 393 and the second bending transmission member 394 are respectively provided with rivet holes, and the first driving bend 683a and the second driving bend 683a cooperate with the rivet holes to achieve riveting of the first bending transmission member 393 and the second bending transmission member 394 to the distal connector 682a. In other alternative embodiments, the driving bends 683a and 683b of the distal connector 682a are drive shaft structures whose axial direction is parallel to the clamping surface, and 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 and the second bending transmission member 394 are connected to the distal connector 682a by being sleeved on the drive shaft.

[0141] As an alternative embodiment, based on the above embodiment, Figures 33 and 47 respectively show another structural form of the first bending transmission member 393 and the second bending transmission member 394. Specifically, the first bending transmission member 393 and the second bending transmission member 394 are constructed in a chain form formed by multiple sections of pivotally connected rods, which can bend when the distal actuator 30b, 60b is bent at a large angle relative to the proximal main body 30a, 60a. The chain-form structure enables each rod to rotate between the pivot axes, so that it can adapt to a larger bending deformation amount, and can avoid the problem of elastic material breaking due to exceeding its elastic deformation amount when the bending angle is large.

[0142] It can be understood that, similar to the aforementioned embodiment, in this embodiment, the joint assembly 68 can adopt a proximal connecting member 681a and a distal connecting member 682a, or can adopt a method of separately setting two proximal connecting members and / or two distal connecting members, which will not be repeated here.

[0143] Next, the articulation process of the end effector assembly 60 according to an embodiment of the present invention will be described in detail with reference to Figures 41-46. As shown in Figures 41-43, when the distal effector 60b extends along the longitudinal axis C, i.e., when the distal effector 60b and the proximal body 60a extend in the same direction, the angle between the distal effector 60b and the longitudinal axis C is 0° or approximately 0°, indicating that the end effector assembly 60 is in an initial state / position (hereinafter referred to as the loading position) in preparation for loading or unused, and the first drive bend 683a and the second drive bend 683b of the distal connector 682a are respectively located distal to the pivot point B. Operating the bending knob 12 of the surgical instrument 100 causes the bending member 36 to move proximally, driving the first and second drive bending portions 683a, 683b to pivot about the pivot point B, causing the distal effector 60b to bend in a first direction gradually away from the longitudinal axis C and ultimately to a position / state with a maximum bending angle in the first direction, as shown in Figures 44 to 46. Operating the bending knob 12 of the surgical instrument 100 causes the bending member 36 to move distally, driving the first and second drive bending portions 683a, 683b to pivot about the pivot point B, causing the distal effector 60b to bend in a second direction gradually away from the longitudinal axis C (the opposite direction of the first direction) and ultimately to a position / state with a maximum bending angle in the second direction (not shown in the figures). The position / state with a maximum bending angle in the second direction is mirror-symmetrical to the position / state with a maximum bending angle in the first direction, with the longitudinal axis C as the axis.

[0144] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. An end effector assembly of a surgical instrument, comprising: a proximal body portion defining a longitudinal axis and including a bending member and a firing member; The distal actuator comprises a staple cartridge assembly and a staple anvil assembly, wherein surfaces of the staple cartridge assembly and the staple anvil assembly disposed opposite to each other form a clamping surface for clamping tissue, and the distal actuator is pivotally connected to the proximal main body through a joint assembly, wherein the joint assembly comprises: A proximal connecting member fixedly connected to the distal end of the proximal main body; A distal connecting member is fixedly connected to the proximal end of the distal actuator, and the distal connecting member is engaged and connected with the proximal connecting member; the distal connecting member is provided with at least one driving bending portion, and the bending member can operably drive the driving bending portion to move so that the distal actuator is bent relative to the proximal main body; A retaining member is pivotally connected to the proximal connecting member and the distal connecting member, respectively, and has a retaining channel for accommodating 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 toothed structure, and the proximal end of the distal connecting member has a toothed structure meshing with the proximal connecting member; the meshing position of the distal connecting member and the proximal connecting member forms the pivot point of the distal actuator, and when the distal actuator extends along the longitudinal axis, the driving bending portion is not arranged to overlap with the longitudinal axis.

3. The end effector assembly according to claim 1 or 2, characterized in that: The retaining member is respectively provided with a proximal pivot axis and a distal pivot axis; the proximal pivot axis of the retaining member is pivotally matched with the proximal pivot hole of the proximal connecting member, and the distal pivot axis of the retaining member is pivotally matched with the distal pivot hole of the distal connecting member; the axial line connecting the proximal pivot axis and the distal pivot axis is located in the retaining channel.

4. The end effector assembly according to any one of claims 1 to 3, characterized in that: The joint assembly also includes a first connecting plate, which is provided with two connecting holes. The proximal pivot axis and the distal pivot axis of the retaining member respectively pass through the proximal pivot hole of the proximal connecting member and the distal pivot hole of the distal connecting member and are riveted to the connecting holes of the connecting member.

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 driving bending portion and a second driving bending portion, and the bending member is respectively connected to the first driving bending portion and the second driving bending portion through a transmission assembly.

6. The end effector assembly according to claim 5, characterized in that: The transmission assembly comprises: A first rack and a first bending transmission member fixedly connected to the first rack, wherein the proximal end of the first rack is connected to the bending member, and the first bending transmission member is connected to one of the driving bending parts of the distal connecting member; a second rack and a second bending transmission member fixedly connected to the second rack, the second rack being spaced apart and arranged opposite to the first rack, and the second bending transmission member being connected to another driving bending portion of the distal connecting member; At least one gear is located between the first rack and the second rack and is meshed with the first rack and the second rack respectively.

7. The end effector assembly according to claim 6, characterized in that: The first driving bending portion and the second driving bending portion are constructed as a pivot fixedly connected to the distal connecting member, and the first bending transmission member or the second bending transmission member is riveted or sleeved on the pivot.

8. The end effector assembly according to claim 6, characterized in that: The first driving bending portion of the distal connecting member is constructed as a pivot with an axial direction perpendicular to the clamping surface, and a connecting sleeve is provided at the distal end of the first bending transmission member, and the first bending transmission member is sleeved on the first driving bending portion through the connecting sleeve.

9. The end effector assembly according to claim 6, characterized in that: The second driving bending portion of the distal connecting member is constructed as a protrusion whose axial direction is parallel to the clamping surface, and a rivet hole is provided at the distal end of the second bending transmission member, and the second driving bending portion is connected to the second bending transmission member through the rivet hole.

10. The end effector assembly according to any one of claims 1 to 9, characterized in that: The retaining channel is a one-way arc-shaped channel, and the first supporting wall and the second supporting wall forming the retaining channel are bent in the same direction. When the firing component is bent to the maximum angle position, the first supporting wall is suitable for supporting the outer wall of the firing component, and the second supporting wall is suitable for supporting the inner wall of the firing component.

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

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

13. The end effector assembly according to claim 10, characterized in that: When the distal execution portion extends along the longitudinal axis, the distal edge of the first support wall and the inner wall of the firing channel of the distal execution portion are substantially in a straight line; the proximal end of the first support wall and the inner wall of the channel supporting the relative sliding of the firing component in the proximal main body are substantially in a straight line.

14. The end effector assembly according to claim 13, characterized in that: When the distal execution portion extends along the longitudinal axis, the distal end of the first support wall and the proximal end of the firing channel of the distal connecting member are gap-matched, and the proximal end of the first support wall and the distal end of the firing channel of the proximal connecting member are gap-matched.

15. The end effector assembly according to any one of claims 12 to 14, characterized in that: The proximal connecting member is provided with a first limiting protrusion on a side surface facing the retaining member, the first limiting protrusion is opposite to the proximal surface of the first supporting area and has a first gap; the distal connecting member is provided with a second limiting protrusion on a side surface facing the retaining member, the second limiting protrusion is opposite to the distal surface of the first supporting area and has a second gap.

16. The end effector assembly according to claim 15, characterized in that: The first limiting protrusion and the second limiting protrusion respectively have a first side surface arranged opposite to the first supporting area and a second side surface arranged opposite to the firing member, and an 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 axis, the second side surfaces of the first limiting protrusion and the second limiting protrusion are parallel to the longitudinal axis.

18. The end effector assembly according to claim 16 or 17, characterized in that: When the distal actuator extends along the longitudinal axis, the first side surface of the first limiting protrusion is parallel to the proximal surface of the first support area of ​​the retaining member, and the first side surface of the second limiting protrusion is parallel to the distal surface of the first support area of ​​the retaining member.

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

20. The end effector assembly according to claim 19, characterized in that: The portion where the first supporting wall of the retaining member is located is a first supporting area, the outer side wall of the first supporting area is a first outer arc wall, the first outer arc wall has the same arc direction as the first supporting wall, and the arc length is greater than the arc length of the first supporting wall, and the first outer arc wall and the first supporting wall are respectively transitioned at both ends through a first transition wall; The portion where the second supporting wall of the retaining member is located is a second supporting area, the outer side wall of the second supporting area is a second outer arc wall, the second outer arc wall has the same arc direction as the second supporting wall, and the arc length is greater than the arc length of the second supporting wall, and the second outer arc wall and the second supporting wall are transitioned at both ends through second transition walls respectively.

21. The end effector assembly according to claim 20, characterized in that: When the distal actuator is bent to the maximum bending angle relative to the proximal main body, the first transition wall or the second transition wall on the proximal side of the retaining element limits the proximal inner arc position of the firing component, and the first transition wall or the second transition wall on the distal side of the retaining element limits the distal inner arc position of the firing component.

22. The end effector assembly according to claim 20 or 21, characterized in that: The partial area where the firing member cooperates with the first transition wall or the second transition wall on the proximal side is the curved transition zone on the proximal side of the firing member, and the partial area where the firing member cooperates with the first transition wall or the second transition wall on the distal side is the curved transition zone on the distal side of the firing member.

23. The end effector assembly according to any one of claims 20 to 22, characterized in that: When the distal actuator is bent to the maximum bending angle relative to the proximal main body, the proximal end of the first transition wall or the second transition wall substantially abuts against the inner wall of the firing channel of the proximal connecting piece to limit the bending of the firing component, and the distal end of the first transition wall or the second transition wall substantially abuts against the inner wall of the firing channel of the distal connecting piece to limit the bending of the firing component.

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 a straight line with the inner wall of the firing channel of the distal execution portion, and the proximal ends of the first support wall and the second support wall are substantially in a straight line with the inner wall of the channel supporting the relative sliding of the firing component in the proximal main body.

25. The end effector according to any one of claims 1 to 18, characterized in that: When the end effector assembly is in the ready-to-load position, the distal effector forms an angle other than 0° with respect to the longitudinal axis.

26. The end effector according to claim 25, characterized in that The proximal main body also includes a locking member rotatably mounted on its proximal side, and the locking member includes a first locking portion. When the end execution assembly is in a loading position, the first locking portion cooperates with the bending member to lock the bending member.

27. The end effector according to claim 26, characterized in that The locking element includes a second locking portion, and when the end effector assembly is in the ready-to-load position, the second locking portion cooperates with the firing member to lock the firing member.

28. The end effector 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 firing member are locked by rotational plugging.

29. The end effector assembly according to claim 27 or 28, characterized in that: The locking member is formed as a semi-annular sleeve with a notch, the first locking portion is a first protrusion extending circumferentially along the side wall of the locking member forming the notch, and the second locking portion is a second protrusion extending inwardly 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 main body portion includes a supporting body, the locking member is sleeved on the proximal end of the supporting body, and the first locking portion and the second locking portion are respectively located at the distal end of the locking member.

31. The end effector assembly according to any one of claims 26 to 30, characterized in that: The locking member also includes an unlocking drive portion. When the end execution assembly is in the loading position, the unlocking drive portion is acted upon by a circumferential force, driving the locking member to rotate and disengage from the bending member and the firing member.

32. A surgical instrument comprising a handle assembly, an elongated body assembly and an end effector assembly selectively coupled to the elongated body assembly, which are sequentially connected from a proximal end to a distal end, characterized in that: The end execution assembly adopts any one of the end execution assemblies of claims 1-31.

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