Surgical instrument

Abstract

Provided in the present disclosure is a surgical instrument, comprising a jaw assembly, a sleeve assembly, a cutter assembly, a power source and a coupling and decoupling mechanism, wherein the jaw assembly is rotatably connected to the sleeve assembly; when the jaw assembly is in a straight state, the lengthwise direction of the jaw assembly is collinear with the axis of the sleeve assembly; when the jaw assembly is in a bent state, the lengthwise direction of the jaw assembly forms an angle with the direction of the axis of the sleeve assembly; when the jaw assembly turns from the straight state to the bent state, the proximal end of the cutter assembly is configured to move proximally; when the coupling and decoupling mechanism is in a first state, the power source is coupled with the cutter assembly, and the cutter assembly is configured to move proximally in response to the driving of the power source; and when the coupling and decoupling mechanism is in a second state, the power source is decoupled from the cutter assembly, and the proximal end of the cutter assembly is configured to reset distally in response to the jaw assembly turning from the bent state to the straight state.

Description

surgical instruments

[0001] This application claims priority to Chinese Patent Application No. 202310988709.6 filed on August 7, 2023, and the contents of the above-mentioned Chinese patent application disclosure are hereby incorporated by reference in their entirety as a part of this application. Technical Field

[0002] The present disclosure relates to a surgical instrument. Background Art

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

[0004] Summary of the Invention

[0005] The present disclosure aims to provide a surgical instrument. After the knife is retracted, the jaw assembly can smoothly rotate from a bent state to a straight state, so that the surgical instrument can be smoothly removed from the human body; and it can accurately determine whether the cutting knife assembly has cut to the bottom.

[0006] The present disclosure is achieved through the following technical solutions: a surgical instrument comprising a jaw assembly, a cannula assembly, a cutting blade assembly, a power source, and a clutch mechanism, wherein the jaw assembly is rotatably connected to the cannula assembly; when the jaw assembly is in a straight striking state, the length direction of the jaw assembly is collinear with the axis of the cannula assembly; when the jaw assembly is in a bent striking state, the length direction of the jaw assembly and the axis direction of the cannula assembly form a certain angle with each other; when the jaw assembly rotates from the straight striking state to the bent striking state, the proximal end of the cutting blade assembly moves proximally;

[0007] The power source is coupled or decoupled with the cutting knife assembly through the clutch mechanism; the clutch mechanism has a first state and a second state. In the first state, the power source is coupled with the cutting knife assembly, and the cutting knife assembly moves proximally in response to the drive of the power source; in the second state, the power source is decoupled from the cutting knife assembly, and the proximal end of the cutting knife assembly is reset distally in response to the jaw assembly rotating from the bent state to the straight state.

[0008] Furthermore, the power source includes a motor assembly and a driving gear structure connected to the motor assembly, the driving gear structure includes a first gear connected to the motor assembly and a second gear connected to the cutting blade assembly, and the first gear is connected to the second gear via the clutch mechanism;

[0009] When the clutch mechanism is in the first state, the first gear is connected to the second gear through a first connection method so that the power source is coupled to the cutting blade assembly. When the motor assembly drives the first gear to rotate in a first direction, the second gear rotates synchronously with the first gear to drive the cutting blade assembly to move proximally.

[0010] When the clutch mechanism is in the second state, the first gear is connected to the second gear through a second connection method to decouple the power source from the cutting knife assembly. In response to the jaw assembly rotating from the bent state to the straight state, the proximal end of the cutting knife assembly is reset toward the distal side, driving the second gear to move relative to the first gear in a second direction, and the second direction is opposite to the first direction.

[0011] Furthermore, the first gear and the second gear are coaxially arranged, and the clutch mechanism includes a rib and a groove, one of the first gear and the second gear is provided with the rib, and the other is provided with the groove, the rib is rotatably located in the groove, and the groove has a first side wall and a second side wall, and the first side wall and the second side wall are arranged along the circumference of the first gear or the second gear, when the rib abuts against the first side wall, the first gear is connected to the second gear in the first connection mode; when the rib abuts against the second side wall, the first gear is connected to the second gear in the second connection mode.

[0012] Furthermore, the surgical instrument further comprises a main control module, and the main control module is electrically connected to the motor assembly;

[0013] The clutch mechanism is in the first state. After the main control module controls the motor assembly to drive the cutting knife assembly to move proximally to the extreme position, the main control module controls the motor assembly to drive the first gear to rotate in the second direction, so that the clutch mechanism switches from the first state to the second state.

[0014] Furthermore, the power source includes a motor assembly and a driving gear structure connected to the motor assembly, and the driving gear structure is detachably connected to the cutting blade assembly;

[0015] The clutch mechanism includes a pushing member. When the clutch mechanism is in the first state, the pushing member is located in a separation position, and the driving gear structure is connected to the cutting knife assembly so that the power source is coupled to the cutting knife assembly; when the clutch mechanism switches from the first state to the second state, the pushing member moves from the separation position to the pressing position to push the driving gear structure to move, so that the driving gear structure is separated from the cutting knife assembly so that the power source and the cutting knife assembly are decoupled.

[0016] Furthermore, the clutch mechanism also includes a driving member and a pressing portion, the driving member is arranged on the frame and connected to the pushing member, the pressing portion abuts the driving gear structure, the pushing member has a low portion and a high portion, and when the clutch mechanism is in the first state, the pushing member is in the separation position, and the driving gear structure is connected to the cutting knife assembly by abutting the pressing portion through the low portion; in response to the drive of the driving member, the pushing member rotates to the pressing position, and abuts the pressing portion through the high portion to drive the pressing portion and the driving gear structure to move so that the driving gear structure is separated from the cutting knife assembly, thereby switching the clutch mechanism from the first state to the second state.

[0017] Furthermore, the driving gear structure also includes a return spring, one end of the return spring is connected to the frame, and the other end is connected to the driving gear structure. When the pushing member switches from the separation position to the pressing position, the driving gear structure is driven to move and separate from the cutting knife assembly, and the return spring is compressed; when the pushing member switches from the pressing position to the separation position, the return spring is released, driving the driving gear structure to move, so that the driving gear structure is connected to the cutting knife assembly.

[0018] Furthermore, the surgical instrument also includes a rack, which is connected to the cutting knife assembly. The power source is connected to the cutting knife assembly through the rack. When the clutch mechanism is in a first state, the power source is coupled to the cutting knife assembly; when the clutch mechanism is in a second state, the power source is decoupled from the cutting knife assembly.

[0019] Furthermore, the rack and the cutting knife assembly are movably connected, and the cutting knife assembly has an abutting position and a separation position relative to the rack, in which the cutting knife assembly abuts against the rack and in which the cutting knife assembly is relatively separated from the rack.

[0020] When the power source drives the rack to move proximally to retract the cutting knife assembly, the cutting knife assembly is in the separation position; when the power source drives the rack to move distally to advance the cutting knife assembly, the cutting knife assembly is in the abutment position.

[0021] Furthermore, one of the rack and the cutting knife assembly is provided with a first accommodating groove, and the other is provided with a first movable member, which is movably arranged in the first accommodating groove. The first accommodating groove includes a first opening side and a first groove bottom side arranged along the length direction of the first accommodating groove. When the first movable member is in contact with the first opening side, the cutting knife assembly is in the separated position, and when the movable member is in contact with the first groove bottom side, the cutting knife assembly is in the abutting position.

[0022] Furthermore, the rack includes a separable first rack and a second rack, the first rack is connected to the power source, the second rack is connected to the cutting knife assembly, the clutch mechanism includes a second accommodating groove and a second movable member, one of the first rack and the second rack is provided with a second accommodating groove, and the other is provided with a second movable member, and the second accommodating groove includes a second opening side and a second groove bottom side arranged along the length direction of the second accommodating groove;

[0023] When the second movable member is in contact with the second opening side, the first rack and the second rack are relatively separated, the power source is coupled with the cutting knife assembly, and the clutch mechanism is in the first state; when the second movable member is in contact with the bottom side of the second groove, the first rack and the second rack are abutted, the power source and the cutting knife assembly are decoupled, and the clutch mechanism is in the second state.

[0024] At least one embodiment of the present disclosure further provides a surgical instrument, comprising a jaw assembly, a cannula assembly, a cutting knife assembly, a cutting knife driving member, a motor assembly, a main control module, a travel recording module, and a status detection module, wherein the main control module is electrically connected to the motor assembly, the travel recording module, and the status detection module, the motor assembly is connected to the cutting knife driving member, the cutting knife driving member is connected to the cutting knife assembly, and the main control module controls the motor assembly to drive the cutting knife driving member to move, thereby driving the cutting knife assembly to move;

[0025] The jaw assembly is rotatably connected to the sleeve assembly. When the jaw assembly is in a straight-hitting state, the length direction of the jaw assembly is collinear with the axis of the sleeve assembly. When the jaw assembly is in a maximum angle state, the length direction of the jaw assembly and the axis direction of the sleeve assembly form a certain angle with each other. When the jaw assembly rotates from the straight-hitting state to the maximum angle state, the proximal end of the cutting knife assembly moves proximally.

[0026] When the motor assembly drives the cutting blade assembly to move toward the distal end, the travel recording module obtains an output value representing the orientation state of the cutting blade driving component and sends the output value to the main control module; the main control module determines that the first preset condition is satisfied when the output value is greater than or equal to the second value and less than or equal to the first value;

[0027] The first value represents the position of the cutter drive when the cutter assembly moves distally to the bottom cutting position when the jaw assembly is in the straight striking state; the second value represents the position of the cutter drive when the cutter assembly moves distally to the bottom cutting position when the jaw assembly is in the maximum rotation state;

[0028] The status detection module obtains a status signal indicating the status of the motor assembly and sends the status signal to the main control module. The main control module determines whether the motor assembly is stalled based on the status signal. When the first preset condition is met and the main control module determines that the motor assembly is stalled, the main control module controls the motor assembly to stop or controls the motor assembly to drive the cutting knife assembly to move toward the proximal end.

[0029] Furthermore, the output value representing the orientation state of the cutter driving component is the feed stroke of the cutter driving component or the position of the cutter driving component.

[0030] Furthermore, the surgical instrument also includes a zero position switch. The cutting knife driving component reaches the feed position after moving distally a preset distance. At the feed position, the zero position switch sends a zero position signal to the main control module. The main control module clears the output value after receiving the zero position switch.

[0031] The beneficial effect of the present disclosure is that after the blade is retracted and the clutch mechanism is in the second state, the power source and the cutting blade assembly are decoupled. In response to the rotation of the jaw assembly from the curved state to the straight state, the cutting blade assembly can move proximally relative to the power source, so that the proximal end of the cutting blade assembly is smoothly reset to the distal end, and the jaw assembly can rotate from the curved state to the straight state for smooth removal from the human body. Moreover, regardless of whether the jaw assembly is in the straight state or the curved state, the main control module can accurately determine whether the cutting blade assembly has cut through, avoiding misjudgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] FIG1 is a schematic structural diagram of a surgical instrument according to an embodiment of the present disclosure;

[0033] FIG2 is a schematic structural diagram of a jaw assembly and a sleeve assembly rotatably connected in accordance with an embodiment of the present disclosure;

[0034] FIG3 is a schematic structural diagram of a jaw assembly in a maximum rotation state according to an embodiment of the present disclosure;

[0035] FIG4 is a schematic structural diagram of a cutting blade assembly according to an embodiment of the present disclosure;

[0036] FIG5 is a schematic structural diagram of a first angle connector and a second angle connector according to an embodiment of the present disclosure;

[0037] FIG6 is a schematic structural diagram of a jaw assembly in a maximum rotation state and a knife bar deformation according to an embodiment of the present disclosure;

[0038] FIG7 is a schematic structural diagram of a cutter head and a pusher portion according to an embodiment of the present disclosure;

[0039] FIG8 is a schematic structural diagram of an empty cartridge safety structure according to an embodiment of the present disclosure;

[0040] FIG9 is a schematic structural diagram of a first protrusion engaging with a first groove according to an embodiment of the present disclosure;

[0041] FIG10 is a schematic structural diagram of a clamp motor assembly according to an embodiment of the present disclosure;

[0042] FIG11 is an exploded view of a motor assembly according to an embodiment of the present disclosure;

[0043] FIG12 is a schematic structural diagram of a clutch mechanism according to an embodiment of the present disclosure;

[0044] FIG13 is a cross-sectional view of a first gear and a second gear according to an embodiment of the present disclosure;

[0045] FIG14 is a schematic structural diagram of a clutch mechanism in a first state according to an embodiment of the present disclosure;

[0046] FIG15 is a schematic structural diagram of a clutch mechanism in a second state according to an embodiment of the present disclosure;

[0047] FIG16 is a schematic structural diagram of an embodiment of the present disclosure in which a rib is located between a first side wall and a second side wall;

[0048] FIG17 is a schematic structural diagram of a moving member in a separated position according to an embodiment of the present disclosure;

[0049] FIG18 is a schematic structural diagram of a moving member in an abutting position according to an embodiment of the present disclosure;

[0050] FIG19 is a schematic structural diagram of a steering drive assembly according to an embodiment of the present disclosure;

[0051] FIG20 is a schematic structural diagram of a connecting rod assembly in a first position according to an embodiment of the present disclosure;

[0052] FIG21 is a schematic structural diagram of a connecting rod assembly in a second position according to an embodiment of the present disclosure;

[0053] 22 to 26 are schematic structural diagrams of an open jaw assembly according to an embodiment of the present disclosure;

[0054] FIG27 is a schematic structural diagram of a jaw opening assembly according to an embodiment of the present disclosure;

[0055] FIG28 is a schematic structural diagram of the jaw opening assembly according to an embodiment of the present disclosure when being operated;

[0056] FIG29 is a schematic structural diagram of an outer jaw assembly according to an embodiment of the present disclosure;

[0057] FIG30 is a cross-sectional view of a jaw assembly according to an embodiment of the present disclosure;

[0058] FIG31 is a schematic structural diagram of a safety assembly according to an embodiment of the present disclosure;

[0059] FIG32 is a schematic structural diagram of a safety assembly in a locked state according to an embodiment of the present disclosure;

[0060] FIG33 is a schematic structural diagram of a rack driving a safety member to rotate according to an embodiment of the present disclosure;

[0061] FIG34 is a schematic structural diagram of a safety member abutting against a retaining portion according to an embodiment of the present disclosure;

[0062] 35 and 36 are schematic structural diagrams of a clutch mechanism according to another embodiment of the present disclosure;

[0063] 37 to 43 are schematic structural diagrams of a clutch mechanism according to another embodiment of the present disclosure; and

[0064] 44 to 46 are schematic structural diagrams of a safety assembly according to another embodiment of the present disclosure.

[0065] Figure numerals: 100, jaw assembly; 110, nail magazine seat; 111, oblique waist-shaped groove; 112, lower slide; 113, first groove; 114, spring; 1141, storage groove; 120, nail support seat; 121, first driven part; 122, second driven part; 123, pin; 124, upper slide; 140, first angle connecting member; 150, second angle connecting member; 141, first storage groove; 151, second storage groove; 160, nail push plate; 161, lifting surface; 210, angle turning member; 218, left side holding part; 219, right side holding part; 300, cutting knife assembly; 310, knife head; 311, knife body; 312, upper beam; 313, lower beam; 314, First protrusion; 315, convex plate; 320, knife bar; 321, knife pusher; 322, pressure-bearing portion; 323, protrusion; 330, core shaft; 340, first movable member; 350, cutting knife driving member; 351, rack; 3511, first rack; 3512, second rack; 3513, second movable member; 3514, second accommodating groove; 3515, second opening side; 3516, second groove bottom side; 352, first accommodating groove; 3522, first opening side; 3521, first groove bottom side; 353, driving portion; 3531, driving surface; 354, holding portion; 3541, holding surface; 400, sleeve assembly; 410, inner sleeve; 411, ejector seat; 412, sliding groove; 413, knife holder; 414, straight portion receiving groove; 420, outer sleeve; 421, first driving portion; 422, second driving portion; 423, first movable groove; 425, main body; 426, driving tube; 4261, first driving member; 4262, second driving member; 427, through groove; 428, restricting portion; 430, spring; 440, push block; 450, sliding member; 451, third receiving groove; 500, safety assembly; 510, safety member; 511, rod body; 512, extension portion; 513, triggering portion; 600, frame; 610, connecting rod assembly; 611, first connecting rod; 612, second connecting rod; 700, steering drive structure; 710, operating handle; 740, gear assembly; 741, left gear portion; 742, right gear portion; 750, push rod assembly; 751, left push rod; 752, right push rod; 760, first transmission member; 800, operating assembly; 810, handle; 820, motor assembly; 821, output shaft; 822, output gear; 830, driving gear structure; 831, first gear; 8311, rib; 832, second gear; 8321, groove; 8322, first side wall; 8323, second side wall; 833, fixed shaft; 834, return spring; 840, operating portion; 850, pushing member; 851, arcuate surface; 852, locking surface; 860, pressing portion; 861, upper surface; 870, motor; 900, jaw opening assembly; 910, release button; 911, driving rod;912, flange; 920, unlocking lever; 930, zero position switch. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not intended to limit the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present disclosure.

[0067] It should be understood that the terms "proximal" (also referred to as the proximal end, the proximal end) and "distal" (also referred to as the distal end, the distal end) used herein are relative to the clinician who manipulates the handle of the surgical instrument. The term "proximal" refers to the part close to the clinician, and the term "distal" refers to the part away from the clinician. That is, the handle is the proximal side, and the jaw assembly is the distal side. For example, the proximal end of a component refers to the end relatively close to the handle, and the distal end refers to the end relatively close to the jaw assembly. The terms "upper" and "lower" are based on the relative positions of the anvil and the nail magazine seat of the jaw assembly. Specifically, the anvil is "upper" and the nail magazine seat is "lower". However, surgical instruments can be used in many directions and positions, so these terms expressing relative positional relationships are not restrictive and absolute.

[0068] In the present disclosure, unless otherwise clearly stipulated and limited, the terms such as "connected" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, a movably connection, or an integral body; it can be directly connected, or indirectly connected through an intermediate medium, or it can be internal communication between two elements or an interactive relationship between two elements such as abutment. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances. It should be noted that when there are qualifiers before "connected" and "connection", they have the meaning defined by the corresponding qualifiers, and only exclude situations that obviously need to be excluded, and do not exclude other possible situations. For example, "detachably connected" refers to a detachable connection, and does not include integration, but movably connected, etc. are not excluded.

[0069] The surgical instrument includes a jaw assembly, a sleeve assembly, a cutting knife assembly, and an operating assembly. The jaw assembly and the sleeve assembly are rotatably connected, and an angle connector is provided at the rotating connection. During surgery, medical personnel operate the operating assembly to rotate the jaw assembly from a straight-hitting state to a bent-hitting state. The knife rod of the cutting knife assembly bends accordingly, and the proximal end of the knife rod moves proximally. The motor assembly drives the cutting knife assembly to advance and retract. After retraction is completed, the medical personnel controls the jaw assembly to rotate back to the straight-hitting state. During the process of the jaw assembly rotating to the straight-hitting state, the proximal end of the knife rod needs to be reset distally. However, because the motor assembly locks the cutting knife assembly in the retracted position, the proximal end of the knife rod cannot be reset distally, and the jaw assembly cannot be rotated to the straight-hitting state. The surgical instrument disclosed herein is suitable for minimally invasive surgery. When the jaw assembly is in a straight state, it can enter the human body through the puncture hole of the puncture device. When the jaw assembly is in a bent state, if it cannot return to the straight state, the lateral distance of the jaw assembly is large and the jaw assembly cannot be removed from the human body through the puncture hole.

[0070] In some cases, the position of the cutter drive member is used as a basis for determining whether the cutter assembly has cut to the bottom. However, this method is not suitable for determining whether a surgical instrument with a rotatable jaw assembly has cut to the bottom.

[0071] At least one embodiment of the present disclosure provides a surgical instrument, specifically a stapler, as shown in Figures 1 and 2. The surgical instrument includes a jaw assembly 100, a cannula assembly 400, an angle steering member 210, a cutting knife assembly 300, a power source and an operating assembly 800. The cannula assembly 400 is connected between the operating assembly 800 and the jaw assembly 100, and the jaw assembly 100 is rotatably connected to the cannula assembly 400 through the angle steering member 210, so that the jaw assembly 100 can rotate relative to the cannula assembly 400. During surgery, when the jaw assembly 100 is in an open state, the medical staff can operate the operating assembly 800 to rotate the jaw assembly 100. 0 controls the jaw assembly 100 to rotate to a certain angle. After rotating to a suitable position, the jaw assembly 100 is closed by operating the operating assembly 800 to clamp and squeeze the human tissue. After squeezing is completed, the power source drives the cutting knife assembly 300 to move distally to advance the knife and cut the tissue clamped by the jaw assembly 100; after cutting is completed, the power source drives the cutting knife assembly 300 to move proximally to retract the knife and return the cutting knife assembly 300 to its original position; after retraction is completed, the medical staff operates the operating assembly 800 to open the jaw assembly 100, rotates the jaw assembly 100 to reset, and removes it from the human body.

[0072] As shown in FIG4 , the cutting knife assembly 300 includes a cutting head 310 and a cutting rod 320. The cutting head 310 is disposed within the jaw assembly 100 and is used to cut tissue. The cutting rod 320 is connected to the cutting head 310 and is used to drive the cutting head 310 forward or backward. The cutting rod 320 extends along the axis of the sleeve assembly 400. The power source is connected to the cutting rod 320. When driven by the power source, the cutting rod 320 moves relative to the sleeve assembly 400 to drive the cutting head 310 to move. The distal end of the cutting rod 320 is connected to the cutting head 310, and the proximal end is connected to the power source. The power source drives the cutting head 310 to move distally through the cutting rod 320 to achieve cutting advance, and the power source drives the cutting head 310 to move proximally through the cutting rod 320 to achieve cutting retreat.

[0073] As shown in Figures 1, 3, 5, and 6, the operating assembly 800 includes a steering drive mechanism 700. A medical professional operates the steering drive mechanism 700 to rotate the jaw assembly 100 relative to the cannula assembly 400. As the jaw assembly 100 rotates, it swings relative to the cannula assembly 400. The knife bar 320, which has a certain degree of flexibility, deforms as the jaw assembly 100 swings. When the jaw assembly 100 rotates at a large angle, the portion of the knife bar 320 located between the cannula assembly 400 and the jaw assembly 100 bends into an arc.

[0074] As shown in Figure 5, when the jaw assembly 100 is in the straight position, the length of the jaw assembly 100 is collinear with the axis of the sleeve assembly 400, and the knife bar 320 extends along the axis of the sleeve assembly 400. When the jaw assembly 100 is in the bent position, the length of the jaw assembly 100 forms a certain angle with the axis of the sleeve assembly 400. When the jaw assembly 100 is in the maximum rotation position, the jaw assembly 100 rotates to the extreme angle relative to the sleeve assembly 400. A first angle connector 140 and a second angle connector 150 are provided between the jaw assembly 100 and the sleeve assembly 400. The first angle connector 140 has a first receiving groove 141, and the second angle connector 150 has a second receiving groove 151. The knife rod 320 passes through the second receiving groove 151 and the first receiving groove 141 in sequence. When the jaw assembly 100 is in a straight hitting state, the portion of the knife rod 320 located between the first receiving groove 141 and the second receiving groove 151 extends along the axis of the sleeve assembly 400.

[0075] When the jaw assembly 100 rotates from the straight-action state to the curved-action state, the jaw assembly 100 rotates about the rotation axis of the angle steering member 210. As shown in Figure 6, the first angle connecting member 140 and the second angle connecting member 150 swing along with the jaw assembly 100. The distal opening of the first receiving slot 141 is the first point, and the proximal opening of the second receiving slot 151 is the second point. The portion of the knife bar 320 between the first point and the second point deforms, and the knife bar 320 in this portion is generally arc-shaped. The arc-shaped knife bar 320 is bent at various locations, and the arc-shaped knife bar 320 deviates from the rotation axis of the angle steering member 210. The dotted portion of the knife rod 320 in Figure 6 represents the path of the knife rod 320 between the first point and the second point, which is deflected with the rotation axis of the angle steering member 210 as the bending point. The length of the portion between the first point and the second point is equal to that in the straight hitting state; the solid portion of the knife rod 320 in Figure 6 is the actual bending path of the knife rod 320. Obviously, the length of the portion of the knife rod between the first point and the second point in the actual bending path of the knife rod 320 is less than the length of the portion of the dotted portion between the first point and the second point. Therefore, when the knife rod 320 is bent and deformed, the length of the portion of the knife rod 320 between the first point and the second point becomes shorter. Since the total length of the knife rod 320 remains unchanged, the knife rod 320 will extend to both sides in the length direction, specifically including the distal end of the knife rod 320 moving distally and the proximal end of the knife rod 320 moving proximally. In this embodiment, the jaw assembly 100 also includes an empty nail magazine safety structure, which cooperates with the cutter head 310 to prevent the distal end of the knife rod 320 from moving distally. Therefore, when the jaw assembly 100 rotates from the straight hitting state to the bent hitting state, only the proximal end of the knife rod 320 moves proximally.

[0076] The empty cartridge safety structure cooperates with the cutter head 310 to prevent the distal end of the cutter rod 320 from moving distally. This is achieved specifically through the following structure:

[0077] As shown in Figures 7 to 9, the blade rod 320 includes a blade pushing portion 321. The blade pushing portion 321 is located at the distal end of the blade rod 320 and is engaged with the blade head 310, so that the blade rod 320 can drive the blade head 310 to move when it moves. The blade pushing portion 321 includes a pressure receiving portion 322, which is located on the lower side of the blade pushing portion 321 and extends proximally. The empty staple cartridge safety structure includes a first groove 113 provided on the staple cartridge seat 110, first protrusions 314 provided on both sides of the cutter head 310, a convex plate 315 provided on the cutter head 310, and a spring 114 provided on the staple cartridge seat 110. A staple cartridge assembly is provided in the staple cartridge seat 110, and a staple pusher plate 160 is provided proximal to the staple cartridge assembly. When the cutter bar 320 drives the cutter head 310 to move distally, the cutter head 310 moves distally to cut tissue, and the cutter head 310 pushes the staple pusher plate 160 to move distally. The pusher plate pushes the staples in the staple cartridge assembly out to sew up the cut tissue, thereby preventing bleeding from the cut tissue. The staple pusher plate 160 is provided with a lifting structure, which is located proximal to the staple pusher plate 160.

[0078] One end of the spring clip 114 is fixed to the staple cartridge seat 110, and the other end extends distally and is free. The spring clip 114 defines a receiving slot 1141. When the cutting blade assembly 300 is not engaged, it is in its initial position. The pressure-receiving portion 322 of the blade head 310 is located below the spring clip 114. The pressure-receiving portion 322 is bent to form a protrusion 323. The protrusion 323 extends upward and enters the receiving slot 1141. The spring clip 114 applies a downward force to the pressure-receiving portion 322, i.e., a force toward the bottom of the staple cartridge seat 110. When the cutting blade assembly 300 is in its initial position, the protrusion 323 is located distally within the receiving slot 1141, and the first protrusion 314 of the blade head 310 is located above the first recess 113. When the cutting process begins, the power source applies a distal force to the knife rod 320, causing the knife rod 320 to move distally. The protrusion 323 abuts against the distal wall of the receiving groove 1141. The force applied by the power source to the knife rod 320 is sufficiently large that the protrusion 323 lifts the spring plate 114 during distal movement. The protrusion 323 disengages from the receiving groove 1141 and abuts against the bottom of the spring plate 114 via the top, allowing the knife rod 320 to move distally across the receiving groove 1141 and be pressed against by the spring plate 114. When the cutting head 310 moves distally, due to the pressure from the spring plate 114, the cutting head 310 as a whole moves downward, causing the first protrusion 314 to enter the first groove 113. As the cutting head 310 moves distally, the first protrusion 314 moves distally within the first groove 113, and is then blocked by the distal wall of the first groove 113, preventing further distal movement. If a nail magazine assembly is installed in the nail magazine seat 110 and the nail pushing plate 160 of the nail magazine assembly is located on the proximal side of the nail magazine assembly, the convex plate 315 of the blade head 310 will abut against the lifting structure of the nail pushing plate 160. The lifting structure has an inclined lifting surface 161. When the convex plate 315 contacts the lifting surface 161 and the blade head 310 moves distally, under the guidance of the lifting surface 161, the convex plate 315 drives the entire blade head 310 to move upward and remains in the upward state during the subsequent distal movement, so that the first protrusion 314 moves upward and disengages from the first groove 113, the blade head 310 and the knife rod 320 can continue to move distally smoothly, and the blade head 310 pushes the nail pushing plate 160 to move distally, the pressed portion 322 separates from the spring piece 114, and the cutting knife assembly 300 can advance normally.

[0079] If the staple cartridge assembly is not installed in the staple cartridge seat 110, or the staple cartridge assembly's staple pusher plate 160 is not located proximal to the staple cartridge assembly, the cutter head 310 cannot be lifted by the lifting structure. As shown in FIG9 , when the first protrusion 314 moves distally in the first groove 113 until it abuts against the distal groove wall of the first groove 113, the cutter head 310 cannot continue to advance distally, thereby preventing failure to fire during the advance process, which may result in bleeding from the tissue incision. It should be noted that the present disclosure may employ other forms of empty staple cartridge safety structures in surgical instruments. The aforementioned empty staple cartridge safety structures can cooperate with the cutter head 310 or the knife rod 320 to prevent the distal end of the knife rod 320 from moving distally, which will not be described in detail herein.

[0080] When the cutting blade assembly 300 is in the initial position, the protrusion 323 of the knife bar 320 is located in the receiving groove 1141 of the spring sheet 114, and the protrusion 323 is blocked by the inner wall of the distal side of the receiving groove 1141. When the jaw assembly 100 rotates relative to the sleeve assembly 400, the knife bar 320 extends in both directions in the longitudinal direction, specifically including the distal end of the knife bar 320 moving distally and the proximal end of the knife bar 320 moving proximally. The force for the distal end of the knife bar 320 to move distally is generated by the elastic force of the knife bar 320, which is insufficient to cause the protrusion 323 to lift the spring sheet 114. Therefore, when the jaw assembly 100 rotates relative to the sleeve assembly 400, the distal end of the knife bar 320 is blocked by the spring sheet 114 and cannot move distally, and only the proximal end of the knife bar 320 moves proximally. The power source includes a motor assembly 820, which drives the cutting blade assembly 300 to advance or retract. When retracting, the power source pulls the blade rod 320 proximally to its limit position. After retraction is completed, due to the large resistance of the motor assembly 820 itself, the output shaft 821 of the motor assembly 820 is locked. The output shaft 821 is connected to the cutting blade assembly 300, thereby locking the cutting blade assembly 300 in the retracted position.

[0081] After the knife is retracted, the medical staff needs to control the steering drive structure 700 to rotate the jaw assembly 100 in the bent state to the straight state. When the jaw assembly 100 is rotated to the straight state, the proximal end of the knife rod 320 needs to be reset distally to allow the jaw assembly 100 to smoothly rotate to the straight position. Because the motor assembly 820 locks the cutting knife assembly 300 in the position after the knife is retracted, the proximal end of the knife rod 320 cannot be reset distally, and thus the jaw assembly 100 cannot be rotated to the straight state. The surgical instrument disclosed in the present invention is suitable for minimally invasive surgery. When the jaw assembly 100 is in the straight state, it can enter the human body through the puncture hole of the puncture device. When the jaw assembly 100 is at the maximum rotation angle, if it cannot return to the straight state, the jaw assembly 100 and the sleeve assembly 400 will form a certain angle with each other, so that the lateral distance of the entire surgical instrument is large, and the jaw assembly 100 cannot be removed from the human body through the puncture hole. The lateral direction refers to the direction perpendicular to the axis of the sleeve assembly 400.

[0082] To address the above-mentioned issues, the surgical instrument further includes a clutch mechanism having a first state and a second state. In the first state, the power source is coupled to the cutting blade assembly 300. In response to the drive of the power source, the cutting blade assembly 300 moves proximally. That is, in the first state, the power source can drive the cutting blade assembly 300 to retract. The clutch mechanism is in the first state during the retraction process and before the state switch after the retraction is completed. The coupling means that the power source is connected to the cutting blade assembly 300 and the power source can drive the cutting blade assembly 300 to move proximally. When the clutch mechanism is in the second state, the power source and the cutting blade assembly 300 are decoupled. In response to the rotation of the jaw assembly 100 from the bent state to the straight state, the proximal end of the cutting blade assembly 300 is reset distally. When the clutch mechanism is in the second state, the cutting blade assembly 300 can move proximally relative to the power source, allowing the jaw assembly 100 to rotate from the bent state to the straight state. Therefore, after the knife is retracted, the clutch mechanism is switched to the second state so that the jaw assembly 100 can be smoothly rotated to the straight striking state and removed from the human body.

[0083] As shown in Figures 10 and 11, the power source further includes a drive gear structure 830 connected to the motor assembly 820. The drive gear structure 830 includes a first gear 831 connected to the motor assembly 820 and a second gear 832 connected to the cutting blade assembly 300. The first gear 831 and the second gear 832 are coaxially arranged. When the clutch mechanism is in a first state, the first gear 831 is connected to the second gear 832 via a first connection method, coupling the power source to the cutting blade assembly 300. When the motor assembly 820 drives the first gear 831 to rotate in a first direction, the first gear 831 drives the coaxially arranged second gear 832 to rotate synchronously, thereby driving the cutting blade assembly 300 to move proximally. When the clutch mechanism is in a second state, the first gear 831 is connected to the second gear 832 via a second connection method. In response to the jaw assembly 100 rotating from the curved position to the straight position, the proximal end of the cutting blade assembly 300 is reset distally, driving the second gear 832 to rotate relative to the first gear 831 in a second direction, the second direction being opposite to the first direction. The clutch mechanism is arranged between the first gear 831 and the second gear 832. When the clutch mechanism switches from the first state to the second state, the first gear 831 and the second gear 832 are converted from the first connection mode to the second connection mode, so that the proximal end of the cutting knife assembly 300 can be reset to the distal side, so that the jaw assembly 100 can be rotated to the straight hitting state and removed from the human body.

[0084] Furthermore, as shown in Figures 12 to 15, the clutch mechanism includes a rib 8311 and a groove 8321. One of the first gear 831 and the second gear 832 is provided with the rib 8311, and the other is provided with the groove 8321. In this embodiment, the first gear 831 is provided with the rib 8311 and the second gear 832 is provided with the groove 8321 as an example for illustration, without specific limitation. The rib 8311 is movably positioned within the groove 8321. The groove 8321 has a first side wall 8322 and a second side wall 8323. The first side wall 8322 and the second side wall 8323 are arranged along the circumference of the second gear 832. As shown in FIG14 , when the rib 8311 abuts the first side wall 8322, the clutch mechanism is in a first state, in which the first gear 831 is connected to the second gear 832 in a first connection manner. As shown in FIG15 , when the rib 8311 abuts the second side wall 8323, the clutch mechanism is in a second state, in which the first gear 831 is connected to the second gear 832 in a second connection manner. The direction extending from the second side wall 8323 to the first side wall 8322 is clockwise. In this embodiment, the first direction is clockwise and the second direction is counterclockwise. During retraction, the clutch mechanism is in the first state, with the rib 8311 abutting against the first side wall 8322. The first gear 831 rotates in the first direction, i.e., clockwise, driving the rib 8311 to rotate clockwise. The rib 8311 abuts against the first side wall 8322, causing the first gear 831 to push the second gear 832 to rotate clockwise, thereby driving the cutting blade assembly 300 to move proximally to retract the blade. After retraction is complete, the clutch mechanism remains in the first state, the motor assembly 820 shuts down, and the first gear 831 connected to the motor assembly 820 is locked, preventing the first gear 831 from rotating. When the jaw assembly 100 rotates toward the straight hitting state and the cutting knife assembly 300 is reset to the distal side, it is necessary to drive the second gear 832 to rotate counterclockwise, so that the first side wall 8322 and the second side wall 8323 both rotate counterclockwise. Since the clutch mechanism is in the first state, the rib 8311 is located on the counterclockwise rotation path of the first side wall 8322, blocking the reverse rotation of the first side wall 8322, and then blocking the second gear 832 from rotating counterclockwise, thereby preventing the cutting knife assembly 300 from resetting to the distal side.

[0085] Therefore, after the knife is retracted, as shown in Figure 15, the clutch mechanism switches to the second state, causing the rib 8311 to abut against the second side wall 8323 and separate from the first side wall 8322, providing rotation space for the first side wall 8322 to rotate counterclockwise. The jaw assembly 100 rotates toward the straight-hitting state. When the cutting knife assembly 300 is reset distally, the second gear 832 is driven to rotate counterclockwise. When the jaw assembly 100 rotates from the maximum rotation state of the bent-hitting state to the straight-hitting state, the cutting knife assembly 300 is reset distally, driving the second gear 832 to rotate counterclockwise. Both the first side wall 8322 and the second side wall 8323 rotate counterclockwise. The second side wall 8323 rotates counterclockwise to move away from the rib 8311, and the first side wall 8322 rotates counterclockwise to move closer to the rib 8311, allowing the cutting knife assembly 300 to be smoothly reset and the jaw assembly 100 to rotate smoothly to the straight-hitting state. At this point, the distance the cutting blade assembly 300 has been distally reset is maximum, pulling the second gear 832 counterclockwise until the first sidewall 8322 abuts against the rib 8311, and the clutch mechanism switches to the first state. When the jaw assembly 100 rotates from the intermediate state of the curved engagement state (where the angle of rotation of the jaw assembly 100 relative to the sleeve assembly 400 is less than the maximum angle) to the straight engagement state, the second gear 832 is driven counterclockwise, causing the first sidewall 8322 to move toward the rib 8311. As shown in Figure 16, after the jaw assembly 100 is in the straight engagement state, the rib 8311 is located between the first and second sidewalls. When the clutch mechanism switches from the second state to the first state, the rotational travel of the second gear 832 relative to the first gear 831 corresponds to the maximum distance the cutting blade assembly 300 can be reset, ensuring that the cutting blade assembly 300 can be smoothly reset and smoothly rotated to the straight engagement state even when the jaw assembly 100 is rotated at any angle relative to the sleeve assembly 400.

[0086] After the tool is retracted, the clutch mechanism switches from the first state to the second state in the following manner:

[0087] The operating component 800 includes a main control module, which is electrically connected to the motor component 820. The main control module controls the rotation of the motor component 820 to advance or retract the cutting blade component 300. When retracting the blade, the clutch mechanism is in a first state, and the main control module controls the motor component 820 to rotate clockwise, causing the first gear 831 and the second gear 832 to rotate synchronously clockwise, driving the cutting blade component 300 to move proximally to retract the blade. The operating component 800 also includes a state detection module, which is electrically connected to the motor component 820 and the main control module respectively. The state detection module is used to obtain a motor state signal representing the motor state and send the motor state signal to the main control module. The motor state signal includes at least one of the motor voltage value, current value, and speed value. During the retraction process, the main control module receives the motor state signal in real time and determines whether the motor state changes based on the received motor state signal. After determining that the motor state has changed, the motor component 820 is controlled to stop. When the cutting blade assembly 300 is retracted to the extreme position, the motor will be blocked by the jaw assembly 100, and the voltage and current values ​​of the motor will increase, and the speed value will be 0 or close to 0. When the state signal is the current value or voltage value, the main control module determines that the motor state has changed when the motor state signal is greater than the preset value; when the state signal is the speed value, the main control module determines that the motor state has changed when the motor state signal is less than the preset value. After determining that the motor state has changed, the main control module controls the motor assembly 820 to stop working and complete the retraction. The motor assembly 820 is then driven to reverse (rotate counterclockwise), causing the first gear 831 to rotate counterclockwise, and the rib 8311 to move counterclockwise in the groove 8321, separating from the first side wall 8322 and abutting against the second side wall 8323, causing the clutch mechanism to switch from the first state to the second state. During this process, the second gear 832 does not rotate.

[0088] As shown in Figures 10 and 11, the surgical instrument further includes a cutting blade drive 350, which is connected to the cutting blade assembly 300 and is also connected to a power source. Specifically, the cutting blade drive 350 is a rack 351, which is connected to the cutting blade assembly 300 and meshes with the second gear 832 to connect the cutting blade assembly 300 to the power source.

[0089] The rack 351 is movably connected to the cutting knife assembly 300, and the cutting knife assembly 300 has a rest position and a separation position relative to the rack 351. In the rest position, the cutting knife assembly 300 is close to and abuts the rack 351 in the length direction. When the power source drives the rack 351 to move distally to make the cutting knife assembly 300 advance, the cutting knife assembly 300 is in the rest position and is pushed distally by the rack 351 to advance; in the separation position, the cutting knife assembly 300 is relatively separated from the rack 351 in the length direction. Relative separation means that the cutting knife assembly 300 is connected to the rack 351 and moves away from each other to the maximum distance. When the power source drives the rack 351 to move proximally to make the cutting knife assembly 300 retract, the cutting knife assembly 300 is in the separation position and is pulled proximally by the rack 351 to retract. When the jaw assembly 100 rotates from the straight position to the curved position, the proximal end of the cutting blade assembly 300 moves proximally relative to the rack 351. During the rotation of the jaw assembly 100 from the straight position to the curved position, the rack 351 always engages with the second gear 832. Before cutting, when the jaw assembly 100 is in the straight position, the cutting blade assembly 300 is in the disengaged position. When the jaw assembly 100 rotates from the straight position to the maximum rotation position, the proximal end of the cutting blade assembly 300 moves proximally to switch to the abutting position.

[0090] As shown in Figures 17 and 18, one of the rack 351 and the cutting blade assembly 300 is provided with a first accommodating groove 352, while the other is provided with a first movable member 340. The first movable member 340 is movably disposed within the first accommodating groove 352. The first accommodating groove 352 includes a first open side 3522 and a first groove bottom side 3521 arranged along the length of the first accommodating groove 352. The first accommodating groove 352 is located in one of the rack 351 and the cutting blade assembly 300, with the first open side 3522 adjacent to the other part where the first movable member 340 is disposed. When the first movable member 340 is in contact with the first open side 3522, the cutting blade assembly 300 is in a disengaged position. When the first movable member 340 is in contact with the first groove bottom side 3521, the cutting blade assembly 300 is in an abutting position. When the proximal end of the cutting blade assembly 300 moves proximally, the cutting blade assembly 300 moves toward the rack 351, i.e., from the disengaged position to the abutting position.

[0091] In at least one embodiment of the present disclosure, the first accommodating groove 352 is opened on the far side of the rack 351 and is arranged along the length direction of the rack 351. The first movable member 340 can move along the length direction of the rack 351 in the first accommodating groove 352, and the first opening side 3522 is located on the far side of the bottom side 3521 of the first groove.

[0092] In this embodiment, the cutting knife assembly 300 also includes a core shaft 330 connected to the knife rod 320, and the distal end of the core shaft 330 is connected to the knife rod 320. In this embodiment, the proximal end of the core shaft 330 is provided with a first moving part 340, and the rack 351 is provided with a first accommodating groove 352 as an example for illustration. Specifically, when the cutting knife assembly 300 is in the abutting position, the first movable member 340 is attached to the bottom side 3521 of the first groove, and when the rack 351 moves distally, the bottom side 3521 of the first groove pushes the first movable member 340 distally, and the rack 351 can directly push the core shaft 330 and the knife rod 320 to move distally to advance the knife, which directly means that when the rack 351 moves distally, the knife rod 320 moves distally synchronously; when the cutting knife assembly 300 is in the separated position, the first movable member 340 is attached to the first opening side 3522, and when the rack 351 moves proximally, it can directly pull the core shaft 330 and the knife rod 320 to move proximally to retract the knife, which directly means that when the rack 351 moves proximally, the knife rod 320 moves proximally.

[0093] The following describes the overall working process of the surgical instrument when the jaw assembly 100 is rotated to one side to the maximum angle:

[0094] After the surgical instrument enters the human body, the jaw assembly 100 is in the straight-action position, and the cutting blade assembly 300 is in the separated position. The medical professional first rotates the jaw assembly 100 using the steering drive mechanism 700. The operating assembly 800 includes a frame 600, and the steering drive mechanism 700 is mounted on the frame 600. The medical professional rotates the jaw assembly 100 by operating the steering drive mechanism 700. The specific structure and operation of the steering drive mechanism 700 are described below.

[0095] When the jaw assembly 100 rotates from the straight striking state to the maximum rotation state, the proximal end of the knife rod 320 moves proximally, causing the cutting knife assembly 300 to move proximally from the separation position to the abutment position (from the position in FIG. 17 to the position in FIG. 18 ). The distance moved by the cutting knife assembly 300 from the separation position to the abutment position is R, that is, the distance moved by the first movable member 340 from the position abutting the first opening side 3522 to the position abutting the first groove bottom side 3521 is R. The distance the first movable member 340 moves proximally is positively correlated with the angle of rotation of the jaw assembly 100. When the angle of rotation of the jaw assembly 100 to one side is less than the maximum angle, the first movable member 340 is between the first opening side 3522 and the first groove bottom side 3521.

[0096] After the jaw assembly 100 rotates to one side to the maximum angle, it is in the maximum rotation state. The jaw assembly 100 corresponds to the tissue to be clamped. At this time, the medical staff controls the jaw assembly 100 to close, clamping and squeezing the component to be clamped. The sleeve assembly 400 includes an inner sleeve 410 and an outer sleeve 420 that is movably sleeved on the outside of the inner sleeve 410. The operating assembly 800 also includes a handle 810. After the turning is completed, the medical staff actuates the handle 810 to move the outer sleeve 420 from the distal position to the proximal position, so that the jaw assembly 100 is closed. The actuation handle 810 moves the outer sleeve 420 from the distal position to the proximal position and drives the jaw assembly 100 to close. The specific structure is described below.

[0097] The medical staff actuates the handle 810 to close the jaw assembly 100 to clamp and squeeze the tissue for a period of time. After the squeezing is completed, the medical staff actuates the handle 810 again. When the main control module detects that the rotation angle of the handle 810 meets the preset conditions, it controls the motor assembly 820 to drive the cutting knife assembly 300 to advance.

[0098] Before cutting, the clutch mechanism is in the first or second state, or the rib 8311 is located between the first sidewall 8322 and the second sidewall 8323. Since the cutting blade assembly 300 is already in the abutting position (the position in Figure 18), the distal movement of the rack 351 can directly push the core shaft 330 and the knife rod 320 to move proximally to advance the cutting. The movement distance of the cutting blade assembly 300 from the initial position to the cutting bottom position is L, and the distance the rack 351 moves distally is also L. When the cutting begins, the main control module controls the rotation of the motor assembly 820, which drives the first gear 831 to rotate, specifically counterclockwise. If the clutch mechanism is in the second state, as shown in Figure 15, the motor assembly 820 can directly drive the rack 351 and the cutting blade assembly 300 to move distally to advance the cutting. If the clutch mechanism is in the first state, as shown in FIG14 , or the rib 8311 is located between the first side wall 8322 and the second side wall 8323 , as shown in FIG16 , the first gear 831 rotates counterclockwise relative to the second gear 832, causing the clutch mechanism to switch to the second state, as shown in FIG15 . In the second state, the counterclockwise rotation of the first gear 831 drives the second gear 832, thereby driving the rack 351 and the cutting blade assembly 300 distally for cutting. The reasons for the clutch mechanism being in the first or second state, or the rib 8311 being located between the first side wall 8322 and the second side wall 8323, will be explained below.

[0099] After the main control module determines that the cutting knife assembly 300 has completed the cutting, it controls the power source to drive the cutting knife driving member 350 to move toward the proximal side to drive the cutting knife assembly 300 to retract.

[0100] When the cutting is completed, the cutting knife assembly 300 is in the bottom position, the cutting knife assembly 300 is in the abutting position, and the clutch mechanism is in the second state. The medical staff releases the handle 810, and after the main control module detects that the handle 810 is completely released, it controls the motor assembly 820 to reverse, and the motor assembly 820 reverses and drives the first gear 831 to rotate clockwise, so that the clutch mechanism switches to the first state (from the state in Figure 15 to the state in Figure 14), so that the motor assembly 820 can drive the rack 351 to move proximally. Since the cutting knife assembly 300 is in the abutting position (the position in Figure 18), it fits against the bottom side 3521 of the first groove 352. When the rack 351 moves proximally, the first opening side 3522 and the first groove 352 are in contact. Bottom side 3521 is with rack 351 to proximal motion, first groove bottom side 3521 separates with first mobile member 340, first opening side 3522 moves to first mobile member 340, when rack 351 is R to proximal motion distance, first opening side 3522 fits with first mobile member 340, make cutter assembly 300 be in separation position (position among Figure 17), now, rack 351 can drive cutter assembly 300 to proximal motion, and did not drive cutter assembly 300 motions in the process that above-mentioned rack 351 moves, cutter assembly 300 still is in feed to the bottom position.When the distance that rack 351 continued to drive cutter assembly 300 motions to proximal motion was L, cutter assembly 300 got back to initial position, and retracted the knife and finished.Therefore in the retracting process, rack 351 was R+L to the distance of proximal motion.

[0101] When the knife is retracted, the cutting blade assembly 300 is in the initial position, the cutting blade assembly 300 is in the separated position, and the clutch mechanism is in the first state. After determining that the knife is retracted, the main control module controls the motor assembly 820 to reverse and switch the clutch mechanism to the second state.

[0102] The surgical instrument further includes a jaw opening assembly 900. After the knife is retracted, the medical staff operates the jaw opening assembly 900 to open the jaw assembly 100 and release the tissue. The specific structure of the jaw opening assembly 900 is described below.

[0103] After the jaw assembly 100 is opened, the cutting knife assembly 300 is in the separated position and the clutch mechanism is in the second state. The medical staff operates the steering drive device to rotate the jaw assembly 100 toward the straight hitting state. In the process of the jaw assembly 100 rotating from the maximum rotation state of the bent hitting state to the straight hitting state, the movement of the proximal end of the cutting knife assembly 300 is opposite to the process of the jaw assembly 100 rotating from the straight hitting position to the maximum rotation state. The proximal end of the cutting knife assembly 300 (the first moving member 340) moves distally by a distance R. Since the cutting knife assembly 300 is in the separated position (the position in Figure 17), it is attached to the first opening side 3522 of the first accommodating groove 352. When the first moving member 340 moves distally, it pulls the rack 351 distally by abutting against the first opening side 3522, and the movement distance is R. During this process, the rack 351 moves distally to reset, driving the second gear 832 to rotate counterclockwise relative to the first gear 831. After the cutting blade assembly 300 is reset, the clutch mechanism switches to the first state. During the advance, the rack 351 moves distally by a distance L, and during the retraction, the rack 351 moves proximally by a distance L+R. During the process of the jaw assembly 100 returning to the straight-engagement state, the rack 351 resets distally by a distance R, indicating that the rack 351 has returned to its initial position. With the jaw assembly 100 in the straight-engagement state, medical personnel can remove the surgical instrument from the human body. At this point, when the stapler is used again to cut tissue, the clutch mechanism is in the first state before the advance. If the jaw assembly 100 remains in the straight-engagement state during this use, after the retraction is complete, the clutch mechanism switches to the second state and the jaw assembly 100 opens. When the stapler is used again to cut tissue, the clutch mechanism is in the second state. If the jaw assembly 100 is in the intermediate state of the bent state (the angle between the jaw assembly 100 and the sleeve assembly 400 is less than the maximum angle) to clamp the tissue when the stapler is used this time, after the knife is retracted, the clutch mechanism switches to the second state, the jaw assembly 100 rotates to the straight position, and the first movable member 340 drives the rack 351 to reset distally by a distance less than R, and the rib 8311 of the clutch mechanism is between the first side wall 8322 and the second side wall 8323. When the stapler is used again to cut the tissue, the rib 8311 of the clutch mechanism is between the first side wall 8322 and the second side wall 8323.

[0104] The specific structure and operation of the steering drive structure 700 are described below.

[0105] As shown in FIG19 , the steering drive structure 700 includes an operating handle 710 and a transmission assembly. The transmission assembly includes a first transmission member 760, a second transmission member, and a push rod assembly 750. The first transmission member 760 is connected to the second transmission member, which is connected to the angle steering member 210 via the push rod assembly 750. The operating handle 710 is slidably connected to the first transmission member 760. When the operating handle 710 is moved, it slides relative to the first transmission member 760 to switch from a locked state to an unlocked state. In response to rotation of the operating handle 710, the first transmission member 760 is driven by the operating handle 710 to rotate, which in turn drives the push rod assembly 750 to move via the second transmission member. The operating handle 710 slides relative to the first transmission member 760 and can drive the first transmission member 760 to rotate. The second transmission member converts the torque applied by the medical staff to the operating handle 710 into a force that drives the push rod assembly 750 to move linearly.

[0106] Specifically, the second transmission member includes a gear assembly 740, a first transmission member 760 meshing with the gear assembly 740, and the gear assembly 740 meshing with the push rod assembly 750. In response to rotation of the operating handle 710, the first transmission member 760 drives the gear assembly 740 to rotate, and the gear assembly 740 drives the push rod assembly 750 to move, thereby driving the angle steering member 210 to rotate. In this embodiment, the push rod assembly 750 includes a left push rod 751 and a right push rod 752, which are connected to both sides of the angle steering member 210. The gear assembly 740 includes a left gear portion 741 and a right gear portion 742, which are connected to the frame 600 and are respectively provided on both sides of the first transmission member 760. The left gear unit 741 and the right gear unit 742 each include two coaxially arranged upper and lower gears. The left push rod 751 meshes with the lower gear of the left gear unit 741, and the right push rod 752 meshes with the lower gear of the right gear unit 742. The first transmission member 760 meshes with both the upper gears of the left gear unit 741 and the upper gears of the right gear unit 742. When a medical professional rotates the operating handle 710, the first transmission member 760 drives the left and right gear units 741, 742 to rotate, causing the left and right gear units 741, 742 to rotate in opposite directions, thereby causing the left and right push rods 751, 752 to move in opposite directions. The left push rod 751 and the right push rod 752 both extend along the length direction of the sleeve assembly 400. The distal ends of the left push rod 751 and the right push rod 752 are connected to the angle steering member 210. Specifically, as shown in Figure 2, the angle steering member 210 includes a left abutting portion 218 and a right abutting portion 219. The left push rod 751 abuts against the left abutting portion 218, and the right push rod 752 abuts against the right abutting portion 219. When the operating handle 710 rotates to drive the left push rod 751 and the right push rod 752 to move, such as when the operating handle 710 is rotated clockwise, the left push rod 751 moves distally and the right push rod 752 moves proximally. The left push rod 751 pushes the left abutting portion 218 of the angle steering member 210 to move distally, causing the angle steering member 210 to rotate to the right, and the right abutting portion 219 is driven to move proximally, always abutting against the right push rod 752. Rotate the steering knob counterclockwise to move the left push rod 751 toward the proximal side, and similarly, the right push rod 752 moves toward the distal side. The angle steering member 210 rotates to the left so that the push rod assembly 750 can drive the angle steering member 210 to rotate, thereby driving the jaw assembly 100 to rotate.

[0107] The actuation handle 810 switches the outer sleeve 420 from the proximal position to the distal position through the following structure:

[0108] As shown in Figures 20 and 21, the frame 600 is provided with a link assembly 610, which includes a first link 611 and a second link 612. The distal end of the first link 611 is connected to the proximal end of the outer sleeve 420, and the distal end of the outer sleeve 420 is connected to the jaw assembly 100. The proximal end of the second link 612 is rotatably connected to the frame 600, and the distal end is rotatably connected to the proximal end of the first link 611. When actuated, the handle 810 can engage with the link assembly 610 and drive the link assembly 610 to move. The connecting rod assembly 610 has a first position and a second position. When the connecting rod assembly 610 is in the first position, the first connecting rod 611 and the second connecting rod 612 form an angle with each other, and the outer sleeve 420 is in the proximal position; when the connecting rod assembly 610 is in the second position, the first connecting rod 611 and the second connecting rod 612 are collinear or substantially collinear, so that the connecting rod assembly 610 self-locks in the second position, and the outer sleeve 420 is in the distal position. Under the self-locking action of the connecting rod assembly 610, the outer sleeve 420 remains in the distal position.

[0109] Collinearity means that the first link 611 and the second link 612 are located on the same straight line, with an angle of 180° between them. Substantially collinearity means that the first link 611 and the second link 612 are past their dead center positions, and the angle between them is greater than 0° and less than 5°. When the link assembly 610 is at its dead center (corresponding to collinearity) or substantially at its dead center (corresponding to substantially collinearity), the pressure angle between the first link 611 and the second link 612 is substantially 90°. When the first link 611 or the second link 612 is subjected to an external force from the sleeve assembly 400, the torque exerted on the other link is zero, preventing the link assembly 610 from moving and causing it to self-lock in the second position. This locks the jaw assembly 100 in the closed position.

[0110] During the process of switching the connecting rod assembly 610 from the first position to the second position, the hinge point gradually moves to the upper side (the side away from the gripping part of the handle 810). Since the proximal end of the second connecting rod 612 is connected to the frame 600, the hinge point at the distal end of the second connecting rod 612 moves distally. At the same time, the rotation of the first connecting rod 611 causes the distal end of the first connecting rod 611 to move distally. As can be seen from the above, the distal end of the first connecting rod 611 is connected to the proximal end of the outer sleeve 420, and the distal end of the outer sleeve 420 is connected to the jaw assembly 100. Therefore, the connecting rod assembly 610 can drive the outer sleeve 420 to move distally, so that the outer sleeve 420 is located at the distal position.

[0111] The handle 810 is provided with a support portion 811 located on the underside of the connecting rod assembly 610. During the process of switching the connecting rod assembly 610 from the first position to the second position, the handle 810 supports the first connecting rod 611 or the second connecting rod 612 via the support portion 811, thereby operatively engaging with the connecting rod assembly 610. When the connecting rod assembly 610 is in the second position and locked in the second position, the support portion 811 separates from the connecting rod assembly 610 during the handle 810's return and rebound. During subsequent actuation of the handle 810, the handle 810 switches from the initial position to the pressed position, and the support portion 811 moves with the movement of the handle 810. The support portion 811 contacts the connecting rod assembly 610 in the second position only when the handle 810 reaches the pressed position (the end point of the movement trajectory of the support portion 811). That is, the support portion 811 does not contact the connecting rod assembly 610 during the movement process, and therefore, the handle 810 cannot drive the connecting rod assembly 610 during subsequent actuation. Specifically, the supporting portion 811 is a rod body, and the handle 810 is operably engaged with the connecting rod assembly 610 by supporting the second connecting rod 612 through the supporting portion 811. During the rotation of the second connecting rod 612, the supporting portion 811 can always support the second connecting rod 612.

[0112] Switching the outer sleeve 420 from the proximal position to the distal position, and switching the jaw assembly 100 from the open state to the closed state, is achieved in the following manner:

[0113] As shown in Figures 22 to 26, the jaw assembly 100 includes a staple cartridge seat 110, an anvil 120 rotatably connected to the staple cartridge seat 110, and a motion conversion mechanism is provided between the outer sleeve 420 and the anvil 120 of the jaw assembly 100. The motion conversion mechanism converts the linear motion of the outer sleeve 420 into the pivotal motion of the anvil 120, thereby enabling the anvil 120 to pivot relative to the staple cartridge seat 110 to close or open the jaw assembly 100. Specifically, when the outer sleeve 420 moves toward the proximal side, the motion conversion mechanism drives the anvil 120 to pivot upward to open the jaw assembly 100. When the outer sleeve 420 moves toward the distal side, the motion conversion mechanism drives the anvil 120 to pivot downward to close the jaw assembly 100.

[0114] Specifically, the outer sleeve 420 includes a body 425 and a drive tube 426 connected thereto, wherein the drive tube 426 drives the anvil 120 to pivot upward or downward to open or close the jaw assembly 100. The body 425 and the drive tube 426 are connected by a hinge.

[0115] The motion conversion mechanism includes a first driving member 4261 and a second driving member 4262 provided on the driving tube 426 , and a first driven portion 121 and a second driven portion 122 provided on the anvil 120 .

[0116] The first driving member 4261 drives the anvil 120 to open. The first driving member 4261 is a protrusion provided on the driving tube 426 and extends obliquely along the lower right side. The second driving member 4262 drives the anvil 120 to close. The second driving member 4262 is a driving surface 3531 at the distal end of the driving tube 426.

[0117] Correspondingly, the first follower 121 can be coupled with the first driving member 4261. The first follower 121 is a protrusion provided on the anvil 120 and extends upward. The second follower 122 can be coupled with the second driving member 4262. The second follower 122 is an abutting surface at the proximal end of the anvil 120.

[0118] A guiding mechanism is also provided between the anvil 120 and the nail magazine seat 110, and the guiding mechanism includes a pin 123 provided on the anvil 120 and an oblique waist-shaped groove 111 provided on the nail magazine seat 110, and the oblique waist-shaped groove 111 extends obliquely upward from the proximal end toward the distal end.

[0119] Please refer to the state changes in Figures 26 to 25. When the jaw assembly 100 needs to be closed, the main body 425 of the outer sleeve 420 pushes the drive tube 426 to move toward the distal side, and the second drive member 4262 of the drive tube 426 abuts against the second follower portion 122 of the anvil seat 120. The pin 123 moves from the proximal lower end of the oblique waist-shaped groove 111 to the distal upper end, and the anvil seat 120 pivots downward, and the jaw assembly 100 is closed.

[0120] Please refer to the state changes from Figure 25 to Figure 26. When the jaw assembly 100 needs to be opened, the main body 425 of the outer sleeve 420 pulls the drive tube 426 to move toward the proximal side, and the first drive member 4261 of the drive tube 426 abuts against the first follower 121 of the pin seat 120. The pin 123 moves from the far upper end of the oblique waist-shaped groove 111 to the proximal lower end, the pin seat 120 pivots upward, and the jaw assembly 100 opens.

[0121] The medical staff switches the jaw assembly to the open state through the jaw opening assembly 900 through the following structure:

[0122] As shown in Figures 27 and 28, the jaw opening assembly 900 includes a release button 910 provided outside the shell of the operating assembly 800, and an unlocking rod 920 located in the shell of the operating assembly 800 and abutting against the connecting rod assembly 610 located in the second position. The unlocking rod 920 is linked with the release button 910, and the release button 910 has a driving rod 911. When the medical staff operates the release button 910, specifically when pushing the release button 910, the release button 910 and the driving rod 911 rotate synchronously, and the rotating driving rod 911 acts on the release rod to rotate the unlocking rod 920. The unlocking rod 920 abuts against one end of the connecting rod assembly 610 and moves downward to push the connecting rod assembly 610, so that the connecting rod assembly 610 returns to the first position, and the jaw assembly 100 opens to release human tissue. When the release button 910 is not operated, the unlocking lever 920 is located above the connecting rod assembly 610, and the connecting rod assembly 610 is self-locked in the second position. When the medical staff operates the release button 910, the unlocking lever 920 rotates, and one end of the unlocking lever 920 moves downward to push the connecting rod assembly 610, so that the connecting rod assembly 610 is no longer in the second position, thereby releasing the self-locking state of the connecting rod assembly 610. The outer sleeve 420 is equipped with a spring 430. One end of the spring 430 is connected to the frame 600, and the other end is connected to the push block 440. The push block 440 is connected to the first connecting rod 611. When the connecting rod assembly 610 is in the second position, the spring 430 is in a compressed state and the outer sleeve 420 is in a distal position. When the connecting rod assembly 610 is in the first position, the spring 430 is in a released state. When the medical staff operates the release button 910, so that the connecting rod assembly 610 is no longer in the second position, the spring 430 is released, pushing the push block 440 proximally, and the connecting rod assembly 610 moves to the first position, causing the jaw assembly 100 to open. At the same time, the outer sleeve 420 moves to the proximal position, thereby driving the locking member to the unlocked state. After the knife is retracted, the medical staff operates the release button 910 to open the jaw assembly 100.

[0123] The following describes the overall working process of the surgical instrument when the jaw assembly 100 is always in the straight-hitting state:

[0124] After the surgical instrument enters the human body, the jaw assembly 100 is in the straight striking state, at which time the clutch mechanism is in the first state or the second state, or the rib 8311 is located between the first side wall 8322 and the second side wall 8323, and the cutting knife assembly 300 is in the separated position.

[0125] The medical staff controls the jaw assembly 100 to close, clamps and squeezes the component to be clamped. After squeezing is completed, the medical staff activates the handle 810 again to advance the knife.

[0126] Before the cutting process begins, because the cutting blade assembly 300 is in the disengaged position (the position in FIG. 17 ), the distal movement of the rack 351 cannot directly push the core shaft 330 and the knife rod 320 to move distally for cutting. When the cutting process begins, the main control module controls the motor to rotate, and the motor drives the first gear 831 to rotate, specifically counterclockwise. If the clutch mechanism is in the first state, the first gear 831 rotates counterclockwise relative to the second gear 832, causing the clutch mechanism to switch to the second state. In the second state, as shown in FIG. 12 , the counterclockwise rotation of the first gear 831 can drive the second gear 832 to rotate, thereby driving the rack 351 to move distally. If the clutch mechanism is in the second state, the motor assembly 820 can directly drive the rack 351 to move distally. When the rack 351 moves distally a distance R, the first movable member 340 is located at the rest position (the position in Figure 18). At this time, the rack 351 moves distally to drive the cutting knife assembly 300 to advance. The distance the cutting knife assembly 300 moves from the initial position to the end of the stroke is L. During the feeding process, the stroke of the rack 351 is L+R.

[0127] When the cutting is completed, the cutting blade assembly 300 is in the bottom feeding position, the cutting blade assembly 300 is in the abutting position, and the clutch mechanism is in the second state. The main control module controls the motor assembly 820 to reverse, and the motor assembly 820 reverses to drive the first gear 831 to rotate clockwise, so that the clutch mechanism switches to the first state, so that the motor assembly 820 can drive the rack 351 to move proximally. Since the cutting blade assembly 300 is in the abutting position, it fits the first groove bottom side 3521 of the first accommodating groove 352. When the rack 351 moves proximally, the first opening side 3522 and the first groove bottom side 3521 move proximally, and the first groove bottom side 3521 and the first moving member 34 0 separation, the first opening side 3522 moves to the first movable member 340, when the rack 351 is R to the proximal movement distance, the first opening side 3522 fits with the first movable member 340, the cutter assembly 300 is in the separated position (switching to the position in Figure 17 from the position in Figure 18), at this moment, the rack 351 can pull the cutter assembly 300 to the proximal movement, in the above-mentioned process, the motion of the rack 351 does not drive the cutter assembly 300 to move, and the cutter assembly 300 is still in the feed position to the bottom. When the distance that the rack 351 continues to drive the cutter assembly 300 to move to the proximal movement is L, the cutter assembly 300 returns to the initial position, and the knife is withdrawn. In the knife withdrawal process, the distance that the rack 351 is R+L to the proximal movement, and the rack 351 returns to the initial position. And the main control module, after judging that the knife is withdrawn is completed, controls the motor assembly 820 to reverse, drives the first gear 831 to rotate counterclockwise relative to the second gear 832, and switches the clutch mechanism to the second state.

[0128] After the knife is withdrawn, the medical staff operates the jaw opening assembly 900 to open the jaw assembly 100 to release the tissue. The jaw assembly 100 is in a straight-opening state, and the medical staff can remove the surgical instrument from the human body.

[0129] It is worth noting that the cutter head 310 of the cutting knife assembly 300 is arranged in an "I" shape, as shown in Figures 29 and 30. The cutter head 310 includes a blade body 311, an upper beam 312 and a lower beam 313. The nail magazine seat 110 is provided with a nail magazine assembly, the nail magazine seat 110 is provided with a lower slide groove 112, and the nail support seat 120 is provided with an upper slide groove 124. The lower beam 313 of the cutter head 310 is placed in the lower slide groove 112, and the blade body 311 is located in the nail magazine assembly. When the jaw assembly 100 is in the closed state, the upper slide groove 124 is substantially parallel to the lower slide groove 112. When the jaw assembly 100 is switched to the closed state, the cutter head 310 is located at the proximal end of the nail magazine, the lower beam 313 of the cutter head 310 is located in the lower slide groove 112, and the upper beam 312 does not enter the upper slide groove 124. In response to the power source, the cutting blade assembly 300 moves distally, and the upper beam 312 of the cutting blade head 310 enters the upper groove 124 and engages with both the upper groove 124 and the lower groove 112. The cutting blade head 310 is restrained by the upper groove 124 and the lower groove 112, ensuring that the cutting blade head 310 is positioned stably and prevents deviation during cutting. When the cutting blade head 310 moves to the distal end of the staple cartridge assembly, the upper beam 312 of the cutting blade head 310 remains in the upper groove 124. During the retraction process, the cutting blade head 310 moves from the distal end of the staple cartridge assembly to the proximal end of the staple cartridge assembly, engaging both the upper groove 124 and the lower groove 112 and moving proximally until the upper beam 312 of the cutting blade head 310 disengages from the upper groove 124. The cutting blade head 310 then continues to move proximally to the proximal end of the staple cartridge assembly, completing the retraction.

[0130] During the process of advancing or retracting the knife, when the knife head 310 cooperates with the upper slide groove 124 and the lower slide groove 112 at the same time, if the medical staff operates the jaw opening assembly 900 to switch the jaw assembly 100 to the open state, the connecting rod assembly 610 is no longer self-locked in the second position, and moves to the first position under the action of the spring 430, so that the sleeve assembly 400 has a force to move proximally, thereby making the nail seat 120 have a force to rotate toward the open state of the jaw assembly 100. 120 cooperates with the cutter head 310 through the upper slide groove 124 and the upper beam 312, and cannot rotate to fully open the jaw assembly 100. However, the nail support 120 is pulled by the spring 430 and tends to rotate upward, causing the cutter head 310 to be pulled upward. The cutter head 310 is tightened in the vertical direction, and its friction in the advance or retreat direction (horizontal direction) increases, which increases the resistance to the movement of the cutter head 310 in the jaw assembly 100, making it easy for the advance or retreat to not proceed normally. In addition, the support 120 may rotate a small angle relative to the nail magazine support 110, causing the jaw assembly 100 to open at a small angle, and the tissue cannot be clamped. During the advance process, the cutter head 310 may push the tissue to move, resulting in a poor cutting effect. Therefore, during the cutting process, when the cutter head 310 cooperates with the upper groove 124 and the lower groove 112 at the same time, the jaw opening assembly 900 is operated, which may increase the cutting resistance or the cutting resistance, resulting in a deterioration of the cutting effect during the cutting process.

[0131] As shown in FIG31 , the surgical instrument further includes a safety assembly 500, which is disposed on a frame 600. The safety assembly 500 includes a safety member 510 movably disposed on the frame. The safety assembly 500 has a locked state and an unlocked state. In the unlocked state, the safety assembly 500 is separated from the jaw opening assembly 900. In response to the jaw opening assembly 900 being operated, the jaw assembly 100 switches from a closed state to an open state. In the locked state, the safety member 510 is in a locked state, abutting against the jaw opening assembly 900, locking the jaw opening assembly 900. The medical staff cannot operate the jaw opening assembly 900, that is, the jaw assembly 100 is locked and cannot be opened. During the advance and retract processes, the safety assembly 500 is in a locked state, and the medical staff cannot operate the jaw opening assembly 900 to open the jaws.

[0132] In some cases, the safety member 510 is rotatably mounted on the frame 600. The safety member 510 is provided with a first protrusion, and the rack 351 is provided with a first mating member. When the safety assembly 500 is in the unlocked state, the first protrusion separates from the first mating member. When the tool is retracted, the rack 351 moves proximally, and the first protrusion abuts against the first mating member. This engagement with the first protrusion and the first mating member drives the safety member 510 to rotate. When the rack 351 moves to its initial position, the safety assembly 500 is unlocked, the safety member 510 rotates and separates from the jaw opening assembly 900, and the first protrusion engages with the first mating member. As for the surgical instrument disclosed herein, when the jaw assembly 100 is rotated to one side at the maximum angle relative to the sleeve assembly 400, the rack 351 moves distally from the initial position when advancing a knife, and moves proximally at a distance of L+R when retracting a knife. The distance the rack 351 retreats when retracting a knife is greater than the distance it advances when advancing a knife. The rack 351 has an initial position and an extreme retraction position. The initial position refers to the position of the rack 351 before advancing a knife, and the extreme retraction position refers to the position where the rack 351 moves proximally at a distance of L+R when retracting a knife when the jaw assembly 100 is in the maximum rotation state. The extreme retraction position is located proximal to the initial position. The jaw assembly 100 is in the maximum rotation state. During the retraction process, after the rack 351 is in the initial position, the rack 351 still moves proximally toward the extreme retraction position. In some embodiments, the rack 351 continues to move proximally from the initial position, which causes the safety member 510 to rotate further. As shown in Figure 31, the safety member 510 is generally frame-shaped, and the rack 351 passes through the middle space of the safety member 510. Further rotation of the safety member 510 will cause the upper end of the safety member 510 to press against the rack 351, interfering with the rack 351, so that the rack 351 cannot continue to move proximally, resulting in the inability to complete the retraction.

[0133] In the present disclosure, when the jaws are retracted, the rack 351 moves proximally to its initial position, driving the safety assembly 500 to an unlocked state. As the rack 351 moves from its initial position to its extreme retraction position, the rack 351 acts on the safety assembly 500, maintaining it in the unlocked state. The unlocked state means that the safety assembly 500 is separated from the jaw opening assembly and does not interfere with the proximally moving rack 351. The jaw assembly 100 is in the maximum rotation state. When the tool is retracted, when the rack 351 moves from the distal side to the initial position, the safety assembly 500 is in the unlocked state, the safety assembly 500 is separated from the jaw opening assembly, and the safety assembly 500 does not interfere with the rack 351 moving proximally, so that the rack 351 can continue to move distally. During this process, the rack 351 acts on the safety assembly 500 to keep the safety assembly 500 in the unlocked state, and the safety assembly 500 does not interfere with the rack 351 moving proximally, so that the rack 351 can move smoothly to the extreme position of tool retraction.

[0134] Specifically, the safety assembly 500 includes a safety member 510 and an elastic member (not shown). The elastic member is connected between the frame 600 and the safety member 510. When the safety assembly 500 is in the unlocked state, the safety member 510 is restrained by the rack 351 to separate from the unlocking assembly, and the elastic member is compressed. When the rack 351 moves distally from its initial position, the safety member 510 is released, and the elastic member drives the safety member 510 to move until it contacts the unlocking assembly, thereby switching the safety assembly 500 to the locked state.

[0135] For example, as shown in Figures 32 and 33, the release button 910 of the jaw opening assembly has a flange 912. In this embodiment, the safety member 510 is rotatably mounted on the frame 600, and the elastic member is a torsion spring. When the safety assembly 500 is in the locked state, the safety member 510 is located below the flange 912 and abuts against the flange 912, preventing the release button 910 from rotating and the jaw assembly 100 from switching to the open state. When the safety assembly 500 switches from the locked state to the unlocked state, the safety member 510 rotates to separate from the flange 912, compressing the torsion spring. The safety member 510 no longer abuts against the flange 912, and the release button 910 can rotate to open the jaw assembly 100 when operated.

[0136] The rack 351 includes a drive portion 353 and a retaining portion 354. As the rack 351 moves from the distal end to the extreme retraction position, the drive portion 353 drives the safety member 510 to move. This movement of the safety member 510 switches the safety assembly 500 from a locked state to an unlocked state. The retaining portion 354 acts on the unlocked safety assembly 500, specifically, on the safety member 510, maintaining the unlocked state. When the retaining portion 354 acts on the safety member 510, the safety member 510 stops rotating or rotates slightly until the rack 351 reaches the extreme retraction position. This prevents the safety member 510 from interfering with the rack 351 due to excessive rotation, thereby preventing the rack 351 from retracting.

[0137] The driving portion 353 and the retaining portion 354 are both protrusions provided on the rack 351. As shown in Figures 33 and 34, the driving portion 353 includes a driving surface 3531, and the retaining portion 354 includes a retaining surface 3541. The driving surface 3531 is connected to the retaining surface 3541. When the rack 351 moves from the distal side to the initial position, the driving portion 353 abuts against the safety member 510 through the driving surface 3531 and drives the safety member 510 to rotate, and guides the safety member 510 to move along the driving surface 3531 until it abuts against the retaining surface 3541. When the safety member 510 abuts against the retaining surface 3541, it is constrained by the retaining surface 3541, thereby keeping the safety assembly 500 in an unlocked state.

[0138] The driving surface 3531 is an inclined surface with a higher proximal side and a lower distal side. The retaining surface 3541 is connected to the distal side of the driving surface 3531. As shown in Figure 33, when the safety assembly 500 switches from the locked state to the unlocked state, the safety member 510 rotates clockwise, and the contact point between the safety member 510 and the driving portion 353 moves proximally in the horizontal direction and downward in the vertical direction. In other words, as the rotation angle of the safety member 510 relative to the locked state increases, the height of the contact point between the safety member 510 and the driving portion 353 decreases. The driving surface 3531 is higher proximally and lower distally, so that as the driving surface 3531 moves proximally, the height of the contact point with the safety member 510 gradually decreases, ensuring that the end of the extension 512 always contacts the driving surface 3531 during rotation. When the driving surface 3531 abuts against the safety member 510 , the driving force that moves the rack 351 toward the proximal side acts on the safety member 510 through the driving surface 3531 , causing the safety member 510 to rotate. When the rack 351 continues to move toward the proximal side, the driving surface 3531 guides the safety member 510 to abut against the retaining surface 3541. The retaining surface 3541 is substantially flat and is arranged along the length direction of the rack 351. The safety member 510 abuts against the retaining surface 3541 along the longitudinal direction (perpendicular to the movement direction of the rack 351). The abutment direction of the safety member 510 and the retaining surface 3541 is perpendicular to the movement direction of the rack 351. Therefore, when the rack 351 moves toward the proximal side, the retaining surface 3541 cannot apply the driving force of the rack 351 toward the proximal side to the safety member 510, so that the safety member 510 no longer rotates in the direction away from the release button 910. At the same time, the retaining surface 3541 also blocks the safety member 510 from rotating toward the release button 910, so that when the rack 351 moves toward the proximal side, the safety member 510 always abuts against the retaining surface 3541 and does not rotate, nor does it interfere with the rack 351 moving toward the proximal side, and remains in the unlocked state.

[0139] In one embodiment of the present disclosure, the retaining surface 3541 is flat, and the safety member 510 abuts against the retaining surface 3541. When the rack 351 moves proximally, the retaining surface 3541 cannot drive the safety member 510 to rotate. In another embodiment, the retaining surface 3541 is a sloped surface with a shallower inclination angle, with the proximal side of the retaining surface 3541 higher and the distal side lower. When the safety member 510 abuts against the retaining surface 3541, and when the rack 351 moves proximally, the safety member 510 rotates slightly away from the jaw opening assembly. Alternatively, the retaining surface 3541 is distally higher and proximal lower. When the safety member 510 abuts against the retaining surface 3541, and when the rack 351 moves proximally, the safety member 510 rotates slightly toward the jaw opening assembly. Regardless of the configuration of the retaining surface 3541, the safety member 510 remains unlocked when abutting the retaining surface 3541, disengaged from the jaw opening assembly, and does not interfere with the proximal movement of the rack 351.

[0140] Furthermore, the rack 351 has an infeed position, which is located distally of the initial position. During infeed, as the rack 351 moves distally from the initial position, the safety member 510 is released, and the elastic member drives the safety member 510 to move. When the rack 351 moves to the infeed position, the safety member 510 switches to a locked state and abuts against the jaw opening assembly. When the rack 351 moves distally of the infeed position, the safety member 510 stops rotating and remains in the locked state. During retraction, as the rack 351 moves to the infeed position, the driving surface 3531 contacts the safety member 510. During the process of the rack 351 moving from the infeed position to the retraction limit position, the safety member 510 sequentially abuts against the driving surface 3531 and the retaining surface 3541. The safety member 510 rotates, causing the safety assembly 500 to switch from the locked state to the unlocked state, and remain in the unlocked state. Furthermore, the safety member 510 includes a rod body 511 and an extension 512 connected to the rod body 511. The safety member 510 abuts against the flange 912 of the unlocking assembly via the rod body 511, and the safety member 510 abuts against the driving portion 353 or the retaining portion 354 via the extension 512. When the rack 351 moves proximally from the feed position, the end of the extension 512 abuts against the driving surface 3531. The driving surface 3531 moves proximally with the rack 351, pushing the extension 512 and thereby rotating the rod body 511.

[0141] In one embodiment of the present disclosure, when the rack 351 is in the initial position, the safety piece 510 is abutted against the retaining surface 3541. When the rack 351 moves from the initial position to the extreme retraction position, the safety piece 510 is always abutted against the retaining surface 3541 and does not rotate, remains in an unlocked state, and does not interfere with the rack 351 moving proximally, so that the rack 351 can move smoothly to the extreme retraction position.

[0142] In another embodiment of the present disclosure, when the rack 351 is in the initial position, the safety member 510 abuts against the middle portion of the drive surface 3531. When the rack 351 moves from the initial position to the extreme retraction position, the safety member 510 is driven by the drive surface 3531 to rotate and is guided by the drive surface 3531 to the retaining surface 3541. After abutting against the retaining surface 3541, the safety member 510 does not rotate and remains in the unlocked state. Specifically, during the movement of the rack 351 from the initial position to the extreme retraction position, the safety member 510 first rotates until it abuts against the retaining surface 3541 and then remains in this position abutting against the retaining surface 3541, avoiding interference with the proximal movement of the rack 351, allowing the rack 351 to smoothly move to the extreme retraction position.

[0143] The jaw assembly 100 is in the straight hitting state. When the knife is retracted, the rack 351 moves proximally a distance L and is located in the initial position, so that the safety assembly 500 is in the unlocked state. The medical staff can operate the jaw opening assembly 900 to switch the jaw assembly 100 to the open state. The jaw assembly 100 is in the maximum rotation state of the bent hitting state. When the knife is retracted, the rack 351 moves proximally a distance L+R and is located in the extreme retracted position. The safety assembly 500 is in the unlocked state. It is worth noting that when the rack 351 moves a distance L and is located in the initial position, the safety assembly 500 is in the unlocked state. During the process of the rack 351 moving from the initial position to the extreme retracted position, the medical staff can operate the jaw opening assembly 900 to switch the jaw assembly 100 to the open state. When the rack 351 is in the initial position, the cutting knife assembly 300 has not been retracted to the bottom, and the distance from the bottom retracted position is R, as shown in Figure 30. At this time, the cutter head 310 has disengaged from the upper slide groove 124 of the pin holder 120. Therefore, when the rack 351 is between the initial position and the extreme retracted position, the jaw assembly 100 is opened, and the movement of the cutting knife assembly 300 will not be affected. The rack 351 and the cutting knife assembly 300 can still continue to move proximally until the retraction is completed.

[0144] It is worth noting that the surgical instrument of this embodiment further includes a stroke recording module and a state detection module. Both the stroke recording module and the state detection module are electrically connected to the main control module. The stroke recording module obtains an output value indicating the position state of the rack 351 and sends the output value to the main control module. The state detection module is electrically connected to the motor assembly 820. The state detection module obtains a state signal indicating the state of the motor assembly 820. The main control module determines whether the cutting knife assembly 300 has cut to the bottom based on the output value and the state signal. Specifically, the steps include:

[0145] S100, controlling the motor assembly 820 to drive the cutting blade driving member 350 to move distally, thereby driving the cutting blade assembly to move distally;

[0146] S200, receiving an output value sent by the trip recording module, and determining whether the output value satisfies a first preset condition, where the first preset condition is satisfied when the output value is greater than or equal to a second value and less than or equal to the first value;

[0147] S300, receiving a status signal of the motor assembly 820, and determining whether the status signal satisfies a second preset condition, that is, determining whether the motor assembly is stalled;

[0148] If the judgment results of S200 and S300 are both yes, and the first preset condition and the second preset condition are both satisfied, then step S400 is executed to control the motor assembly 820 to stop or control the motor assembly 820 to reverse to drive the cutting blade assembly to retract;

[0149] If one of the judgment results of S200 and S300 is negative or both are negative, return to step: S100, control the motor assembly 820 to drive the cutting blade driving member 350 to move distally.

[0150] In step S100, after the jaw assembly 100 is closed, the medical staff actuates the handle 810. When the main control module determines that the actuation angle of the handle 810 meets the preset conditions, it controls the motor assembly 820 to start and drives the rack 351 to move distally to push the cutting knife assembly 300 to advance. Specifically, the handle 810 has an initial position and a pressing position, and a first area and a second area are formed between the initial position and the pressing position. The surgical instrument also includes a second detection device for detecting the position of the handle 810. The second detection device is used to send a second detection signal to the main control module to indicate the position of the handle 810. The main control module determines that the preset conditions are met when the handle 810 is in the second area based on the second detection signal, and controls the motor assembly 820 to start. The specific method for the main control module to control the start of the motor assembly 820 can be found in the applicant's prior application CN202310399540.0.

[0151] In step S200, the first value is used to represent the orientation of the rack 351 when the cutter assembly 300 reaches the bottom of the feed when the jaw assembly 100 is in the straight-cutting state, and the second value is used to represent the orientation of the rack 351 when the cutter assembly 300 reaches the bottom of the feed when the jaw assembly 100 is in the maximum rotation state. Specifically, in this embodiment, the orientation is the feed stroke of the rack 351. The feed stroke refers to the distance the rack 351 moves distally from the feed position until the cutter assembly 300 reaches the bottom of the feed. The feed position refers to the position of the rack 351 when it moves distally a distance R from the initial position. When the rotation angle of the jaw assembly 100 relative to the sleeve assembly 400 is less than the maximum rotation angle, the feed stroke of the rack 351 when the cutter assembly 300 reaches the bottom of the feed is between the first value and the second value, i.e., the first value is the maximum feed stroke of the rack 351, and the second value is the minimum feed stroke of the rack 351. Regardless of whether the jaw assembly 100 is in the straight or curved state, the feed stroke of the rack 351 when the cutting knife reaches the bottom is between the first value and the second value (including the first value and the second value). The main control module determines that the output value is greater than or equal to the second value, and less than or equal to the first value when the first preset condition is satisfied. That is, the stroke judgment interval for determining that the cutting knife assembly 300 has cut to the bottom includes all values ​​between the first value and the second value (including the first value and the second value), covering all possible feed strokes of the rack 351. This configuration can accurately determine whether the cutting knife assembly 300 has cut to the bottom.

[0152] In step S300, the status detection module detects the status of the motor assembly 820 in real time and sends the status information to the main control module. The main control module determines whether the status signal meets the second preset condition based on the status information. When the second preset condition is met, the motor is blocked and the motor assembly 820 cannot drive the cutting knife assembly 300 to continue moving distally.

[0153] When the first preset condition is satisfied, the distance traveled by the rack 351 is within the travel determination range, and the cutter assembly 300 has reached or is near the bottom cutting position. When the second preset condition is satisfied, the motor assembly 820 is stalled. When both the first and second preset conditions are satisfied, it indicates that the cutter assembly 300 has reached or is near the bottom cutting position, and that the cutter assembly 300 is blocked by the staple cartridge assembly at or near the bottom cutting position, causing the motor assembly 820 to stall. This allows accurate determination that the cutter assembly 300 has reached the bottom cutting position.

[0154] After determining that the cutting blade assembly 300 has cut to the bottom, the motor assembly 820 is controlled to stop to prevent the motor assembly 820 from continuing to drive the motor assembly 820 to rotate, thereby preventing the motor assembly 820 from being damaged. Alternatively, after determining that the cutting blade assembly 300 has cut to the bottom, the motor assembly 820 rotates in the opposite direction, and the rack 351 moves proximally, causing the cutting blade assembly 300 to switch to the separated position and drive the cutting blade assembly 300 to move distally to retract the blade.

[0155] In some cases, the position of the cutter driver 350 is used as a basis for determining whether the cut has been completed. However, the travel of the cutter driver 350 differs between the straight and curved positions of the jaw assembly 100. Therefore, it is not possible to accurately determine whether the cutter assembly 300 has completed the cut based solely on a fixed value. Instead, a numerical range must be formed based on the travel of the cutter driver 350 in the straight and curved positions to determine whether the cut has been completed. To prevent over-cutting or under-cutting based on the numerical range, a determination is added to determine whether the motor assembly 820 is stalled. When both of these determinations meet the requirements, it can be determined that the cutter assembly 300 has completed the cut.

[0156] Furthermore, after step S100 and before step S200, the following steps are further included:

[0157] S110, determining whether a zero position signal is received;

[0158] If the answer is yes, execute step S120, clear the output value, and jump to step S200 to receive the output value sent by the travel recording module, and determine whether the output value meets the first preset condition;

[0159] If the answer is no, then return to step S110 to determine whether a zero signal is received.

[0160] In step S110, the surgical instrument includes a zero position switch 930. In at least one embodiment of the present disclosure, when the rack 351 moves to the feed position, the zero position switch 930 is triggered, and the zero position switch 930 sends a zero position signal to the main control module. In other embodiments, the rack 351 may also trigger the zero position switch 930 when it is in other positions (non-feed position), which is not specifically limited in the present disclosure. Furthermore, as shown in Figures 29 to 31, the safety lever of the safety assembly 500 is provided with a trigger portion 513, which is located at the top of the safety member 510. The frame 600 has a circuit board, which is provided with a zero position switch 930. The zero position switch 930 is electrically connected to the main control module. The zero position switch 930 is a push-type switch. When the safety assembly 500 is in the unlocked state, the trigger portion 513 is separated from the zero position switch 930, and the zero position switch 930 is in the untriggered state. When the rack 351 moves to the feed position, the safety assembly 500 switches to the locked state, and the safety member 510 rotates to abut against the flange 912 of the release button 910, locking the jaws in the open structure and pressing the trigger portion 513 to trigger the zero position switch 930. After the zero position switch 930 is triggered, it sends a zero position signal to the main control module. It should be noted that the method of triggering the zero position switch 930 by the rack 351 is not limited to the above method.

[0161] In step S120, after receiving the zero position signal, the main control module clears the output value, and uses the position of the rack 351 (feed position) when the zero position switch 930 is triggered as the starting point of the feed stroke of the rack 351, and judges the feed stroke of the rack 351 based on the output value.

[0162] When the main control module does not receive the zero position signal, it means that the rack 351 has not moved to the starting point of the feed stroke at the feed position, and the feed stroke has not started, then it returns to step S110 to re-judge whether the zero position signal is received until the rack 351 moves to the feed position and the main control module receives the zero position signal.

[0163] The travel recording module specifically includes an encoder connected to the motor assembly 820, and the output value includes motor revolution information. The motor assembly 820 is connected to the rack 351 via the drive gear structure 830. In the feed position, the clutch mechanism is in the second state, and the motor assembly 820 can drive the rack 351 to move distally via the drive gear structure 830. In the process of the motor assembly 820 driving the rack 351 to move distally via the drive gear structure 830, the revolutions of the motor assembly 820 are positively correlated with the distance the rack 351 moves distally, and the motor revolution information can represent the distance the rack 351 moves distally. The encoder is used to detect the pulse signal generated by the rotation of the motor output shaft 821 and send the pulse signal to the main control module. The main control module obtains the number of revolutions of the output shaft 821 based on the number of pulse signals. The output value output by the travel recording module is specifically a number of pulse signals. The main control module determines whether the output value is between the first value and the second value based on the number of pulse signals in the output value. When the zero position switch 930 is triggered, the main control module clears the number of pulse signals stored internally and starts recording the number of pulse signals sent by the encoder when the rack 351 moves from the feed position to the distal side from zero. The output value output by the stroke recording module is specifically a number of pulse signals. The main control module determines whether the output value meets the first preset condition based on the number of pulse signals in the output value. The first value is specifically the number of revolutions of the output shaft 821 of the motor assembly 820 when the rack 351 feeds to the bottom when the jaw assembly 100 is in the straight hitting state. The second value is specifically the number of revolutions of the output shaft 821 of the motor assembly 820 when the rack 351 feeds to the bottom when the jaw assembly 100 is in the maximum rotation state.

[0164] The encoder can be a Hall encoder (not shown in the figure), specifically including a Hall sensor and multiple magnets, which are arranged around the output shaft 821 of the motor. When the magnet rotates with the rotating shaft of the motor, the Hall sensor senses the magnet and outputs a pulse signal. The pulse signal serves as a detection signal. The main control module determines the number of motor rotations based on the number of pulse signals and the direction of motor rotation determined by the Hall sensor. Specifically, when the rotating shaft of the motor rotates, the Hall sensor outputs a pulse signal every time it passes a magnet.

[0165] The encoder can also be a photoelectric encoder, consisting of a photoelectric sensor and multiple gratings. The photoelectric sensor can emit infrared detection light, and the multiple gratings are distributed around the motor's rotating shaft. When the rotating shaft rotates, the gratings rotate, and the photoelectric sensor senses the gratings and outputs a pulse signal. The main control module determines the number of motor revolutions based on this pulse signal in the same way as the Hall effect sensor mentioned above, so we will not elaborate on it here. Of course, this detection element can also use other methods to determine the number of motor revolutions.

[0166] It is also worth noting that before the motor assembly 820 drives the rack 351 to move distally, the rack 351 is in the initial position and the safety assembly 500 is in the unlocked state. The medical staff can open the jaw assembly 100 by operating the release button 910. When the rack 351 moves distally a distance R from the initial position and reaches the feed position, the rack 351 is at the starting point of the feed stroke, the zero switch 930 is triggered, and the feed begins. At this time, the safety assembly 500 is in the locked state, locking the jaw opening mechanism so that the jaw assembly 100 cannot be opened. That is, when the feed begins, the jaw assembly 100 is locked and cannot be opened. This ensures that during the feed process, the nail holder 120 will not rotate due to improper operation by the medical staff, causing the cutting knife assembly 300 to be unable to feed normally. In the process of the rack 351 moving from the initial position to the feed position, the safety assembly 500 switches to the locked state, but does not abut against the flange 912 of the release button 910. The jaw opening structure is not locked and can be operated to switch the jaw assembly 100 to the unlocked state. When the rack 351 is in the feed position, as shown in Figure 27, the upper beam 312 of the cutter head 310 does not enter the upper slide groove 124 of the pin holder 120. Opening the jaws before the rack 351 is in the feed position will not cause the problem of the cutting knife assembly 300 being unable to move.

[0167] When the rack 351 moves from the initial position to the feed position, the rack 351 moves distally a distance R. When the jaw assembly 100 is in the straight-hitting state and the rack 351 is in the initial position, the cutter assembly 300 is in the separated position. The rack 351 moves distally a distance R from the initial position to reach the feed position, and the cutter assembly 300 is in the abutting position. At this point, the rack 351 can drive the cutter assembly 300 to move distally, and the cutter head 310 is at the proximal end of the staple cartridge assembly. The feed stroke begins, and the rack 351 moves distally a distance L to complete the feed. Therefore, in the straight-hitting state, the first distance of the feed stroke of the rack 351 is specifically L. When the jaw assembly 100 is in the maximum rotation state and the rack 351 is in the initial position, the cutter assembly 300 is in the abutting position. The rack 351 moves distally a distance R to the feed position. At this point, the rack 351 pushes the cutter assembly 300 distally to move R, and the cutter head 310 has disengaged from the proximal end of the cartridge assembly. The feed stroke begins, and the rack 351 moves distally a distance LR to complete the feed. Therefore, at maximum rotation, the second feed stroke distance of the rack 351 is specifically LR.

[0168] It should also be noted that during the feed process, when the rack 351 is at the feed position or at the distal end of the feed position, the safety assembly 500 is locked, and the zero position switch 930 is always triggered. The zero position switch 930 only sends a zero position signal to the main control module once when it is pressed. This prevents the pulse signal indicating the number of rotations of the output shaft 821 from being reset during the feed process, resulting in inaccurate feed stroke determination. Furthermore, during the feed process, the pulse signal sent by the encoder to the main control module is stored in a memory within the main control module.

[0169] During the retraction process, when the rack 351 moves proximally to its initial position, the safety assembly 500 switches to the unlocked state, and the safety member 510 no longer presses against the zero position switch 930, releasing the zero position switch 930. When the zero position switch 930 is released, no signal is sent to the main control module. Until the stapler is used again, the main control module controls the motor assembly 820 to drive the rack 351 distally to the advance position, triggering the zero position switch 930. The main control module receives the zero position signal, clears the pulse signal stored in the internal memory, and then receives and counts the pulse signal again.

[0170] In another embodiment of the present disclosure, the orientation state is specifically the position of the rack 351. The first value represents the position of the rack 351 when the jaw assembly 100 is in the straight hitting state and the cutting knife assembly 300 moves distally to the cutting bottom position. The above position is the first position; the second value represents the position of the rack 351 when the jaw assembly 100 is in the maximum rotation state and the cutting knife assembly 300 moves distally to the cutting bottom position. The above position is the second position. The rack 351 is provided with a sensed part, and the frame 600 is provided with a sensing area. The sensing area is arranged along the length of the rack 351. The sensing area is arranged with multiple sensing parts, specifically sensors. The multiple sensors are all electrically connected to the main control module. When the sensed part moves distally with the rack 351 to correspond to the sensing area, the sensor in the sensing area detects the sensed part and sends an output value to the main control module. When the jaw assembly 100 is in the straight striking state, when the cutting blade assembly 300 cuts to the bottom, the rack 351 is in the first position and corresponds to the sensor located at the distal edge of the sensing area. The sensed part is detected by the sensor located at the distal edge of the sensing area, and the output value received by the main control module is the first value. When the jaw assembly 100 is in the maximum rotation state, when the cutting blade assembly 300 cuts to the bottom, the rack 351 is in the second position and corresponds to the sensor located within the proximal edge of the sensing area. When the sensor located within the proximal edge of the sensing area detects the sensed part, the output value received by the main control module is the second value. When the angle of rotation of the jaw assembly 100 relative to the sleeve assembly 400 is less than the maximum rotation angle, the position of the rack 351 when the cutting blade is cut to the bottom is between the first value and the second value, that is, when the cutting blade assembly cuts to the bottom, the first value is the farthest position of the rack 351, and the second value is the closest position of the rack 351. Regardless of whether the jaw assembly 100 is in a straight hitting state or a bent hitting state, the position of the rack 351 when the knife reaches the bottom is between the first value and the second value (including the first value and the second value). The main control module determines that the output value satisfies the first preset condition when it is greater than or equal to the second value and less than or equal to the first value, that is, it determines that the position of the rack 351 when the cutting knife assembly 300 cuts to the bottom is between the first value and the second value (including the first value and the second value), covering all possible positions of the rack 351 when the knife reaches the bottom.

[0171] Specifically, in the embodiment, the sensing area is provided with a plurality of photoelectric sensors, a light source is provided in the rack 600, the light source is opposite to the photoelectric sensors, and when the sensed component is not opposite to the sensing area, all the photoelectric sensors can receive the light emitted by the light source. When the rack 351 is in the second position, the sensed component corresponds to the sensor located at the proximal edge of the sensing area, the sensed component blocks the light emitted by the light source, the sensor located at the proximal edge of the sensing area cannot receive the light emitted by the light source, and the output value sent to the main control module is the second value. When the rack 351 is in the first position, the sensed component corresponds to the sensor located at the distal edge of the sensing area, the sensed component blocks the light emitted by the light source, the sensor located at the distal edge of the sensing area cannot receive the light emitted by the light source, and the output value sent to the main control module is the first value. In other embodiments, the sensors in the sensing area can be other types of sensors, such as Hall sensors, infrared sensors, etc., which will not be repeated in this disclosure.

[0172] The surgical instrument of at least one embodiment of the present disclosure is generally the same as the aforementioned embodiment, the main difference being that the structure of the clutch mechanism is different. In this embodiment, the rack 351 includes a first rack 3511 and a second rack 3512. The power source is connected to the first rack 3511, and the second rack 3512 is connected to the cutting knife assembly 300. Specifically, the second rack 3512 is movably connected to the cutting knife assembly 300 through the first accommodating groove 352 and the first movable member 340.

[0173] The clutch mechanism includes a second accommodating groove 3514 and a second movable member 3513. The second accommodating groove 3514 is provided in one of the first rack 3511 and the second rack 3512, and the second movable member 3513 is provided in the other. The second accommodating groove 3514 includes a second opening side 3515 and a second groove bottom side 3516 arranged along the length direction of the second accommodating groove 3514. The second accommodating groove 3514 is provided in a part between the first rack 3511 and the second rack 3512, and the second opening side 3515 is adjacent to the part provided with the second movable member 3513. For example, in this embodiment, the second accommodating groove 3514 is provided in the first rack 3511, and the second movable member 3513 is provided in the second rack 3512.

[0174] When the second moving member 3513 fits the second groove bottom side 3516, the first rack 3511 and the second rack 3512 abut, and power source and rack 351 are decoupled, and the clutch mechanism is in the second state, and abutting refers to that the first rack 3511 and the second rack 3512 are interconnected and abutted against each other by the second moving member 3513 and the second groove bottom side 3516.When the clutch mechanism is in the second state, the first rack 3511 can promote the second rack 3512 to move distally when moving distally.When the second moving member 3513 fits the second open side 3515, the first rack 3511 and the second rack 3512 are relatively separated, and power source and rack 351 are coupled, and the clutch mechanism is in the first state, and at this moment, the first rack 3511 can pull the second rack 3512 to move proximally when moving proximally. Relative separation means that the first rack 3511 and the second rack 3512 are connected to each other and separated by a maximum distance. During the retraction process, the cutting blade assembly 300 is in the disengaged position and the clutch mechanism is in the first state. The power source drives the first rack 3511 to move proximally, and the first rack 3511 pulls the second rack 3512 and the cutting blade assembly 300 to move proximally to retract the blade. When the clutch mechanism switches from the first state to the second state, that is, when the second movable member 3513 moves from a position aligned with the second opening side 3515 to a position aligned with the second groove bottom side 3516, the second movable member 3513 moves a distance R.

[0175] Specifically, in this embodiment, the power source includes a motor assembly 820 and a drive gear structure 830 connected to the motor assembly 820, and the drive gear structure 830 only includes a first gear 831, which is connected to the motor assembly 820 and meshes with the second rack 3512. When the knife is retracted, the cutting knife assembly 300 is in the separated position, the clutch mechanism is in the first state, the second movable member 3513 is in contact with the second opening side 3515, and the main control module controls the motor assembly 820 to drive the first rack 3511 to move distally by a distance R when the knife is retracted, so that the second opening side 3515 and the second groove bottom side 3516 move distally, the second movable member 3513 does not move, the second opening side 3515 is separated from the second movable member 3513, the second groove bottom side 3516 is in contact with the second movable member 3513, and the clutch mechanism is switched to the second state, and the cutting knife assembly 300 is still in the separated position. When the clutch mechanism is in the second state, the second rack 3512 can move distally relative to the first rack 3511 .

[0176] After the knife is retracted, the clutch mechanism switches to the second state, and the medical staff operates the jaw assembly 100 to open. After the jaw assembly 100 is opened, the steering drive structure 700 is controlled to rotate the jaw assembly 100 from the bent position to the straight position. During the process of the jaw assembly 100 rotating from the bent position to the straight position, the proximal end of the knife rod 320 moves distally. Since the cutting knife assembly 300 is in the separated position, the distal movement of the proximal end of the knife rod 320 pulls the rack 351 to move distally. Since the clutch mechanism is in the second state, the proximal end of the knife rod 320 can only pull the first rack 3511 to move distally, and the second rack 3512 does not move and remains connected to the power source. The setting of the clutch mechanism allows the jaw assembly 100 to rotate smoothly to the straight position.

[0177] The following describes the overall working process of the surgical instrument when the jaw assembly 100 is rotated to one side to the maximum angle:

[0178] After the surgical instrument enters the human body, the jaw assembly 100 is in the straight striking state and the cutting knife assembly 300 is in the separated position. The medical staff first drives the jaw assembly 100 to rotate through the steering drive structure 700.

[0179] When the jaw assembly 100 rotates from the straight striking state to the maximum rotation state, the proximal end of the knife rod 320 moves proximally, causing the cutting knife assembly 300 to move proximally from the separation position to the abutment position (from the position in FIG. 17 to the position in FIG. 18 ). The distance moved by the cutting knife assembly 300 from the separation position to the abutment position is R, that is, the distance moved by the first movable member 340 from the position abutting the first opening side 3522 to the position abutting the first groove bottom side 3521 is R. The distance the first movable member 340 moves proximally is positively correlated with the angle of rotation of the jaw assembly 100. When the angle of rotation of the jaw assembly 100 to one side is less than the maximum angle, the first movable member 340 is between the first opening side 3522 and the first groove bottom side 3521.

[0180] After the jaw assembly 100 is rotated to one side to its maximum angle, it is in the maximum rotation state, and the jaw assembly 100 corresponds to the tissue to be clamped. At this time, the medical staff controls the jaw assembly 100 to close, clamping and squeezing the component to be clamped. The sleeve assembly 400 includes an inner sleeve 410 and an outer sleeve 420 that is movably mounted on the outer side of the inner sleeve 410. The operating assembly 800 also includes a handle 810. After the rotation is completed, the medical staff actuates the handle 810 to move the outer sleeve 420 from the distal position to the proximal position, closing the jaw assembly 100.

[0181] The medical staff actuates the handle 810 to close the jaw assembly 100 to clamp and squeeze the tissue for a period of time. After the squeezing is completed, the medical staff actuates the handle 810 again. When the main control module detects that the rotation angle of the handle 810 meets the preset conditions, it controls the motor assembly 820 to drive the cutting knife assembly 300 to advance.

[0182] Before the cutting, the clutch mechanism is in the first state or the second state, or the second moving member 3513 is located between the second opening side 3515 and the second groove bottom side 3516, because the cutting knife assembly 300 has been located at the abutting position (position in Figure 18), the rack 351 can directly promote the mandrel 330 and the knife bar 320 to move to the proximal side to carry out the cutting, and the moving distance of the cutting knife assembly 300 from the initial position to the cutting end position is L, and the distance of the first rack 3511 to the distal movement is also L. When the cutting starts, the main control module controls the motor assembly 820 to rotate, and the motor assembly 820 drives the first gear 831 to rotate, specifically to rotate counterclockwise. If the clutch mechanism is in the second state, as shown in Figure 37, the motor assembly 820 can directly drive the second rack 3512, the first rack 3511 and the cutting knife assembly 300 to move to the distal side to carry out the cutting. 35. If clutch mechanism is in first state, as shown in Figure 36, or second moving member 3513 is between second opening side 3515 and second groove bottom side 3516, then motor assembly 820 drives second rack 3512 to distal motion, clutch mechanism is switched to second state, as shown in Figure 37, under second state, second rack 3512 abuts against first rack 3511, when motor assembly 820 drives second rack 3512 to distal motion, can drive first rack 3511 and cutting knife assembly 300 to distal motion to carry out feed.Clutch mechanism is in first state or second state, or the reason that second moving member 3513 is between second opening side 3515 and second groove bottom side 3516 is described hereinafter.After main control module judges that cutting knife assembly 300 feeds are finished, control power source drives cutting knife driving member 350 to proximal motion to drive cutting knife assembly 300 back cuts.

[0183] When the cutting is completed, the cutting knife assembly 300 is in the bottom position for cutting, the cutting knife assembly 300 is in the abutting position, the clutch mechanism is in the second state, and the second moving member 3513 is in contact with the bottom side 3516 of the second groove. The medical staff releases the handle 810, and the main control module detects that the handle 810 is completely released, and controls the motor assembly 820 to reverse, and the motor assembly 820 reverses to drive the second rack 3512 to move proximally. When the second rack 3512 moves proximally a distance R, the clutch mechanism switches to the first state (from the state in FIG. 36 to the state in FIG. 37), so that the motor assembly 820 can drive the first rack 3511 to move proximally. Since the cutting knife assembly 300 is in the abutting position (the position in FIG. 18), it is in contact with the bottom side 3521 of the first groove 352. When the first rack 3511 moves proximally, the first opening side 352 1 and 2. The first groove bottom side 3521 moves to the proximal side with the rack 351, the first groove bottom side 3521 separates from the first moving member 340, the first opening side 3522 moves to the first moving member 340, when the first rack 3511 moves to the proximal side, the first opening side 3522 fits with the first moving member 340, the cutting knife assembly 300 is in the separated position (position among Figure 17), at this moment, the rack 351 can drive the cutting knife assembly 300 to move to the proximal side, and the process in which the above-mentioned first rack 3511 and the second rack 3512 move does not drive the cutting knife assembly 300 to move, and the cutting knife assembly 300 is still in the feed position to the bottom. When the distance that the rack 351 continues to drive the cutting knife assembly 300 to move to the proximal side is L, the cutting knife assembly 300 gets back to the initial position, and the knife is withdrawn. Therefore, during the retraction process, the distance the first rack 3511 moves toward the proximal side is R+L, and the distance the second rack 3512 moves toward the proximal side is 2R+L.

[0184] When the blade is retracted, the cutting blade assembly 300 is in its initial position, the cutting blade assembly 300 is in its disengaged position, and the clutch mechanism is in the first state. After determining that the blade is retracted, the main control module controls the motor assembly 820 to reverse, driving the second rack 3512 to move distally until it abuts against the first rack 3511, switching the clutch mechanism to the second state.

[0185] After the knife is retracted, the medical staff operates the jaw opening assembly 900 to open the jaw assembly 100 and release the tissue.

[0186] After the jaw assembly 100 is opened, the cutting knife assembly 300 is in the separated position and the clutch mechanism is in the second state. The medical staff operates the steering drive assembly 700 to rotate the jaw assembly 100 toward the straight hitting state. In the process of the jaw assembly 100 rotating from the maximum rotation state of the bent hitting state to the straight hitting state, the movement of the proximal end of the cutting knife assembly 300 is opposite to the process of the jaw assembly 100 rotating from the straight hitting position to the maximum rotation state. The proximal end of the cutting knife assembly 300 (the first moving member 340) moves distally by a distance R. Since the cutting knife assembly 300 is in the separated position (the position in Figure 17), it is attached to the first opening side 3522 of the first accommodating groove 352. When the first moving member 340 moves distally, it pulls the second rack 3512 distally by abutting against the first opening side 3522, and the movement distance is R. During this process, the first rack 3511 remains in place, the second rack 3512 moves until the second movable member 3513 is in contact with the second opening side 3515, and the clutch mechanism switches to the first state. The jaw assembly 100 is in the straight-hitting state, and medical staff can remove the surgical instrument from the human body. At this time, when the stapler is used again to cut tissue, the clutch mechanism is in the first state before the knife is advanced. If the jaw assembly 100 is always in the straight-hitting state when the stapler is used this time, after the knife is withdrawn, the clutch mechanism switches to the second state and the jaw assembly 100 opens. When the stapler is used again to cut tissue, the clutch mechanism is in the second state. If the jaw assembly 100 is in an intermediate state of the bent state (the angle between the jaw assembly 100 and the sleeve assembly 400 is less than the maximum angle) to clamp the tissue when the stapler is used this time, after the knife is retracted, the clutch mechanism switches to the second state, the jaw assembly 100 rotates to the straight position, and the first movable member 340 drives the second rack 3512 to move distally for a distance less than R. The second movable member 3513 in the clutch mechanism is located between the second opening side 3515 and the second groove bottom side 3516. When the stapler is used again to cut the tissue, the second movable member 3513 of the clutch mechanism is located between the second opening side 3515 and the second groove bottom side 3516.

[0187] The following describes the overall working process of the surgical instrument when the jaw assembly 100 is rotated to one side to the maximum angle:

[0188] After the surgical instrument enters the human body, the jaw assembly 100 is in a straight striking state and the cutting knife assembly 300 is in a separated position. The medical staff first drives the jaw assembly 100 to rotate through the steering drive structure 700.

[0189] When the jaw assembly 100 rotates from the straight striking state to the maximum rotation state, the proximal end of the knife rod 320 moves proximally, causing the cutting knife assembly 300 to move proximally from the separation position to the abutment position (from the position in FIG. 17 to the position in FIG. 18 ). The distance moved by the cutting knife assembly 300 from the separation position to the abutment position is R, that is, the distance moved by the first movable member 340 from the position abutting the first opening side 3522 to the position abutting the first groove bottom side 3521 is R. The distance the first movable member 340 moves proximally is positively correlated with the angle of rotation of the jaw assembly 100. When the angle of rotation of the jaw assembly 100 to one side is less than the maximum angle, the first movable member 340 is between the first opening side 3522 and the first groove bottom side 3521.

[0190] After the jaw assembly 100 is rotated to one side to its maximum angle, it is in the maximum rotation state, and the jaw assembly 100 corresponds to the tissue to be clamped. At this time, the medical staff controls the jaw assembly 100 to close, clamping and squeezing the component to be clamped. The sleeve assembly 400 includes an inner sleeve 410 and an outer sleeve 420 that is movably mounted on the outer side of the inner sleeve 410. The operating assembly 800 also includes a handle 810. After the rotation is completed, the medical staff actuates the handle 810 to move the outer sleeve 420 from the distal position to the proximal position, closing the jaw assembly 100.

[0191] The medical staff actuates the handle 810 to close the jaw assembly 100 to clamp and squeeze the tissue for a period of time. After the squeezing is completed, the medical staff actuates the handle 810 again. When the main control module detects that the rotation angle of the handle 810 meets the preset conditions, it controls the motor assembly 820 to drive the cutting knife assembly 300 to advance.

[0192] Before the cutter is fed, the clutch mechanism is in the first state or the second state, or the second moving member 3513 is between the second opening side 3515 and the second groove bottom side 3516, because the cutter assembly 300 has been positioned at the abutting position (position among Figure 18), the second rack 3512 can directly promote the mandrel 330 and the knife bar 320 to move proximally to carry out the cutter, the cutter assembly 300 moves to the moving distance of cutting to the bottom position from the initial position as L, and the distance that the second rack 3512 moves distally is also L. When the cutter is fed, the main control module controls the motor assembly 820 to rotate, and the motor assembly 820 drives the first rack 3511 to move distally. If the clutch mechanism is in the second state, as shown in Figure 37, the motor assembly 820 can directly drive the first rack 3511, the second rack 3512 and the cutter assembly 300 to move distally to carry out the cutter. If the clutch mechanism is in the first state, as shown in Figure 36, or the second moving member 3513 is between the second opening side 3515 and the second groove bottom side 3516, as shown in Figures 36 and 37, then the motor assembly 820 drives the first rack 3511 to move distally, so that the clutch mechanism is switched to the second state, as shown in Figure 37, in the second state, the second rack 3512 abuts against the first rack 3511, and when the motor assembly drives the first rack 3511 to move distally, it can drive the second rack 3512 and the cutting knife assembly 300 to move distally to feed. The reason why the clutch mechanism is in the first state or the second state, or the second moving member 3513 is between the second opening side 3515 and the second groove bottom side 3516 is described below.

[0193] After the main control module determines that the cutting knife assembly 300 has completed the cutting, it controls the power source to drive the cutting knife driving member 350 to move toward the proximal side to drive the cutting knife assembly 300 to retract.

[0194] When the cutting is completed, the cutting blade assembly 300 is in the bottom position, the cutting blade assembly 300 is in the abutting position, the clutch mechanism is in the second state, and the second moving member 3513 is in contact with the bottom side 3516 of the second groove. The medical staff releases the handle 810. After the main control module detects that the handle 810 is completely released, it controls the motor assembly 820 to reverse. The motor assembly 820 reverses and drives the second rack 3512 to move proximally. When the second rack 3512 moves proximally a distance R, the clutch mechanism switches to the first state (from the state in FIG. 37 to the state in FIG. 36 ), so that the motor assembly 820 can drive the first rack 3511 to move proximally. Since the cutting blade assembly 300 is in the abutting position (the position in FIG. 18 ), it is in contact with the bottom side 3521 of the first groove 352. When the first rack 3511 moves proximally, the first opening side 3511 is 1 and 2. The first groove bottom side 3521 of the embodiment of the present invention is to be positioned at the bottom of the cutting knife assembly 30 ...

[0195] When the blade is retracted, the cutting blade assembly 300 is in its initial position, the cutting blade assembly 300 is in its disengaged position, and the clutch mechanism is in the first state. After determining that the blade is retracted, the main control module controls the motor assembly 820 to reverse, driving the second rack 3512 to move distally until it abuts against the first rack 3511, switching the clutch mechanism to the second state.

[0196] After the knife is retracted, the medical staff operates the jaw opening assembly 900 to open the jaw assembly 100 and release the tissue.

[0197] After the jaw assembly 100 is opened, the cutting knife assembly 300 is in the separated position and the clutch mechanism is in the second state. The medical staff operates the steering drive device to rotate the jaw assembly 100 toward the straight hitting state. In the process of the jaw assembly 100 rotating from the maximum rotation state of the bent hitting state to the straight hitting state, the movement of the proximal end of the cutting knife assembly 300 is opposite to the process of the jaw assembly 100 rotating from the straight hitting position to the maximum rotation state. The proximal end of the cutting knife assembly 300 (the first moving member 340) moves distally by a distance R. Since the cutting knife assembly 300 is in the separated position (the position in Figure 17), it is attached to the first opening side 3522 of the first accommodating groove 352. When the first moving member 340 moves distally, it pulls the first rack 3511 distally by abutting against the first opening side 3522, and the movement distance is R. During this process, the second rack 3512 remains in place, the first rack 3511 moves until the second movable member 3513 is in contact with the second opening side 3515, and the clutch mechanism switches to the first state. The jaw assembly 100 is in the straight-hitting state, and medical personnel can remove the surgical instrument from the human body. At this time, when the stapler is used again to cut tissue, the clutch mechanism is in the first state before the knife is advanced. If the jaw assembly 100 is always in the straight-hitting state when the stapler is used this time, after the knife is withdrawn, the clutch mechanism switches to the second state and the jaw assembly 100 opens. When the stapler is used again to cut tissue, the clutch mechanism is in the second state. If the jaw assembly 100 is in an intermediate state of the bent state (the angle between the jaw assembly 100 and the sleeve assembly 400 is less than the maximum angle) to clamp the tissue when the stapler is used this time, after the knife is retracted, the clutch mechanism switches to the second state, the jaw assembly 100 rotates to the straight position, and the first movable member 340 drives the first rack 351 to move distally for a distance less than R. The second movable member 3513 in the clutch mechanism is located between the second opening side 3515 and the second groove bottom side 3516. When the stapler is used again to cut the tissue, the second movable member 3513 of the clutch mechanism is located between the second opening side 3515 and the second groove bottom side 3516.

[0198] The following describes the overall working process of the surgical instrument when the jaw assembly 100 is always in the straight-hitting state:

[0199] After the surgical instrument enters the human body, the jaw assembly 100 is in a straight striking state, at which time the clutch mechanism is in the first state or the second state, or the second movable member 3513 is located between the second opening side 3515 and the second groove bottom side 3516, and the cutting knife assembly 300 is in a separated position.

[0200] The medical staff controls the jaw assembly 100 to close, clamps and squeezes the component to be clamped. After squeezing is completed, the medical staff activates the handle 810 again to advance the knife.

[0201] Before the cutting process begins, since the cutting blade assembly 300 is in the disengaged position (the position in FIG. 17 ), the rack 351 cannot directly push the core shaft 330 and the knife bar 320 to move distally to perform the cutting process. When the cutting process begins, the main control module controls the rotation of the motor assembly 820, which drives the second gear to move distally. If the clutch mechanism is in the first state, the second rack 3512 moves distally until the clutch mechanism switches to the second state. In the second state, as shown in FIG. 37 , the motor assembly 820 can drive the first rack 3511 to move distally, thereby driving the second rack 3512 to move distally. If the clutch mechanism is in the second state, the first rack 3511 abuts against the second rack 3512, and the motor assembly 820 can directly drive the second rack 3512 to move distally. When the first rack 3511 moves distally a distance R, the cutting knife assembly 300 is in a rest position (the position in Figure 18). At this time, the rack 351 moves distally to drive the cutting knife assembly 300 to advance. The distance the cutting knife assembly 300 moves from the initial position to the end of the stroke is L. During the advancement process, the distance the second rack 3512 moves distally is L+R.

[0202] When the cutting is completed, the cutting knife assembly 300 is in the bottom position for cutting, the cutting knife assembly 300 is in the abutting position, the clutch mechanism is in the second state, and the second moving member 3513 is in contact with the bottom side 3516 of the second groove. The medical staff releases the handle 810, and the main control module detects that the handle 810 is completely released, and controls the motor assembly 820 to reverse, and the motor assembly 820 reverses to drive the second rack 3512 to move proximally. When the second rack 3512 moves proximally a distance R, the clutch mechanism switches to the first state (from the state in FIG. 37 to the state in FIG. 36), so that the motor assembly 820 can drive the second rack 3512 to move proximally. Since the cutting knife assembly 300 is in the abutting position (the position in FIG. 18), it is in contact with the bottom side 3521 of the first groove 352. When the second rack 3512 moves proximally, the first opening side 352 1 and 2. The first groove bottom side 3521 moves to the proximal side with the rack 351, the first groove bottom side 3521 separates from the first moving member 340, the first opening side 3522 moves to the first moving member 340, and when the second rack 3512 moves to the proximal side, the first opening side 3522 fits with the first moving member 340, so that the cutting knife assembly 300 is in the separated position (position among Figure 17), at this moment, the rack 351 can drive the cutting knife assembly 300 to move to the proximal side, and the process in which the above-mentioned first rack 3511 and the second rack 3512 move does not drive the cutting knife assembly 300 to move, and the cutting knife assembly 300 is still in the feed position to the bottom. When the distance that the rack 351 continues to drive the cutting knife assembly 300 to move to the proximal side is L, the cutting knife assembly 300 gets back to the initial position, and the knife is withdrawn and completed. Therefore, during the retraction process, the first rack 3511 moves proximally a distance of 2R + L, and the second rack 3512 moves proximally a distance of R + L. After determining that the retraction is complete, the main control module controls the motor assembly 820 to reverse, driving the first rack 3511 to move distally until it abuts the second rack 3512, switching the clutch mechanism to the second state.

[0203] After the knife is withdrawn, the medical staff operates the jaw opening assembly 900 to open the jaw assembly 100 to release the tissue. The jaw assembly 100 is in a straight-opening state, and the medical staff can remove the surgical instrument from the human body.

[0204] The surgical instrument of at least one embodiment of the present disclosure is generally the same as the aforementioned embodiment, with the main difference being that the structure of the clutch mechanism is different. In this embodiment, as shown in Figures 38 to 41, the clutch mechanism includes a pusher 850, and in the driving gear structure 830, the first gear 831 and the second gear 832 are fixedly connected, and when the first gear 831 is driven to rotate by the motor assembly 820, it drives the second gear 832 to rotate synchronously.

[0205] When the clutch mechanism is in the first state, the pusher 850 is in the disengaged position, the drive gear structure 830 is connected to the cutting blade assembly 300, specifically the second gear 832 is connected to the rack 351, thereby coupling the power source with the cutting blade assembly 300, and the power source can drive the rack 351 and the cutting blade assembly 300 to move proximally. When the clutch mechanism switches from the first state to the second state, the pusher 850 moves from the disengaged position to the pressed position, specifically toward the drive gear structure 830, and the pusher 850 pushes the drive gear structure 830 to move, thereby decoupling the drive gear structure 830 from the cutting blade assembly 300, specifically disengaging the second gear 832 from the rack 351. The power source cannot drive the rack 351 and the cutting blade assembly 300 to move, and the rack 351 can move relative to the power source. In response to the jaw assembly 100 rotating from the curved state to the straight state, the proximal end of the cutting blade assembly 300 and the rack 351 are reset distally. During the advance and retract process, the clutch mechanism is in a first state, connecting the power source to the rack 351 and the cutting blade assembly 300, enabling the power source to drive the cutting blade assembly 300 to advance or retract. After retracting, if the motor assembly 820 is connected to the rack 351 via the drive gear structure 830, the motor assembly 820 shuts down and locks the drive gear structure 830 and the rack 351 through its own resistance, making the drive gear structure 830 unable to rotate and the rack 351 unable to move. Therefore, after retracting, the clutch mechanism switches to a second state, disengaging the drive gear structure 830 from the rack 351 and releasing the motor assembly 820 from the lock on the rack 351 and the cutting blade assembly 300. During the process of switching the jaw assembly 100 from the curved striking state to the straight striking state, since the motor assembly 820 has been disconnected from the rack 351, the proximal end of the cutting blade assembly 300 can be smoothly reset to the distal end, pulling the rack 351 to reset distally. The driving gear structure 830 includes a fixed shaft 833 and a return spring 834. The fixed shaft 833 is fixedly arranged on the frame 600. The first gear 831 and the second gear 832 can both rotate around the axis of the fixed shaft 833 and can move along the axis direction of the fixed shaft 833. For example, the first gear 831 and the second gear 832 are both engaged with the fixed shaft 833 through a key.

[0206] The clutch mechanism further includes a driving member and a pressing portion 860. The pressing portion 860 is located on the upper side of the second gear 832. The pushing member 850 is connected to the pressing portion 860. When the clutch mechanism is in the first state, the second gear 832 is engaged with the rack 351. The driving member drives the pushing member 850 to move and pushes the pressing portion 860 downward, thereby pushing the second gear 832 downward to disengage from the rack 351, causing the clutch mechanism to switch to the second state. In the second state, the second gear 832 is disengaged from the rack 351 and is no longer locked by the motor assembly 820. When the jaw assembly rotates from the bent state to the straight state, the proximal end of the knife bar 320 can pull the rack 351 to move distally, so that the jaw assembly 100 can smoothly switch to the straight state.

[0207] In at least one embodiment of the present disclosure, the drive member includes a motor 870. The output shaft of motor 870 is connected to pusher 850. Motor 870 is electrically connected to a main control module and is controlled by the main control module to start or stop. The motor is fixed to frame 600. When the main control module controls the rotation of motor 870, the motor drives pusher 850 to rotate, causing the clutch mechanism to switch to the second state.

[0208] Pushing member 850 is a cam having a lower portion, a higher portion, and an arcuate surface 851 connecting the lower and higher portions. The higher portion is located farther from the cam's axis of rotation than the lower portion. When the clutch mechanism is in the first state, the lower portion of pushing member 850 abuts against the pressing portion 860. When the clutch mechanism switches from the first state to the second state, pushing member 850 rotates until the higher portion abuts against the pressing portion 860, causing the pressing portion 860 to move downward, thereby pushing the second gear 832 downward and disengaging it from the rack 351.

[0209] When retracting the knife, the motor 870 is in a stopped state and the clutch structure is in a first state. The main control module controls the motor assembly 820 to drive the rack 351 to move proximally, and detects the state of the motor assembly 820 through the state detection module. After the main control module determines that the motor is blocked, the rack 351 retracts proximally to the extreme position. At this time, the main control module controls the motor assembly 820 to stop and controls the motor 870 to rotate. After the motor 870 drives the pusher 850 to rotate until the clutch assembly is in the second state, the main control module controls the motor 870 to stop. After the motor 870 stops, the pusher 850 is locked to keep the clutch mechanism in the second state.

[0210] After the jaw assembly 110 is opened, the clutch structure is in the second state, and the cutting knife assembly 300 is in the separated position. The medical staff operates the steering drive assembly 700 to rotate the jaw assembly 100 from the bent state to the straight state. The proximal end of the knife rod 320 moves distally, thereby pulling the rack 351 to move distally, and the jaw assembly 100 rotates smoothly and switches to the straight state.

[0211] Furthermore, the driving gear structure 830 also includes a return spring 834, which is sleeved on the fixed shaft 833. One end of the return spring 834 is connected to the frame 600, and the other end is connected to the first gear 831. When the clutch mechanism is in the second state, the first gear 831 and the second gear 832 are located below the rack 351, and the return spring 834 is compressed. When the clutch mechanism switches from the second state to the first state, the return spring 834 is released, and the first gear 831 and the second gear 832 move upward under the action of the elastic force, causing the second gear 832 to mesh with the rack 351. When the clutch mechanism is in the first state, the pressing portion 860 presses the second gear 832, causing the second gear 832 to be in a position to cooperate with the rack 351.

[0212] It is also worth noting that when the jaw assembly 100 is in the open state, the clutch mechanism is in the second state. After the jaw assembly 100 is in the closed state, the main control module controls the motor to rotate, so that the clutch mechanism switches to the first state, so that the rack 351 is engaged with the second gear 832, and the motor assembly 820 is connected to the rack 351 in a transmission manner, which can drive the rack 351 to move to feed the knife. Specifically, the frame 600 is provided with a limiter and a switch member, and the switch member is electrically connected to the main control module. When the jaw assembly 100 switches from the open state to the closed state, the connecting rod assembly 610 switches from the first position to the second position, and the connecting rod assembly 610 drives the limiter to move so that the limiter switches from the locked position to the unlocked position. When the jaw assembly 100 is in the closed state, the limiter is in the unlocked state, triggering the switch member, which sends an electrical signal to the main control module. After receiving the electrical signal sent by the switch member, the main control module controls the motor to start, driving the push member 850 to rotate so that the clutch mechanism switches to the first state. In another embodiment, as shown in Figures 42 and 43, the driving member includes an operating portion 840, which is a rod rotatably mounted on the frame 600 and extending outside the housing of the operating assembly. Medical personnel rotate the operating portion 840 to switch the clutch mechanism from the first state to the second state. The operating portion 840 is connected to a pusher 850 via a transmission shaft. When the operating portion 840 is operated, the transmission shaft drives the pusher 850 to rotate. The pusher is a cam having a lower portion, a higher portion, and an arcuate surface 851 connecting the lower and higher portions. The higher portion is farther from the cam's rotation axis than the lower portion. When the clutch mechanism is in the first state, the lower part of the pushing member 850 abuts against the pressing part 860. When the clutch mechanism switches from the first state to the second state, the pushing member 850 rotates until the upper part abuts against the pressing part 860, causing the pressing part 860 to move downward, thereby pushing the second gear 832 downward to disengage from the rack 351.

[0213] Furthermore, in combination with Figure 40, the pushing member 850 forms a locking surface 852 at the high part, and the locking surface 852 is a plane. The pressing portion 860 has an upper surface 861, and the upper surface 861 is also a plane. When the clutch mechanism is in the second state, the pushing member 850 is in contact with the upper surface 861 through the locking surface 852, and the pushing member 850 is locked by rotation. At this time, the medical staff releases the operating part 840, and the locking surface 852 is in contact with the upper surface 861, so that the pushing member 850 cannot continue to rotate, and the clutch mechanism remains in the second state. The medical staff can operate the steering drive assembly 700 to rotate the jaw assembly 100 from the bent state to the straight state. After the turning is completed, the medical staff can rotate the operating part 840 in a counterclockwise direction, which is opposite to the direction of the process of the clutch mechanism switching from the first state to the second state, so that the pushing member 850 rotates relative to the pressing part 860, and then the clutch mechanism switches from the second state to the first state, and the second gear 832 engages with the rack 351, so that the anastomosis device can be used again.

[0214] It is worth noting that the motor assembly 820 includes an output shaft 821 and an output gear 822. When the clutch mechanism is in the first state, the output gear 822 is engaged with the first gear 831. When the clutch mechanism switches to the second state, the first gear 831 and the second gear 832 move downward. In order to avoid the output gear 822 interfering with the downward-moving second gear 832, in one embodiment, the outer diameter of the second gear 832 is smaller than the first gear 831. After the second gear 832 moves downward, there is still a certain radial distance between it and the output gear 822, so that the output gear 822 will not interfere with the downward-moving second gear 832. In another embodiment, the second gear 832 can engage with the output gear 822 during the downward movement, so that the output gear 822 will not interfere with the downward moving second gear 832. Specifically, the second gear 832 has the same number of teeth, module and gear size as the first gear 831. The teeth of the first gear 831 are aligned one by one with the teeth of the second gear 832 in the axial direction. The output gear 822 that cooperates with the first gear 831 can smoothly engage with the second gear 832, so that the output gear 822 will not interfere with the downward moving second gear 832.

[0215] After the blade is retracted, the main control module controls the motor assembly 820 to stop. The medical staff can then rotate the operating portion 840 to switch the clutch mechanism to the second state, releasing the motor assembly 820 from locking the rack 351. When the jaw assembly 100 is subsequently switched from the curved position to the straight position, the cutting blade assembly 300 can smoothly reposition the rack 351 distally.

[0216] The surgical instrument of at least one embodiment of the present disclosure is generally the same as the aforementioned embodiment, with the main difference being that the structure of the safety assembly 500 is different. In this embodiment, as shown in Figures 44 to 46, the safety member 510 of the safety assembly 500 can be slidably disposed on the frame 600, and its sliding direction is the axial direction (horizontal direction) of the sleeve assembly 400, which is the same as the direction in which the rack 351 retracts toward the proximal side. The elastic member is horizontally disposed and connected between the safety member 510 and the frame 600.

[0217] The rack 351 includes a drive portion 353. When the rack 351 is in the advancing position, the safety member 510 abuts against the flange 912 of the release button 910, and the drive portion 353 engages the distal end of the safety member 510. During the retraction process, when the rack 351 moves from the advancing position to the initial position, the drive portion 353 pushes the safety member 510 proximally, compressing the elastic member, causing the safety member 510 to separate from the flange 912. The safety member 510 does not interfere with the proximally moving rack 351, and the safety assembly 500 is in the unlocked state. When the rack 351 moves from the initial position to the extreme retraction position, the driving part 353 pushes the safety piece 510 and the rack 351 to continue to move proximally to further compress the elastic piece. During this process, the safety assembly 500 is always in an unlocked state, and the safety piece 510 is separated from the flange 912 and does not interfere with the rack 351 moving proximally; when the jaw assembly 100 rotates from the maximum rotation state to the straight hitting state, the cutting knife assembly 300 moves distally, driving the rack 351 to move from the extreme retraction position to the initial position, and the elastic piece is released, pushing the safety piece 510 to slide distally and abut against the driving part 353. During this process, the safety piece 510 is always in an unlocked state. During the feeding process, when the rack 351 moves from the initial position to the feeding position, the elastic member is released, pushing the safety member 510 to slide distally, causing the safety member 510 to abut against the flange 912, and the safety assembly 500 switches to a locked state; when the rack 351 moves distally from the initial position, the safety assembly 500 remains in a locked state.

[0218] It should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation method can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0219] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present disclosure. They are not intended to limit the scope of protection of the present disclosure. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A surgical instrument comprising: Jaw assembly, sleeve assembly, cutting knife assembly, power source and clutch mechanism, wherein: The jaw assembly is rotatably connected to the sleeve assembly. When the jaw assembly is in a straight state, the length direction of the jaw assembly is in line with the axis of the sleeve assembly. When the jaw assembly is in a bent state, the length direction of the jaw assembly and the axis direction of the sleeve assembly form a certain angle with each other. When the jaw assembly rotates from the straight state to the bent state, the proximal end of the cutting knife assembly is configured to move proximally. The power source is coupled or decoupled with the cutting knife assembly via the clutch mechanism; the clutch mechanism has a first state and a second state, in the first state, the power source is coupled with the cutting knife assembly, and in response to the drive of the power source, the cutting knife assembly is configured to move toward the proximal side; in the second state, the power source is decoupled from the cutting knife assembly, and in response to the jaw assembly rotating from the bent state to the straight state, the proximal end of the cutting knife assembly is configured to reset toward the distal side.

2. The surgical instrument according to claim 1, wherein: The power source includes a motor assembly and a driving gear structure connected to the motor assembly, the driving gear structure includes a first gear connected to the motor assembly and a second gear connected to the cutting blade assembly, and the first gear is connected to the second gear through the clutch mechanism; When the clutch mechanism is in the first state, the first gear is configured to be connected to the second gear through a first connection method so that the power source is coupled to the cutting knife assembly, and when the motor assembly drives the first gear to rotate in a first direction, the second gear is configured to rotate synchronously with the first gear to drive the cutting knife assembly to move toward the proximal side; When the clutch mechanism is in the second state, the first gear is configured to be connected to the second gear through a second connection method so that the power source is decoupled from the cutting knife assembly. In response to the jaw assembly rotating from the bent state to the straight state, the proximal end of the cutting knife assembly is configured to reset toward the distal side to drive the second gear to move relative to the first gear in a second direction, and the second direction is opposite to the first direction.

3. The surgical instrument according to claim 2, wherein: The first gear and the second gear are coaxially arranged, and the clutch mechanism includes a convex rib and a groove, one of the first gear and the second gear is provided with the convex rib, and the other is provided with the groove, the convex rib is rotatably located in the groove, and the groove has a first side wall and a second side wall, and the first side wall and the second side wall are arranged along the circumference of the first gear or the second gear, when the convex rib abuts against the first side wall, the first gear is configured to be connected to the second gear in the first connection mode; when the convex rib abuts against the second side wall, the first gear is configured to be connected to the second gear in the second connection mode.

4. The surgical instrument according to claim 2, wherein: The surgical instrument further comprises a main control module, wherein the main control module is electrically connected to the motor assembly; The clutch mechanism is in the first state. After the main control module is configured to control the motor assembly to drive the cutting knife assembly to move toward the proximal side to the extreme position, the main control module is configured to control the motor assembly to drive the first gear to rotate in the second direction, so that the clutch mechanism switches from the first state to the second state.

5. The surgical instrument according to claim 1, wherein: The power source includes a motor assembly and a driving gear structure connected to the motor assembly, and the driving gear structure is detachably connected to the cutting blade assembly; The clutch mechanism includes a pushing member, wherein when the clutch mechanism is in the first state, the pushing member is located in a separation position, and the driving gear structure is configured to be connected to the cutting knife assembly so that the power source is coupled to the cutting knife assembly; when the clutch mechanism switches from the first state to the second state, the pushing member is configured to move from the separation position to the pressing position to push the driving gear structure to move, so that the driving gear structure is separated from the cutting knife assembly so that the power source is decoupled from the cutting knife assembly.

6. The surgical instrument according to claim 5, wherein: The clutch mechanism further comprises a driving member and a pressing portion, wherein the driving member is arranged on the frame and connected to the pushing member, the pressing portion abuts against the driving gear structure, and the pushing member has a lower portion and a higher portion. When the clutch mechanism is in the first state, the pushing member is in the separation position, and the lower portion abuts against the pressing portion, and the driving gear structure is connected to the cutting blade assembly; In response to the drive of the driving member, the pushing member is configured to rotate to the pressing position, and to press the pressing portion through the high portion to drive the pressing portion and the driving gear structure to move so that the driving gear structure is separated from the cutting knife assembly, thereby switching the clutch mechanism from the first state to the second state.

7. The surgical instrument according to claim 6, wherein: The driving gear structure includes a return spring, one end of which is connected to the frame, and the other end of which is connected to the driving gear structure. When the pusher is switched from the separation position to the pressing position, the pusher is configured to drive the driving gear structure to move and separate from the cutting blade assembly, and the return spring is compressed; When the pushing member switches from the pressing position to the separation position, the return spring is released, and the pushing member is configured to drive the driving gear structure to move, so that the driving gear structure is connected to the cutting knife assembly.

8. The surgical instrument according to claim 1, wherein: The surgical instrument also includes a rack connected to the cutting knife assembly, and the power source is configured to be connected to the cutting knife assembly through the rack. When the clutch mechanism is in the first state, the power source is coupled to the cutting knife assembly; when the clutch mechanism is in the second state, the power source is decoupled from the cutting knife assembly.

9. The surgical instrument according to claim 8, wherein: The rack and the cutting knife assembly are movably connected, and the cutting knife assembly has a resting position and a separation position relative to the rack, in which the cutting knife assembly is in a resting position against the rack, and in which the cutting knife assembly is relatively separated from the rack; When the power source is configured to drive the rack to move toward the proximal side to retract the cutting knife assembly, the cutting knife assembly is in the separated position, and when the power source is configured to drive the rack to move toward the distal side to advance the cutting knife assembly, the cutting knife assembly is in the abutting position.

10. The surgical instrument according to claim 9, wherein: One of the rack and the cutting knife assembly is provided with a first accommodating groove, and the other one is provided with a first movable member, the first movable member is movably arranged in the first accommodating groove, the first accommodating groove includes a first opening side and a first groove bottom side arranged along the length direction of the first accommodating groove, when the first movable member is in contact with the first opening side, the cutting knife assembly is in the separation position, and when the movable member is in contact with the first groove bottom side, the cutting knife assembly is in the abutment position.

11. The surgical instrument according to claim 8, wherein: The rack includes a separable first rack and a second rack, the first rack is connected to the power source, the second rack is connected to the cutting blade assembly, the clutch mechanism includes a second accommodating groove and a second moving member, one of the first rack and the second rack is provided with a second accommodating groove, the other of the first rack and the second rack is provided with a second moving member, the second accommodating groove includes a second opening side and a second groove bottom side arranged along the length direction of the second accommodating groove; When the second movable member is in contact with the second opening side, the first rack and the second rack are relatively separated, the power source is coupled with the cutting knife assembly, and the clutch mechanism is in the first state; when the second movable member is in contact with the bottom side of the second groove, the first rack and the second rack are abutted, the power source and the cutting knife assembly are decoupled, and the clutch mechanism is in the second state.

12. A surgical instrument, comprising a jaw assembly, a cannula assembly, a cutting knife assembly, a cutting knife drive, a motor assembly, a main control module, a travel recording module and a state detection module, wherein: The main control module is electrically connected to the motor assembly, the travel recording module and the state detection module, the motor assembly is connected to the cutting knife driving member, the cutting knife driving member is connected to the cutting knife assembly, and the main control module is configured to control the motor assembly to drive the cutting knife driving member to move, so as to drive the cutting knife assembly to move; The jaw assembly is rotatably connected to the sleeve assembly. When the jaw assembly is in a straight-hitting state, the length direction of the jaw assembly is in line with the axis of the sleeve assembly. When the jaw assembly is in a maximum angle state, the length direction of the jaw assembly and the axis direction of the sleeve assembly form a certain angle with each other. When the jaw assembly rotates from the straight-hitting state to the maximum angle state, the proximal end of the cutting knife assembly is configured to move proximally. When the motor assembly is configured to drive the cutting blade assembly to move toward the distal end, the travel recording module is configured to obtain an output value representing the position state of the cutting blade driving member, and send the output value to the main control module; The main control module is configured to determine that the output value satisfies a first preset condition when it is greater than or equal to the second value and less than or equal to the first value; The first value indicates the position of the cutting knife driving member when the cutting knife assembly moves toward the distal end to the bottom cutting position when the jaw assembly is in the straight striking state; the second value indicates the position of the cutting knife driving member when the cutting knife assembly moves toward the distal end to the bottom cutting position when the jaw assembly is in the maximum rotation state; The state detection module is configured to obtain a state signal indicating the state of the motor component, and send the state signal to the main control module, and the main control module is configured to determine whether the motor component is stalled according to the state signal; When the first preset condition is met and the main control module determines that the motor assembly is blocked, the main control module is configured to control the motor The component is stopped or the motor component is controlled to drive the cutting knife component to move toward the proximal end.

13. The surgical instrument according to claim 12, wherein: The output value representing the orientation state of the cutting knife driving component is the feed stroke of the cutting knife driving component or the position of the cutting knife driving component.

14. The surgical instrument according to claim 12 or 13, wherein: The surgical instrument also includes a zero position switch. The cutting knife drive reaches a feed position after moving a preset distance to the distal side. At the feed position, the zero position switch is configured to send a zero position signal to the main control module. The main control module is configured to clear the output value after receiving the zero position switch.

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