Surgical instrument

Abstract

A surgical instrument, comprising a main control module, a steering structure (200), a cannula assembly (400), a jaw assembly (100), and a locking structure (300). The jaw assembly (100) is rotatably connected to the cannula assembly (400). In response to control by the main control module, the steering structure (200) drives the jaw assembly (100) to rotate relative to the cannula assembly (400). The jaw assembly (100) has multiple rotational positions. The surgical instrument further comprises an input module (500) and a detection module (600). The detection module (600) is configured to send a detection signal for characterizing a state of the jaw assembly (100) to the main control module. The input module (500) is configured to send an input signal to the main control module. On the basis of the input signal and the detection signal, the main control module controls operation of the steering structure (200) to rotate the jaw assembly (100) from a first rotational position to a second rotational position. When the jaw assembly (100) is in any rotational position and the locking structure (300) is in an unlocked state, the locking structure (300) is aligned with the jaw assembly (100), such that the locking structure (300) can move along the aligned direction to engage with the jaw assembly (100), thereby allowing the locking structure (300) to smoothly and stably switch to a locked state.

Description

surgical instruments

[0001] This application claims priority to Chinese Patent Application No. 202410160356.5 filed on February 4, 2024, 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 medical device that replaces manual suturing. Its primary working principle is to separate tissue using a cutting blade and staple it together using titanium staples, similar to a stapler. Staplers are categorized into various types based on their suitability for different body parts. A surgical stapler works by inserting a cannula positioned at the surgical site into the patient's body, creating a longitudinal incision in the tissue, and applying staples on opposite sides of the incision, thereby separating and staplerizing the tissue. Summary of the Invention

[0004] The solution of the present disclosure is achieved by:

[0005] A surgical instrument comprises a main control module, a steering structure, a cannula assembly, a jaw assembly, and a locking structure, wherein the jaw assembly is rotatably connected to the cannula assembly, the main control module is electrically connected to the steering structure, and the steering structure is connected to the jaw assembly; in response to control by the main control module, the steering structure moves to drive the jaw assembly to rotate relative to the cannula assembly;

[0006] The jaw assembly has a plurality of rotational positions; in response to the locking structure being in an unlocked state, when the jaw assembly is in the rotational position, the locking structure is aligned with the jaw assembly, and in response to the locking structure moving along the aligned direction to cooperate with the jaw assembly, the jaw assembly is locked by the locking structure, and the locking structure switches from the unlocked state to the locked state;

[0007] The surgical instrument further includes an input module and a detection module; the detection module is electrically connected to the main control module and is configured to send a detection signal representing the state of the jaw assembly to the main control module; the input module is configured to send an input signal to the main control module in response to being operated;

[0008] The main control module controls the operation of the steering structure according to the input signal and the detection signal, so that the jaw assembly rotates from a first rotation position to a second rotation position.

[0009] In one embodiment, the input signal includes a switch signal, the jaw assembly status includes that the jaw assembly is located in the second rotational position, and the detection signal includes an in-position signal, wherein the in-position signal indicates that the jaw assembly is in the second rotational position; the main control module is configured to control the movement of the steering structure according to the received switch signal to drive the jaw assembly to rotate, and is configured to control the steering structure to stop moving according to the received in-position signal so that the jaw assembly stops at the second rotational position.

[0010] In one embodiment, the input signal also includes a control direction signal, and the main control module controls the jaw assembly to selectively rotate in a first direction or a second direction through the steering structure based on the received switch signal and the control direction signal, where the first direction is opposite to the second direction.

[0011] In one embodiment, the input signal or the detection signal also includes an identification direction signal, and the identification direction signal is configured to represent the rotation direction of the jaw assembly from the first rotation position to the second rotation position, and the main control module obtains the position information of the jaw assembly at the second rotation position based on the identification direction signal and the in-position signal.

[0012] In one embodiment, the jaw assembly state includes a rotation direction of the jaw assembly from the first rotation position to the second rotation position, and the detection signal includes the identification direction signal.

[0013] In one embodiment, the detection module includes a stroke recording device, which is configured to obtain first stroke information representing the rotation direction of the jaw assembly from the first rotation position to the second rotation position, and the identification direction signal includes the first stroke information.

[0014] In one embodiment, the input signal includes a control direction signal, and the main control module controls the steering structure to drive the jaw assembly to rotate based on the position information and the received switch signal and control direction signal. In response to the jaw assembly rotating from the first rotation position to the second rotation position, the main control module controls the steering structure to stop moving based on the received in-position signal, so that the jaw assembly stops at the second rotation position.

[0015] In one embodiment, the control direction signal includes a first control direction signal and a second control direction signal; the main control module has a first control mode, and in the first control mode, in response to the input module sending the switch signal and the first control direction signal, the main control module controls the steering structure movement to drive the jaw assembly to rotate along the first direction; in response to the input module sending the switch signal and the second control direction signal, the main control module controls the steering structure movement to drive the jaw assembly to rotate along the second direction.

[0016] In one embodiment, the rotational position includes a first end position, a second end position, and a plurality of intermediate positions between the first end position and the second end position; the input signal or the detection signal further includes an identification direction signal, the identification direction signal being configured to represent a rotational direction of the jaw assembly from the first rotational position to the second rotational position, and the main control module obtains position information of the jaw assembly at the second rotational position based on the identification direction signal and the in-position signal;

[0017] The main control module also has a second control mode; when the jaw assembly is located in the middle position, the main control module is in the first control mode, and when the jaw assembly is located in the first end position or the second end position, the main control module is in the second control mode;

[0018] In response to the jaw assembly being in the second end position and the main control module receiving the switch signal and the first control direction signal, the main control module is in the second control mode, and the main control module controls the steering structure to drive the jaw assembly to rotate along the first direction; in response to the jaw assembly being in the first end position and the main control module receiving the switch signal and the first control direction signal, the main control module is in the second control mode, and the main control module controls the steering structure to stop moving;

[0019] In response to the jaw assembly being in the second end position and the main control module receiving the switch signal and the second control direction signal, the main control module is in the second control mode, and the main control module controls the steering structure to stop moving; in response to the jaw assembly being in the first end position and the main control module receiving the switch signal and the second control direction signal, the main control module is in the second control mode, and the main control module controls the steering structure to move to drive the jaw assembly to rotate along the first direction.

[0020] In one embodiment, the rotation position includes a first end position, a second end position, and a plurality of intermediate positions between the first end position and the second end position; the surgical instrument further includes a first end switch and a second end switch; in response to the jaw assembly being in the first end position, the first end switch sends a first end signal to the main control module; in response to the jaw assembly being in the second end position, the second end switch sends a second end signal to the main control module; the main control module further has a second control mode; when the main control module does not receive the first end signal or the second end signal, the main control module enters the first control mode; when the main control module receives the first end signal or the second end signal, the main control module enters the second control mode;

[0021] In response to the jaw assembly being in the second end position and the main control module receiving the switch signal and the first control direction signal, the main control module is in the second control mode, and the main control module controls the steering structure to drive the jaw assembly to rotate along the first direction; in response to the jaw assembly being in the first end position and the main control module receiving the switch signal and the first control direction signal, the main control module is in the second control mode, and the main control module controls the steering structure to stop moving;

[0022] In response to the jaw assembly being in the second end position and the main control module receiving the switch signal and the second control direction signal, the main control module is in the second control mode, and the main control module controls the steering structure to stop moving; in response to the jaw assembly being in the first end position and the main control module receiving the switch signal and the second control direction signal, the main control module is in the second control mode, and the main control module controls the steering structure to move to drive the jaw assembly to rotate along the first direction.

[0023] In one embodiment, the rotation position includes a first end position, a second end position, and a plurality of intermediate positions between the first end position and the second end position; when the jaw assembly is in the first end position, in response to the main control module controlling the steering structure to move to drive the jaw assembly to rotate in a first direction, the steering structure sends a stall signal to the main control module; when the jaw assembly is in the second end position, in response to the steering structure receiving an instruction from the main control module to move the steering structure to drive the jaw assembly to rotate in a second direction, the steering structure sends a stall signal to the main control module;

[0024] The main control module controls the steering structure to stop moving when receiving the stall signal.

[0025] In one embodiment, the first rotation position includes the initial position of the jaw assembly when it is in a straight-hitting state, and the main control module obtains the position information of the jaw assembly based on a measurement signal indicating that the jaw assembly is located at the initial position; in response to the jaw assembly moving from the first rotation position to the second rotation position, the main control module updates the position information of the first rotation position based on the identification direction signal and the in-position signal to obtain the position information of the second rotation position.

[0026] In one embodiment, the first rotational position includes the initial position of the jaw assembly when it is in a straight-hitting state, and the main control module pre-stores the position information of the jaw assembly in the initial position; in response to the jaw assembly moving from the first rotational position to the second rotational position, the main control module updates the position information of the first rotational position according to the direction signal and the in-position signal to obtain the position information of the second rotational position.

[0027] In one embodiment, the detection module includes a sensing component and a trigger component, the sensing component is electrically connected to the main control module, and the trigger component is connected to the steering structure; in response to the movement of the steering structure, the jaw assembly rotates relative to the sleeve assembly, and the sensing component is triggered by the trigger component that moves with the steering structure to send the in-position signal to the main control module when the jaw assembly reaches the second rotation position.

[0028] In one embodiment, the steering structure includes a rotating member, and in response to the rotation of the rotating member, the jaw assembly rotates relative to the sleeve assembly. The trigger member is connected to the rotating member, and when the jaw assembly is in any of the rotational positions, the sensing component is triggered by the trigger member to send the arrival signal to the main control module.

[0029] In one embodiment, the trigger member includes a plurality of trigger parts, each of which is arranged at intervals and rotates in response to the rotation of the rotating member; when the jaw assembly is in the second rotation position, one of the trigger parts triggers the sensing component, causing the sensing component to send the arrival signal to the main control module.

[0030] In one embodiment, the sensing component includes a light source and a photoelectric sensor corresponding to the light source, and the triggering member includes a plurality of baffles arranged at intervals, with through grooves formed between adjacent baffles;

[0031] The trigger part is the baffle, and when the jaw assembly is in the rotation position, one of the baffles is located between the light source and the photoelectric sensor, blocking the photoelectric sensor from receiving light from the light source, and the photoelectric sensor sends a detection signal to the main control module when no light is received; or

[0032] The trigger part is the through slot. When the jaw assembly is in the rotation position, one of the through slots is located between the light source and the photoelectric sensor, so that the light emitted by the light source passes through the through slot and is received by the photoelectric sensor. When the photoelectric sensor receives the light, it sends a detection signal to the main control module.

[0033] In one embodiment, the steering structure also includes a motor assembly connected to the rotating member and a push rod transmission-connected to the rotating member, wherein the push rod is connected to the jaw assembly; in response to the drive of the motor assembly, the rotating member rotates to cause the push rod to move proximally or distally, thereby driving the jaw assembly to rotate.

[0034] In one embodiment, the sensing component includes a first sensing component and a second sensing component, and the in-position signal includes a first in-position signal sent when the first sensing component is triggered and a second in-position signal sent when the second sensing component is triggered; when the jaw assembly is in the initial position, one triggering part of the triggering member triggers the first sensing component, and the other triggering member triggers the second sensing component; when the jaw assembly is in the other rotational positions other than the initial position, only one of the first sensing component and the second sensing component is triggered by the triggering part.

[0035] In one embodiment, the steering structure includes a motor assembly, the motor assembly includes an output shaft, the trigger member is connected to the output shaft, and in response to the rotation of the output shaft, the sensing component is triggered by the trigger member that rotates with the output shaft to send a pulse signal to the main control module, and the arrival signal includes a preset number of the pulse signals.

[0036] In one embodiment, the triggering member includes a magnet, and the sensing component includes a Hall sensor provided around the magnet.

[0037] In one embodiment, the detection module includes a stroke recording device, which is configured to obtain second stroke information indicating that the jaw assembly is in a second rotational position, and the in-position signal includes the second stroke information.

[0038] In one embodiment, the travel recording device includes an encoder, the steering structure includes a motor assembly, and the encoder is disposed on an output shaft of the motor assembly.

[0039] In one embodiment, the input module includes a button electrically connected to the main control module, and the button is configured to send the switch signal to the main control module when operated.

[0040] In one embodiment, the input module includes a first rotation button and a second rotation button electrically connected to the main control module, and the control direction signal includes a first control direction signal and a second control direction signal;

[0041] The first rotation button and the second rotation button are both electrically connected to the main control module. The first rotation button is configured to send the switch signal and the first control direction signal to the main control module when operated, and the second rotation button is configured to send the switch signal and the second control direction signal to the main control module when operated.

[0042] In one embodiment, the input module includes a roller structure electrically connected to the main control module, and the control direction signal includes a first control direction signal and a second control direction signal;

[0043] The roller structure includes a roller, and the roller structure is configured to send the switch signal and the first control direction signal to the main control module when the roller is operated along a first direction, and to send the switch signal and the second control direction signal to the main control module when the roller is operated along a second direction.

[0044] In one embodiment, the jaw assembly includes an end actuator and an angle steering member connected to the end actuator, the angle steering member is provided with a mating portion, the locking structure has a locking portion, one of the locking portion and the mating portion is a locking tooth, and the other is a locking groove; when the locking structure is in an unlocked state, the locking portion is located in an unlocked position, and when the jaw assembly is in any of the rotational positions, the locking tooth is separated from the locking groove, and the locking tooth is aligned with the locking groove; when the locking structure is in a locked state, the locking portion is located in a locked position, and the locking tooth is engaged with the locking groove.

[0045] In one embodiment, the sleeve assembly includes an inner sleeve and an outer sleeve, and the locking structure also includes a protrusion provided on the locking portion and an elastic member that drives the locking portion to move, one end of the elastic member is connected to the inner sleeve, and the other end is connected to the locking portion; the outer sleeve is provided with a supporting portion, and the supporting portion abuts against the protrusion, and when the outer sleeve is in the proximal position, the locking portion is in the unlocked position so that the locking structure is in the unlocked state, and the elastic member is compressed; when the outer sleeve moves from the proximal position to the distal position, the supporting portion moves distally to release the elastic member, driving the locking portion to move from the unlocked position to the locked position, so that the locking structure switches from the unlocked state to the locked state.

[0046] In one embodiment, the first rotational position is adjacent to the second rotational position.

[0047] In one embodiment, the steering structure rotates to drive the jaw assembly to rotate. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] FIG1 is a schematic structural diagram of a surgical instrument according to an embodiment of the present disclosure;

[0049] FIG2 is a schematic structural diagram of a locking structure in a locked state according to an embodiment of the present disclosure;

[0050] FIG3 is a schematic structural diagram of a locking structure in a locked state according to an embodiment of the present disclosure;

[0051] FIG4 is a schematic structural diagram of a jaw assembly in a straight-hitting state according to an embodiment of the present disclosure;

[0052] FIG5 is a structural schematic diagram of the jaw assembly in a first position on the left side according to an embodiment of the present disclosure;

[0053] FIG6 is a structural schematic diagram of the jaw assembly in a second position on the left side according to an embodiment of the present disclosure;

[0054] FIG7 is a structural schematic diagram of the jaw assembly in a third position on the left side according to an embodiment of the present disclosure;

[0055] FIG8 is a schematic structural diagram of a steering structure and a detection module according to an embodiment of the present disclosure;

[0056] FIG9 is an exploded view of a detection module according to an embodiment of the present disclosure;

[0057] FIG10 is a cross-sectional view of the detection module when the jaw assembly is in an initial position according to an embodiment of the present disclosure;

[0058] FIG11 is a cross-sectional view of the detection module when the jaw assembly is in the first left position according to one embodiment of the present disclosure;

[0059] FIG12 is a cross-sectional view of the detection module when the jaw assembly is in the second position on the left side according to one embodiment of the present disclosure;

[0060] FIG13 is an exploded view of a driving structure according to an embodiment of the present disclosure;

[0061] FIG14 is a schematic structural diagram of a push rod driving a jaw assembly to rotate according to an embodiment of the present disclosure;

[0062] FIG15 is an exploded view of a locking structure according to an embodiment of the present disclosure;

[0063] FIG16 is a schematic structural diagram of an outer sleeve and a locking structure according to an embodiment of the present disclosure;

[0064] FIG17 is a schematic structural diagram of a roller structure according to an embodiment of the present disclosure;

[0065] 18 and 19 are schematic structural diagrams of a casing drive assembly according to an embodiment of the present disclosure;

[0066] FIG20 is a schematic structural diagram of a travel recording device according to an embodiment of the present disclosure.

[0067] Among them: 100, jaw assembly; 110, end effector; 120, angle steering member; 121, mating portion; 200, steering structure; 210, motor assembly; 211, output shaft; 220, transmission structure; 221, worm; 222, worm gear; 223, gear; 230, push rod; 231, toothed member; 232, rod body; 240, connecting rod; 300, locking structure; 310, locking portion; 311, protrusion; 320, elastic member; 400, sleeve assembly; 410, inner sleeve; 411, ejector seat; 420, outer sleeve; 421, abutment; 500, input module; 510, dial button; 520, roller; 600, detection module; 610, trigger member; 611, chassis; 612, baffle; 613, through slot; 620, Sensing component; 621, light source; 622, photoelectric sensor; 623, first sensing component; 624, second sensing component; 710, Hall sensor; 720, magnet; 800, sleeve drive assembly; 810, sleeve drive gear; 820, sleeve drive connecting rod; 830, follower; 850, sleeve movement button. DETAILED DESCRIPTION

[0068] 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.

[0069] It should be understood that the terms "proximal" and "distal" as used herein are relative to the clinician manipulating the surgical instrument. The term "proximal" refers to the portion closer to the clinician, while the term "distal" refers to the portion farther from the clinician. For example, the handle is considered proximal, and the jaw assembly is considered distal. For example, the proximal end of a component refers to the end relatively close to the handle, while the distal end refers to the end relatively close to the jaw assembly. However, surgical instruments can be used in many orientations and positions, so these terms expressing relative positional relationships are not intended to be limiting or absolute.

[0070] In this disclosure, unless otherwise clearly specified and limited, terms such as "connection" 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 connection; it can be directly connected or indirectly connected through an intermediate medium, and 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 this disclosure can be understood according to specific circumstances. It should be noted that when there are qualifiers before "connected" and "connected", 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.

[0071] The present disclosure relates to a surgical instrument, which may be a stapler, as shown in Figures 1 and 2. The surgical instrument includes a main control module (not shown in the figures), a steering structure 200, a sleeve assembly 400, a jaw assembly 100 and a locking structure 300. The jaw assembly 100 is rotatably connected to the sleeve assembly 400, the main control module is electrically connected to the steering structure 200, and the steering structure 200 is connected to the jaw assembly 100. In response to the control of the main control module, the steering structure 200 drives the jaw assembly 100 to rotate relative to the sleeve assembly 400. When the surgical instrument is working, the jaw assembly 100 and part of the sleeve assembly 400 extend into the human body. At this time, the jaw assembly 100 is in a straight-strike state (Figure 4 state), and the length direction of the jaw assembly 100 is collinear with the axial direction of the sleeve assembly 400. The medical staff operates the surgical instrument, causing the main control module to control the steering structure 200 to move, thereby driving the jaw assembly 100 to rotate until the jaw assembly 100 rotates to a suitable position. Then the medical staff controls the jaw assembly 100 to close and clamp the human tissue. The surgical instrument also includes a cutting knife assembly and a cutting knife drive assembly (not shown in the figure). After the jaw assembly 100 is closed, the medical staff can control the cutting knife drive assembly to drive the cutting knife assembly to fire, cut and suture the human tissue, and after the cutting and suturing are completed, the cutting knife drive assembly is controlled to drive the cutting knife assembly to retract. After the retraction is completed, the jaw assembly 100 is controlled to open to release the tissue. After the jaw assembly 100 is rotated to the straight-strike state, the surgical instrument is removed from the human body to complete the surgical operation.

[0072] After the medical staff controls the jaw assembly 100 to rotate to the appropriate position, the locking structure 300 locks the jaw assembly 100, so that the jaw assembly 100 is fixed in this position. The locking structure 300 has a locked state and an unlocked state. As shown in Figure 3, in the unlocked state, the locking structure 300 is separated from the jaw assembly 100, so that the jaw assembly 100 can rotate relative to the sleeve assembly 400; as shown in Figure 2, in the locked state, the locking structure 300 locks the jaw assembly 100, so that the jaw assembly 100 is restricted from rotating relative to the sleeve assembly 400. The positions of the jaw assembly 100 and the sleeve assembly 400 are relatively fixed, ensuring that the jaw assembly 100 will not rotate accidentally during the surgical operation. In the present disclosure, the jaw assembly 100 has multiple rotational positions, each of which is a different position reached when the jaw assembly 100 rotates relative to the sleeve assembly 400. In Figures 4 to 7, the jaw assembly 100 is in a rotational position. When the jaw assembly 100 is in any rotational position and the locking structure 300 is in the unlocked state, the locking structure 300 is aligned with the jaw assembly 100, allowing the locking structure 300 to move in the aligned direction to cooperate with the jaw assembly 100, thereby allowing the locking structure 300 to smoothly and stably switch to the locked state. For example, one of the locking structure 300 and the jaw assembly includes a locking tooth, and the other includes a locking groove. The locking tooth is aligned with the locking groove so that the locking structure 300 and the jaw assembly 100 are aligned. The locking tooth and the locking groove can be stably plugged together to switch the locking structure 300 to the locked state. If the jaw assembly 100 is in the non-rotational position, the locking tooth and the locking groove are misaligned. When the locking structure 300 switches to the locked state, the locking tooth and the locking groove cannot be stably plugged together. The misaligned locking tooth and the locking groove may cause relative movement when plugged together, causing the jaw assembly 100 to rotate additionally and deviate from the angle already adjusted by the medical staff.

[0073] The surgical instrument also includes a detection module electrically connected to the main control module. The detection module is configured to send a detection signal representing the status of the jaw assembly 100 to the main control module. As shown in FIG1 , the surgical instrument also includes an input module 500. In response to an operation by a medical professional, the input module 500 sends an input signal to the main control module. The main control module controls the operation of the steering structure 200 based on the detection signal and the input signal, thereby driving the rotation and stopping of the jaw assembly 100, causing the jaw assembly 100 to move from a first rotational position to a second rotational position. The first rotational position and the second rotational position do not refer to specific rotational positions. The first rotational position is the rotational position of the jaw assembly 100 before rotation, and the second rotational position is the rotational position of the jaw assembly 100 after rotation. That is, the jaw assembly 100 rotates from one rotational position to another rotational position to avoid the jaw assembly 100 being in a non-rotational position. The non-rotational position is a position between the first rotational position and the second rotational position. When the medical staff controls the jaw assembly 100 to rotate, the jaw assembly 100 will stop at the rotation position, ensuring that the jaw assembly 100 can be stably locked by the locking structure 300.

[0074] For example, the main control module controls the steering structure 200 to rotate to drive the jaw assembly 100 to rotate relative to the sleeve assembly 400 .

[0075] The input signal includes a switch signal, and the main control module is configured to control the steering structure 200 to move after receiving the switch signal to drive the jaw assembly 100 to rotate. That is, the medical staff can operate the input module 500 to cause the input module 500 to send a switch signal to start the steering structure 200 to rotate the jaw assembly 100. The state of the jaw assembly 100 includes the jaw assembly 100 being in the second rotational position. The detection signal includes an in-position signal. The in-position signal indicates that the jaw assembly 100 is in the second rotational position. During the process of the jaw assembly 100 rotating from the first rotational position to the second rotational position, the main control module controls the steering structure 200 to stop moving after receiving the in-position signal, so that the jaw assembly 100 stops at the second rotational position.

[0076] In one embodiment, the input signal also includes a control direction signal for indicating the rotation of the jaw assembly 100. Based on the received switch signal and the control direction signal, the main control module selectively controls the jaw assembly 100 to rotate in a first direction or a second direction via the steering structure 200. The first direction and the second direction are opposite, for example, the first direction is clockwise and the second direction is counterclockwise.

[0077] The input signal or detection signal includes an identification direction signal, which is configured to represent the rotational direction of the jaw assembly 100 from the first rotational position to the second rotational position. The main control module obtains position information of the jaw assembly 100 at the second rotational position based on the identification direction signal and the in-position signal. After the jaw assembly 100 reaches the second rotational position, the main control module can obtain the position information and thus determine the rotational position of the jaw assembly 100.

[0078] In one embodiment, the input signal includes a control direction signal, and the identification direction signal includes the control direction signal. Upon receiving the switch signal and the control direction signal, the main control module controls the rotation direction of the jaw assembly 100 based on the control direction signal, causing the jaw assembly 100 to rotate from a first rotational position to a second rotational position. In other words, the control direction signal can indicate the rotational direction of the jaw assembly 100 from the first rotational position to the second rotational position. For example, the first rotational position and the second rotational position are adjacent.

[0079] In another embodiment, the jaw assembly state includes a rotation direction of the jaw assembly 100 from the first rotation position to the second rotation position, and the detection signal includes an identification direction signal.

[0080] For example, the detection module includes a stroke recording device, which is configured to obtain first stroke information representing the rotation direction of the jaw assembly 100 from the first rotation position to the second rotation position, and the identification direction signal includes the first stroke information.

[0081] For example, the stroke recording device includes an encoder, and the steering structure 200 includes a motor assembly 210. In response to the rotation of the motor assembly 210, the jaw assembly 100 rotates from a first rotation position to a second rotation position. The encoder is arranged on the output shaft 211 of the motor assembly 210 for detecting the rotation direction of the output shaft 211. The rotation direction of the output shaft 211 is related to the rotation direction of the jaw assembly 100. The first stroke information represents the rotation direction of the output shaft, which can represent the rotation direction of the jaw assembly 100.

[0082] The manner in which the main control module obtains the position information of the jaw assembly 100 at the second rotation position based on the identification direction signal and the in-position signal is described below.

[0083] In one embodiment, the input signal includes a switch signal and a control direction signal. The main control module controls the steering structure 200 to drive the jaw assembly 100 to rotate based on the position information, the received switch signal and the control direction signal. In response to the jaw assembly 100 rotating from the first rotation position to the second rotation position, the main control module controls the steering structure 200 to stop moving based on the received in-position signal, so that the jaw assembly 100 stops at the second rotation position.

[0084] The control direction signal includes a first control direction signal and a second control direction signal. The main control module has a first control mode. In the first control mode, in response to the input module 500 sending a switch signal and a first control direction signal to the main control module, the main control module controls the steering structure 200 to drive the jaw assembly 100 to rotate in the first direction; in response to the input module 500 sending a switch signal and a second control direction signal to the main control module, the main control module controls the steering structure 200 to drive the jaw assembly 100 to rotate in the second direction.

[0085] The jaw assembly 100 has a rotation limit when rotating. For example, when the jaw assembly 100 is in the first end position, it reaches the limit position of rotation in the first direction. At this time, the driving force of the steering structure 200 is insufficient to drive the jaw assembly 100 to continue rotating in the first direction. At this time, if the medical staff again sends the first control direction signal to the main control module through the input module 500, if the main control module controls the steering structure to move to drive the jaw assembly 100 to move in the first direction, the jaw assembly 100 cannot continue to rotate, which may cause damage to the motor assembly 210. Similarly, when the jaw assembly 100 is in the second end position and reaches the limit position of rotation in the second direction, when the main control module receives the second control direction signal, if the main control module controls the steering structure to move to drive the jaw assembly 100 to move in the second direction, it may also cause damage to the motor assembly 210.

[0086] The rotation position includes the above-mentioned first end position, the above-mentioned second end position and the middle position, the first end position is located on one side of the middle position, the second end position is located on the other side of the middle position, and the middle position is located between the first end position and the second end position.

[0087] In one embodiment, the main control module further has a second control mode. The main control module learns the rotational position of the jaw assembly 100 based on the position information. When the jaw assembly 100 is in the middle position, the main control module is in the first control mode; when the jaw assembly 100 is in the first end position or the second end position, the main control module is in the second control mode.

[0088] In response to the jaw assembly 100 being in the second end position and the main control module receiving the switch signal and the first control direction signal, the main control module is in the second control mode, and when the jaw assembly 100 is in the second end position, the main control module controls the steering structure 200 to move to drive the jaw assembly 100 to rotate in the first direction; in response to the jaw assembly 100 being in the first end position and the main control module receiving the switch signal and the first control direction signal, the main control module is in the second control mode, and when the jaw assembly 100 is in the first end position, the main control module controls the steering structure 200 to stop rotating;

[0089] In response to the jaw assembly 100 being in the second end position and the main control module receiving the switch signal and the second control direction signal, the main control module is in the second control mode, and the main control module controls the steering structure 200 to stop moving; in response to the jaw assembly 100 being in the first end position and the main control module receiving the switch signal and the second control direction signal, the main control module is in the second control mode, and the main control module controls the steering structure 200 to move to drive the jaw assembly 100 to rotate in the first direction.

[0090] In the second control mode, when the jaw assembly 100 is in the first end position, the jaw assembly 100 is at the extreme position of rotation in the first direction, and the main control module controls the steering structure 200 to stop moving, so that the motor assembly 210 does not drive the jaw assembly 100 in the first end position to rotate in the first direction, thereby avoiding damage to the motor assembly 210. When the jaw assembly 100 is in the second end position, the jaw assembly 100 is at the extreme position of rotation in the second direction, and the main control module controls the steering structure 200 to stop moving, so that the motor assembly 210 does not drive the jaw assembly 100 in the second end position to rotate in the second direction, thereby avoiding damage to the motor assembly 210.

[0091] In other embodiments, the surgical instrument includes a first end switch and a second end switch (not shown in the figure). In response to the jaw assembly 100 being in the first end position, the first end switch sends a first end signal to the main control module. In response to the jaw assembly 100 being in the second end position, the second end switch sends a second end signal to the main control module. When the main control module does not receive the first end signal or the second end signal, the main control module enters a first control mode. When the main control module receives the first end signal or the second end signal, the main control module enters a second control mode. In the second control mode, the main control module controls the jaw assembly 100 in the same manner as the above-mentioned second control mode.

[0092] For example, the first end switch and the second end switch are both disposed on the sleeve assembly 400. When the jaw assembly 100 rotates to the first end position, the first end switch is triggered, causing the first end switch to send a first end signal. When the jaw assembly 100 rotates to the second end position, the second end switch is triggered, causing the second end switch to send a second end signal. For another example, the first end switch and the second end switch are both disposed within the housing of the surgical instrument. When the jaw assembly 100 rotates to the first end position, the steering structure 200 triggers the first end switch, for example, by triggering the first end switch via the worm gear 222, causing the first end switch to send a first end signal. When the jaw assembly 100 rotates to the second end position, the steering structure 200 triggers the second end switch, for example, by triggering the second end switch via the worm gear 222, causing the second end switch to send a second end signal.

[0093] In another embodiment, when the jaw assembly 100 is in the first end position, in response to the main control module controlling the steering structure 200 to move to drive the jaw assembly 100 to rotate in the first direction, the steering structure 200 sends a stall signal to the main control module. When the jaw assembly 100 is in the second end position, in response to the main control module controlling the steering structure 200 to move to drive the jaw assembly 100 to rotate in the second direction, the steering structure 200 sends a stall signal to the main control module. When the main control module receives the stall signal, it controls the steering structure 200 to stop moving. That is, when the jaw assembly 100 is in the first end position, the main control module controls the jaw assembly 100 to rotate in the first direction upon receiving the switch signal and the first control direction signal. Since the jaw assembly 100 has reached the limit position for rotation in the first direction and cannot continue to rotate in the first direction, the motor assembly 210 of the steering structure 200 is stalled. The motor assembly 210 sends a stall signal to the main control module, and the main control module controls the steering structure 200 to stop moving to prevent damage to the motor. Similarly, when the jaw assembly 100 is at the second end position, the main control module controls the jaw assembly 100 to rotate in the second direction, which will also cause the motor assembly 210 to stall. The main control module controls the steering structure 200 to stop moving to avoid damage to the motor.

[0094] The main control module obtains position information by identifying direction signals and in-position signals in the following ways:

[0095] For example, the rotation position includes an initial position, a first position on the left, a second position on the left, a third position on the left, a first position on the right, a second position on the right, and a third position on the right. When the jaw assembly 100 is in the straight hitting state, it is in the initial position, the first end position is the third position on the left, the second end position is the third position on the right, and the other positions are middle positions. As shown in Figures 4 to 7, the jaw assembly 100 is in the initial position, the first position on the left, the second position on the left, and the third position on the left, respectively. When the jaw assembly 100 is in the rotation position on the right, it is symmetrical with the rotation position on the left, and no further details are given here. Of course, in other embodiments, the rotation positions pre-stored in the main control module can be more or less, such as also including the fourth position on the left and the fourth position on the right. In this disclosure, only the example of having three positions on both sides of the initial position is used for illustration, and no specific limitation is made.

[0096] In one embodiment, when the jaw assembly 100 is not in operation, it is in a straight-opening state. The main control module obtains position information based on the detection signal indicating that the jaw assembly 100 is in an initial position. The manner in which the main control module obtains information based on the detection signal indicating that the jaw assembly 100 is in the initial position is described below. In response to the jaw assembly 100 rotating from the first rotational position to the second rotational position, the main control module updates the position information based on the direction recognition signal and the in-position signal, so that the position information reflects the current rotational position of the jaw assembly 100.

[0097] For example, when operating a surgical instrument for the first time and the jaw assembly 100 is in the initial position, the main control module enters the first control mode. When the medical staff inputs a switch signal and a first control direction signal to the main control module through the input module 500, the main control module controls the jaw assembly 100 to rotate in the first direction and move from the first rotation position to the second rotation position. The first rotation position here is the initial position, and the second rotation position is the first position on the left. When the jaw assembly 100 rotates along the first direction to the first position on the left, it reaches the second rotation position, and the main control module receives an in-position signal. At this time, the main control module stops driving the steering structure 200, so that the jaw assembly 100 stops at the second rotation position and updates the position information. During the process of the jaw assembly 100 rotating from the first rotation position to the second rotation position, the input module or the detection module sends an identification direction signal to the main control module. At this time, the identification direction signal indicates that the jaw assembly rotates along the first direction. The main control module updates the position information of the jaw assembly 100 before rotation, that is, the position information of the first rotation position (the jaw assembly 100 is in the initial position) to the position information of the second rotation position, that is, the next rotation position to the left of the first rotation position, the first position on the left, based on the identification direction signal (representing that the jaw assembly 100 rotates along the first direction) and the in-position signal (the jaw assembly 100 stops at the second rotation position).

[0098] When the jaw assembly 100 is in the first position on the left, the main control module enters the first control mode and operates the surgical instrument again to input the switch signal and the first control direction signal to the main control module through the input module 500. When the main control module receives the switch signal and the first control direction signal, the main control module controls the jaw assembly 100 to rotate from the first rotation position to the second rotation position along the first direction. At this time, the first rotation position is the first position on the left, and the second rotation position is the second position on the left. When the main control module receives an identification direction signal, the identification direction signal indicates that the jaw assembly 100 rotates in the first direction. When the main control module receives an in-position signal, it indicates that the jaw assembly 100 rotates to the second rotation position. The main control module controls the jaw assembly 100 to stop at the second rotation position and updates the position information. The main control module updates the position information of the first rotation position, that is, the position information of the jaw assembly 100 before rotation (the jaw assembly 100 is in the first position on the left), to the position information of the second rotation position, that is, the next rotation position to the left of the first rotation position, the second position on the left, based on the identification direction signal (indicating that the jaw assembly 100 rotates in the first direction) and the in-position signal (the jaw assembly 100 stops at the second rotation position).

[0099] Similarly, when the jaw assembly 100 is in the initial position, upon receiving the switch signal and the second control direction signal, the main control module controls the steering structure 200 to drive the jaw assembly 100 to rotate in the second direction toward the second rotational position. After determining that the jaw assembly 100 is in the second rotational position based on the in-position signal, the main control module controls the jaw assembly 100 to stop at the second rotational position and updates the position information of the first rotational position (initial position) to the position information of the second rotational position (first position on the right). The method for updating the position information of the jaw assembly 100 at other rotational positions is the same as described above and will not be repeated here.

[0100] In another embodiment, when the jaw assembly 100 is not in operation, the jaw assembly 100 is in a straight-opening state, and the main control module pre-stores position information of the jaw assembly 100 in an initial position. When the jaw assembly 100 rotates from the initial position to an adjacent rotational position, the first rotational position includes the initial position, and the second rotational position includes the left first position or the right first position. When the jaw assembly 100 rotates from the first rotational position to the second rotational position, the main control module updates the position information to the position information of the current rotational position of the jaw assembly 100 based on the identification direction signal and the in-position signal. The manner in which the main control module updates the position information based on the identification direction signal and the in-position signal is the same as above.

[0101] In one embodiment, the detection module 600 includes a sensing component 620 and a triggering component 610. The sensing component 620 is electrically connected to the main control module, and the triggering component 610 is connected to the steering structure 200. In response to the movement of the steering structure 200, the jaw assembly 100 rotates relative to the cannula assembly 400, and the triggering component 610 is driven by the steering structure to move. The moving triggering component 610 triggers the sensing component 620, and the triggered sensing component 620 sends a position signal to the main control module.

[0102] In one embodiment, as shown in Figures 8 to 10, the steering structure 200 includes a rotating member. In response to the rotation of the rotating member, the jaw assembly 100 rotates relative to the sleeve assembly 400. The trigger member 610 is connected to the rotating member. When the rotating member rotates, the trigger member 610 rotates. When the jaw assembly 100 reaches any rotational position, the sensor component 620 is triggered by the trigger member 610 to send a position signal to the main control module. The main control module only receives the position signal when the jaw assembly 100 is in a rotational position.

[0103] When the jaw assembly 100 is in any rotational position, the trigger member 610 is in a position that can trigger the sensing component 620. In response to the sensing component 620 being triggered by the trigger member 610, the sensing component 620 sends an in-position signal to the main control module. When the main control module receives the in-position signal, it controls the jaw assembly 100 to stop moving.

[0104] When the jaw assembly 100 is in any rotational position, the sensing component 620 is triggered by the triggering member 610. In response to the main control module receiving the input signal from the input module, the main control module controls the steering structure 200 to drive the jaw assembly 100 to rotate according to the current position information of the jaw assembly 100 and the input signal, so that the jaw assembly 100 moves from the first rotational position to the second rotational position. When the jaw assembly 100 starts to rotate and leaves the first rotational position, the triggering member 610 moves under the drive of the rotating member so that it is in a position where it cannot trigger the sensing component 620, so that The sensing component 620 is in an untriggered state. After the jaw assembly 100 moves to the second rotation position, the trigger member 610 reaches the position that can trigger the sensing component 620 to trigger the sensing component 620 again, so that the sensing component 620 sends an in-position signal to the main control module again, which now represents that the jaw assembly 100 moves to the second rotation position. After receiving the in-position signal, the main control module controls the steering structure 200 to stop moving, so that the jaw assembly 100 stops at the second rotation position, that is, the main control module controls the jaw assembly 100 to rotate from the first rotation position to the adjacent second rotation position.

[0105] The trigger member 610 includes multiple triggering portions, each spaced apart. In response to the rotation of the rotating member, each triggering portion of the trigger member 610 rotates. When the jaw assembly 100 is in any rotational position, one of the triggering portions triggers the sensor component 620, causing the sensor component 620 to transmit a position signal to the main control module. When the jaw assembly 100 rotates from a first rotational position to a second rotational position, the trigger member 610 switches from triggering the sensor component 620 via one triggering portion to triggering the sensor component 620 via another triggering portion.

[0106] As shown in Figures 9 and 10, the sensing component 620 includes a light source 621 and a photoelectric sensor 622 corresponding to the light source 621. The photoelectric sensor 622 is electrically connected to the main control module. The trigger 610 includes a plurality of spaced baffles 612, with through slots 613 formed between adjacent baffles 612. The trigger 610 also includes a chassis 611, with the baffles 612 arranged in a ring on the chassis 611. The photoelectric sensor 622 is used to receive light emitted by the light source 621 and generate an electrical signal (a first signal) upon receiving light, and another electrical signal (a second signal) upon not receiving light. It should be noted that the first signal and the second signal can be two different signals, or one can send an electrical signal to the main control module while the other does not send an electrical signal to the main control module. It is sufficient that the main control module receives different signals when the photoelectric sensor 622 receives light and when it does not receive light. In this disclosure, the first signal and the second signal are used as an example for illustration, without specific limitation. When the trigger 610 rotates, the baffle 612 and the through slot 613 are alternately located between the light source 621 and the photoelectric sensor 622. When the baffle 612 is located between the light source 621 and the photoelectric sensor 622, the baffle 612 blocks the light emitted by the light source 621, and the photoelectric sensor 622 cannot receive the light; when the through slot 613 is located between the light source 621 and the photoelectric sensor 622, the light emitted by the light source 621 can pass through the through slot 613 and be received by the photoelectric sensor 622.

[0107] In one embodiment, the trigger portion is a baffle 612. When the jaw assembly 100 is in the first rotation position and is not rotated, one of the baffles 612 is located between the light source 621 and the photoelectric sensor 622, blocking the photoelectric sensor 622 from receiving light from the light source 621, and sending a second signal to the main control module. The in-place signal includes the second signal. After receiving the second signal, the main control module determines that the jaw assembly 100 is in the rotation position; in conjunction with Figures 10 and 11, when the jaw assembly 100 rotates and the trigger portion rotates out of the position between the light source 621 and the photoelectric sensor 622, the through slot 613 is located between the light source 621 and the photoelectric sensor 622, and the photoelectric sensor 622 receives light, thereby sending a first signal to the main control module. The first signal is not an in-place signal. After receiving the first signal, the main control module will not control the steering structure 200 to stop moving. When the jaw assembly 100 moves to the second rotation position, another baffle 612 moves between the light source 621 and the photoelectric sensor 622 to block the photoelectric sensor 622 from receiving light from the light source 621. The photoelectric sensor 622 sends a second signal to the main control module. The arrival signal includes the second signal. After receiving the second signal, the main control module controls the steering structure 200 to stop moving, so that the jaw assembly 100 stops at the rotation position.

[0108] In another embodiment, the trigger portion is a through slot 613. When the jaw assembly 100 is in the first rotation position and does not rotate, one of the through slots 613 is between the light source 621 and the photoelectric sensor 622. The photoelectric sensor 622 can receive light from the light source 621. The photoelectric sensor 622 sends a first signal to the main control module. The in-place signal includes the first signal. After receiving the first signal, the main control module determines that the jaw assembly 100 is in the rotation position; when the jaw assembly 100 rotates, the trigger portion rotates to make the through slot 613 disengage from the position between the light source 621 and the photoelectric sensor 622. The baffle 612 is located between the light source 621 and the photoelectric sensor 622. The photoelectric sensor 622 does not receive light and sends a second signal to the main control module. The second signal is not an in-place signal. After receiving the second signal, the main control module will not control the steering structure 200 to stop moving. When the jaw assembly 100 rotates to the second rotation position, the other through slot 613 moves between the light source 621 and the photoelectric sensor 622. The photoelectric sensor 622 can receive light from the light source 621. The photoelectric sensor 622 sends a first signal to the main control module. The arrival signal includes the first signal. At this time, the main control module controls the steering structure 200 to stop moving after receiving the first signal, so that the jaw assembly 100 stops at the rotation position.

[0109] As shown in FIG13 , the steering structure 200 further includes a motor assembly 210, which is in transmission connection with the rotating member and is configured to drive the rotating member to rotate. The steering structure 200 further includes a push rod 230, which is in transmission connection with the rotating member and is connected to the jaw assembly 100. In response to the rotation of the rotating member, the push rod 230 moves proximally or distally to drive the jaw assembly 100 to rotate. For example, referring to FIG13 and FIG14 , the jaw assembly 100 includes an end effector 110 and an angle steering member 120 connected to the end effector 110. The angle steering member 120 is rotatably connected to the sleeve assembly 400. The push rod 230 is connected to the angle steering member 120. When the rotating member rotates, the push rod 230 is driven to move proximally or distally to drive the angle steering member 120 to rotate, thereby driving the jaw assembly 100 to rotate relative to the sleeve assembly 400. For example, the steering structure also includes a connecting rod 240, the proximal end of the connecting rod 240 is rotatably connected to the distal end of the push rod 230, and the distal end of the connecting rod 240 is rotatably connected to the angle steering member 120. When the push rod 230 moves proximally or distally, it drives the connecting rod 240 to move and then drives the angle steering member 120 to rotate, thereby driving the jaw assembly 100 to rotate.

[0110] In one embodiment, the rotating member includes a worm gear 222, and the transmission assembly further includes a worm 221 connected to the motor output shaft 211. The worm gear 222 cooperates with the worm gear 221. When the main control module controls the motor assembly 210 to rotate, the motor assembly 210 drives the worm gear 221 to rotate via the output shaft 211. The worm gear 221 drives the worm gear 222 to rotate. The worm gear 222 is connected to the trigger member 610. When the worm gear 222 rotates, the trigger member 610 is rotated. The push rod 230 includes a toothed member 231 connected to the rod body 232. For example, the toothed member 231 is a rack that meshes with the gear 223. In response to the rotation of the output shaft 211, the worm gear 221 drives the worm gear 222 to rotate. The worm gear 222 drives the gear 223 to rotate. The gear 223 drives the rod body 232 to move proximally or distally via the toothed member 231.

[0111] For example, as shown in Figures 9 to 11, the chassis 611 of the trigger member 610 is roughly semicircular, and the trigger parts are arranged on the chassis 611. The sensing component 620 includes a first sensing component and a second sensing component, and the in-position signal includes a first in-position signal sent when the first sensing component is triggered and a second in-position signal sent when the second sensing component is triggered. The first sensing component and the second sensing component both include a light source 621 and a photoelectric sensor 622. The first sensing component and the second sensing component are arranged relative to each other. When the jaw assembly 100 is in the initial position, one trigger part of the trigger member 610 is configured to trigger the first sensing component, and the other trigger part is configured to trigger the second sensing component. For example, the trigger member 610 has a left end trigger part and a right end trigger part. When the jaw assembly 100 is in the direct hitting state, the left end trigger part is located between the light source 621 and the photoelectric sensor 622 of the first sensing component, and the right end trigger part is located between the light source 621 and the photoelectric sensor 622 of the second sensing component. The main control module receives the first in-position signal and the second in-position signal at the same time, and obtains the position information of the jaw assembly 100 in the initial position when receiving the first in-position signal and the second in-position signal at the same time.

[0112] When the jaw assembly 100 leaves the initial position and is in another rotational position, only one of the first sensor component and the second sensor component is triggered by the trigger 610, and the main control module can only receive one of the first in-position signal and the second in-position signal. When the steering structure 200 drives the jaw assembly 100 to rotate from the initial position, when the trigger 610 rotates with the steering structure 200, the jaw assembly 100 rotates in the first direction and the trigger 610 rotates to the left. Taking the trigger portion including the baffle 612 as an example, the trigger 610 moves from the position shown in Figure 10 to the position shown in Figure 11. The left end baffle 612 leaves the position between the light source 621 and the photoelectric sensor 622 of the first sensor component 623, and the through slot 613 is located between the light source 621 and the photoelectric sensor 622 of the first sensor component 623; the right end baffle 612 leaves the position between the light source 621 and the photoelectric sensor 622 of the second sensor component 624 and no longer acts on the second sensor component 624. At this time, the main control module does not receive the first in-position signal or the second in-position signal, and the main control module continues to control the steering structure 200 to rotate until a baffle 612 is located between the light source 621 of the first sensing component 623 and the photoelectric sensor 622, causing the main control module to receive the first in-position signal but fail to receive the second in-position signal, thereby causing the main control module to control the steering structure 200 to stop moving. If the jaw assembly 100 is in the first left position, the medical staff again sends a switch signal and a first control direction signal to the main control module through the input module, and the trigger member 610 rotates to the left again. After the main control module receives the first in-position signal again, it controls the steering structure 200 to stop moving, and the trigger member 610 moves from the position shown in Figure 11 to the position shown in Figure 12. If the jaw assembly 100 is in the second position on the left, the medical staff sends a switch signal and a second control direction signal to the main control module through the input module, and the trigger member 610 rotates to the right, and the trigger member 610 moves from the position shown in Figure 12 to the position shown in Figure 11. The first sensor component 623 is triggered by the baffle 612 again, while the second sensor component 624 is not triggered, and the main control module can only receive the first in-position signal.

[0113] When the jaw assembly 100 rotates, the main control module receives an in-position signal and stops driving the steering structure 200. The in-position signal can be a first in-position signal and / or a second in-position signal. When the main control module updates the position information by identifying the direction signal and the in-position signal, the in-position signal can be the first in-position signal and / or the second in-position signal.

[0114] In one embodiment of the present disclosure, as shown in FIG20 , the motor assembly 210 includes an output shaft 211, the rotating member includes the output shaft 211, and the trigger member 610 is connected to the output shaft 211. In response to the rotation of the output shaft 211, the jaw assembly 100 rotates relative to the sleeve assembly 400. The sensing component 620 is triggered by the trigger member 610 rotating with the output shaft 211 to send a position signal to the main control module. The position signal includes a preset number of pulse signals. When the output shaft 211 rotates a specified angle, such as 180° or 360°, the detection module 600 sends a pulse signal to the main control module. The number of pulse signals is used to represent the number of rotations of the output shaft 211. When the jaw assembly 100 moves from one rotational position to an adjacent rotational position, the number of rotations of the output shaft 211 is a constant value. The arrival signal includes a preset number of pulse signals. The number of rotations of the output shaft 211 is positively correlated with the rotation stroke of the jaw assembly 100. The preset number of pulse signals represents that the output shaft 211 rotates a certain number of times, driving the jaw assembly 100 to rotate from the first rotation position to the second rotation position.

[0115] For example, the trigger member 610 includes a magnet 720 , and the sensing component 620 includes a Hall sensor 710 disposed around the magnet 720 . When the magnet 720 rotates along with the output shaft 211 of the motor, the Hall sensor 710 senses the magnet 720 and outputs a pulse signal.

[0116] In another embodiment, the detection module includes a stroke recording device configured to obtain second stroke information indicating that the jaw assembly 100 is in a rotational position, and the in-position signal includes the second stroke information. The second stroke information indicates the rotational stroke of the jaw assembly 100. When the jaw assembly 100 rotates from any first rotational position to an adjacent second rotational position, the rotational stroke of the jaw assembly 100 is the same. Therefore, whenever the main control module determines that the jaw assembly 100 has moved a specified stroke based on the stroke information, it determines that the jaw assembly 100 is in a rotational position.

[0117] For example, the stroke recording device includes the encoder as described above, which is arranged on the output shaft 211 of the motor assembly 210. In response to the rotation of the output shaft 211 of the motor assembly 210, the encoder detects the number of rotations of the output shaft 211 and sends second stroke information to the main control module. The second stroke information represents the number of rotations of the output shaft 211. The number of rotations of the output shaft 211 is positively correlated with the rotation stroke of the jaw assembly 100. The main control module can obtain the rotation stroke of the jaw assembly 100 based on the second stroke information, and then determine whether the jaw assembly 100 is in the rotation position, so that the second stroke information represents that the jaw assembly is in the second rotation position.

[0118] For example, the encoder can be a Hall effect encoder, as shown in FIG20 , which includes a Hall effect sensor 710 and a magnet 720. The magnet 720 is disposed around the output shaft 211 of the motor. When the magnet 720 rotates with the output shaft 211 of the motor, the Hall effect sensor 710 senses the magnet 720 and outputs a pulse signal. The travel information includes the pulse signal. The main control module determines the number of motor revolutions based on the number of pulse signals and the direction of motor rotation determined by the Hall effect sensor 710. When the output shaft 211 of the motor rotates, the Hall effect sensor 710 outputs a pulse signal for each revolution. The multiple pulse signals constitute the second travel information.

[0119] In one embodiment, the input module includes a button electrically connected to the main control module, and the button is configured to send a switch signal to the main control module when operated.

[0120] In one embodiment, the buttons include a first rotation button and a second rotation button, both of which are electrically connected to the main control module. For example, the input module further includes a dial button 510 provided on the housing. A medical professional can activate the first rotation button by toggling the dial button 510 to the left, and activate the second rotation button by toggling the dial button 510 to the right. When the first rotation button is pressed, a switch signal and a first control direction signal are transmitted to the main control module. When the second rotation button is pressed, a switch signal and a second control direction signal are transmitted to the main control module.

[0121] In another embodiment, the input module 500 includes a roller structure, as shown in FIG17 , the roller structure includes a roller 520 rotatably disposed on the housing of the surgical instrument, and an encoder assembly electrically connected to the main control module. A portion of the roller 520 is exposed outside the housing for operation by medical personnel, and the other portion is located inside the housing. The encoder assembly is located inside the housing and is used to detect the rotation of the roller 520 and generate a switch signal and a first control direction signal or a switch signal and a second control direction signal according to the rotation direction of the roller. The medical personnel can toggle the roller 520 in the first direction or in the second direction. 520. When the medical staff turns the roller 520 in the first direction, the encoder assembly sends a switch signal and a first control direction signal to the main control module, and the main control module controls the steering structure 200 to drive the jaw assembly 100 to rotate in the first direction; when the medical staff turns the roller 520 in the second direction, the encoder assembly sends a switch signal and a second control direction signal to the main control module, and the main control module controls the steering structure 200 to drive the jaw assembly 100 to rotate in the second direction. The direction in which the medical staff turns the roller 520 is the same as the direction in which the jaw assembly 100 rotates, which facilitates intuitive operation by the medical staff.

[0122] If a medical professional operates the input module 500 to send an input signal, the main control module controls the jaw assembly 100 to rotate to a rotation position. Before the jaw assembly 100 completes its rotation, the medical professional inputs another input signal again. The main control module will not process and execute the subsequent input signal until the jaw assembly 100 completes its rotation and stops at the rotation position. The medical professional then sends an input signal through the input module 500, and the main control module will control the jaw assembly 100 to rotate again based on the input signal and position information. That is, if multiple input signals are input during a single rotation of the jaw assembly 100, only the first input signal is processed. When the main control module updates the position information using the input signal and the detection signal, the input signal is the processed input signal.

[0123] As shown in Figures 2 and 3, the locking structure 300 has a locking portion 310, and the angle deflection member 120 is provided with a mating portion 121. One of the locking portion 310 and the mating portion 121 includes a locking tooth, and the other includes a locking groove. In this embodiment, the locking portion 310 includes a locking groove and the mating portion 121 includes a plurality of locking teeth. In other embodiments, the locking portion 310 may include locking teeth and the mating portion 121 may include locking grooves, which are not specifically limited in this disclosure. When the locking structure 300 is in the unlocked state, the locking portion 310 is in the unlocked position, and the locking portion 310 is separated from the mating portion 121, allowing the angle deflection member 120 to rotate relative to the sleeve assembly 400. When the locking structure 300 switches to the locked state, the locking portion 310 is in the locked position, and the locking portion 310 and the mating portion 121 are mated, for example, by the locking groove and the locking teeth being plugged into each other, so that the angle deflection member 120 cannot continue to rotate. When the locking portion 310 is in the unlocked state and the jaw assembly 100 is in any rotational position, the locking groove is aligned with a locking tooth. When the locking portion 310 moves distally, the locking tooth can be smoothly inserted into the locking groove. The jaw assembly 100 of the present disclosure can only stop at one rotational position during rotation. Therefore, after the jaw assembly 100 is rotated, the locking tooth is aligned with the locking groove, allowing the locking structure 300 to stably lock the jaw assembly 100.

[0124] As shown in Figures 15 and 16, the sleeve assembly 400 includes an inner sleeve 410 and an outer sleeve 420. The outer sleeve 420 is looped over the inner sleeve 410 and can move relative to the inner sleeve 410. The outer sleeve 420 has a proximal position and a distal position. In response to the operation of the medical staff, the outer sleeve 420 moves from the proximal position to the distal position. This process causes the locking structure 300 to switch from an unlocked state to a locked state. For example, the locking structure 300 also includes a protrusion 311 arranged on the locking portion 310 and an elastic member 320 for driving the locking portion 310 to move. One end of the elastic member 320 is connected to the inner sleeve 410, and the other end is connected to the locking portion 310. The outer sleeve 420 is provided with a supporting portion 421, and the supporting portion 421 abuts against the protrusion 311. When the outer sleeve 420 is in the proximal position, the locking portion 310 is in the unlocked position and separated from the matching portion 121, and the elastic member 320 is compressed; when the outer sleeve 420 moves from the proximal position to the distal position, the protrusion 311 moves distally with the outer sleeve 420, so that the elastic member 320 is released. The released elastic member 320 drives the locking portion 310 to move distally through the elastic force, so that the locking portion 310 switches to the locked position and is plugged and locked with the matching portion 121. After the operation is completed, the jaw assembly 100 needs to be returned to the straight-hitting state to be removed from the patient's body. At this time, the medical staff operates the outer sleeve 420 to move from the distal position to the proximal position, and the protrusion 311 moves proximally with the outer sleeve 420, causing the locking member to move proximally to the unlocking position and compress the elastic member 320, thereby allowing the jaw assembly 100 to rotate freely and return to the straight-hitting state.

[0125] As shown in Figures 17 to 19, the surgical instrument includes a cannula drive assembly 800, which is connected to the motor assembly 210. The cannula drive assembly 800 is configured to drive the cannula assembly 400 from a proximal position to a distal position, or vice versa, in response to rotation of the motor assembly 210. The cannula drive assembly 800 includes a cannula drive gear 810, a follower 830, and a cannula drive link 820. The cannula drive gear 810 is coaxially arranged with the gear 223. In response to rotation of the motor assembly 210, the cannula drive gear 810 rotates synchronously with the gear 223. The cannula drive gear 810 meshes with the follower 830. The cannula drive gear 810 is configured to drive the follower 830 to rotate when it rotates. The follower 830 is rotatably connected to the proximal end of the cannula drive link 820, and the distal end of the cannula drive link 820 is rotatably connected to the outer cannula 420. The surgical instrument also includes a cannula movement button 850, which is electrically connected to the main control module. When the surgical instrument is not in use, the outer cannula 420 is in the proximal position. When the user presses the cannula movement button 850, the main control module controls the motor assembly 210 to rotate, and the motor assembly 210 drives the cannula drive gear to rotate, thereby rotating the follower 830, and the follower 830 drives the cannula drive link 820 to move. The cannula drive link 820 pushes the outer cannula 420 to move distally, so that the outer cannula 420 moves from the proximal position to the distal position, thereby driving the locking structure 300 to switch from the unlocked state to the locked state. When the user presses the sleeve movement button 850 again, the main control module controls the motor assembly 210 to rotate in the opposite direction, and the motor assembly 210 drives the sleeve drive gear 810 to rotate, thereby rotating the follower 830, and the follower 830 drives the sleeve drive link 820 to move, and the sleeve drive link 820 pulls the outer sleeve 420 to move proximally, so that the outer sleeve 420 moves from the distal position to the proximal position, thereby driving the locking structure 300 to switch from the locked state to the unlocked state.

[0126] 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.

[0127] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present disclosure. They are not intended to limit the scope of protection of the present disclosure. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A surgical instrument comprising a main control module, a steering structure, a cannula assembly, a jaw assembly and a locking structure, wherein: The jaw assembly is rotatably connected to the sleeve assembly, the main control module is electrically connected to the steering structure, and the steering structure is connected to the jaw assembly; In response to the control of the main control module, the steering structure moves to drive the jaw assembly to rotate relative to the sleeve assembly; The jaw assembly has a plurality of rotational positions; In response to the locking structure being in the unlocked state, when the jaw assembly is in the rotated position, the locking structure is aligned with the jaw assembly, and in response to the locking structure moving in the aligned direction to cooperate with the jaw assembly, the jaw assembly is locked by the locking structure, and the locking structure switches from the unlocked state to the locked state; The surgical instrument further includes an input module and a detection module; the detection module is electrically connected to the main control module and is configured to send a detection signal representing the state of the jaw assembly to the main control module; the input module is configured to send an input signal to the main control module in response to being operated; The main control module controls the operation of the steering structure according to the input signal and the detection signal, so that the jaw assembly rotates from a first rotation position to a second rotation position.

2. The surgical instrument according to claim 1, wherein The input signal includes a switch signal, the jaw assembly state includes the jaw assembly being located at the second rotational position, and the detection signal includes an in-position signal, wherein the in-position signal indicates that the jaw assembly is located at the second rotational position; The main control module is configured to control the movement of the steering structure to drive the jaw assembly to rotate according to the received switch signal, and is configured to control the steering structure to stop moving according to the received in-position signal so that the jaw assembly stops at the second rotation position.

3. The surgical instrument according to claim 2, wherein: The input signal also includes a control direction signal. The main control module controls the jaw assembly to selectively rotate in a first direction or a second direction through the steering structure according to the received switch signal and the control direction signal. The first direction is opposite to the second direction.

4. The surgical instrument according to claim 2 or 3, wherein: The input signal or the detection signal also includes an identification direction signal, which is configured to represent the rotation direction of the jaw assembly from the first rotation position to the second rotation position. The main control module obtains the position information of the jaw assembly at the second rotation position based on the identification direction signal and the in-position signal.

5. The surgical instrument according to claim 4, wherein: The jaw assembly state includes a rotation direction of the jaw assembly from the first rotation position to the second rotation position, and the detection signal includes the identification direction signal.

6. The surgical instrument according to claim 5, wherein: The detection module includes a stroke recording device, which is configured to obtain first stroke information representing the rotation direction of the jaw assembly from the first rotation position to the second rotation position, and the identification direction signal includes the first stroke information.

7. The surgical instrument according to any one of claims 4 to 6, wherein: The input signal includes a control direction signal. The main control module controls the steering structure to drive the jaw assembly to rotate based on the position information and the received switch signal and control direction signal. In response to the jaw assembly rotating from the first rotation position to the second rotation position, the main control module controls the steering structure to stop moving based on the received in-position signal, so that the jaw assembly stops at the second rotation position.

8. The surgical instrument according to any one of claims 3 to 7, wherein: The control direction signal includes a first control direction signal and a second control direction signal; the main control module has a first control mode. In the first control mode, in response to the input module sending the switch signal and the first control direction signal, the main control module controls the steering structure movement to drive the jaw assembly to rotate along the first direction; in response to the input module sending the switch signal and the second control direction signal, the main control module controls the steering structure movement to drive the jaw assembly to rotate along the second direction.

9. The surgical instrument according to claim 8, wherein: The rotational position includes a first end position, a second end position, and a plurality of intermediate positions between the first end position and the second end position; the input signal or the detection signal further includes an identification direction signal, the identification direction signal being configured to represent a rotational direction of the jaw assembly from the first rotational position to the second rotational position, and the main control module obtains position information of the jaw assembly at the second rotational position based on the identification direction signal and the in-position signal; The main control module also has a second control mode; when the jaw assembly is located in the middle position, the main control module is in the first control mode, and when the jaw assembly is located in the first end position or the second end position, the main control module is in the second control mode; In response to the jaw assembly being in the second end position and the main control module receiving the switch signal and the first control direction signal, the main control module is in the second control mode, and the main control module controls the steering structure to drive the jaw assembly to rotate along the first direction; in response to the jaw assembly being in the first end position and the main control module receiving the switch signal and the first control direction signal, the main control module is in the second control mode, and the main control module controls the steering structure to stop moving; In response to the jaw assembly being in the second end position and the main control module receiving the switch signal and the second control direction signal, the main control module is in the second control mode, and the main control module controls the steering structure to stop moving; in response to the jaw assembly being in the first end position and the main control module receiving the switch signal and the second control direction signal, the main control module is in the second control mode, and the main control module controls the steering structure to move to drive the jaw assembly to rotate along the first direction.

10. The surgical instrument according to claim 8, wherein The rotational position includes a first end position, a second end position, and a plurality of intermediate positions between the first end position and the second end position; the surgical instrument further includes a first end switch and a second end switch, wherein in response to the jaw assembly being in the first end position, the first end switch sends a first end signal to the main control module, and in response to the jaw assembly being in the second end position, the second end switch sends a second end signal to the main control module; the main control module further has a second control mode; when the main control module does not receive the first end signal or the second end signal, the main control module enters the first control mode, and when the main control module receives the first end signal or the second end signal, the main control module enters the second control mode; In response to the jaw assembly being in the second end position and the main control module receiving the switch signal and the first control direction signal, the main control module is in the second control mode, and the main control module controls the steering structure to drive the jaw assembly to rotate along the first direction; in response to the jaw assembly being in the first end position and the main control module receiving the switch signal and the first control direction signal, the main control module is in the second control mode, and the main control module controls the steering structure to stop moving; In response to the jaw assembly being in the second end position and the main control module receiving the switch signal and the second control direction signal, the main control module is in the second control mode, and the main control module controls the steering structure to stop moving; in response to the jaw assembly being in the first end position and the main control module receiving the switch signal and the second control direction signal, the main control module is in the second control mode, and the main control module controls the steering structure to move to drive the jaw assembly to rotate along the first direction.

11. The surgical instrument according to claim 8, wherein The rotation position includes a first end position, a second end position, and a plurality of intermediate positions between the first end position and the second end position; when the jaw assembly is in the first end position, in response to the main control module controlling the steering structure to move to drive the jaw assembly to rotate in a first direction, the steering structure sends a stall signal to the main control module; When the jaw assembly is in the second end position, in response to the steering structure receiving an instruction from the main control module to move the steering structure to drive the jaw assembly to rotate in the second direction, the steering structure sends a stall signal to the main control module; The main control module controls the steering structure to stop moving when receiving the stall signal.

12. The surgical instrument according to any one of claims 4 to 11, wherein: The first rotation position includes the initial position of the jaw assembly when it is in a straight-hitting state, and the main control module obtains the position information of the jaw assembly based on a measurement signal indicating that the jaw assembly is located at the initial position; in response to the jaw assembly moving from the first rotation position to the second rotation position, the main control module updates the position information of the first rotation position based on the identification direction signal and the in-position signal to obtain the position information of the second rotation position.

13. The surgical instrument according to claim 4, wherein: The first rotation position includes the initial position of the jaw assembly when it is in a straight-hitting state, and the main control module pre-stores the position information of the jaw assembly in the initial position; in response to the jaw assembly moving from the first rotation position to the second rotation position, the main control module updates the position information of the first rotation position according to the direction signal and the in-position signal to obtain the position information of the second rotation position.

14. The surgical instrument according to any one of claims 2 to 13, wherein: The detection module includes a sensing component and a triggering component, wherein the sensing component is electrically connected to the main control module, and the triggering component is connected to the steering structure; In response to the movement of the steering structure, the jaw assembly rotates relative to the sleeve assembly, and the sensing component is triggered by the trigger member that moves with the steering structure to send the in-position signal to the main control module when the jaw assembly reaches the second rotation position.

15. The surgical instrument according to claim 14, wherein: The steering structure includes a rotating member. In response to the rotation of the rotating member, the jaw assembly rotates relative to the sleeve assembly. The trigger member is connected to the rotating member. When the jaw assembly is in any of the rotation positions, the sensing component is triggered by the trigger member to send the in-position signal to the main control module.

16. The surgical instrument according to claim 15, wherein The trigger member includes a plurality of trigger parts, each of which is arranged at intervals. In response to the rotation of the rotating member, each of the trigger parts rotates; when the jaw assembly is in the second rotation position, one of the trigger parts triggers the sensor component, causing the sensor component to send the in-position signal to the main control module.

17. The surgical instrument according to claim 16, wherein: The sensing component includes a light source and a photoelectric sensor corresponding to the light source, and the triggering member includes a plurality of baffles arranged at intervals, with through grooves formed between adjacent baffles; The trigger part is the baffle, and when the jaw assembly is in the rotation position, one of the baffles is located between the light source and the photoelectric sensor, blocking the photoelectric sensor from receiving light from the light source, and the photoelectric sensor sends a detection signal to the main control module when no light is received; or The trigger part is the through slot. When the jaw assembly is in the rotation position, one of the through slots is located between the light source and the photoelectric sensor, so that the light emitted by the light source passes through the through slot and is received by the photoelectric sensor. When the photoelectric sensor receives the light, it sends a detection signal to the main control module.

18. The surgical instrument according to any one of claims 15 to 17, wherein: The steering structure also includes a motor assembly connected to the rotating member and a push rod transmission-connected to the rotating member, wherein the push rod is connected to the jaw assembly; in response to the drive of the motor assembly, the rotating member rotates to cause the push rod to move proximally or distally, thereby driving the jaw assembly to rotate.

19. The surgical instrument according to claim 16, wherein: The sensing component includes a first sensing component and a second sensing component, and the in-position signal includes a first in-position signal sent when the first sensing component is triggered and a second in-position signal sent when the second sensing component is triggered; when the jaw assembly is in the initial position, one triggering part of the triggering member triggers the first sensing component, and the other triggering member triggers the second sensing component; when the jaw assembly is in the other rotational positions other than the initial position, only one of the first sensing component and the second sensing component is triggered by the triggering part.

20. The surgical instrument of claim 14, wherein: The steering structure includes a motor assembly, the motor assembly includes an output shaft, the trigger member is connected to the output shaft, and in response to the rotation of the output shaft, the sensing component is triggered by the trigger member that rotates with the output shaft to send a pulse signal to the main control module, and the in-position signal includes a preset number of the pulse signals.

21. The surgical instrument of claim 20, wherein: The triggering member includes a magnet, and the sensing component includes a Hall sensor arranged around the magnet.

22. The surgical instrument according to any one of claims 2 to 5, wherein: The detection module includes a stroke recording device, which is configured to obtain second stroke information indicating that the jaw assembly is in a second rotational position, and the in-position signal includes the second stroke information.

23. The surgical instrument according to claim 6 or 22, wherein: The travel recording device includes an encoder, the steering structure includes a motor assembly, and the encoder is arranged on the output shaft of the motor assembly.

24. The surgical instrument according to any one of claims 3 to 23, wherein: The input module includes a first rotation button and a second rotation button electrically connected to the main control module, and the control direction signal includes a first control direction signal and a second control direction signal; The first rotation button and the second rotation button are both electrically connected to the main control module. The first rotation button is configured to send the switch signal and the first control direction signal to the main control module when operated, and the second rotation button is configured to send the switch signal and the second control direction signal to the main control module when operated.

25. The surgical instrument according to any one of claims 3 to 23, wherein: The input module includes a roller structure electrically connected to the main control module, and the control direction signal includes a first control direction signal and a second control direction signal; The roller structure includes a roller, and the roller structure is configured to send the switch signal and the first control direction signal to the main control module when the roller is operated along a first direction, and to send the switch signal and the second control direction signal to the main control module when the roller is operated along a second direction.

26. The surgical instrument according to any one of claims 1 to 25, wherein: The jaw assembly includes an end effector and an angular steering member connected to the end effector, the angular steering member is provided with a mating portion, the locking structure has a locking portion, one of the locking portion and the mating portion is a locking tooth, and the other is a locking groove; when the locking structure is in an unlocked state, the locking portion is located in an unlocked position, and when the jaw assembly is in any of the rotational positions, the locking tooth is separated from the locking groove, and the locking tooth is aligned with the locking groove; When the locking structure is in a locked state, the locking portion is located at a locked position, and the locking tooth is plugged into the locking groove.

27. The surgical instrument of claim 26, wherein: The sleeve assembly includes an inner sleeve and an outer sleeve, and the locking structure also includes a protrusion provided on the locking portion and an elastic member that drives the locking portion to move, wherein one end of the elastic member is connected to the inner sleeve and the other end is connected to the locking portion; the outer sleeve is provided with a supporting portion, which abuts against the protrusion, and when the outer sleeve is in the proximal position, the locking portion is in the unlocked position so that the locking structure is in the unlocked state, and the elastic member is compressed; when the outer sleeve moves from the proximal position to the distal position, the supporting portion moves distally to release the elastic member, driving the locking portion to move from the unlocked position to the locked position, so that the locking structure switches from the unlocked state to the locked state.

28. The surgical instrument of claim 4, wherein: The first rotational position is adjacent to the second rotational position.

29. The surgical instrument according to any one of claims 1 to 25, wherein: The steering structure rotates to drive the jaw assembly to rotate.

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