Surgical instrument

Abstract

A surgical instrument, comprising a jaw assembly (100), a cannula assembly (400), an angle steering member (200), and a steering drive assembly (600). The steering drive assembly (600) comprises: a power source (610); a push rod (620), which passes through the cannula assembly (400), is connected to the power source (610), and in response to the driving of the power source (610), moves proximally or distally; and a connecting rod (630), an proximal end of which is rotatably connected to a distal end of the push rod (620), and a distal end of which is rotatably connected to the angle steering member (200). The angle steering member (200) comprises a connecting portion (220) rotatably connected to the distal end of the connecting rod (630). In response to the push rod (620) moving proximally, the connecting rod (630) moves to pull the body to rotate along a second direction, the second direction being opposite to a first direction. When the jaw assembly (100) is in a straight state, the connecting portion (220) is located on the upper side of a first straight line U. During rotation of the jaw assembly (100) from the straight state along the second direction to a second ultimate-angle state, an angle between a drive radius P and the connecting rod (630) remains less than 180°, such that the jaw assembly (100) can rotate through a larger range of rotation, thereby satisfying surgical needs in more situations.

Description

surgical instruments

[0001] This application claims priority to Chinese Patent Application No. 202410130653.5 filed on January 30, 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 present disclosure is achieved through the following technical solutions:

[0005] A surgical instrument comprises a jaw assembly, a sleeve assembly, an angle steering member and a steering drive assembly; one end of the angle steering member is connected to the jaw assembly, and the other end is rotatably connected to the sleeve assembly; the angle steering member comprises a connecting portion, and the steering drive assembly comprises a push rod and a connecting rod.

[0006] The proximal end of the connecting rod is rotatably connected to the distal end of the push rod, and the distal end of the connecting rod is rotatably connected to the connecting portion;

[0007] In response to the distal movement of the push rod, the connecting rod drives the angle steering member to rotate in a first direction, thereby causing the jaw assembly to rotate along the first direction toward a first extreme angular position; in response to the proximal movement of the push rod, the connecting rod drives the angle steering member to rotate in a second direction, thereby causing the jaw assembly to rotate along the second direction toward a second extreme angular position; the first direction is opposite to the second direction; when the jaw assembly is in the straight-hitting position, the connecting portion is located above a first straight line, which passes through the rotation axis of the angle steering member and is perpendicular to the axis of the sleeve assembly; the line connecting the connecting portion and the rotation axis on the horizontal plane is the driving radius;

[0008] When the jaw assembly rotates from the straight hitting position to the second extreme angle position, the driving radius rotates at the extreme angle around the rotation axis of the angle steering member. When the jaw assembly is in the straight hitting position, the driving radius and the first straight line form a first angle with each other. When the jaw assembly is in the second extreme angle position, the driving radius and the first straight line form a second angle with each other. The sum of the first angle and the second angle is equal to the extreme angle. When the connecting part is in the dead point position, the driving radius and the first straight line form a third angle with each other. The first angle is greater than a preset value, so that the second angle is smaller than the third angle.

[0009] In one embodiment, the preset value is 15°, the limit rotation angle is greater than or equal to 40° and less than or equal to 60°, and the third angle is greater than or equal to 45°.

[0010] In one embodiment, the distal end of the push rod and the proximal end of the connecting rod are rotatably connected via a hinge point, and when the jaw assembly is in the straight-hitting state, the hinge point is located below the first straight line.

[0011] In one embodiment, the sleeve assembly includes an inner sleeve, which is provided with a first accommodating groove, and the first accommodating groove is configured to accommodate the push rod. The first accommodating groove includes a first groove wall and a second groove wall located on both sides of the push rod in the height direction, and the first groove wall and the second groove wall prevent the push rod from moving along its own height direction.

[0012] In one embodiment, the sleeve assembly includes an inner sleeve, which is provided with a second accommodating groove. The push rod includes a mating protrusion, which is accommodated in the second accommodating groove. The two groove walls of the second accommodating groove are respectively located on both sides of the mating protrusion to prevent the push rod from moving along its own thickness direction.

[0013] In one embodiment, the inner sleeve is provided with a second accommodating groove, the first accommodating groove includes a third groove wall, the second accommodating groove includes a fourth groove wall, and the third groove wall and the fourth groove wall are respectively located on both sides of the thickness direction of the push rod to prevent the push rod from moving along its own thickness direction.

[0014] In one embodiment, the power source includes a motor assembly and a transmission component, wherein the transmission component is connected to the output shaft of the motor assembly and is connected to the push rod. In response to the drive of the motor assembly, the transmission component moves to drive the push rod to move proximally or distally.

[0015] In one embodiment, the transmission component includes a worm connected to the output shaft of the motor, a worm wheel engaged with the worm, and a gear connected to the worm wheel, the gear rotates synchronously with the worm wheel, the push rod includes a rod body and a toothed part connected to the rod body, the gear is engaged with the toothed part; in response to the rotation of the output shaft, the worm wheel drives the gear to rotate, and the gear drives the rod body to move proximally or distally through the toothed part. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] FIG1 is a schematic structural diagram of a surgical instrument according to an embodiment of the present disclosure;

[0017] FIG2 is a schematic structural diagram of the rotation of the jaw assembly according to an embodiment of the present disclosure;

[0018] FIG3 is a schematic structural diagram of an angle steering member and a steering drive assembly according to an embodiment of the present disclosure;

[0019] FIG4 is an exploded view of an angle connector and an inner sleeve according to an embodiment of the present disclosure;

[0020] FIG5 is a schematic structural diagram of a jaw assembly rotating along a first direction according to an embodiment of the present disclosure;

[0021] FIG6 is a schematic structural diagram of the jaw assembly rotating along the second direction according to an embodiment of the present disclosure;

[0022] FIG7 is a schematic structural diagram of a connection portion in an embodiment of the present disclosure when the connection portion is at a dead point;

[0023] FIG8 is a schematic structural diagram of the jaw assembly when it is rotatable to a second limit angle position and the connecting portion forms a limit angle with the first straight line U;

[0024] FIG9 is a schematic diagram of the position of the connecting portion when the jaw assembly is in a straight-hitting state in one embodiment;

[0025] FIG10 is a schematic structural diagram of a connection portion and a first straight line U in accordance with an embodiment of the present disclosure, wherein the connection portion and the first straight line U form a first angle;

[0026] FIG11 is a schematic structural diagram of a connection portion and a first straight line U in accordance with an embodiment of the present disclosure forming a second angle;

[0027] FIG12 is a schematic structural diagram of a jaw assembly according to an embodiment of the present disclosure in a straight-hitting state, with a hinge point higher than a first straight line;

[0028] FIG13 is a schematic diagram of a structure in which a hinge point is higher than a connecting portion according to an embodiment of the present disclosure;

[0029] FIG14 is a schematic structural diagram of a push rod, an inner sleeve, and an outer sleeve according to an embodiment of the present disclosure;

[0030] FIG15 is a schematic structural diagram of a push rod and a first accommodation groove according to an embodiment of the present disclosure;

[0031] FIG16 is a cross-sectional view of a bushing assembly according to an embodiment of the present disclosure;

[0032] FIG17 is a cross-sectional view of a sleeve assembly according to another embodiment of the present disclosure;

[0033] FIG18 is a schematic structural diagram of a push rod, a first receiving groove, and a second receiving groove according to an embodiment of the present disclosure;

[0034] FIG19 is a schematic structural diagram of a power source driving a push rod according to an embodiment of the present disclosure.

[0035] Among them: 100, jaw assembly; 200, angle steering member; 210, body; 220, connecting portion; 230, connecting hole; 400, sleeve assembly; 410, inner sleeve; 411, ejector seat; 412, rotating shaft; 413, first accommodating groove; 4131, first side wall; 4132, second side wall; 4133, third side wall; 414, second accommodating groove; 4141, fourth side wall; 420, outer sleeve; 500, cutting blade assembly; 600, steering drive assembly; 610, power source; 611, motor; 612, transmission component; 6121, worm; 6122, worm gear; 6123, gear; 620, push rod; 621, hinge point; 622, rod body; 6221, toothed member; 624, mating protrusion; 630, connecting rod; K, rotation axis; P, driving radius; U, first straight line. DETAILED DESCRIPTION

[0036] 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.

[0037] It should be understood that the terms "proximal" and "distal" used herein are relative to the clinician who manipulates the handle of the surgical instrument. The term "proximal" refers to the part close to the clinician, and the term "distal" refers to the part away from the clinician. That is, the handle is the proximal side, and the jaw assembly is the distal side. For example, the proximal end of a component refers to the end relatively close to the handle, and the distal end refers to the end relatively close to the jaw assembly. The terms "upper" and "lower" are based on the relative positions of the anvil and the nail magazine seat of the jaw assembly, with the anvil being "upper" and the nail magazine seat being "lower". However, surgical instruments can be used in many directions and positions, so these terms expressing relative positional relationships are not restrictive and absolute.

[0038] In the present disclosure, unless otherwise clearly stipulated and limited, the terms such as "connected" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, a movably connection, or an integral body; it can be directly connected, or indirectly connected through an intermediate medium, or it can be internal communication between two elements or an interactive relationship between two elements such as abutment. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances. It should be noted that when there are qualifiers before "connected" and "connection", they have the meaning defined by the corresponding qualifiers, and only exclude situations that obviously need to be excluded, and do not exclude other possible situations. For example, "detachably connected" refers to a detachable connection, and does not include integration, but movably connected, etc. are not excluded.

[0039] One embodiment of the present disclosure discloses a surgical instrument, which can be a stapler. As shown in Figures 1 and 2, the surgical instrument includes a jaw assembly 100, a sleeve assembly 400, an angle steering member 200, a steering drive assembly 600, a cutting knife assembly 500, and a cutting knife drive assembly. The jaw assembly 100 is rotatably connected to the sleeve assembly 400 through the angle steering member 200. When the surgical instrument is working, the jaw assembly 100 and part of the sleeve assembly 400 are extended into the human body. At this time, the jaw assembly 100 is in the straight hitting position, 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 and controls the rotation of the jaw assembly 100 through the steering drive assembly 600 until the jaw assembly 100 rotates to the appropriate position. During this process, the angle steering member 200 rotates to drive the jaw assembly 100 to rotate, and then the medical staff controls the jaw assembly 100 to close to clamp the human tissue, and then controls the cutting knife drive assembly to drive the cutting knife assembly 500 to fire, cutting and suturing the human tissue. After cutting and suturing are completed, the jaw assembly 100 is opened to release the tissue, and the jaw assembly 100 is rotated to the straight hitting position to remove the surgical instrument from the human body to complete the surgical operation.

[0040] As shown in Figure 3, one end of the angle steering member 200 is connected to the jaw assembly 100, and the other end is rotatably connected to the sleeve assembly 400. In response to the drive of the steering drive assembly 600, the angle steering member 200 rotates relative to the sleeve assembly 400, thereby driving the jaw assembly 100 to rotate relative to the sleeve assembly 400. The steering drive assembly 600 includes a power source 610, a push rod 620, and a connecting rod 630. The push rod 620 is disposed through the sleeve assembly 400 and along the axis of the sleeve assembly 400. The power source 610 is connected to the push rod 620. In response to the drive of the power source 610, the push rod 620 moves proximally or distally. The proximal end of the connecting rod 630 is rotatably connected to the distal end of the push rod 620, and the distal end of the connecting rod 630 is rotatably connected to the angle steering member 200. In response to the distal movement of the push rod 620, the connecting rod 630 drives the angle steering member 210 to rotate in a first direction, thereby causing the jaw assembly 100 to rotate in the first direction toward a first extreme angular position. In the straight-strike position, the length direction of the jaw assembly 100 coincides or substantially coincides with the axis direction of the sleeve assembly 400. In the first extreme angular position, the jaw assembly 100 cannot continue to rotate in the first direction relative to the sleeve assembly 400. In response to the proximal movement of the push rod 620, the connecting rod 630 drives the angle steering member 200 to rotate in the second direction, thereby causing the jaw assembly 100 to rotate in the second direction toward the second extreme angle position. At the second extreme angle position, the jaw assembly 100 cannot continue to rotate in the second direction relative to the sleeve assembly 400.

[0041] As shown in Figure 4, one of the sleeve assembly 400 and the angle steering member 200 is provided with a rotational axis 412, while the other defines a connection hole 230. This disclosure uses the angle steering member 200 having the connection hole 230 and the sleeve assembly 400 having the rotational axis 412 as an example. The sleeve assembly 400 includes an inner sleeve 410, which includes an ejector pin holder 411. The rotational axis 412 is inserted into the connection hole 230, with the axis of the rotational axis 412 coinciding with the axis of the connection hole 230. The rotational axis 412 cooperates with the connection hole 230 to rotatably connect the angle steering member 200 to the sleeve assembly 400. The axis of the rotational axis 412 coincides with the axis of the angle steering member 200, forming the rotational axis K. When the push rod 620 and connecting rod 630 drive the angle steering member 200 to rotate, the angle steering member 200 rotates about the rotational axis K. Each push rod 620 and connecting rod 630 are provided. As shown in FIG5 , in response to a medical professional's operation, the power source 610 drives the push rod 620 to move distally along the length of the cannula assembly 400. The movement of the push rod 620 drives the connecting rod 630 to move, which in turn drives the angle steering member 200 to rotate in a first direction. The structure of the power source 610 is described below. As shown in FIG6 , in response to a medical professional's operation, the power source 610 drives the push rod 620 to move proximally along the length of the cannula assembly 400. The movement of the push rod 620 drives the connecting rod 630 to move, which in turn drives the angle steering member 200 to rotate in a second direction. Providing only one push rod 620 can reduce the overall weight of the cannula assembly 400, simplify its structure, and reduce the risk of failure.

[0042] The angle steering member 200 includes a connecting portion 220. The line connecting the connecting portion 220 and the rotation axis K on a horizontal plane represents a driving radius P. The driving radius P is radially disposed, with the horizontal plane being parallel to the upper surface of the angle steering member 200. When the angle steering member 200 is driven to rotate, the driving force applied thereto is perpendicular to the driving radius P, acting in a tangential direction. The angle steering member 200 also has a first straight line U, which is perpendicular to the axis of the sleeve assembly 400 and intersects the rotation axis K of the angle steering member 200. When the jaw assembly 100 rotates from the straight-action position to the second extreme angular position, the connecting rod 620 pulls the connecting portion 220 about the rotation axis K, causing the driving radius P to rotate about the rotation axis K of the angle steering member 200 by a maximum angle a4. Specifically, the angle formed by the driving radius P when the jaw assembly 100 is in the straight-action position and the driving radius P when the jaw assembly 100 is in the second extreme angular position is the maximum angle a4.

[0043] As shown in Figure 7, during the process of the push rod 620 and the connecting rod 630 pulling the angle steering member 200 to rotate in the second direction, the angle steering member 200 may be unable to continue rotating due to the connection portion 220 reaching a dead point position. The dead point position refers to the angle between the connecting rod 630 and the driving radius P being 180°. The connecting rod 630 applies a pulling force to the angle steering member 200 along its own length. Since the connecting rod 630 and the driving radius P are collinear, the pulling force applied by the connecting rod 630 is collinear with the driving radius P. At this time, the pulling force applied by the connecting rod 630 cannot provide a tangential force perpendicular to the driving radius P, causing the angle steering member 200 to be unable to continue rotating, resulting in a rotational jam, which also limits the rotation angle of the jaw assembly 100 in the second direction. When the connecting portion 220 is at the dead point position, the angle between the driving radius P and the first straight line U is a third angle a3.

[0044] In one solution, as shown in FIG9 , when the jaw assembly 100 is in the straight-hitting position, the connecting portion 200 is located on the first straight line U, that is, when the jaw assembly 100 is in the straight-hitting position, the angle between the driving radius P and the first straight line U is 0°. During the process of the jaw assembly 100 rotating from the straight-hitting position to the second extreme angle position, as shown in FIG8 , the angle between the driving radius P and the first straight line U needs to increase from 0° to the extreme angle a4. When the third angle a3 is less than the extreme angle a4, during the process of the jaw assembly 100 rotating from the straight-hitting position to the second extreme angle position, the connecting portion 220 will pass through the dead point position, resulting in a rotation jam, which makes the jaw assembly 100 unable to rotate to the second extreme angle position.

[0045] To address the above-mentioned issues, in the present disclosure, when the jaw assembly 100 is in the straight-striking position, the connecting portion 220 is located above the first straight line U. At this point, the driving radius P and the first straight line U form a first angle a1. When the jaw assembly 100 rotates in the second direction, as shown in Figures 9 and 10, when the jaw assembly 100 rotates by the first angle a1, the driving radius P coincides with the first straight line U, and the angle decreases from the first angle a1 to 0. As the jaw assembly 100 continues to rotate in the second direction, the angle between the driving radius P and the first straight line U increases. When the jaw assembly 100 rotates to the second extreme angular position, the angle between the driving radius P and the first straight line U is the second angle a2. It can be seen that during the process of the jaw assembly 100 rotating in the second direction to the second extreme angular position, the angle between the driving radius P and the first straight line U first decreases and then increases. The sum of the first angle a1 and the second angle a2 is the extreme angle a4. Since the extreme angle a4 is a fixed value, the larger the first angle a1, the smaller the second angle a2. In the present disclosure, the first angle a1 is greater than a preset value, so that the second angle a2 is smaller than the third angle a3. That is, during the rotation of the jaw assembly 100 from the straight-strike position to the second extreme angular position, the connecting portion 220 cannot reach the dead point, and the angle deflection member 200 does not become stuck during rotation, thereby allowing the jaw assembly 100 to rotate smoothly in the second direction to the second extreme angular position.

[0046] In the present disclosure, for example, the limit angle a4 is greater than or equal to 40° and less than or equal to 60°, the third angle a3 is greater than or equal to 45°, and the preset value is equal to 15°, that is, the first angle a1 is greater than 15°, so that the second angle a2 is greater than 25° and less than 45°, and the second angle a2 is less than the third angle a3 when the connecting portion 220 is in the dead point position, so that the jaw assembly 100 can smoothly rotate along the second direction to the second limit angle position, and the connecting portion 200 will not reach the dead point position.

[0047] As the jaw assembly 100 rotates from the straight-strike position to the first limit angular position, the drive radius P rotates through the limit angle about the rotation axis K. The limit angle of rotation of the jaw assembly 100 in the first direction is the same as the limit angle a4 in the second direction. The angle between the drive radius P and the first straight line U increases. When the jaw assembly 100 is in the first limit angular position, the angle between the drive radius P and the first straight line U is the sum of the first angle a1 and the limit angle.

[0048] As shown in Figure 10, when the jaw assembly 100 in the present disclosure is in the straight hitting position, the hinge point 621 is located below the first straight line U, that is, the distal end of the push rod 620 is located below the first straight line U, and the power source 610 drives the push rod 620 to move distally. During the process of the jaw assembly 100 rotating from the straight hitting position to the first extreme angle position in the first direction, the distance that the push rod 620 moves distally is a constant, that is, when the jaw assembly 100 rotates from the straight hitting position to the first extreme angle position, the distance that the hinge point 621 at the distal end of the push rod 620 moves in the vertical direction is a constant. Point Q marked in FIG10 is the highest point (the farthest relative to the first straight line U) that the connecting portion 220 can reach when rotating with the angle steering member 200. As shown in FIG12 and FIG13, when the jaw assembly 100 is in the straight hitting position, if the distal end of the push rod 620 is located at the first straight line U or higher than the first straight line U, then during the process of the jaw assembly 100 rotating from the straight hitting position to the first extreme angle position, the angle steering member 210 rotates in the first direction, and the distal end of the push rod 620 moves distally, so that the distal end of the push rod 620 is higher than point Q. At this time, the hinge point 621 of the rod is higher than the connecting portion 220, and the connecting rod The force applied by 630 to the angle steering member 200 is obliquely downward. When the push rod 620, which can only provide a vertical upward driving force, moves distally, the hinge point 621 moves distally in the vertical direction, causing the connecting rod 630 to tilt upward. The push rod 620 provides an oblique upward force to the connecting rod 630, thereby causing the connecting part 220 to move in the direction close to the push rod 620. The angle steering member 210 rotates in the second direction, that is, when the push rod 620 moves distally to drive the angle steering member 210 to rotate in the first direction, if the distal end of the push rod 620 is higher than the Q point, the push rod 620 will drive the angle steering member 210 to rotate in the opposite direction (rotate in the second direction). When the jaw assembly 100 is in the straight-hitting position and the distal end of the push rod 620 is located below the first straight line U, during the rotation of the jaw assembly 100 along the first direction, the hinge point 621 is always located below the connecting portion 220, so that the push rod 620 can smoothly drive the connecting rod 630 to move. During the process of the jaw assembly 100 rotating from the straight-hitting position to the first extreme angle position, there will be no reverse drive phenomenon in the middle.

[0049] As shown in Figures 14 to 18, the sleeve assembly 400 includes an inner sleeve 410 and an outer sleeve 420. The outer sleeve 420 is sleeved around the outer side of the inner sleeve 410, and the push rod 620 is located within the outer sleeve 420. In one embodiment, the inner sleeve 410 defines a first accommodating groove 413. The first accommodating groove 413 is configured to accommodate the push rod 620. The first accommodating groove 413 includes a first groove wall 4131 and a second groove wall 4132 located on both sides of the height direction of the push rod 620. The first groove wall 4131 and the second groove wall 4132 prevent the push rod 620 from moving along its own height direction. When the push rod 620 moves proximally or distally to drive the jaw assembly 100 to rotate, the push rod 620 moves along its own length direction. The first accommodating groove 413 limits the movement of the push rod 620 along its own height direction, making the movement of the push rod 620 more stable. The first accommodating groove 413 is opened along the radial direction of the inner sleeve 410 and has one side open. The first groove wall 4131 and the second groove wall 4132 correspond to each other.

[0050] In one embodiment, as shown in FIG16 , the inner sleeve 410 defines a second receiving groove 414 , and the push rod 620 includes a mating protrusion 624 , which is received in the second receiving groove 414 . The two groove walls of the second receiving groove 414 are located on either side of the mating protrusion 624 to prevent the push rod 620 from moving along its thickness direction, thereby making the movement of the push rod 620 along its length more stable.

[0051] In another embodiment, as shown in Figures 17 and 18, the inner sleeve 410 is provided with a second accommodating groove 414, the first accommodating groove 413 includes a third groove wall 4133, the third groove wall 4133 is located between the first groove wall 4131 and the second groove wall 4132, the second accommodating groove 414 includes a fourth groove wall 4141, the third groove wall 4133 and the fourth groove wall 4141 are respectively located on both sides of the thickness direction of the push rod 620 to prevent the push rod 620 from moving along its own thickness direction, the third groove wall 4133 and the fourth groove wall 4141 are arranged opposite to each other, the third groove wall 4133 is constructed to stop one side of the push rod 620, and the fourth groove wall 4141 is constructed to stop the mating protrusion 624, thereby limiting the movement of the push rod 620 in its own thickness direction.

[0052] When the push rod 620 moves proximally or distally along its own length, the first accommodating groove 413 and the second accommodating groove 414 limit the movement of the push rod 620 along the height direction and the thickness direction, making the movement of the push rod 620 along the length direction more stable without generating additional movement.

[0053] As shown in FIG19 , the power source 610 includes a motor assembly and a transmission component 612. The transmission component 612 is connected to the output shaft of the motor assembly and is also connected to the push rod 620. In response to the motor assembly being driven, the transmission component 612 moves, driving the push rod 620 to move proximally or distally. The motor assembly includes a motor 611 and a control module electrically connected to the motor 611. The surgical instrument also includes an operating module electrically connected to the control module. The operating module is operable by medical personnel. Medical personnel can operate the operating module in various ways, causing the operating module to send an electrical signal to the control module to rotate left or right. Upon receiving the electrical signal from the operating module to rotate left or right, the control module controls the output shaft of the motor 611 to rotate in the corresponding direction, causing the transmission component 612 to move, thereby driving the push rod 620.

[0054] The transmission component 612 includes a worm 6121 connected to the output shaft of the motor 611, a worm wheel 6122 meshing with the worm 6121, and a gear 6123 connected to the worm wheel 6122. The gear 6123 rotates synchronously with the worm wheel 6122. The push rod 620 also includes a toothed member 6221 connected to the rod body 622. For example, the toothed member 6221 is a rack that meshes with the gear 6123. In response to the rotation of the output shaft, the worm 6121 drives the worm wheel 6122 to rotate, which in turn drives the gear 6123 to rotate. The gear 6123 drives the rod body 622 to move proximally or distally via the toothed member 6221. The worm wheel 6122 and the worm 6121 have a self-locking function. When the medical staff controls the jaw assembly 100 to rotate a certain angle and then stop, the worm wheel 6122 and the worm 6121 self-lock to prevent the gear 6123 and the push rod 620 from moving, thereby preventing the jaw assembly 100 from swinging.

[0055] 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.

[0056] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present disclosure. They are not intended to limit the scope of protection of the present disclosure. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A surgical instrument comprising a jaw assembly, a cannula assembly, an angle steering member, and a steering drive assembly; wherein: One end of the angle steering member is connected to the jaw assembly, and the other end is rotatably connected to the sleeve assembly; The angle steering member includes a connecting portion, and the steering drive assembly includes a push rod and a connecting rod. The proximal end of the connecting rod is rotatably connected to the distal end of the push rod, and the distal end of the connecting rod is rotatably connected to the connecting portion; In response to the distal movement of the push rod, the connecting rod drives the angle steering member to rotate in a first direction, thereby causing the jaw assembly to rotate along the first direction toward a first extreme angular position; in response to the proximal movement of the push rod, the connecting rod drives the angle steering member to rotate in a second direction, thereby causing the jaw assembly to rotate along the second direction toward a second extreme angular position; the first direction is opposite to the second direction; when the jaw assembly is in the straight-hitting position, the connecting portion is located above a first straight line, which passes through the rotation axis of the angle steering member and is perpendicular to the axis of the sleeve assembly; the line connecting the connecting portion and the rotation axis on the horizontal plane is the driving radius; When the jaw assembly rotates from the straight hitting position to the second extreme angle position, the driving radius rotates at the extreme angle around the rotation axis of the angle steering member. When the jaw assembly is in the straight hitting position, the driving radius and the first straight line form a first angle with each other. When the jaw assembly is in the second extreme angle position, the driving radius and the first straight line form a second angle with each other. The sum of the first angle and the second angle is equal to the extreme angle. When the connecting part is in the dead point position, the driving radius and the first straight line form a third angle with each other. The first angle is greater than a preset value, so that the second angle is smaller than the third angle.

2. The surgical instrument according to claim 1, wherein The preset value is 15°, the limit rotation angle is greater than or equal to 40° and less than or equal to 60°, and the third angle is greater than or equal to 45°.

3. The surgical instrument according to claim 1, wherein The distal end of the push rod is rotatably connected to the proximal end of the connecting rod via a hinge point. When the jaw assembly is in the straight-hitting state, the hinge point is located below the first straight line.

4. The surgical instrument according to any one of claims 1 to 3, wherein: The sleeve assembly includes an inner sleeve, which is provided with a first accommodating groove. The first accommodating groove is configured to accommodate the push rod. The first accommodating groove includes a first groove wall and a second groove wall located on both sides of the push rod in the height direction. The first groove wall and the second groove wall prevent the push rod from moving along its own height direction.

5. The surgical instrument according to any one of claims 1 to 3, wherein: The sleeve assembly includes an inner sleeve, which is provided with a second accommodating groove. The push rod includes a mating protrusion, which is accommodated in the second accommodating groove. The two groove walls of the second accommodating groove are respectively located on both sides of the mating protrusion to prevent the push rod from moving along its own thickness direction.

6. The surgical instrument according to claim 4, wherein: The inner sleeve is provided with a second accommodating groove, the first accommodating groove includes a third groove wall, the second accommodating groove includes a fourth groove wall, and the third groove wall and the fourth groove wall are respectively located on both sides of the push rod in the thickness direction to prevent the push rod from moving along its own thickness direction.

7. The surgical instrument according to any one of claims 1 to 6, wherein: The power source includes a motor assembly and a transmission component, wherein the transmission component is connected to the output shaft of the motor assembly and is connected to the push rod. In response to the drive of the motor assembly, the transmission component moves to drive the push rod to move proximally or distally.

8. The surgical instrument according to claim 7, wherein: The transmission component includes a worm connected to the output shaft of the motor, a worm wheel meshing with the worm, and a gear connected to the worm wheel. The gear rotates synchronously with the worm wheel. The push rod includes a rod body and a toothed part connected to the rod body. The gear meshes with the toothed part. In response to the rotation of the output shaft, the worm wheel drives the gear to rotate, and the gear drives the rod body to move proximally or distally through the toothed part.

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