Surgical instrument

Abstract

The present disclosure relates to a surgical instrument comprising: a machine body; a rotary housing having a first rotation interval and a second rotation interval; and a motor driving module connected to a swing motor. The motor driving module comprises a reversing module and a trigger element connected to the reversing module. When the rotary housing is in the first rotation interval, the trigger element is in a first state, drives, in response to a first operation of a user, the swing motor to rotate in a first direction, and drives, in response to a second operation of the user, the swing motor to rotate in a second direction. When the rotary housing is in the second rotation interval, the trigger element is in a second state, drives, in response to the first operation of the user, the swing motor to rotate in the second direction, and drives, in response to the second operation of the user, the swing motor to rotate in the first direction. The first direction is opposite to the second direction.

Description

Surgical instruments

[0001] This application claims priority to Chinese Patent Application No. 2024109137751, filed on July 8, 2024, and Chinese Patent Application No. 2024114636406, filed on October 18, 2024, the disclosures of which are incorporated herein by reference in their entirety. Technical Field

[0002] This disclosure relates to a surgical instrument. Background Technology

[0003] Surgical staplers are commonly used medical instruments that replace manual suturing. Their main working principle is to use a scalpel to sever tissue and titanium staples to anastomose it, similar to a stapler. Depending on the body part they are used for, staplers can be categorized into various types. For surgical staplers, the working principle involves inserting a cannula of a precisely positioned trocar into the patient's body at the surgical site. This creates a longitudinal incision in the tissue, and staples are applied to the opposite sides of the incision, thereby severing and anastomosing the tissue. Summary of the Invention

[0004] This disclosure is achieved through the following technical solution:

[0005] A surgical instrument, comprising:

[0006] Body

[0007] A rotating outer shell is rotatably connected to the body, the rotating outer shell having a first rotation range and a second rotation range relative to the body;

[0008] A sleeve assembly, the proximal end of which is connected to the rotating housing;

[0009] A jaw assembly is connected to the distal end of the sleeve assembly;

[0010] A swing motor is connected to the jaw assembly for transmission, and the jaw assembly swings relative to the sleeve assembly in response to the rotation of the swing motor;

[0011] The surgical instrument includes an input module and a motor drive module. The input module is connected to the motor drive module, and the motor drive module is connected to the oscillating motor. The motor drive module includes a reversing module and a trigger element connected to the reversing module. The surgical instrument also includes a reversing guide structure. One of the trigger element and the reversing guide structure is located in the body, and the other is located in the rotating outer shell. When the rotating outer shell is in a first rotation range, the trigger element is in a first state. When the rotating outer shell is in a second rotation range, the trigger element is in a second state.

[0012] When the triggering element is in the first state, the reversing module is in the first connection state, so that the surgical instrument is in the first driving state; in the first driving state, in response to the input module receiving a first operation from the user, the motor drive module drives the swing motor to rotate in the first direction; in response to the input module receiving a second operation from the user, the motor drive module drives the swing motor to rotate in the second direction.

[0013] When the trigger element is in the second state, the reversing module is in the second connection state, so that the surgical instrument is in the second driving state; in the second driving state, in response to the input module receiving a first operation from the user, the motor drive module drives the swing motor to rotate in the second direction; in response to the input module receiving a second operation from the user, the motor drive module drives the swing motor to rotate in the first direction; the first direction is opposite to the second direction.

[0014] In one embodiment, the input module includes a first signal output terminal and a second signal output terminal, and the oscillating motor includes a first motor input terminal and a second motor input terminal. When the commutation module is in the first connection state, the first signal output terminal is connected to the first motor input terminal, and the second signal output terminal is connected to the second motor input terminal, so that the surgical instrument is in the first driving state; when the commutation module is in the second connection state, the first signal output terminal is connected to the second motor input terminal, and the second signal output terminal is connected to the first motor input terminal, so that the surgical instrument is in the second driving state.

[0015] In one embodiment, the commutation module includes:

[0016] The first input terminal unit includes a first input terminal and a second input terminal, wherein the first input terminal is connected to the first signal output terminal and the second input terminal is connected to the second signal output terminal;

[0017] The first output terminal unit includes a first output terminal and a second output terminal, wherein the first output terminal is connected to the first motor input terminal and the second output terminal is connected to the second motor input terminal;

[0018] A switching assembly is connected between the first input terminal unit and the first output terminal unit. The switching assembly is connected to the trigger element. The first output terminal is selectively connected to the first input terminal and the second input terminal through the switching assembly. The second output terminal is selectively connected to the first input terminal and the second input terminal through the switching assembly.

[0019] When the commutation module is in the first connection state, the first input terminal is connected to the first output terminal, and the second input terminal is connected to the second output terminal;

[0020] When the commutation module is in the second connection state, the first input terminal is connected to the second output terminal, and the second input terminal is connected to the first output terminal.

[0021] In one embodiment, the switching assembly includes a switching unit, one end of which is connected to the first input terminal and the second input terminal, and the other end of which is connected to the first output terminal and the second output terminal; in response to the trigger element being in the first state, the switching unit is in a first position such that the commutation module is in the first connected state; in response to the trigger element being in the second state, the switching unit is in a second position such that the commutation module is in the second connected state.

[0022] In one embodiment, the switching assembly further includes an electromagnetic coil connected to the trigger element, the electromagnetic coil being configured to act on the switching unit; when the trigger element is in the first state, the electromagnetic coil is de-energized, causing the switching unit to be in a first position; when the trigger element is in the second state, the electromagnetic coil is energized, causing the switching unit to be in a second position.

[0023] In one embodiment, the triggering element includes a trigger portion and a conducting switch connected to the trigger portion, the conducting switch being connected to the electromagnetic coil; in response to the commutation guide structure and the trigger portion being in a first position relationship, the trigger portion is in a first operating state, causing the conducting switch to be in an open state, so that the electromagnetic coil is in the de-energized state, at which time the triggering element is in the first state; in response to the commutation guide structure and the trigger portion being in a second position relationship, the trigger portion is in a second operating state, the conducting switch is in a closed state, so that the electromagnetic coil is in the energized state, at which time the triggering element is in the second state.

[0024] In one embodiment, the triggering element includes a trigger portion connected to the switching unit:

[0025] When the rotating housing is in the first rotation range, the reversing guide structure and the trigger part are in a first positional relationship, and the trigger part is in a first working state, so that the switching unit is in the first position;

[0026] When the rotating housing is in the second rotation range, the reversing guide structure and the trigger part are in a second position relationship, and the trigger part is in a second working state, so that the switching unit is in the second position.

[0027] In one embodiment, the first positional relationship includes the reversing guide structure being separated from the trigger portion, and the second positional relationship includes the reversing guide structure being in contact with the trigger portion; or

[0028] The first positional relationship includes the reversing guide structure being in contact with the trigger part, and the second positional relationship includes the reversing guide structure being separated from the trigger part.

[0029] In one embodiment, the switching unit includes a first single-pole double-throw switch and a second single-pole double-throw switch. One end of the first single-pole double-throw switch is connected to the first input terminal, and the other end of the first single-pole double-throw switch is selectively connected to the first output terminal or the second output terminal. One end of the second single-pole double-throw switch is connected to the second input terminal, and the other end of the second single-pole double-throw switch is selectively connected to the first output terminal or the second output terminal.

[0030] Alternatively, one end of the first single-pole double-throw switch is connected to the first output terminal, and the other end of the first single-pole double-throw switch is selectively connected to the first input terminal or the second input terminal. One end of the second single-pole double-throw switch is connected to the second output terminal, and the other end of the second single-pole double-throw switch is selectively connected to the first input terminal or the second input terminal.

[0031] In one embodiment, the switching unit includes a double-pole double-throw switch, which includes a first single-pole double-throw switch and a second single-pole double-throw switch connected to each other.

[0032] In one embodiment, the motor drive module further includes a drive module;

[0033] The drive module is located in the passage between the input module and the swing motor.

[0034] In one embodiment, the motor drive module further includes a control module.

[0035] The control module is located in the path between the input module and the drive module.

[0036] In one embodiment, the input module includes a first operation unit, a second operation unit, and an operation input circuit. The operation input circuit includes a first switch connected to the first signal output terminal and a second switch connected to the second signal output terminal.

[0037] The first switch is connected to the first operating unit, and the first operation includes the first operating unit being operated; in response to the input module receiving the user's first operation, the first switch is triggered so that the first signal output terminal outputs a first signal and the second signal output terminal outputs a second signal;

[0038] The second switch is connected to the second operation unit, and the second operation includes the operation of the second operation unit; in response to the input module receiving the user's second operation, the second switch is triggered so that the first signal output terminal outputs the second signal, and the second signal output terminal outputs the first signal.

[0039] In one embodiment, the input module includes a roller and an operation input circuit connected to the roller. The operation input circuit includes a first signal output terminal and a second signal output terminal. In response to the roller rotating in a third direction, the first signal output terminal outputs a first square wave signal, and the second signal output terminal outputs a second square wave signal, wherein the first operation includes the roller rotating in the third direction; in response to the roller rotating in a fourth direction, the first signal output terminal outputs the second square wave signal, and the second signal output terminal outputs the first square wave signal, wherein the second operation includes the roller rotating in the fourth direction.

[0040] In one embodiment, the reversing guide structure is configured to contact the trigger element when the rotating housing is in the second rotation range, so that the trigger element is in the second state; the reversing guide structure is also configured to separate from the trigger element when the rotating housing is in the first rotation range, so that the trigger element is in the first state; or

[0041] The reversing guide structure is configured to move away from the trigger element when the rotating housing is in the second rotation range, so that the trigger element is in the second state. The reversing guide structure is also configured to contact the trigger element when the rotating housing is in the first rotation range, so that the trigger element is in the first state.

[0042] In one embodiment, the reversing guide structure includes a protrusion structure, and the triggering element includes a trigger switch. When the protrusion structure contacts the trigger switch, the trigger switch is triggered, and when the protrusion structure separates from the trigger switch, the trigger switch is released.

[0043] In one embodiment, the commutation guide structure includes a first electrical contact portion connected to the commutation module, and the trigger element includes a second electrical contact portion; when the first electrical contact portion is in contact with the second electrical contact portion, the trigger element is in the first state; when the first electrical contact portion is separated from the second electrical contact portion, the trigger element is in the second state.

[0044] In one embodiment, the rotating housing has a zero position. When the rotating housing rotates relative to the zero position along a first direction at an angle greater than or equal to 0° and less than 180°, it is in the first rotation interval. When the rotating housing rotates relative to the zero position along the first direction at an angle greater than or equal to 180° and less than 360°, it is in the second rotation interval.

[0045] This disclosure also discloses a surgical instrument, comprising:

[0046] Body

[0047] A rotating outer shell is rotatably connected to the body, and the rotating outer shell has a first rotation range and a second rotation range;

[0048] A sleeve assembly, the proximal end of which is connected to the rotating housing;

[0049] A jaw assembly is connected to the distal end of the sleeve assembly;

[0050] A swing motor is connected to the jaw assembly for transmission, and the jaw assembly swings relative to the sleeve assembly in response to the rotation of the swing motor;

[0051] A commutation input module is connected to the motor. The commutation input module includes an input circuit, a commutation element connected to the input circuit, and a trigger element connected to the commutation element. The surgical instrument also includes a commutation guide structure. One of the trigger element and the commutation guide structure is located in the body, and the other is located in the rotating housing. When the rotating housing is in a first rotation range, the trigger element is in a first state. When the rotating housing is in a second rotation range, the trigger element is in a second state.

[0052] When the trigger element is in the first state, the input circuit is in a first connection state, so that the commutation input module is in a first input state. In response to the user's first operation, the commutation input module outputs a first input signal, and in response to the user's second operation, the commutation input module outputs a second input signal. When the trigger element is in the second state, the input circuit is in a second connection state, so that the commutation input module is in a second input state. In response to the user's first operation, the commutation input module outputs a second input signal, and in response to the user's second operation, the commutation input module outputs a first input signal.

[0053] In response to the commutation input module outputting the first input signal, the swing motor rotates along the first direction; in response to the commutation input module outputting the second input signal, the swing motor rotates along the second direction; the first direction and the second direction are opposite.

[0054] In one embodiment, the input circuit includes a first voltage input unit and a second voltage input unit, the first voltage input unit being configured to output a first voltage, and the second voltage input unit being configured to selectively output a second voltage or a third voltage;

[0055] The second voltage input unit is connected to the trigger element. In response to the trigger element being in the first state, the second voltage input unit outputs the second voltage, and the commutation input module is in the first input state. In response to the trigger element being in the second state, the second voltage input unit outputs the third voltage, and the commutation input module is in the second input state. One of the second voltage and the third voltage is greater than the first voltage, and the other is less than the first voltage.

[0056] In one embodiment, the second voltage input unit includes a second voltage input terminal, a third voltage input terminal, a second power supply connection terminal, and a single-pole double-throw switch. One end of the single-pole double-throw switch is connected to the second power supply connection terminal, and the other end is selectively connected to either the second voltage input terminal or the third voltage input terminal. The triggering element is connected to the single-pole double-throw switch.

[0057] In one embodiment, the first voltage input unit includes a first voltage input terminal, a first power connection terminal, and a start switch connected between the first voltage input terminal and the first power connection terminal. In response to the start switch being triggered, the first voltage input terminal is connected to the first power connection terminal, and in response to the start switch being released, the first voltage input terminal is disconnected from the first power connection terminal.

[0058] In one embodiment, the input circuit further includes an operation commutation circuit, one end of which is connected to the first voltage input unit and the second voltage input unit, and the other end of which includes a first signal output terminal and a second signal output terminal, which are connected to the swing motor.

[0059] The operation switching circuit has a first direction state and a second direction state. In the first direction state, the first voltage input unit is connected to the first signal output terminal, and the second voltage input unit is connected to the second signal output terminal. In the second direction state, the first voltage input unit is connected to the second signal output terminal, and the second voltage input unit is connected to the first signal output terminal.

[0060] In one embodiment, the surgical instrument further includes a drive module disposed in the passage between the commutation input module and the oscillating motor.

[0061] In one embodiment, the motor drive module further includes a control module disposed in the path between the commutation input module and the drive module.

[0062] In one embodiment, the reversing guide structure is configured to contact the trigger element when the rotating housing is in the second rotation range, so that the trigger element is in the second state; the reversing guide structure is also configured to separate from the trigger element when the rotating housing is in the first rotation range, so that the trigger element is in the first state; or

[0063] The reversing guide structure is configured to move away from the trigger element when the rotating housing is in the second rotation range, so that the trigger element is in the second state. The reversing guide structure is also configured to contact the trigger element when the rotating housing is in the first rotation range, so that the trigger element is in the first state.

[0064] In one embodiment, the reversing guide structure includes a protrusion structure, and the triggering element includes a trigger switch. When the protrusion structure contacts the trigger switch, the trigger switch is triggered, and when the protrusion structure separates from the trigger switch, the trigger switch is released.

[0065] In one embodiment, the commutation guide structure includes a first electrical contact portion connected to the input commutation module, and the trigger element includes a second electrical contact portion; when the first electrical contact portion is in contact with the second electrical contact portion, the trigger element is in the first state; when the first electrical contact portion is separated from the second electrical contact portion, the trigger element is in the second state.

[0066] In one embodiment, the input circuit includes a voltage input circuit, an operation commutation circuit, and a start switch. One end of the operation commutation circuit is connected to the voltage input circuit, and the other end of the operation commutation circuit includes a first signal output terminal and a second signal output terminal, which are connected to the swing motor. When the start switch is closed, the voltage input circuit and the operation commutation circuit are connected; when the start switch is open, the voltage input circuit and the operation commutation circuit are disconnected.

[0067] The operation switching circuit has a first direction state and a second direction state. In the first direction state, the first voltage input unit is connected to the first signal output terminal, and the second voltage input unit is connected to the second signal output terminal. In the second direction state, the first voltage input unit is connected to the second signal output terminal, and the second voltage input unit is connected to the first signal output terminal.

[0068] The first operation includes triggering the start switch when the operation commutation circuit is in the first direction state; the second operation includes triggering the start switch when the operation commutation circuit is in the second direction state.

[0069] In one embodiment, the surgical instrument further includes a directional key, and the operation switching circuit includes a first directional switch and a second directional switch, the first directional switch and the second directional switch being connected to the directional component. The directional key has a left position and a right position. When the directional component is in the left position, the first directional switch and the second directional switch are in the first directional position, so that the operation switching circuit is in the first directional state; when the directional component is in the right position, the first directional switch and the second directional switch are in the second directional position, so that the operation switching circuit is in the second directional state.

[0070] The first operation includes triggering the start switch when the directional key is in the left position, and the second operation includes triggering the start switch when the directional key is in the right position.

[0071] The rotating shell has a starting position and a zero position. The rotating shell rotates from the starting position along a first rotation direction by a first angle to reach the zero position, or the rotating shell rotates from the starting position along a second rotation direction by a first angle to reach the zero position. The first rotation direction is opposite to the second rotation direction, and the first angle is greater than or equal to 0° and less than or equal to 25°.

[0072] When the angle of rotation of the rotating outer shell relative to the starting position along the first rotation direction is greater than 0° and less than the first interval angle, it is in the first rotation interval; when the angle of rotation of the rotating outer shell relative to the starting position along the first rotation direction is greater than the first interval angle and less than 360°, it is in the second rotation interval.

[0073] In one embodiment, the angle of the first interval is greater than or equal to 155° and less than or equal to 205°.

[0074] In one embodiment, the reversing guide structure extends about the axis of the rotating housing, and is configured to contact the trigger element when the rotating housing is in the first rotation range, so that the trigger element is in the first state; the reversing guide structure is also configured to separate from the trigger element when the rotating housing is in the second rotation range, so that the trigger element is in the second state.

[0075] In one embodiment, the reversing guide structure includes a first triggering member and a second triggering member. When the rotating housing rotates from the first rotation range to the second rotation range, the first triggering member and the second triggering member separate from the triggering element, causing the triggering element to switch from the first state to the second state. When the rotating housing rotates from the second rotation range to the first rotation range, the first triggering member or the second triggering member contacts the triggering element, causing the triggering element to switch from the second state to the first state.

[0076] In one embodiment, the line connecting the first triggering member and the axis of the rotating housing is a first line, and the line connecting the second triggering member and the axis of the rotating housing is a second line, wherein the angle between the first line and the second line is equal to the first interval angle.

[0077] In one embodiment, the reversing guide structure extends about the axis of the rotating housing, the sum of the second interval angle and the first interval angle is 360°, the reversing guide structure is configured to separate from the trigger element when the rotating housing is in the first rotation interval, so that the trigger element is in the first state, and the reversing guide structure is also configured to contact the trigger element when the rotating housing is in the second rotation interval, so that the trigger element is in the second state.

[0078] In one embodiment, the reversing guide structure includes a first triggering member and a second triggering member. When the rotating housing rotates from the first rotation range to the second rotation range, the first triggering member or the second triggering member contacts the triggering element, causing the triggering element to switch from the first state to the second state. When the rotating housing rotates from the second rotation range to the first rotation range, both the first triggering member and the second triggering member separate from the triggering element, causing the triggering element to switch from the second state to the first state.

[0079] In one embodiment, the line connecting the first triggering member and the axis of the rotating housing is a first line, the line connecting the second triggering member and the axis of the rotating housing is a second line, and the angle between the first line and the second line is equal to the second interval angle.

[0080] In one embodiment, one of the first triggering member and the second triggering member includes a head end of a commutation guide structure, and the other includes a tail end of a commutation guide structure. Attached Figure Description

[0081] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure.

[0082] Figure 1 is a schematic diagram of the structure of a surgical instrument in one embodiment of this disclosure;

[0083] Figure 2 is an exploded view of a surgical instrument in one embodiment of this disclosure;

[0084] Figure 3 is a schematic diagram of the structure of the rotating outer shell and inner sleeve in one embodiment of this disclosure;

[0085] Figure 4 is a schematic diagram of the structure of the swing motor driving the jaw assembly to rotate in one embodiment of this disclosure;

[0086] Figure 5a is a schematic diagram of the jaw assembly rotating when the rotating housing is in the first rotation range in one embodiment of the present disclosure;

[0087] Figure 5b is a schematic diagram of the jaw assembly rotating when the rotating housing is in the second rotation range in one embodiment of this disclosure;

[0088] Figure 6 is a schematic diagram of the internal structure of the rotating outer shell in one embodiment of this disclosure;

[0089] Figure 7 is a side view of the front mounting portion in one embodiment of this disclosure;

[0090] Figure 8 is an enlarged view of point A in Figure 7, where (a) shows the trigger element in the first state and (b) shows the trigger element in the second state.

[0091] Figure 9 is a circuit diagram of a motor drive circuit according to an embodiment of the present disclosure, wherein the commutation unit is in the first connection state;

[0092] Figure 10 is a circuit diagram of a motor drive circuit according to an embodiment of the present disclosure, wherein the commutation unit is in the second connection state;

[0093] Figure 11a is a circuit diagram of a motor drive circuit according to another embodiment of the present disclosure, wherein the commutation unit is in a first connection state;

[0094] Figure 11b is a circuit diagram of a motor drive circuit according to another embodiment of the present disclosure, wherein the commutation unit is in the second connection state;

[0095] Figure 12a is a circuit diagram of a motor drive circuit according to another embodiment of the present disclosure, wherein the commutation unit is in the first connection state;

[0096] Figure 12b is a circuit diagram of a motor drive circuit according to another embodiment of the present disclosure, wherein the commutation unit is in the second connection state;

[0097] Figure 13a is a circuit diagram of a motor drive circuit according to another embodiment of the present disclosure, wherein the commutation unit is in the first connection state;

[0098] Figure 13b is a circuit diagram of a motor drive circuit according to another embodiment of the present disclosure, wherein the commutation unit is in the second connection state;

[0099] Figure 14a is a circuit diagram of a motor drive circuit according to another embodiment of the present disclosure, wherein the commutation unit is in the first connection state;

[0100] Figure 14b is a circuit diagram of a motor drive circuit according to another embodiment of the present disclosure, wherein the commutation unit is in the second connection state;

[0101] Figure 15 is a schematic diagram of the internal structure of a rotating housing according to an embodiment of the present disclosure;

[0102] Figure 16a is a circuit diagram of a motor drive circuit including a drive module in an embodiment, with the commutation unit in a first connection state;

[0103] Figure 16b is a circuit diagram of a motor drive circuit including a drive module in an embodiment, with the commutation unit in a second connection state;

[0104] Figure 17a is a circuit diagram of a motor drive circuit of another embodiment including a drive module, wherein the commutation unit is in a first connection state.

[0105] Figure 17b is a circuit diagram of a motor drive circuit including a drive module in another embodiment, where the commutation unit is in a second connection state.

[0106] Figure 18a is a circuit diagram of a motor drive circuit including a control module and a drive module in an embodiment, with the commutation unit in a first connection state.

[0107] Figure 18b is a circuit diagram of a motor drive circuit including a control module and a drive module in an embodiment, with the commutation unit in a first connection state.

[0108] Figure 19a is a circuit diagram of a motor drive circuit of another embodiment including a control module and a drive module, wherein the commutation unit is in a first connection state.

[0109] Figure 19b is a circuit diagram of a motor drive circuit of another embodiment including a control module and a drive module, wherein the commutation unit is in a second connection state;

[0110] Figure 20a is a circuit diagram of a motor drive circuit of another embodiment including a control module and a drive module, wherein the commutation unit is in a first connection state.

[0111] Figure 20b is a circuit diagram of a motor drive circuit of another embodiment including a control module and a drive module, wherein the commutation unit is in a second connection state;

[0112] Figure 21a is a circuit diagram of a motor drive circuit including a commutation input module according to an embodiment of the present disclosure, wherein the commutation unit is in a first connection state;

[0113] Figure 21b is a circuit diagram of a motor drive circuit including a commutation input module according to an embodiment of the present disclosure, wherein the commutation unit is in a second connection state;

[0114] Figure 22a is a circuit diagram of a motor drive circuit including a commutation input module in another embodiment of the present disclosure, wherein the commutation unit is in a second connection state;

[0115] Figure 22b is a circuit diagram of a motor drive circuit including a commutation input module according to another embodiment of the present disclosure, wherein the commutation unit is in a second connection state;

[0116] Figure 23 is a circuit diagram of a motor drive circuit according to an embodiment of the present disclosure, including a commutation input module and a drive module;

[0117] Figure 24 is a circuit diagram of a motor drive circuit according to an embodiment of the present disclosure, including a commutation input module, a control module, and a drive module;

[0118] Figure 25 is a schematic diagram of the structure of the second electrical contact in one embodiment of this disclosure;

[0119] Figure 26 is a schematic diagram of the structure of the first electrical contact and the second electrical contact when the trigger element is in the first state in one embodiment of this disclosure.

[0120] Figure 27 is a schematic diagram of the structure of the first electrical contact and the second electrical contact when the trigger element is in the second state in one embodiment of the present disclosure.

[0121] Figure 28 is a schematic diagram of the structure of the first electrical contact and the second electrical contact when the trigger element is in the first state in another embodiment of this disclosure.

[0122] Figure 29 is a schematic diagram of the structure of the first electrical contact and the second electrical contact when the trigger element is in the second state in another embodiment of this disclosure.

[0123] Figure 30 is a schematic diagram of the structure of the first electrical contact and the second electrical contact when the trigger element is in the first state in another embodiment of this disclosure.

[0124] Figure 31 is a schematic diagram of the structure of the first electrical contact and the second electrical contact when the trigger element is in the second state in another embodiment of this disclosure.

[0125] Figure 32 is a schematic diagram of the guide structure in another embodiment of this disclosure;

[0126] Figure 33 is a schematic diagram of the structure of the first electrical contact and the second electrical contact when the trigger element is in the first state in another embodiment of this disclosure.

[0127] Figure 34 is a schematic diagram of the structure of the first electrical contact and the second electrical contact when the triggering element is in the second state in another embodiment of this disclosure.

[0128] Figure 35 is a schematic diagram of the structure of the first contact portion, the second contact portion, and the second electrical contact portion when the trigger element is in the first state in another embodiment of this disclosure;

[0129] Figure 36 is a schematic diagram of the structure of the first contact portion, the second contact portion, and the second electrical contact portion when the trigger element is in the second state in another embodiment of this disclosure.

[0130] Reference numerals: 100, Body; 110, Operating section; 120, Front mounting section; 130, Reversing guide structure; 131, Protruding structure; 132, First electrical contact; 1321, First contact; 1322, Second contact; 140, Motor; 150, Worm gear; 160, Worm wheel; 170, Push rod; 180, Connecting rod; 200, Rotating outer shell; 210, Constraint section; 220, Circuit board; 230, Triggering element; 231, First trigger; 232, Second trigger; 233, Contact switch; 234, Second electrical contact; 2341. First connecting part; 2342, Second connecting part; 300, Jaw assembly; 310, Angle steering component; 320, End actuator; 400, Sleeve assembly; 410, Inner sleeve; 411, Mating slot; 420, Outer sleeve; 500, Swing motor; 600, Reversing module; 610, Electromagnetic coil; 700, Input module; 800, Motor drive circuit; M, Swing motor; 900, Reversing input module; 910, Operation reversing circuit; D01, First motor input terminal; D02, Second motor input terminal; D11, First signal output terminal; D12, Second signal output terminal; D13, First voltage input terminal; D14, Second voltage input terminal; D15, Third voltage input terminal; D16, First power supply input terminal; D17, Second power supply input terminal; D21, First input terminal; D22, Second input terminal; D23, First output terminal; D24, Second output terminal; D31, First drive module input terminal; D32, Second drive module input terminal; D33, First drive module output terminal; D34, Second drive module output terminal; D41, First control module input terminal; D42, Second control module input terminal; D43, First control module output terminal; D44, Second control module output terminal; K1, First moving contact; K2, Second moving contact; K3, On switch; K3', Single-pole double-throw switch; K4, First switch; K5, Second switch; K6, First encoding switch; K7, Second encoding switch; K8, Start switch; K9, First direction switch; K10, Second direction switch. Detailed Implementation

[0131] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description, in conjunction with the accompanying drawings and embodiments, is provided. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0132] It is important to understand that the terms "proximal" and "distal" used in this article are relative to the clinician manipulating the stapler's handle. "Proximal" refers to the part closer to the clinician, while "distal" refers to the part farther away. That is, the handle is proximal, and the jaw assembly is distal. For example, the proximal end of a component refers to the end relatively closer to the handle, and the distal end refers to the end relatively closer to the jaw assembly. The terms "upper" and "lower" are relative to the relative positions of the anvil and stapler seat on the jaw assembly; specifically, the anvil is "upper," and the stapler seat is "lower." However, staplers can be used in many orientations and positions, so these terms expressing relative positional relationships are not limited or absolute.

[0133] In this disclosure, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, a movable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, such as contact. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances. It should be noted that when "connected" or "linked" is preceded by a qualifier, it has the meaning defined by that qualifier, excluding only obviously excluding cases, but not other possible cases. For example, "detachable connection" refers to a detachable connection, excluding integral parts, but not excluding movable connections, etc. Connections include electrical connections, which can be direct connections or indirect connections through an intermediate medium.

[0134] This disclosure provides a surgical instrument, as shown in Figures 1 and 2, including a body 100, a rotating housing 200, a jaw assembly 300, a cannula assembly 400, a swing motor M, and a motor drive module 800. The rotating housing 200 is rotatably connected to the body 100. The proximal end of the cannula assembly 400 is connected to the rotating housing 200, and the distal end of the cannula assembly 400 is connected to the jaw assembly 300. The rotating housing 200 can rotate relative to the body 100 about the axis of the cannula assembly 400. When the rotating housing 200 rotates, it drives the cannula assembly 400 and the jaw assembly 300 to rotate synchronously.

[0135] The jaw assembly 300 is rotatably connected to the cannula assembly 400, allowing the jaw assembly 300 to swing relative to the cannula assembly 400. During surgery, medical personnel insert the jaw assembly 300 and a portion of the cannula assembly 400 into the human body and clamp the human tissue using the jaw assembly 300. Medical personnel can rotate the rotating housing 200 to cause the cannula assembly 400 to rotate the jaw assembly 300 around its axis; and by operating the machine body 100, the jaw assembly 300 can be rotated relative to the cannula assembly 400, thereby adjusting the position of the jaw assembly 300 to a suitable position for clamping the target human tissue.

[0136] As an example, the body 100 may include a front mounting portion 120. The rotating outer shell 200 is fitted around the front mounting portion 120 and is rotatable about its own axis relative to the front mounting portion 120.

[0137] The rotating outer shell 200 has a rotation range, which is a circular space within which the rotating outer shell 200 can rotate 360° around its own axis. The rotation range includes a first rotation range and a second rotation range, for example, both the first and second rotation ranges are semicircles, together forming the rotation range. The rotating outer shell 200 has a zero position. When the rotating outer shell 200 rotates relative to the zero position along a first direction at an angle greater than or equal to 0° and less than 180°, the rotating outer shell 200 is in the first rotation range. When the rotating outer shell 200 rotates relative to the zero position along the first direction at an angle greater than or equal to 180° and less than 360°, the rotating outer shell 200 is in the second rotation range. The first direction is either clockwise or counterclockwise. When the jaw assembly 300 rotates, the plane on which its rotation trajectory lies is the first plane. For example, when the rotating outer shell 200 is in the zero position, the first plane is a vertical surface, such as the upper surface of the body being a horizontal surface. The first plane is parallel to the axis of the sleeve assembly and perpendicular to the horizontal surface.

[0138] For example, the sleeve assembly 400 includes an inner sleeve 410 and an outer sleeve 420. The outer sleeve 420 surrounds the inner sleeve 410 and is movable relative to the inner sleeve 410. For example, the outer sleeve 420 has a slot that exposes part of the inner sleeve 410. As shown in Figures 2 and 3, the exposed portion of the inner sleeve 410 has a mating groove 411, and the portion of the inner sleeve 410 with the mating groove 411 forms a flattened elongated portion 415. A flattened elongated constraint groove 210 is formed inside the rotating housing 200. When the sleeve assembly 400 is installed in the rotating housing 200, the flattened elongated portion 415 is engaged in the constraint groove 210, so that the proximal end of the sleeve assembly 400 is connected to the rotating housing 200, thereby allowing the sleeve assembly 400 to rotate synchronously when the rotating housing 200 rotates.

[0139] The swing motor M can drive the drive structure of the connected jaw assembly 300 to move, thereby driving the jaw assembly 300 to swing. The user operates the jaw assembly 300 to swing according to the current position of the jaw assembly 300 and the position of the tissue to be clamped, so that the jaw assembly 300 is in a suitable position to clamp the human tissue at the corresponding position.

[0140] As shown in Figures 4 and 5, the surgical instrument includes a jaw drive assembly connected to a oscillating motor 140 (i.e., oscillating motor M) and a jaw assembly 300. In response to the rotation of the oscillating motor 140, the jaw drive assembly moves to drive the jaw assembly 300 to rotate relative to the cannula assembly 400. For example, the jaw drive assembly includes a worm gear 150 connected to the output shaft of the oscillating motor 140, a worm wheel 160 meshing with the worm gear 150, a gear 161 coaxially arranged with the worm wheel 160, and a push rod 170 meshing with the gear 161. In response to the rotation of the oscillating motor 140, the worm gear 150 rotates to drive the worm wheel 160 to rotate. The rotating worm wheel 160 drives the gear 161 to rotate synchronously. The rotating gear 161 drives the push rod 170 to move proximally or distally. The jaw assembly 300 includes an end effector 320 and an angle steering member 310 connected to the end effector 320, the angle steering member 310 being rotatably connected to the sleeve assembly 400. The distal end of a push rod 170 is rotatably connected to the angle steering member 310. In response to movement of the push rod 170 proximally or distally, the push rod 170 causes the angle steering member 310 to rotate relative to the sleeve assembly 400, thereby causing the jaw assembly 300 to rotate relative to the sleeve assembly 400. For example, the jaw drive assembly also includes a connecting rod 180, one end of which is rotatably connected to the push rod 170, and the other end of which is rotatably connected to the angle steering member 310. In response to movement of the push rod 170 proximally or distally, the push rod 170, through the connecting rod 180, causes the angle steering member 310 to rotate relative to the sleeve assembly 400, thereby causing the jaw assembly 300 to rotate relative to the sleeve assembly 400.

[0141] In response to the user's first operation, the swing motor M rotates in a first direction, thereby driving the jaw assembly 300 to swing to the left relative to the sleeve assembly 400. This disclosure takes the swing of the jaw assembly 300 to the left as an example, that is, when the user performs the first operation, he expects the jaw assembly 300 to swing to the left.

[0142] For example, when the rotating housing 200 is in the zero position, the push rod 700 is located above the center line of the jaw assembly 300, where the center line of the jaw assembly 300 largely coincides with the axis of the sleeve assembly 400. For example, if the first direction is clockwise, when the rotating housing 200 rotates relative to the zero position and is within the first rotation range, since the rotation angle of the push rod 170 is less than 180°, the push rod 170 is located to the right of the center axis of the jaw assembly 300; when the rotating housing 200 rotates relative to the zero position and is within the second rotation range, since the rotation angle of the push rod is greater than or equal to 180°, the push rod 170 is located to the left of the center axis of the jaw assembly 300.

[0143] For example, when the rotating housing 200 is in the first rotation range, as shown in Figure 5a, since the push rod 170 is located to the right of the central axis of the jaw assembly 300, in response to the user's first operation, the swing motor M rotates in the first direction, driving the push rod 170 to move to the far side, thereby driving the jaw assembly 300 to swing to the left relative to the sleeve assembly 400. The swing direction of the jaw assembly 300 expected by the user is consistent with the actual swing direction of the jaw assembly 300. When the rotating housing 200 is in the second rotation range, as shown in Figure 5b, since the push rod 170 is located to the left of the jaw assembly 300, in response to the user's first operation, when the swing motor M rotates in the first direction, it drives the push rod 170 to move to the far side, and the push rod 170 moving to the far side drives the jaw assembly 300 to rotate to the right. The user's first operation is to expect the jaw assembly 300 to swing to the left. However, when the rotating housing 200 is in the second rotation range, the first operation causes the jaw assembly 300 to swing to the right. The expected swing direction of the jaw assembly 300 is inconsistent with the actual swing direction of the jaw assembly 300, which can easily mislead the user and cause inconvenience to the user's operation.

[0144] In related technologies, a detection device is generally set up to detect whether the rotating housing 200 is in the first or second rotation range, and the signal of the detection device is transmitted to the control module of the swing motor M. The control module changes the operation logic of the swing motor M according to the signal of the detection device, so that the swing motor M reverses when the rotating housing 200 is in the second rotation range, thereby making the swing direction of the jaw assembly 300 as desired by the user consistent with the actual swing direction of the jaw assembly 300.

[0145] To address the aforementioned issues, embodiments of this disclosure include a motor drive module 800 comprising a reversing module 600. This module ensures that the swing direction of the jaw assembly 300, as desired by the user, is consistent with the actual swing direction of the jaw assembly 300 without altering the control logic of the swing motor M. This avoids confusion in the control logic of the swing motor and makes the control of the surgical instruments more stable.

[0146] The surgical instrument includes an input module 700 and a motor drive module 800. One end of the motor drive module 800 is connected to the input module 700, and the other end is connected to a motor M. The input module 700 is configured to send an input signal, and the motor drive module 800 transmits the input signal sent by the input module 700 to the oscillating motor M to control the rotation of the oscillating motor M. For example, as shown in Figures 6 to 10, a circuit board 220 is provided inside the rotating housing 200, and the motor drive module 800 is disposed on the circuit board 220.

[0147] The motor drive module 800 includes a commutation module 600 and a trigger element 230. The trigger element 230 is connected to the commutation module 600. The specific connection relationship between the trigger element 230 and the commutation module 600 is described below. The surgical instrument also includes a commutation guide structure 130. One of the trigger element 230 and the commutation guide structure 130 is located in the body 100, and the other is located in the rotating housing 200. When the rotating housing 200 is in a first rotation range, the trigger element 230 is in a first state. When the rotating housing 200 is in a second rotation range, the trigger element 230 is in a second state. That is, when the rotating housing 200 rotates from the first rotation range to the second rotation range, or from the second rotation range to the first rotation range, the commutation guide structure 130 will act on the trigger element 230, causing the trigger element 230 to switch between the first state and the second state. For example, Figure 8(a) is a schematic diagram of the trigger element 230 in the first state, and Figure 8(b) is a schematic diagram of the trigger element 230 in the second state.

[0148] When the trigger element 230 switches between the first state and the second state, it changes the connection state of the commutation module 600. When the trigger element 230 is in the first state, the commutation module 600 is in the first connection state, which in turn puts the surgical instrument in the first drive state. In the first drive state, in response to the input module 700 receiving a first operation from the user, the motor drive module 800 drives the swing motor M to rotate in the first direction. In response to the input module 700 receiving a second operation from the user, the motor drive module 800 drives the swing motor M to rotate in the second direction.

[0149] When the trigger element 230 is in the second state, the reversing module 600 is in the second connection state, thereby putting the surgical instrument in the second drive state. In the second drive state, in response to the input module 700 receiving the user's first operation, the motor drive module 800 drives the swing motor M to rotate in the second direction, and in response to the input module 700 receiving the user's second operation, the motor drive module 800 drives the swing motor M to rotate in the first direction. The first direction is opposite to the second direction.

[0150] When the rotating housing 200 rotates from the first rotation range to the second rotation range, or from the second rotation range back to the first rotation range, the reversing module 600 switches between the first connection state and the second connection state, thereby switching the surgical instrument between the first drive state and the second drive state. When the surgical instrument switches from the first drive state to the second drive state, or from the second drive state to the first drive state, in response to the same operation by the user (the first operation or the second operation), the rotation direction of the oscillating motor M changes to the opposite direction. That is, in response to the same operation by the user, the rotation direction of the oscillating motor M when the surgical instrument is in the first drive state is opposite to the rotation direction of the oscillating motor M when the surgical instrument is in the second drive state. The rotation direction of the oscillating motor M is positively correlated with the oscillation direction of the jaw assembly 300. Therefore, in response to the same operation by the user, the oscillation direction of the jaw assembly 300 when the reversing module 600 is in the first connection state is opposite to the oscillation direction of the jaw assembly 300 when the reversing module 600 is in the second connection state.

[0151] For example, when a medical professional performs the first operation, their intention is to drive the jaw assembly 300 to swing to the left relative to the cannula assembly 400. When the medical professional performs the second operation, their intention is to drive the jaw assembly 300 to swing to the right relative to the cannula assembly 400. In this embodiment, when the rotating housing 200 is within the first rotation range, the trigger element 230 is in the first state, causing the reversing module 600 to be in the first connection state and the surgical instrument to be in the first driving state. When the rotating housing 200 is within the first rotation range, the push rod 170 is located to the right of the jaw assembly 300. In response to the user's first operation, the swing motor M rotates along the first direction, driving the push rod 170 to move distally, thereby driving the jaw assembly 300 to swing to the left relative to the cannula assembly 400. The direction of the operation performed by the user is consistent with the actual swing direction of the jaw assembly 300, wherein the swing motor M rotates along the first direction to drive the jaw assembly 300 to the left. The swinging motion is merely an illustrative example; when the rotating housing 200 is within the second rotation range, the reversing guide structure 130 interacts with the trigger element 230, causing the trigger element 230 to be in a second state, which in turn causes the reversing module 600 to be in a second connected state, and the surgical instrument to be in a second driven state. When the rotating housing 200 is within the second rotation range, the push rod 170 is located to the left of the jaw assembly 300. In response to the user's first operation, the swing motor M rotates in the second direction, driving the push rod 170 to move proximally, thereby driving the jaw assembly 300 to swing to the left relative to the cannula assembly 400. The direction of the operation performed by the user is consistent with the actual swinging direction of the jaw assembly 300. That is, when the user performs the first operation, regardless of whether the rotating housing 200 is in the first or second rotation range, the jaw assembly 300 swings to the left; similarly, when the user performs the second operation, regardless of whether the rotating housing 200 is in the first or second rotation range, the jaw assembly 300 swings to the right. This ensures that the swing direction of the jaw assembly 300 as desired by the user is consistent with the actual swing direction of the jaw assembly 300.

[0152] One end of the commutation module 600 is connected to the input module 700, and the other end is connected to the swing motor M. This connection refers to the direct or indirect electrical connection between the commutation module 600, the input module 700, and the swing motor M. When the rotating housing 200 rotates from the first rotation zone to the second rotation zone, the commutation module 600 switches from the first connection state to the second connection state to change the connection relationship between the input module 700 and the swing motor M, thereby changing the direction of the current supplying the swing motor M, and consequently changing the rotation direction of the swing motor M, as well as the rotation direction of the jaw assembly 300.

[0153] In the embodiments of this disclosure, by setting the reversing module 600 to change the connection relationship between the input module and the swing motor M when needed, and by changing the rotation direction of the swing motor M through a hardware structure when needed, the swing direction of the jaw assembly 300 desired by the user is consistent with the actual swing direction of the jaw assembly 300. Compared with the solution of controlling the rotation direction of the swing motor M through software, the solution of this disclosure can intuitively detect and identify whether the signal sent to the motor changes when needed during product testing or maintenance, thus avoiding problems.

[0154] In one embodiment, as shown in Figures 9 and 10, the input module 700 includes a first signal output terminal D11 and a second signal output terminal D12, and the swing motor M includes a first motor input terminal D01 and a second motor input terminal D02.

[0155] Please refer to Figure 9. When the commutation module 600 is in the first connection state, the first signal output terminal D11 is connected to the first motor input terminal D01, and the second signal output terminal D12 is connected to the second motor input terminal D02, so that the input module 700 and the swing motor M are connected through the first method. Please refer to Figure 10. When the commutation module 600 is in the second connection state, the first signal output terminal D11 is connected to the second motor input terminal D02, and the second signal output terminal D12 is connected to the first motor input terminal D01, so that the input module 700 and the swing motor M are connected through the second method.

[0156] When the commutation module 600 switches between the first connection state and the second connection state, it switches the conduction mode of the input module 700 and the swing motor M between the first mode and the second mode. Compared with the first mode, the connection relationship between the input module 700 and the motor drive module 800 in the second mode is reversed, thereby exchanging the signals received by the first motor input terminal D01 and the second motor input terminal D02, causing the current direction for the swing motor M to rotate to reverse, thus making the rotation direction of the swing motor M opposite, and consequently making the swing direction of the jaw assembly 300 opposite to that of the sleeve assembly 400.

[0157] In one embodiment, as shown in Figures 9 to 14b, the commutation module 600 includes:

[0158] The first input terminal unit includes a first input terminal D21 and a second input terminal D22. The first input terminal D21 is connected to the first signal output terminal D11, and the second input terminal D22 is connected to the second signal output terminal D12.

[0159] The first output unit includes a first output terminal D23 and a second output terminal D24. The first output terminal D23 is connected to the first motor input terminal D01, and the second output terminal D24 is connected to the second motor input terminal D02.

[0160] A switching assembly is connected between the first input terminal unit and the first output terminal unit. The switching assembly is connected to the trigger element 230. The first output terminal D23 is selectively connected to one of the first input terminal D21 and the second input terminal D22 through the switching assembly. The second output terminal D24 is selectively connected to the other of the first input terminal D21 and the second input terminal D22 through the switching assembly.

[0161] As shown in Figure 9, when the commutation module 600 is in the first connection state, the first input terminal D21 is connected to the first output terminal D23 and the second input terminal D22 is connected to the second output terminal D24, so that the first signal output terminal D11 is connected to the first motor input terminal D01 and the second signal output terminal D12 is connected to the second motor input terminal D02. The input module 700 is connected to the swing motor M through the first method.

[0162] As shown in Figure 10, when the commutation module 600 is in the second connection state, the first input terminal D21 is connected to the second output terminal D24, and the second input terminal D22 is connected to the first output terminal D23, so that the first signal output terminal D11 is connected to the second motor input terminal D02, and the second signal output terminal D12 is connected to the first motor input terminal D01. The input module 700 is connected to the swing motor M through the second method.

[0163] In one embodiment, the switching assembly includes a switching unit configured to connect one end to a first input terminal D21 and a second input terminal D22, and the other end to a first output terminal D23 and a second output terminal D24. In response to the trigger element 230 being in a first state, the switching unit is in a first position such that the commutation module 600 is in a first connected state; in response to the trigger element 230 being in a second state, the switching unit is in a second position such that the commutation module 600 is in a second connected state. The connection relationships between the switching unit and the first input terminal D21, the second input terminal D22, the first output terminal D23, and the second output terminal D24 are described below.

[0164] In one embodiment, as shown in Figures 9 and 10, the switching assembly further includes an electromagnetic coil 610 and a coil power supply. The coil power supply includes a VCC terminal and a GND terminal connected to the electromagnetic coil. The coil power supply is configured to supply power to the electromagnetic coil 610. A trigger element K3 (i.e., trigger element 230) is connected between the electromagnetic coil 610 and the coil power supply. The electromagnetic coil 610 is configured to act on the switching unit. The electromagnetic coil 610 is configured to be de-energized when the trigger element 230 is in a first state, causing the switching unit to be in a first position. The electromagnetic coil 610 is also configured to be energized when the trigger element 230 is in a second state. In the energized state, the electromagnetic coil 610 generates magnetic force, which drives the switching unit to move, causing the switching unit to be in the second position. This switches the commutation module 600 from the first connection state to the second connection state.

[0165] The trigger element 230 includes a trigger section and a conducting switch K3 connected to the trigger section. One end of the conducting switch K3 is connected to the GND terminal, and the other end is connected to the electromagnetic coil 610. In response to the rotating housing 200 switching between a first rotation range and a second rotation range, the reversing guide structure acts on the trigger section to switch the state of the conducting switch K3. When the trigger element 230 is in the first state, the conducting switch K3 is open, so that the electromagnetic coil 610 is de-energized; when the trigger element 230 is in the second state, the conducting switch K3 is closed, so that the electromagnetic coil 610 is energized.

[0166] It should be noted that the commutation module 600 also includes a reset element (not shown in the figure), which is connected to the switching unit. When the electromagnetic coil 610 is energized, it generates magnetic force, causing the switching unit to be in the second position. When the electromagnetic coil 610 is de-energized, it no longer generates magnetic force, and the reset element drives the switching unit to the first position. In one embodiment, the reset element can be an elastic element. When the electromagnetic coil 610 is energized, the switching unit is in the second position, and the elastic element is compressed; when the electromagnetic coil 610 is de-energized, the elastic element is released, driving the switching unit to the first position. This causes the switching unit to move to the first position when the trigger element 230 switches from the second state to the first state. In another embodiment of this disclosure, the trigger element 230 includes a trigger portion connected to the switching unit. When the rotating housing 200 is in a first rotation range, the reversing guide structure 130 and the trigger portion are in a first positional relationship, and the trigger portion is in a first working state, so that the switching unit is in a first position. When the rotating housing 200 is in a second rotation range, the reversing guide structure 130 and the trigger portion are in a second positional relationship, and the trigger portion is in a second working state, so that the switching unit is in a second position. For example, the first positional relationship is that the reversing guide structure 130 and the trigger portion are separated from each other, and the first working state of the trigger portion is a non-triggering state. The second positional relationship is that the reversing guide structure 130 and the trigger portion are in contact, and the second working state of the trigger portion is a triggering state. Alternatively, the first positional relationship includes the reversing guide structure 130 and the trigger portion being in contact, and the second positional relationship includes the reversing guide structure 130 and the trigger portion being separated from each other.

[0167] For example, the switching unit includes a first single-pole double-throw switch K1 and a second single-pole double-throw switch K2, as shown in Figures 11a and 11b. One end of the first single-pole double-throw switch K1 is connected to the first input terminal D21, and the other end is selectively connected to the first output terminal D23 or the second output terminal D24. One end of the second single-pole double-throw switch K2 is connected to the second input terminal D22, and the other end is selectively connected to the first output terminal D23 or the second output terminal D24.

[0168] Or as shown in Figure 12a, one end of the first single-pole double-throw switch K1 is connected to the first output terminal D23, and the other end is selectively connected to the first input terminal D21 or the second input terminal D22. One end of the second single-pole double-throw switch K2 is connected to the second output terminal D24, and the other end is selectively connected to the first input terminal D21 or the second input terminal D22.

[0169] As shown in Figures 9, 11a, and 13a, in response to the trigger element 230 being in the first state, the first single-pole double-throw switch K1 and the second single-pole double-throw switch K2 are in the first position. The first single-pole double-throw switch K1 connects the first input terminal D21 to the first output terminal D23, and the second single-pole double-throw switch K2 connects the second input terminal D22 to the second output terminal D24, so that the commutation module 600 is in the first connection state. As shown in Figures 10, 11b, and 13b, the first single-pole double-throw switch K1 connects the first input terminal D21 to the second output terminal D24, and the second single-pole double-throw switch K2 connects the second input terminal D22 to the first output terminal D23, so that the commutation module 600 is in the second connection state.

[0170] Alternatively, as shown in Figures 12a and 14a, in response to the trigger element 230 being in the first state, the first single-pole double-throw switch K1 and the second single-pole double-throw switch K2 are in the first position. The first single-pole double-throw switch K1 connects the first output terminal D23 to the first input terminal D21, and the second single-pole double-throw switch K2 connects the second output terminal D24 to the second input terminal D22, so that the commutation module 600 is in the first connection state; as shown in Figures 12b and 14b, the first single-pole double-throw switch K1 connects the first output terminal D23 to the second input terminal D22, and the second single-pole double-throw switch K2 connects the second output terminal D24 to the first input terminal D21, so that the commutation module 600 is in the second connection state.

[0171] In the embodiments shown in Figures 11a to 14b, the trigger element 230 includes two trigger portions, one of which is connected to a first single-pole double-throw switch K1, and the other trigger portion is connected to a second single-pole double-throw switch K2. In response to the rotating housing 200 moving from a first rotational range to a second rotational range, the two trigger portions act on the first single-pole double-throw switch K1 and the second single-pole double-throw switch K2 respectively, causing the switching unit to move from a first position to a second position. Similarly, in response to the rotating housing 200 moving from a second rotational range to a first rotational range, the two trigger portions act on the first single-pole double-throw switch K1 and the second single-pole double-throw switch K2 respectively, causing the switching unit to move from a second position to a first position.

[0172] For example, the first single-pole double-throw switch K1 has a first triggered state and a first released state, and the second single-pole double-throw switch K2 has a second triggered state and a second released state. For example, in Figure 11a, when the commutation unit is in the first position, the first single-pole double-throw switch K1 is in the first released state, connecting the first input terminal D21 and the first output terminal D23, and the second single-pole double-throw switch K2 is in the second released state, connecting the second input terminal D22 and the second output terminal D24, so that the commutation module 600 is in the first connected state.

[0173] As shown in Figure 11b, when the commutation unit is in the second position, the first single-pole double-throw switch K1 is in the first triggered state, connecting the first input terminal D21 and the second output terminal D24. The second single-pole double-throw switch K2 is in the second triggered state, connecting the second input terminal D22 and the first output terminal D23, thus placing the commutation module 600 in the second connected state.

[0174] In one embodiment, the first single-pole double-throw switch K1 and the second single-pole double-throw switch K2 can be simultaneously in a released state or simultaneously in a triggered state. For example, the first single-pole double-throw switch K1 and the second single-pole double-throw switch K2 are arranged adjacent to each other and can be simultaneously triggered or released by the reversing guide structure 130. As shown in Figures 11a to 12b, when the rotating housing 200 is in the first rotation range, the first single-pole double-throw switch K1 is in the first released state and the second single-pole double-throw switch K2 is in the second released state, so that the reversing unit is in the first position; when the rotating housing 200 is in the second rotation range, the first single-pole double-throw switch K1 is in the first triggered state and the second single-pole double-throw switch K2 is in the second triggered state, so that the reversing unit is in the second position.

[0175] When the rotating housing 200 is in the first rotation range, the first single-pole double-throw switch K1 is in the first trigger state and the second single-pole double-throw switch K2 is in the second trigger state, so that the reversing unit is in the first position; when the rotating housing 200 is in the second rotation range, the first single-pole double-throw switch K1 is in the first release state and the second single-pole double-throw switch K2 is in the second release state, so that the reversing unit is in the second position.

[0176] The commutation unit in the embodiments shown in Figures 14a and 14b has a connection logic that is largely the same as that in the embodiments shown in Figures 11a and 11b, and will not be described again here.

[0177] In one embodiment, the first single-pole double-throw switch K1 and the second single-pole double-throw switch K2 may be simultaneously in a released state or simultaneously in a triggered state. In another embodiment, the switching module includes a double-pole double-throw switch, which includes the aforementioned first single-pole double-throw switch K1 and second single-pole double-throw switch K2 connected to each other. When the rotating housing 200 switches within the first rotation range and the second rotation range, the reversing guide structure 130 acts on the double-pole double-throw switch, causing the first single-pole double-throw switch K1 and the second single-pole double-throw switch K2 to be simultaneously triggered or simultaneously released.

[0178] In another embodiment, when one of the first single-pole double-throw switch K1 and the second single-pole double-throw switch K2 is in the released state, the other is in the triggered state. As shown in Figures 13a to 15, the two triggering parts of the triggering element 230 are a first triggering part 231 and a second triggering part 232, respectively. The first triggering part 231 and the second triggering part 232 are both disposed on the circuit board 220, for example. The first triggering part 231 is connected to the first single-pole double-throw switch K1, and the second triggering part 232 is connected to the second single-pole double-throw switch K2. For example, both the first triggering part 231 and the second triggering part 232 have contacts, and the contacts of the first triggering part 231 and the second triggering part 232 are symmetrically arranged with respect to the rotation axis of the front mounting part 120. The line connecting the first trigger part 231 and the second trigger part 232 divides the front-end mounting portion into two semicircles with a central angle of 180°. The central angle of the arc-shaped protrusion structure 131 is slightly less than 180 degrees, for example, 179°, so that the protrusion structure 131 can only trigger one of the first trigger part 231 and the second trigger part 232, so that one of the first trigger part 231 and the second trigger part 232 is triggered and the other is released, thus so that when one of the first single-pole double-throw switch K1 and the second single-pole double-throw switch K2 is in the released state, the other is in the triggered state. The specific structure and triggering method of the first trigger part 231 and the second trigger part 232 are described below.

[0179] In one embodiment, as shown in Figures 16a to 17b, the motor drive module 800 further includes a drive module 810. The drive module 810 is connected to an external power supply for operation. The drive module 810 is disposed in the passage between the input module 700 and the swing motor M. The drive module 810 is configured to drive the swing motor M to rotate. The drive module 810 receives input signals from the input module 700 and outputs drive signals according to the input signals. The swing motor M receives drive signals through the first motor input terminal D01 and the second motor input terminal D02, so that the drive module 810 controls the start, stop and rotation direction of the swing motor M.

[0180] The drive module 810 includes a first drive module input terminal D31, a second drive module input terminal D32, a first drive module output terminal D33, and a second drive module output terminal D34. The first drive module input terminal D31 and the second drive module input terminal D32 are configured to be connected to the input module 700, and the first drive module output terminal D33 and the second drive module output terminal D34 are configured to be connected to the swing motor M.

[0181] For example, as shown in Figures 16a and 16b, one end of the commutation module 600 is connected to the drive module 810, and the other end is connected to the swing motor M. That is, the commutation module 600 is connected between the drive module 810 and the swing motor M. For example, the first input unit of the commutation module 600 is connected to the drive module, and the first output unit is connected to the swing motor M. The drive module is connected to the input module 700. For example, the first drive module input terminal D31 of the drive module is connected to the first signal output terminal D11, and the first drive module output terminal D33 of the drive module is connected to the first input terminal D21 of the commutation module 600, so that the first input terminal D21 of the commutation module 600 is connected to the first signal output terminal D11; the second drive module input terminal D32 of the drive module is connected to the second signal output terminal D12, and the second drive module output terminal D34 of the drive module is connected to the second input terminal D22 of the commutation module 600, so that the second input terminal D22 of the commutation module 600 is connected to the second signal output terminal D12; the first output terminal D23 of the commutation module 600 is connected to the first motor input terminal D01, and the second output terminal D24 is connected to the second motor drive input terminal D02.

[0182] The input module 700 sends input signals through a first signal output terminal D11 and a second signal output terminal D12. For example, in response to a user's first operation, the input module 700 sends a first input signal to the drive module; in response to a user's second operation, the input module 700 sends a second input signal to the drive module. The drive module receives the first input signal or the second input signal and controls the swing motor M to operate according to the received input signal.

[0183] For example, in response to a user's first operation, input module 700 sends a first input signal, drive module 810 receives the first input signal from input module 700, first drive module output terminal D33 of drive module 810 sends a first drive signal, and second drive module output terminal D34 sends a second drive signal. Reversing module 600 is configured to transmit the aforementioned first and second drive signals to swing motor M to control the rotation direction of swing motor M. When the first motor input terminal D01 of swing motor M receives the first drive signal and the second motor input terminal D02 receives the second drive signal, the swing motor rotates in a first direction; when the first motor input terminal D01 receives the second drive signal and the second motor input terminal D02 receives the first drive signal, the swing motor rotates in a second direction.

[0184] When the rotating housing 200 is in the first rotation range, as shown in Figure 16a, the trigger element K3 is in the first state, causing the commutation module 600 to be in the first connection state. The first input terminal D21 is connected to the first output terminal D23, and the second input terminal D22 is connected to the second output terminal D24. This causes the first drive module output terminal D33 to be connected to the first motor input terminal D01, and the second drive module output terminal D34 to be connected to the second motor input terminal D02. As a result, the first motor input terminal D01 receives the first drive signal, and the second motor input terminal D02 receives the second drive signal. At this time, the swing motor M rotates along the first direction. The swing motor M rotating along the first direction drives the jaw assembly 300 to swing to the left.

[0185] When the rotating housing 200 is in the second rotation range, as shown in Figure 16b, the trigger element K3 is in the second state, causing the commutation module 600 to be in the second connection state. This connects the first input terminal D21 to the second output terminal D24, and the second input terminal D22 to the first output terminal D23. This connects the first drive module output terminal D33 to the second motor input terminal D02, and the second drive module output terminal D34 to the first motor input terminal D01. Consequently, the first motor input terminal D01 receives the second drive signal, and the second motor input terminal D02 receives the first drive signal, causing the swing motor M to rotate in the second direction. At this time, the swing motor M rotating in the second direction drives the jaw assembly 300 to swing to the left. This ensures that the user-desired swing direction of the jaw assembly 300 matches the actual swing direction of the jaw assembly 300.

[0186] In another embodiment, as shown in Figures 17a and 17b, one end of the commutation module 600 is connected to the input module 700, and the other end is connected to the drive module 810. The first input terminal D21 of the commutation module 600 is connected to the first signal output terminal D11, and the second input terminal D22 is connected to the second signal output terminal D12; the first output terminal D23 is connected to the first drive module input terminal D31, and the second output terminal D24 is connected to the second drive module output terminal D34. The first drive module output terminal D33 of the drive module is connected to the first motor input terminal D01, and the second drive module output terminal D34 is connected to the second motor input terminal D02. This enables the first output terminal D23 of the commutation module 600 to conduct the first motor input terminal D01, and the second output terminal D24 to conduct the second motor input terminal D02.

[0187] The drive module 810 is directly connected to the swing motor M through the first motor input terminal D01 and the second motor input terminal D02. In response to the drive module 810 receiving the first input signal, the first drive module output terminal D33 outputs the first drive signal, and the first motor input terminal D01 receives the first drive signal; the second drive module output terminal D34 outputs the second drive signal, and the second motor input terminal D02 receives the second drive signal, causing the swing motor M to rotate in the first direction; in response to the drive module 810 receiving the second input signal, the first motor input terminal D01 receives the second drive signal, and the second motor input terminal D02 receives the first drive signal, causing the swing motor M to rotate in the second direction.

[0188] For example, in response to the user's first operation, the input module 700 sends a first input signal, which is transmitted to the drive module 810 through the commutation module 600.

[0189] When the rotating housing 200 is in the first rotation range, as shown in Figure 17a, the trigger element K3 is in the first state, and when the commutation module 600 is in the first connection state, the first input terminal D21 is connected to the first output terminal D23, and the second input terminal D22 is connected to the second output terminal D24, so that the first drive module input terminal D31 is connected to the first signal output terminal D11, and the second drive module input terminal D32 is connected to the second signal output terminal D12. That is, the drive module 810 receives the first input signal and drives the swing motor M to rotate along the first direction.

[0190] When the rotating housing 200 is in the second rotation range, as shown in Figure 17b, the trigger element K3 is in the second state, causing the commutation module 600 to be in the second connection state. The first input terminal D21 is connected to the second output terminal D24, and the second input terminal D22 is connected to the first output terminal D23. This connects the first drive module input terminal D31 to the second signal output terminal D12, and the second drive module input terminal D32 to the first signal output terminal D11. In other words, the input module 700 receives the inverted signal of the first input signal, which becomes the second input signal. The conversion between the first and second input signals is described below. The drive module 810 receives the second input signal and drives the swing motor M to rotate in the second direction.

[0191] When the user performs the first operation, the rotation direction of the oscillating motor M is the first direction when the rotating housing 200 is in the first rotation range, and the jaw assembly 300 swings to the left. When the rotating housing 200 is in the second rotation range, the rotation direction of the oscillating motor M is the second direction, and the jaw assembly 300 still swings to the left. Similarly, when the user performs the second operation, the rotation direction of the oscillating motor M is the second direction when the rotating housing 200 is in the first rotation range, and the jaw assembly 300 swings to the right. When the rotating housing 200 is in the second rotation range, the rotation direction of the oscillating motor M is the first direction, causing the jaw assembly 300 to swing to the right. This ensures that the user's desired swing direction of the jaw assembly 300 matches the actual swing direction of the jaw assembly 300.

[0192] The commutation module 600 in Figures 16a to 17b can be replaced by any one of the commutation modules 600 in Figures 11a, 12a, 13a, and 14a.

[0193] In another embodiment, as shown in Figures 18a to 20b, the motor drive module 800 further includes a control module 820. The control module 820 is powered by an external power source and is located in the path between the input module and the drive module. The control module is configured to receive input signals sent by the input module 700 and control the drive module 810. For example, the control module 820 includes an MCU, configured to process the input signals and convert them into input control signals, which are then sent to the drive module 810. The input signals include the aforementioned first input signal and second input signal. The control module 820 includes a first control module input terminal D41, a second control module input terminal D42, a first control module output terminal D43, and a second control module output terminal D44.

[0194] For example, as shown in Figures 18a and 18b, one end of the commutation module 600 is connected to the input module 700, and the other end is connected to the control module. The first input terminal D21 of the commutation module 600 is connected to the first signal output terminal D11, and the second input terminal D22 is connected to the second signal output terminal D12; the first output terminal D23 of the commutation module 600 is connected to the first control module input terminal D41, and the second output terminal D24 is connected to the second control module input terminal D42; the control module is connected to the drive module 810, the first control module output terminal D43 is connected to the first drive module input terminal D31, and the second control module output terminal D44 is connected to the second drive module input terminal D32; the first drive module output terminal D33 is connected to the first motor input terminal D01, and the second drive module output terminal D34 is connected to the second motor input terminal D02.

[0195] In response to the control module receiving a first input signal, the control module 820 outputs a first input processing signal to the drive module 810; in response to the control module receiving a second input signal, the control module 820 outputs a second input processing signal to the drive module 810. The drive module 810 is connected to the swing motor M. In response to the drive module 810 receiving the first input processing signal, the first drive module output terminal D33 outputs a first drive signal, the second drive module output terminal D34 outputs a second drive signal, the first motor input terminal D01 receives the first drive signal, and the second motor input terminal D02 receives the second drive signal, causing the swing motor M to rotate in a first direction; in response to the drive module 810 receiving the second input processing signal, the first motor input terminal D01 outputs the second drive signal, and the second motor input terminal D02 outputs the first drive signal, causing the swing motor M to rotate in a second direction.

[0196] In response to the user's first operation, the input module 700 sends a first input signal, which is transmitted to the control module through the commutation module 600.

[0197] When the rotating housing 200 is in the first rotation range, as shown in Figure 18a, the trigger element K3 is in the first state, causing the commutation module 600 to be in the first connection state. The first input terminal D21 is connected to the first output terminal D23, and the second input terminal D22 is connected to the second output terminal D24. This connects the first control module input terminal D41 to the first signal output terminal D11 and the second control module input terminal D42 to the second signal output terminal D12, allowing the control module to receive the first input signal. Upon receiving the first input signal, the control module sends a first input processing signal to the drive module 810. In response to the drive module 810 receiving the first input processing signal, it controls the swing motor M to rotate along the first direction.

[0198] When the rotating housing 200 is in the second rotation range, as shown in Figure 18b, the trigger element K3 is in the second state, causing the commutation module 600 to be in the second connection state. The first input terminal D21 is connected to the second output terminal D24, and the second input terminal D22 is connected to the first output terminal D23. This causes the first control module input terminal D41 to be connected to the second signal output terminal D12, and the second control module input terminal D42 to be connected to the first signal output terminal D11. That is, the control module receives the inverted signal of the first input signal, and the inverted signal of the first input signal is the second input signal. The control module receives the second input signal and sends the second input processing signal to the drive module 810. In response to the drive module 810 receiving the second input processing signal, it controls the swing motor M to rotate in the second direction.

[0199] When the user performs the first operation, the rotation direction of the oscillating motor M is the first direction when the rotating housing 200 is in the first rotation range, and the jaw assembly 300 swings to the left. When the rotating housing 200 is in the second rotation range, the rotation direction of the oscillating motor M is the second direction, and the jaw assembly 300 still swings to the left. Similarly, when the user performs the second operation, the rotation direction of the oscillating motor M is the second direction when the rotating housing 200 is in the first rotation range, and the jaw assembly 300 swings to the right. When the rotating housing 200 is in the second rotation range, the rotation direction of the oscillating motor M is the first direction, causing the jaw assembly 300 to swing to the right. This ensures that the user's desired swing direction of the jaw assembly 300 matches the actual swing direction of the jaw assembly 300.

[0200] For example, as shown in Figures 19a and 19b, the control module is connected to the input module 700, and one end of the commutation module 600 is connected to the control module, while the other end is connected to the drive module 810. The drive module 810 is connected to the swing motor M. Specifically, the first control module input terminal D41 is connected to the first signal output terminal D11, and the second control module input terminal D42 is connected to the second signal output terminal D12; the first input terminal D21 of the commutation module 600 is connected to the first control module output terminal D43, and the second input terminal D22 is connected to the second control module output terminal D44; the first output terminal D23 is connected to the first drive module input terminal D31 of the drive module 810, and the second output terminal D24 is connected to the second drive module input terminal D32. The first drive module output terminal D33 is connected to the first motor input terminal D01, and the second drive module output terminal D34 is connected to the second motor input terminal D02. The drive module 810 is directly connected to the swing motor M. In response to the drive module 810 receiving the first input processing signal, the first drive module output terminal D33 outputs the first drive signal, the second drive module output terminal D34 outputs the second drive signal, the first motor input terminal D01 receives the first drive signal, and the second motor input terminal D02 receives the second drive signal, causing the swing motor M to rotate in the first direction. In response to the drive module 810 receiving the second input processing signal, the first motor input terminal D01 outputs the second drive signal, and the second motor input terminal D02 outputs the first drive signal, causing the swing motor M to rotate in the second direction.

[0201] In response to the user's first operation, the input module 700 sends a first input signal. When the control module receives the first input signal, it sends a first input processing signal through the first control module output terminal D43 and the second control module output terminal D44. The first processing signal is transmitted to the drive module 810 through the commutation module 600.

[0202] When the rotating housing 200 is in the first rotation range, as shown in Figure 19a, the trigger element K3 is in the first state, causing the commutation module 600 to be in the first connection state. The first input terminal D21 is connected to the first output terminal D23, and the second input terminal D22 is connected to the second output terminal D24. This causes the first control module input terminal D41 to be connected to the first drive module input terminal D31, and the second control module input terminal D42 to be connected to the second drive module input terminal D32. The control module receives the first input signal sent from the input module 700. Upon receiving the first input signal, the control module sends the first input processing signal to the commutation module 600. The commutation module 600 transmits the first input processing signal to the drive module 810. In response to the drive module 810 receiving the first input processing signal, it controls the swing motor M to rotate along the first direction.

[0203] When the rotating housing 200 is in the second rotation range, as shown in Figure 19b, the trigger element K3 is in the second state, causing the commutation module 600 to be in the second connection state. The first input terminal D21 is connected to the second output terminal D24, and the second input terminal D22 is connected to the first output terminal D23. This connects the first control module output terminal D43 to the second drive module input terminal D32, and the second control module output terminal D44 to the first drive module input terminal D31. The control module receives a first input signal from the input module 700. Upon receiving the first input signal, the control module sends a first input processing signal to the commutation module 600. The commutation module 600 inverts the first input processing signal and transmits it to the drive module 810. The inverted first input processing signal becomes the second input processing signal. The mutual conversion between the first and second processing signals is described below. In response to the drive module 810 receiving the second input processing signal, it controls the swing motor M to rotate in the second direction.

[0204] When the user performs the first operation, the rotation direction of the oscillating motor M is the first direction when the rotating housing 200 is in the first rotation range, and the jaw assembly 300 swings to the left. When the rotating housing 200 is in the second rotation range, the rotation direction of the oscillating motor M is the second direction, and the jaw assembly 300 still swings to the left. Similarly, when the user performs the second operation, the rotation direction of the oscillating motor M is the second direction when the rotating housing 200 is in the first rotation range, and the jaw assembly 300 swings to the right. When the rotating housing 200 is in the second rotation range, the rotation direction of the oscillating motor M is the first direction, causing the jaw assembly 300 to swing to the right. This ensures that the user's desired swing direction of the jaw assembly 300 matches the actual swing direction of the jaw assembly 300.

[0205] In another embodiment, as shown in Figures 20a and 20b, the control module 820 is connected to the input module 700 at one end and to the drive module 810 at the other end. The commutation module 600 is connected to the drive module 810 at one end and to the swing motor M at the other end, that is, the commutation module 600 is connected between the drive module 810 and the swing motor M; the input module 700 is connected to the control module 820, and the control module is connected to the drive module.

[0206] The first control module input terminal D41 is connected to the first signal output terminal D11, and the second control module input terminal D42 is connected to the second signal output terminal D12. The first drive module input terminal D31 of the drive module 810 is connected to the first control module output terminal D43, and the second drive module input terminal D32 is connected to the second control module output terminal D44. The first input terminal D21 of the commutation module 600 is connected to the first drive module output terminal D33, and the second input terminal D22 is connected to the second drive module output terminal D34. This connects the first input terminal D21 of the commutation module 600 to the first signal input terminal D11, and the second input terminal D22 to the second signal input terminal D21. The first output terminal D23 of the commutation module 600 is connected to the first motor input terminal D01, and the second output terminal D24 is connected to the second motor input terminal D02.

[0207] In response to the user's first operation, input module 700 sends a first input signal, control module 820 receives the first input signal and sends a first input processing signal to drive module 810. Drive module 810 receives the first input processing signal from control module 820, and the first drive module output terminal D33 of drive module 810 sends a first drive signal, and the second drive module output terminal D34 sends a second drive signal. Reversing module 600 is configured to transmit the aforementioned first and second drive signals to the drive circuit output terminal to control the rotation direction of the swing motor M.

[0208] When the rotating housing 200 is in the first rotation range, as shown in Figure 20a, the trigger element K3 is in the first state, and when the commutation module 600 is in the first connection state, the first input terminal D21 is connected to the first output terminal D23, and the second input terminal D22 is connected to the second output terminal D24, so that the first drive module output terminal D33 is connected to the first motor input terminal D01, and the second drive module output terminal D34 is connected to the second motor input terminal D02, so that the first motor input terminal D01 outputs the first drive signal, and the second motor input terminal D02 outputs the second drive signal, so that the swing motor M rotates in the first direction.

[0209] When the rotating housing 200 is in the second rotation range, as shown in Figure 20b, the trigger element K3 is in the second state, and when the commutation module 600 is in the second connection state, the first input terminal D21 is connected to the second output terminal D24, and the second input terminal D22 is connected to the first output terminal D23, so that the first drive module output terminal D33 is connected to the second motor input terminal D02, and the second drive module output terminal D34 is connected to the first motor input terminal D01, so that the first motor input terminal D01 outputs the second drive signal, and the second motor input terminal D02 outputs the first drive signal, so that the swing motor M rotates in the second direction.

[0210] The commutation module 600 in Figures 18a to 20b can be replaced by any one of the commutation modules 600 in Figures 11a, 12a, 13a, and 14a.

[0211] In one embodiment, the input module 700 includes an operation component 110 and an operation input circuit, as shown in FIG1. ​​The operation component 110 is disposed on the body 100 and includes a first operation unit and a second operation unit. Both the first operation unit and the second operation unit are connected to the operation input circuit. The user's first operation includes triggering the first operation unit, and the user's second operation includes triggering the second operation unit.

[0212] As shown in Figures 9 and 11a, the input module includes an operation input circuit, a first switch K4, and a second switch K5. The first switch K4 is connected to a first signal output terminal D11, and the second switch K5 is connected to a second signal output terminal D12. The first switch K4 is connected to a first operation unit. In response to the operation of the first operation unit, the first switch K4 is triggered, causing the first signal output terminal D11 to output a first signal and the second signal output terminal D12 to output a second signal. The second switch K5 is connected to a second operation unit. In response to the operation of the second operation unit, the second switch K5 is triggered, causing the first signal output terminal D11 to output a second signal and the second signal output terminal D12 to output a first signal. For example, the first signal may include a low level, and the second signal may include a high level.

[0213] For example, as shown in Figure 11a, the operation input circuit includes a first high-level input terminal connected to the first signal output terminal D11 and a second high-level input terminal connected to the second signal output terminal D12. The levels of the first high-level input terminal and the second high-level input terminal are equal. The operation input circuit also includes a first low-level input terminal selectively connected to the first signal output terminal D11 and a second low-level input terminal selectively connected to the second signal output terminal D12.

[0214] The first terminal of the first switch K4 is connected to the first low-level input terminal and is configured to selectively connect the first low-level input terminal to the first signal output terminal D11; the first terminal of the second switch K5 is connected to the second low-level input terminal and is configured to selectively connect the second low-level input terminal to the second signal output terminal D12. The first low-level input terminal and the second low-level input terminal receive the same level, for example, both are grounded.

[0215] As shown in Figure 11a, when neither the first operation unit nor the second operation unit is triggered, the first signal output terminal D11 outputs a first high level and the second signal output terminal D12 outputs a second high level. At this time, it is considered that the input module 700 has not sent an output signal.

[0216] As shown in Figure 11b, in response to the triggering of the first operation unit, the first switch K4 connects the first low-level input terminal to the first signal output terminal D11, while the second operation unit is not triggered, and the second low-level input terminal is disconnected from the second signal output terminal D12. The first signal output terminal D11 outputs a low level, and the second signal output terminal D12 outputs a high level. At this time, the input module 700 sends a first input signal. The first input signal includes the first signal output terminal D11 outputting a low level and the second signal output terminal D12 outputting a high level.

[0217] As shown in Figure 12a, in response to the triggering of the second operation unit, the second switch K5 connects the second low-level input terminal to the second signal output terminal D12, while the first operation unit is not triggered, and the first low-level input terminal is disconnected from the first signal output terminal D11. The first signal output terminal D11 outputs a high level, and the second signal output terminal D12 outputs a low level. At this time, the input module 700 sends a second input signal. The second input signal includes the first signal output terminal D11 outputting a high level (second signal) and the second signal output terminal D12 outputting a low level (first signal).

[0218] The first input signal includes a first signal output terminal D11 outputting a first signal (low level) and a second signal output terminal D12 outputting a second signal (high level). The second input signal includes a first signal output terminal D11 outputting a second signal (high level) and a second signal output terminal D12 outputting a first signal (low level). Compared with the second input signal, the first and second input signals are arranged in reverse order. Therefore, the first input signal becomes the second input signal after being inverted, and the second input signal becomes the first input signal after being inverted.

[0219] As shown in Figure 12b, for example, in response to both the first and second operating units being triggered (indicating a user error), the first and second operating units are pressed simultaneously. The second switch K5 connects the second low-level input terminal to the second signal output terminal D12, and the first switch K4 connects the first low-level input terminal to the first signal output terminal D11. The first signal output terminal D11 outputs a low level, and the second signal output terminal D12 outputs a low level. At this time, the input module 700 does not send an input signal, and the swing motor M will not rotate.

[0220] In another embodiment, as shown in Figures 9 and 10, the input module 700 includes a first switch K4, a second switch K5, a high-level input terminal, and a low-level input terminal. The first switch K4 is connected to a first operating unit, and the second switch K5 is connected to a second operating unit. The first switch K4 is a single-pole double-throw switch configured to selectively open the path between the high-level input terminal or the low-level input terminal and the first signal output terminal D11, respectively. The second switch K5 is also a single-pole double-throw switch configured to selectively open the path between the high-level input terminal or the low-level input terminal and the second signal output terminal D12. For example, the high-level input terminal is used to receive the power signal VCC, and the low-level input terminal is connected to the ground terminal GND.

[0221] As shown in Figure 10, when neither the first operation unit nor the second operation unit is triggered, the first switch K4 connects the high-level input terminal to the first signal output terminal D11, and the second switch K5 connects the high-level input terminal to the second signal output terminal D12. The first signal output terminal D11 outputs a high level, and the second signal output terminal D12 outputs a high level. At this time, it is considered that the input module 700 has not sent an output signal.

[0222] As shown in Figure 10, in response to the triggering of the first operation unit, the first switch K4 connects the low-level input terminal to the first signal output terminal D11, while the second operation unit is not triggered, and the high-level input terminal connects to the second signal output terminal D12. The first signal output terminal D11 outputs a low level, and the second signal output terminal D12 outputs a high level. At this time, the input module 700 sends a first input signal. The first signal includes a low level, and the second signal includes a high level. The first input signal includes the first signal output (low level) from the first signal output terminal D11 and the second signal output (high level) from the second signal output terminal D12.

[0223] As shown in Figure 16a, in response to the triggering of the second operation unit, the second switch K5 connects the low-level input terminal to the second signal output terminal D12, while the first operation unit is not triggered, and the high-level input terminal is disconnected from the first signal output terminal D11. The first signal output terminal D11 outputs the second signal (high level), and the second signal output terminal D12 outputs the first signal (low level). At this time, the input module 700 sends a second input signal. The second input signal includes the second signal (high level) output by the first signal output terminal D11 and the first signal (low level) output by the second signal output terminal D12.

[0224] As shown in Figure 16b, in response to the triggering of both the first and second operating units (indicating user error), the first and second operating units are pressed simultaneously. The second switch K5 connects the low-level input terminal to the second signal output terminal D12, and the first switch K4 connects the low-level input terminal to the first signal output terminal D11. The first signal output terminal D11 outputs a low level, and the second signal output terminal D12 outputs a low level. At this time, the input module 700 does not send an input signal, and the swing motor M will not rotate.

[0225] In the embodiments shown in Figures 16a and 16b, the arrangement of the first input signal and the second input signal is reversed. Therefore, the first input signal is inverted to become the second input signal, and the second input signal is inverted to become the first input signal.

[0226] The input module 700 in Figures 9, 10, 16a and 16b can be replaced with the input module in Figure 11a; the input modules in Figures 11a to 14a can be replaced with the input module in Figure 9.

[0227] In another embodiment, the input module 700 includes a roller and an operation input circuit. The roller is disposed on the body 100. In response to the roller rotating in a third direction, a first signal output terminal outputs a first square wave signal, and a second signal output terminal outputs a second square wave signal. The first operation includes the roller rotating in a third direction. In response to the roller rotating in a fourth direction, the first signal output terminal outputs a first square wave signal, and the second signal output terminal outputs a second square wave signal. The second operation includes the roller rotating in a fourth direction.

[0228] For example, the third direction is to turn the scroll wheel to the left, and the fourth direction is to turn the scroll wheel to the right.

[0229] As shown in Figures 18a to 20b, the operation input circuit includes a first encoding circuit and a second encoding circuit. The first encoding circuit is connected to the first signal output terminal D11, and the second encoding circuit is connected to the second signal output terminal D12. The first signal output terminal D11 and the second signal output terminal D12 respectively receive high-level signals. For example, the first encoding circuit includes a first encoding switch K6, one end of which is grounded and the other end is connected to the first signal output terminal D11. The second encoding circuit includes a second encoding switch K7, one end of which is grounded and the other end is connected to the second signal output terminal D12. When the roller is not operated, both the first encoding switch K6 and the second encoding switch K7 are open. When the roller rotates in a third direction, the first encoding switch K6 and the second encoding switch K7 are triggered sequentially. The first encoding switch K6 is triggered first, causing the first encoding circuit to output a first square wave signal. The second encoding switch K7 is triggered subsequently, causing the second encoding circuit to output a second square wave signal. Both the first and second square wave signals are square wave circuits that alternately output high and low levels. The difference between the two is that the initial signal of the first square wave signal is high, and the initial signal of the second square wave signal is low, or the initial signal of the first square wave signal is low, and the initial signal of the second square wave signal is high. The first input signal includes the first signal output terminal D11 outputting the first square wave signal and the second signal output terminal D12 outputting the second square wave signal.

[0230] When the roller rotates in the fourth direction, it sequentially triggers the second encoding switch K7 and the first encoding switch K6. The second encoding switch K7 is triggered first, causing the second encoding circuit to output a first square wave signal. The first encoding switch K6 is triggered subsequently, causing the first encoding circuit to output a second square wave signal. The second input signal includes the second square wave signal output by the first signal output terminal D11 and the first square wave signal output by the second signal output terminal D12.

[0231] Compared to the second input signal, the first square wave signal and the second square wave signal are arranged in reverse order. Therefore, the first input signal becomes the second input signal after being inverted. Similarly, the second input signal becomes the first input signal after being inverted.

[0232] In an embodiment where the input module 700 includes a roller and an operation input circuit, the motor drive module 800 includes the aforementioned control module 820 and drive module 810. The control module receives a first input signal or a second input signal, processes two square wave signals in the input signal, and sends a first input processing signal or a second input processing signal to the drive module 810. The drive module 810 can control the rotation direction of the swing motor M according to the first input processing signal or the second input processing signal.

[0233] The input modules in Figures 18a to 20b can be replaced with the commutation module in Figure 9 or the input module in Figure 11a.

[0234] After receiving the first input signal, the control module sends a first input processing signal. For example, the first input processing signal includes a low-level signal sent by the output terminal D43 of the first control module and a high-level signal sent by the output terminal D44 of the second control module. After receiving the second input signal, the control module sends a second input processing signal, which includes a high-level signal sent by the output terminal D43 of the first control module and a low-level signal sent by the output terminal D44 of the second control module. The level arrangements of the first and second input processing signals are opposite; therefore, the first input processing signal, when inverted, becomes the second input processing signal, and vice versa.

[0235] In another embodiment of this disclosure, as shown in Figures 21a to 22b, the surgical instrument includes the aforementioned body 100, rotating housing 200, cannula assembly 400, jaw assembly 300, and oscillating motor M.

[0236] The surgical instrument also includes a commutation input module 900, which includes an input circuit, a commutation element 230 connected to the input circuit, and a trigger element 230 connected to the commutation element 230. The surgical instrument also includes a commutation guide structure 130, wherein one of the trigger element 230 and the commutation guide structure 130 is disposed on the body 100 and the other is disposed on the rotating housing 200. When the rotating housing 200 is in a first rotation range, the trigger element 230 is in a first state, and when the rotating housing 200 is in a second rotation range, the trigger element 230 is in a second state.

[0237] The commutation input module 900 is connected to the swing motor M. In response to the commutation input module 900 sending a first input signal, the first motor input terminal D01 outputs a first drive signal, and the swing motor M rotates in the first direction. In response to the commutation input module 900 sending a second input signal, the swing motor M rotates in the second direction.

[0238] When the rotating housing 200 is in the first rotation range, the trigger element 230 is in the first state, and the reversing input module 900 is in the first input state. In response to the user's operation, the reversing input module 900 sends a first input signal, and the swing motor M rotates along the first direction. In response to the user's second operation, the reversing input module 900 sends a second input signal, and the swing motor M rotates along the second direction. When the rotating housing 200 is in the second rotation range, the trigger element 230 is in the second state, and the reversing input module 900 is in the second input state. In response to the user's first operation, the reversing input module 900 sends a second input signal, and the swing motor M rotates along the second direction. In response to the user's second operation, the reversing input module 900 sends a first input signal, and the swing motor M rotates along the first direction.

[0239] When the user performs the first operation, if the rotating housing 200 is in the first rotation range, the rotation direction of the swing motor M is the first direction, and the jaw assembly 300 swings to the left. If the rotating housing 200 is in the second rotation range, the rotation direction of the swing motor M is the second direction, and the jaw assembly 300 still swings to the left. Similarly, when the user performs the second operation, if the rotating housing 200 is in the first rotation range, the rotation direction of the swing motor M is the second direction, and the jaw assembly 300 swings to the right. If the rotating housing 200 is in the second rotation range, the rotation direction of the swing motor M is the first direction, and the jaw assembly 300 still swings to the right. This ensures that the user's desired swing direction of the jaw assembly 300 matches the actual swing direction of the jaw assembly 300.

[0240] For example, as shown in Figures 21a and 22a, the input circuit includes a first voltage input unit and a second voltage input unit. The first voltage input unit is configured to output a first voltage, and the second voltage input unit is configured to selectively output a second voltage or a third voltage. The second voltage input unit is connected to a trigger element. In response to the trigger element being in a first state, the second voltage input unit outputs the second voltage, and the commutation input module is in a first input state; in response to the trigger element being in a second state, the second voltage input unit outputs the third voltage, and the commutation input module is in a second input state. One of the second voltage and the third voltage is greater than the first voltage, and the other is less than the first voltage, resulting in a voltage difference between the output voltage of the first voltage input unit and the output voltage of the second voltage input unit. For example, the voltage difference between the first voltage and the second voltage is equal to the voltage difference between the first voltage and the third voltage; for example, the first voltage is 3.3V, the second voltage is 0V, and the third voltage is 6.6V.

[0241] The first voltage input unit includes a first voltage input terminal D13, a first power connection terminal D16, and a start switch K8 connected between the first voltage input terminal D13 and the first power connection terminal D16. The first voltage input terminal D13 is used to provide a first voltage to the first power connection terminal.

[0242] The second voltage input unit includes a second voltage input terminal D14, a third voltage input terminal D15, a second power supply connection terminal D17, and a single-pole double-throw switch K3'. One end of the single-pole double-throw switch K3' is connected to the second power supply connection terminal D17, and the other end is selectively connected to either the second voltage input terminal D14 or the third voltage input terminal D15. A trigger element 230 is connected to the single-pole double-throw switch K3'.

[0243] As shown in Figure 21a, in response to the trigger element 230 being in the first position, the single-pole double-throw switch K3' connects the second power supply connection terminal D17 to the second voltage input terminal D14. Since the first voltage is greater than the second voltage, the first power supply connection terminal D16 is positive and the second power supply connection terminal D17 is negative. The input circuit is in the first connection state.

[0244] As shown in Figure 21b, in response to the trigger element 230 being in the second position, the single-pole double-throw switch K3' connects the second power supply connection terminal D17 to the third voltage input terminal D15. Since the third voltage is greater than the first voltage, the first power supply connection terminal D16 is the negative terminal, and the second power supply connection terminal D17 is the positive terminal. The input circuit is in the second connection state. Furthermore, since the voltage difference between the first and second voltages is equal to the voltage difference between the first and third voltages, the voltage difference across the input circuit remains unchanged in both the first and second connection states, allowing the input circuit to operate normally.

[0245] In the first connection state and the second connection state, the connection method between the input circuit and the power supply is different. For example, as shown in Figure 21a, when the commutation input module 900 is in the first input state, the input circuit is positively connected to the power supply. In response to the user's first operation, the input circuit outputs a first input signal. In response to the user's second operation, the input circuit outputs a second input signal.

[0246] As shown in Figure 21b, when the commutation input module 900 is in the second input state, the input circuit is reverse-connected to the power supply. With the power supply reversed, the input signal output by the commutation input module 900 is inverted, converting the first input signal into the second input signal, and vice versa. The mutual conversion between the first and second input signals is described below. In response to the user's first operation, the input circuit outputs the second input signal; in response to the user's second operation, the input circuit outputs the first input signal.

[0247] The input circuit also includes an operation switching circuit 910. The switching input module 900 also includes directional keys connected to the operation switching circuit. The operation switching circuit 910 is connected to the first power connection terminal D16 and the second power connection terminal D17. The operation switching circuit includes a first direction switch K9 and a second direction switch K10. The directional keys are located on the body 100 for user operation. The directional keys are connected to the first direction switch K9 and the second direction switch K10. The operation switching circuit has a first direction state and a second direction state. The operation switching circuit includes the aforementioned first signal output terminal D11 and second signal output terminal D12. As shown in Figure 21a, in the first direction state, the first power connection terminal D16 is connected to the first signal output terminal D11, and the second power connection terminal D17 is connected to the second signal output terminal D12. As shown in Figure 22a, in the second direction state, the first power connection terminal D16 is connected to the second signal output terminal D12, and the second power connection terminal D17 is connected to the first signal output terminal D11.

[0248] For example, the input circuit includes a voltage input circuit, the aforementioned operation switching circuit, and a start switch K8. The voltage input circuit includes the aforementioned first voltage input unit and second input unit. When the start switch K8 is closed, the voltage input circuit is connected to the operation switching circuit; when the start switch K8 is open, the voltage input circuit is disconnected from the operation switching circuit.

[0249] For example, the body 100 includes a start button (not shown in the figure), which is connected to a start switch K8. The start switch K8 is connected between a first voltage input terminal D13 and a first power connection terminal D16. In response to the start button being operated, the start switch K8 is triggered to connect the first voltage input terminal D13 and the first power connection terminal D16. In response to the start button being released, the start switch K8 is released, and the first voltage input terminal D13 and the first power connection terminal D16 are disconnected. A first operation includes triggering the start switch K8 when the commutation circuit is in a first direction state; a second operation includes triggering the start switch K8 when the commutation circuit is in a second direction state.

[0250] For example, a first directional switch K9 and a second directional switch K10 are connected to form a double-pole double-throw switch. The directional keys have left and right positions. When the directional keys switch between the left and right positions, both the first and second directional switches K9 and K10 move simultaneously. When the directional keys are in the left position, the first and second directional switches K9 and K10 are in the first directional position, putting the operation switching circuit in the first directional state. When the directional keys are in the right position, the first and second directional switches K9 and K10 are in the second directional position, putting the operation switching circuit in the second directional state. For example, the directional keys can be toggled, allowing the user to switch between the left and right positions. The first operation includes triggering the start switch K8 when the directional keys are in the left position, and the second operation includes triggering the start switch K8 when the directional keys are in the right position.

[0251] As shown in Figure 21a, when the commutation input module 900 is in the first connection state, the first power connection terminal D16 is controlled to be connected to the first voltage input terminal D13, and the second power connection terminal D17 is selectively connected to the second voltage input terminal D14. Since the second voltage is less than the first voltage, the first power connection terminal D16 is connected to a high level, and the second power connection terminal D17 is connected to a low level. In response to the user's first operation, the start switch K8 is triggered, and the commutation circuit 910 is in the first direction state. The first power connection terminal D16 is connected to the first signal output terminal D11, and the second power connection terminal D17 is connected to the second signal output terminal D12. Therefore, the first signal output terminal D11 sends a high level, and the second signal output terminal D12 sends a low level. The first input signal includes the first signal output terminal D11 sending a high level and the second signal output terminal D12 sending a low level. As shown in Figure 22a, in response to the user's second operation, the start switch K8 is triggered, the operation switching circuit is in the second direction state, the first power connection terminal D16 is connected to the second signal output terminal D12, and the second power connection terminal D17 is connected to the first signal output terminal D11. Therefore, the first signal output terminal D11 sends a low level, and the second signal output terminal D12 sends a high level. The second input signal includes the first signal output terminal D11 sending a low level and the second signal output terminal D12 sending a high level.

[0252] As shown in Figure 21b, when the commutation input module 900 is in the second connection state, the first power connection terminal D16 is controlled to be connected to the first voltage input terminal D13, and the second power connection terminal D17 is selectively connected to the third voltage input terminal D15. Since the third voltage is greater than the first voltage, the first power connection terminal D16 is connected to a low level, and the second power connection terminal D17 is connected to a high level. In response to the user's first operation, the start switch K8 is triggered, and the commutation circuit is operated in the first direction state. The first power connection terminal D16 is connected to the first signal output terminal D11, and the second power connection terminal D17 is connected to the second signal output terminal D12. Then, the first signal output terminal D11 sends a low level, the second signal output terminal D12 sends a high level, and the commutation input module 900 outputs the second input signal. As shown in Figure 22b, in response to the user's second operation, the start switch K8 is triggered, the operation commutation circuit is in the second direction state, the first power connection terminal D16 is connected to the second signal output terminal D12, the second power connection terminal D17 is connected to the first signal output terminal D11, then the first signal output terminal D11 sends a high level, the second signal output terminal D12 sends a low level, and the commutation input module 900 outputs the first input signal.

[0253] Since the levels of the first input signal and the second input signal are arranged in opposite ways, the first input signal becomes the second input signal after being inverted, and the second input signal becomes the first input signal after being inverted.

[0254] In one embodiment, the commutation input module 900 is connected to the swing motor M, the first signal input terminal D11 is connected to the first motor input terminal D01, and the second signal output terminal D12 is connected to the second motor input terminal D02.

[0255] In another embodiment, as shown in FIG23, the motor drive module 800 further includes the aforementioned drive module 810. One end of the drive module 810 is connected to the commutation input module 900, and the other end is connected to the swing motor M. The drive module controls the rotation direction of the swing motor M.

[0256] In another embodiment, as shown in FIG24, the motor drive module 800 further includes the aforementioned control module 820. One end of the control module 820 is connected to the commutation input module 900, and the other end is connected to the drive module 810. The drive module 810 is connected to the swing motor M. The control module 820 receives the input signal sent by the commutation input module 900 and controls the drive module 820.

[0257] The reversing guide structure 130 is configured to contact the trigger element 230 when the rotating housing 200 is in the second rotation range, so that the trigger element 230 is in the second state. The reversing guide structure 130 is also configured to separate from the trigger element 230 when the rotating housing 200 is in the first rotation range, so that the trigger element is in the first state; or

[0258] The reversing guide structure 130 is configured to move away from the trigger element 230 when the rotating housing 200 is in the second rotation range, so that the trigger element 230 is in the second state. The reversing guide structure 130 is also configured to contact the trigger element 230 when the rotating housing 200 is in the first rotation range, so that the trigger element 230 is in the first state.

[0259] In one embodiment, the triggering unit includes a contact switch 233, as shown in FIG8. For example, when the contact switch 233 is in a first state, the contact switch 233 is released; when the contact switch 233 is in a second state, the contact switch 233 is triggered. The reversing guide structure 130 includes a protruding structure 131. For example, the protruding structure 131 is disposed on the body 100, the contact switch 233 is disposed on the rotating housing 200, the protruding structure 131 is disposed on the front mounting portion 120, and protrudes along the axial direction of the front mounting portion 120. The protruding structure 131 includes an arc-shaped protruding rib, which is arranged in an arc shape and is arranged around the axis of the front mounting portion 120. The central angle of the arc-shaped protruding rib is approximately 180°. For example, when the rotating housing 200 is in the initial position, the rotating housing 200 is in the first rotation range, the protruding structure 131 is separated from the contact switch 233, and the contact switch 233 is in the first released state. When the rotating housing 200 rotates less than 180° from its initial position, as shown in Figure 8(a), the rotating housing 200 is in the first rotation range, the protruding structure 131 remains separated from the contact switch 233, and the contact switch 233 is in the first released state; as shown in Figure 8(b), when the rotating housing 200 rotates 180° relative to its initial position, the rotating housing 200 is in the second rotation range, the protruding structure 131 contacts the contact switch 233, triggering the contact switch 233, and the contact switch 233 is in the second state; when the rotating housing 200 rotates more than 180° but less than 360° relative to its initial position, the rotating housing 200 is in the second rotation range, the protruding structure 131 with a central angle of approximately 180 degrees can still maintain contact with the contact switch 233, causing the contact switch 233 to be in the second state. When the rotating housing 200 rotates 360° (i.e., 0°) relative to its initial position, it is in the first rotation range, and the protruding structure 131 separates from the contact switch 233, placing the contact switch 233 in a released first state. When the rotating housing 200 switches from the first rotation range to the second rotation range, the protruding structure 131 switches the contact switch 233 from the first state to the second state. When the rotating housing 200 switches from the second rotation range to the first rotation range, the protruding structure 131 switches the contact switch 233 from the second state to the first state.

[0260] The contact switch 233 is a resettable switch. The protruding structure 131 contacts the contact switch 233. Pressing the contact switch 233 triggers it, placing it in a second state. When the protruding structure 131 separates from the contact switch 233, the contact switch 233 resets and automatically switches back to the first state. This allows the contact switch 233 to switch from the second state to the first state when the rotating housing 200 switches from the second rotation range to the first rotation range. The commutation guide structure 130 acts on the contact switch 233, including switching the contact switch 233 from the first state to the second state and switching it from the second state to the first state.

[0261] For example, in the embodiment shown in Figures 9 and 10, the contact switch 233 is connected to the conduction switch K3. When triggered, the trigger element K3 connects the GND terminal to the electromagnetic coil 610; when the trigger element 230 is released, the trigger element K3 disconnects the GND terminal from the electromagnetic coil 610.

[0262] In the embodiments shown in Figures 21a to 24, the contact switch 233 is connected to the single-pole double-throw switch K3'. For example, when the rotating housing 200 is in the first rotation range, the protruding structure 131 is separated from the contact switch 233, the trigger element 230 is in the first state, and the single-pole double-throw switch K3' connects the second power connection terminal D17 with the second voltage input terminal D14; thus, the input circuit is in the first connection state, so that the commutation input module is in the first input state. When the rotating housing 200 is in the second rotation range, the protruding structure 131 is in contact with the contact switch 233, the trigger element 230 is in the second state, and the single-pole double-throw switch K3' connects the second power connection terminal D17 with the third voltage input terminal D15; thus, the input circuit is in the second connection state, so that the commutation input module is in the second input state.

[0263] In the embodiments shown in Figures 12a and 12b, the triggering part includes a first triggering part 231 and a second triggering part 232. The structures of the first triggering part 231 and the second triggering part 232 are substantially the same as those of the contact switch 233. The first triggering part 231 is connected to the first single-pole double-throw switch K1, and the second triggering part 232 is connected to the second single-pole double-throw switch K2. The first single-pole double-throw switch K1 and the second single-pole double-throw switch K2 can be simultaneously in a released state or simultaneously in a triggered state. The first single-pole double-throw switch K1 and the second single-pole double-throw switch K2 are connected, and the first single-pole double-throw switch K1 and the second single-pole double-throw switch K2 constitute a double-pole double-throw switch. When the rotating housing 200 switches between the first rotation range and the second rotation range, the reversing guide structure 130 acts on the double-pole double-throw switch, so that the first single-pole double-throw switch K1 and the second single-pole double-throw switch K2 are simultaneously triggered or simultaneously released.

[0264] In the embodiments shown in Figures 13a to 15, the triggering element 230 includes a first triggering part 231 and a second triggering part 232. The first triggering part 231 is connected to the first single-pole double-throw switch K1, and the second triggering part 232 is connected to the second single-pole double-throw switch K2. When one of the first single-pole double-throw switch K1 and the second single-pole double-throw switch K2 is in the released state, the other is in the triggered state. The first trigger part 231 and the second trigger part 232 are symmetrically arranged with respect to the rotation axis of the front mounting part 120. The line connecting the first trigger part 231 and the second trigger part 232 divides the front mounting part into two semicircles with a central angle of 180°. The central angle of the arc-shaped protrusion structure 131 is slightly less than 180 degrees, for example, 179°, so that the protrusion structure 131 can only trigger one of the first trigger part 231 and the second trigger part 232, so that one of the first trigger part 231 and the second trigger part 232 is triggered and the other is released, so that when one of the first single-pole double-throw switch K1 and the second single-pole double-throw switch K2 is in the released state, the other is in the triggered state. In embodiments where the switching assembly includes a double-pole double-throw switch, the trigger element 230 may include a trigger part connected to one of the first single-pole double-throw switch K1 and the second single-pole double-throw switch K2.

[0265] In another embodiment, as shown in Figures 2 and 25 to 27, the commutation guide structure includes a first electrical contact 132, which is connected to the commutation module 600 or the input commutation module 900. The trigger element 230 includes a second electrical contact 234. When the first electrical contact 132 is in contact with the second electrical contact 234, the trigger element 230 is in a first state; when the first electrical contact 132 is separated from the second electrical contact 234, the trigger element 230 is in a second state. For example, the first electrical contact 132 includes an electrical connecting piece disposed on the front mounting portion 120, and the second electrical contact 234 includes an electrical connecting pin connected to the circuit board 220 inside the rotating housing 200. For example, when the rotating housing 200 is in a first rotation range, the first electrical contact 132 and the second electrical contact 234 are separated and disconnected; when the rotating housing 200 is in a second rotation range, the first electrical contact 132 and the second electrical contact 234 are in contact and connected.

[0266] In the embodiments shown in Figures 9 and 10, for example, the first electrical contact 132 is connected to the GND terminal of the commutation module 600, and the second electrical contact 234 is connected to the electromagnetic coil 610. When the first electrical contact 132 and the second electrical contact 234 are separated, the trigger element 230 is in a first state, and the GND terminal is disconnected from the electromagnetic coil 610. When the rotating housing 200 rotates 180°, the first electrical contact 132 and the second electrical contact 234 come into contact, and the trigger element 230 is in a second state, connecting the GND terminal to the electromagnetic coil 610.

[0267] In the embodiments of Figures 12a to 15, for example, the first electrical contact 132 includes a first contact 1321 connected to the first input terminal D21 and a second contact 1322 connected to the second input terminal D22, and the second electrical contact 234 includes a first connection 2341 connected to the first output terminal D23 and a second connection 2342 connected to the second output terminal D24, and the first connection 2341 and the second connection 2342.

[0268] As shown in Figures 28 and 29, both the first contact portion 1321 and the second contact portion 1322 are semi-circular electrical connecting pieces. The first contact portion 1321 and the second contact portion 1322 are symmetrically arranged with respect to the rotation axis of the rotating housing 200. Both the first connecting portion 2341 and the second connecting portion 2342 are electrical connecting pins, and are also symmetrically arranged with respect to the rotation axis of the rotating housing. When the rotating housing 200 is in the first rotation range, referring to Figures 28 and 12a, the trigger element 230 is in the first state. The first connecting portion 2341 contacts the first contact portion 1321, connecting the first input terminal D21 to the first output terminal D23. The second connecting portion 2342 contacts the second contact portion 1322, connecting the second input terminal D22 to the second output terminal D24, thus placing the commutation module 600 in the first connection state. Referring to Figures 29 and 12b, when the rotating housing rotates from the first rotation range to the second rotation range, the trigger element 230 switches to the second state, the first connecting part 2341 rotates to contact the second contact part 1322, so that the second input terminal D22 is connected to the first output terminal D23, and the second connecting part 2342 rotates to contact the first contact part 1321, so that the first input terminal D21 is connected to the second output terminal D24, so that the commutation module 600 is in the second connection state.

[0269] In the embodiments shown in Figures 21a to 24, for example, the first electrical contact 132 includes a first contact 1321 connected to the second voltage input terminal D14 and a second contact 1322 connected to the third voltage input terminal D15. The second electrical contact 234 is connected to the second power input terminal D17. For example, referring to Figures 21a and 30, when the rotating housing 200 is in the first rotation range, the trigger element 230 is in the first state, the first contact 1321 contacts the second electrical contact 234, so that the second power connection terminal D17 is connected to the second voltage input terminal D14; thus, the input circuit is in the first connection state, so that the commutation input module 900 is in the first input state. When the rotating housing 200 is in the second rotation range, the trigger element 230 is in the second state, the second contact 1322 contacts the second electrical contact 234, so that the second power connection terminal D17 is connected to the third voltage input terminal D15; thus, the input circuit is in the second connection state, so that the commutation input module 900 is in the second input state.

[0270] In one embodiment, the rotating housing 200 has a starting position, from which it rotates by a first angle along a first rotation direction to reach a zero position, or from the starting position by a first angle along a second rotation direction to reach a zero position. The first rotation direction and the second rotation direction are opposite, and the first angle is greater than or equal to 0° and less than or equal to 25°. For example, the first rotation direction is clockwise, and the second rotation direction is counterclockwise. In other embodiments, the first rotation direction and the second rotation direction can be interchanged.

[0271] In the above embodiment where the rotating housing 200 is in the first rotation interval when the angle of rotation of the rotating housing 200 relative to the zero position along the first direction is greater than 0° and less than 180°, and the rotating housing 200 is in the second rotation interval when the angle of rotation of the rotating housing 200 relative to the zero position along the first direction is greater than or equal to 180° and less than 360°, the starting point of the first rotation interval is the zero position.

[0272] In this embodiment, the starting point of the first rotation interval is the starting position, that is, the starting position is offset by a first angle from the zero position along the first rotation direction or the second rotation direction.

[0273] For example, when the angle of rotation of the rotating outer shell 200 relative to the starting position along the first rotation direction is greater than 0° and less than the first interval angle, it is in the first rotation interval; when the angle of rotation of the rotating outer shell 200 relative to the starting position along the first rotation direction is greater than the first interval angle and less than 360°, it is in the second rotation interval.

[0274] The rotating outer shell 200 rotates 0° relative to its initial position along the first rotation direction.

[0275] When the angle is (360°) or the first interval, the rotating shell 200 can be in the first rotation interval or the second rotation interval.

[0276] For example, the rotating housing 200 also includes a second interval angle, the sum of which is 360°. During the process of rotating the rotating housing 200 relative to its starting position along a first rotation direction from the first interval angle to 360°, the angle of rotation of the rotating housing 200 is the aforementioned second interval angle. For example, if the first interval angle is greater than or equal to 155° and less than or equal to 205°, then the second interval angle is greater than 155° and less than 205°.

[0277] For example, the first interval angle is 180°, and the second interval angle is 180°; or the first interval angle is 190°, and the second interval angle is 170°. Adjusting the starting point and angle range of the first and second rotation intervals can suit the preferences of different doctors.

[0278] As shown in Figures 32 to 34, the reversing guide structure 130 extends around the axis of the rotating housing 200. For example, the reversing guide structure 130 is arc-shaped, and the central angle of the reversing guide structure 130 is the first interval angle. The reversing guide structure 130 is configured to contact the trigger element 230 when the rotating housing 200 is in the first rotation interval, so that the trigger element 230 is in the first state. The reversing guide structure 130 is also configured to separate from the trigger element 230 when the rotating housing 200 is in the second rotation interval, so that the trigger element 230 is in the second state.

[0279] For example, the reversing guide structure 130 includes a first trigger member 1301 and a second trigger member 1302. When the rotating housing 200 rotates from the first rotation range to the second rotation range, the first trigger member 1301 or the second trigger member 1302 contacts the trigger element 230, causing the trigger element 230 to switch from the first state to the second state. When the rotating housing 200 rotates from the second rotation range to the first rotation range, the first trigger member 1301 and the second trigger member 1302 separate from the trigger element 230, causing the trigger element 230 to switch from the second state to the first state.

[0280] For example, one of the first trigger member 1301 and the second trigger member 1302 includes the head end of the reversing guide structure 130, and the other includes the tail end of the reversing guide structure 130. For example, the first trigger member 1301 includes the head end, and the second trigger member 1302 includes the tail end.

[0281] The line connecting the first trigger member 1301 (e.g., the head end) of the reversing guide structure 130 to the axis of the rotating housing 200 is the first line, and the line connecting the second trigger member 1302 (e.g., the tail end) of the reversing guide structure 130 to the axis of the rotating housing 200 is the second line. The angle between the first line and the second line is the aforementioned central angle.

[0282] In embodiments where the reversing guide structure 130 includes a protruding structure 131 and the trigger element 230 includes a contact switch 233, as shown in Figures 7, 8, and 32, the protruding structure 131 extends about the axis of the rotating housing 200 (i.e., the axis of the sleeve assembly 400), and the central angle of the protruding structure 131 is a first interval angle. For example, the first trigger member 1301 includes the head end of the protruding structure 131, and the second trigger member includes the tail end of the protruding structure 131.

[0283] When the rotating housing 200 is in the first rotation range, the protruding structure 131 contacts the contact switch 233, so that the contact switch 233 is in the first state. When the rotating housing 200 is in the second rotation range, the protruding structure 131 separates from the contact switch 233, so that the contact switch 233 is in the second state.

[0284] In an embodiment where the reversing guide structure 130 includes a protruding structure 131 and the trigger element 230 includes a first trigger portion 231 and a second trigger portion 232, as shown in Figures 15 and 32, the protruding structure 131 extends around the axis of the rotating housing 200 (i.e., the axis of the sleeve assembly 400). The central angle of the protruding structure 131 is a first interval angle. When the rotating housing 200 is within the first rotation interval, the protruding structure 131 contacts the first trigger portion 231 and separates from the second trigger portion 232, so that the trigger element 230 is in a first state. When the rotating housing 200 is within the second rotation interval, the protruding structure 131 separates from the first trigger portion 231 and contacts the second trigger portion 232, so that the trigger element 230 is in a second state.

[0285] In an embodiment where the reversing guide structure 130 includes a first electrical contact 132 and the trigger element 230 includes a second electrical contact 234, as shown in Figures 33 and 34, the first electrical contact 132 is disposed around the axis of the rotating housing 200 (i.e., the axis of the sleeve assembly 400), and the central angle of the first electrical contact 132 is a first interval angle, for example, 190°. When the rotating housing 200 is in the first rotation interval, the first electrical contact 132 contacts the second electrical contact 234, so that the second electrical contact 234 is in a first state. When the rotating housing 200 is in the second rotation interval, the first electrical contact 132 separates from the second electrical contact 234, so that the second electrical contact 234 is in a second state.

[0286] In another embodiment, the central angle of the reversing guide structure 130 is a second interval angle. The reversing guide structure 130 is configured to separate from the trigger element 230 when the rotating housing 200 is in a first rotation interval, so that the trigger element 230 is in a first state. The reversing guide structure 130 is also configured to contact the trigger element 230 when the rotating housing 200 is in a second rotation interval, so that the trigger element 230 is in a second state.

[0287] In this embodiment, the commutation guide structure 130 is positioned opposite to that in the embodiment where the central angle of the commutation guide structure 130 is the first interval angle. In different embodiments of the commutation guide structure 130, the contact relationship between the commutation guide structure 130 and the trigger element 230 is also opposite to that in the above embodiments, and will not be described again here.

[0288] In an embodiment where the reversing guide structure 130 includes a first contact portion 1321 and a second contact portion 1322, and the trigger element 230 includes a second electrical contact portion 234, as shown in Figures 35 and 36, the first contact portion 1321 and the second contact portion 1322 are arranged around the axis of the rotating housing 200 (i.e., the axis of the sleeve assembly 400). For example, the central angle of the first contact portion 1321 is a first interval angle, and the central angle of the second contact portion 1322 is a second interval angle. The first contact portion 1321 and the second contact portion 1322 generally form a ring, for example, the first interval angle is 190° and the second interval angle is 170°. For example, the first contact member 1301 includes the head end of the first contact portion 1321, and the second contact member 1302 includes the tail end of the first contact portion 1321. When the rotating housing 200 is in the first rotation range, the first contact portion 1321 contacts the second electrical contact portion 234, and the second contact portion 1322 separates from the second electrical contact portion 234, so that the second electrical contact portion 234 is in the first state. When the rotating housing 200 is in the second rotation range, the first contact portion 1321 separates from the second electrical contact portion 234, and the second contact portion 1322 contacts the second electrical contact portion 234, so that the second electrical contact portion 234 is in the second state.

[0289] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0290] The detailed descriptions listed above are merely specific descriptions of feasible implementations of this disclosure and are not intended to limit the scope of protection of this disclosure. All equivalent implementations or modifications made without departing from the spirit of the art of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A surgical instrument, comprising: Body A rotating outer shell is rotatably connected to the body, the rotating outer shell having a first rotation range and a second rotation range relative to the body; A sleeve assembly, the proximal end of which is connected to the rotating housing; A jaw assembly is connected to the distal end of the sleeve assembly; A swing motor is connected to the jaw assembly for transmission, and the jaw assembly swings relative to the sleeve assembly in response to the rotation of the swing motor; as well as The surgical instrument includes an input module and a motor drive module. The input module is connected to the motor drive module, and the motor drive module is connected to the oscillating motor. The motor drive module includes a reversing module and a trigger element connected to the reversing module. The surgical instrument also includes a reversing guide structure. One of the trigger element and the reversing guide structure is located in the body, and the other is located in the rotating outer shell. When the rotating outer shell is in a first rotation range, the trigger element is in a first state. When the rotating outer shell is in a second rotation range, the trigger element is in a second state. When the triggering element is in the first state, the reversing module is in the first connection state, so that the surgical instrument is in the first driving state; in the first driving state, in response to the input module receiving a first operation from the user, the motor drive module drives the swing motor to rotate in the first direction; in response to the input module receiving a second operation from the user, the motor drive module drives the swing motor to rotate in the second direction. When the trigger element is in the second state, the reversing module is in the second connection state, so that the surgical instrument is in the second driving state; in the second driving state, in response to the input module receiving a first operation from the user, the motor drive module drives the swing motor to rotate in the second direction; in response to the input module receiving a second operation from the user, the motor drive module drives the swing motor to rotate in the first direction; the first direction is opposite to the second direction.

2. The surgical instrument according to claim 1, wherein, The input module includes a first signal output terminal and a second signal output terminal, and the swing motor includes a first motor input terminal and a second motor input terminal. When the commutation module is in the first connection state, the first signal output terminal is connected to the first motor input terminal, and the second signal output terminal is connected to the second motor input terminal, so that the surgical instrument is in the first driving state. When the commutation module is in the second connection state, the first signal output terminal is connected to the second motor input terminal, and the second signal output terminal is connected to the first motor input terminal, so that the surgical instrument is in the second driving state.

3. The surgical instrument according to claim 2, wherein, The commutation module includes: The first input terminal unit includes a first input terminal and a second input terminal, wherein the first input terminal is connected to the first signal output terminal and the second input terminal is connected to the second signal output terminal; A first output unit includes a first output terminal and a second output terminal, wherein the first output terminal is connected to the first motor input terminal, and the second output terminal is connected to the second motor input terminal; and A switching assembly is connected between the first input terminal unit and the first output terminal unit. The switching assembly is connected to the trigger element. The first output terminal is selectively connected to the first input terminal and the second input terminal through the switching assembly. The second output terminal is selectively connected to the first input terminal and the second input terminal through the switching assembly. When the commutation module is in the first connection state, the first input terminal is connected to the first output terminal, and the second input terminal is connected to the second output terminal; When the commutation module is in the second connection state, the first input terminal is connected to the second output terminal, and the second input terminal is connected to the first output terminal.

4. The surgical instrument according to claim 3, wherein, The switching assembly includes a switching unit, one end of which is connected to the first input terminal and the second input terminal, and the other end of which is connected to the first output terminal and the second output terminal; in response to the trigger element being in the first state, the switching unit is in a first position such that the commutation module is in the first connection state; in response to the trigger element being in the second state, the switching unit is in a second position such that the commutation module is in the second connection state.

5. The surgical instrument according to claim 4, wherein, The switching assembly further includes an electromagnetic coil connected to the trigger element. The electromagnetic coil is configured to act on the switching unit. When the trigger element is in the first state, the electromagnetic coil is de-energized, causing the switching unit to be in the first position. When the trigger element is in the second state, the electromagnetic coil is energized, causing the switching unit to be in the second position.

6. The surgical instrument according to claim 5, wherein, The triggering element includes a trigger portion and a conducting switch connected to the trigger portion. The conducting switch is connected to the electromagnetic coil. In response to the commutation guide structure and the trigger portion being in a first position relationship, the trigger portion is in a first working state, causing the conducting switch to be in an open state, so that the electromagnetic coil is in the de-energized state. At this time, the triggering element is in the first state. In response to the commutation guide structure and the trigger portion being in a second position relationship, the trigger portion is in a second working state, and the conducting switch is in a closed state, so that the electromagnetic coil is in the energized state. At this time, the triggering element is in the second state.

7. The surgical instrument according to claim 4, wherein, The triggering element includes a triggering part, which is connected to the switching unit; When the rotating housing is in the first rotation range, the reversing guide structure and the trigger part are in a first positional relationship, and the trigger part is in a first working state, so that the switching unit is in the first position; When the rotating housing is in the second rotation range, the reversing guide structure and the trigger part are in a second position relationship, and the trigger part is in a second working state, so that the switching unit is in the second position.

8. The surgical instrument according to claim 6 or 7, wherein, The first positional relationship includes the reversing guide structure being separated from the trigger portion, and the second positional relationship includes the reversing guide structure being in contact with the trigger portion; or The first positional relationship includes the reversing guide structure being in contact with the trigger part, and the second positional relationship includes the reversing guide structure being separated from the trigger part.

9. The surgical instrument according to any one of claims 4 to 7, wherein, The switching unit includes a first single-pole double-throw switch and a second single-pole double-throw switch. One end of the first single-pole double-throw switch is connected to the first input terminal, and the other end of the first single-pole double-throw switch is selectively connected to the first output terminal or the second output terminal. One end of the second single-pole double-throw switch is connected to the second input terminal, and the other end of the second single-pole double-throw switch is selectively connected to the first output terminal or the second output terminal. Alternatively, one end of the first single-pole double-throw switch is connected to the first output terminal, and the other end of the first single-pole double-throw switch is selectively connected to the first input terminal or the second input terminal. One end of the second single-pole double-throw switch is connected to the second output terminal, and the other end of the second single-pole double-throw switch is selectively connected to the first input terminal or the second input terminal.

10. The surgical instrument according to claim 9, wherein, The switching unit includes a double-pole double-throw switch, which includes a first single-pole double-throw switch and a second single-pole double-throw switch connected to each other.

11. The surgical instrument according to claim 2, wherein, The motor drive module also includes a drive module; The drive module is located in the passage between the input module and the swing motor.

12. The surgical instrument according to claim 11, wherein, The motor drive module also includes a control module. The control module is located in the path between the input module and the drive module.

13. The surgical instrument according to claim 2, wherein, The input module includes a first operation unit, a second operation unit, and an operation input circuit. The operation input circuit includes a first switch connected to the first signal output terminal and a second switch connected to the second signal output terminal. The first switch is connected to the first operating unit, and the first operation includes the first operating unit being operated; In response to the input module receiving a first operation from the user, the first switch is triggered so that the first signal output terminal outputs a first signal and the second signal output terminal outputs a second signal. The second switch is connected to the second operating unit, and the second operation includes the second operating unit being operated; In response to the input module receiving a second operation from the user, the second switch is triggered so that the first signal output terminal outputs the second signal, and the second signal output terminal outputs the first signal.

14. The surgical instrument according to claim 2, wherein, The input module includes a roller and an operation input circuit connected to the roller. The operation input circuit includes a first signal output terminal and a second signal output terminal. In response to the roller rotating in a third direction, the first signal output terminal outputs a first square wave signal, and the second signal output terminal outputs a second square wave signal. The first operation includes the roller rotating in the third direction. In response to the roller rotating in a fourth direction, the first signal output terminal outputs the second square wave signal, and the second signal output terminal outputs the first square wave signal. The second operation includes the roller rotating in the fourth direction.

15. The surgical instrument according to any one of claims 1 to 14, wherein, The reversing guide structure is configured to contact the trigger element when the rotating housing is in the second rotation range, so that the trigger element is in the second state; the reversing guide structure is also configured to separate from the trigger element when the rotating housing is in the first rotation range, so that the trigger element is in the first state; or The reversing guide structure is configured to move away from the trigger element when the rotating housing is in the second rotation range, so that the trigger element is in the second state. The reversing guide structure is also configured to contact the trigger element when the rotating housing is in the first rotation range, so that the trigger element is in the first state.

16. The surgical instrument according to claim 15, wherein, The reversing guide structure includes a protruding structure, and the triggering element includes a trigger switch. When the protruding structure contacts the trigger switch, the trigger switch is triggered. When the protruding structure separates from the trigger switch, the trigger switch is released.

17. The surgical instrument according to claim 15, wherein, The commutation guide structure includes a first electrical contact portion connected to the commutation module, and the trigger element includes a second electrical contact portion; when the first electrical contact portion is in contact with the second electrical contact portion, the trigger element is in the first state; when the first electrical contact portion is separated from the second electrical contact portion, the trigger element is in the second state.

18. The surgical instrument according to any one of claims 1 to 17, wherein, The rotating shell has a zero position. When the angle of rotation of the rotating shell relative to the zero position along the first direction is greater than or equal to 0° and less than 180°, it is in the first rotation range. When the angle of rotation of the rotating shell relative to the zero position along the first direction is greater than or equal to 180° and less than 360°, it is in the second rotation range.

19. A surgical instrument, wherein, include: Body A rotating outer shell is rotatably connected to the body, and the rotating outer shell has a first rotation range and a second rotation range; A sleeve assembly, the proximal end of which is connected to the rotating housing; A jaw assembly is connected to the distal end of the sleeve assembly; A swing motor is connected to the jaw assembly for transmission, and the jaw assembly swings relative to the sleeve assembly in response to the rotation of the swing motor; A commutation input module is connected to the motor. The commutation input module includes an input circuit, a commutation element connected to the input circuit, and a trigger element connected to the commutation element. The surgical instrument also includes a commutation guide structure. One of the trigger element and the commutation guide structure is located in the body, and the other is located in the rotating housing. When the rotating housing is in a first rotation range, the trigger element is in a first state. When the rotating housing is in a second rotation range, the trigger element is in a second state. When the trigger element is in the first state, the input circuit is in a first connection state, so that the commutation input module is in a first input state. In response to the user's first operation, the commutation input module outputs a first input signal, and in response to the user's second operation, the commutation input module outputs a second input signal. When the trigger element is in the second state, the input circuit is in a second connection state, so that the commutation input module is in a second input state. In response to the user's first operation, the commutation input module outputs a second input signal, and in response to the user's second operation, the commutation input module outputs a first input signal. In response to the commutation input module outputting the first input signal, the swing motor rotates along the first direction; in response to the commutation input module outputting the second input signal, the swing motor rotates along the second direction; the first direction and the second direction are opposite.

20. The surgical instrument according to claim 19, wherein, The input circuit includes a first voltage input unit and a second voltage input unit, wherein the first voltage input unit is configured to output a first voltage, and the second voltage input unit is configured to selectively output a second voltage or a third voltage; The second voltage input unit is connected to the trigger element. In response to the trigger element being in the first state, the second voltage input unit outputs the second voltage, and the commutation input module is in the first input state. In response to the trigger element being in the second state, the second voltage input unit outputs the third voltage, the commutation input module is in the second input state, and one of the second voltage and the third voltage is greater than the first voltage, while the other is less than the first voltage.

21. The surgical instrument according to claim 20, wherein, The second voltage input unit includes a second voltage input terminal, a third voltage input terminal, a second power connection terminal, and a single-pole double-throw switch. One end of the single-pole double-throw switch is connected to the second power connection terminal, and the other end is selectively connected to either the second voltage input terminal or the third voltage input terminal. The trigger element is connected to the single-pole double-throw switch.

22. The surgical instrument according to claim 20, wherein, The first voltage input unit includes a first voltage input terminal, a first power connection terminal, and a start switch connected between the first voltage input terminal and the first power connection terminal. In response to the start switch being triggered, the first voltage input terminal and the first power connection terminal are connected. In response to the start switch being released, the first voltage input terminal and the first power connection terminal are disconnected.

23. The surgical instrument according to claim 20, wherein, The input circuit also includes an operation commutation circuit. One end of the operation commutation circuit is connected to the first voltage input unit and the second voltage input unit. The other end of the operation commutation circuit includes a first signal output terminal and a second signal output terminal. The first signal output terminal and the second signal output terminal are connected to the swing motor. The operation switching circuit has a first direction state and a second direction state. In the first direction state, the first voltage input unit is connected to the first signal output terminal, and the second voltage input unit is connected to the second signal output terminal. In the second direction state, the first voltage input unit is connected to the second signal output terminal, and the second voltage input unit is connected to the first signal output terminal.

24. The surgical instrument according to claim 19, wherein, The surgical instrument also includes a drive module disposed in the passage between the reversing input module and the oscillating motor.

25. The surgical instrument according to claim 24, wherein, The motor drive module also includes a control module, which is located in the path between the commutation input module and the drive module.

26. The surgical instrument according to claim 20, wherein, The reversing guide structure is configured to contact the trigger element when the rotating housing is in the second rotation range, so that the trigger element is in the second state; the reversing guide structure is also configured to separate from the trigger element when the rotating housing is in the first rotation range, so that the trigger element is in the first state; or The reversing guide structure is configured to move away from the trigger element when the rotating housing is in the second rotation range, so that the trigger element is in the second state. The reversing guide structure is also configured to contact the trigger element when the rotating housing is in the first rotation range, so that the trigger element is in the first state.

27. The surgical instrument according to claim 26, wherein, The reversing guide structure includes a protruding structure, and the triggering element includes a trigger switch. When the protruding structure contacts the trigger switch, the trigger switch is triggered. When the protruding structure separates from the trigger switch, the trigger switch is released.

28. The surgical instrument according to claim 26, wherein, The commutation guide structure includes a first electrical contact portion connected to the input commutation module, and the trigger element includes a second electrical contact portion; when the first electrical contact portion is in contact with the second electrical contact portion, the trigger element is in the first state; when the first electrical contact portion is separated from the second electrical contact portion, the trigger element is in the second state.

29. The surgical instrument according to claim 18, wherein, The input circuit includes a voltage input circuit, an operation commutation circuit, and a start switch. One end of the operation commutation circuit is connected to the voltage input circuit, and the other end of the operation commutation circuit includes a first signal output terminal and a second signal output terminal, which are connected to the swing motor. When the start switch is closed, the voltage input circuit and the operation commutation circuit are connected; when the start switch is open, the voltage input circuit and the operation commutation circuit are disconnected. The operation switching circuit has a first direction state and a second direction state. In the first direction state, the first voltage input unit is connected to the first signal output terminal, and the second voltage input unit is connected to the second signal output terminal. In the second direction state, the first voltage input unit is connected to the second signal output terminal, and the second voltage input unit is connected to the first signal output terminal. The first operation includes triggering the start switch when the operation commutation circuit is in the first direction state; the second operation includes triggering the start switch when the operation commutation circuit is in the second direction state.

30. The surgical instrument according to claim 29, wherein, The surgical instrument also includes a directional key, and the operation switching circuit includes a first directional switch and a second directional switch. The first directional switch and the second directional switch are connected to the directional component. The directional key has a left position and a right position. When the directional component is in the left position, the first directional switch and the second directional switch are in the first directional position, so that the operation switching circuit is in the first directional state. When the directional component is in the right-side position, the first directional switch and the second directional switch are in the second directional position, so that the operation switching circuit is in the second directional state. The first operation includes triggering the start switch when the directional key is in the left position, and the second operation includes triggering the start switch when the directional key is in the right position.

31. The surgical instrument according to claim 1 or 19, wherein, The rotating shell has a starting position and a zero position. The rotating shell rotates from the starting position along a first rotation direction by a first angle to reach the zero position, or the rotating shell rotates from the starting position along a second rotation direction by a first angle to reach the zero position. The first rotation direction is opposite to the second rotation direction, and the first angle is greater than or equal to 0° and less than or equal to 25°. When the angle of rotation of the rotating outer shell relative to the starting position along the first rotation direction is greater than 0° and less than the first interval angle, it is in the first rotation interval; when the angle of rotation of the rotating outer shell relative to the starting position along the first rotation direction is greater than the first interval angle and less than 360°, it is in the second rotation interval.

32. The surgical instrument according to claim 31, wherein, The angle of the first interval is greater than or equal to 155° and less than or equal to 205°.

33. The surgical instrument according to claim 31, wherein, The reversing guide structure extends about the axis of the rotating housing. The reversing guide structure is configured to contact the trigger element when the rotating housing is in the first rotation range, so that the trigger element is in the first state. The reversing guide structure is also configured to separate from the trigger element when the rotating housing is in the second rotation range, so that the trigger element is in the second state.

34. The surgical instrument according to claim 33, wherein, The reversing guide structure includes a first triggering component and a second triggering component. When the rotating housing rotates from the first rotation range to the second rotation range, the first triggering component and the second triggering component separate from the triggering element, so that the triggering element switches from the first state to the second state. When the rotating housing rotates from the second rotation range to the first rotation range, the first triggering component or the second triggering component contacts the triggering element, so that the triggering element switches from the second state to the first state.

35. The surgical instrument according to claim 34, wherein, The line connecting the first triggering component and the axis of the rotating housing is the first connecting line, and the line connecting the second triggering component and the axis of the rotating housing is the second connecting line. The angle between the first connecting line and the second connecting line is equal to the first interval angle.

36. The surgical instrument according to claim 31, wherein, The reversing guide structure extends around the axis of the rotating housing, and the sum of the second interval angle and the first interval angle is 360°. The reversing guide structure is configured to separate from the trigger element when the rotating housing is in the first rotation interval, so that the trigger element is in the first state. The reversing guide structure is also configured to contact the trigger element when the rotating housing is in the second rotation interval, so that the trigger element is in the second state.

37. The surgical instrument according to claim 36, wherein, The reversing guide structure includes a first triggering component and a second triggering component. When the rotating housing rotates from the first rotation range to the second rotation range, the first triggering component or the second triggering component contacts the triggering element, causing the triggering element to switch from the first state to the second state. When the rotating housing rotates from the second rotation range to the first rotation range, both the first triggering component and the second triggering component separate from the triggering element, causing the triggering element to switch from the second state to the first state.

38. The surgical instrument according to claim 37, wherein, The line connecting the first triggering component and the axis of the rotating housing is the first connecting line, and the line connecting the second triggering component and the axis of the rotating housing is the second connecting line. The angle between the first connecting line and the second connecting line is equal to the second interval angle.

39. The surgical instrument according to claim 35 or 38, wherein, One of the first triggering member and the second triggering member includes the head end of the reversing guide structure, and the other includes the tail end of the reversing guide structure.

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