Stapler and medical system

Abstract

The present application discloses a stapler and a medical system. The stapler comprises: a staple cartridge seat, a staple cartridge assembly, and a drive assembly. The staple cartridge seat comprises a proximal end and a distal end. The staple cartridge assembly is provided with a cam structure. The cam structure moves from the proximal end to the distal end during a firing stroke of the stapler, and the initial position of the cam structure is located at the proximal end. The drive assembly can move between the proximal end and the distal end, and the drive assembly is provided with a locking member, wherein the proximal end of the staple cartridge seat is provided with a blocking portion. When the cam structure is in the initial position, the locking member is in contact with the cam structure and can be accommodated in the cam structure to allow the drive assembly to move toward the distal end. When the cam structure is not in the initial position, the locking member can be blocked by the blocking portion to prevent the drive assembly from moving toward the distal end. The present application is structurally simple, has an empty cartridge protection function, and can prevent the drive assembly from moving after the instrument is fired due to misoperation, thereby significantly improving surgical safety.

Description

Anastomosing devices and medical systems Cross-references to related applications

[0001] This application is based on and claims priority to Chinese Patent Application No. 202510125529.4, filed on January 26, 2025, the entire contents of which are hereby incorporated herein by reference. Technical Field

[0002] This application relates generally to the field of surgical robot technology, and more specifically to a stapler and medical system. Background Technology

[0003] Currently, staplers, as a medical device, can perform operations such as tissue severing, closing, and suturing, and are widely used in various laparoscopic and open surgeries. A stapler typically consists of an end effector that closes to clamp the tissue, ejects metal staples from the staple cartridge to suture the tissue together, and then uses a built-in cutter to cut and separate the tissue.

[0004] The locking function of a stapler is usually achieved through a specific mechanical structure. Some staplers, when the staple cartridge is not installed or is empty, will trigger a staple-free protection mechanism upon firing. In this case, the stapler will be automatically locked to ensure surgical safety. However, some existing staplers with locking functions often require specific locking mechanisms, which are complex to manufacture and cumbersome to assemble, leading to increased costs.

[0005] Therefore, there is a need to provide an anastomosis device and medical system to at least partially solve the above problems. Summary of the Invention

[0006] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0007] A first aspect of this application provides a stapler, comprising: a staple cartridge seat, the staple cartridge seat including a proximal end and a distal end; a staple cartridge assembly disposed within the staple cartridge seat, the staple cartridge assembly having a cam structure, the cam structure moving from the proximal end of the staple cartridge seat to the distal end of the staple cartridge seat during the firing stroke of the stapler, the initial position of the cam structure being located at the proximal end of the staple cartridge seat; and a drive assembly movable between the proximal end of the staple cartridge seat and the distal end of the staple cartridge seat, the drive assembly having a locking member, wherein the proximal end of the staple cartridge seat has a blocking portion, when the cam structure is in the initial position, the locking member contacts the cam structure, and under the action of a driving force, the locking member can be received within the cam structure to allow the drive assembly to move toward the distal end of the staple cartridge seat, and when the cam structure is not in the initial position, the locking member can be blocked by the blocking portion to prevent the drive assembly from moving toward the distal end of the staple cartridge seat.

[0008] A second aspect of this application provides a medical system including an operating device, the operating device including at least one robotic arm; and a stapler according to any one of the above technical solutions, the stapler being disposed on the robotic arm.

[0009] Details of one or more embodiments of this application are set forth in the following drawings and description. Other features, objects, and advantages of this application will become apparent from the specification, drawings, and claims. Attached Figure Description

[0010] The following drawings, illustrating embodiments of this application, are incorporated herein by reference and are used to understand this application. The drawings show embodiments of this application and their descriptions to explain the principles of this application. In the drawings,

[0011] Figure 1 is a schematic diagram of a medical system provided according to some embodiments of this application;

[0012] Figure 2 is a schematic diagram of a patient-side robot provided according to some embodiments of this application;

[0013] Figure 3 is a perspective view of a stapler provided according to some embodiments of this application;

[0014] Figure 4 is a perspective view of an end effector provided according to some embodiments of this application;

[0015] Figure 5 is an exploded view of an end effector provided according to some embodiments of this application;

[0016] Figure 6 is a partially enlarged view of a staple cartridge holder provided according to some embodiments of this application;

[0017] Figure 7 is a perspective view of a first slider provided according to some embodiments of this application;

[0018] Figure 8 is an exploded view of a staple cartridge assembly provided according to some embodiments of this application;

[0019] Figure 9 is a partially enlarged view of a staple cartridge assembly provided according to some embodiments of this application;

[0020] Figure 10 is a schematic diagram of the sliding state change of the first slider on the staple cartridge according to some embodiments of this application;

[0021] Figure 11 is a state diagram of the drive assembly on the staple cartridge when the drive assembly provided according to some embodiments of this application is not blocked by the blocking part;

[0022] Figure 12 is another state diagram of the drive assembly on the staple cartridge when the drive assembly provided according to some embodiments of this application is not blocked by the blocking part;

[0023] Figure 13 is another state diagram of the drive assembly on the staple cartridge when the drive assembly provided according to some embodiments of this application is not blocked by the blocking part;

[0024] Figure 14 is a state diagram of the drive assembly on the staple cartridge when the drive assembly provided according to some embodiments of this application is blocked by the blocking part;

[0025] Figure 15 is another state diagram of the drive assembly on the staple cartridge seat when the drive assembly provided according to some embodiments of this application is blocked by the blocking part;

[0026] Figure 16 is another state diagram of the drive assembly on the staple cartridge seat when the drive assembly provided according to some embodiments of this application is blocked by the blocking part;

[0027] Figure 17 is a perspective view of a driving component provided according to some embodiments of this application;

[0028] Figure 18 is an exploded view of a driving component provided according to some embodiments of this application;

[0029] Figure 19 is another exploded view of a driving component provided according to some embodiments of this application;

[0030] Figure 20 is a partial enlarged view of an anvil provided according to some embodiments of this application;

[0031] Figure 21 is an exploded view of a staple cartridge assembly provided according to some other embodiments of this application;

[0032] Figure 22 is another partially enlarged view of a staple cartridge assembly provided according to some embodiments of this application;

[0033] Figure 23 is a perspective view of a blade assembly provided according to some embodiments of this application;

[0034] Figure 24 is an exploded view of a blade assembly provided according to some embodiments of this application;

[0035] Figure 25 is a schematic diagram of the sliding state change of the second slider on the staple cartridge according to some embodiments of this application;

[0036] Figure 26 is a state diagram of the blade assembly provided according to some embodiments of this application at the proximal end of the staple cartridge;

[0037] Figure 27 is another state diagram of the blade assembly provided according to some embodiments of this application at the proximal end of the staple cartridge;

[0038] Figure 28 is a top view of a first resilient connector provided according to some embodiments of this application;

[0039] Figure 29 is another perspective view of a driving component provided according to some embodiments of this application;

[0040] Figure 30 is a perspective view of a connection state of a second slider and a drive assembly provided according to some embodiments of this application;

[0041] Figure 31 is a cross-sectional view of a connection state of a second slider and a drive assembly provided according to some embodiments of this application;

[0042] Figure 32 is another perspective view of a blade assembly provided according to some embodiments of this application;

[0043] Figure 33 is another perspective view of a blade assembly provided according to some embodiments of this application. (Explanation of reference numerals)

[0044] 100: Anastomosing device; 101: Instrument actuator; 102: Shaft; 103: Locking lug; 200: End effector assembly; 210: Staple cartridge holder; 211: Guide rail; 212: Blocking part; 213: Mounting slot; 214: First slide rail; 220: Anvil; 221: Second slide rail; 222: Locking groove; 230: Drive assembly; 231: Drive unit; 2310: Main body; 2311: Top plate; 2312: Base; 231 3: Cutting blade; 2314: First locking part; 232: Drive rod; 240: Locking member; 241: First elastic arm; 242: Connecting part; 250: Attachment cartridge assembly; 251: Attachment cartridge; 2511: Receiving cavity; 2512: First limiting protrusion; 2513: Second limiting protrusion; 252: Cover plate; 253: Slider; 2530: Second guide part; 2531: Cam structure; 2532: First guide part; 2533: The first... 254: Pusher block; 2541: Second mating part; 255: Anastomosing staple; 256: Sliding assembly; 2560: Second guide part; 2561: Slider; 25611: First mating part; 2562: Blade assembly; 2563: Cam structure; 2564: Connecting sleeve; 2565: Elastic connector; 25651: Second elastic arm; 25652: Second snap-fit ​​part; 25653: Bending part; 2566: First guide part 25661: Third mating part; 2567: Limiting part; 2568: Cutting blade; 2569: Slot; 2570: Connecting sleeve; 2571: Elastic connector; 2572: Second snap-fit ​​part; 260: Pivot shaft; 270: Elastic support device; 280: Connector; 400: Medical system; 410: Doctor's console; 420: Patient-side robot; 421: Robotic arm; 422: Mechanical arm; 430: Imaging equipment. Detailed Implementation

[0045] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0046] To fully understand this application, a detailed description will be provided in the following description. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. Obviously, the implementation of the embodiments of this application is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of this application are described in detail below; however, in addition to these detailed descriptions, this application may have other embodiments.

[0047] Ordinal numbers such as “first” and “second” used in this application are merely identifiers and have no other meaning, such as a specific order. Moreover, for example, the term “first component” does not imply the existence of a “second component”, and the term “second component” does not imply the existence of a “first component”.

[0048] It should be noted that the terms “upper,” “lower,” “front,” “back,” “left,” “right,” “inner,” “outer,” and similar expressions used in this application are for illustrative purposes only and are not intended to be limiting.

[0049] The terms "distal" and "proximal" used in this application are directional terms commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the operator during surgery, while "proximal" refers to the end closest to the operator during surgery. In remotely operated surgical robot systems, "operator" refers to the patient-side robot or robotic arm that holds and actuates the surgical instruments.

[0050] The terms “center,” “parallel,” “perpendicular,” and “aligned” used in this application are not necessarily precise, but may include typical engineering tolerances.

[0051] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings.

[0052] The medical system 400 according to an embodiment of this application is a surgical robot system capable of remotely controlling and performing surgery. Referring to FIG1, the medical system 400 may include a doctor's console 410, a patient-side robot 420, and an imaging device 430.

[0053] The doctor's control console 410 includes a display unit for showing the surgical instruments and environment, a doctor's operating control mechanism, and armrests. The display unit has an observation window for the doctor to observe, the operating control mechanism is designed so that its movements correspond to the movements of the surgical instruments, and the armrests are for supporting the doctor's arms. In addition, the doctor's control console 410 also has other control switches that are easily accessible by hand or foot for various functions and human-computer interaction.

[0054] The imaging device 430 includes a display screen, an endoscope controller, system electronics, an image processor, etc.

[0055] Referring to Figure 2, the patient-side robot 420 is a slave operating device, and can achieve master-slave control with the doctor's console 410. The patient-side robot 420 may include at least one robotic arm 421, which has several connecting arms. Adjacent connecting arms move relative to each other with specific degrees of freedom, allowing the end effector of the robotic arm to achieve multi-degree-of-freedom movement. The end effector of the robotic arm 421 is provided with a holding arm 422, on which surgical instruments are detachably mounted. Surgical instruments may be instruments for performing surgical operations, such as electrocautery devices, clamps, vascular occluders, anastomosing devices, etc., or cameras for acquiring images of the surgical area, such as endoscopes, or other surgical instruments.

[0056] In some applications, the robotic arm 421 can be configured to move mechanically around a remote center of motion (RCM). For example, in laparoscopic surgery, the RCM is defined as the port through which the surgical instrument enters the patient's abdominal cavity. During the surgery, manipulating the robotic arm 421 causes the holding arm 422 to move the surgical instrument in a pitching, yawing, insertion, and rotation motion. Throughout the movement, the longitudinal axis of the surgical instrument always passes through the RCM point to avoid non-surgical damage to the patient's abdominal incision.

[0057] Referring to Figures 2 and 3, the surgical instrument, from proximal to distal, includes an instrument driver 101, a shaft 102, and an end effector 200. The instrument driver 101 is connected to a drive mechanism within the arm 422. The instrument driver 101 can be connected to the end effector 200 via a transmission component, which can also brake the end effector 200. The transmission component may include a push-pull rod, a line, a rope, or a belt. The shaft 102 connects the instrument driver 101 and the end effector 200, serving to separate them and support the end effector 200. The end effector 200 may include tools for surgical operations such as cutting and suturing tissue, such as hooks, spatulas, clamps, scissors, and staples, or it may be an endoscope lens for image acquisition.

[0058] Anastomosing devices are medical devices used to replace traditional manual suturing. Their main working principle is to use staples and an internal cutting blade to suture and separate tissues, similar to a stapler. Anastomosing devices can be divided into various types depending on their application. Modern laparoscopic anastomosing devices are designed to allow surgeons to perform anastomosis procedures more easily and quickly, thus shortening surgical time; compared to traditional surgery, they are less invasive to patients, and patients undergoing surgery using laparoscopic anastomosing devices recover faster.

[0059] The locking function of a stapler is typically achieved through a specific mechanical structure. Some staplers, when not equipped with a staple cartridge or with an empty cartridge, trigger a dead staple protection mechanism upon firing to prevent tissue cutting without a suture. In this case, the stapler is automatically locked, preventing the cutter from entering the cutting path and ensuring surgical safety. This locking function allows the stapler to remain stable and reliable during surgery, significantly reducing surgical risks.

[0060] However, some current staplers with locking functions usually require specific locking mechanisms. More complex locking mechanisms involve more parts, have complicated manufacturing processes and cumbersome assembly steps, which leads to an increase in the cost of staplers.

[0061] The stapler of this application embodiment can improve or solve at least one of the above-mentioned problems. The stapler of the application embodiment can be applied to the above-described medical system 400.

[0062] As shown in Figures 4, 5, 6, and 7, the stapler 100 according to an embodiment of this application includes a staple cartridge seat 210, a drive assembly 230, and a staple cartridge assembly 250.

[0063] The staple cartridge 210 includes a proximal end and a distal end. The distal end refers to the end that is away from the operator during the operation, and the proximal end refers to the end that is close to the operator during the operation. The operator can be a doctor, a surgical robot, or other personnel or equipment operating instruments.

[0064] The staple cartridge assembly 250 is disposed within the staple cartridge seat 210. The staple cartridge assembly 250 is provided with a cam structure 2531. During the firing stroke of the stapler 100, the cam structure 2531 moves from the proximal end of the staple cartridge seat 210 to the distal end of the staple cartridge seat 210. The firing stroke of the stapler 100 is a process of gradually outputting the staples 255 from the staple cartridge assembly 250 to the distal end of the staple cartridge seat 210. The initial position of the cam structure 2531 is located at the proximal end of the staple cartridge seat 210.

[0065] The drive assembly 230 is movable between the proximal and distal ends of the staple cartridge 210. The drive assembly 230 can drive the staple cartridge assembly 250 to output the fitting staples 255. The drive assembly 230 is provided with a locking member 240. A cam structure 2531 allows the locking member 240 to vary in width, with the width direction perpendicular to the direction of movement of the drive assembly 230. In some examples, the cam structure 2531 can reduce the width of the locking member 240.

[0066] For example, the distal end of the locking member 240 can elastically deform to change its size in the width direction, such that when the locking member 240 is housed within the cam structure 2351, the locking member 240 is in an unlocked state and the distal end of the locking member 240 has a first width; when the locking member 240 is not housed within the cam structure 2531, the locking member 240 is in a locked state and the distal end of the locking member 240 has a second width, which is greater than the first width.

[0067] The staple cartridge seat 210 has a blocking part 212 at its proximal end. When the cam structure 2531 is in the initial position, the locking member 240 contacts the cam structure 2531 and can be accommodated in the cam structure 2531 under the action of the driving force, so that the locking member 240 contracts in the width direction, that is, the width of the locking member 240 becomes smaller, so as to allow the drive assembly 230 to move toward the distal end of the staple cartridge seat 210. When the cam structure 2531 is not in the initial position, the width of the locking member 240 does not become smaller, and the locking member 240 can be blocked by the blocking part 212 to prevent the drive assembly 230 from moving toward the distal end of the staple cartridge seat 210.

[0068] Understandably, when the cam structure 2531 is in its initial position, it is closer to the locking member 240 than the blocking portion 212. As the locking member 240 moves from the proximal end of the staple cartridge seat 210 to the distal end, it first contacts and interacts with the cam structure 2531, causing the width of the locking member 240 to decrease. This allows it to smoothly avoid the blocking portion 212 as it continues to move toward the distal end of the staple cartridge seat 210.

[0069] In this embodiment, the stapler 100 compresses the locking member 240 by providing a cam structure 2531 in the staple cartridge assembly 250, thereby reducing the width of the locking member 240. This allows the drive assembly 230 to avoid the blocking part 212 and allows the drive assembly 230 to slide within the staple cartridge assembly 250. If the staple cartridge assembly 250 is not loaded in the staple cartridge seat 210, there is no cam structure 2531 in the staple cartridge seat 210. If the staple cartridge assembly 250 is loaded in the staple cartridge seat 210, and there are no staples 255 in the fired staple cartridge assembly 250 or some staples 255 have been used, then the cam structure 2531 will not be located at the proximal end of the staple cartridge seat 210. In these cases, the cam structure 2531 cannot change the width of the locking member 240, and the drive assembly 230 is blocked by the blocking part 212. Therefore, the drive assembly 230 cannot move between the proximal end and the distal end of the staple cartridge seat 210.

[0070] The stapler 100 of this embodiment can effectively prevent the drive component 230 from sliding when the staple cartridge 210 is not loaded with the staple cartridge assembly 250 or when the staple cartridge 210 is loaded with the fired staple cartridge assembly 250. In other words, the stapler 100 of this embodiment has an empty cartridge protection function, which can prevent the drive component 230 from sliding after the instrument is fired due to misoperation, thereby significantly improving the safety of the operation.

[0071] As shown in Figures 14 to 16, when the staple cartridge holder 210 is not loaded with the staple cartridge assembly 250 or when the staple cartridge holder 210 is loaded with the fired staple cartridge assembly 250, the blocking part 212 can abut against the locking member 240 located in the initial position to prevent the drive assembly 230 from moving toward the distal end of the staple cartridge holder 210.

[0072] Without the cam structure 2531 reducing the width of the locking member 240 to guide the drive assembly 230 to avoid the blocking part 212, the drive assembly 230 would abut against the blocking part 212 at the proximal end of the staple cartridge seat 210 and would not be able to move between the proximal and distal ends of the staple cartridge seat 210. With the cam structure 2531 reducing the width of the locking member 240 to allow the drive assembly 230 to avoid the blocking part 212, the drive assembly 230 would not abut against the blocking part 212 at the proximal end of the staple cartridge seat 210 and could move between the proximal and distal ends of the staple cartridge seat 210.

[0073] As shown in Figures 11, 12, 13, 14, 15, and 16, the locking member 240 is an elastic member. The proximal end of the locking member 240 is fixed to the drive assembly 230, and the distal end of the locking member 240 can elastically deform to switch between a locked state and an unlocked state. When the locking member 240 is in the unlocked state, the elastic deformation of the distal end of the locking member 240 reduces the width of its distal end, allowing the drive assembly 230 to move toward the distal end of the staple cartridge seat 210. When the locking member 240 is in the locked state, the distal end of the locking member 240 is in a natural state and can abut against the blocking part 212 to prevent the drive assembly 230 from moving toward the distal end of the staple cartridge seat 210.

[0074] When the locking member 240 is in the unlocked state, the width of the locking member 240 is at its minimum, the blocking part 212 does not abut against the locking member 240, and the drive assembly 230 can move toward the distal end of the staple cartridge seat 210; when the locking member 240 is in the locked state, the width of the locking member 240 is at its maximum, the blocking part 212 can abut against the locking member 240 to prevent the drive assembly 230 from moving toward the distal end of the staple cartridge seat 210.

[0075] As shown in Figures 17, 18, and 19, the locking member 240 includes two first elastic arms 241 and a connecting portion 242. The connecting portion 242 connects the proximal ends of the two first elastic arms 241 and is fixed to the drive assembly 230. The two first elastic arms 241 are capable of elastically bending to move closer to each other.

[0076] The two first elastic arms 241 are V-shaped in their natural state and are distributed on both sides of the main body 2310 of the drive assembly 230. The connecting part 242 is connected to the main body 2310 of the drive assembly 230.

[0077] Compressing the two first elastic arms 241 can reduce the width of the locking member 240. When the two first elastic arms 241 are not compressed, the two first elastic arms 241 automatically open, and the width of the locking member 240 returns to its maximum state.

[0078] The two first elastic arms 241 and the connecting part 242 can be made as one piece. The height of the connecting part 242 is less than the height of the two first elastic arms 241. The main body 2310 is provided with a slot to engage with the connecting part 242. The main body 2310 and the connecting part 242 can also be further welded and fixed to realize the combination of the locking member 240 and the main body 2310.

[0079] The locking component 240 can be made of high-strength steel, which has high mechanical properties and compressibility and recovery properties.

[0080] As shown in Figure 6, the staple cartridge 210 is provided with two parallel guide rails 211, and a first slide 214 is provided between the two guide rails 211. The drive component 230 moves along the first slide 214, and the two guide rails 211 support the movement of the drive component 230. The blocking part 212 is provided at the entrance of the first slide 214.

[0081] Without the cam structure 2531 reducing the width of the locking member 240 to allow the drive assembly 230 to avoid the blocking part 212, the drive assembly 230 would abut against the blocking part 212 at the entrance of the first slide 214 and would not be able to enter the first slide 214. With the cam structure 2531 reducing the width of the locking member 240, the cam structure 2531 can allow the drive assembly 230 to avoid the blocking part 212, so that the drive assembly 230 will not abut against the blocking part 212 at the entrance of the first slide 214, thereby allowing the drive assembly 230 to move from the proximal end of the staple cartridge seat 210 to the distal end of the staple cartridge seat 210.

[0082] As shown in Figure 6, the blocking part 212 is stepped. The blocking part 212 is disposed on the side of the first slide 214 to change the width of the first slide 214. The blocking part 212 is disposed on the guide rail 211 to change the width of the first slide 214. The slide width between the far end of the staple cartridge seat 210 and the blocking part 212 is smaller than the slide width between the blocking part 212 and the near end of the staple cartridge seat 210.

[0083] As shown in Figure 6, each guide rail 211 is provided with a stepped blocking part 212, which corresponds to the symmetrical shape of the locking member 240 in the width direction, and can ensure the blocking effect on the drive component 230.

[0084] Because the locking member 240 is wider at the proximal end of the staple cartridge seat 210, it moves to the blocking portion 212 and abuts against it. If a cam structure 2531 is present, it can compress the locking member 240, reducing its width and allowing it to enter the narrower first slide rail 214. When the drive assembly 230, guided by the cam structure 2531, enters the portion of the first slide rail 214 between the blocking portion 212 and the distal end of the staple cartridge seat 210, the blocking portion 212 no longer acts as an abutment.

[0085] In one embodiment, as shown in Figures 8, 9, and 10, the staple cartridge assembly 250 includes a slider 253. During the movement of the drive assembly 230 toward the distal end of the staple cartridge seat 210, the slider 253 directly pushes the staple pusher block 254 of the staple cartridge assembly 250 to deploy the staples 255, that is, the staples 255 are output from the staple cartridge assembly 250 and sutured into human tissue. The cam structure 2531 is disposed at the proximal end of the slider 253, that is, the end close to the drive assembly 230.

[0086] When the slider 253 is located at the proximal end of the staple cartridge seat 210, if the drive assembly 230 moves from the proximal end to the distal end of the staple cartridge seat 210, the drive assembly 230 will push the slider 253 and connect with the cam structure 2531. Under the driving force of the drive assembly 230, the cam structure 2531 squeezes the locking member 240, and the cam structure 2531 can reduce the width of the locking member 240, thereby allowing the drive assembly 230 to avoid the blocking part 212, and the stapler 100 can be fired normally.

[0087] When the drive assembly 230 pushes the slider 253 to the distal end of the staple cartridge 210, or to an intermediate position between the proximal end and the distal end of the staple cartridge 210 and completes the suturing operation, the drive assembly 230 will need to return to the proximal end of the staple cartridge 210. At this time, the drive assembly 230 will disconnect from the slider 253 and return to the proximal end of the staple cartridge 210 without driving the slider 253 back to the proximal end of the staple cartridge 210.

[0088] Therefore, if the staple cartridge assembly 250 is not loaded in the staple cartridge holder 210, there is no slider 253 in the staple cartridge holder 210. If the staple cartridge assembly 250 is loaded in the staple cartridge holder 210, the slider 253 is located at the distal end of the staple cartridge holder 210 or at an intermediate position between the proximal and distal ends of the staple cartridge holder 210. In these cases, the cam structure 2531 is located at the distal end of the staple cartridge holder 210 or at an intermediate position between the proximal and distal ends of the staple cartridge holder 210. Therefore, the narrowing of the locking member 240 at the proximal end of the staple cartridge holder 210 cannot be achieved, thereby allowing the drive assembly 230 to avoid the blocking part 212. Consequently, the drive assembly 230 cannot avoid the blocking part 212 and cannot move between the proximal and distal ends of the staple cartridge holder 210 under the blocking action of the blocking part 212. When the staple cartridge 210 is loaded with an unfired staple cartridge assembly 250, the slider 253 is located at the proximal end of the staple cartridge 210, and the cam structure 2531 can reduce the width of the locking member 240, thereby allowing the drive assembly 230 to avoid the blocking part 212.

[0089] As shown in Figures 7, 8 and 9, the slider 253 includes a first guide portion 2532 and a second guide portion 2530.

[0090] The first guide portion 2532 can slide within the receiving cavity 2511 of the staple cartridge assembly 250. The first guide portion 2532 is plate-shaped, and the receiving cavity 2511 is a corresponding groove-shaped. The slider 253 is provided with multiple first guide portions 2532, which can ensure the path of the slider 253 when it slides.

[0091] The second guide portion 2530 is disposed on top of the first guide portion 2532, and the cam structure 2531 is disposed at one end of the second guide portion 2530 facing the drive assembly 230. The cam structure 2531 can compress the locking member 240 therein, so that the locking member 240 changes from a locked state to an unlocked state, thereby allowing the drive assembly 230 to move from the proximal end of the staple cartridge seat 210 to the distal end of the staple cartridge seat 210.

[0092] The second guide portion 2530 is generally groove-shaped and can connect to the drive assembly 230. The opening of the second guide portion 2530 faces the drive assembly 230. When the drive assembly 230 moves to the second guide portion 2530, it is guided by the second guide portion 2530, and the locking member 240 gradually enters the second guide portion 2530. Under the compression of the cam structure 2531, the width of the locking member 240 gradually decreases, which matches the width of the portion of the first slide 214 located between the far end of the pin cartridge seat 210 and the blocking portion 212, so that it smoothly enters this portion of the first slide 214.

[0093] As shown in Figures 11, 12, and 13, when the staple cartridge assembly 250 loaded in the stapler 100 is in a brand new state (i.e., unused), the initial position of the slider 253 is located at the proximal end of the staple cartridge seat 210. At this time, the drive assembly 230 drives the slider 253, so that the cam structure 2531 on the slider 253 can reduce the width of the locking member 240, thereby allowing the drive assembly 230 to avoid the blocking part 212, and allowing the drive assembly 230 to push the slider 253 from the proximal end of the staple cartridge seat 210 to the distal end of the staple cartridge seat 210, so that the stapler 100 completes the firing action.

[0094] As shown in Figures 14, 15, and 16, when the staple cartridge assembly 250 loaded in the stapler 100 has been used or no staple cartridge assembly 250 is loaded, the slider 253 is not in the initial position or the slider 253 is not in the initial position. In this state, the locking member 240 is wider, and the blocking part 212 can abut against the locking member 240, thereby preventing the drive assembly 230 from moving from the proximal end to the distal end of the staple cartridge seat 210.

[0095] As shown in Figure 7, the cam structure 2531 consists of two symmetrical guide surfaces located near the end of the second guide portion 2530. The two symmetrical guide surfaces are configured to contact the locking member 240 in the initial position, and the locking member 240 is squeezed by the two symmetrical guide surfaces under the action of the driving force, thereby being housed between the two symmetrical guide surfaces.

[0096] The two symmetrical guide surfaces correspond to the structure of the locking member 240. By setting the two symmetrical guide surfaces, the two first elastic arms 241 of the locking member 240 can be compressed simultaneously, reducing the width of the locking member 240 and allowing the drive assembly 230 to avoid the blocking part 212.

[0097] As shown in Figure 7, the guide surface is an extrusion surface inclined towards the second guide portion 2530. When the drive assembly 230 pushes the slider 253 from the proximal end of the staple cartridge 210 to the distal end of the staple cartridge 210, the locking member 240 is compressed and deformed, and enters the second guide portion 2530 to push the slider 253. When the drive assembly 230 is located at the distal end of the staple cartridge 210 or at an intermediate position between the proximal end and the distal end of the staple cartridge 210 and needs to return to the proximal end of the staple cartridge 210, the locking member 240 will disengage from the cam structure 2531 along the extrusion surface of the cam structure 2531. Therefore, the drive assembly 230 will return to the proximal end of the staple cartridge 210 on its own, without driving the slider 253 back to the proximal end of the staple cartridge 210 together, so that the slider 253 stays at the distal end of the staple cartridge 210 or at an intermediate position between the proximal end and the distal end of the staple cartridge 210.

[0098] Furthermore, as shown in Figure 7, when the cam structure 2531 is in its initial position, the connection between the guide surface and the second guide portion 2530 is located in front of the blocking portion 212, that is, closer to the locking member 240 than the blocking portion 212. Therefore, only after the locking member 240 is compressed and deformed will it move away from the blocking portion 212 in the width direction with a width smaller than the width defined by the blocking portion 212, and move toward the distal end of the stud cartridge seat 210.

[0099] As shown in Figure 17, the drive assembly 230 includes a drive unit 231 and a drive rod 232. The drive unit 231 can slide in the first slide rail 214 and push the slider 253. The drive rod 232 is connected to the drive unit 231 and can drive the drive unit 231 to slide in the first slide rail 214, performing axial reciprocating movement.

[0100] The drive unit 231 may be in the shape of an I-beam, and the cross-section of the drive rod 232 may be rectangular or circular. The drive rod 232 can transmit pressure and tension to the drive unit 231. The drive rod 232 may also have a certain degree of flexibility.

[0101] As shown in Figure 17, the drive unit 231 includes a main body 2310, a top plate 2311, and a base 2312. The main body 2310 is a vertical plate, and its width is smaller than the width of the first slide rail 214, allowing it to slide smoothly within the first slide rail 214. The top plate 2311 is disposed on the top of the main body 2310 and slides in cooperation with the guide rail 211. The base 2312 is disposed on the bottom of the main body 2310.

[0102] As shown in Figure 17, the drive unit 231 also includes a cutting blade 2313, which is disposed on the side of the main body 2310 near the slider 253. The cutting blade 2313 is arc-shaped and can cut and separate human tissue during surgery.

[0103] As shown in Figure 6, the near end of the guide rail 211 is recessed to form a mounting groove 213, which can accommodate the top plate 2311. The initial position of the drive assembly 230 is set in the mounting groove 213.

[0104] As shown in Figures 5 and 20, a second slide 221 is provided on the anvil 220. The entrance of the second slide 221 is at the near end of the anvil 220, and the base 2312 of the drive unit 231 can slide along the second slide 221.

[0105] As shown in Figures 8 and 9, the staple cartridge assembly 250 also includes a staple cartridge 251, which includes a staple cavity (not shown) for receiving anastomotic staples 255. The anastomotic staples 255 can be ejected from the staple cavity. The anastomotic staples 255 can deform under the reaction force of the anastomosis seat 220. After the cutting blade 2313 cuts and separates human tissue during surgery, the anastomotic staples 255 can quickly suture the incision. These structures interact with the anastomotic staples 255 to ensure that the anastomotic staples 255 can be smoothly ejected and penetrate the tissue.

[0106] In one embodiment, as shown in FIG8, the staple cartridge assembly 250 further includes a staple pusher block 254 disposed in the staple cartridge 251. When the slider 253 slides, it pushes the staple pusher block 254, and the staple pusher block 254 presses down the staples 255 so that the staples 255 are pushed out of the staple cavity, pass through the human tissue to be sutured, and are deformed on the anvil seat 220 to suture the tissue.

[0107] The staple cartridge assembly 250 also includes a cover plate 252, which is connected to the staple cartridge 251, assembling the staple pusher 254, the staples 255, and the slider 253 into a single unit. The staple cartridge assembly 250 can be disassembled and reassembled as a whole within the staple cartridge holder 210 for easy replacement. In some examples, the cover plate 252 and the staple cartridge 251 are snapped together to prevent the staple pusher 254 from falling off.

[0108] As shown in Figure 8, a first mating part 2533 is provided at one end of the slider 253 near the pusher block 254. The first mating part 2533 is sloped. The pusher block 254 is provided with a corresponding second mating part 2541. The second mating part 2541 is sloped. When the slider 253 slides, the first mating part 2533 abuts against the second mating part 2541, and the matching staples 255 are gradually output from the staple cartridge assembly 250.

[0109] As shown in Figure 5, the stapler 100 also includes an anvil seat 220. The proximal end of the staple cartridge seat 210 is hinged to the anvil seat 220 and can rotate relative to the anvil seat 220. The anvil seat 220 is used to squeeze the staples 255 output from the staple cartridge 251, so that the staples 255 bend and deform to have a suturing function.

[0110] As shown in Figures 3 and 5, the stapler 100 also includes a shaft portion 102, which is connected to the anvil seat 220. The drive rod 232 of the drive assembly 230 extends into the shaft portion 102 and can move axially back and forth inside the shaft portion 102 when driven.

[0111] As shown in Figures 5 and 20, the anvil 220 has a groove 222 at its proximal end, and the shaft 102 has a corresponding tenon 103 at its distal end. The tenon 103 is inserted into the groove 222, which can prevent the anvil 220 from rotating relative to the shaft 102.

[0112] As shown in Figures 5 and 20, the stapler 100 also includes an elastic support device 270, which is disposed at the distal end of the shaft portion 102. The elastic support device 270 provides elastic support to the staple cartridge seat 210, and when not pushed by the drive portion 231, it maintains a preset angle between the staple cartridge seat 210 and the staple cartridge assembly 250 and the anvil seat 220. In its natural state, the staple cartridge seat 210 and the anvil seat 220 are kept open at a certain angle (i.e., in the open state) under the support of the elastic support device 270.

[0113] As shown in Figures 5 and 20, the stapler 100 also includes a connector 280, which is located at the distal end of the shaft 102. The connector 280 is connected to the anvil 220, keeping the anvil 220 relatively fixed to the shaft 102. A pivot 260 is provided at the hinge position between the staple cartridge 210 and the anvil 220, and the pivot 260 is inserted into the connector 280. The bottom end of the elastic support device 270 is connected to the connector 280. A hook can be provided at the end of the elastic support device 270 that connects to the connector 280 to hook the connector 280 and achieve connection.

[0114] As shown in Figure 3, the anastomosis device 100 also includes an instrument driver 101, which is connected to the proximal end of the shaft portion 102 and is used to drive the drive rod 232 to move axially. The instrument driver 101 includes a drive motor, transmission components, and other components. The specific structure can be found in the prior art and will not be described in detail here.

[0115] In another embodiment, as shown in Figures 21, 22, 23, and 24, the staple cartridge assembly 250 includes a blade assembly 2562 and a slider 2561. The drive assembly 230 can drive the blade assembly 2562 to move toward the distal end of the staple cartridge seat 210. During the movement of the blade assembly 2562 toward the distal end of the staple cartridge seat 210, it pushes the slider 2561, so that the slider 2561 pushes the staple pusher block 254 of the staple cartridge assembly 250, thereby deploying the staples 255, that is, the staples 255 are output from the staple cartridge assembly 250 and sutured into human tissue.

[0116] The difference between this embodiment and the previous embodiment is that the cam structure and the cutting blade are disposed in the blade assembly 2562, which is located between the slider 2561 and the drive assembly 230, and is separable from both. The following only describes the differences between this embodiment and the previous embodiment; the similarities will not be repeated.

[0117] The blade assembly 2562 is connected to the drive unit 231 of the drive assembly 230. The drive unit 231 can drive the blade assembly 2562 to slide within the receiving cavity 2511 of the staple cartridge assembly 250. As shown in FIG25, the slider 2561 and the blade assembly 2562 are separate structures. The blade assembly 2562 can push the slider 2561 from the proximal end to the distal end of the staple cartridge seat 210. When the drive assembly 230 moves from the distal end to the proximal end of the staple cartridge seat 210, it drives the blade assembly 2562 to move towards the proximal end. Since the slider 2561 and the blade assembly 2562 are not connected, the slider 2561 stops the blade assembly 2562 at the distal end of the staple cartridge seat 210.

[0118] As shown in Figures 21, 22, 23, and 24, a first mating part 25611 is provided at one end of the slider 2561 near the pusher block 254. The first mating part 25611 is sloped. Correspondingly, a second mating part 2541 is provided on the pusher block 254, which is also sloped. When the slider 2561 slides, the first mating part 25611 abuts against the second mating part 2541. When the slider 2561 slides, it pushes the pusher block 254, which presses down on the staples 255, thereby driving the staples 255 to be output from the staple cartridge assembly 250.

[0119] As shown in Figures 22, 23, and 24, the blade assembly 2562 includes a third guide portion 2566 and a second guide portion 2560.

[0120] The first guide portion 2566 can slide in the receiving cavity 2511 of the staple cartridge assembly 250. The first guide portion 2566 is plate-shaped, and the receiving cavity 2511 is a corresponding groove-shaped. The knife assembly 2562 is provided with multiple first guide portions 2566 to ensure the path of the knife assembly 2562 when it slides.

[0121] The second guide portion 2560 is disposed on top of the first guide portion 2566. The cam structure 2563 is disposed at one end of the second guide portion 2560 facing the drive assembly 230. The cam structure 2563 can compress the locking member 240 therein, causing the locking member 240 to change from a locked state to an unlocked state, thereby allowing the drive assembly 230 to move from the proximal end of the staple cartridge seat 210 to the distal end of the staple cartridge seat 210.

[0122] The opening of the second guide portion 2560 faces the drive assembly 230. When the drive assembly 230 moves to the second guide portion 2560, it is guided by the second guide portion 2560, and the locking member 240 gradually enters the second guide portion 2560. Under the compression of the cam structure 2563, the width of the locking member 240 gradually decreases, matching the width of the portion of the first slide 214 located between the far end of the pin cartridge seat 210 and the blocking portion 212, thus smoothly entering that portion of the first slide 214.

[0123] As shown in Figures 23, 24, 26, and 27, the blade assembly 2562 also includes a limiting portion 2567, which is disposed on the first guide portion 2566 and protrudes from the first guide portion 2566 perpendicular to the sliding direction. The inner wall of the receiving cavity 2511 is provided with a first limiting protrusion 2512 and a second limiting protrusion 2513 corresponding to the limiting portion 2567. The first limiting protrusion 2512 is closer to the proximal end of the staple cartridge assembly 250 than the second limiting protrusion 2513. When the blade assembly 2562 is in the initial position, the limiting part 2567 is located between the first limiting protrusion 2512 and the second limiting protrusion 2513. When the blade assembly 2562 moves toward the distal end of the staple cartridge assembly 250, the limiting part 2567 can pass through the second limiting protrusion 2513. When the blade assembly 2562 moves toward the proximal end of the staple cartridge assembly 250, the limiting part 2567 can be blocked by the second limiting protrusion 2513.

[0124] By setting the first limiting protrusion 2512, the blade assembly 2562 can be limited to its initial position when the stapler 100 is not fired, preventing the blade assembly 2562 from disengaging from the staple cartridge assembly 250.

[0125] By setting the second limiting protrusion 2513, when the blade assembly 2562 moves from the distal end to the proximal end, it will be limited by the second limiting protrusion 2513, so that the blade assembly 2562 is separated from the drive assembly 230. On the one hand, this can prevent the blade assembly 2562 from returning to the initial position and prevent secondary activation. On the other hand, as part of the staple cartridge assembly 250, the blade assembly 2562 can be used together as a single-use item and discarded together after use, thus avoiding the reuse of the blade assembly 2562.

[0126] As shown in Figures 23 and 24, the blade assembly 2562 also includes a cutting blade 2568, which is connected to either the first guide portion 2566 or the second guide portion 2560. The cutting blade 2568 is located in the middle of the blade assembly 2562, the first guide portions 2566 are distributed on both sides of the cutting blade 2568, and the second guide portion 2560 is located on top of the cutting blade 2568. The cutting blade 2568 and the first guide portion 2566 can be integral. In this embodiment, since the cutting blade 2568 is disposed within the blade assembly 2562, it remains within the staple cartridge assembly 250 when the drive unit 231 is retracted, rather than leaving the staple cartridge assembly 250 along with the drive unit 231.

[0127] The blade assembly 2562 also includes an elastic connecting portion disposed on the cutting blade 2568 and releasably connected to the drive assembly 230, specifically releasably connected to the main body 2310 of the drive assembly 231. When the blade assembly 2562 moves toward the proximal end of the staple cartridge assembly 250 and is blocked by the second limiting protrusion 2513, the drive assembly 230 moves further toward the proximal end to separate from the elastic connecting portion.

[0128] In one example of the elastic connection, as shown in Figures 23, 24, and 29, the elastic connection includes a connecting sleeve 2564 and an elastic connector 2565. The connecting sleeve 2564 and the elastic connector 2565 are separate structures that can be combined together. The connecting sleeve 2564 is connected to or integrated with the cutting blade 2568. The elastic connector 2565 is disposed in the connecting sleeve 2564 and can be elastically engaged with the drive unit 231. The drive unit 231 drives the blade assembly 2562 to move through the connecting sleeve 2564. The main body 2310 of the drive unit 231 is provided with a first engaging portion 2314 that elastically engages with the elastic connector 2565. When the limiting portion 2567 moves toward the proximal end of the staple cartridge assembly 250 and is blocked by the second limiting protrusion 2513, the first engaging portion 2314 can disengage from the elastic connector 2565.

[0129] By providing the elastic connector 2565, the drive unit 231 and the knife assembly 2562 can be easily combined and separated. When using the staple cartridge assembly 250, the drive unit 231 and the knife assembly 2562 can be quickly combined, and when replacing the staple cartridge assembly 250, the drive unit 231 and the knife assembly 2562 can be quickly separated.

[0130] As shown in Figures 28, 29, 30, and 31, the elastic connector 2565 includes two second elastic arms 25651, each of which is provided with a second snap-fit ​​portion 25652. The two second snap-fit ​​portions 25652 are symmetrically arranged and protrude towards the inner side of the elastic connector 2565. The first snap-fit ​​portion 2314 can elastically snap-fit ​​with the second snap-fit ​​portion 25652. The first elastic connector 2565 also includes a bent portion 25653, which connects to the fixed ends of the two second elastic arms 25651. The bent portion 25653 and / or the second elastic arms 25651 snap-fit ​​with the connecting sleeve 2564.

[0131] As shown in Figure 31, when the drive unit 231 enters the connecting sleeve 2564, the first engaging part 2314 pushes the two second engaging parts 25652 to both sides and passes through the two second engaging parts 25652 to enter the area of ​​the bending part 25653, thereby realizing the combination of the drive unit 231 and the blade assembly 2562. When the drive unit 231 separates from the connecting sleeve 2564, the first engaging part 2314 pushes the two second engaging parts 25652 to both sides again and passes through the two second engaging parts 25652 to disengage from the area of ​​the bending part 25653, thereby realizing the separation of the drive unit 231 from the blade assembly 2562.

[0132] The two second elastic arms 25651 and the bent portion 25653 can be integrally manufactured, and the height of the bent portion 25653 is equal to the height of the two second elastic arms 25651. As shown in Figure 24, the connecting sleeve 2564 is provided with a slot 2569 to engage with the two second elastic arms 25651. After the elastic connector 2565 is installed into the connecting sleeve 2564, it will not easily detach from the connecting sleeve 2564 due to the limiting effect of the slot 2569 on the two second elastic arms 25651.

[0133] In another example of the elastic connection, as shown in Figures 32 and 33, the elastic connection includes a connecting sleeve 2570 and an elastic connector 2571, with the second connecting sleeve 2570 connected to the cutting blade 2568. Unlike the previous example, the connecting sleeve 2570 and the elastic connector 2571 are an integral structure.

[0134] The elastic connector 2571 is disposed on the connecting sleeve 2570 and can elastically engage with the drive unit 231. The drive unit 231 drives the blade assembly 2562 to move through the connecting sleeve 2570. The main body 2310 of the drive unit 231 is provided with a first engaging part 2314 that elastically engages with the elastic connector 2571. When the limiting part 2567 moves toward the proximal end of the staple cartridge assembly 250 and is blocked by the second limiting protrusion 2513, the first engaging part 2314 can disengage from the elastic connector 2571. By providing the elastic connector 2571, it is convenient for the drive unit 231 and the blade assembly 2562 to be assembled and disassembled.

[0135] As shown in Figures 32 and 33, the elastic connector 2571 includes two second elastic arms, which are disposed at the end of the connecting sleeve 2570 near the drive part 231. There is an appropriate gap between the two second elastic arms, and each second elastic arm is provided with a second engaging portion 2572. The two sets of second engaging portions 2572 are symmetrically arranged and protrude towards the inner side of the elastic connector 2571. The first engaging portion 2314 can elastically engage with the second engaging portion 2572.

[0136] As shown in Figures 32 and 33, when the drive unit 231 enters the connecting sleeve 2570, the first engaging part 2314 pushes the two second elastic arms to both sides and enters the area of ​​the two sets of second engaging parts 2572, thereby realizing the combination of the drive unit 231 and the blade assembly 2562. When the drive unit 231 separates from the connecting sleeve 2570, the first engaging part 2314 pushes the two second elastic arms to both sides again and disengages from the area of ​​the two sets of second engaging parts 2572, thereby realizing the separation of the drive unit 231 from the blade assembly 2562.

[0137] As shown in Figures 32 and 33, the first guide portion 2566 of the blade assembly 2562 has a third mating portion 25661 on the side near the drive portion 231. The third mating portion 25661 is sloped. When the blade assembly 2562 is driven by the drive portion 231 to retract in the receiving cavity 2511 of the staple cartridge assembly 250, that is, when it moves from the far end to the near end of the staple cartridge assembly 250, the third mating portion 25661 contacts the pusher block 254, which can prevent the blade assembly 2562 from being blocked by the pusher block 254 and ensure that the blade assembly 2562 retracts smoothly.

[0138] According to the anastomosis device of this application, while ensuring the normal driving and locking functions of the instrument's end effector, the locking component is placed on the driving assembly, avoiding excessive use of the internal space of the end effector and not reducing the structural dimensions of other parts, thus ensuring the safety of the instrument. The locking component in this application is installed on the driving assembly by welding or snap-fitting, resulting in a simple structure, convenient installation, and reliable connection.

[0139] In understanding the scope of this application, the term "comprising" and its derivatives, as used herein, are intended to be open-ended terms that specify the presence of a described feature, element, component, group, whole, and / or step, but do not exclude the presence of other undescribed features, elements, components, groups, wholes, and / or steps. This concept also applies to words with similar meanings, such as the terms "comprising," "having," and their derivatives.

[0140] The term "attached" or "joined" as used herein includes: a construction in which one element is directly fixed to another element by fixing it directly to another element; a construction in which one element is indirectly fixed to another element by fixing it to an intermediate member, which in turn is fixed to another element; and a construction in which one element is integral with another element, that is, one element is substantially part of another element. This definition also applies to words with similar meanings, such as "connect," "joint," "couple," "install," "adhere," "fix," and their derivatives. Finally, degree terms such as "substantially," "approximately," and "approximately" as used herein indicate the amount of deviation from which modifications to the terminology do not significantly alter the final result.

[0141] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0142] This application has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Furthermore, those skilled in the art will understand that this application is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this application, all of which fall within the scope of protection claimed in this application.

Claims

1. A stapler, comprising: A staple cartridge holder, the staple cartridge holder comprising a proximal end and a distal end; The staple cartridge assembly is disposed within the staple cartridge seat. The staple cartridge assembly is provided with a cam structure. During the firing stroke of the stapler, the cam structure moves from the proximal end of the staple cartridge seat to the distal end of the staple cartridge seat. The initial position of the cam structure is located at the proximal end of the staple cartridge seat. A drive assembly movable between the proximal end and the distal end of the staple cartridge holder, the drive assembly being provided with a locking member, wherein... The proximal end of the staple cartridge seat is provided with a blocking part. When the cam structure is in the initial position, the locking member contacts the cam structure, and under the action of the driving force, the locking member can be housed in the cam structure to allow the driving assembly to move toward the distal end of the staple cartridge seat. When the cam structure is not in the initial position, the locking member can be blocked by the blocking part to prevent the driving assembly from moving toward the distal end of the staple cartridge seat.

2. The stapler according to claim 1, wherein, When the staple cartridge is not loaded in the staple cartridge holder or when the staple cartridge holder is loaded with a fired staple cartridge, the blocking part can abut against the locking member located in the initial position to prevent the drive assembly from moving toward the distal end of the staple cartridge holder.

3. The stapler according to claim 1 or 2, wherein, The locking member is an elastic element. The proximal end of the locking member is fixed to the driving assembly, and the distal end of the locking member can elastically deform to switch between a locked state and an unlocked state. When the locking member is in the unlocked state, the driving assembly can move toward the distal end of the staple cartridge seat. When the locking member is in the locked state, the end of the locking member near the staple cartridge seat abuts against the blocking part to prevent the driving assembly from moving toward the distal end of the staple cartridge seat.

4. The stapler according to claim 3, wherein, The distal end of the locking member is capable of elastic deformation to change its width dimension, which is perpendicular to the movement direction of the drive assembly. When the locking member is housed within the cam structure, the locking member is in the unlocked state, and the distal end of the locking member has a first width; When the locking member is not housed within the cam structure, the locking member is in the locked state, and the distal end of the locking member has a second width, which is greater than the first width.

5. The stapler according to claim 3, wherein, The locking component includes: Two first elastic arms and a connecting portion, the connecting portion connecting the two first elastic arms and fixed to the drive assembly, the two first elastic arms being able to elastically bend to move closer to each other.

6. The stapler according to any one of claims 1 to 5, wherein, The staple cartridge is provided with a first slide, the drive assembly moves along the first slide, and the blocking part is provided at the entrance of the first slide.

7. The stapler according to claim 6, wherein, The blocking part is stepped and is disposed on the side of the first slide. The width of the first slide between the far end of the staple cartridge seat and the blocking part is smaller than the width of the first slide between the blocking part and the near end of the staple cartridge seat.

8. The stapler according to claim 6 or 7, wherein, The staple cartridge assembly includes a slider, which is directly or indirectly pushed by the drive assembly as it moves toward the distal end of the staple cartridge seat, so that the slider pushes the staple pusher block of the staple cartridge assembly to deploy the staples, and the cam structure is disposed at the proximal end of the slider.

9. The stapler according to claim 8, wherein, The slider includes: A first guide portion, which is slidable within the receiving cavity of the staple cartridge assembly; A second guide portion is disposed on top of the first guide portion, and a cam structure is disposed at one end of the second guide portion facing the drive assembly. The cam structure compresses the locking member therein, causing the locking member to change from a locked state to an unlocked state, so as to allow the drive assembly to move from the proximal end of the staple cartridge seat to the distal end of the staple cartridge seat.

10. The stapler according to claim 9, wherein, The cam structure is a guide surface located at the proximal end of the second guide portion. The guide surface is configured to contact the locking member at the initial position, and the locking member presses the guide surface under the action of driving force, so that the locking member changes from a locked state to an unlocked state.

11. The stapler according to any one of claims 8-10, wherein, The driving component includes: A drive unit is provided, which is capable of sliding in the first slide and pushing the slider, and a cutting blade is provided on the side of the drive unit near the slider; A drive rod is connected to the drive unit and is capable of driving the drive unit to slide in the first slide rail.

12. The stapler according to claim 11, wherein, Also includes: The pin holder has a second slide rail, the base of the drive unit can slide along the second slide rail, the proximal end of the pin cartridge seat is hinged to the pin holder, and can support the proximal end of the pin cartridge seat to rotate relative to the pin holder.

13. The stapler according to claim 12, wherein, Also includes: A shaft portion, which is connected to the pin seat, and the drive rod of the drive assembly extends into the shaft portion.

14. The stapler according to any one of claims 1-7, wherein, The staple cartridge assembly includes a blade assembly and a slider. The drive assembly is capable of driving the blade assembly to move toward the distal end of the staple cartridge seat. During the movement of the blade assembly toward the distal end of the staple cartridge seat, the blade assembly pushes the slider, causing the slider to push the staple pusher block of the staple cartridge assembly to deploy the staples.

15. The stapler according to claim 14, wherein, The blade assembly includes: A first guide portion, which is slidable within the receiving cavity of the staple cartridge assembly; A second guide portion is disposed on top of the first guide portion, and a cam structure is disposed at one end of the second guide portion facing the drive assembly. The cam structure enables the locking member to be compressed therein, causing the locking member to change from a locked state to an unlocked state, so as to allow the drive assembly to move from the proximal end of the staple cartridge seat to the distal end of the staple cartridge seat.

16. The stapler according to claim 15, wherein, The blade assembly also includes: A limiting part is provided on the first guide part and protrudes from the first guide part in a direction perpendicular to the sliding direction; The inner wall of the receiving cavity is provided with a first limiting protrusion and a second limiting protrusion corresponding to the limiting part. The first limiting protrusion is closer to the proximal end of the staple cartridge assembly than the second limiting protrusion. When the blade assembly is in the initial position, the limiting portion is located between the first limiting protrusion and the second limiting protrusion. When the blade assembly moves toward the distal end of the staple cartridge assembly, the limiting portion can pass through the second limiting protrusion. When the blade assembly moves toward the proximal end of the staple cartridge assembly, the limiting portion can be blocked by the second limiting protrusion.

17. The stapler according to claim 16, wherein, The blade assembly further includes a cutting blade, which is connected to the first guide portion or the second guide portion; An elastic connection portion is disposed on the cutting blade and releasably connected to the drive assembly. When the blade assembly moves toward the proximal end of the staple cartridge assembly and is blocked by the second limiting protrusion, the drive assembly separates from the elastic connection portion.

18. A medical system comprising: The slave operating device includes at least one robotic arm; as well as, The stapler according to any one of claims 1-17, wherein the stapler is disposed on the robotic arm.

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