Interface device for mounting staple cartridge assembly, surgical instrument handle, and surgical instrument

Abstract

Disclosed in the present invention are an interface device for mounting a staple cartridge assembly, a surgical instrument handle, and a surgical instrument. The interface device comprises an instrument outer tube, a base, a first transmission component, a first locking block, and a sliding block. The instrument outer tube defines a central axis, and the base is provided with an axial insertion cavity for accommodating a staple cartridge docking end of the staple cartridge assembly. The first transmission component can slide axially and is provided with a locking groove, and the first locking block achieves displacement limitation by means of the cooperation of a locking boss and the groove. The sliding block has a locking station and an unlocking station. A first driving portion of a first functional section cooperates with a driven portion of the first locking block to eject and push the sliding block to move axially when the staple cartridge assembly is inserted, so as to drive the first locking block to disengage from the locking groove, thereby realizing unlocking of the first transmission component. A first elastic member is disposed to keep the sliding block reset, and a second elastic member is optionally and additionally disposed to control the first locking block to reset. A second transmission component and a second locking block are further disposed to realize linkage locking of a plurality of transmission components, and the sliding block synchronously controls the state of the second transmission component by means of a second functional section. The surgical instrument handle integrates the interface device, and firing, pitching and overall rotation control are realized by means of a drive shaft set. According to the present invention, the quick assembly and disassembly of a staple cartridge and the synchronous release of multi-directional locking are realized, the operation safety, reliability and convenience are improved, and the present invention can be compatible with and adapted to staple cartridge assemblies in different specifications, and has the advantages of accurate axial displacement constraint and high mechanical linkage efficiency.

Description

Interface devices for mounting staple cartridges, surgical instrument handles, and surgical instruments. Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an interface device for mounting a staple cartridge assembly, a surgical instrument handle, and a surgical instrument. Background Technology

[0002] With the application and development of robot-related technologies, especially the development of computing technology, the role of medical surgical robots in clinical practice is receiving increasing attention. Among them, minimally invasive surgical robot systems can reduce the physical labor of doctors during surgery through interventional treatment, while achieving the goal of precise surgery. This gives patients the advantages of less trauma, less blood loss, less postoperative infection, and faster postoperative recovery.

[0003] Laparoscopic staplers are widely used in clinical surgery. Laparoscopic staplers with interchangeable staple cartridges, used in conjunction with surgical robots, require multiple drive shafts to drive the stapler in rotation, pitch, and clamping / firing actions. These drive shafts are typically exposed on the outer surface of the robotic stapler handle. If these drive shafts are accidentally rotated, causing the pitch, clamping / firing mechanisms to be out of position, the new staple cartridge cannot be smoothly connected to the robotic stapler handle, thus affecting the use of the stapler. Therefore, it is necessary to ensure that the firing mechanism and / or pitch mechanism are in a zero-position locked state when changing staple cartridges to ensure smoother replacement. On the other hand, because the handle of the robotic laparoscopic stapler needs to have a transmission interface and transmission mechanism for docking with the robot, the three-dimensional dimensions of the stapler handle are limited, especially the height. An excessively large height may cause the stapler to collide with adjacent robotic arms or instruments, affecting surgical safety. Therefore, setting a zero-position locking structure for the firing mechanism at the instrument box of the handle becomes particularly difficult. Furthermore, the pitch mechanism needs to achieve stepless control to ensure the flexibility and convenience of surgical instrument operation. Therefore, it cannot have a stepped pitch zero-position locking structure at the handle like traditional staplers. Thus, it is particularly necessary to invent a structure that can achieve zero-position locking of the firing mechanism or the firing mechanism and the pitch mechanism within the narrow space inside the instrument rod. Summary of the Invention

[0004] Therefore, it is necessary to provide an interface device, surgical instrument handle, and surgical instruments for mounting the staple cartridge assembly, addressing the aforementioned technical issues.

[0005] This invention relates to an interface device for mounting a nail cartridge assembly, the technical solution of which is as follows:

[0006] An interface device for mounting a nail cartridge assembly, comprising:

[0007] The outer tube of the instrument defines the central axis extending axially.

[0008] A base is fixedly connected to the distal end of the outer tube of the instrument, and the base is provided with an axial insertion cavity to accommodate the nail cartridge mating end of the nail cartridge assembly;

[0009] A first transmission component is disposed on the base. The distal end of the first transmission component forms a first transmission component interface that mates with the firing sheet metal interface of the nail cartridge assembly, and the proximal sidewall is provided with a first transmission component groove.

[0010] A first locking block is disposed on the base. The first locking block includes a first locking block boss that selectively embeds into the groove of the first transmission component, and a first driven part near the central axis.

[0011] A slider is disposed on the base, and the slider is provided with a first functional segment, the first functional segment including a first driving part that cooperates with the first driven part;

[0012] The first elastic element is configured to apply an elastic restoring force toward the locking position to the slider;

[0013] The slider is configured to move between a locking station and an unlocking station;

[0014] in:

[0015] When the nail box assembly is not installed, the slider is in the locking position, the first locking block is in the initial position, and in the initial position, the first locking block boss is embedded in the groove of the first transmission component to limit the axial displacement of the first transmission component; the first transmission component is in the locked state.

[0016] When the nail box assembly is fully installed, the slider is pushed and displaced to the unlocking position by the nail box assembly. The first driving part slides along the first driven part, driving the first locking block to move to the unlocking position. In the unlocking position, the first locking block boss disengages from the groove of the first transmission component, thereby releasing the constraint on the axial displacement of the first transmission component, and the first transmission component is in the unlocked state.

[0017] Optionally, the cross-sectional structure of the axial insertion cavity is circular.

[0018] Optionally, the slider, the first locking block, and the first elastic element are all disposed inside the cavity of the outer tube of the instrument;

[0019] Optionally, the first transmission component is concentrically arranged with the outer tube of the instrument.

[0020] Optionally, when the slider is in the locking position, the first functional segment of the slider contacts the distal end of the first driven part of the first locking block. At this time, the first locking block is in the initial position, and the boss of the first locking block is adjacent to the first transmission component groove of the first transmission component.

[0021] Optionally, a second elastic element is also included, configured to apply an elastic restoring force to the first locking block to return it from the unlocked position to the initial position.

[0022] Optionally, during the displacement of the slider from the locking position to the unlocking position, its first driving part maintains a contact driving relationship with the first driven part of the first locking block until the first locking block completes the full stroke displacement from the initial position to the unlocking position.

[0023] Optionally, the first driving part is configured as a partially protruding structure, and when the first locking block is in the initial position, the first driven part includes at least one guide surface that is not parallel to the central axis.

[0024] Optionally, the first driven part includes a first curved surface segment. When the slider is in the locked position, the first curved surface segment forms a non-parallel relationship with the central axis, and the first driving part contacts and slides with the first driven part.

[0025] Optionally, the first driven part further includes a second curved surface segment. When the slider is located at the unlocking position, the first locking block is in the unlocked position, and the second curved surface segment slides in contact with the first driving part to keep the first transmission component in the unlocked state.

[0026] Optionally, the first locking block is connected to the base via a pivot connection structure, wherein the rotation axis of the pivot connection is perpendicular to the central axis.

[0027] Optionally, the first locking block and the base can form a linear guide rail fit, a curved guide rail fit, or a sliding fit while rotating.

[0028] Optionally, the interface device allows receiving nail cartridge mating end portions of different lengths, wherein the length difference does not change the switching function of the first transmission component or the first transmission component and the second transmission component from a locked state to an unlocked state after the nail cartridge assembly is fully installed.

[0029] Optionally, the slider has a pushing surface, and the nail box assembly has a proximal end face, which can directly or indirectly contact the pushing surface of the slider to drive the slider to move.

[0030] Optionally, the first driving part is configured as a first cam, and the first driven part is a rotating body feature selected from at least one of a cylinder, a cone, or a sphere, and forms a sliding fit with the first cam.

[0031] Optionally, the first cam includes at least one first cam segment inclined at an angle to the central axis, and the relative sliding of the first cam segment with the first driven part generates a displacement component that changes the unlocked state.

[0032] Optionally, the first cam further includes a second cam segment that is approximately parallel to the central axis, wherein the relative sliding of the second cam segment with the first driven part does not produce a displacement component that changes the unlocked state.

[0033] Optionally, the first cam may be a curved profile component.

[0034] Optionally, the first cam may be a grooved member.

[0035] Optional, also includes:

[0036] The second transmission component is axially slidably disposed on the base, with its distal end forming a second transmission component interface that mates with the second transmission component interface of the nail box assembly, and its proximal sidewall having a second transmission component groove.

[0037] The second locking block is movably disposed on the base and is provided with a second locking block boss and a second driven part;

[0038] The slider is further provided with a second functional section, the second functional section including a second driving part that cooperates with the second driven part; wherein...

[0039] When the slider is in the locking position, the second locking block boss is embedded in the groove of the second transmission component;

[0040] When the slider is in the unlocking position, the second locking block boss disengages from the groove of the second transmission component.

[0041] Optionally, during the displacement of the slider from the locking position to the unlocking position, its second functional segment maintains a contact driving relationship with the second driven part of the second locking block until the second locking block completes the full stroke displacement from the initial position to the unlocking position.

[0042] Optionally, when the slider is in the locked position, the distal end of its second functional segment makes contact with the second driven part of the second locking block; when the slider is in the unlocked position, the proximal end of the second functional segment makes contact with the second driven part.

[0043] Optionally, the second drive unit is provided with a cam structure, the cam structure including a third cam segment that is not parallel to the central axis. When the nail cartridge assembly is installed, the third cam segment can change the second transmission component from a locked state to an unlocked state.

[0044] Optionally, the second cam further includes a fourth cam segment approximately parallel to the central axis. When the nail cartridge assembly is installed, the fourth cam segment keeps the second transmission component in the unlocked state.

[0045] Optionally, the second locking block and the base form a pivotal connection structure that rotates about a central axis.

[0046] Optionally, the second locking block and the base can form a linear guide rail fit, a curved guide rail fit, or a sliding fit while rotating.

[0047] The present invention also relates to a surgical instrument handle, comprising:

[0048] An interface device, wherein the interface device is any one of the interface devices described above;

[0049] An instrument case assembly having an instrument case base on which the following are rotatably disposed:

[0050] At least one drive shaft is used to drive the interface device to rotate as a whole;

[0051] At least one first drive shaft is used to drive the first transmission component in the interface device to slide along the base axial direction;

[0052] At least one second drive shaft is used to drive the second transmission component in the interface device to slide along the base axis.

[0053] The present invention also relates to a surgical instrument comprising:

[0054] Surgical instrument handle, wherein the surgical instrument handle is the surgical instrument handle described above;

[0055] A staple cartridge assembly that can be quickly and detachably mounted to the surgical instrument handle;

[0056] When the staple cartridge assembly is installed on the surgical instrument handle, the staple cartridge mating end of the staple cartridge assembly is fully installed into the axial insertion cavity and pushes the slider to the unlocking position. The first locking block disengages from the groove of the first transmission component, and the first transmission component is in the unlocked state.

[0057] Optionally, when the staple cartridge assembly is installed on the surgical instrument handle, the second transmission component is no longer locked by the second locking block, and the second transmission component is in an unlocked state.

[0058] Compared with the prior art, the interface device, handle, and surgical instrument for mounting the staple cartridge assembly of the present invention have the following advantages:

[0059] First, this structure avoids the problem of the new staple cartridge and the robot stapler handle not being able to dock smoothly due to accidental contact of the drive shaft on the outer surface of the handle, ensuring that the replacement of the staple cartridge is more convenient and efficient.

[0060] Secondly, this structure allows for stepless angle control of the pitch mechanism, ensuring the flexibility and convenience of surgical instrument operation.

[0061] Third, this structure achieves zero-position locking of the firing mechanism or the firing mechanism and the pitch mechanism within the narrow space inside the instrument rod, avoiding the collision risk that may be introduced by increasing the size of the stapler handle, thus improving surgical safety. At the same time, the miniaturized design of the staple cartridge assembly installation interface device avoids wasted space, reduces instrument weight, and makes the operation and use of surgical instruments on the robotic arm more flexible.

[0062] Fourth, the dual reset elastic element configuration of this structure ensures that each component automatically resets, improving reliability.

[0063] Fifth, the integrated design of the pitch linkage component and firing linkage component of this structure simplifies the structure and improves the synchronization of operation;

[0064] Sixth, the structure is compatible with the insertion requirements of nail box components with different interface lengths, thus improving the versatility of the interface;

[0065] Additional objectives, features, and / or advantages will be set forth in part in the description which follows, and will be apparent in part from the description, or may be learned by practice of the invention and / or the claims. At least some of these objectives and advantages may be achieved and obtained by the elements and combinations specifically pointed out in the appended claims.

[0066] It should be understood that the foregoing general description and the following detailed description are merely exemplary and illustrative, and are not limited to the claims. Rather, the claims and their equivalents should be granted their full scope. Attached Figure Description

[0067] Figure 1 is a schematic diagram of the overall application scenario of the surgical robot system;

[0068] Figure 2 is a schematic diagram of the installation of the anastomosis device and power box assembly;

[0069] Figure 3 is a schematic diagram of the assembly of the stapler box and the stapler handle;

[0070] Figure 4 is a schematic diagram of the disassembly of the stapler box and the stapler handle;

[0071] Figure 5 is a schematic diagram of the nail box structure;

[0072] Figure 6 is a partial cross-sectional view of the nail box;

[0073] Figure 7 is a schematic diagram of the instrument bar interface device;

[0074] Figure 8 is a schematic diagram of the instrument rod interface device when it is in the zero-position locked state;

[0075] Figure 9 is a schematic diagram of the slider structure;

[0076] Figure 10 is a schematic diagram of another instrument rod interface device in the zero-position locked state;

[0077] Figure 11 is a cross-sectional view of the instrument bar interface device after the nail box is installed;

[0078] Figure 12 is a schematic diagram of the instrument rod interface device when it is in the unlocked state;

[0079] Figure 13 is a schematic diagram of the second type of slider structure;

[0080] Figure 14 is a schematic diagram of the first locking block structure;

[0081] Figure 15 is a schematic diagram of the second locking block structure;

[0082] Figure 16 is a schematic diagram of the base structure;

[0083] Figure 17 is a schematic diagram of the structure of the first transmission component;

[0084] Figure 18 is a schematic diagram of the second transmission component;

[0085] Figure 19 is a schematic diagram of the first transmission component in its current state.

[0086] Figure 20 is a schematic diagram of the second type of locking and unlocking of the first transmission component by the first locking block;

[0087] Figure 21 is a schematic diagram of the third type of slider structure;

[0088] Figure 22 is a schematic diagram of the third type of first locking block structure;

[0089] Figure 23 is a schematic diagram of the third type of locking the first transmission component by the first locking block;

[0090] Figure 24 is a schematic diagram of the third type of unlocking of the first transmission component by the first locking block;

[0091] In the diagram, the patient carriage is shown as follows: 01; power box assembly is shown as 300; isolation device is shown as 400; robotic arm is shown as 500; adjustment mechanism is shown as 600; main carriage is shown as 800; doctor's control carriage is shown as 02; main operator is shown as 1000; display device is shown as 1100; image carriage is shown as 1300; tool carriage is shown as 1200; bed is shown as 900; endoscope is shown as 1500; surgical instruments are shown as 100; stapler is shown as 001; stapler handle is shown as 1; instrument box assembly is shown as 101; instrument box base is shown as 1011; rotation drive shaft is shown as 1012; first drive shaft is shown as 1013; second drive shaft is shown as 1014; instrument rod assembly is shown as 102; central axis is shown as 108; instrument rod interface device is shown as 10; insertion cavity is shown as 100. 1; Holding mechanism - 1002; Holding spring - 1003; Orienting sheet metal plate - 1004; Orienting plate fixing block - 1005; Extension sleeve - 1006; Rod end face - 1007; Instrument outer tube - 11; Base - 12; Base constraint groove - 121; Base side sliding groove - 122; Push block sliding groove - 123; Second transmission component sliding groove - 124; Central channel - 125; Elastic element mounting groove - 126; Base groove - 127; First transmission component - 13; First transmission component groove - 131; First transmission component interface - 132; Second transmission component - 14; Second transmission component groove - 141; Second transmission component interface - 142; Slider - 15; First drive unit - 151; Cam 1-1510; First Cam Segment-1511; Second Cam Segment-1512; First Transition Cam Segment-1513; Second Drive Unit-152; Second Cam-1520; Third Cam Segment-1521; Fourth Cam Segment-1522; Second Transition Cam Segment-1523; Push Block Hole-153; Push Surface-154; Cavity-155; First Locking Block-16; First Driven Part-161; First Curved Surface-1601; Second Curved Surface-1602; Transition Region-1603; First Locking Block Boss-162; Rotating Surface-163; Second Locking Block-17; Second Driven Part-171; Second Locking Block Boss-172; First Elastic Member-18; Second Elastic Member-1 9; Arc surface - 173; Snap cartridge assembly - 2; Snap cartridge shaft assembly - 201; Snap cartridge mating end - 21; Proximal end face - 211; Snap cartridge rod interface - 212; Fitting surface - 213; Snap cartridge firing sheet metal - 22; Firing sheet metal interface - 221; Snap cartridge pitch lever - 23; Snap cartridge pitch lever interface - 231; End effector - 202; Base plate - 203; Jaws - 204; Power box assembly - 300; Rotation drive rotor - 301; Pitch drive rotor - 302; Clamping / firing drive rotor - 303; Power box groove - 304; Isolation device - 400; Isolation rotor - 401; Isolation device groove - 402; First functional section - 2000; Second functional section - 3000. Detailed Implementation

[0092] The description and accompanying drawings illustrating exemplary embodiments should not be considered limiting. Various mechanical, compositional, structural, electrical, and operational changes can be made without departing from the scope of this description and the claims and their equivalents. In some cases, well-known structures and techniques have not been shown or described in detail so as not to obscure the invention. Identical numerals in two or more drawings denote identical or similar elements. Furthermore, elements and related features described in detail with reference to one embodiment may, in practice, be included in other embodiments where they are not specifically shown or described. For example, if an element is described in detail with reference to one embodiment but not with reference to a second embodiment, that element may still be claimed to be included in the second embodiment.

[0093] Note that, as used in this specification and the accompanying claims, the singular forms “a,” “an,” and “the,” and any singular use of any word, include the plural objects referred to, unless clearly and explicitly limited to one referred object. As used herein, the term “comprising” and its grammatical variations are intended to be non-limiting, such that items detailed in the list do not exclude other similar items that can be replaced or added to the listed items.

[0094] Furthermore, the terminology described herein is not intended to limit this disclosure or the claims. For example, spatially related terms such as “below,” “below,” “lower,” “above,” “upper,” “proximal,” “distal,” etc., may be used to describe the relationship between one element or feature and another, as illustrated in the orientation diagrams in the accompanying drawings. These spatially related terms are intended to include, in addition to the positions and orientations shown in the drawings, different positions (i.e., orientations) and orientations (i.e., rotational placement) of the device in use or operation. For example, if the device in the drawings is flipped, the element described as “below” or “below” other elements or features should be “above” or “above” those other elements or features. Thus, the exemplary term “below” can encompass both above and below positions and orientations. The device may be oriented in other ways (rotated 90 degrees or otherwise), and therefore spatially related descriptive terms are used herein. The relative proximal and distal orientations of surgical instruments are marked in the accompanying drawings.

[0095] Figure 1 illustrates the working scenario of the surgical robot system. As shown in Figure 1, the surgical robot system mainly includes an execution end, a control end, and an auxiliary end. The execution end includes a patient-side cart 01 and surgical instruments 100. The control end includes a doctor-side control cart 02, which contains a main operator 1000 and a display device 1100. The main operator 1000 is movably mounted on the doctor-side control cart 02. The auxiliary end includes an image cart 1300 and a tool cart 1200, etc. The image cart 1300 can be used to place the monitor, surgical instruments, monopolar and bipolar power supplies, endoscope main unit, endoscope light source, etc. The tool cart 1200 is used to place the surgical instruments 100, endoscope 1500, etc.

[0096] The patient-side trolley 01 includes a main trolley 800, an adjustment mechanism 600, and a robotic arm 500. A power box assembly 300 is mounted on the robotic arm 500. The power box assembly 300 can move up and down along the instrument mounting axis. The surgical robot system further includes an isolation device 400, which is mounted on the power box assembly 300. The isolation device 400 establishes a sterile environment for the surgical robot system, separating sterile and non-sterile components within the system. The sterile components include the robotic arm 500, and the sterile components include surgical instruments 100 and endoscopes 1500, etc.

[0097] Both the surgical instrument 100 and the endoscope 1500 are detachably mounted onto the isolation device 400. After the surgical instrument 100 and endoscope 1500 are mounted, the robotic arm 500 can drive the surgical instrument 100 and endoscope 1500 to move around a fixed point through joint movement. The adjustment mechanism 600 can be connected to the proximal end of one or more robotic arms 500 to adjust the spatial position of the robotic arms 500 and the surgical instrument 100. The main carriage 800 is connected to the adjustment mechanism 600 and is used to adjust the spatial position of the adjustment mechanism 600 and the robotic arms 500.

[0098] The master manipulator 1000, robotic arm 500, and surgical instrument 100 form a master-slave control relationship. The doctor remotely operates the execution terminal through the master manipulator 1000 on the doctor control cart 02, so that the robotic arm 500 and surgical instrument 100 move according to the movement of the master manipulator 1000, that is, according to the operation of the doctor's hand, so as to perform minimally invasive surgical treatment on the patient on the bed 900.

[0099] The endoscope 1500 is used to acquire surgical environment information such as human tissues and organs, surgical instruments 100, blood vessels, and body fluids. The control terminal usually also includes a display device 1100, which is used to receive images acquired by the endoscope 1500, so that the operator can control the movement of the robotic arm 500, surgical instruments 100, and endoscope 1500 through the main operator 1000 based on the images displayed on the display device 1100 at the control terminal.

[0100] Referring to Figures 2 to 7, the common surgical instruments 100 include needle holders, grasping forceps, electric hooks, electrocoagulation forceps, and staplers. In this embodiment, the surgical instrument 100 is a robotic stapler 001. The stapler 001 consists of a stapler handle 1 and a staple cartridge assembly 2. The stapler 001 is a surgical instrument as mentioned in the context, and the stapler handle 1 is a surgical instrument handle as mentioned in the context. The staple cartridge assembly 2 is detachably mounted to the stapler handle 1. The stapler 001 is configured to be detachably mounted to the patient-end robot 001 for clamping, anastomosing, and cutting tissue. The stapler 001 is configured to be mounted to a robotic arm 500. The stapler handle 1 can be used with various staple cartridge assemblies 2 to complete the firing and anastomosis operation. The stapler handle 1 includes an instrument box assembly 101 and an instrument rod assembly 102. The instrument rod assembly 102 is mounted on the instrument box assembly 101 and extends distally from the instrument box assembly 101 along the central axis 108 of the instrument rod assembly 102, which is the central axis of the instrument outer tube 11. The instrument box assembly 101 includes an instrument box base 1011 and a drive shaft assembly. The drive shaft assembly includes a rotation drive shaft 1012, a first drive shaft 1013, and a second drive shaft 1014. The self-rotating drive shaft 1012 is rotatably mounted to the instrument box base 1011 and can be driven by the drive rotor 301 on the power box assembly 300 of the patient end trolley 01. The first drive shaft 1013 is rotatably mounted to the instrument box base 1011 and can be driven by the clamping / firing drive rotor 303 on the power box assembly 300. The second drive shaft 1014 is rotatably mounted to the instrument box base 1011 and can be driven by the pitch drive rotor 302 on the power box assembly 300.

[0101] The staple cartridge assembly 2 is a disposable, replaceable component detachably mounted to the instrument lever assembly 102, the main body of which is a base 12. The staple cartridge assembly 2 includes a staple cartridge shaft assembly 201 and an end effector 202. The staple cartridge shaft assembly 201 is detachably mounted to the distal end of the instrument lever assembly 102. The end effector 202 is pivotally connected to the distal end of the staple cartridge shaft assembly 201. The end effector 202 includes a base plate 203 and jaws 204. The jaws 204 are pivotally mounted relative to the base plate 203 and can be actuated from an open position to a closed position to clamp tissue between the jaws 204 and the base plate 203. The jaws 204 include an actuation input that can be translated distally to close the jaws 204, thereby clamping the tissue between the jaws 204 and the substrate 203 and firing a titanium pin in the jaws 204. The titanium pin passes through the tissue clamped between the jaws 204 and the substrate 203 and contacts the surface of the anvil recess on the substrate 203, forming a "B"-shaped titanium pin. The titanium pin remains in the mating tissue, thus completing the clamping and firing mating action.

[0102] Figures 3-8 are schematic diagrams of the distal instrument bar interface device 10 and the proximal part of the nail box assembly 2 of the instrument box base 1011.

[0103] The instrument rod assembly 102 includes an instrument rod interface device 10 located at the distal end of the instrument rod assembly 102. The instrument rod interface device 10 is used to mount the staple cartridge assembly 2. The instrument rod interface device 10 includes a insertion cavity 1001 located at the distal end of the instrument rod assembly 102. In a common embodiment, the insertion cavity 1001 has a circular cross-section. The instrument rod interface device 10 internally houses a first transmission component 13, a second transmission component 14, and a base 12.

[0104] As shown in Figures 7 and 17, the first transmission component 13 has a first transmission component interface 132 at its distal end and a first transmission component groove 131 at its proximal end. As shown in Figures 10 and 18, the second transmission component 14 has a second transmission component interface 142 at its distal end and a second transmission component groove 141 at its proximal end. The proximal portion of the nail magazine assembly 2 includes a nail magazine rod interface 212 on the proximal side of the nail magazine rod 21, a firing sheet metal interface 221 on the proximal side of the nail magazine firing sheet metal 22, and a nail magazine pitch lever interface 231 on the proximal side of the nail magazine pitch lever 23. Before the new nail magazine assembly 2 is installed, the nail magazine firing sheet metal 22 and the nail magazine pitch lever 23 are both in the initial zero position.

[0105] As shown in Figure 16, the base 12 has a base groove 127 at its far end. As shown in Figures 1, 5, 6, 7, 8, 9, 10, 11, and 18, in the illustrated embodiment, the nail cartridge assembly 2 has a nail cartridge docking end 21, which is detachably connected to the insertion cavity 1001 in the instrument rod interface device 10. The base 12 is provided with a insertion cavity 1001 to receive the staple cartridge docking end 21 located near the end of the staple cartridge assembly 2. Specifically, the proximal side of the staple cartridge docking end 21 includes a staple cartridge rod interface 212 and a mating surface 213. The staple cartridge rod interface 212 is configured to insert into the insertion cavity 1001 in the instrument rod interface device 10 to rotatably connect the staple cartridge rod 21 to the base groove 127 of the instrument rod interface device 10. After the staple cartridge rod 21 is connected to the instrument rod interface device 10, the mating surface 213 of the staple cartridge assembly 2 is mated to the rod end face 1007 of the instrument rod interface device 10. Due to manufacturing errors of the components, there will actually be a certain gap in the above mating. In many embodiments, the retaining mechanism 1002 prevents the staple cartridge assembly 2 from accidentally separating from the instrument rod interface device 10 under the action of the retaining spring 1003. When the retaining mechanism 1002 is moved proximally along the central axis 108, the staple cartridge lever 21 can rotate in the opposite direction, disengage from the base groove 127, and be pulled out of the insertion cavity 1001. This allows for quick installation and removal of the staple cartridge assembly 2 and the instrument lever interface device 10 of the stapler handle 1. The base groove 127 is located at the distal end of the base 12.

[0106] As shown in Figures 5, 6, 7, and 17, in the illustrated embodiments, the distal end of the first transmission component 13 has a first transmission component interface 132 that can hook with the proximal firing sheet metal interface 221 of the staple cartridge firing sheet metal 22. This allows the first transmission component 13 to drive the staple cartridge firing sheet metal 22 to move, thereby driving the jaws 204 of the end effector 202 to deflect relative to the base plate 203. This enables the end effector 202 of the anastomosis device to clamp the tissue and fire the titanium staples, completing the anastomosis action. In many embodiments, the first transmission component interface 132 is a groove, and the firing sheet metal interface 221 is a boss, allowing for quick connection or separation. The first transmission component 13 is slidably disposed on the base 12.

[0107] As shown in Figures 5, 6, 10, and 18, in the illustrated embodiments, the distal end of the second transmission component 14 has a second transmission component interface 142 that can hook with the nail cartridge pitch lever interface 231 near the nail cartridge pitch lever 23. This allows the second transmission component 14 to drive the nail cartridge pitch lever 23 to move, thereby driving the end effector 202 to deflect relative to the nail cartridge shaft assembly 201, thus adjusting the orientation of the anastomosis device end. In many embodiments, the second transmission component interface 142 is a groove, and the nail cartridge pitch lever interface 231 is a boss, allowing for quick connection or separation. The second transmission component 14 is slidably disposed on the base 12.

[0108] As shown in Figures 1 to 4, the patient-side carriage 01 of the surgical robot system includes a power box assembly 300, on which an isolation device 400 is mounted. The power box assembly 300 has multiple motor units. An instrument box assembly 101 is detachably mounted to the isolation device 400 and the power box assembly 300. The motor units in the power box assembly 300 are operable to control the isolation rotor 401 on the isolation device 400 to actuate the instrument box assembly 101, thereby controllably actuating the staple cartridge assembly 2. The motor units and the isolation device 400 include a rotation motor, a rotation drive rotor 301 drivenly coupled to the rotation motor, a pitch motor, a pitch drive rotor 302 drivenly coupled to the pitch motor, a clamping / firing generator, and a clamping / firing drive rotor 303 drivenly coupled to the clamping / firing generator. The rotation motor can be controllably operated to controllably rotate the rotation drive rotor 301 relative to the power box assembly 300. This causes the isolation rotor 401 to rotate relative to the isolation device 400, further actuating the rotation drive shaft 1012 relative to the instrument box base 1011. The rotation drive shaft 1012 can be mechanically coupled to the instrument rod assembly 102. The rotational movement of the rotation drive shaft 1012 can drive the instrument rod assembly 102 to rotate relative to the instrument box base 1011, thereby actuating the nail box rod 21 of the nail box assembly 2 relative to the instrument box base 1011. Similarly, the pitch motor can be controllably operated to controllably rotate the pitch drive rotor 302 relative to the isolation device 400 and the power box assembly 300, thereby actuating the isolation rotor 401 relative to the isolation device 400, further actuating the second drive shaft 1014 relative to the instrument box base 1011. The second drive shaft 1014 can be mechanically coupled to the second transmission component 14. The rotational movement of the second drive shaft 1014 can drive the second transmission component 14 to move, thereby actuating the staple cartridge pitch lever 23 in the staple cartridge assembly 2 to move, thereby driving the end effector 202 to deflect infinitely relative to the staple cartridge shaft assembly 201 of the staple cartridge assembly 2, realizing the adjustment of the pitch direction of the end of the anastomosis device, and completing the anastomosis operation in a more flexible manner. Similarly, the clamping / firing motor can be controllably operated to controllably rotate the clamping / firing drive rotor 303 relative to the isolation device 400 and the power box assembly 300, thereby actuating the isolation rotor 401 relative to the isolation device 400, and further actuating the first drive shaft 1013 relative to the instrument box base 1011. The first drive shaft 1013 can be mechanically coupled to the first transmission component 13. The rotational movement of the first drive shaft 1013 can drive the first transmission component 13 to move, thereby actuating the nail cartridge firing sheet metal 22 in the nail cartridge assembly 2 to move, actuating the jaws 204 and the substrate 203 to complete the closed position to clamp the tissue.Then, the staple cartridge firing sheet metal 22 moves further to the distal end and fires the titanium staple in the jaws 204. The titanium staple passes through the tissue clamped between the jaws 204 and the substrate 203 and contacts the anvil recess on the substrate 203, forming a "B"-shaped titanium staple. At the same time, the cutting is completed. After the anastomosis is completed, the clamping / firing motor rotates in the opposite direction, causing the staple cartridge firing sheet metal 22 to retract to the initial zero position. The jaws 204 and the substrate 203 open, separating from the anastomosed tissue. Then, the staple cartridge pitch lever 23 also retracts to the initial zero position to facilitate the removal of the tamper by the stapler. The anastomosis action is completed.

[0109] After the anastomosis operation is completed, the first transmission component 13 and the second transmission component 14 of the stapler handle 1 will both return to their initial zero positions to prepare for the next replacement of the new staple cartridge assembly 2 for a new anastomosis operation. However, since the first transmission component 13 and the second transmission component 14 are coupled to the first drive shaft 1013 and the second drive shaft 1014 respectively, and the first drive shaft 1013 and the second drive shaft 1014 are exposed at the bottom of the stapler handle 1, if the first drive shaft 1013 and the second drive shaft 1014 are accidentally touched and rotated, the first transmission component 13 and the second transmission component 14 may not be in their initial zero positions. That is, the first transmission component interface 132 and the second transmission component interface 142 may not be in their initial zero positions. Meanwhile, the firing sheet metal interface 221 and the second transmission component interface 231 of the new staple cartridge assembly 2 are in their initial zero positions. At this time, the new staple cartridge assembly 2 will not be able to be installed and connected with the stapler handle 1 when the first transmission component 13 and the second transmission component 14 are not in their initial zero positions, thus affecting the use of the stapler. Therefore, it is particularly important to ensure that the first transmission component 13 and / or the second transmission component 14 are in the initial zero position and locked when changing the staple cartridge, so as to ensure that the staple cartridge assembly 2 can be replaced smoothly. On the other hand, since the robotic laparoscopic stapler handle 1 needs to reserve a transmission interface and transmission mechanism for docking with the surgical robot, the three-dimensional dimensions of the stapler handle 1 are limited, especially the height. If the height is too large, the stapler 001 may collide with the adjacent robotic arm 500 or surgical instrument 100, affecting surgical safety. Therefore, it is particularly difficult to set the zero-position locking structure of the first transmission component 13 at the instrument box assembly 101 of the stapler handle 1. Furthermore, the pitch control of the end effector 202 of the stapler cartridge assembly 2 needs to achieve stepless control to ensure that the stapler 001 can be operated flexibly and conveniently under the master-slave operation of the surgical robot. Therefore, it cannot be equipped with a stepped pitch zero-position locking structure at the instrument box assembly 101 of the stapler handle 1 like a traditional stapler. Therefore, it is particularly necessary to invent a structure that can realize the zero-position locking of the first transmission component 13 or the first transmission component 13 and the second transmission component 14 in the narrow space of the instrument rod assembly 102.

[0110] As shown in Figures 8 and 9, in one embodiment, the present invention provides an interface device for mounting a staple cartridge. The interface device is an instrument rod interface device 10, which is part of an instrument rod assembly 102. The instrument rod interface device 10 is located at the distal end of the instrument rod assembly 102 and is used to mount the staple cartridge assembly 2. It has a insertion cavity 1001 for receiving the staple cartridge assembly 2. It is worth noting that the insertion cavity 1001 is typically formed by the distal end of a base 12. However, sometimes for manufacturing convenience, the base 12 may be disassembled into multiple parts and assembled. Here, we collectively refer to the main body part within the rod that may be assembled from multiple parts as the base 12. The instrument rod interface device 10 includes an instrument outer tube 11, a base 12, a first transmission component 13, a slider 15, a first locking block 16, and a first elastic element 18. The base 12 is fixedly connected to the distal end of the instrument outer tube 11, and the base 12 is provided with an axial insertion cavity 1001. The central axis of the outer tube 11 of the instrument is central axis 108. The slider 15, the first locking block 16, and the first elastic element 18 are all disposed inside the cavity of the outer tube 11. At least a portion of the base 12 is located inside the cavity of the outer tube 11. The outer tube 11 can optionally be configured with different diameters at its distal and proximal ends, preferably with a larger diameter at the distal end and a smaller diameter at the proximal end. The larger diameter at the distal end can easily match various staple cartridge assemblies 2 available on the market, while the smaller diameter at the proximal end can be more easily installed into the power box groove 304 where space is limited. Furthermore, the length of the smaller diameter at the proximal end of the outer tube 11 is greater than the length of the larger diameter at the distal end. This configuration allows the stapler 001 to be more easily installed on the isolation device 400 and the power box assembly 300. The isolation device 400 and the power box assembly 300 are respectively provided with an isolation device groove 402 and a power box groove 304 to receive and accommodate the outer tube 11, providing a guiding and constraining function for the outer tube 11 of the stapler 001, so that the stapler 001 is more stable during use.

[0111] As shown in Figures 7, 8, 10, 11, and 17, the first transmission component 13 has a first transmission component interface 132 at its distal end and a first transmission component groove 131 at its proximal end. When the nail cartridge assembly 2 is not installed, the first transmission component 13 is located at its initial zero position. When the nail cartridge assembly 2 is installed, the first transmission component 13 can move under the drive of the first drive shaft 1013, deviating from its initial zero position.

[0112] In many embodiments, the first transmission component 13 and the central axis 108 of the outer tube 11 of the instrument are preferably arranged concentrically, as shown in Figures 8 and 9. The base 12 has a central channel 125, and the first transmission component 13 can slide relative to the base 12 in the central channel 125, that is, the first transmission component 13 can be axially slidably arranged on the base 12.

[0113] As shown in Figure 16, the base 12 has a push block groove 123, and the slider 15 can slide relative to the base 12 in the push block groove 123, that is, the slider 15 is axially slidably disposed on the base 12. The slider 15 has a push block hole 153 in its middle, through which the first transmission component 13 can pass. Both the slider 15 and the first transmission component 13 can move relative to the base 12 along the central axis 108. The description of axial sliding or movement along the central axis 108 in this context actually allows for a certain angle of deflection, not exceeding 15°.

[0114] As shown in Figures 7-11, the first transmission component 13 moves substantially along the central axis 108 of the instrument outer tube 11. Preferably, the direction of movement of the first transmission component 13 is parallel to the direction of the central axis 108. However, in practical applications, a certain angular deviation between the direction of movement of the first transmission component 13 and the direction of the central axis 108 is allowed, with the deviation angle not exceeding 15°. The slider 15 moves substantially along the central axis 108 of the instrument outer tube 11. Preferably, the direction of movement of the slider 15 is parallel to the direction of the central axis 108. However, in practical applications, a certain angular deviation between the direction of movement of the slider 15 and the direction of the central axis 108 is allowed, with the deviation angle not exceeding 15°.

[0115] As shown in Figures 9, 13, and 21, the slider 15 includes a first functional segment 2000, which includes a first driving part 151 that slides in contact with the first driven part 161. The first functional segment 2000 can realize locking and unlocking functions, and can also realize locking and unlocking of the first transmission component 13. The first locking block 16 is movable relative to the base 12, and the movement can be translation, rotation, or a combination of rotation and movement.

[0116] Specifically, the slider 15 can move between a locking position and an unlocking position. The locking and unlocking positions of the slider 15 are determined by whether the nail cartridge assembly 2 is installed; that is, when the nail cartridge assembly 2 is not installed, the slider 15 is in the locking position; when the nail cartridge assembly 2 is installed, the slider 15 is in the unlocking position.

[0117] As shown in Figures 8 and 11, the instrument rod interface device 10 also includes a directional sheet metal plate 1004, a directional plate fixing block 1005, and an extension sleeve 1006. The directional sheet metal plate 1004 is fixedly connected to the directional plate fixing block 1005, and the directional plate fixing block 1005 and the extension sleeve 1006 can abut against each other. The directional sheet metal plate 1004, the directional plate fixing block 1005, and the extension sleeve 1006 can all move relative to the base 12 along the central axis 108.

[0118] It is worth noting that the aforementioned movement along the central axis 108 is not completely parallel to the central axis 108. Due to processing errors or structural design, the movement direction of the first transmission component 13, slider 15, directional sheet metal plate 1004, directional plate fixing block 1005 and extension sleeve 1006 will have a certain deviation angle from the central axis 108. The actual deviation angle does not exceed 15° and they are not necessarily concentric; they are merely directional indicators.

[0119] When the staple cartridge assembly 2 is fully installed, the proximal end face 211 of the staple cartridge mating end 21 of the staple cartridge assembly 2 abuts against the directional sheet metal plate 1004 inside the instrument rod interface device 10. Under the influence of the abutment action of the proximal end face 211, the directional sheet metal plate 1004, the directional sheet fixing block 1005, and the extension sleeve 1006 move proximal to the base 12 along the central axis 108. The proximal end of the extension sleeve 1006 contacts the pushing surface 154 of the slider 15, thereby pushing the slider 15 from the locked position to the unlocked position by the proximal end face 211 of the installed staple cartridge assembly 2. That is, the proximal end face 211 of the staple cartridge assembly 2 can actuate the pushing surface 154 of the slider 15. That is, the proximal end face 211 of the staple cartridge assembly 2 can apply axial thrust to the pushing surface 154 of the slider 15. In other embodiments, the proximal end face 211 of the nail cartridge assembly 2 may also directly contact the abutting surface 154 of the slider 15. Therefore, the proximal end face 211 of the nail cartridge assembly 2 can directly or indirectly contact the abutting surface 154.

[0120] As shown in Figure 14, the first locking block 16 is provided with a first locking block boss 162, which can be selectively embedded in the first transmission component groove 131; the first locking block 16 also includes a first driven part 161 formed near the central axis.

[0121] When the nail box assembly 2 is not installed, the slider 15 is located in the locking position, as shown in Figures 9, 13, and 14. The first functional segment 2000 on the slider 15 has a first driving part 151 that contacts the distal end of the first driven part 161 on the first locking block 16, as shown in Figure 8. At this time, the first transmission component 13 is in the zero position, and the first locking block boss 162 on the first locking block 16 can be embedded into the first transmission component groove 131 on the first transmission component 13. At this time, the axial movement of the first transmission component 13 is restricted, the first locking block 16 is in the initial position, and the first transmission component 13 is in a locked state. It is worth noting that due to the machining gap between the first transmission component groove 131 and the first locking block boss 162, the immobility here means that it cannot move within a large range, but can only move within a small machining and assembly gap.

[0122] The groove 131 of the first transmission component preferably has a depth of not less than 0.1 mm and a length in the direction of the central axis of not less than 0.3 mm.

[0123] When the staple cartridge assembly 2 is fully installed, the fully inserted staple cartridge assembly 2 will push the slider 15 to move from the locking position to the unlocking position. The first functional segment 2000 of the slider maintains a sliding contact relationship with the first locking block 16. Preferably, the first functional segment 2000 and the first locking block 16 maintain a continuous sliding contact relationship.

[0124] Specifically, the first functional segment 2000 on the slider 15 has a first driving part 151 that contacts the proximal end of the first driven part 161 on the first locking block 16. The first driving part 151 can slide relative to the first driven part 161 so that the first locking block boss 162 on the first locking block 16 moves outward and disengages from the first transmission component groove 131 on the first transmission component 13. The first locking block 16 moves to the unlocked position, at which time the first transmission component 13 can move; that is, at this time the first transmission component 13 is in the unlocked state, and the first transmission component 13 can move away from the zero position under the action of the coupled first driving shaft 1013.

[0125] During the displacement of the slider 15 from the locking position to the unlocking position, the first driving part 151 and the first driven part 161 maintain a contact sliding driving relationship until the full stroke displacement is completed.

[0126] In many embodiments, the instrument bar interface device 10 is circular in shape, and the nail box assembly 2 can be installed into the instrument bar interface device 10 along the instrument bar axis 108.

[0127] In the illustrated embodiment, the slider 15 and the first locking block 16 are both located inside the instrument outer tube, rather than within the instrument housing assembly 101. This reduces the three-dimensional dimensions of the stapler handle 1, especially its height. This avoids the risk of collision between the stapler 001 and adjacent robotic arms 500 or surgical instruments 100, which could occur if the instrument housing assembly 101 is too tall, thus improving surgical safety. Simultaneously, it reduces the weight of the stapler handle 1, lowering the load on the robotic arm 500 and making its movement more flexible and convenient.

[0128] As shown in Figures 8 to 11, in the illustrated embodiment, the instrument rod interface device 10 further includes: a first elastic element 18 that can reset the slider 15; and a second elastic element 19 that can reset the first locking block 16; the second elastic element 19 is located inside the cavity of the instrument outer tube 11.

[0129] The first elastic element 18 is configured to apply an elastic restoring force to the slider 15 toward the locking position. The first elastic element 18 can be an independent component installed with the slider 15, or it can be part of the slider 15 or the base 12. That is, the first elastic element 18 can be connected to the slider 15 or the base 12 by a fixed connection. Common fixed connection methods include welding, or the elastic part can be integrally machined from the slider 15. Preferably, the first elastic element 18 is a spring. One end of the first elastic element 18 abuts against the proximal end face of the push block groove 123 of the base 12, and the other end of the first elastic element 18 abuts against the proximal end face of the slider 15. The first elastic element 18 is concentrically installed with the first transmission component 13. In this way, the first elastic element 18 can apply a large restoring force to the slider 15 and save installation size. At this time, the first elastic element 18 can move the slider 15 from the unlocking position to the locking position, and the first elastic element 18 can have high rigidity to ensure that the slider 15 can be reliably reset. The first elastic element 18 can commonly take the form of a compression spring, disc spring, leaf spring, sheet spring, elastic silicone, or a group of mutually repelling magnets. The first elastic element 18 enhances the system's stability and reset reliability.

[0130] The second elastic element 19 is configured to apply an elastic restoring force to the first locking block 16, returning it from the unlocked position to the initial position. The second elastic element 19 can be an independent component of the first locking block 16, or it can be part of the first locking block 16 or the base 12. That is, the second elastic element 19 can be fixedly connected to the first locking block 16 or the base 12. Common fixed connection methods include welding, or integrally machining a deformable portion from the first locking block 16. Common forms of the second elastic element 19 include compression springs, disc springs, leaf springs, spring sheets, elastic silicone, and mutually repelling magnet assemblies. Preferably, the second elastic element is a spring sheet. The base 12 has an elastic element mounting groove 126, on which the second elastic element 19 can be mounted and constrained. One side of the second elastic element 19 slides in contact with the first locking block 16, and the other side contacts the inner surface of the instrument outer tube 11. This significantly reduces wasted space and improves space utilization.

[0131] As shown in Figure 11, when the nail cartridge assembly 2 is installed on the instrument bar interface device 10, the slider 15 is pushed to the unlocking position, that is, the nail cartridge assembly 2 pushes the slider 15 to move axially, and the slider 15 will squeeze the first elastic element 18; on the other hand, the slider 15 will push the first locking block 16 from the initial position to the unlocking position relative to the base 12, and the first locking block 16 will squeeze the second elastic element 19. The first locking block boss 162 on the first locking block 16 disengages from the first transmission component groove 131 on the first transmission component 13, that is, the first locking block 16 moves outward to disengage from the first transmission component groove 131, thereby releasing the constraint on the axial displacement of the first transmission component 13, and the first transmission component 13 is unlocked. The outward movement of the first locking block 16 has a motion displacement component, which can make the first locking block 16 disengage from the first transmission component groove 131. The outward movement of the first locking block 16 is preferably radial outward, which can conveniently unlock the first transmission component 13 located on the central axis 108. This achieves the unlocking of the first transmission component 13. The linkage design between slider 15 and first locking block 16 enables automatic unlocking of nail box assembly 2 after installation, improving operational efficiency.

[0132] When the staple cartridge assembly 2 is ready to be disassembled from the instrument bar interface device 10, the first transmission component 13 needs to be actuated to the initial zero position. Then, the staple cartridge assembly 2 can be disassembled from the instrument bar interface device 10. At this time, the slider 15 is pushed to the locking position by the first elastic element 18 to achieve a reset. On the other hand, since the slider 15 is reset, it no longer pushes the first locking block 16 to move. The first locking block 16 can be deflected relative to the base 12 and returned to its state before the staple cartridge assembly 2 was installed, pushed by the second elastic element 19. The first locking block boss 162 on the first locking block 16 approaches the first transmission component groove 131 on the first transmission component 13, and the first locking block 16 can return from the unlocked position to the initial position. At this time, the position of the first transmission component 13 is locked. This achieves the locking of the first transmission component 13 and its return from the unlocked position to the initial position, ready for the next installation of a new disposable staple cartridge assembly 2. This design makes the installation and removal of the staple cartridge assembly very convenient and quick, and eliminates concerns about the first transmission component 13 being out of position due to accidental rotation of the drive shaft at the bottom of the stapler handle 1, thus preventing the staple cartridge assembly from being installed. This improves the smoothness and safety of the surgery. The dual-reset elastic element configuration ensures that each component automatically resets, improving system reliability. On the other hand, it avoids the risk of the first transmission component 13 being accidentally driven when the stapler handle 1 without the staple cartridge assembly 2 is mistakenly installed on the surgical robot arm 500, thereby improving surgical safety, as an accidentally driven first transmission component 13 may puncture human tissue and pose a safety hazard.

[0133] In one embodiment, the slider 15 has a first driving part 151, which can slide in contact with the first driven part 161 of the first locking block 16. The first driving part 151 is constructed as a partially protruding structure, preferably having a curved contour structure, such as an arc-shaped rounded corner structure. The first driving part 151 is preferably made of a material with good wear resistance. The first driving part 151 can also be constructed by embedding and fixing a part with good wear resistance onto the slider 15. Good wear resistance can ensure that the slider 15 can be reliably pushed and triggered repeatedly on the first locking block 16, thereby enhancing the service life of the system.

[0134] As shown in Figures 8 to 14, in one embodiment, when the slider 15 is in the locked position, i.e., when the first locking block 16 is in the initial position, at least a portion of the guide surface of the first driven part 161 on the first locking block 16 is not parallel to the central axis 108 of the outer tube 11 of the instrument. The guide surface can be curved or planar. The first driven part 161 can slide in contact with the first driving part 151 on the slider 15.

[0135] The guide surface of the first driven part 161 can be formed by the same curved surface. When the first locking block 16 is in the initial position, the first curved surface 1601 of the first driven part 161 of the first locking block 16 is not parallel to the central axis 108. The first driving part 151 on the slider 15 can slide in contact with the first driven part 161 of the first locking block 16. When the nail box assembly 2 is not installed, when the slider 15 is in the locking position, the first locking block 16 is in the initial position, the first locking block boss 162 of the first locking block 16 is embedded in the first transmission component groove 131 of the first transmission component 13, and the first transmission component 13 is in the locked state; when the nail box assembly 2 is installed, the first driving part 151 on the slider 15 pushes the first curved surface 1601 of the first driven part 161 on the first locking block 16, and the first driving part 151 slides in contact with the first curved surface 1601, so that the first locking block boss 162 of the first locking block 16 disengages from the first transmission component groove 131 of the first transmission component 13, so that the first transmission component 13 is in the unlocked state.

[0136] Preferably, the first driven part 161 can be composed of two or more curved surfaces, that is, the first driven part 161 has a first curved surface 1601 and a second curved surface 1602. The first driving part 151 on the slider 15 can slide in contact with the first driven part 161 of the first locking block 16. When the first locking block 16 is in the initial position, the first curved surface 1601 of the first driven part 161 of the first locking block 16 is not parallel to the central axis 108; when the first locking block 16 is in the unlocked position, the second curved surface 1602 of the first driven part 161 of the first locking block 16 is approximately parallel to the central axis 108. When the nail box assembly 2 is not installed, and the slider 15 is in the locking position, the first locking block 16 is in the initial position, and the first locking block boss 162 of the first locking block 16 is embedded in the first transmission component groove 131 of the first transmission component 13, and the first transmission component 13 is in the locked state. When the nail box assembly 2 is installed a certain distance but not completely installed, the first driving part 151 on the slider 15 pushes the first curved surface 1601 of the first driven part 161 on the first locking block 16. The first driving part 151 contacts and slides on the first curved surface 1601, causing the first locking block boss 162 of the first locking block 16 to disengage from the first transmission component groove 131 of the first transmission component 13, so that the first transmission component 13 is in the unlocked state. Then, when installing the remaining distance of the nail box assembly 2, the first driving part 151 on the slider 15 contacts and slides with the second curved surface 1602 of the first driven part 161 on the first locking block 16. At this time, the second curved surface 1602 is approximately parallel to the central axis 108. The movement of the first driving part 151 on the slider 15 will not change the unlocked state of the first locking block 16. That is to say, the relative sliding between the second curved surface 1602 and the first driven part 161 does not produce a displacement component that changes the unlocked state. In other words, the contact sliding between the first driving part 151 on the slider 15 and the second curved surface 1602 of the first driven part 161 of the first locking block 16 does not produce a displacement component that causes the first locking block boss 162 of the first locking block 16 to embed into the first transmission component groove 131 of the first transmission component 13, or produces a small displacement component that is insufficient to cause the first locking block 16 to embed into the first transmission component groove 131, thus maintaining the unlocked state of the first transmission component 13. At this time, the first transmission component 13 can be driven by the first drive shaft 1013. In this way, when the nail cartridge assemblies 2 with different lengths are installed on the instrument bar interface device 10, the first locking block 16 can be moved from the initial position to the unlocked position and the first transmission component 13 can be unlocked in the first installation distance; the second installation distance will not change the unlocked state, that is, the installation distance of the nail cartridge assembly 2 in the second section can have a certain length difference without changing the unlocked state of the first transmission component 13.

[0137] Due to variations in manufacturing processes, batches, and types of staple cartridges, the length L between the proximal end face 211 and the mating surface 213 of the staple cartridge assembly may differ significantly; that is, the length L of the staple cartridge mating end at the proximal end of the staple cartridge assembly may vary considerably. Common staple cartridge assemblies come in different colors and lengths, with common colors including gray, white, blue, gold, green, and black. Different colored staple cartridges can accommodate tissues of varying thicknesses to ensure effective anastomosis. Common staple cartridge lengths are 30mm, 45mm, and 60mm to accommodate tissues of different sizes.

[0138] The presence of the aforementioned second curved surface 1602 allows various staple cartridge assemblies 2 with significant dimensional differences to dock with the instrument bar interface device 10 of the stapler handle 1, enabling the first transmission component 13 of the instrument bar interface device 10 to switch from a locked state to an unlocked state. This effectively improves the adaptability, compatibility, versatility, and ease of use of the stapler handle 1 with different staple cartridges.

[0139] The aforementioned first curved surface 1601 and second curved surface 1602 may also have a transition region 1603, which allows the first driving part 151 on the slider 15 to smoothly contact and slide between the first curved surface 1601 and the second curved surface 1602. The contact sliding of the above-mentioned segmented curved surface structure can enhance the stability and compatibility of the system.

[0140] As shown in Figures 14 and 16, in one embodiment, the first locking block 16 is movably disposed on the base 12. The movement can be a pivoting motion, a linear trajectory or a curved trajectory motion, or a combination of rotation and movement. Preferably, the first locking block 16 has a rotation surface 163, the base 12 has a base constraint groove 121, and the first locking block 16 can rotate around the base 12, with the rotation axis perpendicular to the central axis 108. The slider 15 has a cavity 155 to allow the rotation of the first locking block 16, as shown in FIG19. The first transmission component 13 is locked by the first locking block 16. The first transmission component 13 is restricted to move remotely relative to the base 12 along the central axis. If the first drive shaft 1013 drives the first transmission component 13 to move remotely relative to the base 12 along the central axis, the first locking block boss 162 of the first locking block 16 will be subjected to a force F. The force F and the rotation surface 163 form a lever arm d, which does not exceed 8mm. Preferably, the torque generated by the force F and the lever arm d causes the first locking block 16 to move closer to the first transmission component 13 rather than away from the first transmission component 13, thus ensuring reliable locking. On the other hand, the proximal end of the first transmission component 13 is set to directly or indirectly abut against the base 12 (not shown). Therefore, the first drive shaft 1013 cannot drive the first transmission component 13 to move remotely relative to the base 12 along the central axis. Thus, the axial displacement of the first transmission component 13 is restricted.

[0141] As shown in Figure 20, in another embodiment, the first functional segment 2000 on the slider 15 has a first driving part 151, which may be a first cam 1510. The first cam 1510 is composed of a curved profile, and at least one segment of the curved profile of the first cam 1510 is not parallel to the central axis 108 of the outer tube 11 of the instrument. This non-parallel cam segment can be a slanted segment, a curved segment, etc., preferably a slanted segment. This non-parallel cam segment is the first cam segment 1511. The first cam segment 1511 on the first cam 1510 contacts and slides with the first driven part 161 on the first locking block 16. The first cam 1510 can constrain the first driven part 161 on the first locking block 16 to switch between the initial position and the unlocked position. When the nail cartridge assembly 2 is not installed, the slider 15 is in the locking position, and the first locking block 16 is in the initial position under the force of the second elastic member 19. When the nail cartridge assembly 2 is installed, when the slider 15 moves between the distal and proximal ends along the central axis 108, the first locking block 16 can move from the initial position to the unlocked position, which allows the first locking block 16 to press against the second elastic member 19. The first locking block boss 162 on the first locking block 16 disengages from the first transmission member groove 131 of the first transmission member 13, which causes the first locking block boss 162 to move and displace, thereby unlocking the first transmission member 13. When the nail cartridge assembly 2 is installed, the slider 15 is in the unlocked position, the first locking block 16 is in the unlocked position, and the first transmission member 13 is in the unlocked state. Before the nail box assembly 2 is disassembled, the first transmission component 13 is driven to move to the zero position by the first drive shaft 1013. Then the nail box assembly 2 is disassembled, the slider 15 is reset under the action of the first elastic member 18, and the first locking block 16 is reset under the action of the second elastic member 19. The first locking block boss 162 of the first locking block 16 is embedded into the first transmission component groove 131 of the first transmission component 13, and the first transmission component 13 is in a locked state. The first driven part 161 can be composed of a planar or curved contour. Preferably, the first driven part 161 is composed of a curved contour. Common shapes of the first driven part 161 can be cylindrical, spherical, or teardrop-shaped. This allows the first driven part 161 to slide smoothly on the curved contour surface of the first cam 1510. That is, the contact and cooperation structure between the first driven part 161 and the first drive part 151 of the slider 15 is a sliding pair between the cam contour surface and the driven part.

[0142] Furthermore, in another embodiment, the first cam 1510 may have two or more cam segments. In addition to the first cam segment 1511 which is not parallel to the central axis 108, the distal end of the first cam 1510 also has a second cam segment 1512. The second cam segment 1512 may be approximately parallel to the central axis 108 of the instrument outer tube 11. The existence of the approximately parallel second cam segment 1512 allows the slider 15 to move a distance approximately parallel to the central axis 108 without causing a large displacement movement of the first driven part 161 on the first locking block 16. The unlocking state of the first transmission component 13 will not change. That is to say, the relative sliding between the second cam segment 1512, which is approximately parallel to the central axis 108, and the first driven part 161 does not produce a displacement component that changes the unlocking state. That is, the contact sliding between the second cam segment 1512 of the first driving part 151 on the slider 15 and the first driven part 161 of the first locking block 16 does not produce a motion displacement component that causes the first locking block boss 162 of the first locking block 16 to embed into the groove 131 of the first transmission component, or the generated small motion displacement component is insufficient to cause the first locking block 16 to embed into the groove 131 of the first transmission component, thus maintaining the unlocked state of the first transmission component 13. At this time, the first transmission component 13 can be driven by the first drive shaft 1013. Therefore, when the nail cartridge assembly 2 with proximal end face 211 of different lengths L (dimension along the central axis 108) is installed on the instrument bar interface device 10, the first installation distance can ensure that the first locking block 16 moves from the initial position to the unlocked position, and the first transmission component 13 is in the unlocked state; the second installation distance will not change the unlocked state of the first transmission component 13, that is, the length of the second installation distance of the nail cartridge assembly 2 can have a certain length difference without changing the unlocked state of the first transmission component 13. The presence of the aforementioned nearly parallel second cam section 1512 allows various staple cartridge assemblies 2 with significant differences in length to dock with the instrument bar interface device 10 of the stapler handle 1, effectively improving the adaptability and compatibility of the stapler handle 1 with different staple cartridges, as well as the ease of use.

[0143] As shown in Figures 21 to 24, in another embodiment, the first functional segment 2000 on the slider 15 may have a first driving part 151, which may be a first cam 1510. The first cam 1510 is formed by a groove, and at least one cam segment on the first cam 1510 is not parallel to the central axis 108 of the outer tube 11 of the instrument. The first cam 1510 contacts and slides with the first driven part 161 on the first locking block 16. The first cam 1510 can constrain the first driven part 161 on the first locking block 16 to switch between an initial position and an unlocked position. When the nail cartridge assembly 2 is not installed, the slider 15 is in the locking position and the first locking block 16 is in the initial position; when the nail cartridge assembly 2 is installed, the slider 15 is in the unlocking position and the first locking block 16 is in the unlocking position; the first driven part 161 is preferably composed of a rotating body feature. The common shape of the first driven part 161 can be cylindrical, conical, or spherical, so that the first driven part 161 can slide smoothly in the first cam 1510. That is, the contact and cooperation structure between the first driven part 161 and the first driving part 151 of the slider 15 is a sliding pair of a groove and a rotating body.

[0144] In another embodiment, the first cam 1510 may have two or more cam segments. In one embodiment, the first cam segment 1511 at the proximal end of the first cam 1510 is not parallel to the central axis 108 of the outer tube 11 of the instrument. This non-parallel cam segment may be spiral-shaped, oblique-shaped, or preferably a spiral slide. The presence of the spiral slide allows the first locking block 16 to switch between the initial position and the unlocked position when the slider 15 moves along the central axis 108 from the distal end to the proximal end. This allows the first locking block boss 162 on the first locking block 16 to approach or disengage from the first transmission component groove 131 of the first transmission component 13, thereby causing the first locking block boss 162 to move and displace, thus realizing the first transmission component 13. For locking or unlocking, more preferably, the helix angle of the spiral slide is between 15° and 75°, so that the first cam segment 1511 can smoothly actuate the first driven part 161; the second cam segment 1512 at the other end can be approximately parallel to the central axis 108 of the outer tube 11 of the instrument. The existence of the approximately parallel second cam segment 1512 allows the slider 15 to move a distance approximately parallel to the central axis 108 without causing a large displacement movement of the first driven part 161 on the first locking block 16, and the unlocking state of the first transmission component 13 will not change. That is to say, the relative sliding between the second cam segment 1512, which is approximately parallel to the central axis 108, and the first driven part 161 does not produce a displacement component that changes the unlocking state. That is, the contact sliding between the second cam segment 1512 of the first driving part 151 on the slider 15 and the first driven part 161 of the first locking block 16 does not produce a motion displacement component that causes the first locking block boss 162 of the first locking block 16 to embed into the groove 131 of the first transmission component, or the generated small motion displacement component is insufficient to cause the first locking block 16 to embed into the groove 131 of the first transmission component, thus maintaining the unlocked state of the first transmission component 13. At this time, the first transmission component 13 can be driven by the first drive shaft 1013. Similarly, when the nail cartridge assembly 2 with a proximal end face 211 of different lengths L (dimension along the central axis 108) is installed on the instrument bar interface device 10, the first installation distance can ensure that the first locking block 16 moves from the initial position to the unlocked position, and the first transmission component 13 is in the unlocked state; the second installation distance will not change the unlocked state of the first transmission component 13, that is, the length of the second installation distance of the nail cartridge assembly 2 can have a certain length difference without changing the unlocked state of the first transmission component 13.The presence of the aforementioned nearly parallel second cam segment 1512 allows various staple cartridge assemblies 2 with significant length differences to dock with the instrument bar interface device 10 of the stapler handle 1. The first segment, being of the same length, allows the first transmission component 13 and the second transmission component 14 of the instrument bar interface device 10 to switch from a locked state to an unlocked state. The difference in length in the latter segment does not change the switching function between the locked and unlocked states, effectively improving the adaptability and compatibility of the stapler handle 1 with different staple cartridges, as well as its ease of use. A first transition cam segment 1513 may be provided between the aforementioned first cam segment 1511 and second cam segment 1512. The first transition cam segment 1513 allows the first driven part 161 of the first locking block 16 to smoothly switch between the first cam segment 1511 and the second cam segment 1512. The composite slide groove, composed of the first cam segment 1511, the second cam segment 1512, and the first transition cam segment 1513, forms a sliding pair with the rotating body of the first driven part 161, enabling precise and smooth displacement control of the first locking block 16. The segmented curved surface structure enhances system stability. The aforementioned dimensional differences, or length differences, can be within the range of 0.01 to 30 mm, significantly improving the versatility and compatibility of the stapler cartridge.

[0145] Furthermore, as shown in Figures 10 to 18, in one embodiment, the instrument rod interface device 10 further includes a second transmission component 14 and a second locking block 17. The second locking block 17 is disposed inside the cavity of the instrument outer tube 11. The distal end of the second transmission component 14 has a second transmission component interface 142, and the proximal end has a second transmission component groove 141. When the staple cartridge assembly 2 is not installed, the second transmission component 14 is located in the initial zero position. When the staple cartridge assembly 2 is installed, the second transmission component 14 can move under the drive of the second drive shaft 1014, deviating from the initial zero position.

[0146] In many embodiments, the second transmission component 14 is not concentric with the central axis 108 of the instrument outer tube 11. Preferably, it is eccentrically arranged in an approximately parallel manner, that is, the extension direction of the second transmission component 14 is substantially parallel to the direction of the central axis 108 of the instrument outer tube 11. However, it is permissible for the entire or part of the second transmission component 14 to be skewed at a certain angle to the central axis 108, with the skew angle not exceeding 15°. Moreover, the extension direction of the second transmission component 14 is not concentric with the central axis 108 of the instrument outer tube 11.

[0147] As shown in Figures 10, 11, and 16, the base 12 has a second transmission component groove 124, in which the second transmission component 14 can slide relative to the base 12, that is, the second transmission component 14 is axially slidably disposed on the base 12. Generally, the second transmission component groove 124 is located on the side of the base 12, with one side of the second transmission component 14 fitting against the base 12 and the other side fitting against the outer tube 11 of the instrument.

[0148] The second transmission component 14 moves substantially along the central axis 108 of the outer tube 11 of the instrument. Preferably, the direction of movement of the second transmission component 14 is parallel to the direction of the central axis 108. However, in practical applications, a certain angular deviation between the direction of movement of the second transmission component 14 and the direction of the central axis 108 is allowed, and the deviation angle does not exceed 15°. In addition to the first functional segment, the slider 15 also includes a second functional segment 3000. The second functional segment 3000 includes a second driving part 152 that slides in contact with the second driven part 171. The second functional segment 3000 can realize the locking and unlocking of the second transmission component 14. The second locking block 17 is movable relative to the base 12.

[0149] The second locking block 17 is provided with a second locking block boss 172, which can be selectively inserted into the groove 141 of the second transmission component. The second locking block 17 also has a second driven part 171.

[0150] When the nail box assembly 2 is not installed, the slider 15 is located in the locking position, as shown in Figure 13. The second functional segment 3000 on the slider 15 has a second driving part 152 that contacts the second driven part 171 on the second locking block 17 at its distal end in a first state. At this time, the second transmission component 14 is in the zero position, and the second locking block boss 172 on the second locking block 17 is embedded in the second transmission component groove 141 on the second transmission component 14. Therefore, the second transmission component 14 cannot move axially, the second locking block 17 is in its initial position, and the second transmission component 14 is in a locked state. Similarly, due to the machining gap between the second transmission component groove 141 and the second locking block boss 172, "cannot move" here means it cannot move within a large range; it can only move within a small machining and assembly gap. The depth of the second transmission component groove 141 is not less than 0.1 mm, and its length in the central axis direction is not less than 0.3 mm.

[0151] When the nail cartridge assembly 2 is fully installed, the fully inserted nail cartridge assembly 2 will push the slider 15 to move from the locking position to the unlocking position. The second functional segment 3000 of the slider maintains a sliding contact relationship with the second locking block 17. Preferably, the second functional segment 3000 and the second locking block 17 maintain a continuous contact driving relationship. Specifically, the second functional segment 3000 on the slider 15 has a second driving part 152 that is in proximal contact with the second driven part 171 on the second locking block 17 in a second state. The second functional segment 3000 on the slider 15 has a second driving part 152 that can slide in contact with the second driven part 171 on the second locking block 17, so that the second locking block boss 172 on the second locking block 17 disengages from the second transmission component groove 141 on the second transmission component 14, and the second locking block 17 moves to the unlocking position. At this time, the second transmission component 14 can move; that is, at this time the second transmission component 14 is in the unlocked state, and the second transmission component 14 can move away from the zero position under the action of the coupled second drive shaft 1014. During the displacement of the slider 15 from the locking position to the unlocking position, the second driving part 152 and the second driven part 171 maintain a contact sliding driving relationship until the full displacement is completed. In the illustrated embodiment, the second locking block 17 is located inside the instrument outer tube, rather than in the instrument box assembly 101, to reduce the three-dimensional dimensions of the stapler handle 1, especially its height. This avoids the risk of collision between the stapler 001 and the adjacent robotic arm 500 or surgical instrument 100, which may be caused by an excessively large height of the instrument box assembly 101, thus improving surgical safety. It also reduces the weight of the stapler handle 1, lowers the load on the robotic arm 500, and makes the movement of the robotic arm 500 more flexible and convenient.

[0152] As shown in Figure 11, when the nail cartridge assembly 2 is installed onto the instrument bar interface device 10, the slider 15 is pushed to the unlocking position. That is, the nail cartridge assembly 2 pushes the slider 15 to move axially, and the slider 15 squeezes the first elastic element 18. At the same time, the slider 15 pushes the second locking block 17 to move relative to the base 12 from the initial position until the unlocking position. The second locking block boss 172 on the second locking block 17 disengages from the second transmission component groove 141 on the second transmission component 14. At this time, the second transmission component 14 is unlocked. Combined with the aforementioned first functional segment operation process, the first transmission component 13 and the second transmission component 14 can be unlocked synchronously. Through the linkage design of the slider 15, the first locking block 16, and the second locking block 17, multiple transmission components are automatically unlocked after the nail cartridge assembly is installed, improving operational efficiency. The synchronous unlocking mechanism of the pitch linkage component and the firing component improves the synergy of the multi-directional locking function.

[0153] When the nail cartridge assembly 2 is ready to be disassembled from the instrument bar interface device 10, the second transmission component 14 first needs to be actuated to its initial zero position. Then the nail cartridge assembly 2 can be disassembled from the instrument bar interface device 10. At this time, the slider 15 will be pushed to the locking position by the first elastic element 18 to achieve reset. At the same time, the slider 15 pushes the second locking block 17 in the opposite direction. The second locking block boss 172 on the second locking block 17 approaches the second transmission component groove 141 on the second transmission component 14. The second locking block 17 returns from the unlocked position to the initial position. At this time, the position of the second transmission component 14 is locked.

[0154] In conjunction with the aforementioned first functional segment's operation, the first transmission component 13 and the second transmission component 14 can be simultaneously locked and both return from the unlocked position to their initial position, ready for the next installation of a new disposable staple cartridge assembly 2. This makes the installation and removal of the staple cartridge assembly very convenient and quick, and eliminates concerns about the staple cartridge assembly failing to install due to accidental rotation of the drive shaft at the bottom of the stapler handle 1, thus improving the smoothness and safety of the surgery. The linkage integration design of the second locking block 17 ensures the synchronization of the multi-directional locking function; another advantage is that it avoids the risk of the first transmission component 13 or the second transmission component 14 being accidentally driven after the stapler handle 1 without the staple cartridge assembly 2 is installed on the surgical robot's robotic arm 500, improving surgical safety, as an accidentally driven first transmission component 13 or second transmission component 14 may puncture human tissue, posing a safety hazard.

[0155] As shown in Figures 10-18, in one embodiment, the slider 15 has a second functional segment 3000, which has a second driving part 152. The second driving part 152 can be a second cam 1520, which is formed by a groove. At least one cam segment on the second cam 1520 is not parallel to the central axis 108 of the outer tube 11 of the instrument. The non-parallel cam segment is a third cam segment 1521. The third cam segment 1521 on the second cam 1520 makes contact with and slides with the second driven part 171 on the second locking block 17. The third cam segment 1521 on the second cam 1520 can constrain the second driven part 171 on the second locking block 17 to switch between a first state and a second state. When the nail cartridge assembly 2 is not installed, the slider 15 is in the locking position, and the second driven part 171 is in the first state; when the nail cartridge assembly 2 is installed, the slider 15 is in the unlocking position, and the second driven part 171 is in the second state; the second driven part 171 is preferably composed of a rotating body feature, and the common shape of the second driven part 171 can be cylindrical, conical, or spherical, so that the second driven part 171 can slide smoothly in the second cam 1520, that is, the contact and cooperation structure between the second driven part 171 and the second driving part 152 of the slider 15 is a sliding pair of a groove and a rotating body, and the rotating body is selected from at least one of a cylinder, a cone, or a sphere.

[0156] As shown in Figures 10-18, in another embodiment, the second cam 1520 can have two or more slide sections. The third cam section 1521 at the proximal end of the second cam 1520 is not parallel to the central axis 108 of the outer tube 11. This non-parallel slide section can be spiral or oblique, preferably spiral. The presence of the spiral slide allows the second driven part 171 on the second locking block 17 to switch between a first state and a second state when the slider 15 moves along the central axis 108 from the distal end to the proximal end. This allows the second locking block boss 172 on the second locking block 17 to approach or disengage from the second transmission component groove 141 of the second transmission component 14, thereby generating a displacement of the second transmission component 172 and realizing the second transmission... In a further preferred embodiment, the spiral angle of the spiral slide is between 15° and 75°, so that the third cam segment 1521 can smoothly actuate the second driven part 171. The fourth cam segment 1522 at the distal end can be approximately parallel to the central axis 108 of the outer tube 11 of the instrument. The presence of the approximately parallel fourth cam segment 1522 allows the slider 15 to move a distance approximately parallel to the central axis 108 without causing a large displacement movement of the second driven part 171 on the second locking block 17. The unlocked state of the second transmission component 14 will not change. That is to say, the relative sliding between the fourth cam segment 1522, which is approximately parallel to the central axis 108, and the second driven part 171 does not produce a displacement component that changes the unlocked state. That is, the contact sliding between the fourth cam segment 1522 of the second drive part 152 on the slider 15 and the second driven part 171 of the second locking block 17 does not produce a motion displacement component that causes the second locking block boss 172 of the second locking block 17 to embed into the groove 141 of the second transmission component, or the generated small motion displacement component is insufficient to cause the second locking block 17 to embed into the groove 141 of the second transmission component, and will not change the unlocked state of the second locking block 17 and the second transmission component 14. At this time, the second transmission component 14 can be driven by the second drive shaft 1014. That is, when the nail cartridge assembly 2 with a proximal end face 211 of different lengths L (dimension along the central axis 108) is installed on the instrument bar interface device 10, the first installation distance can ensure that the second driven part 171 on the second locking block 17 changes from the first state to the second state, and the second transmission component 14 is unlocked; the second installation distance will not change the unlocked state of the second transmission component 14, that is, the installation distance of the nail cartridge assembly 2 in the second part can have a certain length difference without changing the unlocked state of the second transmission component 14.The existence of the aforementioned nearly parallel fourth cam segment 1522 allows various staple cartridge assemblies 2 with significant length differences to dock with the instrument bar interface device 10 of the stapler handle 1. The first segment, being of the same length, allows the first transmission component 13 and the second transmission component 14 of the instrument bar interface device 10 to switch from a locked state to an unlocked state. The difference in length in the latter segment does not change the switching function between the locked and unlocked states, effectively improving the adaptability and compatibility of the stapler handle 1 with different staple cartridges, as well as its ease of use. A second transition cam segment 1523 may be provided between the aforementioned third cam segment 1521 and fourth cam segment 1522. The second transition cam segment 1523 allows the second driven part 171 of the second locking block 17 to smoothly switch between the third cam segment 1521 and the fourth cam segment 1522. The composite slide groove formed by the third cam segment 1521, the fourth cam segment 1522, and the second transition cam segment 1523 forms a sliding pair with the rotating body of the second driven part 171, enabling precise and smooth displacement control of the second locking block 17. The segmented curved surface structure enhances system stability. The aforementioned dimensional differences, or length differences, can be within the range of 0.01-20mm, significantly improving the versatility and compatibility of the stapler cartridge.

[0157] In another embodiment, the second driving part 152 on the slider 15 can also be transferred to the second locking block 17, that is, a second cam 1520 is provided on the second locking block 17, and the original second driven part 171 feature on the second locking block 17 is transferred to the slider 15, that is, a rotating body feature similar to the aforementioned second driven part 171 is provided on the slider 15, so that the same function can be achieved.

[0158] It is worth noting that in one embodiment, the first functional segment 2000 of the slider 15 in FIG. 11 is located at the distal end of the slider 15, and the second functional segment 3000 is located at the proximal end of the slider 15. In other embodiments, the first functional segment 2000 of the slider 15 may be located at the proximal end, and the second functional segment 3000 may be located at the distal end; this is not a limitation. Furthermore, the slider 15 may be divided as needed into parts implementing the first functional segment 2000 and parts implementing the second functional segment 3000; such division is also within the scope of protection of the claims of this invention.

[0159] As shown in Figures 15 and 16, in one embodiment, the second locking block 17 is movably disposed on the base 12. The movement of the second locking block 17 relative to the base 12 can be a linear trajectory movement, a curved trajectory movement, or a movement while rotating, or a rotation. Preferably, the second locking block 17 has an arc surface 173, and the base 12 has a base side sliding groove 122. The second locking block 17 can slide and rotate relative to the base 12 about the central axis 108.

[0160] As shown in Figures 2 to 4, in one embodiment, the number of the self-rotating drive shaft 1012, the second drive shaft 1014, and the first drive shaft 1013 is at least one. In actual use, the number of drive shafts 1012, 1014, and 1013 can be appropriately increased to increase the driving torque of the corresponding joints of the anastomosis device. It should be understood that the present invention does not limit the number of drive shafts, that is, it is not limited to the three exemplified herein.

[0161] It is worth noting that, due to differences in component manufacturing, the parallel or approximately parallel geometric relationships mentioned in this article may actually have a certain degree of skewness. The component locking relationship mentioned in this article may actually have a certain degree of wobbling due to the existence of processing gaps. The fitting and abutting relationships mentioned in this article may also have a certain degree of assembly gap between the components. However, the above-mentioned situations such as "having a certain degree of skewness," "having a certain degree of wobbling between components," and "possibly having a certain degree of assembly gap between components" are all within the scope of protection of this invention.

Claims

1. An interface device for mounting a nail box assembly, characterized in that, include: The outer tube of the instrument defines the central axis extending axially. The base is connected to the outer tube of the instrument; A first transmission component is disposed on the base. The distal end of the first transmission component has a first transmission component interface, and the proximal end of the first transmission component has a first transmission component groove. A first locking block is disposed on the base. The first locking block includes a first locking block boss that selectively embeds into the groove of the first transmission component, and a first driven part near the central axis. A slider is disposed on the base, and the slider is provided with a first functional segment, the first functional segment including a first driving part that cooperates with the first driven part; A first elastic element is disposed on the base and configured to apply an elastic force to the slider; wherein... The slider is configured to move between a locking station and an unlocking station; When the interface device and the nail box assembly are not installed, the slider is in the locking position, and the first locking block boss is embedded in the groove of the first transmission component; When the interface device is installed with the nail box assembly, the slider is in the unlocking position, and the first locking block boss disengages from the groove of the first transmission component.

2. The interface device according to claim 1, characterized in that, The first locking block is configured to move between an initial position and an unlocked position; When the slider is in the locking position, the first locking block moves to the initial position and the first transmission component is in a locked state. When the slider moves from the locking position to the unlocking position, the first driving part slides along the first driven part, driving the first locking block to move to the unlocking position, and the first transmission component is in the unlocked state.

3. The interface device according to claim 1, characterized in that, The slider, the first locking block, and the first elastic element are all disposed inside the cavity of the outer tube of the instrument; and / or, The slider has a slider abutment surface that directly or indirectly contacts the proximal end face of the nail box assembly; and / or, The interface device has a insertion cavity at its distal end for receiving the nail cartridge mating end located near the nail cartridge assembly; and / or, The first transmission component is concentrically arranged with the outer tube of the instrument.

4. The interface device according to claim 1, characterized in that, The first locking block is connected to the base via a pivoting connection structure, the axis of rotation of which is perpendicular to the central axis; or... The first locking block and the base form a guide rail mating structure, which is configured as a linear guide rail or a curved guide rail; or, the first locking block and the base are rotatably assembled.

5. The interface device according to claim 1, characterized in that, The first driven part includes a first curved surface segment. When the slider is in the locked position, the first curved surface segment is not parallel to the central axis, and the first driving part slides in contact with the first driven part.

6. The interface device according to claim 5, characterized in that, The first driven part further includes a second curved section. When the slider is located at the unlocking position, the first locking block is in the unlocked position, and the second curved section slides in contact with the first driving part, which can keep the first transmission component in the unlocked state.

7. The interface device according to claim 2, characterized in that, The interface device further includes a second elastic element configured to apply an elastic force to the first locking block, allowing it to return from the unlocked position to the initial position.

8. The interface device according to claim 1, characterized in that, The first drive unit is provided with a cam structure, the cam structure including a first cam segment that is not parallel to the central axis.

9. The interface device according to claim 8, characterized in that... The cam structure is a cam component with a curved profile or a cam component with a groove structure.

10. The interface device according to claim 8, characterized in that... The first driven part is a rotating body composed of one or more of a cylinder, cone, and sphere, and slides in cooperation with the cam structure.

11. The interface device according to claim 8, characterized in that... The cam structure also includes a second cam segment that is approximately parallel to the central axis.

12. The interface device according to claim 1, characterized in that, The interface device further includes: A second transmission component is disposed on the base. The distal end of the second transmission component has a second transmission component interface, and the proximal end of the second transmission component has a second transmission component groove. A second locking block is disposed on the base. The second locking block includes a second locking block boss that selectively embeds into the groove of the second transmission component, and a second driven part near the central axis. The slider is further provided with a second functional section, the second functional section including a second driving part that cooperates with the second driven part; wherein... When the slider is in the locking position, the second locking block boss is embedded in the groove of the second transmission component; When the slider is in the unlocking position, the second locking block boss disengages from the groove of the second transmission component.

13. The interface device according to claim 12, characterized in that, The second drive unit is provided with a cam structure, which includes a third cam segment that is not parallel to the central axis.

14. The interface device according to claim 13, characterized in that... The second cam also includes a fourth cam segment that is approximately parallel to the central axis.

15. A surgical instrument handle, characterized in that, include: The interface device according to any one of claims 1-14; An instrument case assembly, wherein the instrument case assembly is provided with a rotatable drive shaft assembly, the drive shaft assembly comprising: A rotation drive shaft for driving the entire interface device to rotate; A first drive shaft for driving the first transmission component to slide axially. The second drive shaft is used to drive the second transmission component to slide axially.

16. A surgical instrument, characterized in that, The surgical instrument includes a staple cartridge assembly and a surgical instrument handle as described in claim 15.

Images