CN112401959A

CN112401959A - End effector driving device for surgical instrument and surgical instrument

Info

Publication number: CN112401959A
Application number: CN201910787415.0A
Authority: CN
Inventors: 孙宝峰; 马占虎
Original assignee: Jiangsu Fengh Medical Equipment Co Ltd
Current assignee: Jiangsu Fengh Medical Equipment Co Ltd
Priority date: 2019-08-23
Filing date: 2019-08-23
Publication date: 2021-02-26
Anticipated expiration: 2039-08-23
Also published as: CN112401959B; WO2021036262A1

Abstract

The invention relates to a surgical instrument and an end effector driving device for the surgical instrument, which is used for controlling the rotation and locking of an end effector, the end effector driving device comprises a guide piece, an angle control piece and a positioning sleeve sleeved on the angle control piece, the angle control piece and the positioning sleeve form a containing space, a locking piece is arranged in the containing space, the guide piece drives the locking piece to move between a locking position and a releasing position, when the locking piece is positioned at the locking position, the guide piece can not drive the angle control piece to rotate in the positioning sleeve, and when the locking piece is positioned at the releasing position, the guide piece can drive the angle control piece to rotate in the positioning sleeve. Thus, the end effector may be locked in a particular position to facilitate subsequent other operations of the surgical instrument, such as cutting and stapling.

Description

End effector driving device for surgical instrument and surgical instrument

Technical Field

The invention relates to an end effector driving device for a surgical instrument and the surgical instrument, and belongs to the technical field of surgical instruments.

Background

An anastomat suitable for surgical operation is a surgical cutting anastomat which can suture wounds of patients and excise redundant tissues, and is widely applied to excision and anastomosis of tissues in minimally invasive operations of abdominal surgery, gynecology, pediatrics, thoracic surgery and the like. Surgical cutting staplers are advanced into a patient through the cannula of a trocar precisely positioned at the surgical site, followed by making a longitudinal incision in the tissue and applying staples on opposite sides of the incision to sever and staple the tissue. The surgical cutting anastomat comprises an end effector, wherein the end effector comprises a nail bin seat and a nail abutting seat which is pivotally connected with the nail bin seat, and the nail bin seat is used for receiving a nail bin assembly; the nail bin assembly comprises a nail bin body and anastomotic nails arranged in the nail bin body, a plurality of nail cavities used for containing the anastomotic nails are arranged in the nail bin body, the nail bin body comprises a top end face, and a nail outlet formed by penetrating the nail cavities through the top end face is formed in the top end face.

Once the clinician determines that the end effector is gripping the target tissue, the cutting stapler can be fired, thereby severing and stapling the tissue. When suturing, the top end surface is contacted with the sutured tissue, a cutting component in the surgical cutting anastomat pushes a wedge-shaped nail pushing piece in a nail bin to move, so that the staples in the nail bin are driven by a staple driver to move upwards from a staple cavity, and the target tissue is punctured and sutured (namely, the staples are taken out). To extend the end effector into some particular surgical site, the end effector needs to be rotated so that the end effector is at an angle to the shaft assembly, thus requiring an end effector drive mechanism that drives the end effector in rotation and controls the angle of rotation.

The end effector driving device in the prior art can drive the end effector to rotate and lock, but has a complex structure, and the operation reliability is to be improved.

Disclosure of Invention

It is an object of the present invention to provide an end effector drive for a surgical instrument that facilitates locking of an end effector in a particular position.

In order to achieve the above object, the present invention provides an end effector driving device for a surgical instrument, for controlling rotation and locking of an end effector, the end effector driving device including a guide member, an angle control member, and a positioning sleeve fitted over the angle control member, the angle control member and the positioning sleeve forming a receiving space, a locking member being disposed in the receiving space, the guide member driving the locking member to move between a locking position and a releasing position, the guide member being incapable of driving the angle control member to rotate in the positioning sleeve when the locking member is located at the locking position, and the guide member driving the angle control member to rotate in the positioning sleeve when the locking member is located at the releasing position.

Furthermore, the guide piece is provided with a driving block, and the angle control piece is provided with a driving groove for accommodating the driving block.

Further, the driving block comprises a rotating part and a driving part which are connected, the rotating part is provided with a circular arc-shaped matching surface, and the driving part is provided with a planar driving surface.

Further, the arc extension angle of the mating surface is greater than 180 degrees and smaller than 360 degrees, and the driving portion is disposed on a side of the rotating portion away from the mating surface.

Further, the driving surface comprises a first driving surface connected with one end of the matching surface and a second driving surface connected with the other end of the matching surface; when the locking member is in the locked position, a first clearance is provided between the first driving surface and the driving groove, and a second clearance is provided between the second driving surface and the driving groove.

Further, when the lock member is located at the release position, the first driving surface abuts against the driving groove or the second driving surface abuts against the driving groove.

Further, when the first driving surface abuts against the driving groove, the guide member drives the angle control member to rotate in a first direction in the positioning sleeve, and when the second driving surface abuts against the driving groove, the guide member drives the angle control member to rotate in a second direction opposite to the first direction in the positioning sleeve.

Furthermore, the end effector driving device further comprises a gasket and a screw, the rotating part is provided with a threaded hole, one side, away from the guide part, of the angle control part is provided with a step surface, the gasket is attached to the step surface, the threaded part of the screw penetrates through the central hole of the gasket and is matched and connected with the threaded hole, and the gasket is located between the nut of the screw and the step surface.

Furthermore, the angle control member is provided with a first convex part, the driving groove is arranged on the first convex part, the first convex part is provided with a circular arc-shaped first rotating matching surface, and the first rotating matching surface is rotatably matched and connected with the inner surface of the positioning sleeve.

Furthermore, the angle control member is further provided with a second convex part, the second convex part is provided with a circular arc-shaped second rotating matching surface, the second rotating matching surface is rotatably matched and connected with the inner surface of the positioning sleeve, and the second rotating matching surface and the first rotating matching surface are respectively positioned on two sides of the rotating center of the angle control member.

Further, the angle control member is further provided with a second convex portion, an accommodating groove is formed between the second convex portion and the first convex portion, the end effector driving device further comprises an elastic member, the elastic member applies acting force to the locking member to keep the locking member at the locking position, and the elastic member is arranged in the accommodating groove.

Furthermore, the accommodating space includes a first accommodating space and a second accommodating space, the locking member includes a first locking member accommodated in the first accommodating space and a second locking member accommodated in the second accommodating space, the first locking member controls the angle control member to rotate and lock relative to the positioning sleeve along a first direction, the second locking member controls the angle control member to rotate and lock relative to the positioning sleeve along a second direction, and the second direction is opposite to the first direction.

Further, the first locking member has a first locking position and a first releasing position in the first accommodating space, when the first locking member is located at the first locking position, the guide member cannot drive the angle control member to rotate in the positioning sleeve along the first direction, and when the first locking member is located at the first releasing position, the guide member can drive the angle control member to rotate in the positioning sleeve along the first direction.

Further, the second locking member has a second locking position and a second releasing position in the second accommodating space, when the second locking member is located at the second locking position, the guide member cannot drive the angle control member to rotate in the second direction in the positioning sleeve, and when the second locking member is located at the second releasing position, the guide member can drive the angle control member to rotate in the second direction in the positioning sleeve.

Furthermore, an elastic piece is arranged between the first locking piece and the second locking piece, one end of the elastic piece exerts force on the first locking piece to keep the first locking piece at the locking position, and the other end of the elastic piece exerts force on the second locking piece to keep the second locking piece at the locking position.

Further, the guide member is provided with a driving member, the driving member partially extends into the accommodating space, and the driving member pushes the locking member to move from the locking position to the releasing position.

Furthermore, the end effector driving device further comprises a handle, the handle is provided with an accommodating cavity and a positioning column located in the accommodating cavity, the guide part is partially accommodated in the accommodating cavity, the guide part is provided with a through hole, and the positioning column is tightly matched with the through hole.

A surgical instrument comprising a shaft assembly, a handle assembly disposed at one end of the shaft assembly, an end effector disposed at the other end of the shaft assembly, the surgical instrument further comprising an end effector drive device as described in any of the above connected to the shaft assembly, the end effector drive device controlling rotation and locking of the end effector relative to the shaft assembly.

Further, the shaft assembly comprises a first rod and a second rod which are arranged in parallel and at intervals, the angle control piece drives the first rod and the second rod to move in tandem through a first motion conversion mechanism, and the first rod and the second rod move in tandem through a second motion conversion mechanism to drive the end effector to rotate.

Further, the surgical instrument further comprises a first slide block fixedly connected with the rear end of the first rod and a second slide block fixedly connected with the rear end of the second rod, the first motion conversion mechanism comprises a first connecting column and a second connecting column which are fixed relative to the angle control piece, a first containing hole arranged in the first sliding block and a second containing hole arranged in the second sliding block, the first connecting column and the second connecting column are symmetrically arranged relative to the rotation center of the angle control piece, the extending directions of the first containing hole and the second containing hole are both vertical to the extending directions of the first rod piece and the second rod piece, the first connecting column is accommodated in the first accommodating hole and can move in the first accommodating hole, the second connecting column is contained in the second containing hole and can move in the second containing hole.

Further, the surgical instrument further comprises an angle steering member, the angle steering member comprises a distal end portion and a proximal end portion, the distal end portion is connected to the end effector, the second motion conversion mechanism comprises a first column and a second column disposed at the proximal end portion, a first connecting hole disposed at the first rod, and a second connecting hole disposed at the second rod, the extending directions of the first connecting hole and the second connecting hole are perpendicular to the extending directions of the first rod and the second rod, the first column is contained in the first connecting hole and can move in the first connecting hole, and the second column is contained in the second connecting hole and can move in the second connecting hole.

Compared with the prior art, the invention has the beneficial effects that: when the lock is in the locked position, the angle control and, therefore, the end effector are not rotatable, i.e., the end effector is locked in a particular position to facilitate subsequent other operations of the surgical instrument, such as cutting and stapling, and the end effector drive is simple in construction and therefore reliable in operation.

Drawings

FIG. 1 is a schematic structural view of a surgical instrument according to the present invention;

FIG. 2 is a partial schematic structural view of the surgical instrument illustrated in FIG. 1;

FIG. 3 is a schematic view of a portion of the structure shown in FIG. 2;

FIG. 4 is an exploded perspective view of FIG. 3;

FIG. 5 is an exploded perspective view of a portion of the surgical instrument illustrated in FIG. 1;

FIG. 6 is a schematic structural view of the first slide block and the first rod of FIG. 5;

FIG. 7 is an exploded perspective view of the first slide and the first rod of FIG. 6;

FIG. 8 is a schematic view of the end effector and angle diverter of the surgical instrument of FIG. 1;

FIG. 9 is an exploded perspective view of FIG. 8;

FIG. 10 is a schematic view of the angle diverter of FIG. 8;

FIG. 11 is a partial schematic structural view of the surgical instrument illustrated in FIG. 1;

FIG. 12 is an enlarged view of the circled portion shown in FIG. 11;

FIG. 13 is an exploded perspective view of a portion of the surgical instrument illustrated in FIG. 1;

FIG. 14 is a further exploded perspective view of a portion of the structure shown in FIG. 13;

FIG. 15 is an exploded perspective view of a portion of the surgical instrument illustrated in FIG. 1;

fig. 16 is a schematic structural view of a portion of the structure shown in fig. 15.

FIG. 17 is a schematic structural view of a portion of the structure shown in FIG. 15;

FIG. 18 is a schematic view of a portion of the structure shown in FIG. 15;

FIG. 19 is a cross-sectional view taken along A-A as shown in FIG. 18;

Detailed Description

The present invention will be described in detail below with reference to specific embodiments shown in the drawings. These embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to these embodiments are included in the scope of the present invention.

It should be understood that the terms "proximal" and "distal" are used herein with respect to a clinician manipulating a handle assembly of a surgical instrument. The term "proximal" refers to the portion that is closer to the clinician, and the term "distal" refers to the portion that is further from the clinician. I.e., the handle assembly is proximal and the end effector is distal, as the proximal end of a component is shown relatively close to one end of the handle assembly and the distal end is shown relatively close to one end of the end effector. The terms "axial", "circumferential", "radial" are referenced to the center line of rotation of the angular control member. The terms "upper" and "lower" are used with reference to the relative positions of the staple abutment and cartridge seat of the end effector, specifically, the staple abutment is "upper" and the cartridge seat is "lower". However, surgical instruments are used in many orientations and positions, and thus these terms are not intended to be limiting and absolute.

In the present invention, unless otherwise expressly stated or limited, "connected" and the like are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, a movable connection, or an integral part; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to FIG. 1, this embodiment provides a surgical instrument 200 that includes a shaft assembly 10, a handle assembly 12 disposed at one end of the shaft assembly 10, and an end effector 14 disposed at the other end of the shaft assembly 10.

The shaft assembly 10 includes a sleeve 16 and a mandrel assembly 18 received within the sleeve 16.

The handle assembly 12 is connected to the proximal end of the shaft assembly 10. The handle assembly 12 includes a head housing 20, and a stationary handle 22 and a closure trigger 24 extending downwardly from the head housing 20, the closure trigger 24 being operable to position and close the end effector 14.

An end effector 14 is attached to the distal end of the shaft assembly 10. The end effector 14 includes a cartridge seat 26 and an anvil seat 28 pivotally connected to the cartridge seat 26, the cartridge seat 26 for operably supporting a cartridge assembly (not shown) therein, the anvil seat 28 being selectively movable between an open position and a closed position. Specifically, the nail abutting seat 28 is movably connected with the distal end of the sleeve 16, and when the sleeve 16 moves towards the proximal end, the nail abutting seat 28 is driven to pivot upwards to be opened; as the cannula 16 moves distally, the anvil 28 is driven to pivot downwardly and close.

In use of the surgical instrument 200, the closure trigger 24 is depressed toward the stationary handle 22, and the closure trigger 24 drives the sleeve 16 of the shaft assembly 10 forward via the drive train to pivot the staple holder 28 downward and thereby close the end effector 14 to position and clamp tissue. When tissue to be treated enters between the cartridge seat 26 and the anvil 28, the surgeon may depress the closure trigger 24 until it locks, thereby placing the anvil 28 in the closed position, i.e., the end effector 14 in the closed state.

Referring to fig. 1 to 4, the shaft assembly 10 further includes a first rod 30 and a second rod 32 disposed in parallel and spaced apart from each other, and the first rod 30 and the second rod 32 are received in the sleeve 16. Specifically, the mandrel assembly 18 in the sleeve 16 is provided with a first receiving groove and a second receiving groove which are arranged at intervals, the first rod 30 is partially received in the first receiving groove, and the second rod 32 is partially received in the second receiving groove.

Referring to fig. 1, 4 and 5, the surgical instrument 200 further includes an end effector driver 34 connected to the shaft assembly 10, the end effector driver 34 including an angle control member 36, the angle control member 36 rotating to drive the first rod 30 and the second rod 32 in tandem via a first motion conversion mechanism, and the first rod 30 and the second rod 32 in tandem via a second motion conversion mechanism to drive the end effector 14 in rotation.

In particular, with particular reference to fig. 5, the surgical instrument 200 further comprises a first slider 38 fixedly connected to the rear end of the first lever 30, a second slider 40 fixedly connected to the rear end of the second lever 32, a first motion-converting mechanism comprising a first connecting post 42 and a second connecting post 44 fixed relative to the angular control member 36, the first and second connecting

posts

42 and 44 are symmetrically arranged relative to the rotation center of the angle control member 36, the extending directions of the first and second containing

holes

46 and 48 are perpendicular to the extending directions of the first and

second rod members

30 and 32, the first connecting post 42 is contained in the first containing hole 46 and can move in the first containing hole 46, and the second connecting post 44 is contained in the second containing hole 48 and can move in the second containing hole 48.

Thus, when the angle control member 36 rotates in the first direction, the first connecting rod 42 moves in the first accommodating hole 46 and the second connecting rod 44 moves in the second accommodating hole 48, so that the first rod 30 moves forward and the second rod 32 moves backward; when the angle control member 36 rotates in the second direction, the first connecting rod 42 moves in the first receiving hole 46 in the opposite direction, and the second connecting rod 44 moves in the second receiving hole 48 in the opposite direction, so that the first rod 30 moves backward and the second rod 32 moves forward. The first motion conversion mechanism in the embodiment has a simple structure and is reliable in operation.

Referring to fig. 5 to 7, the rear end of the first rod 30 is tightly fitted with the first slider 38 to realize the fixed connection between the first rod 30 and the first slider 38, and the rear end of the second rod 32 is tightly fitted with the second slider 40 to realize the fixed connection between the second rod 32 and the second slider 40. The first connecting post 42 and the second connecting post 44 are fixedly connected with the angle control member 36 by tight fitting. It will be appreciated by those skilled in the art that other connection methods can be used to fixedly connect the rod and the slider, and the connecting rod and the angle control member 36, and all the methods similar to or the same as those of the present embodiment are within the scope of the present invention.

Referring to fig. 1, 8-10, the surgical instrument 200 further includes an angular diverter 50, the angular diverter 50 including a distal end 52 and a proximal end 54. The distal portion 52 and the proximal portion 54 are integrally formed and have a simple structure.

Distal portion 52 is attached to end effector 14. specifically, a portion of distal portion 52 is snapped into the rear of cartridge seat 26 of end effector 14. distal portion 52 defines a first through-hole 56. cartridge seat 26 defines a second through-hole 58. when in place, second through-hole 58 is coaxial with first through-hole 56. pivot 60 extends through first through-hole 56 and second through-hole 58, respectively, to secure angular diverter 50 relative to cartridge seat 26 of end effector 14.

Referring to fig. 10 to 12, the proximal portion 54 is connected to the first rod 30 and the second rod 32, the second motion conversion mechanism includes a first column 62 and a second column 64 disposed on the proximal portion 54, a first connection hole 66 disposed on the first rod 30, and a second connection hole 68 disposed on the second rod 32, an extending direction of the first connection hole 66 and the second connection hole 68 is perpendicular to an extending direction of the first rod 30 and the second rod 32, the first column 62 is received in the first connection hole 66 and is movable in the first connection hole 66, and the second column 64 is received in the second connection hole 68 and is movable in the second connection hole 68.

When the first rod 30 moves forward and the second rod 32 moves backward, the second motion conversion mechanism converts the tandem motion of the first rod 30 and the second rod 32 into the rotation of the end effector 14 in the first direction; the second motion conversion mechanism converts the tandem motion of the first rod 30 and the second rod 32 into rotation of the end effector 14 in the second direction when the first rod 30 moves backward and the second rod 32 moves forward. The second motion conversion mechanism in the embodiment has a simple structure and is reliable in operation.

Thus, referring to fig. 1, 5 and 12, when the angle control member 36 of the end effector driving device 34 rotates in the first direction, the first rod 30 is driven to move forward and the second rod 32 is driven to move backward by the first motion conversion mechanism, and the first rod 30 and the second rod 32 move forward and backward by the second motion conversion mechanism to drive the end effector 14 to rotate in the first direction; when the angle control member 36 of the end effector 14 is rotated in the second direction, the first rod 30 is driven by the first motion conversion mechanism to move backward and the second rod 32 is driven to move forward, and the first rod 30 and the second rod 32 move in tandem and the end effector 14 is driven by the second motion conversion mechanism to rotate in the second direction. It can be seen that the end effector 14 is rotated in the same direction as the angular control 36. Thus, the angular control member 36 of the end effector driver 34 is rotated via the first and second

motion conversion mechanisms

30, 32 to drive the end effector 14 to rotate relative to the shaft assembly 10 to meet specific surgical requirements.

To achieve instant locking of the rotational position of the angle control member 36 and, therefore, the end effector 14, please refer to fig. 1, 5, and 13 to 19, the end effector driving device 34 includes a guiding member 70, the angle control member 36, and a positioning sleeve 72 disposed on the angle control member 36, the angle control member 36 and the positioning sleeve 72 form a receiving space, a locking member is disposed in the receiving space, the guiding member 70 drives the locking member to move between a locking position and a releasing position, when the locking member is located at the locking position, the guiding member 70 cannot drive the angle control member 36 to rotate in the positioning sleeve 72, and when the locking member is located at the releasing position, the guiding member 70 can drive the angle control member 36 to rotate in the positioning sleeve 72.

When the lock is in the locked position, the angle control 36 and, therefore, the end effector 14, are not rotatable, i.e., the end effector 14 is locked in a particular position to facilitate subsequent other operations of the surgical instrument 200, such as cutting and stapling.

Referring to fig. 15 to 17, the accommodating space includes a first accommodating space 74 and a second accommodating space 76, the first accommodating space 74 and the second accommodating space 76 are symmetrically disposed with respect to the rotation center of the angle control member 36, the locking member includes a first locking member 78 accommodated in the first accommodating space 74 and a second locking member 80 accommodated in the second accommodating space 76, the first locking member 78 controls the angle control member 36 to rotate and lock with respect to the positioning sleeve 72 in a first direction, and the second locking member 80 controls the angle control member 36 to rotate and lock with respect to the positioning sleeve 72 in a second direction opposite to the first direction.

Specifically, the first locking member 78 has a first locking position and a first releasing position in the first receiving space 74, when the first locking member 78 is located at the first locking position, the guide member 70 cannot drive the angle control member 36 to rotate in the positioning sleeve 72 in the first direction, and when the first locking member 78 is located at the first releasing position, the guide member 70 can drive the angle control member 36 to rotate in the positioning sleeve 72 in the first direction.

The second locking member 80 has a second locking position and a second releasing position in the second receiving space 76, when the second locking member 80 is located at the second locking position, the guide member 70 cannot drive the angle control member 36 to rotate in the second direction in the positioning sleeve 72, and when the second locking member 80 is located at the second releasing position, the guide member 70 can drive the angle control member 36 to rotate in the second direction in the positioning sleeve 72.

The end effector drive mechanism 34 further includes a resilient member 82, one end of the resilient member 82 abutting the first locking member 78 and exerting a force on the first locking member 78 to maintain it in the locked position; the second end of the elastic member 82 abuts the second locking member 80 and applies a force to the second locking member 80 to keep it in the locking position.

That is, when the first locking member 78 and the second locking member 80 are in their releasing positions, the elastic member 82 will urge the first locking member 78 and the second locking member 80 to move from the releasing positions to the locking positions; the first locking member 78 and the second locking member 80 need to overcome the force of the elastic member 82 to move from the locking position to the releasing position.

Thus, the resilient member 82 applies a force to the first and

second locking members

78, 80 to maintain the first and

second locking members

78, 80 in the locked position in time, thereby locking the angle control member 36 and the end effector 14 in the rest position in time and achieving immediate locking of the end effector 14.

The locking member is a locking bead and the resilient member is a coil spring, but those skilled in the art will appreciate that other types of locking members and resilient members are possible. Any embodiments similar or equivalent to the embodiments are also within the scope of the present invention.

Referring now more particularly to fig. 13-15, the end effector actuator 34 further includes a handle 84 fixed relative to the guide member 70, wherein the handle 84 drives the guide member 70 to unlock the locking member and drive the angle control member 36 to rotate relative to the positioning sleeve 72, thereby ultimately achieving rotation of the end effector 14. The specific position refers to a position where the handle 84 is stopped.

The operation of the end effector drive device 34 of the present embodiment is:

when the handle 84 is not rotated by the operator, the first locking member 78 and the second locking member 80 are both located at the locking position by the elastic member 82.

When the handle 84 is rotated by an operator in a first direction, the handle 84 drives the guide member 70 to rotate synchronously therewith, the guide member 70 first drives the first locking member 78 to move from the first locking position to the first releasing position against the action of the elastic member 82, then the guide member 70 drives the angle control member 36 to rotate relative to the positioning sleeve 72, and then the end effector 14 is driven to rotate in the first direction through the first motion conversion mechanism and the second motion conversion mechanism, and during the rotation process, the second locking member 80 is kept in the locking position under the action of the elastic member 82.

When the operator rotates the handle 84 in the second direction, the handle 84 drives the guide member 70 to rotate synchronously therewith, the guide member 70 first drives the second locking member 80 to move from the second locking position to the second releasing position against the action of the elastic member 82, then the guide member 70 drives the angle control member 36 to rotate relative to the positioning sleeve 72, and then the end effector 14 is driven to rotate in the second direction through the first motion conversion mechanism and the second motion conversion mechanism, and during the rotation process, the first locking member 78 is kept in the locking position under the action of the elastic member 82.

The specific structures of the handle 84, the guide member 70, the angle control member 36 and the positioning sleeve 72 will be described first, and then the mating relationship will be described.

Referring to fig. 13, the handle 84 is provided with a receiving cavity 86 and a positioning post 88 located in the receiving cavity 86. The handle 84 also includes an operating portion 90 that is accessible to an operator. The housing chamber 86 is provided on the distal end side of the handle 84, and the operation portion 90 is provided on the proximal end side of the handle 84.

Referring now more particularly to fig. 13 and 14, the guide member 70 includes a body 92, with a bore 94 formed in the body 92. The body 92 is disc-shaped, the body 92 is accommodated in the accommodating cavity 86, and the positioning column 88 passes through the through hole 94 and is tightly matched with the through hole 94, so that the guide member 70 and the handle 84 rotate synchronously.

The guide member 70 further includes a driving block 96 extending axially at one end surface of the body 92, the driving block 96 driving the angle control member 36 to rotate.

The drive block 96 includes a rotating portion 98 and a drive portion 100 connected. The rotating portion 98 is provided at a central position of the body 92, and an axial length of the rotating portion 98 is larger than an axial length of the driving portion 100. The rotating portion 98 has a circular arc-shaped mating surface 102, and the driving portion 100 has a planar driving surface. The arc extension angle of the mating surface 102 is greater than 180 degrees and less than 360 degrees, and the driving portion 100 is disposed on a side of the rotating portion 98 away from the mating surface 102.

Since the arc extension angle of the engagement surface 102 of the rotating portion 98 is greater than 180 degrees, the engagement area of the rotating portion 98 and the through hole 118 can be made larger, so that the rotation of the guide 70 is more stable, and the operation of the entire end effector driving device 34 is more stable.

The drive face includes a first drive face 104 and a second drive face 106 coupled to respective ends of the mating face 102, the first drive face 104 and the second drive face 106 being substantially parallel.

Referring now more particularly to fig. 14 and 15, the guide member 70 further includes an axially extending drive member on one end face of the body, the drive member being adapted to drive the locking member from the locking displacement to the release position. The driving members include a first driving member 108 and a second driving member 110, the first driving member 108 driving the first locking member 78, the second driving member 110 driving the second locking member 80. The first driver 108 and the second driver 110 are circumferentially spaced apart. The axial length of the driver is substantially the same as the axial length of the driver 100.

The drive block 96 and the drive member extend axially on the same side of the body 92, and in particular, both extend axially on the end of the body 92 adjacent the angle control member 36. The drive block 96 and the drive member may be integrally formed with the body 92 or may be relatively fixed by a particular connection.

Referring to fig. 5, 13, 14 and 16, the angle control member 36 includes a main body portion 112 and a socket portion 114 disposed on an underside of the main body portion 112.

The main body 112 is provided with a driving groove 116 capable of accommodating the driving block 96, the driving groove 116 comprises a through hole 118 and a recessed portion 120 which are communicated, the rotating portion 98 of the guide 70 is rotatably matched with the through hole 118, and the driving portion 100 of the guide 70 is accommodated in the recessed portion 120.

Referring to fig. 14, 17-19, when the locking element is in the locked position, a first gap 122 is formed between the first driving surface 104 of the driving portion 100 and the recessed portion 120 of the driving groove 116, a second gap 124 is formed between the second driving surface 106 and the recessed portion 120, and the first gap 122 and the second gap 124 are symmetrical with respect to the driving portion 100.

When the rotating portion 98 rotates in the first direction in the through hole 118, the driving portion 100 rotates in the recess 120, so that the first driving member 108 drives the first locking member 78 to move from the first locking position to the first releasing position, and in the process, the first gap 122 disappears; the rotating portion 98 continues to rotate in the through hole 118 to bring the driving portion 100 into abutment with the recess 120, so that the guide member 70 brings the angle control member 36 into synchronous rotation.

When the rotating portion 98 rotates in the second direction in the through hole 118, the driving portion 100 rotates in the recess 120, so that the second driving member 110 drives the second locking member 80 to move from the second locking position to the second releasing position, and in the process, the second gap 124 disappears; the rotating portion 98 continues to rotate in the through hole 118 to bring the driving portion 100 into abutment with the recess 120, so that the guide member 70 brings the angle control member 36 into synchronous rotation.

Thus, the first gap 122 provides space for the first locking member 78 to rotate to unlock it and the second gap 124 provides space for the second locking member 80 to rotate to unlock it.

The main body 112 is provided with a first protrusion 126, the driving groove 116 is provided on the first protrusion 126, and the first protrusion 126 is provided with a first rotation engagement surface 128 having a circular arc shape. The main body 112 is further provided with a second protrusion 130, the second protrusion 130 and the first protrusion 126 are respectively disposed on opposite sides of the rotation portion 98, and the second protrusion 130 is provided with a second rotation engagement surface 132 having a circular arc shape. The second rotation engagement surface 132 and the first rotation engagement surface 128 are located on opposite sides of the center of rotation of the angle control member 36.

A receiving groove 140 is formed between the second protrusion 130 and the first protrusion 126, and the elastic member 82 is disposed in the receiving groove 140. The elastic member 82 has one end abutting the first locking member 78 and the other end abutting the second locking member 80.

The resilient member 82 is disposed between the first protrusion 126 and the second protrusion 130 such that the resilient member 82 does not directly contact the position sleeve 72, thereby preventing interference between the resilient member 82 and the position sleeve 72 during elastic deformation of the resilient member 82, resulting in controllable rotation of the angle control member 36 relative to the position sleeve 72, and ultimately the end effector 14 relative to the shaft assembly 10, thereby allowing controllable operation of the surgical instrument 200.

Referring to fig. 5 and 17, the position sleeve 72 is fixed relative to the housing of the surgical instrument 200. In particular, the positioning sleeve 72 is provided with two mounting portions 134 that are securable relative to the housing of the surgical instrument 200. The mounting portion 134 is provided on the outer peripheral surface of the positioning sleeve 72.

The positioning sleeve 72 is generally annular, and the positioning sleeve 72 is received on the receiving portion 114 of the angle control member 36, such that the angle control member 36 can rotate relative to the positioning sleeve 72.

Specifically, the outer peripheral surface 136 of the body portion 112 of the angle control member 36 is rotationally coupled to the inner peripheral surface 138 of the positioning sleeve 72.

The first rotational engagement surface 128 of the first projection 126 and the second rotational engagement surface 132 of the second projection 130 form a portion of an outer peripheral surface 136 of the body member 92. Thus, the first and second rotating engagement surfaces 128, 132 together provide a guide for the rotation of the angle control member 36 relative to the positioning sleeve 72, allowing the angle control member 36 to rotate stably relative to the positioning sleeve 72.

The first and second rotating engagement surfaces 128, 132 provide guidance for rotation of the angle control member 36 relative to the position sleeve 72, and no additional components are required to provide guidance for rotation of the angle control member 36 relative to the position sleeve 72, making the end effector drive mechanism 34 simpler in construction. The extension length of the second rotating engagement surface 132 is greater than the extension length of the first rotating engagement surface 128, and the extension length of the second rotating engagement surface 132 is long, so that the angle control member 36 can be rotated stably relative to the positioning sleeve 72 in addition to the length of the elastic member 82; the short extension of the first rotating engagement surface 128 allows the first protrusion 126 to be smaller in size, thereby allowing for a more rational arrangement of the overall angular control member 36.

When the positioning sleeve 72 and the angle control member 36 are assembled together, a receiving space is formed between a part of the outer surface of the first protrusion 126 and the inner circumferential surface 138 of the positioning sleeve 72. Specifically, a first receiving space 74 is formed between one side of the first protrusion 126 and the inner circumferential surface 138 of the positioning sleeve 72, the first locking member 78 is received in the first receiving space 74, a second receiving space 76 is formed between the other side of the first protrusion 126 and the inner circumferential surface 138 of the positioning sleeve 72, the second locking member 80 is received in the second receiving space 76, and the first receiving space 74 and the second receiving space 76 are symmetrically arranged relative to the rotation center of the angle control member 36.

Since both sides of the first protrusion 126 extend substantially planarly and the inner peripheral surface of the positioning sleeve 72 extends arcuately, the distance between both sides of the first protrusion 126 and the positioning sleeve 72 in the circumferential direction changes constantly, that is, the widths of the first and second

accommodating spaces

74 and 76 in the circumferential direction change constantly. When the first locking member 78 is located in the narrow width portion of the first receiving space 74 (the width is slightly smaller than the diameter of the first locking member 78), the first locking member 78 is located in the locking position; when the first locking member 78 is located in a wider portion (having a width greater than the diameter of the first locking member 78) of the first receiving space 74, the first locking member 78 is located in the release position.

As mentioned above, referring to fig. 14, 17 and 19, the guiding element 70 includes a first driving element 108 and a second driving element 110, the first driving element 108 partially extends into the first receiving space 74, the second driving element 110 partially extends into the second receiving space 76, so that the first driving element 108 can push the first locking element 78 received in the first receiving space 76, and the second driving element 110 can push the second locking element 80 received in the second receiving space 78.

As mentioned above, referring to fig. 14, during the rotation of the guiding element 70, the locking element is pushed by the driving element to move from the locking position to the releasing position by the rotation of the angle control element 36, and then the guiding element 70 drives the angle control element 36 to rotate synchronously. Therefore, the guide member 70 needs to be rotated relative to the angle control member 36, but the guide member 70 cannot be axially separated from the angle control member 36.

Referring to fig. 14 and 17, to limit the axial position and the circumferential movement of the guide member 70 and the angle control member 36, the axial length of the rotating portion 98 is greater than the axial length of the driving portion 100, and the rotating portion 98 passes through the through hole 118. The end effector actuator 34 further includes a spacer 142 and a screw 144, the rotating portion 98 having a threaded bore 148 formed therein, the angular control member 36 having a stepped surface (not shown) disposed on a side thereof remote from the guide member 70, the spacer 142 being disposed adjacent the stepped surface, a threaded portion 146 of the screw 144 being threadably engaged with the rotating portion 98 through a central bore of the spacer 142, and a nut 150 of the screw 144 being disposed adjacent the spacer 142.

After the end effector driver 34 is installed, the nut 150 of the screw 144 is adjacent the washer 142, and the washer 142 is adjacent the step surface, thereby preventing the angle control member 36 from axially falling off the guide member 70; and the nut 150 is disposed adjacent the washer 142 and the washer 142 is disposed adjacent the step surface, i.e., the screw 144 does not lock the angle control member 36 and the guide member 70, thereby allowing the guide member 70 to rotate relative to the angle control member 36.

The rotation and locking process of the end effector 14 of the surgical instrument 200 of the present embodiment is described below.

When the handle 84 is rotated in the first direction, the handle 84 drives the guide member 70 to rotate in the first direction, and the driving block 96 of the guide member 70 rotates in the first direction until the driving portion 100 contacts one side wall of the recess 120 of the driving groove 116, at which time the first gap 122 disappears, and in the process, the first driving member 108 pushes the first locking member 78 from the first locking position to the first releasing position. At this time, if the handle 84 is rotated continuously in the first direction, the angle control member 36 is driven by the guide member 70 to rotate in the first direction in the positioning sleeve 72, at this time, the angle control member 36 drives the first slider 38 to move forward through the first connecting column 42, the first slider 38 drives the first rod member 30 to move forward, meanwhile, the angle control member 36 drives the second slider 40 to move backward through the second connecting column 44, and the second slider 40 drives the second rod member 32 to move backward; the first rod 30 moves forward and the second rod 32 moves rearward such that the end effector 14 rotates in a first direction. During the rotation of the handle 84 in the first direction, the second locking member 80 is always located at the second locking position due to the elastic force of the elastic member 82, so that the locking of the rotation of the angle control member 36 in the second direction within the positioning sleeve 72 is always maintained. When the rotation of the handle 84 in the first direction is stopped, the first locking member 78 is pushed from the first release position to the first locking position by the elastic force of the elastic member 82, and the locking of the angle control member 36 in the positioning sleeve 72 in the rotation in the first direction is restored. The first locking member 78 also pushes the first driving member 108 and thus the guide member 70 along with the handle 84 to rotate in the second direction until the first gap 122 is restored to the state before the handle 84 is rotated. In this manner, immediate bi-directional locking of the angular control member 36, the guide member 70 and the handle 84 at any position during rotation in the first direction is achieved such that the end effector 14 is locked at the rotation angle corresponding to the any position, preventing undesired rotation of the end effector 14 in either of the first and second directions at the rotation angle corresponding to the any position during the procedure.

When the handle 84 is rotated in the second direction, the handle 84 drives the guide member 70 to rotate in the second direction, the driving portion 100 of the guide member 70 rotates in the second direction until the driving portion 100 contacts with the other side wall of the recess 120 of the driving groove 116, at which time the second gap 124 disappears, and in the process, the second driving member 110 pushes the second locking member 80 from the second locking position to the second releasing position. At this time, if the handle 84 is rotated continuously in the second direction, the angle control member 36 can be driven by the guide member 70 to rotate in the second direction in the positioning sleeve 72, at this time, the angle control member 36 drives the second slider 40 to move forward through the second connecting column 44, the second slider 40 drives the second rod member 32 to move forward, meanwhile, the angle control member 36 drives the first slider 38 to move backward through the first connecting column 42, and the first slider 38 drives the first rod member 30 to move backward; the second rod 32 moves forward and the first rod 30 moves backward such that the end effector 14 rotates in a second direction. During the rotation of the handle 84 in the second direction, the first locking member 78 is always located at the first locking position due to the elastic force of the elastic member 82, so that the locking of the rotation of the angle control member 36 in the first direction in the positioning sleeve 72 is always maintained. When the rotation of the handle 84 in the second direction is stopped, the second locking member 80 is pushed from the second release position to the second locking position by the elastic force of the elastic member 82, and the locking of the angle control member 36 in the second direction in the positioning sleeve 72 is restored. The second locking member 80 also pushes the second driving member 110 and thus the guide member 70 to rotate along with the handle 84 in the first direction until the second gap 124 is restored to the state before the handle 84 is rotated. In this manner, immediate bi-directional locking of the angular control member 36, the guide member 70 and the handle 84 at any position during rotation in the second direction is achieved such that the end effector 14 is locked at the rotation angle corresponding to the any position, preventing undesired rotation of the end effector 14 in either of the first and second directions at the rotation angle corresponding to the any position during the procedure.

In summary, the surgical instrument 200 of the present invention controls the state of the angle control member 36 and, thus, the angle of rotation of the end effector 14, by the cooperation between the guide member 70, the angle control member 36, the elastic member 82, the first locking member 78, the second locking member 80, and the positioning sleeve 72. By rotating the handle 84, the angular control 36 is rotated to different positions, thereby rotating the end effector 14 to different positions. The elastic member 82 is matched with the first locking member 78 and the second locking member 80, so that the angle control member 36 is locked at any position in the rotating process, and the end effector 14 is locked at any position in the rotating process, and the aim of accurately clamping the target tissue can be fulfilled. On the premise of realizing the instant bidirectional locking function at any position in the rotation process, the structure of the end effector driving device comprising the guide member 70, the angle control member 36, the elastic member 82, the first locking member 78, the second locking member 80 and the positioning sleeve 72 is simpler, thereby improving the operational reliability of the end effector driving device.

It should be understood that although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the technical solutions in the embodiments can also be combined appropriately to form other embodiments understood by those skilled in the art.

The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.

Claims

1. An end effector drive arrangement for a surgical instrument for controlling rotation and locking of an end effector, characterized by: the end effector driving device comprises a guide piece, an angle control piece and a positioning sleeve sleeved on the angle control piece, wherein the angle control piece and the positioning sleeve form an accommodating space, a locking piece is arranged in the accommodating space, the guide piece drives the locking piece to move between a locking position and a releasing position, when the locking piece is located at the locking position, the guide piece cannot drive the angle control piece to rotate in the positioning sleeve, and when the locking piece is located at the releasing position, the guide piece can drive the angle control piece to rotate in the positioning sleeve.

2. An end effector drive arrangement for a surgical instrument as recited in claim 1, wherein: the guide piece is provided with a driving block, and the angle control piece is provided with a driving groove for accommodating the driving block.

3. An end effector drive arrangement for a surgical instrument as recited in claim 2, wherein: the driving block comprises a rotating part and a driving part which are connected, the rotating part is provided with a circular arc-shaped matching surface, and the driving part is provided with a planar driving surface.

4. An end effector drive arrangement for a surgical instrument as recited in claim 3, wherein: the arc extension angle of the matching surface is larger than 180 degrees and smaller than 360 degrees, and the driving part is arranged on one side of the rotating part, which is far away from the matching surface.

5. An end effector drive arrangement for a surgical instrument as recited in claim 3, wherein: the driving surface comprises a first driving surface connected with one end of the matching surface and a second driving surface connected with the other end of the matching surface; when the locking member is in the locked position, a first clearance is provided between the first driving surface and the driving groove, and a second clearance is provided between the second driving surface and the driving groove.

6. An end effector drive arrangement for a surgical instrument as recited in claim 5, wherein: when the lock is located at the release position, the first driving surface abuts against the driving groove or the second driving surface abuts against the driving groove.

7. An end effector drive arrangement for a surgical instrument as recited in claim 6, wherein: when the first driving surface is abutted with the driving groove, the guide piece drives the angle control piece to rotate in a first direction in the positioning sleeve, and when the second driving surface is abutted with the driving groove, the guide piece drives the angle control piece to rotate in a second direction in the positioning sleeve, wherein the second direction is opposite to the first direction.

8. An end effector drive arrangement for a surgical instrument as recited in claim 3, wherein: the end effector driving device further comprises a gasket and a screw, a threaded hole is formed in the rotating portion, a step surface is arranged on one side, away from the guide piece, of the angle control piece, the gasket is attached to the step surface, the threaded portion of the screw penetrates through the center hole of the gasket and is connected with the threaded hole in a matched mode, and the gasket is located between the nut of the screw and the step surface.

9. An end effector drive arrangement for a surgical instrument as recited in claim 2, wherein: the angle control piece is provided with a first convex part, the driving groove is arranged on the first convex part, the first convex part is provided with a circular arc-shaped first rotating matching surface, and the first rotating matching surface is rotatably matched and connected with the inner surface of the positioning sleeve.

10. An end effector drive arrangement for a surgical instrument as recited in claim 9, wherein: the angle control piece is further provided with a second convex part, the second convex part is provided with a circular arc-shaped second rotating matching surface, the second rotating matching surface is rotatably matched and connected with the inner surface of the positioning sleeve, and the second rotating matching surface and the first rotating matching surface are respectively positioned on two sides of the rotating center of the angle control piece.

11. An end effector drive arrangement for a surgical instrument as recited in claim 9, wherein: the angle control member is further provided with a second convex portion, an accommodating groove is formed between the second convex portion and the first convex portion, the end effector driving device further comprises an elastic member, the elastic member exerts an acting force on the locking member to keep the locking member at the locking position, and the elastic member is arranged in the accommodating groove.

12. An end effector drive arrangement for a surgical instrument as recited in claim 1, wherein: the accommodating space comprises a first accommodating space and a second accommodating space, the locking piece comprises a first locking piece accommodated in the first accommodating space and a second locking piece accommodated in the second accommodating space, the first locking piece controls the angle control piece to rotate and lock relative to the positioning sleeve along a first direction, the second locking piece controls the angle control piece to rotate and lock relative to the positioning sleeve along a second direction, and the second direction is opposite to the first direction.

13. An end effector drive arrangement for a surgical instrument as recited in claim 12, wherein: the first locking piece is provided with a first locking position and a first releasing position in the first accommodating space, when the first locking piece is located at the first locking position, the guide piece can not drive the angle control piece to rotate in the positioning sleeve along the first direction, and when the first locking piece is located at the first releasing position, the guide piece can drive the angle control piece to rotate in the positioning sleeve along the first direction.

14. An end effector drive arrangement for a surgical instrument as recited in claim 12, wherein said second locking member has a second locked position and a second released position within said second receiving space, said guide not driving said angular control member to rotate in said second direction within said alignment sleeve when said second locking member is in said second locked position, said guide driving said angular control member to rotate in said second direction within said alignment sleeve when said second locking member is in said second released position.

15. An end effector drive arrangement for a surgical instrument as recited in claim 12, wherein: an elastic piece is arranged between the first locking piece and the second locking piece, one end of the elastic piece exerts acting force on the first locking piece to keep the first locking piece at the locking position, and the other end of the elastic piece exerts acting force on the second locking piece to keep the second locking piece at the locking position.

16. An end effector drive arrangement for a surgical instrument as recited in claim 1, wherein: the guide piece is provided with a driving piece, the driving piece partially extends into the accommodating space, and the driving piece pushes the locking piece to move from the locking position to the releasing position.

17. An end effector drive arrangement for a surgical instrument as recited in claim 1, wherein: the end effector driving device further comprises a handle, the handle is provided with an accommodating cavity and a positioning column located in the accommodating cavity, the guide part is partially accommodated in the accommodating cavity, a through hole is formed in the guide part, and the positioning column is tightly matched with the through hole.

18. A surgical instrument comprising a shaft assembly, a handle assembly disposed at one end of the shaft assembly, an end effector disposed at another end of the shaft assembly, wherein: the surgical instrument further comprising an end effector drive device of any one of claims 1 to 17 connected to the shaft assembly, the end effector drive device controlling rotation and locking of the end effector relative to the shaft assembly.

19. The surgical instrument of claim 18, wherein: the shaft assembly comprises a first rod and a second rod which are arranged in parallel and at intervals, the angle control piece drives the first rod and the second rod to move in tandem through a first motion conversion mechanism, and the first rod and the second rod move in tandem through a second motion conversion mechanism to drive the end effector to rotate.

20. The surgical instrument of claim 19, wherein: the surgical instrument further comprises a first sliding block fixedly connected with the rear end of the first rod piece and a second sliding block fixedly connected with the rear end of the second rod piece, the first motion conversion mechanism comprises a first connecting column and a second connecting column which are relatively fixed to the angle control piece, a first containing hole formed in the first sliding block and a second containing hole formed in the second sliding block, the first connecting column and the second connecting column are symmetrically arranged relative to the rotation center of the angle control piece, the extending directions of the first containing hole and the second containing hole are perpendicular to the extending directions of the first rod piece and the second rod piece, the first connecting column is contained in the first containing hole and can move in the first containing hole, and the second connecting column is contained in the second containing hole and can move in the second containing hole.

21. The surgical instrument of claim 19, wherein: the surgical instrument further comprises an angle steering member, the angle steering member comprises a distal end portion and a proximal end portion, the distal end portion is connected to the end effector, the second motion conversion mechanism comprises a first cylinder and a second cylinder which are arranged at the proximal end portion, a first connecting hole arranged at the first rod, and a second connecting hole arranged at the second rod, the extending directions of the first connecting hole and the second connecting hole are perpendicular to the extending directions of the first rod and the second rod, the first cylinder is contained in the first connecting hole and can move in the first connecting hole, and the second cylinder is contained in the second connecting hole and can move in the second connecting hole.