CN114098865A

CN114098865A - Surgical instrument

Info

Publication number: CN114098865A
Application number: CN202010885660.8A
Authority: CN
Inventors: 孙宝峰; 范功远; 邹明明; 李正治
Original assignee: Fengh Medical Co ltd
Current assignee: Fengh Medical Co ltd
Priority date: 2020-08-28
Filing date: 2020-08-28
Publication date: 2022-03-01
Anticipated expiration: 2040-08-28
Also published as: CN114098865B

Abstract

The invention discloses a surgical instrument, which comprises a jaw assembly and a jaw driving mechanism for driving the jaw assembly to move, wherein the jaw driving mechanism comprises a jaw closing driving mechanism for driving the jaw assembly to close; the jaw closing driving mechanism comprises a driving part and a driven part driven by the driving part, the driving part is provided with a first motion conversion mechanism, the driven part is provided with a second motion conversion mechanism, and the first motion conversion mechanism is matched with the second motion conversion mechanism to convert the rotation of the driving part into the linear motion of the driven part; the driving part is a first cam part, and the first motion conversion mechanism comprises a first cam surface; the follower is connected to the jaw assembly. The follow-up driving of the jaw driving mechanism is realized through the first cam surface arranged on the end side of the driving part, the structure is simple, and the transmission is accurate.

Description

Surgical instrument

Technical Field

The present invention relates to a surgical instrument.

Background

As is well known, the endocavity cutting stapler has been commonly used in the abdominal cavity and other intracavitary operations.

Existing endocutters generally include a housing, a shaft assembly extending longitudinally (also referred to as a lengthwise direction) from the housing, and an end effector disposed at a distal end of the shaft assembly, the end effector including a jaw assembly and a cartridge assembly, the jaw assembly including a cartridge mount for operably supporting the cartridge assembly therein and a staple anvil pivotally connected to the cartridge mount, the staple anvil being selectively movable between an open position and a closed position.

A motor, at least a part of cutting driving mechanism and a jaw driving mechanism which are driven by the motor are accommodated in the shell, the cutting driving mechanism drives the cutting knife assembly to feed or withdraw, and tissues can be cut and anastomosed when the cutting knife assembly feeds; the jaw drive mechanism drives the jaw assembly to close or open, the jaw assembly can clamp tissue when closed, and the jaw assembly can release tissue or align tissue to be clamped when open.

The structure of a jaw driving mechanism of the existing anastomat is complex, and needs to be improved.

Disclosure of Invention

In view of the deficiencies of the prior art, the present invention is directed to a surgical instrument that simplifies the construction of the jaw drive mechanism.

The invention is realized by the following technical scheme:

a surgical instrument comprising a jaw assembly, a jaw drive mechanism to drive movement of the jaw assembly, the jaw drive mechanism comprising a jaw closure drive mechanism to drive closure of the jaw assembly; the jaw closing driving mechanism comprises a driving part and a driven part driven by the driving part, the driving part is provided with a first motion conversion mechanism, the driven part is provided with a second motion conversion mechanism, and the first motion conversion mechanism is matched with the second motion conversion mechanism to convert the rotation of the driving part into the linear motion of the driven part; the driving part is a first cam part, and the first motion conversion mechanism comprises a first cam surface; the follower is connected to the jaw assembly.

Preferably, the first cam surface is a helicoid provided on a distal end side of the active member.

Preferably, the first cam member further comprises a first start abutment surface and a first end abutment surface, the first start abutment surface being adjacent to and angled with respect to one end of the first cam surface, the first end abutment surface being adjacent to and angled with respect to the other end of the first cam surface.

Preferably, the follower is a second cam member, and the second motion conversion mechanism includes a second cam surface that is form-matched to the first cam surface.

Preferably, the second cam member further comprises a second start point abutment surface and a second end point abutment surface, the second start point abutment surface being adjacent to one end of the second cam surface and being disposed at an angle, the second end point abutment surface being adjacent to the other end of the second cam surface and being disposed at an angle.

Preferably, during closure of the jaw assemblies, the first cam member has three states of engagement with the second cam member: in the first fitting state, the first starting point abutting surface abuts against the second starting point abutting surface, and the distance between the first cam piece and the second cam piece reaches a minimum value; in a second mating state, the first cam member is rotated such that the first cam surface pushes the second cam surface to drive the second cam member to move linearly; in the third engagement state, the second starting point abutment surface abuts against the first end point abutment surface, and the distance between the first cam member and the second cam member reaches a maximum value.

Preferably, the jaw closing drive mechanism further comprises a jaw drive gear for driving the first cam member to rotate.

Preferably, the jaw drive gear and the first cam member are coaxially and spaced apart.

Preferably, the jaw driving mechanism further comprises a motion transmission mechanism, and the driven member is connected with the jaw assembly through the motion transmission mechanism.

Preferably, the motion transmission mechanism includes a pitch transmission mechanism and a linear transmission mechanism connected, and the pitch transmission mechanism makes an axis of the linear transmission mechanism and an axis of the driven member parallel.

Preferably, the distance transmission mechanism is a connecting rod, one end of the connecting rod is connected with the driven member, and the other end of the connecting rod is connected with the linear transmission mechanism.

Preferably, linear transfer mechanism includes clamping ring and sleeve pipe that links to each other, the subassembly of keeping silent including nail storehouse seat, with nail storehouse seat pivotal connection's the seat of supporting nails, the sleeve pipe with support and be equipped with the motion and change the mechanism between the nail seat, the motion changes the mechanism with sheathed tube linear motion converts into support the pivotal motion of nail seat.

Preferably, the actuating mechanism of keeping silent still including the drive keep silent that the subassembly of keeping silent is opened and open actuating mechanism, keep silent and open actuating mechanism including reset the piece the follower with the driving part, the driving part rotates and does the motion of follower lets out the position, reset a drive the follower is followed the driving part motion.

Preferably, the reset piece is an elastic element, and the elastic element is charged with energy during the movement of the jaw closing driving mechanism.

Preferably, reset the piece with be provided with clamping ring and connecting rod between the follower, reset the piece with the clamping ring butt, the one end of connecting rod with the follower is connected, the other end of connecting rod with the clamping ring is connected.

Preferably, the follower is a second cam member, the second cam member including a second cam surface.

Preferably, the second cam member further comprises a second start point abutment surface and a second end point abutment surface, the second start point abutment surface being adjacent to and angled with respect to one end of the second cam surface, and the second end point abutment surface being adjacent to and angled with respect to the other end of the second cam surface.

Preferably, the jaw opening driving mechanism and the jaw closing driving mechanism each include a power supply member and a transmission assembly, the power supply members of the jaw opening driving mechanism and the jaw closing driving mechanism are different, the transmission assemblies of the jaw opening driving mechanism and the jaw closing driving mechanism are the same, and the transmission paths of the transmission assemblies are opposite in the opening process and the closing process of the jaw assembly.

Preferably, the first cam member is provided with a first cam surface that is matched in shape to the second cam surface.

Preferably, the first cam member further comprises a first end point abutting surface and a first start point abutting surface which are connected with the first cam surface, the first end point abutting surface is connected with one end of the first cam surface and is arranged at an angle, and the first end point abutting surface is connected with the other end of the first cam surface and is arranged at an angle.

Preferably, during the opening of the jaws, the second cam member and the first cam member have three mating states: in the first fitting state, the second starting point abutting surface abuts against the first end point abutting surface, and the distance between the first cam piece and the second cam piece reaches a maximum value; in a second matching state, the first cam surface gives way to the movement space of the second cam surface, and the second cam surface moves along with the first cam surface under the pushing of the reset piece; in the third fitting state, the second starting point abutment surface abuts against the first starting point abutment surface, and the distance between the first cam member and the second cam member reaches a minimum value.

Compared with the prior art, the invention has the beneficial effects that: the follow-up driving of the jaw driving mechanism is realized through the first cam surface arranged on the end side of the driving part, the structure is simple, and the transmission is accurate.

Drawings

FIG. 1 is a perspective view of a surgical instrument provided in accordance with a first embodiment of the present invention;

FIG. 2 is an elevational view of the surgical instrument illustrated in FIG. 1;

FIG. 3 is an exploded schematic view of the portion of the surgical instrument illustrated in FIG. 1;

FIG. 4 is a perspective view of the surgical instrument illustrated in FIG. 1 with a portion of the housing hidden;

FIG. 5 is an elevational view of the surgical instrument illustrated in FIG. 4;

FIG. 6 is an exploded schematic view of the surgical instrument illustrated in FIG. 5;

FIG. 7 is a perspective view of a portion of the drive mechanism of the surgical instrument illustrated in FIG. 4;

FIGS. 8 and 9 are perspective views of portions of the clutch mechanism of the transmission shown in FIG. 7;

FIGS. 10 and 11 are cross-sectional views of portions of the surgical instrument illustrated in FIG. 1;

FIGS. 12 and 13 are perspective exploded views of a partial cut drive structure of the surgical instrument illustrated in FIG. 1;

FIGS. 14-17 are state change schematic views of a clutch mechanism of the surgical instrument illustrated in FIG. 1;

FIGS. 18-21 are schematic views of a jaw drive mechanism of the surgical instrument illustrated in FIG. 1 illustrating changes in configuration and state;

FIG. 22 is a schematic structural view of a first cam member of the jaw drive mechanism shown in FIG. 18;

FIGS. 23-28 are schematic structural views of a motion override mechanism for a sleeve drive jaw of the surgical instrument illustrated in FIG. 1;

FIG. 29 is a schematic view of a forward and reverse orientation of the operative member of the surgical instrument illustrated in FIG. 1;

FIG. 30 is a schematic projection view in a plane perpendicular to the axis of rotation of the operative member of the surgical instrument illustrated in FIG. 1 as it rotates about the axis of rotation;

FIG. 31 is a schematic illustration of the construction of an auxiliary operating member assembly operator of the surgical instrument in accordance with the second embodiment of the present invention;

FIG. 32 is a perspective view of the auxiliary operating member assembly operating member of FIG. 31 as it rotates about the axis of rotation in a plane perpendicular to the axis of rotation;

FIG. 33 is a schematic illustration of the secondary operating member of the surgical instrument being an L-shaped lever in accordance with the second embodiment of the present invention;

FIG. 34 is a diagrammatic view of a surgical instrument provided in accordance with a third embodiment of the present invention;

FIG. 35 is a diagrammatic view of another surgical instrument provided in accordance with a third embodiment of the present invention;

FIG. 36 is an elevational view, in partial configuration, of a surgical instrument according to a fourth embodiment of the present invention;

FIG. 37 is a perspective view of a portion of the structure of the surgical instrument illustrated in FIG. 36;

FIG. 38 is a schematic illustration of a portion of the structure of a surgical instrument according to a fifth embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection 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 jaw assembly is distal, e.g., 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 jaw assembly. The terms "upper" and "lower" are used with reference to the relative positions of the staple abutting seat and the magazine seat of the jaw assembly, specifically, the staple abutting seat is "upper" and the magazine 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, the terms "connected" and "connecting" 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. It should be noted that, when a definite term is used before "connected" or "connected", it has the meaning defined by the corresponding definite term, only excluding the case where it is obviously necessary to exclude other possible cases, such as "detachably connected" means detachably connected, and does not include fixed connection and integration, but movable connection, direct connection, indirect connection through an intermediate medium are not excluded.

Fig. 1 to 30 show a surgical instrument 100, in particular a motorized stapler, according to a first embodiment of the invention. Defining the surgical instrument 100 as including the module to power it is a power module, which is classified according to the type of power into a power module that provides electrical power and a manual module that provides manual power.

The surgical instrument 100 includes a body 108, a shaft assembly 104, and an end effector 106 connected in series. The body 108 includes a main module and an electric powered module 110 connected thereto. The main module includes a first housing 112, the first housing 112 includes a head housing 114 and a handle housing 116 connected together, the head housing 114 houses at least a portion of the transmission mechanism, and the handle housing 116 is adapted to be held by an operator. Of course, in some embodiments, the handle housing 116 may also house a portion of the transmission mechanism, as will be described in more detail below. The electric module 110 includes a second housing 120 and a motor 122, the second housing 120 housing the motor 122. The main body 108 also includes a removably mountable battery pack (not shown) including a third housing (not shown) removably mounted to the handle housing 116 and a battery housed in the third housing. Preferably, the handle housing 116 has a cavity to which the battery pack is mounted. The battery supplies electric power to the motor 122, and the motor 122 operates while receiving the electric power to output electric power. The transmission mechanism is connected to the electric module 110 and operates when electric power output from the motor 122 is obtained.

The shaft assembly 104 includes at least some other gearing mechanism than that housed by the head housing 114 in this embodiment, and the head housing 114 and the handle housing 116 in some embodiments. For example, the shaft assembly 104 includes a mandrel 124 and a sleeve 126 that is sleeved over the mandrel 124. The spindle 124 and sleeve 126 are part of a transmission mechanism.

End effector 106 includes a jaw assembly 128 and a cartridge assembly. The jaw assembly 128 includes a cartridge receptacle 130 and an anvil 132 pivotally attached to the cartridge receptacle 130. The cartridge carrier 130 is adapted to operably support a cartridge assembly (not shown) positioned therein, and the anvil 132 is selectively movable between an open position and a closed position to cooperate with the cartridge carrier 130 and the cartridge assembly to clamp or unclamp tissue. The nail bin assembly is provided with a groove for the movement of the cutting knife assembly, the cutting knife assembly can cut tissues in the movement process of moving towards the far end in the groove, and anastomotic nails contained in the nail bin assembly are pushed to be ejected out of the nails so as to anastomose the tissues.

Therefore, the motor 122 drives the cutting knife assembly to advance through the transmission mechanism to cut and anastomose the tissue, then the motor 122 drives the cutting knife assembly to retreat through the transmission mechanism, and finally the motor 122 drives the jaw assembly 128 to open through the transmission mechanism to loosen the tissue, so that the cutting and anastomosing functions of the anastomat are realized.

The transmission mechanism includes a switching mechanism and a driving mechanism that are sequentially driven. The switching mechanism includes an input driven by the motor 122, a clutch mechanism driven by the input, and an output selectively driven by the clutch mechanism. The output member includes a first output member and a second output member. The drive mechanism includes a cutting drive mechanism 146 and a jaw assembly drive mechanism 148, with a first output driving the cutting drive mechanism 146 and a second output driving the jaw assembly drive mechanism 148. The cutting driving mechanism 146 drives the cutting knife assembly to feed or retract; the jaw assembly drive mechanism 148 drives the jaw assembly 128 to close or open. The first output piece and the second output piece are alternatively driven, so that the cutting executing mechanism and the jaw assembly driving mechanism are alternatively driven. Depending on the mode of operation of the surgical instrument, the cutting actuator cannot be actuated simultaneously with the actuation of the jaw actuator, and the actuation of the cutting actuator and the actuation of the jaw actuator should follow a predetermined sequence, and therefore, it is useful to selectively actuate the cutting actuator.

The cutting driving mechanism comprises a first driving part and a first driven part, the first driving part comprises a first motion conversion structure, the first driven part comprises a second motion conversion structure, the first driving part and the first driven part realize the conversion of motion modes through the first motion conversion structure and the second motion conversion structure, and the rotation of the first driving part is converted into the linear movement of the first driven part. The output part is connected with the first driving part, and the first driven part is connected with the cutting executing mechanism. The clutch mechanism selectively drives the output part to selectively drive the first driving part, and then the cutting executing mechanism is selectively driven by the first driven part. The mode of operation of the surgical instrument requires that the cutting actuator be moved in a linear motion. The structure simplification of the cutting driving mechanism and the clutch mechanism is realized.

The cutting driving mechanism has a cutting driving direction, and the cutting driving direction is a linear moving direction of the first driven member or a linear moving direction of the cutting executing mechanism. The direction that the central axis of power module's output shaft 168 extends is the same with cutting drive direction, from this, sets up power module in the head casing along the direction the same with the direction of first follower rectilinear movement to being independent of the handle setting with power module, being convenient for set up the position and the angle of handle as required, can accord with ergonomics, promotion operator's experience. The directions are the same, including the included angle between the directions is equal to zero or equal to 180 degrees, namely, the directions are the same and opposite. In the prior art, at least part of the power module is arranged in the handle, the extending direction of the central axis of the output shaft 168 of the power module is perpendicular to the linear moving direction of the first driven member, and the position of the handle cannot be flexibly arranged under the limitation of the power module.

The first active element includes a proximal end and a distal end. Proximal refers to the end closer to the operator (including the doctor) and distal refers to the end further from the operator. The first follower linearly moves to have a linear movement stroke. The area of the linear moving stroke is far away from the proximal end of the first active part, and the far direction is a direction from the proximal end to the distal end. The linear moving stroke of the first driven part is positioned on the left side of the near end of the first driving part, the linear moving stroke of the first driven part does not occupy the right side space of the near end of the first driving part, and other parts positioned in the right side space are not limited by the first driven part. Thereby making the overall construction of the surgical instrument more compact. The directions "left" and "right" in this paragraph are based on those shown in fig. 10 and 11.

The clutch mechanism includes an intermediate member 152 and a clutch member. Intermediate member 152 engages the input member and intermediate member 152 drives the clutch member. The output part is connected with a first driving part of the cutting driving mechanism, and the clutch part is selectively matched with the output part, so that selective driving of the cutting driving mechanism is realized. The clutch member includes an active range structure and an idle range structure. When the idle rotation structure is coupled with the output piece, the output piece is not driven, and the cutting driving mechanism is not driven, so that the output piece is selectively driven and the cutting driving mechanism is selectively driven. And matching and coupling are carried out together to realize selective matching. Coupling, refers to the termination of mating between components that mate due to a change in relative position or state, the absence of structure for mating. Relative positional changes include, but are not limited to, the following: relative rotation between the parts.

Specifically, intermediate member 152, the clutch member, rotate in unison, thereby enabling intermediate member 152 to drive the clutch member. Preferably, the intermediate member 152 and the clutch member are formed on the same component.

Specifically, the output member is a gear, the effective rotation structure is a toothed portion, and the idle rotation structure is a non-toothed portion. Furthermore, the toothed part and the toothless part are both positioned on the outer peripheral surface of the clutch piece, and the toothed part and the toothless part are arranged in an adjacent mode.

Specifically, the first driving member is a lead screw 186, the first driven member is a nut 188, the first motion conversion structure is a first thread arranged on the lead screw 186, the second motion conversion structure is a second thread arranged on the nut 188, the lead screw 186 and the nut 188 are matched with the second thread through the first thread to realize the conversion of motion modes, and the rotation of the lead screw 186 is converted into the linear movement of the nut 188. The nut 188 is elongated. Fig. 10 shows an initial position of the linear movement stroke of the nut 188, and fig. 11 shows an intermediate position of the linear movement stroke of the nut 188, namely, the linear movement stroke between the initial position and the intermediate position, and an area occupied by the initial position and the intermediate position is an area occupied by the linear movement stroke. The linear travel of the nut 188 is in a region away from the proximal end of the lead screw 186 and in a direction along the proximal end of the lead screw 186 toward the distal end of the lead screw 186. The cutting drive mechanism (i.e., the first drive mechanism) includes a lead screw 186, a nut 188, a first thread provided to the lead screw 186, and a second thread provided to the nut 188. The first motion transfer mechanism includes a spindle 124. The cutting actuator, i.e., the cutter assembly, includes a pusher member 350 and a cutting blade 352. The proximal end of the mandrel 124 is connected to the distal end of the nut 188, the distal end of the mandrel 124 is connected to the pusher member 350, and the pusher member 350 is connected to the cutting blade 352, whereby the nut 188 in turn drives the mandrel 124, the pusher member 350, and thus the cutting blade 352 forward or backward, i.e., advances or retracts. During the feed, the nut 188 moves linearly from the initial position to the intermediate position, and during the retract, the nut 188 moves linearly from the intermediate position to the initial position.

Specifically, the lead screw 186 is driven to rotate by the output member of the switching mechanism. The output member of the switching mechanism is a cutting drive gear that is connected to a lead screw 186. The distal end of nut 188 includes a receiving slot 194, the proximal end of spindle 124 has a rounded insertion portion 196, and insertion portion 196 is inserted into and received in receiving slot 194. The insertion portion 196 is rotatable in the accommodation groove 194, but the movement in the longitudinal direction thereof is restricted by the accommodation groove 194, so that the nut 188 can drive the spindle 124 through the accommodation groove 194 and the insertion portion 196. The insert 196 is rotatable in the receiving slot 194 so that the spindle 124 can rotate about its own axis independently of the nut 188. The mandrel 124 is rotatable to accommodate the rotation of the shaft assembly which causes the end effector to rotate circumferentially to adjust the position for grasping and securing tissue. The nut 188 includes a stop 198. the stop 198 cooperates with a stop 200 such that rotation of the nut 188 about its central axis is limited and the nut 188 does not rotate but moves linearly when driven by the lead screw 186. The outer surface of the nut 188 includes a flat surface that is a stop 198. The limiting member 200 is connected to the housing such that the limiting member 200 cannot rotate, and the limiting member 200 also includes a flat surface, and the flat surface of the limiting member 200 abuts against the flat surface of the outer surface of the nut 188, thereby limiting the rotation of the nut 188. Preferably, the outer surface of the nut 188 includes two symmetrically disposed flat surfaces, and the retaining member 200 also includes two symmetrically disposed flat surfaces.

Preferably, an accelerating mechanism is arranged between the first output member and the first driving member to increase the rotation speed of the first driving member, and the stroke of the first driven member can be increased within the same time length or increased under the condition that the first output member rotates. Increasing the stroke of the first follower may increase the stroke of the cutting actuator to accommodate the need for a larger cutting stroke. Specifically, the acceleration mechanism includes a two-stage acceleration mechanism 202, the two-stage acceleration mechanism 202 has the same structure and is a planetary gear acceleration mechanism 202, and the structure of the planetary gear acceleration mechanism is well known to those skilled in the art and is not described herein. The first output member drives the first driving member to rotate in an accelerated manner after passing through the two-stage planetary gear acceleration mechanism 202, so that the rotating speed of the first driving member is increased.

Preferably, a thrust bearing 206 is provided between the first output member and the first driving member to overcome a reaction force applied by the cutting actuator to the first output member via the first motion transfer mechanism, the first driven member, and the first driving member, which reduces the transmission efficiency of the clutch mechanism. The structure of the thrust bearing is common knowledge in the art and will not be described in detail herein.

The transmission mechanism further includes a jaw drive mechanism (i.e., a second drive mechanism) and a jaw actuator. The cutting drive mechanism and the jaw drive mechanism are both selectively driven, thereby realizing the action logic relationship between the cutting execution mechanism and the jaw execution mechanism, and further realizing the action logic relationship between the cutting knife 352 and the jaw assembly. Depending on the manner in which the surgical instrument is operated, the actions of the jaw assembly and the cutting blade 352 cannot be performed simultaneously, and the actions should follow the following sequence: the jaw assembly is closed, the cutting knife 352 is advanced, the cutting knife 352 is retracted, and the jaw assembly is opened. The requirements for the action of the jaw assembly and the cutting blade 352 are also referred to as action logic relationships. The above action logic relationship realizes that: the jaw assembly is closed to squeeze and secure tissue received therein, the cutting knife 352 is advanced to engage and cut the tissue, the knife is retracted after engagement and cutting is complete, and the jaw assembly is opened to release the tissue after retraction.

The clutch mechanism includes an intermediate member 152, a first clutch member 154 and a second clutch member 156. The intermediate member 152 is engaged with the input member, and the intermediate member 152 drives the first clutch member 154 and the second clutch member 156. The output piece comprises a first output piece and a second output piece, the first output piece is connected with a first driving piece of the cutting driving mechanism, and the second output piece is connected with the jaw driving mechanism. The first clutch 154 is selectively engageable with the first output to effect selective actuation of the cutting drive mechanism. The second clutch 156 is selectively engageable with the second output to effect selective actuation of the jaw drive mechanism. The first clutch 154 includes a first effective rotation range structure 158 and a first idle rotation range structure 160, such that when the first effective rotation range structure 158 is engaged with the first output member, the first output member is driven and the cutting drive mechanism is driven, and when the first idle rotation range structure 160 is coupled with the first output member, the first output member is not driven and the cutting drive mechanism is not driven, thereby enabling the first output member to be selectively driven and the cutting drive mechanism to be selectively driven. The second clutch 156 includes a second effective rotation range structure 162 and a second idle rotation range structure 164, such that when the second effective rotation range structure 162 is engaged with the second output, the second output is driven and the jaw drive mechanism is driven, and when the second idle rotation range structure 164 is coupled with the second output, the second output is not driven and the jaw drive mechanism is not driven, thereby enabling the second output to be selectively driven and the jaw drive mechanism to be selectively driven. And matching and coupling are carried out together to realize selective matching. Coupling, refers to the termination of mating between components that mate due to a change in relative position or state, the absence of structure for mating. Relative positional changes include, but are not limited to, the following: relative rotation between the parts. Specifically, the intermediate member 152, the first clutch member 154 and the second clutch member 156 rotate in unison, thereby enabling the intermediate member 152 to drive the first clutch member 154 and the second clutch member 156. Specifically, the first and second outputs are both gears, the first and

second range structures

158, 162 are both toothed, and the first and

second range structures

160, 164 are both non-toothed. Preferably, the intermediate member 152, the first clutch member 154 and the second clutch member 156 are formed on the same component.

Specifically, the input member is a main drive gear 166, and the main drive gear 166 is coupled to the power module so as to be driven by the power module. Intermediate member 152 is a gear that is held in mesh with the input member. The first clutch 154 includes a first toothed portion, which is a first effective rotational range structure 158, and a first non-toothed portion, which is a first non-rotational range structure 160. The first toothed portion and the first non-toothed portion are both located on the outer peripheral surface of the first clutch member 154, and the first toothed portion and the first non-toothed portion are disposed adjacent to each other. The second clutch 156 includes a second toothed portion that is a second effective rotational range structure 162 and a second non-toothed portion that is a second non-rotational range structure 164. The second toothed portion and the second non-toothed portion are both located on the outer peripheral surface of the second clutch member 156, and the second toothed portion and the second non-toothed portion are disposed adjacent to each other. The first output is a cutting drive gear 170 and the second output is a jaw drive gear 172. The position of the first clutch 154 corresponds to the position of the cutting drive gear 170 in the axial direction of the intermediate member 152, and the position of the second clutch 156 corresponds to the position of the jaw drive gear 172 in the axial direction of the intermediate member 152. The operation mode is as follows: the main driving gear 166 rotates to drive the middle piece 152 meshed with the main driving gear to rotate, and the middle piece 152 drives the first clutch piece 154 and the second clutch piece 156 to rotate; the first toothed part of the first clutch 154 is engaged with the cutting driving gear 170, so as to drive the cutting driving gear 170 to rotate to drive the cutting driving mechanism, and further drive the cutting executing mechanism to advance or retreat, and the cutting knife 352 of the cutting executing mechanism is synchronously driven to advance or retreat; the first non-toothed portion of the first clutch 154 is coupled to the cutting drive gear 170, the cutting drive gear 170 is not driven, the cutting drive mechanism and the cutting actuator are not driven, and the cutting knife 352 of the cutting actuator is not driven and remains in position; the second toothed portion of the second clutch 156 is engaged with the jaw drive gear 172 to drive the jaw drive gear 172 to rotate, which in turn drives the jaw drive mechanism and the jaw actuator, the jaw assembly of which is driven to close or open; the second non-toothed portion of the second clutch 156 is coupled to the jaw drive gear 172 such that the jaw drive gear 172 is not driven, and thus the jaw drive mechanism and jaw actuator are not driven and the jaw assembly is not driven to a holding position. Specifically, the toothless portion is not provided with teeth, and cannot mesh with a drive gear including a cutting drive gear and a jaw drive gear so that the drive gear is not driven. The specific operation mode of the clutch mechanism is as follows: the second toothed portion of the second clutch 156 is engaged with the jaw drive gear 172 to drive the jaw drive gear 172 to rotate, which in turn drives the jaw drive mechanism and the jaw actuator, the jaw assembly of the jaw actuator being driven to close; during the closing and opening of the jaw assembly, the first non-toothed portion of the first clutch 154 is coupled to the cutting drive gear 170, the cutting drive gear 170 is not driven, and thus the cutting drive mechanism and the cutting actuator are not driven, and the cutting knife 352 of the cutting actuator is not driven to remain in position; after the jaw assembly is closed in place, in the process of feeding and retracting the cutting knife 352, the second toothless part of the second clutch 156 is coupled with the jaw driving gear 172, the jaw driving gear 172 is not driven, so that the jaw driving mechanism and the jaw actuating mechanism are not driven, and the jaw assembly of the jaw actuating mechanism is not driven and is kept closed; the first toothed portion of the first clutch member 154 is engaged with the cutting drive gear 170 to drive the cutting drive gear 170 to rotate, which in turn drives the cutting drive mechanism and the cutting actuator, the cutting blade 352 of which is driven to advance and retract; the second toothed portion of the second clutch 156 engages the jaw drive gear 172 to drive the jaw drive gear 172 in rotation, which in turn drives the jaw drive mechanism and the jaw actuator, the jaw assembly of which is driven to open. It can be seen that the clutch mechanism causes the jaw assembly and cutting knife 352 to perform the following actions in sequence: the jaw assembly is closed, the knife is advanced, retracted, opened, and the actions of the jaw assembly and the cutting knife 352 are not performed simultaneously.

Referring now to fig. 18-22, the jaw drive mechanism 148 for driving movement of the jaw assembly 128 includes a jaw closing drive mechanism that drives the jaw assembly closed and a jaw opening drive mechanism that drives the jaw assembly open. The jaw opening driving mechanism and the jaw closing driving mechanism both comprise a power supply part and a transmission assembly, the power supply part supplies power to the transmission assembly, and the transmission assembly drives the jaw assembly to move under the driving of the power supply part. In the present embodiment, the "jaw" and the "jaw assembly" are the same technical feature.

The jaw opening drive mechanism and the jaw closing drive mechanism are powered differently, the power supply of the jaw closing drive mechanism is a jaw drive gear 172, and the jaw drive gear 172 is driven by the motor 122 to rotate, thereby powering the transmission assembly. The power supply part of the jaw opening driving mechanism is a reset part 214, the reset part 214 is an elastic element, the elastic element is stored with energy in the closing process of the jaw assembly 128 driven by the jaw closing driving mechanism, and the elastic element recovers deformation to release energy in the opening process of the jaw assembly so as to supply power to the transmission assembly.

The driving components of the jaw opening driving mechanism and the jaw closing driving mechanism are the same, but the power transmission paths of the driving components in the jaw opening process and the jaw closing process are opposite, and it should be noted that the power providing member of the jaw closing driving mechanism needs to move and drive the second driving member to move to make room in the opening process of the jaw assembly, which will be described in detail later.

The transmission assembly comprises a second driving part and a second driven part driven by the second driving part, the second driving part is provided with a third motion conversion structure, the second driven part is provided with a fourth motion conversion structure, and the third motion conversion structure and the fourth motion conversion structure are matched to convert the rotation of the second driving part into the linear motion of the second driven part. Because the stapler has a shaft member 104 extending lengthwise, linear motion of the second follower may be conveniently transmitted through the shaft member 104 to the proximal end of the jaw member 128.

The second driving member is a first cam member 224, and the third motion conversion structure includes a first cam surface 226 provided on the distal end side of the second driving member. The second driven member is driven to move by the first cam surface 226, so that the motion output by the transmission assembly is more accurate, and the operation requirement of the anastomat can be better met. The rotation axis of the second driving part is parallel to the central axis of the output shaft of the power module, so that the transmission mechanism is reasonable in overall layout and compact in structure.

As previously described, the jaw closure drive mechanism includes a jaw drive gear 172 that powers the transmission assembly, and the jaw drive gear 172 rotates to drive the first cam member 224 in rotation. Specifically, the jaw drive gear 172 and the first cam member 224 are fixedly disposed on the same drive shaft, which allows the jaw drive gear 172 and the first cam member 224 to be coaxially disposed, facilitating power transmission. The jaw drive gear 172 and the first cam member 224 are spaced axially of the drive shaft to avoid interference with other components of the drive mechanism. It can be seen that the first cam member 224 is axially fixed for rotation only with the jaw drive gear 172 and does not move linearly.

The first cam member 224 has a circumferential outer surface, and the first cam surface 226 is extended obliquely in the circumferential direction of the first cam member 224 at the distal end side of the second driving member as a spiral surface provided at the distal end side of the second driving member. Therefore, the first cam member 224 has a regular structure, and the stroke required for closing the jaws of the anastomat can be well realized by virtue of the stroke and the surface shape of the first cam surface 226.

The first cam member 224 further includes a first start abutment surface 228 and a first end abutment surface 230 adjacent the first cam surface 226, the first start abutment surface 228 being adjacent and angularly disposed to one end of the first cam surface 226 and the first end abutment surface 230 being adjacent and angularly disposed to the other end of the first cam surface 226. Alternatively stated, one of the first start abutment surface 228 and the first end abutment surface 230 is adjacent to and angularly disposed to the proximal end of the first cam surface 226 and the other of the first start abutment surface 228 and the first end abutment surface 230 is adjacent to and angularly disposed to the distal end of the first cam surface 226. The angle (also referred to as an included angle) between the first origin abutment surface 228 and the first cam surface 226 is an included angle between the first origin abutment surface 228 and a plane of the first cam surface 226 closest to the first origin abutment surface 228. The angle between the first end abutment surface 230 and the first cam surface 226 is defined similarly and will not be described again. The angle between the first start abutment surface 228 and the first cam surface 226 is obtuse, and the angle between the first end abutment surface 230 and the first cam surface 226 is obtuse. The obtuse angle facilitates engagement of the first cam member 224 with the second follower in a certain position, as will be described in more detail below. In the present embodiment, the first start point contact surface 228 is perpendicular to the central axis of the first cam member 224, the first end point contact surface 230 is perpendicular to the central axis of the first cam member 224, and the first start point contact surface 228 and the first end point contact surface 230 are provided at intervals in the extending direction of the central axis of the first cam member 224.

Thus, when first cam surface 226 drives the second follower and thus the jaw assembly to close and first start abutment surface 228 and first end abutment surface 230 abut the second follower, first cam member 224 cannot drive the jaws to move, thereby maintaining the jaws in an open or closed position and preventing undesired movement of the jaw assembly resulting in an accidental medical condition.

Referring to the first start abutment surface 228, the first cam surface 226, and the first end abutment surface 230, which are connected in series, as stroke surfaces, the distal side of the first cam member 224 is provided with two stroke surfaces, which are arranged centrally symmetrically along the central axis of the first cam member 224. The two centrosymmetric stroke surfaces can drive the second driven part more stably, so that the second driven part is stressed more uniformly, the transmission of the jaw closing driving mechanism is more stable, and the jaw closing process is more stable. Preferably, the circumferential extension angle of the two stroke surfaces is equal to 360 degrees, that is, the two stroke surfaces extend in the entire circumferential direction of the distal side of the first cam piece 224, the structure is more regular, and the transmission is more stable. As shown in fig. 22, the first starting point abutment surface 228, the first cam surface 226, and the first end point abutment surface 230 located at the upper side of fig. 22 are one stroke surface, and the first end point abutment surface 230' of the other stroke surface is shown at the lower side of fig. 22, and is not shown in fig. 22 due to the view angle.

The second driven part and the second driving part are arranged oppositely. The second follower is a second cam member 234 and the fourth motion translating structure is a second cam surface 236, the second cam surface 236 being shaped to match the first cam surface 226. By form-fitting, it is meant that the first and second cam surfaces 226, 236 may generally conform to one another in some mating condition. The second cam member 234 has a circumferential outer surface and the second cam surface 236 extends obliquely in the circumferential direction of the second cam member 234 on the proximal side of the second follower as a spiral surface disposed on the proximal side of the second cam member 234. Due to the fact that the second cam surface 236 is matched with the first cam surface 226 in shape, in the jaw closing process, the second cam surface 236 is in surface contact with the first cam surface 226, movement switching between the second driving piece and the second driven piece is achieved, and transmission is stable. Preferably, the second cam surface 236 is not only matched in shape but also identical in size to the first cam surface 226, which not only is compact, but also provides a good translation of motion.

Note that a rotation stop mechanism is provided between the second cam member 234 and the housing 102. The detent mechanism may be, for example, a mating lengthwise extending projection and recess, with one of the second cam member 234 and the housing 102 being provided with the projection and the other of the second cam member 234 and the housing 102 being provided with the recess. The cooperation of the second cam surface 236 and the first cam surface 226 provides the second cam member 234 with a tendency to move in both a rotational and a linear motion, and the detent mechanism prevents the second cam member 234 from rotating such that the second cam member 234 can only move in a linear motion.

The second cam member 234 further includes a second start abutment surface 238 and a second end abutment surface adjacent the second cam surface 236, the second start abutment surface 238 being adjacent and angularly disposed to one end of the second cam surface 236 and the second end abutment surface being adjacent and angularly disposed to the other end of the second cam surface 236. The angle between the second start point abutment surface 238 and the second cam surface 236 refers to the angle between the second start point abutment surface 238 and the plane of the second cam surface 236 closest to the second start point abutment surface 238. The angle between the second end abutment surface and the second cam surface 236 is defined similarly and will not be described again. The angle between the second start abutment surface 238 and the second cam surface 236 is an obtuse angle, and the angle between the second end abutment surface and the second cam surface 236 is an obtuse angle. The obtuse angle facilitates the engagement of the second cam member 234 with the first cam member 224 to maintain a certain position, as will be described in detail later. In this embodiment, the second start point contact surface 238 is perpendicular to the central axis of the second cam piece 234, the second end point contact surface is perpendicular to the central axis of the second cam piece 234, and the second start point contact surface 238 and the second end point contact surface are spaced apart in the direction in which the central axis of the second cam piece 234 extends.

The second start abutment surface 238, the second cam surface 236, and the second end abutment surface, which are connected in this order, are referred to as stroke surfaces, and the proximal side of the second cam member 234 is provided with two stroke surfaces, which are arranged centrosymmetrically along the central axis of the second cam member 234. The two centrosymmetric travel surfaces can be matched with the second driving part more stably, so that the second driven part is stressed more uniformly, the transmission of the jaw closing driving mechanism is more stable, and the jaw closing process is more stable. Preferably, the circumferential extension angle of the two stroke surfaces is equal to 360 degrees, that is, the entire circumferential extension of the two stroke surfaces on the proximal side of the second cam member 234 is more regular and stable in transmission.

The stroke surfaces of the first cam member 224 and the second cam member 234 are identical in shape and size, and the matching and transmission of the first cam member 224 and the second cam member 234 can be well achieved.

Thus, during jaw closure, first cam member 224 and second cam member 234 have three mating states:

in the first mating state, the first start abutment surface 228 abuts the second start abutment surface 238, and the distance between the first cam member 224 and the second cam member 234 reaches a minimum value. In the first mating condition, the mating relationship of the first cam member 224 and the second cam member 234 further comprises: the second cam surface 236 abuts against the first cam surface 226 (not shifted in the circumferential direction), and the first end point abutment surface 230 abuts against the second end point abutment surface. Because the first start abutment surface 228 abuts the second start abutment surface 238, the first cam piece 224 and the second cam piece 234 remain relatively stationary, the first cam piece 224 does not drive the second cam piece 234, and the second cam piece 234 cannot drive the jaw movement, thereby preventing the jaw assembly 128 from being accidentally operated. When the distance between first cam member 224 and second cam member 234 reaches a minimum, jaw assembly 128 is not driven by jaw drive mechanism 148 and jaw assembly 128 is in the open position. The distance between the first cam member 224 and the second cam member 234 is the axial distance between the first start point abutment surface 228 and the second start point abutment surface 238, or the axial distance between the first end point abutment surface 230 and the second end point abutment surface. Axial refers to the axial direction of either the first cam member 224 or the second cam member 234.

In the second mating condition, rotation of the first cam member 224 causes the first cam surface 226 to push against the second cam surface 236 to drive the second cam member 234 linearly. In the process of switching from the first engagement state to the second engagement state, since the rotation stop mechanism engaged with the second cam piece 234 stops the rotation of the second cam piece 234, the second starting point abutment surface 238, the second cam surface 236 and the second end point abutment surface of the second cam piece 234 do not rotate in the circumferential direction and do not change in the circumferential position, the second starting point abutment surface 238 is disengaged and gradually moves away from the first starting point abutment surface 228, the second cam surface 236 is gradually staggered from the first cam surface 226 in the circumferential direction, the second end point abutment surface is disengaged and gradually moves away from the first end point abutment surface 230, the distance between the second cam piece 234 and the first cam piece 224 gradually increases, and the second cam piece 234 gradually moves toward the distal end to gradually drive the jaws open.

In the third mating state, the second start abutment surface 238 abuts the first end abutment surface 230, and the distance between the first cam member 224 and the second cam member 234 reaches a maximum value. During the transition from the second mating condition to the third mating condition, the second cam surface 236 is gradually misaligned with the first cam surface 226 until the second cam surface 236 is completely disengaged from the first cam surface 226, and then the second start abutment surface 238 abuts the first end abutment surface 230, the second cam member 234 and the first cam member 224 remain relatively stationary, the first cam member 224 can no longer drive the second cam member 234 distally, the distance between the first cam member 224 and the second cam member 234 reaches a maximum, the jaws close and remain stationary, thereby preventing the jaw assembly 128 from being accidentally operated.

It should be noted that, as described above, the second driving member and the second driven member both have two stroke surfaces arranged centrosymmetrically, and the two stroke surfaces of the second driven member correspond to the two stroke surfaces of the second driving member one to one and are driven by the two stroke surfaces of the second driving member one to one, where the above description takes one of the stroke surfaces as an example, and the matching state of the other stroke surface is the same, and is not repeated.

The jaw closure drive mechanism further includes a second motion transfer mechanism disposed between the second follower and the jaw assembly 128. Since the second follower of the jaw closure drive mechanism is disposed in the housing 102 at the proximal end of the shaft assembly 104 and the jaw assembly 128 driven by the jaw closure drive mechanism is disposed at the distal end of the shaft assembly 104, by providing the second motion transfer mechanism, linear motion of the second follower can be smoothly transferred to the proximal end of the jaw assembly 128 to drive the jaw assembly 128.

The second motion transmission mechanism comprises a distance transmission mechanism and a linear transmission mechanism which are connected, and the distance transmission mechanism enables the axes of the linear transmission mechanism and the second driven piece to be parallel. That is to say, the second follower drives the interval transfer mechanism, and the interval transfer mechanism drives the linear transfer mechanism, and the interval transfer mechanism makes the linear transfer mechanism and the axis of second follower parallel for whole drive mechanism's overall arrangement is more reasonable structure compacter.

The pitch transmission mechanism is a link 248, one end of the link 248 is connected to the second follower, and the other end of the link 248 is connected to the linear transmission mechanism. Thus, the linear transmission mechanism and the second follower can be moved in parallel by the transmission of the link 248, and the linear transmission mechanism and the second follower can be constructed simply and effectively.

The linear transfer mechanism includes a compression ring 250 and a sleeve 126 coupled thereto. Thus, the other end of the link 248 is pivotally connected to the compression ring 250 and the sleeve 126 is connected to the compression ring 250. Thereby, the connecting rod 248 transmits the linear motion of the second follower to the press ring 250 and the bushing 126, so that the press ring 250 and the bushing 126 linearly move in synchronization with the second follower.

Referring now to fig. 23-28, a motion conversion mechanism is provided between the sleeve 126 and the anvil 132 of the jaw assembly 128, which converts linear motion of the sleeve 126 into pivotal motion of the anvil 132, thereby allowing the anvil 132 to pivot relative to the cartridge housing 130 to close or open the jaw assembly 128. Specifically, as the sleeve 126 moves proximally, the motion conversion mechanism drives the anvil 132 to pivot upwardly to open the jaw assembly 128, and as the sleeve 126 moves distally, the motion conversion mechanism drives the anvil 132 to pivot downwardly to close the jaw assembly 128.

In particular, the sleeve 126 includes a body 254 and a drive tube 256 coupled thereto, the drive tube 256 driving the anvil 132 to pivot upwardly or downwardly to open or close the jaw assembly 128. The body 254 and the drive tube 256 are connected by a hinge, or may be integrally formed.

The motion changing mechanism includes a first driving portion 258 and a second driving portion 260 provided to the driving tube 256, and a first driven portion 262 and a second driven portion 264 provided to the nail abutting seat 132.

The first driving portion 258 drives the anvil 132 to open, and the first driving portion 258 is a protrusion provided on the driving tube 256, and the protrusion extends obliquely in the lower right direction. The second driver 260 drives the anvil 132 closed, the second driver 260 being the driving surface of the distal end of the drive tube 256.

Accordingly, the first follower portion 262 can be coupled with the first driving portion 258, and the first follower portion 262 is a protrusion disposed on the nail seat 132, and the protrusion extends upward. The second driven portion 264 can be coupled to the second driving portion 260, and the second driven portion 264 is an abutting surface abutting against the proximal end of the nail seat 132.

A guide mechanism is further arranged between the nail abutting seat 132 and the nail bin seat 130, the guide mechanism comprises a pin 266 arranged on the nail abutting seat 132 and a kidney-shaped groove 268 arranged on the nail bin seat 130, and the kidney-shaped groove 268 obliquely extends upwards along the direction from the proximal end to the distal end.

Referring to the change of state of fig. 28-27, when it is desired to close the end effector 106, the body 254 of the sleeve 126 pushes the drive tube 256 distally, the second drive portion 260 on the drive tube 256 abuts the second follower portion 264 on the anvil 132, the pin 266 moves from the proximal end to the distal end of the slot 268, the anvil 132 pivots downwardly, and the jaw assembly 128 closes.

Referring to the change of state of fig. 27-28, when the jaw assembly 128 is to be opened, the body 254 of the sleeve 126 pulls the driving tube 256 proximally, the first driving portion 258 of the driving tube 256 abuts the first driven portion 262 of the anvil 132, the pin 266 moves from the distal upper end to the proximal lower end of the slot 268, the anvil 132 pivots upward, and the jaw assembly 128 opens.

As previously described, the jaw opening mechanism includes a power supply and a transmission assembly. The power supply part is a reset part 214, in particular an elastic element, and the elastic element is used for storing energy in the movement process of the jaw closing mechanism; the transmission components of the jaw opening driving mechanism and the jaw closing driving mechanism are the same, but the transmission paths of the transmission components of the jaw opening process and the jaw closing process are opposite.

It should be noted that, the power supply unit of the jaw opening mechanism is the reset unit 214, and the jaw driving gear 172 cannot directly drive the second driven unit, however, the jaw driving gear 172 needs to drive the second driving unit to rotate, the second driving unit rotates to give way to the movement of the second driven unit, and the reset unit 214 drives the second driven unit to move along with the second driving unit. The reset member drives the second follower in a proximal direction, which in turn drives the sleeve 126 in a proximal direction, which in turn drives the jaw assembly 128 open via the motion override mechanism described above, as the sleeve 126 moves proximally.

The reset piece 214 indirectly drives the second driven piece, a press ring 250 and a connecting rod 248 are connected between the reset piece 214 and the second driven piece, and the connecting rod 248 enables the movement axes of the press ring 250 and the second driven piece to be parallel, so that the layout of the transmission mechanism is reasonable. Specifically, one end of the reset member 214 abuts against the distal end surface of the pressing ring 250, and the other end abuts against a corresponding position inside the housing 102.

During jaw opening, the second cam member 234 and the first cam member 224 have three mating states:

in the first mating state, the second start abutment surface 238 abuts the first end abutment surface 230, and the distance between the second cam member 234 and the first cam member 224 reaches a maximum value. In the first mated state, the jaws are maintained in a closed state.

In the second engagement state, the first cam surface 226 leaves the space for movement of the second cam surface 236, and the second cam surface 236 follows the movement of the first cam surface 226 under the urging of the reset member 214. During the process of switching from the first mating state to the second mating state, the first cam piece 224 is driven by the jaw driving gear 172 to rotate and leave the movement space of the second cam piece 234, the second starting point abutment surface 238 is separated and gradually moves away from the first ending point abutment surface 230 and approaches the first starting point abutment surface 228, the second cam surface 236 and the first cam surface 226 are gradually attached, the elastic element pushes the second cam piece 234 to move along with the first cam piece 224, the distance between the second cam piece 234 and the first cam piece 224 is gradually reduced, and the second cam piece 234 is gradually moved towards the proximal end, so that the jaws are gradually opened through the sleeve 126 and the movement change mechanism.

In the third mating state, the second start point abutment surface 238 abuts the first start point abutment surface 228, and the distance between the second cam member 234 and the first cam member 224 reaches a minimum value. During the transition from the second mating state to the third mating state, the second cam surface 236 and the first cam surface 226 move from partial abutment to full abutment. In the third mating state, the second start point abutment surface 238 abuts the first start point abutment surface 228, the second end point abutment surface abuts the first end point abutment surface 230, the distance between the second cam member 234 and the first cam member 224 reaches a minimum, and the jaws open to a limit position.

It can be seen that during closing of the jaw assembly 128, the jaw drive gear 172 drives the second driving member, which in turn drives the second driven member, the link 248, the compression ring 250, the sleeve 126, and the motion switching mechanism to close the jaw assembly 128. During opening of the jaw assembly 128, the jaw drive gear 172 drives the second driving member to rotate in a reverse direction, the elastic element drives the press ring 250, the connecting rod 248 and the second driven member to move proximally in sequence, and the press ring 250 moves proximally to drive the sleeve 126 to move proximally and drive the jaws to open through the movement switching mechanism.

The operation of the surgical instrument driven by the motor 122 in this embodiment is described below (the operation is the same as that of the motor 122 except that the handwheel 298 is used instead of the motor 122, and thus the description is omitted).

Prior to use of the surgical instrument, the jaw assembly 128 is in an open state and the cutting knife assembly is in an initial position.

If the clinician determines that jaw assembly 128 is aligned with tissue to be cut and stapled, the clinician activates motor 122, the output shaft of motor 122 rotates in a first direction and drives main drive gear 166 (the input member) to rotate, main drive gear 166 rotates to drive the intermediate member to rotate, the intermediate member rotates to drive the toothed portion of second clutch member 156 to begin meshing with jaw drive gear 172 and drive jaw drive gear 172 to rotate, motor 122 continues to operate, and jaw drive gear 172 continues to rotate to drive jaw assembly 128 to close and clamp and squeeze tissue via the aforementioned jaw closure drive mechanism. In this process, the resilient element of the jaw opening drive mechanism is compressed to store energy, and at the same time, the toothless portion of the first clutch member 154 is coupled to the cutting drive gear 170, and the cutting drive mechanism 146 cannot drive the cutting blade assembly to move, thereby preventing malfunction.

When the jaws are fully closed, the first clutch 154 is rotated until its toothed portions begin to engage the cutting drive gear 170. The output shaft of motor 122 continues to rotate in the first direction, and cutting drive gear 170 drives the cutting knife assembly forward via the aforementioned cutting drive mechanism 146 to cut the tissue, and the cutting knife assembly pushes the staples out of the cartridge assembly to staple the tissue. At the same time, the second clutch 156 rotates until its toothless portion begins to couple with the jaw drive gear 172, and the second clutch 156 cannot drive the jaw drive gear 172, such that the jaw drive gear 172 cannot drive the jaw movement, thereby avoiding a malfunction.

When the cutter assembly is moved to the distal-most position, the output shaft of the motor 122 is rotated in the second direction, the first clutch member 154 is rotated in the reverse direction, the toothed portion thereof drives the cutter driving gear 170 to rotate in the reverse direction, and the cutter driving gear 170 drives the cutter assembly to retract through the aforementioned cutter driving mechanism 146.

When the tool withdrawal is completed, the first clutch member 154 rotates to the toothless portion to start to couple with the cutting driving gear 170, the first clutch member 154 cannot drive the cutting tool assembly to move through the cutting driving gear 170, meanwhile, the second clutch member 156 rotates to the toothed portion to start to mesh with the jaw driving gear 172, the second clutch member 156 drives the jaw driving gear 172 to rotate, the jaw driving gear 172 drives the first cam member 224 to rotate, the first terminal abutment surface 230 is staggered with the second terminal abutment surface 238, the second cam member 234 moves towards the proximal end under the pushing of the elastic element and along the guiding of the first cam member 224, the second cam member 234 moves towards the proximal end to pull the sleeve 126 to move towards the proximal end through the connecting rod 248 and the pressing ring 250, and the sleeve 126 moves towards the proximal end to drive the jaw assembly 128 to open through the movement changing mechanism to release tissues.

Thus, the surgical instrument performs a complete operation in which the surgical instrument sequentially effects closure of the jaw assembly 128 to grasp tissue, advancement of the cutting knife assembly to cut and staple tissue, retraction of the cutting knife assembly, and opening of the jaw assembly 128 to release tissue.

Referring to fig. 3, the power module 110 is detachably mounted to the main module. The electric module 110 has an attached state and a detached state. In the installed state, the power module 110 is mounted to the main module, and the first housing 112 and the second housing 120 mate with each other to form the housing 102. The mechanical structure of the coupling is, for example, a buckle, which prevents the motor 122 from separating from the motor when operating, and there are various ways to realize the separation prevention by the mechanical structure coupling, which are not listed here. In the disassembled state, the second housing 120 is detached from the first housing 112. The first housing 112 houses at least a portion of a transmission mechanism, such as the switching mechanism 134 and the jaw drive mechanism 148 described above.

The main module further includes an operating member 282, the operating member 282 is connected to the transmission mechanism, and the operating member 282 is configured to obtain a manual force input by a user and transmit the manual force to the transmission mechanism so as to drive the transmission mechanism to operate. The operator 282 is part of the manual module described above that provides manual force. In the mounted state, the operation member 282 is located in the housing 102 formed by mating the first housing 112 and the second housing 120, and in the dismounted state of the electric module 110, at least a part of the operation member 282 is exposed. In the present invention, the exposed means exposed so as to be manipulated or connected. During normal use of the surgical instrument 100 by the surgeon, the power module 110 is mounted to the main module and the surgeon operates the motor-actuating button at the handle 342 to cause the motor 122 to operate to drive the gear train to effect opening of the jaw assembly, closing of the jaw assembly, advancing of the cutting blade 352 and/or retracting of the cutting blade 352, while the operator 282 is positioned within the housing 102 such that the operator 282 is not visible and accessible to the surgeon. When the stapler has a power failure such as a battery pack failure or a motor failure, the surgeon may detach the power module 110 from the main module, remove the connection between the motor 122 and the transmission mechanism, expose the operating member 282, and view and operate the operating member 282 directly or indirectly to drive the transmission mechanism by manual force. Manual force to operate the operator 282, manually operating the operator 282, includes applying a force by an operator's hand directly or indirectly to the operator 282 to operate the operator, and also includes applying a force by the operator using a hand-held device directly or indirectly to the operator 282 to operate the operator. Thus, although the transmission mechanism can be driven by both the electromotive force of the motor 122 and the manual force of the operation member 282, the positional relationship between the motor 122 and the operation member 282 is set in the present invention — the operation member 282 is hidden and can be driven only by the electromotive force in the mounted state of the electric module 110; when the electric module 110 is disassembled, the operation part 282 is exposed, the motor 122 is forcibly disassembled and loosened, and only manual force can be used for driving, so that only one of electric power and manual force can be transmitted to the transmission mechanism at the same time to drive the anastomat to work, and the execution conflict of the transmission mechanism, even the surgical instrument 100 is damaged and the patient is injured, caused by the simultaneous application of two kinds of power to the transmission mechanism is avoided. Such a design, with a simple structure, enhances the safety of the surgical instrument 100. Moreover, the manual force only needs to drive the transmission mechanism, and the electric module 110 does not need to be driven, so that the driving resistance is reduced, and the operation experience is improved. It should be understood by those skilled in the art that the number of the above-mentioned operating members that can be hidden may be one or more, for example, one operating member described below that implements dual functions in the present embodiment is not described in detail, for example, two operating members, one driving jaw assembly and the other driving cutter assembly, and the number of the operating members does not affect the implementation of the above-mentioned solution, and the same effect can be obtained, and falls within the scope of the present application.

Specifically, in the embodiment, the transmission mechanism comprises an input member, and when the input member obtains electric power or manual power input, the transmission mechanism is driven to work. The electric motor module 110 includes an electric power output 306 that outputs electric power, the electric power output 306 being connected to the input to provide electric power input when the electric motor module 110 is in an installed state, the electric power output 306 being disconnected from the input when the electric motor module 110 is in a detached state. The operator 282 includes a manual force output 288 connected to the input member to which manual force is input. The input member of the transmission mechanism, whether receiving manual force from the manual force output 288 or electric force from the electric force output 306, cannot distinguish which power is received, so that when the user directly or indirectly operates the operation member 282, the stapler can perform the same function as the motor 122 drive, the transmission mechanism alternatively drives the jaw assembly or the cutting knife assembly to move, a set of transmission mechanism is shared when the stapler is driven electrically and manually, the stapler has a simple structure, and no additional special design is needed. The transmission mechanism drives the jaw assembly or the cutting knife assembly to move alternatively, the transmission mechanism drives the jaw assembly and the cutting knife assembly to move at different times, only drives the jaw assembly or only drives the cutting knife assembly at the same time period, the jaw assembly and the cutting knife assembly are driven by the transmission mechanism, and the time period for driving the jaw assembly to move by the transmission mechanism is different from the time period for driving the cutting knife assembly by the transmission mechanism. The switching mechanism of the transmission mechanism alternatively transmits power to the cutting driving mechanism or the jaw driving mechanism, namely the switching mechanism does not transmit power to the cutting driving mechanism and the jaw driving mechanism at the same time, only transmits power to the cutting driving mechanism or only transmits power to the jaw driving mechanism in the same time period, the driven power of the cutting driving mechanism and the jaw driving mechanism is transmitted by the switching mechanism, and the time period for transmitting power to the cutting driving mechanism and the time period for transmitting power to the jaw driving mechanism are different.

The transmission mechanism comprises a switching mechanism 134, a cutting driving mechanism 146 and a jaw driving mechanism 148, the switching mechanism comprises an input piece, when the switching mechanism 134 obtains power of one of electric power and manual power from the input piece, the switching mechanism 134 selectively drives the cutting driving mechanism 146 or the jaw driving mechanism 148, when the cutting driving mechanism 146 obtains power, a feed action or a retracting action is executed, and when the jaw driving mechanism 148 obtains power, a jaw closing action or a jaw opening action is executed. Preferably, after the surgeon removes the power module 110, the operator 282 is used to manually drive the transmission mechanism to perform the retracting and jaw opening actions, and the purpose of the operator 282 is to provide a safety protection mechanism in case of emergency, so that the stapler can release the tissue and detach from the patient, thereby preventing the stapler from damaging the patient.

Specifically, as shown in fig. 29, the operation element 282 includes a manual force transmission unit 284 and a manual operation unit 286 for inputting manual force operated by the user, the manual force transmission unit 284 includes a manual force output terminal 288 connected to the input element, and the manual force transmission unit 284 is connected to the manual operation unit 286. The doctor touches and operates the manual operation unit 286, inputs power to the operation unit 282, and the power is transmitted from the manual operation unit 286 to the manual power transmission unit 284 and is output from the manual power output unit 288.

Further, the electric power output member 306 is detachably connected to the operating member 282, i.e., the electric power output member is connected to the input member via the operating member 282. Specifically, the manual force transmitting portion includes a relay input 300, and the electric power output member 306 is detachably connected to the relay input 300, so that electric power is transmitted to the input member through the manual force transmitting portion of the operating member 282, and thus the relay structure is simple.

In the present embodiment, the operation element 282 is preferably as shown in fig. 29, the manual force transmission unit 284 is a rotary shaft 284 'for transmitting the manual force in a rotary manner, one end of the rotary shaft 284' is a manual force output end 288 for outputting the manual force, and the manual force output end 288 is connected to the input element of the transmission mechanism; the manual operation part 286 is a hand wheel 286 ', the rotation shaft 284 ' passes through the rotation center of the hand wheel 286 ', and the rotation shaft 284 ' and the hand wheel 286 ' are integrated, or in other embodiments, are connected separately, and the doctor rotates the rotation shaft 284 ' by contacting and rotating the hand wheel 286 ', so as to output the power of rotation. In this embodiment, the rotating shaft 284' is integral with the shaft of the input member, but may be a split connection in other embodiments.

Further, the rotational axis of the rotating shaft 284 'coincides with the rotational axis of the handwheel 286', and a first end of the rotating shaft 284 'protrudes from the bottom surface of the wheel 286 to serve as the manual force output end 288, and a second end of the rotating shaft protrudes from the other bottom surface of the handwheel 286' to serve as the transmission input end 300. As shown in fig. 29, the transmission input end 300 is provided with a concave polygonal mounting opening, and the electric power output part of the electric module is a polygonal shaft which extends into the polygonal mounting opening to be mounted in a matching manner, so that power transmission is realized. With the electric power module 110 in the installed condition, the electric power output 306 of the electric power module 110 is connected to the transmission input 300, and electric power is transmitted through the operator 282 to the manual power output 288 and then to the transmission input connected to the manual power output 288. In this manner, the electric motor module 110 is connected to the input member through the operation member 282 to provide the electric power input. Preferably, the input, the rotation axis 284 and the electric power output 306 of the electromotive module 110 are coaxial when the electromotive module is in the mounted state, and the coaxial axis can save space and simplify the structure compared to a case where the three are not coaxial.

In other embodiments, the operating member 282 is an L-shaped lever, which includes a first lever, i.e., the rotating shaft 284', i.e., the manual force transmission portion 284, and a second lever, i.e., the manual operation portion 286, connected to the first lever at an angle, preferably a right angle. The first end of the first lever is a manual force input end 288 connected with the input member, and when the doctor operates the second lever to rotate with the first lever as a rotation axis, the doctor drives the first lever to rotate, thereby transmitting the rotating power to the input member. Further, the second end of the first rod is the junction with the first rod, and the second segment is provided with a transmission input end 300, and the structure and the function of realizing are the same as the foregoing, and are not repeated. Those skilled in the art will appreciate that the operating member 282 is not limited to the two embodiments described above, and that such embodiments are not intended to be exhaustive and are within the scope of the present invention.

In the above-described operation element 282, the manual force transmission unit 284 has a rotation axis, and when the operation element 282 is rotated about the rotation axis, the manual force output terminal 288 outputs the manual force, and the projection of the manual operation unit 286 on the plane perpendicular to the rotation axis is larger than the projection of the manual force transmission unit 284 on the plane, and as shown in fig. 30, the projection plane a of the manual force transmission unit 284 is smaller than the projection plane a + B of the manual operation unit. The maximum radius of the manual operation part 286 from the rotation axis is larger than the outer diameter of the manual force transmission part 284, so that the rotation radius of operating the manual operation part 286 is larger, the moment is also larger, and it is more convenient and labor-saving than when the doctor directly operates the manual force transmission part 284.

As shown in fig. 3, the first housing 112 has a peripheral housing parallel to the shaft member 104 and a first mounting surface 294 generally perpendicular to the shaft member 104, the first mounting surface 294 may or may not be an actual housing, the first mounting surface housing 286', and only illustrates the functional surface of the mounting. The manual operating portion 286 protrudes from the first mounting surface 294, i.e., protrudes from the first housing 112. In this way, the manual operation portion 286 of the operation member 282 is completely exposed from the first housing 112, and the doctor can easily operate the manual operation portion 286, which is simple in structure. It is easy for those skilled in the art to understand that the manual operating portion 286 is partially located in the first housing 112, and the rest of the manual operating portion 286 protrudes from the first housing 112, as long as the operability of the manual operating portion 286 is not affected.

Accordingly, the second housing 120 of the electric module 110 includes a second mounting surface 296, and the second mounting surface 296 may be an actual housing or may not be an actual housing, and only illustrates a functional surface to be mounted. At the second mounting surface of the second housing 120, there is a receiving cavity, when the electric module 110 is mounted to the main body 108, the first housing 112 is mounted to the second housing 120, and the manual operating part 286 protruding from the first housing 112 can be received in the receiving cavity, and at this time, the operating member 282 is completely located in the housing 102 and cannot be seen by the user.

In this embodiment, referring to fig. 5, the main module further includes a first reduction gearbox 308, a first end of the first reduction gearbox 308 is connected to the manual power output end, and a second end of the first reduction gearbox 308 is connected to the input member. The reduction gear box can reduce the input torque of the manual force input of the operation member 282, and the user can rotate the operation member 282 with a small force, improving the ease of operation.

The electric motor module 110 also includes a second reduction gearbox between the electric power output 306 and the electric motor 122 for reducing the rotational speed of the electric motor 122 and increasing the output torque.

The invention provides a surgical instrument, wherein an operating part is connected to a transmission mechanism, the operating part is used for obtaining manual force input by user operation and transmitting the manual force to the transmission mechanism, and the transmission mechanism alternatively drives a jaw assembly or a cutting knife assembly to move. In this manner, unlike conventional staplers which have two separate user-operated operating members, one for manually actuating the transmission mechanism to drive the movement of the cutting blade assembly, e.g. to retract the knife, and the other for manually actuating the transmission mechanism to drive the movement of the jaw assembly, e.g. to release the jaws, it is inconvenient for the surgeon to sequentially operate the two operating members during the surgical procedure. Therefore, the dual-function of driving the jaw assembly and the cutting knife assembly to move is realized by utilizing one operating piece, the smoothness of the operation of a doctor is ensured, and the operation is simple and user-friendly. It will be understood by those skilled in the art that an operating member is not limited to the above-mentioned housing, and that the above-mentioned effect can be achieved when the operating member is located outside the housing and can be operated by a user, and the invention is within the scope of the present application.

Note that the manual power or the electric power indicates the type of the power, and the magnitude of the power is not limited to be equal.

In other embodiments, when the operation member 282 is exposed when the power module 110 is in the detached state, the surgeon can also install a separate additional backup power module to the operation member 282 to provide a second path of electric power to the operation member 282, thereby achieving the same operation of the drive transmission mechanism. The power module 110 provides a first power to the drive mechanism 110 of the surgical instrument, and the operator, whether manually operated or coupled with an additional backup power module, provides a second power to the drive mechanism, the second power being either manual or electrical (second power) and being selectable by the surgeon to manually operate the operator or to install the additional backup power module to the operator. According to the embodiment, the standby power of doctors is diversified, the manual power operation is direct and simple, and the standby power module is labor-saving and convenient to operate.

Second embodiment

The present invention also provides a second embodiment which differs from the first embodiment in that the surgical instrument 100 further comprises an auxiliary operating member 310, see fig. 31. The auxiliary operating element 310 includes an auxiliary manual operation portion 314 to which a user inputs manual force, and when in use, the auxiliary operating element 310 is connected to the operating element 282 and transmits the input manual force to the manual force output terminal 288.

In this embodiment, the auxiliary operating member 310 is preferably an auxiliary handwheel 312 as shown in fig. 31, the auxiliary handwheel 312 is a disk having a circular through hole in the middle, the handwheel 286 ' is mounted in the circular through hole, the disk is an auxiliary manual operating portion 314 (not labeled), the doctor operates the outer ring of the disk to rotate the disk around the rotation axis of the operating member 282 to drive the operating member 282 to rotate, and the auxiliary handwheel 312 has a larger diameter than the rotation axis 284 ' and the handwheel 286 '.

In other embodiments, the secondary operating member 310 may be an L-shaped lever 400 as shown in FIG. 33, the L-shaped lever including a first lever 400a and a second lever 400b connected to the first lever 400a at an angle, preferably a right angle. The first rod 400a is mounted on the rotating shaft 284 ', and particularly the transmission input end 300, that is, the first end of the first rod 400a is a polygonal shaft having the same structure as the electric output member, and the polygonal shaft can be inserted into the polygonal mounting opening of the transmission input end 300 of the rotating wheel 286 to be mounted in a matching manner, so that the L-shaped rod 400 is mounted on the handwheel 286 ', the second end of the first rod 400a is connected with the second rod 400b, the second rod 400b is the auxiliary manual operation part 314, the doctor operates the second rod 400b to rotate the L-shaped rod 400 around the rotation axis of the handwheel 286 ', so as to drive the handwheel 286 ' to rotate, and the manual force is input, and the length of the second rod 400b is greater than the radius of the handwheel 286 '. It will be appreciated by those skilled in the art that the secondary handle member 310 may have other forms to achieve an enlarged radius of rotation, all of which are within the scope of the present application and are not listed here.

The user operates the auxiliary operating member 310, the auxiliary operating member 310 drives the operating member 282 to rotate around the rotation axis of the rotation shaft, the manual force output end 288 outputs manual force, the projection of the auxiliary manual operating part 314 on the plane perpendicular to the rotation axis is larger than the projection of the operating member 282 on the plane, as shown in fig. 32, when the auxiliary operating member 310 is an auxiliary handwheel 312, the projection plane a + B of the operating member is smaller than the projection plane a + B + C of the auxiliary manual operating part 314, that is, the maximum radius of the auxiliary manual operating part 314 of the auxiliary operating member 310 from the rotation axis is larger than the maximum outer diameter of the operating member 282, the rotation radius of the original operating member is enlarged by the auxiliary operating member 310, compared with the case that the doctor directly operates the operating member 282, the rotation radius of the operation auxiliary operating member 310 is larger, so that the moment is larger, and the operation is more convenient and labor-saving. It should be noted that the auxiliary operating member 310 may not be accommodated in the housing 102, and the auxiliary operating member 310 may be connected to the operating member 310 when it is needed. The L-shaped lever 400 of the auxiliary operating member 310 can achieve the same effect, and will not be described in detail. On the other hand, the auxiliary operating element 310 is an L-shaped lever, the lever shape is easier to operate than the hand wheel 286 ', the auxiliary operating element 310 can increase the operation comfort by changing the operation structure of the operating element 282, and the length of the second lever 400b is not limited to be longer than the hand wheel 286'.

Third embodiment

The present invention also provides a third embodiment which differs from the second embodiment in that the operation member 282 is not provided with the manual operation portion 286, the operation member 282 includes only the manual force transmission portion 284, and the auxiliary operation member 310 is connected to the manual force transmission portion 284 (i.e., the rotary shaft 284' in this embodiment), for example, to the transmission input terminal 300.

Specifically, as shown in fig. 34, the rotating shaft 284 ' is disposed to protrude from the first housing 112, and the operating member 282 may be accommodated in the accommodating cavity of the second housing 120 when the electric module 110 is in the mounting state, or, as shown in fig. 35, the rotating shaft 284 ' does not protrude from the first housing 11, and the second end of the rotating shaft 284 ' does not protrude from the peripheral housing in the axial direction. An auxiliary operating member 310 such as a hand wheel or an L-bar having a large radius of rotation axis can be attached to the transmission input end of the rotation axis, thereby enlarging the radius of rotation of the operation and saving labor.

In fig. 34 to 35, the manual force is directly obtained by the operator without providing a manual operation portion, and therefore, the structure is simple, and the manual force is completely inputted by the auxiliary operator 310.

Referring to fig. 36 to 37, a fourth embodiment of the present invention is provided, which is a surgical instrument similar to the first embodiment.

In this embodiment, the surgical instrument 100 includes a jaw assembly 128, a shaft assembly 104 disposed at a proximal end of the jaw assembly 128, a cutter assembly coupled to a distal end of the shaft assembly 104, a transmission mechanism, a power module, and a power module. A drive mechanism for driving movement of the shaft assembly 104 to advance or retract the cutter assembly and/or for driving opening or closing of the jaw assembly 128; the power module includes a battery pack that provides power to the power module, and in particular, to the power module's electric module 110. The power module provides power for the driving mechanism. The power module may be a power module 110, the power module 110 including a motor 122, and the power module 110 may be removably mounted to the main module of the surgical instrument 100 or fixedly mounted to the main module. The power module can also be an operating member 282, and the operating member 282 can replace the electric module 110 and provide power for the transmission mechanism under the action of external force. The power module may also be a combination of the operation element 282 and the electric module 110, and the specific structures, positions, connection relationships, and the like of the electric module 110 and the operation element 282 have been described in detail in the first to third embodiments, and are not described herein again. The surgical instrument 100 also includes a body 108 disposed at a proximal end of the shaft assembly 104, the body 108 including a head housing 114 and a handle 342 extending downwardly from the head housing 114, at least a portion of the drive mechanism being housed in the head housing 114, the handle 342 including a handle housing 116.

In this embodiment, the shaft assembly axis a is parallel to or coaxial with the power module output shaft axis b, and coaxial means that the two axes are on the same line, i.e., the two axes coincide. Set up shaft body subassembly axis a into parallel or coaxial with power module output shaft axis b, overall structure is compact on the one hand, and on the other hand, the position and the angle of handle do not receive power module's restriction for the position and the angle setting of handle 342 have great design space, can set up the position and the angle of handle 342 in a flexible way, and then the doctor of being convenient for holds handle 342, with the better surgical instruments 100 of operating, improve the product experience and feel.

In the present embodiment, the "axis" of the movable element is explained as follows: if the motion of the element is linear motion, the axis of the element refers to the straight line of the motion track of the element; if the movement of the element is a rotational movement, the axis of the element is the line in which its axis of rotation lies. When the motion of the element A and the motion of the element B are both linear motion, if at least one straight line in the straight line of the motion trail of the element A is coaxial with at least one straight line in the straight line of the motion trail of the element B, the axis of the element A is called to be coaxial with the axis of the element B; if the straight line of the motion trail of the element A is parallel to the straight line of the motion trail of the element B, the axis of the element A is called to be parallel to the axis of the element B; when the motion of the element A is linear motion and the motion of the element B is rotary motion, if at least one of the straight lines of the motion trail of the element A is coaxial with the axis of the element B, the axis of the element A is called to be coaxial with the axis of the element B; if the straight lines of the motion tracks of the element A are parallel to the axis of the element B, the axis of the element A is called to be parallel to the axis of the element B.

In one embodiment, the transmission mechanism includes a first drive mechanism 146, one end of the first drive mechanism 146 is connected to the shaft assembly 104, and the other end is connected to an output shaft 168 of a power module, the power module provides power to the first drive mechanism 146, and the first drive mechanism 146 drives the shaft assembly 104 to move to drive the cutter assembly to move forward or backward. The shaft assembly 104 includes a mandrel 124, and a cutting blade assembly is connected to the mandrel 124. The first drive mechanism 146 drives the spindle 124 to move, thereby advancing or retracting the cutter assembly. The shaft assembly axis a is the axis of the spindle 124 and the power module output shaft axis b is parallel or coaxial with the axis of the spindle 124. As in the first embodiment, the first driving mechanism 146 includes a first driving member, a first driven member connected to the mandrel 124, a first motion conversion structure disposed on the first driving member, and a second motion conversion structure disposed on the first driven member, the first driven member is driven by the first driving member, the first motion conversion structure and the second motion conversion structure cooperate to convert rotation of the first driving member into linear motion of the first driven member, the movement of the driven member drives the mandrel 124 to move, so as to drive the cutter assembly to advance or retract, the first driving mechanism 146 has a first driving axis c, the first driving axis c is an axis of the first driving member or an axis of the first driven member, an axis a of the shaft assembly is coaxial with the first driving axis c, and an axis of the first driving member or an axis of the first driven member is coaxial with an axis a of the shaft assembly. Due to the design, the whole structure is more compact, and the space is saved. In one embodiment, the first driving member is a lead screw 186, the first driven member is a nut 188, and both the first motion conversion structure and the second motion conversion structure are threads; the nut 188 is driven to move linearly during rotation of the lead screw 186. In order to prevent the nut 188 from rotating along with the lead screw 186 and not moving linearly, a nut rotation-preventing structure is further provided, and the specific structure is the same as that of the first embodiment, and is not described again here. Of course, in other embodiments, the first driving member, the first driven member and the first motion conversion structure may also be in other structures, for example, the first driving member is a gear, the first driven member is a rack, both the first motion conversion structure and the second motion conversion structure are tooth portions, and the first driving mechanism further includes a helical gear assembly or a bevel gear, one end of the helical gear assembly or the bevel gear is connected to the output shaft of the power module, and the other end of the helical gear assembly or the bevel gear is engaged with the gear. The specific connection structure between the cutter assembly and the core shaft 124 and the specific connection structure between the core shaft 124 and the nut 188 are also the same as those in the first embodiment, and are not described herein again.

In another embodiment, the transmission mechanism includes a second drive mechanism 148, the second drive mechanism 148 having one end connected to the shaft assembly 104 and another end connected to an output shaft 168 of a power module that provides power to the second drive mechanism 148, the second drive mechanism 148 driving the jaw assembly 128 to open or close. The shaft assembly 104 includes a sleeve 126, and the sleeve 126 is connected to the jaw assembly in the manner previously described. The second drive mechanism 148 drives the sleeve 126 to move, thereby causing the jaw assembly 128 to open or close. The shaft assembly axis a is the axis of the sleeve 126 and the power module output shaft axis b is parallel or coaxial with the sleeve 126 axis. In one embodiment, the second driving mechanism 148 includes a second driving member, a second driven member driven by the second driving member, and a second motion transfer mechanism. A second motion transfer mechanism is connected to the jaw assembly 128 at one end and to a second follower at the other end. The second driving part is provided with a third motion conversion structure, the second driven part is provided with a fourth motion conversion structure, the third motion conversion structure and the fourth motion conversion structure are matched to convert the rotation of the second driving part into the linear motion of the second driven part, and the second driven part moves to drive the sleeve 126 of the second motion transmission mechanism to move. The second motion transfer mechanism has a first axis and a second axis; the first axis intersects or is non-coplanar with the shaft assembly axis, the second axis is coaxial with the shaft axis, and the first axis and the second axis jointly form the axis of the second motion transmission mechanism. The second drive mechanism 148 has a second drive axis d that is parallel to and then co-axial with the shaft assembly axis a along the cutter assembly advancing direction. The second driving axis d is an axis formed by sequentially connecting the axis of the second driving member, the axis of the second driven member, and the axis of the second motion transmission mechanism. Due to the design, the whole structure is more compact, and the space is saved. The second driving part is a first cam part 224, the second driven part is a second cam part 234, the third motion conversion structure is a first cam surface 226, the fourth motion conversion structure is a second cam surface 236, the second motion conversion transmission mechanism includes a connecting rod 248 and a pressing ring 250, the first cam surface 226 and the second cam surface 236 are matched to convert the rotation of the first cam part 224 into the linear motion of the second cam part 234, one end of the connecting rod 248 is pivotally connected with the second cam part 234, the other end of the connecting rod 248 is pivotally connected with the pressing ring 250, the second cam part 234 moves to drive the connecting rod 248 and the pressing ring 250 to move, and further, the sleeve 126 is driven to move to open the jaw assembly 128, at this time, the first axis is the axis of the connecting rod 248, and the second axis is the axis of the pressing ring 250. The specific structure of the second driving mechanism 148 and the specific implementation manner of the sleeve 126 moving to open or close the jaw assembly 128 are the same as the first embodiment, and are not described herein again. In another embodiment, the second drive mechanism comprises a lead screw nut mechanism. In yet another embodiment, the second drive mechanism comprises a rack and pinion mechanism and further comprises a bevel gear assembly or gear, one end of the bevel gear assembly or gear being connected to the power module output shaft and the other end being engaged with the gear.

In another embodiment, the transmission mechanism includes a first drive mechanism 146 and a second drive mechanism 148, and is coupled to the shaft assembly 104 for driving movement of the shaft assembly 104 to advance or retract the cutter assembly (i.e., advance or retract the cutter assembly), and for driving movement of the shaft assembly 104 to drive the jaw assembly 128 open or closed. To satisfy the logical relationship between the opening and closing motion of the jaw assembly 128 and the cutting blade assembly feeding and retracting motion, i.e., the movement of the jaw assembly 128 and the movement of the cutting blade assembly cannot be performed simultaneously, and the sequencing therebetween, the drive mechanism of the surgical instrument 100 further includes a switching mechanism. The switching mechanism is coupled at one end to the power module output shaft 168 and at the other end to the first drive mechanism 146 and the second drive mechanism 148. The switching mechanism comprises a first state and a second state, and in the first state, the switching mechanism drives the second driving mechanism 148 to move under the driving of the power module; in the second state, the switching mechanism drives the first driving mechanism 146 to move under the driving of the power module. That is, in a first state, the second drive mechanism 148 drives the jaw assembly 128 to open or close while the first drive mechanism 146 does not drive the cutter assembly to advance or retract, and in a second state, the first drive mechanism 146 drives the cutter assembly to advance or retract while the second drive mechanism 148 does not drive the jaw assembly 128 to open or close. The first driving mechanism 146 has a first driving axis c, the second driving mechanism 148 has a second driving axis d, and the first driving axis c and the second driving axis d are parallel to each other and then intersect with each other and then are coaxial along the advancing direction of the cutter assembly. Due to the design, the whole structure is more compact, and the space is saved. The first driving mechanism 146 and the second driving mechanism 148 are the same as the above embodiments, and in the embodiment where the shaft assembly axis a is coaxial with the power module output shaft axis b, the switching mechanism is the same as the first embodiment, and the description thereof is omitted; in the arrangement where the shaft assembly axis a is parallel to the power module output shaft axis b, the configuration of the switching mechanism portion differs from that of the first embodiment and is described herein. Specifically, referring to fig. 36 and 8, the switching mechanism includes a clutch, and an input member and an output member engaged with the clutch, the input member being mounted to the output shaft 168 of the power module, the output member including a first output member and a second output member, the first output member being engaged with the first drive mechanism 146 and the second output member being engaged with the second drive mechanism 148. The input member is a main driving gear 166, the first output member is a first driving gear 170, the second output member is a second driving gear 172, and the input member and the clutch member are integrally formed. Clutches including a first clutch 154, a second clutch 156, wherein the first clutch 154 includes a first effective rotation range structure 158 and a first idle rotation range structure 160, and the second clutch 156 includes a second effective rotation range structure 162 and a second idle rotation range structure 164; in the first state, the second effective range structure 162 drives the second drive mechanism 148 to move, and the first idle range structure 160 is coupled with the first drive mechanism 146; in the second state, the first active range structure 158 drives the first drive mechanism 146 in motion and the second idle range structure 164 is coupled to the second drive mechanism 146. The first and second

active range structures

158, 162 are both toothed portions, and the first and second

idle range structures

160, 164 are both non-toothed portions, with the toothed and non-toothed portions being disposed adjacent to one another. Compared with the first embodiment, the intermediate part is reduced, the input part and the clutch part are integrally formed, the power output by the power module is transmitted to the clutch part through the input part, the primary transmission is reduced, and the transmission efficiency is further improved; and the structure is more compact. Of course, it will be appreciated that the intermediate member 152 may not be reduced, and that the power module and the input member connected to the power module output shaft may be positioned such that the power module output shaft axis b is parallel to the shaft assembly axis a, in addition to the first embodiment.

To further enhance the use experience of surgical instrument 100, the position of handle 342 is configured to correspond to a person

Ergonomically to facilitate the surgeon's better handling and operation of the surgical instrument 100. in this embodiment, referring to fig. 2, the handle 342 extends down the head housing 114, has a handle axis m along its direction of extension, and the head housing 114 has a head housing axis n along a lengthwise direction, wherein the lengthwise direction is the direction from the proximal end of the surgical instrument 100 toward its distal end, or from its distal end toward its proximal end, and is parallel to the axis of the shaft assembly 104. The head housing axis n is parallel or coaxial with the shaft axis a. The motor 122 is disposed in the housing 102, and the handle axis m and the head housing axis n form a preset included angle θ, which is in a range of 60 degrees to 80 degrees, and preferably, the preset included angle θ is 70 degrees or 75 degrees.

In this embodiment, the shaft assembly axis a and the power module output shaft axis b are parallel or coaxial, which is also beneficial for separating the electric module 110 from the main module of the surgical instrument 100, and the electric module 110 and the main module are separable for replacing the motor 122, and after separating the electric module 110 from the main module of the surgical instrument 100, the operation member 282 can provide power for the driving mechanism under the action of external force, so as to realize the retracting action of the cutter assembly and the opening and closing action of the jaw assembly 128, thereby improving safety and avoiding injury to human body when the surgical instrument 100 fails. Specifically, the operating member 282 may provide power to the driving mechanism under an external force when the power module 110 is separated from the main module. The detailed structure of the operation element 282 has been described in detail in the first to fifth embodiments, and is not repeated herein. The connection structure between the power module 110 and the main module and the operation member 282 of the surgical instrument 100, and how the operation member 282 is operated by external force to open the knife and jaw assembly 128 are also described in detail in the first to third embodiments, and will not be described again here.

Referring to fig. 38, a fifth embodiment of the present invention is shown, which is similar to the first embodiment, and relates to a surgical instrument, specifically a surgical instrument 100.

This implementation differs from the fourth or first embodiment in that the shaft assembly axis a is at a predetermined angle other than 90 degrees to the power module output shaft axis b. Set up shaft body subassembly axis a into being the preset contained angle of non-90 degrees with power module output shaft axis b, be 90 degrees preset contained angle settings in comparison shaft body subassembly axis a and power module output shaft axis b, shaft body subassembly 104 sets up with power module output shaft axis is perpendicular promptly, overall structure is compacter on the one hand, on the other hand, when motor 122 holds in the accommodation space that handle casing 116 formed, handle 342 sets up with shaft body subassembly 104 slope, be convenient for the doctor to hold handle 342, with operate surgical instruments 100 better, improve the product experience and feel.

Also to further enhance the experience of using the surgical instrument 100, and to provide ergonomics to the handle 342 for the surgeon to better grip and operate the surgical instrument 100, the shaft assembly axis a is at a predetermined angle to the power module output shaft axis b in the range of 60 degrees to 80 degrees, preferably 70 degrees or 75 degrees. The motor 122 is accommodated in an accommodating space formed by the handle case 116, and the battery pack may be disposed in an accommodating space formed by the head case 114 or an accommodating space formed by the handle case 116.

In this embodiment, with continued reference to FIG. 38, the surgical instrument 100 further includes a steering mechanism 348, the steering mechanism 348 being coupled at one end to the output shaft 168 of the power module and at the other end to the transmission mechanism, the power output by the power module having a first power output direction and the power output by the transmission mechanism having a second power output direction; the steering mechanism 348 is configured to convert the first power output direction to the second power output direction. The first power output direction is the extension direction of the axis of the output shaft of the power module, and the second power output direction is the extension direction of the axis of the input part of the transmission mechanism. In one embodiment, the steering mechanism 348 includes a beveled gear assembly, and in another embodiment, the steering mechanism 348 includes a bevel gear.

In this embodiment, the electric module 110 may also be detachably mounted to the main module of the surgical instrument 100, and the electric module 110 and the main module are detachably mounted to facilitate replacement of the motor 122, and after the electric module 110 is detached from the main module of the surgical instrument 100, the operating member 282 may provide power for the driving mechanism under the action of external force to open the jaw assembly 128 and retract the knife, so as to prevent the jaw assembly 128 from being opened and being unable to perform the knife retracting action when the surgical instrument 100 fails, thereby preventing injury to the human body, and thus improving the safety of the surgical instrument 100. Specifically, the operating member 282 may provide power to the driving mechanism under an external force when the power module 110 is detached from the main module. The connection structure between the electric module 110 and the main module, the connection structure of the operation member 282, and the structure of the operation member 282 have been described in detail in the first to third embodiments, and are not described again here.

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. A surgical instrument comprising a jaw assembly, a jaw drive mechanism that drives movement of said jaw assembly, wherein: the jaw driving mechanism comprises a jaw closing driving mechanism which drives the jaw assembly to close; the jaw closing driving mechanism comprises a driving part and a driven part driven by the driving part, the driving part is provided with a first motion conversion mechanism, the driven part is provided with a second motion conversion mechanism, and the first motion conversion mechanism is matched with the second motion conversion mechanism to convert the rotation of the driving part into the linear motion of the driven part; the driving part is a first cam part, and the first motion conversion mechanism comprises a first cam surface; the follower is connected to the jaw assembly.

2. The surgical instrument of claim 1, wherein: the first cam surface is a helicoid provided on a distal end side of the driving member.

3. The surgical instrument of claim 1, wherein: the first cam member further includes a first start abutment surface adjacent and angled to one end of the first cam surface and a first end abutment surface adjacent and angled to the other end of the first cam surface.

4. A surgical instrument as claimed in either of claims 1 and 3, wherein: the follower is a second cam member and the second motion transfer mechanism includes a second cam surface that is form-matched to the first cam surface.

5. The surgical instrument of claim 4, wherein: the second cam member further includes a second start point abutment surface adjacent to and angled with respect to one end of the second cam surface and a second end point abutment surface connected to and angled with respect to the other end of the second cam surface.

6. The surgical instrument of claim 5, wherein: during closure of the jaw assemblies, the first cam member has three states of engagement with the second cam member: in the first fitting state, the first starting point abutting surface abuts against the second starting point abutting surface, and the distance between the first cam piece and the second cam piece reaches a minimum value; in a second mating state, the first cam member is rotated such that the first cam surface pushes the second cam surface to drive the second cam member to move linearly; in the third engagement state, the second starting point abutment surface abuts against the first end point abutment surface, and the distance between the first cam member and the second cam member reaches a maximum value.

7. The surgical instrument of claim 1, wherein: the jaw closing drive mechanism further comprises a jaw drive gear that drives the first cam member in rotation.

8. The surgical instrument of claim 7, wherein: the jaw drive gear and the first cam member are coaxially and spaced apart.

9. The surgical instrument of claim 1, wherein: the jaw driving mechanism further comprises a motion transmission mechanism, and the driven piece is connected with the jaw assembly through the motion transmission mechanism.

10. The surgical instrument of claim 9, wherein: the motion transmission mechanism comprises a distance transmission mechanism and a linear transmission mechanism which are connected, and the distance transmission mechanism enables the axis of the linear transmission mechanism and the axis of the driven piece to be parallel.

11. The surgical instrument of claim 10, wherein: the distance transfer mechanism is a connecting rod, one end of the connecting rod is connected with the driven piece, and the other end of the connecting rod is connected with the linear transfer mechanism.

12. The surgical instrument of claim 10, wherein: linear transfer mechanism is including continuous clamping ring and sleeve pipe, keep silent the subassembly include nail storehouse seat, with nail storehouse seat pivotal connection support the nail seat, the sleeve pipe with support and be equipped with the motion between the nail seat and change the mechanism, the motion change the mechanism will sheathed tube linear motion convert into support the pivotal motion of nail seat.

13. The surgical instrument of claim 1, wherein: the drive mechanism of keeping silent still includes the drive keep silent that the subassembly of keeping silent is opened and opens actuating mechanism, keep silent open actuating mechanism including reset the piece the follower with the driving part, the driving part rotates and does the motion of follower lets out the position, reset a drive the follower is followed the driving part motion.

14. The surgical instrument of claim 13, wherein: the reset piece is an elastic element, and in the movement process of the jaw closing driving mechanism, the elastic element is stored with energy.

15. The surgical instrument of claim 13, wherein: reset the piece with be provided with clamping ring and connecting rod between the follower, reset the piece with the clamping ring butt, the one end of connecting rod with the follower is connected, the other end of connecting rod with the clamping ring is connected.

16. The surgical instrument of claim 13, wherein: the follower is a second cam member including a second cam surface.

17. The surgical instrument of claim 16, wherein: the second cam member further includes a second start point abutment surface adjacent and angled to one end of the second cam surface and a second end point abutment surface adjacent and angled to the other end of the second cam surface.

18. The surgical instrument of claim 1, wherein: the jaw opening driving mechanism and the jaw closing driving mechanism respectively comprise a power supply part and a transmission assembly, the power supply parts of the jaw opening driving mechanism and the jaw closing driving mechanism are different, the transmission assemblies of the jaw opening driving mechanism and the jaw closing driving mechanism are the same, and the transmission paths of the transmission assemblies are opposite in the opening process and the closing process of the jaw assemblies.