CN114305558A

CN114305558A - Surgical instrument and operation method thereof

Info

Publication number: CN114305558A
Application number: CN202210038814.9A
Authority: CN
Inventors: 蒋亚飞; 王凯; 徐振振; 冯荣轩
Original assignee: Reach Surgical Inc
Current assignee: Reach Surgical Inc
Priority date: 2021-05-27
Filing date: 2022-01-13
Publication date: 2022-04-12
Anticipated expiration: 2042-01-13
Also published as: CN114305558B; CN113208678A

Abstract

The present invention provides a surgical instrument comprising: a handle assembly; an elongate body assembly extending distally from the handle assembly; an end effector; a bend operating system comprising: joint subassembly, turn drive assembly and locking subassembly, the locking subassembly includes: a first latch operable to selectively lock a bending operation of the bending drive assembly and a second latch operable by the bending drive assembly to unlock the bending operation system from the locking assembly; the second locking member is operable to selectively lock the angular position of the end effector relative to the longitudinal axis of the elongate body assembly; the invention also provides a method of operating the surgical instrument.

Description

Surgical instrument and operation method thereof

The present application claims priority from chinese patent application No. 202110586591.5, application No. 5/27/2021, the entire contents of which are incorporated herein by reference.

Technical Field

The invention relates to the technical field of medical instruments, in particular to a surgical instrument and an operation method thereof.

Background

Surgical instruments are commonly used in the art for soft tissue, such as surgical staplers, which reduce or eliminate bleeding from the soft tissue during cutting of the tissue. The surgical stapler has an end effector and a bend control device for driving the end effector to bend. The end effector comprises a nail bin and a nail anvil, wherein the nail bin is internally used for placing nails, and the nail anvil and the nail bin are closed to clamp soft tissues and sew the soft tissues together.

The turning control device comprises a joint part, a turning operation mechanism and two turning pull pieces which transmit the action of the turning operation mechanism (turning knob) to the joint part, wherein one end of each turning pull piece is hinged with the turning operation mechanism, and the other end of each turning pull piece is hinged on the joint part to form a connecting rod mechanism; the bending operation mechanism is used for driving two bending pull pieces, one bending pull piece makes extending movement, and the other bending pull piece makes retracting movement, so that the joint component is driven to bend.

Disclosure of Invention

Therefore, the technical problem to be solved by the present invention is to overcome the problem that the bending control device of the prior art surgical instrument cannot be in a continuous locking state at the joint and the bending knob when the bending control device is in different gears.

In order to solve the technical problems, the invention provides the following technical scheme:

a surgical instrument, comprising:

a handle assembly;

an elongate body assembly extending distally from the handle assembly, the elongate body assembly defining a longitudinal axis;

an end effector to manipulate tissue; characterized in that, further include the operation system that turns round, the operation system that turns round includes:

an articulation assembly for connecting with the end effector and the elongate body assembly, respectively;

a bend drive assembly operable to provide a bend drive force to the articulation assembly via a bend transmission assembly to bend the end effector relative to a longitudinal axis of the elongate body assembly;

a latch assembly, comprising:

a first latch operated by the steer drive assembly to selectively latch a steer operation of the steer drive assembly;

a second lock operated by the bend drive assembly to selectively lock a position of the articulation assembly;

and the first locking member is operable by the steering drive assembly to unlock the steering operating system from the locking assembly.

In some embodiments of the invention, the second latch member moves synchronously or substantially synchronously with the first latch member during at least a portion of the movement of the first latch member.

In some embodiments of the invention, the second locking member is connected to the first locking member by a link.

In some embodiments of the invention, the first locking member is operable to reciprocally slide to switch the bend drive assembly and articulation assembly between a locked state and an unlocked state.

In some embodiments of the present invention, the first locking member includes a first locking portion and a second locking portion respectively cooperating with the bending driving assembly, and the first locking portion is operatively cooperating with the bending driving assembly to unlock the bending driving assembly from the second locking portion.

In some embodiments of the invention, a distal end of the second latch portion of the first latch member extends beyond a distal end of the first latch portion of the first latch member.

In some embodiments of the present invention, the bending drive assembly includes a first rotating disk and a second rotating disk, the first rotating disk cooperates with the first locking member to unlock the bending drive assembly from the first locking member; the second rotating disc is matched with the first locking piece to lock the bending movement of the bending driving component.

In some embodiments of the present invention, the turning driving assembly includes a first rotary plate, a second rotary plate, and a turning knob for controlling the first rotary plate and the second rotary plate to rotate, the first rotary plate is engaged with the first locking portion of the first locking member, the second rotary plate is engaged with the second locking portion of the first locking member, and the first rotary plate drives the first locking portion of the first locking member under the operation of the turning knob to release the engagement between the second locking portion of the first locking member and the second rotary plate.

In some embodiments of the invention, at least a portion of the movement of the first turntable is independent of the movement of the second turntable.

In some embodiments of the present invention, the first rotary plate is provided with a locking groove engaged with the first locking portion of the first locking member, and the second rotary plate is provided with a locking groove engaged with the second locking portion of the first locking member.

In some embodiments of the present invention, the first rotary plate is stacked and arranged to be rotatable at a certain angle with respect to the second rotary plate, and the first locking portion and the second locking portion are respectively provided on the first locking member corresponding to the stacking of the first rotary plate and the second rotary plate.

In some embodiments of the present invention, the turning drive assembly further comprises a first member coupled to the turning knob and the first dial, respectively, to operably drive the first dial to rotate.

In some embodiments of the present invention, the turning driving assembly further includes a transmission gear, the transmission gear is coaxially and fixedly connected to the second turntable, and the transmission gear is matched with the turning transmission assembly to drive the joint assembly to turn.

In some embodiments of the present invention, the bending transmission assembly comprises a rack cooperating with the bending driving assembly and a bending pull-tab, wherein a proximal end of the bending pull-tab is connected to the rack, and a distal end of the bending pull-tab is hinged to the joint component of the joint assembly.

In some embodiments of the invention, the locking assembly further comprises at least one biasing member that provides a biasing force that biases the locking assembly distally.

In some embodiments of the invention, a biasing member is disposed within the rotator head to provide a biasing force that biases the first locking member distally.

In some embodiments of the invention, the joint assembly includes a joint component on which a locking groove is provided, the locking groove cooperating with the second locking member to lock a position of the joint assembly.

In some embodiments of the present invention, the joint component is provided with a pivot hole and a transmission hole, the pivot hole is matched with a pivot to realize the pivot connection between the joint component and the elongated body component, and the transmission hole is matched with the turning transmission component to realize that the turning transmission component drives the joint component to turn; wherein the axis of the drive bore is distal relative to the axis of the pivot bore.

In some embodiments of the invention, the axis of the drive hole is 0-1mm from the axis of the pivot hole in the direction of the longitudinal axis.

In some embodiments of the invention, the distal end of the elongate body assembly is provided with a bracket, the distal end of the bracket being pivotally connected to the pivot hole of the articulation component.

In some embodiments of the invention, the bend tab of the bend actuator assembly is hingedly connected to the actuator aperture.

The invention also provides a surgical instrument comprising: a handle assembly; an elongate body assembly extending distally from the handle assembly, the elongate body assembly defining a longitudinal axis; an articulation assembly connecting a distal end of the elongate body assembly and a proximal end of an end effector, respectively, the end effector being drivable by a bend drive assembly to bend away from the longitudinal axis of the elongate body assembly; further included is a locking assembly having a locked state that synchronizes or substantially synchronizes locking of the bend drive assembly and the articulation assembly, and an unlocked state that synchronizes or substantially synchronizes unlocking of the bend drive assembly and the articulation assembly.

In some embodiments of the invention, the locking assembly is operably reciprocable, and the locking assembly unlocks the bend drive assembly and the articulation assembly when the bend drive assembly drives the locking assembly to move proximally; when the bending driving component drives the joint component to bend to a preset angle, the locking component resets to synchronously or substantially synchronously lock the bending driving component and the joint component.

In some embodiments of the invention, the locking assembly includes a first locking member operable to selectively lock the bending operation of the bending drive assembly; and a second locking member operative to selectively lock an angular position of the end effector relative to the longitudinal axis of the elongate body assembly.

In some embodiments of the invention, a first lock is operable by the bend drive assembly to unlock the bend drive assembly and the articulation assembly from the lock assembly.

In some embodiments of the present invention, the bending driving assembly includes a first rotary disc and a second rotary disc, the first rotary disc is engaged with the first locking portion of the first locking member, the second rotary disc is engaged with the second locking portion of the first locking member, and the first rotary disc drives the first locking portion of the first locking member under the operation of the bending knob to release the engagement between the second locking portion of the first locking member and the second rotary disc.

In some embodiments of the present invention, the second locking portion of the first locking member has an entry end that extends beyond a distal end of the first locking portion of the first locking member.

The present invention also provides a method of operating the surgical instrument described above, comprising: placing the surgical instrument in an initial gear; the turning knob is operated, and the locking assembly synchronously or substantially synchronously unlocks the turning driving assembly and the joint assembly; the articulation assembly drives the end effector to bend away from the longitudinal axis of the elongate body assembly; when the end effector is flexed to a predetermined angle, the locking assembly locks the end effector in an angular position at the predetermined angle relative to the longitudinal axis of the elongate body assembly.

In some embodiments of the invention, the surgical instrument can be operated to manipulate tissue while the locking assembly locks the angular position of the end effector relative to the longitudinal axis of the elongate body assembly.

In some embodiments of the invention, the articulation assembly articulation comprises at least 2 articulation steps.

In some embodiments of the invention, the surgical instrument can be continuously operated in bending, and the multi-step shift is performed to a predetermined angular position.

In some embodiments of the invention, the surgical instrument provides a bend gear shift tone when performing a bend operation.

Compared with the prior art, the technical scheme of the invention has the following technical effects:

1. according to the surgical instrument provided by the invention, the bending operation of the bending driving assembly and the rotation of the joint assembly can be respectively locked through the locking assembly, and after the end effector rotates to different bending gears, the bending driving assembly and the joint assembly are respectively locked through the locking assembly, so that the bending operation system can be continuously locked.

2. The invention provides a surgical instrument, wherein the locking assembly has a locking state for synchronously or substantially synchronously locking the bending driving assembly and the joint assembly and an unlocking state for synchronously or substantially synchronously unlocking the bending driving assembly and the joint assembly; that is, by unlocking the bend drive assembly, the joint assemblies can be synchronously unlocked so that bending of the end effector can be manipulated; through the locking of the bending driving assembly, the joint assembly is also synchronously locked, so that after the bending of the end effector is finished, the joint assembly can be synchronously locked, the free bending and shaking of the end effector are avoided, and the damage caused by the free bending and shaking of the end effector can be avoided in the product transportation process.

When the bending knob is operated, the locking assembly is driven to synchronously or substantially synchronously unlock the bending driving assembly and the joint assembly, then the joint assembly is driven to drive the end effector to bend away from the longitudinal axis of the slender body assembly, and after the end effector bends to a preset angle, the locking assembly enters a locking state of synchronously or substantially synchronously locking the bending driving assembly and the joint assembly, so that the end effector automatically locks the angle after bending to the right position.

Drawings

The objects and advantages of the present invention will be understood by the following detailed description of the preferred embodiments of the invention, taken in conjunction with the accompanying drawings, in which:

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

FIG. 2 is an exploded view of the surgical instrument of FIG. 1;

FIG. 3 is a schematic longitudinal cross-sectional view of the surgical instrument of FIG. 1 at a rotary head;

FIG. 4 is a schematic view of the turning knob of FIG. 3;

FIGS. 5A and 5B are schematic structural views of a first turntable of the driving mechanism of FIG. 3;

FIGS. 6A and 6B are schematic structural views of the second turntable and the transmission gear in FIG. 3;

FIG. 7 is a schematic structural diagram (side view) of a bending operation system according to an embodiment of the present invention;

FIG. 8 is a schematic structural diagram (bottom view) of the bending operation system of FIG. 7;

figure 9 is a view of the mating relationship of the articulation component and the frame of the elongated body assembly in an embodiment of the present invention;

fig. 10 is a schematic view of the structure of the rack of fig. 7 and 8;

FIG. 11 is a schematic view of the structure of the bend tab of FIGS. 7 and 8;

FIG. 12 is a schematic view (in bottom view) of the first latch member of the latch assembly of FIGS. 7 and 8;

FIG. 13 is a schematic structural view (looking down) of the second latch member of FIGS. 7 and 8;

FIG. 14 is a schematic illustration of the structure of the linkage in the locking assembly of FIGS. 7 and 8;

FIGS. 15A-E are schematic structural diagrams of various states of the turn operation system during a turn operation;

fig. 16A-C are schematic structural views of a yaw drive assembly.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present 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.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

In various embodiments of the present invention, "distal end/side" refers to the end of the surgical instrument that is distal from the operator when the surgical instrument is operated, and "proximal end" refers to the end/side of the surgical instrument that is proximal to the operator when the surgical instrument is operated.

FIG. 1 is a schematic diagram of the construction of one embodiment of a surgical instrument 100. The illustrated embodiment is an endoscopic instrument and, in general, the embodiments of the surgical instrument 100 described herein are endoscopic surgical cutting and stapling instruments. However, it should be noted that the surgical instrument may also be a non-endoscopic surgical cutting stapling instrument, such as an open surgical instrument for open surgery.

In particular, surgical instrument 100 shown in FIG. 1 includes a handle assembly 80, an elongate body assembly 101, and an end effector 70, wherein elongate body assembly 101 defines a longitudinal axis C extending distally from a distal end of handle assembly 80, end effector 70 includes an anvil assembly 71 and a cartridge assembly (not shown) removably mounted on cartridge channel 72, and end effector 70 is adapted to perform a particular surgical procedure, such as clamping, stapling/stapling, cutting, etc., tissue. Disposed within end effector 70 is a movable firing member (not shown in FIG. 1) for performing a particular surgical procedure. As further shown in fig. 1, the handle assembly 80 includes a handle housing 83 and a trigger 81, the handle housing 83 including a grip portion 82 and a receiving portion. In operation, when the trigger 81 is pulled in the direction of the gripping portion 82, jaw closure of the end effector 70 is achieved. In addition, trigger 81 may also be configured to control the output of the drive mechanism of surgical instrument 100, and in alternative embodiments, the trigger may also be configured in the form of a button or switch.

It should be noted that while the embodiments of surgical instrument 100 described herein are configured with end effector 70 that cuts stapled tissue, in alternative embodiments, other techniques for cutting stapled tissue may be configured. For example, end effectors that use Radio Frequency (RF) energy or adhesives to staple tissue may also be used.

As further shown in fig. 1, a surgical instrument 100 according to an embodiment of the present invention further includes a rotator head 1, wherein the rotator head 1 is mounted distally to the handle assembly 80 and is fixedly connected to a proximal end of the elongated body assembly 101, and wherein the rotator head 1 is configured to rotate the elongated body assembly 101 and the end effector 70 together when the rotator head 1 is manipulated to rotate about a longitudinal axis (see longitudinal axis C in fig. 1) of the surgical instrument 100.

Surgical instrument 100 according to an embodiment of the present invention further includes a bending operation system, as shown in fig. 2, including a bending drive assembly 20, a joint assembly 30, a bending transmission assembly 40 and a locking assembly 50, wherein the bending transmission assembly 40 is respectively connected to the bending drive assembly 20 and the joint assembly 30, and is adapted to transmit a bending driving force generated by the bending drive assembly 20 to the joint assembly 30 to bend the end effector 70 away from the longitudinal axis of the elongated body assembly 101 to complete the bending operation of the end effector 70; the locking assembly 50 is adapted to synchronize or substantially synchronize the steer drive assembly 20 and the articulation assembly 30 in an unlocked or locked state when the steer operation system is performing a steering operation. For example, when the bending operation system is operated to perform a bending operation, the lock on the bending lock assembly 20 and the joint assembly 30 is first released, and after the end effector 70 is operated to bend to a specified gear, the lock on the bending drive assembly 20 and the joint assembly 30 is synchronously or substantially synchronously completed. The end effector 70 is operated to turn to a designated gear, which is offset from the longitudinal axis by an angle, which may be 0-75 degrees; at this point, the position at which end effector 70 is flexed is the angular position of the longitudinal axis of elongate body assembly 101.

Next, the specific structure and operation principle of the bending operation system will be described with reference to the drawings.

< turning drive Assembly >

As shown in fig. 1 and 2, the bending drive assembly 20 includes a bending knob 2 rotatably mounted on a rotary head 1, and performs a bending operation of an end effector 70 when the bending knob 2 is operated to rotate.

Referring to fig. 2 and 3, the bending drive assembly 20 according to the embodiment of the present invention includes a first rotating disc 22, specifically referring to fig. 3, the first rotating disc 22 is axially and fixedly installed at the bottom of the bending knob 2, in the embodiment, the first rotating disc 22 is axially and fixedly connected to the bottom of the bending knob 2 through a first member 21, specifically, as shown in fig. 4, a catch plate 211 is provided on the inner wall of the first member 21. Accordingly, as shown in fig. 5A, the top surface of the first rotating disk 22 engaged with the first member 21 is provided with a boss 221 protruding upward, and the boss 221 is provided with symmetrical engaging holes 222. The catch plates 211 of the first member 21 are mounted in the two fitting holes 222 of the first rotary plate 22 by means of snap-fitting, so as to realize an axially fixed connection between the turning knob 2 and the first rotary plate 22, and when the turning knob 2 is operated to rotate, the first member 21 and the first rotary plate 22 rotate therewith. In alternative embodiments, the turning knob 2 and the first rotary plate 22 may be fixed by other means, for example, by a fastening member, such as a screw or a bolt; or the bottom of the turning knob 2 is welded and fixed on the top surface of the first rotary disk 22.

With further reference to fig. 5A and 5B, at least two locking grooves 224 are formed on the circumferential outer wall of the first rotary disk 22, and a protrusion 223 is formed between two adjacent locking grooves 224. Preferably, the locking grooves 224 on the first rotary disk 22 may be provided in seven, or two, three, four, five, six, eight or more; preferably, the number of the lock grooves 224 is odd, and the middle lock groove 224 is the lock groove 224 of the initial shift position (non-bending shift position).

The bending drive assembly 20 further comprises a second rotary disc 23, and the second rotary disc 23 and the first rotary disc 22 are coaxially stacked. Specifically, a protrusion 225 protruding downward in the axial direction is provided on the bottom surface of the first rotary disk 22, and two slit grooves 226 are provided symmetrically on the outer peripheral wall of the protrusion 225. Correspondingly, as shown in fig. 6A, the second rotating disk 23 includes an inner hole 233, and two protrusions 234 protruding radially inward are disposed on the inner hole 233, and the two protrusions 234 are symmetrically distributed in the inner hole 233 and correspond to the notch grooves 226 on the protruding portion 225 of the first rotating disk 22 one by one. The protrusion 225 of the first rotary disc 22 is embedded in the inner hole 233 of the second rotary disc 23, and the protrusion 234 is matched with the notch 226 of the protrusion 225 of the first rotary disc 22, so that when the first rotary disc 22 is operated to rotate, the second rotary disc 23 is driven to rotate together.

With further reference to fig. 6A, similar to the first rotary disk 22, the circumferential outer wall of the second rotary disk 23 is provided with at least two locking grooves 232, and a protrusion 231 is formed between two adjacent locking grooves 232. The number of the lock grooves 232 of the second rotating disk 23 corresponds to the number of the lock grooves 224 of the first rotating disk 22, preferably, the number of the lock grooves 232 of the second rotating disk 23 is also seven, or two, three, four, five, six, eight or more, most preferably, the number of the lock grooves 232 of the second rotating disk 23 is set to be an odd number, and one lock groove 232 in the middle is the lock groove 232 of the initial gear (non-bending gear).

With further reference to fig. 6B, the transmission gear 24 is coaxially and fixedly mounted on the second turntable 23, such that rotation of the second turntable 23 synchronously or substantially synchronously rotates the transmission gear 24.

< turning transmission assembly and joint assembly >

As shown in fig. 2, 7 and 8, the bending transmission assembly 40 is adapted to transmit a bending driving force generated by the bending driving assembly 20 to the joint assembly 30. Specifically, the bend transmission assembly 40 includes a rack 41 and a bend tab 42, a distal end of the bend tab 42 cooperating with the articulation assembly 30 to transmit a bending drive force to the articulation assembly 30. The portion of the rack 41 provided with teeth 411 (as shown in fig. 10) is engaged with the drive gear 24 of the bend drive assembly 20, and another portion of the rack 41 is fixedly attached to the proximal end of the bend tab 42.

As shown in fig. 2, the joint assembly 30 includes a pivot member 31, a joint component 32, and a pivot shaft 33; the distal end of the outer sleeve 101a of the elongate body assembly 101 and the proximal end of the outer sleeve 73 proximal of the end effector 70 are rotatably connected by the pivot member 31; the frame 101b of the elongate body assembly 101 is provided at its distal end with a bracket 101c, the distal end of the bracket 101c being pivotally connected to the articulation component 32 by a pivot 33. Preferably, the joint assembly 30 is externally wrapped with a shield 34.

Fig. 9 shows a specific structure of the joint component 32 of the joint assembly 30, and a locking groove 321 is provided on the proximal circumferential outer wall of the joint component 32, and the locking groove 321 cooperates with the second locking piece 52 to achieve position locking and unlocking of the joint assembly. The number of the lock grooves 321 may be set according to the number of gear positions of the bending operation of the instrument, and when the number of the lock grooves 321 is set to an odd number, the lock groove 321 positioned in the middle is the lock groove 321 of the initial gear position (non-bending gear position).

The joint part 32 is further provided with a pivot hole 324 and two transmission holes 322 respectively arranged at two sides of the pivot hole 324, and the pivot hole 324 is matched with the pivot 33 so that the joint part 32 is pivotally connected to the frame 101b of the elongated body assembly. The transmission hole 322 is adapted to be hinged to the distal end of the turning pull tab 42, and specifically, as shown in fig. 11, the distal end of the turning pull tab 42 is provided with a second hook 422, and the second hook 422 is hinged to the transmission hole 322. When the drive gear 24 of the bend drive assembly 20 is operatively rotated, it causes the two racks 41 of the bend drive assembly 40 to reciprocate longitudinally (in the direction of the longitudinal axis C) and further causes the bend tabs 42 to reciprocate, with one bend tab 42 moving distally and the other bend tab 42 moving proximally, thereby causing the articulation component 32 to pivot about the pivot 33, ultimately effecting a bending operation of the end effector 70. Of course, in alternative embodiments, the articulation of the bent tab 42 with the articulation component 32 may be in other manners. And, as an alternative embodiment, bent tab 42 may also be provided in a tubular or rod-like configuration.

Since the bending tab 42 operates the joint member 32 to rotate to a set angle, the partial region where the bracket 101c is connected to the joint member 32 interferes with the movement trace of the bending tab 42. In an alternative embodiment, the axis of the drive aperture 322 is located distally relative to the axis of the pivot aperture 324, and more particularly, the axis of the drive aperture 322 is located 0-1mm from the axis of the pivot aperture 324 along the longitudinal axis, which allows the end effector 70 to achieve a bend angle of 0-80 °, much greater than that of conventional surgical instruments.

Fig. 10 shows a specific structure of the rack 41, in this embodiment, a mounting seat 412 is fixed on the bottom of the rack 41, and a groove 413 is arranged on the mounting seat 412; correspondingly, as shown in fig. 11, a first hook 421 is provided on the proximal end of the bent pull tab 42, and the first hook 421 is snapped into the groove 413 of the rack 41 to fixedly connect the two. Alternatively, the first hook 421 of the bent tab 42 may be welded directly to the groove 413 of the rack 41 to achieve a fixed connection. Alternatively, the rack 41 and the bent tab 42 may be fixedly connected by a fastener, such as a screw or a bolt, or may be fixedly connected by welding.

Preferably, as shown in fig. 10, the mounting seat 412 of the rack 41 has an inverted L-shape, the end of the horizontal portion of the L-shape is fixed to the bottom of the rack 41, and the groove 413 is provided on the inner wall surface of the vertical portion of the L-shape, so that the bending tab 42 is mounted inside the rack 41 after the groove 413, making the structure of the bending transmission assembly more compact.

< locking Assembly >

Based on the above embodiments, the bending operation system of the surgical instrument 100 of the present invention further includes a locking assembly 50, such that the bending operation system has a locked state in which the joint assembly 30 and/or the bending drive assembly 20 is not movable, and an unlocked state in which the joint assembly 30 and/or the bending drive assembly 20 is allowed to move. For example, locking assembly 50 is configured to initially unlock joint assembly 30 to enable joint assembly 30 to drive end effector 70 in a bending operation when bending knob 2 is operated to bend end effector 70, and to lock joint assembly 30 against movement to maintain end effector 70 in an angular position relative to the longitudinal axis of the elongate body assembly when end effector 70 is bent to a desired gear.

Specifically, as shown in fig. 2, the locking assembly 50 includes a first locking member 51 adapted to lock and allow the bending drive assembly 20 to move, and a second locking member 52 adapted to lock and allow the joint assembly 30 to move, wherein the first locking member 51 is connected to the second locking member 52 through a connecting rod 54, so that the first locking member 51 and the second locking member 52 can integrally move synchronously or substantially synchronously, so that the bending drive assembly 20 and the joint assembly 30 can be synchronously or substantially synchronously in a locked state or an unlocked state. Alternatively, in an alternative embodiment, the first lock member 51 may be directly connected to the second lock member 52, so as to achieve an integral synchronous or substantially synchronous movement of the two members.

As shown in fig. 3 and 12, the first locking member 51 is biased by a first biasing member 53 installed in the rotary head 1, and the first biasing member 53 may be configured as a compression spring, or a spring plate. The first locking member 51 comprises a first locking part 511 and a second locking part 512 which are stacked, the first locking part 511 is matched with the locking groove 224 of the first rotary disc 22, the second locking part 512 is matched with the locking groove 232 of the second rotary disc 23, and the distal end of the second locking part 512 extends out of the distal end of the first locking part 511.

Referring to fig. 13, the second lock member 52 includes a lock portion 521 and a connecting portion 522, the lock portion 521 is adapted to be inserted into the joint assembly 30, for example, the lock portion 521 of the second lock member 52 is adapted to be engaged with the lock groove 321 of the joint member 32 to lock the movement thereof. The coupling portion 522 of the second latch member 52 is coupled to the distal end of the linkage 54. For example, the proximal end of the connecting portion 522 of the second lock member 52 is provided with a mounting hole 523, and correspondingly, the distal end of the link 54 is provided with a hook portion 541, and the hook portion 541 is hooked on the mounting hole 523 of the connecting portion 522 of the second lock member 52, so as to realize the fixed connection between the link 54 and the second lock member 52. Of course, in alternative embodiments, other connecting means may be used to connect and secure the connecting rod 54 to the second locking member 52.

Preferably, in an alternative embodiment, the locking assembly 50 further comprises a second biasing member 55, as shown in fig. 7, 8 and 13, the connecting portion 522 of the second locking member 52 is provided with an annular step 524 on the outer peripheral wall thereof, and a flange is correspondingly provided on the inner wall of the elongated body assembly 101, and both ends of the second biasing member 55 respectively abut against the proximal step surface of the annular step 524 and the flange on the inner wall of the elongated body to provide a biasing force for biasing the second locking member 52 distally; a ledge may also be provided on the bracket 101c and the second biasing member 55 may abut against a proximal step surface of the annular step 524 at both ends and the ledge provided on the bracket 101c, respectively, to provide a biasing force that biases the second latch member 52 distally.

With continued reference to fig. 13, the locking portion 521 of the second locking member 52 includes a protrusion 5210, and mating grooves 5211 on both sides of the protrusion 5210, the protrusion 5210 protruding out of the notch of the mating groove 5211. As shown in fig. 8, when the bending operation system is in the locked state, the protrusion 5210 of the locking portion 521 of the second locking member 52 is inserted into the locking groove 321 of the joint member 32, and the two mating grooves 5211 of the second locking member 52 are respectively fitted over the protrusions 323 of the joint member 32, so as to further block the protrusions 323 between the locking grooves 321 of the adjacent two joint members 32.

As an alternative embodiment, the locking portion 523 of the second locking member 52 may also be directly provided as a pin end, and it is only necessary that it can be inserted into the locking groove 321 of the joint component 32 to block the bending movement of the joint component 32.

Further, there is a relatively rotatable unlocking stroke between the first rotating disk 22 and the second rotating disk 23, which is an angle a2 (see fig. 16B, the internal structure of which is shown by a dotted line) that the first rotating disk 22 can rotate relative to the second rotating disk 23, specifically, a clearance a1 (see fig. 16A, the internal structure of which is shown by a dotted line) is reserved between two side walls of the protrusion 234 of the second rotating disk 23 and two groove walls of the notch groove 226 of the first rotating disk 22, and the reserved clearance a1 provides a space for the first rotating disk 22 to rotate to reach the angle a 2; the first locking portion 511 and the second locking portion 512 are inserted into the locking groove 224 and the locking groove 232, respectively.

Further preferably, as shown in fig. 16C, the angle b1 of the first central angle between the

lock grooves

224 and 232 of the initial shift positions of the first rotary table 22 and the second rotary table 23 and the

lock grooves

224 and 232 of the adjacent shift positions in the bending drive assembly 20 is larger than the angle b2 of the second central angle between the

lock grooves

224 and 232 of the other adjacent shift positions.

Due to the meshing of the transmission gear 24 and the rack 41, the hinged assembly of the turning pull piece 40 and the joint component 30, the clamping fit between the clamping plate of the turning knob 2 and the first rotary disc 22, the clamping fit between the turning pull piece 40 and the rack 41 and the like, the transmission fit of adjacent components inevitably has assembly gaps. In the unlocking state, when the first gear is switched from the initial gear to the first turning gear, the first rotating disc 22 rotates by the angle b1 of the first central angle, the angle b2 of the second central angle larger than the rotation angle of the first turning gear to the second turning gear, and the angle b2 of the second central angle of rotation of the subsequent adjacent gear switching, the assembly clearance of the transmission connection of each part can be eroded or offset, so that the parts are in a tensioning state, and the first gear of the turning driving mechanism 20 and the first gear of the joint part 30 can be ensured to be synchronously or substantially synchronously to reach the preset angle.

In the bending operation system of the surgical instrument 100 according to the embodiment of the present invention, the second dial 23 of the bending drive assembly 20 and the joint member 32 of the joint assembly 30 are synchronously or substantially synchronously switched between the locked state and the unlocked state by the reciprocating sliding of the first lock member 51 of the lock assembly 50.

The various states of the bending operation system during the bending operation will be described in detail below with reference to fig. 15A-E.

First, fig. 15A shows a locked state of the surgical instrument 100 according to the embodiment of the present invention in the initial shift position (non-bending shift position). The first locking member 51 is engaged with the first and second

rotatable disks

22 and 23 of the bending drive assembly 20 by the first biasing member 53. Specifically, the first locking portion 511 of the first lock member 51 engages with the lock groove 224s of the first dial 22 corresponding to the initial shift position (non-bent shift position), and the second locking portion 512 of the first lock member 51 engages with the lock groove 232s of the second dial 23 corresponding to the initial shift position (non-bent shift position). The lock portion 521 of the second lock member 52 engages with the lock groove 321s of the joint member 32 corresponding to the initial shift position (non-bent shift position). At this point, the articulation component 32 is locked and the bending system of the surgical instrument 100 is in a locked state.

With continued reference to fig. 15B, when the turning knob 2 is operated to rotate in the direction of arrow a, the turning knob 2 rotates the first rotary plate 22, and at this time, the first rotary plate 22 overcomes the biasing force of the first biasing member 53 acting on the first locking member 51, and the side wall of the locking groove 224s of the first rotary plate 22 pushes the first locking portion 511 of the first locking member 51 to move proximally (in the direction of arrow P). At this time, the second locking portion 512 of the first locking member 51 is not yet completely disengaged from the locking groove 232s of the second rotating disk 23, and the second rotating disk 23 is still in the locked state by the second locking portion 512. Since the second lock member 52 and the first lock member 51 are arranged to move synchronously or substantially synchronously, when the first lock member 51 is operated to move proximally, the second lock member 52 also moves proximally, and in this process, the lock portion 521 of the second lock member 52 gradually retreats from the lock groove 321s of the joint member 32, and the lock on the joint member 32 is gradually released. As the first dial 22 is operated to rotate in the direction of shear a, the angle between the first dial 22 and the second dial 23 increases progressively until a 2.

With continued reference to fig. 15C, continued operation of the turning knob 2 to rotate in direction a, the first latch member 51 is further moved proximally (arrow P) by the first rotary disk 22 such that the second latch portion 512 of the first latch member 51 is fully disengaged from the latch slot 232s of the second rotary disk 23. At this time, the bending operation system is in the completely unlocked state, the angle of the first rotary disk 22 relative to the second rotary disk 23 reaches a2, the second rotary disk 23 is released to rotate together with the first rotary disk 22, and the transmission gear 24 mounted on the second rotary disk 23 also rotates, so that the joint part 32 is rotated about the pivot 33 by the rack 41 and the bending pull tab 42 of the bending transmission assembly 40. Specifically, the turning knob 2 rotates the first rotary plate 22, and the first rotary plate 22 and the second rotary plate 23 move integrally, thereby turning the joint member 32 around the pivot 33.

With continued reference to fig. 15D, the turning knob 2 is continuously operated to rotate in the direction a, the first dial 22 and the second dial 23 continue to rotate in the direction a, and the second lock portion 512 of the first lock member 51 passes over the end surface of the projection 231s of the second dial 23, the projection 231s corresponding to the initial gear position (non-turning gear position). The first lock member 51 is moved distally (in the direction of arrow D) by the biasing force of the first biasing member 53, and gradually enters the lock groove 232a of the second rotating disk 23 corresponding to the first bending range. Since the second lock member 52 and the first lock member 51 are provided to move synchronously or substantially synchronously, when the first lock member 51 moves distally (in the direction of arrow D), the second lock member 52 also moves synchronously or substantially synchronously distally, and the lock portion 521 of the second lock member 52 gradually enters the lock groove 321a of the joint member 32 corresponding to the first bending range to gradually lock the bending operation of the joint member 32.

The first lock member 51 is further moved distally (in the direction of arrow D) by the biasing force generated by the first biasing member 53, so that the first locking portion 511 of the first lock member 51 is fully inserted into the locking groove 224a of the first rotating disk 22 corresponding to the first bending range position, as shown in fig. 15E, at this time, the second locking portion 512 of the first lock member 51 is also fully inserted into the locking groove 232a of the second rotating disk 23 corresponding to the first bending range position, and the locking portion 521 of the second lock member 52 is also fully inserted into the locking groove 321a of the joint member 32 corresponding to the first bending range position. At this time, the bending operation system completes the bending operation of the first gear, and the locking of the joint assembly 30 is achieved.

And (3) continuing to operate the bending knob 2 to rotate along the direction A, and repeating the operation process to realize that the bending operation system finishes the subsequent bending operation of other gears. The turning knob 2 is operated in the opposite direction along a, and based on the same principle, the turning operation of the turning operation system to the other side can also be realized, and so on, and the description is omitted here.

According to the bending operation system of the embodiment of the invention, the bending driving assembly 20 and the joint assembly 30 are synchronously or substantially synchronously in an unlocked state or a locked state through the reciprocating sliding of the first locking piece 51, and the joint assembly 30 and the bending driving assembly 20 can be synchronously or substantially synchronously in a continuous locked state at different gears, at this time, even if the bending operation system is subjected to external acting force such as bumping, collision and the like, the end effector cannot shake, the joint component 32 of the joint assembly 30 cannot be caused to rotate relative to the bending driving assembly 20, the phenomenon that the bending transmission assembly 40 stretches or compresses between the joint assembly 30 and the bending driving assembly 20 is avoided, the bending deformation of the bending transmission assembly 40 is further avoided, and meanwhile, the bending angle of the joint component 32 driven by the bending driving assembly 20 is ensured to be consistent with the preset bending angle in the unlocked state, the bending precision is improved, and the phenomenon of gear jumping of the end effector 70 is avoided.

As an alternative embodiment, the locking groove 232 of the second rotating disk 23 of the turning driving assembly 20 and the locking groove 321 of the joint component 32 of the joint assembly 30 are provided with slopes on both side walls of the notch, so that the notch becomes larger gradually. When the first locking portion 511 of the first locking member 51 abuts against the projection 223 of the first dial 22, referring to fig. 15B, the second locking portion 512 of the first locking member 51 abuts against the inclined surface of the locking groove 232 of the second dial 23, and further, the inclined surface of the locking groove 232 of the second dial 23 pushes the first locking portion 511 to move further to the proximal end (arrow P) so that the first locking portion 511 is away from the projection 223 of the first dial 22. When the second locking portion 512 is separated from the locking groove 232s corresponding to the initial shift position of the second rotating disk 23 and is located at the notch of the locking groove 232a corresponding to the first bending shift position, as shown in fig. 15D, the first locking portion 511 of the first locking member 51 collides with the projection 223 of the first rotating disk 22 and contacts, and a sound is generated to prompt the operator that the gear shift has been performed.

In order to optimize the use feeling of the bending operation, it is preferable that, as shown in fig. 6, the locking groove 232 of the second rotating disk 23 of the bending driving assembly 20 includes a straight line section near the groove bottom and a slope section formed on the straight line section and located at the groove opening, and the slope section is configured to guide the second locking portion 512 of the first locking member 51 to pass over the protrusion 231 of the second rotating disk 23.

Similarly, the locking slot 321 of the articular component 32 of the articular assembly 30 also includes a straight segment and a ramped segment at the notch.

As a modified embodiment, the above-mentioned bent pull tab 42 and the rack 41 may be replaced by a gear set, and a gear is also provided on the joint member 32, and the connection between the transmission gear 24 and the joint member 32 is realized by the step-by-step meshing transmission of the gears.

As a further modification, the first lock member 51 and the second lock member 52 may also be rotationally displaced to lock or unlock the lock groove 232 of the second dial 23 and the lock groove 32 of the joint member 32, respectively.

In the surgical instrument 100 and the bending operation system thereof according to the above embodiments of the present invention, the bending knob 2 rotates by an angle consistent with the angle of rotation of the end effector 70, and the bending driving assembly 20 and the joint assembly 30 are synchronized or substantially synchronized and continuously in the locked state, so that the joints of the instrument 100 are not shaken when the surgical instrument 100 performs the firing or resetting operation; the drive gear 24 of the bend drive assembly 20 and the articulation component 32 of the hitch assembly 30 are both in a locked state, and the bend tab 42 of the bend drive assembly 40 is not subjected to external forces and is not deformed, thereby ensuring accurate operation or alignment of the instrument 100. In the bending operation system, during the whole bending gear shifting process, the rotating force can only be transmitted from the transmission gear 24 of the bending driving assembly 20 to the joint component 32, the stress can be transmitted in the positive direction, after the rotating force transmission is finished, the transmission gear 24 and the joint component 32 are synchronous or approximately synchronous and are locked continuously, the joint component 32 cannot apply force to the transmission gear 24, and therefore the bending gear skipping of the instrument cannot be caused.

The surgical instrument 100 according to the above-described embodiment of the present invention can lock the articulation assembly 30 or the end effector 70 during the bending operation without requiring additional manipulation steps by the user, and is simple to operate. Meanwhile, the user can also pull the tissue when the instrument 100 is in the bending locking state without replacing other instrument pulling tissues, thereby expanding the functions of the surgical instrument 100 according to the embodiment of the invention.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variants will be obvious to those skilled in the art in view of the above description, and obvious variations and modifications are possible within the scope of the invention.

Claims

1. A surgical instrument, comprising:

a handle assembly;

a latch assembly, comprising:

2. The surgical instrument of claim 1, wherein the second latch moves synchronously or substantially synchronously with the first latch during at least a portion of the movement of the first latch.

3. The surgical instrument of claim 2, wherein the second latch is connected to the first latch by a linkage.

4. The surgical instrument of claim 1 wherein the first lock is operable to reciprocally slide to switch the bend drive and articulation assemblies between a locked state and an unlocked state.

5. The surgical instrument of claim 1, wherein the first lockout comprises first and second lockout portions respectively cooperating with the bend drive assembly, the first lockout portion being operably cooperable with the bend drive assembly to unlock the bend drive assembly from the second lockout portion.

6. The surgical instrument of claim 5, wherein a distal end of the second latch portion of the first latch member extends beyond a distal end of the first latch portion of the first latch member.

7. The surgical instrument of claim 1, wherein the bend drive assembly comprises a first dial and a second dial, the first dial cooperating with the first lock to unlock the bend drive assembly from the first lock; the second rotating disc is matched with the first locking piece to lock the bending movement of the bending driving component.

8. The surgical instrument of claim 7, wherein the bend drive assembly comprises a first dial that engages the first locking portion of the first locking member, a second dial that engages the second locking portion of the first locking member, and a bend knob that controls rotation of the first and second dials, the first dial driving the first locking portion of the first locking member under operation of the bend knob to disengage the second locking portion of the first locking member from the second dial.

9. The surgical instrument of claim 7 or 8, wherein at least a portion of the movement of the first dial is independent of the movement of the second dial.

10. The surgical instrument of claim 8, wherein the first dial is provided with a locking slot that mates with a first locking portion of the first locking member, and wherein the second dial is provided with a locking slot that mates with a second locking portion of the first locking member.

11. The surgical instrument of claim 8, wherein the first dial is disposed in a stack rotatable at an angle relative to the second dial, and the first and second latch portions are disposed on the first latch member corresponding to the stack of the first and second dials, respectively.

12. The surgical instrument of claim 7 or 8, wherein the bend drive assembly further comprises a first member coupled to the bend knob and the first dial, respectively, to operably drive the first dial in rotation.

13. The surgical instrument of claim 7 or 8, wherein the bend drive assembly further comprises a drive gear fixedly connected coaxially with the second dial, the drive gear cooperating with the bend drive assembly to drive the articulation assembly to bend.

14. The surgical instrument of claim 1, wherein the bend transmission assembly comprises a rack that cooperates with the bend drive assembly and a bend pull tab, the bend pull tab having a proximal end connected to the rack and a distal end hinged to the articulation component of the articulation assembly.

15. The surgical instrument of claim 1, wherein the locking assembly further comprises at least one biasing member that provides a biasing force that biases the locking assembly distally.

16. The surgical instrument of claim 15, wherein one of the biasing members is disposed within the rotator head to provide a biasing force that biases the first locking member distally.

17. The surgical instrument of claim 1, wherein the joint assembly comprises a joint component having a locking groove disposed thereon that cooperates with the second locking member to lock the position of the joint assembly.

18. The surgical instrument of claim 1, wherein the articulation component defines a pivot hole and a transmission hole, the pivot hole cooperating with a pivot to pivotally couple the articulation component to the elongated body component, the transmission hole cooperating with the bend transmission assembly to allow the bend transmission assembly to cause the articulation component to bend; wherein the axis of the drive bore is distal relative to the axis of the pivot bore.

19. The surgical instrument of claim 18, wherein the axis of the drive bore is 0-1mm from the axis of the pivot bore in the direction of the longitudinal axis.

20. The surgical instrument of claim 18 wherein the distal end of the elongate body assembly is provided with a bracket, the distal end of the bracket being pivotally connected to the pivot hole of the articulation component.

21. The surgical instrument of claim 18, wherein a bend tab of the bend transmission assembly is hingedly connected to the transmission aperture.

22. A surgical instrument, comprising: a handle assembly; an elongate body assembly extending distally from the handle assembly, the elongate body assembly defining a longitudinal axis; an articulation assembly connecting a distal end of the elongate body assembly and a proximal end of an end effector, respectively, the end effector being drivable by a bend drive assembly to bend away from the longitudinal axis of the elongate body assembly; characterized in that it further comprises a locking assembly having a locked state for simultaneously or substantially simultaneously locking the bending drive assembly and the articulation assembly, and an unlocked state for simultaneously or substantially simultaneously unlocking the bending drive assembly and the articulation assembly.

23. The surgical instrument of claim 22, wherein the locking assembly operably reciprocates, the locking assembly unlocking the bend drive assembly and the articulation assembly when the bend drive assembly drives the locking assembly to move proximally; when the bending driving component drives the joint component to bend to a preset angle, the locking component resets to synchronously or substantially synchronously lock the bending driving component and the joint component.

24. The surgical instrument of claim 22, wherein the locking assembly comprises a first lock operative to selectively lock a bending operation of the bend drive assembly; and a second locking member operative to selectively lock an angular position of the end effector relative to the longitudinal axis of the elongate body assembly.

25. The surgical instrument of claim 22, wherein a first lock is operable by the bend drive assembly to unlock the bend drive assembly and the articulation assembly from the lock assembly.

26. The surgical instrument of claim 22, wherein the bend drive assembly comprises a first dial that engages the first detent of the first detent and a second dial that engages the second detent of the first detent, the first dial driving the first detent of the first detent upon operation of the bend knob to disengage the second detent of the first detent from the second dial.

27. The surgical instrument of claim 26, wherein the entry end of the second latch portion of the first latch member extends beyond the distal end of the first latch portion of the first latch member.

28. The surgical instrument of claim 22, wherein at least a portion of the movement of the first dial is independent of the movement of the second dial.

29. A method of operating the surgical instrument of any of claims 1-28, comprising: placing the surgical instrument in an initial gear; the turning knob is operated, and the locking assembly synchronously or substantially synchronously unlocks the turning driving assembly and the joint assembly; the articulation assembly drives the end effector to bend away from the longitudinal axis of the elongate body assembly; when the end effector is flexed to a predetermined angle, the locking assembly locks the end effector in an angular position at the predetermined angle relative to the longitudinal axis of the elongate body assembly.

30. The method of claim 29, wherein the surgical instrument can be manipulated while the locking assembly locks the angular position of the end effector relative to the longitudinal axis of the elongate body assembly.

31. The method of claim 29, wherein the articulation assembly flexion comprises at least 2 flexion steps.

32. The method of claim 29, wherein the surgical instrument is continuously operated in bending, and wherein the plurality of gears are shifted to angular positions of predetermined angles.

33. The method of claim 29, wherein the surgical instrument provides a bend range shift alert tone when performing a bend operation.