CN118285865A

CN118285865A - Surgical instrument

Info

Publication number: CN118285865A
Application number: CN202410384060.1A
Authority: CN
Inventors: 成佳庆; 伍和坤; 耿平
Original assignee: Hangzhou Mindray Technology Co ltd
Current assignee: Hangzhou Mindray Technology Co ltd
Filing date: 2024-03-29
Publication date: 2024-07-05

Abstract

A surgical instrument includes a handle assembly, an actuator assembly, a barrel assembly, a bend drive mechanism, and a limiter. The barrel assembly includes a articulation mechanism having a bending axis. The bending driving mechanism comprises a driving rod, and one end of the driving rod is connected with the actuator assembly. The limiting piece has a first end and a second end, one of the barrel assembly and the actuator assembly is matched with the first end of the limiting piece, the other of the barrel assembly and the actuator assembly is provided with a matching part, and the second end of the limiting piece is matched with the matching part. The cooperation portion has a plurality of cooperation positions, and when the executor subassembly turns to be different with the barrel subassembly and predetermine the contained angle, the second end of locating part cooperates with the cooperation position that corresponds of predetermineeing the contained angle for the difficult relative barrel subassembly of executor subassembly rocks in the direction of turning motion, thereby is favorable to solving the inconvenient and the inaccurate and apparent scheduling problem of rocking of executor subassembly art pendulum position of nail storehouse subassembly dismantlement.

Description

Surgical instrument

Technical Field

The application relates to the technical field of medical instruments, in particular to a surgical instrument.

Background

At present, minimally invasive surgery occupies an important place in surgery, and the anastomat is a surgical instrument commonly used in minimally invasive surgery. The anastomat generally comprises a gun barrel assembly and a distal end effector, and the operating principle of the anastomat is that the distal end effector stretches into a human body through the gun barrel assembly, a jaw of the distal end effector is clamped at a specific position near a focus part, then a tissue is cut through a cutting knife of the distal end effector, and suturing is carried out through a nail bin assembly of the distal end effector while cutting.

In some existing anastomat, the distal end effector is rotationally connected with the gun barrel assembly, wherein the common connecting schemes of the distal end effector in the non-closed state are two types, and the first type is that the distal ends of the distal end effector and the gun barrel assembly are connected and restrained in a mode of shaft hole matching and gear meshing in the non-closed state. And in the second category, the distal end actuator is connected with the shaft hole of the gun barrel assembly in a matching way in the non-closed state, and is restrained by a single pull rod or a plurality of pull rods. In the scheme, the far-end actuator has a certain degree of rotation freedom around the far end of the gun barrel component in a plane perpendicular to the shaft hole matched pivot, and the rotation stopping position is realized by virtue of the limiting structure of the knob fluted disc or the limiting structure of the matched tooth surface. Moreover, the products on the market generally adopt the scheme of actively driving the remote end actuator to bend, so that the problem of inconvenient disassembly of the nail bin assembly exists when the included angle between the remote end actuator and the gun barrel assembly in the non-closed state is 0 DEG, and the problems of inaccurate positioning, obvious shaking and the like in the operation of the remote end actuator exist at a plurality of angles, which causes unnecessary trouble to medical care, and the problems need to be improved.

Disclosure of Invention

The invention mainly solves the technical problems that: the remote end actuator in the non-closed state is easy to shake in a plurality of angles, so that the problems of inconvenient disassembly of the nail bin assembly, inaccurate positioning in the operation of the remote end actuator, obvious shake and the like are caused.

In a first aspect, an embodiment provides a surgical instrument comprising:

A handle assembly;

the actuator assembly comprises a first jaw and a second jaw, the first jaw is movably connected with the second jaw, and the first jaw and the second jaw can relatively move to realize closing and opening;

A barrel assembly having a proximal end coupled to the handle assembly and a distal end coupled to the actuator assembly; the gun barrel assembly comprises a joint mechanism, the joint mechanism is provided with a bending rotating shaft, and the actuator assembly can realize bending motion around the bending rotating shaft;

The bending driving mechanism comprises a driving rod, one end of the driving rod is connected with the actuator assembly and is used for driving the actuator assembly to realize the bending movement;

And, a step of, in the first embodiment,

A limiter having a first end and a second end, one of the barrel assembly and the actuator assembly being mated with the first end of the limiter, the other of the barrel assembly and the actuator assembly having a mating portion, the second end of the limiter being mated with the mating portion; the matching part is provided with a plurality of matching positions, and when the actuator assembly is bent to a preset included angle different from the gun barrel assembly, the second end of the limiting piece is matched with the matching position corresponding to the preset included angle.

In one embodiment, the second end of the limiting member cooperates with a mating location corresponding to the predetermined included angle to prevent the actuator assembly from swinging relative to the barrel assembly in the direction of the turning motion.

In an embodiment, the limiting member is an elastic member, and when the actuator assembly is bent to a preset included angle different from the gun barrel assembly, the elastic member drives the second end of the limiting member to be matched with a matching position corresponding to the preset included angle through elasticity.

In one embodiment, the limiting member is a sheet-like structure having a plurality of deformation openings extending inwardly from an edge of the sheet-like structure.

In an embodiment, the mating portion has a concave structure or a convex structure, and the second end of the limiting member is shaped to fit with the concave structure or the convex structure, so as to be clamped with the concave structure or the convex structure.

In one embodiment, the plurality of concave structures or convex structures are arranged in an arc shape on the matching part, and the plurality of concave structures or convex structures are symmetrically distributed relative to the axis of the gun barrel assembly.

In one embodiment, when the second end of the limiting member is engaged with the engagement portion, the second end of the limiting member presses the engagement portion to prevent the actuator assembly from swinging relative to the barrel assembly in the direction of the bending motion.

In one embodiment, the second end of the stop member is engageable with the engagement location to block the actuator assembly from rocking relative to the barrel assembly in the direction of the bending motion, at least when the first and second jaws are open.

In one embodiment, a turn lock mechanism is also included for locking the actuator assembly at a different angle to the barrel assembly.

In one embodiment, the bending locking mechanism is capable of locking the actuator assembly at a different angle to the barrel assembly when the first and second jaws are closed.

In an embodiment, the bending locking mechanism comprises an arc-shaped inserting gear and inserting teeth, the inserting gear is arranged at the proximal end of the actuator assembly, the inserting teeth can be close to and far away from the inserting gear so as to be inserted into and separated from the inserting gear, locking of the bending locking mechanism is achieved when the inserting teeth are inserted into the inserting gears, and locking of the bending locking mechanism is released when the inserting teeth are separated from the inserting gears.

In one embodiment, the two driving rods are configured, the two driving rods are respectively connected with two opposite sides of the proximal end of the actuator assembly, and the two driving rods are used for pulling the actuator assembly to realize the bending motion; the bending locking mechanism comprises a locking part and a clamping part, the locking part is arranged at the proximal end of the actuator assembly, the locking part is provided with a plurality of locking positions, and when the actuator assembly is bent to different locking angles relative to the gun barrel assembly, different locking positions are aligned to the clamping part; the clamping part can move close to and away from the aligned locking position so as to realize clamping and releasing clamping with the locking position.

In one embodiment, the device further comprises a movable part, wherein the proximal end of the actuator assembly is provided with a limiting space, the limiting part is movably arranged in the limiting space, and the movable part covers the limiting part; the first end of the limiting piece is abutted with the movable piece, the second end of the limiting piece is abutted with the matching part, and the limiting piece is in a deformation state under the acting force of the movable piece and the matching part; when the actuator assembly is bent to enable the second end of the limiting piece to be matched with different matching positions, the limiting piece drives the movable piece to move in the limiting space so as to change the deformation degree of the limiting piece.

In one embodiment, the proximal end of the actuator assembly has a chute or raised stop, the chute or stop forming the stop space.

In an embodiment, the matching position of the matching portion has a first magnetic portion, the limiting piece has a second magnetic portion, and when the actuator assembly is bent to form a preset included angle with the barrel assembly, the first magnetic portion and the second magnetic portion are mutually adsorbed to prevent the actuator assembly from swinging relative to the barrel assembly in the bending movement direction.

In a second aspect, an embodiment provides a surgical instrument comprising:

A handle assembly;

A barrel assembly having a proximal end coupled to the handle assembly and a distal end coupled to the actuator assembly; the gun barrel assembly comprises a joint mechanism, and the actuator assembly can realize bending movement through the joint mechanism;

And, a step of, in the first embodiment,

A limiter having a first end and a second end, one of the barrel assembly and the actuator assembly being mated with the first end of the limiter, the other of the barrel assembly and the actuator assembly having a mating portion, the second end of the limiter being mated with the mating portion; the cooperation portion has a plurality of cooperation positions, the executor subassembly turn to with when the barrel subassembly is different and predetermine the contained angle, the second end of locating part with the cooperation position cooperation that the contained angle corresponds is predetermine, is used for hindering the executor subassembly is relative the barrel subassembly is in turn the direction of motion and shake.

In one embodiment, the device further comprises a bending driving mechanism and a bending locking mechanism, wherein the bending driving mechanism is used for driving the actuator assembly to realize bending movement through the joint mechanism, and the bending locking mechanism is used for locking the actuator assembly at positions with different angles with the gun barrel assembly.

In one embodiment, the bending driving mechanism comprises driving rods, two driving rods are respectively connected with two opposite sides of the proximal end of the actuator assembly, and the two driving rods are used for pulling the actuator assembly to realize the bending motion; the bending locking mechanism comprises a locking part and a clamping part, the locking part is arranged at the proximal end of the actuator assembly, the locking part is provided with a plurality of locking positions, and when the actuator assembly is bent to different locking angles relative to the gun barrel assembly, different locking positions are aligned with the clamping part; the clamping part can move close to and away from the aligned locking position so as to realize clamping and releasing clamping with the locking position.

In a third aspect, an embodiment provides a surgical instrument comprising:

A handle assembly;

A barrel assembly having a proximal end coupled to the handle assembly and a distal end coupled to the implement assembly; the gun barrel assembly comprises a joint mechanism, and the actuator assembly can realize bending movement through the joint mechanism;

And, a step of, in the first embodiment,

A limiter having a first end and a second end, one of the barrel assembly and the actuator assembly being mated with the first end of the limiter, the other of the barrel assembly and the actuator assembly having a mating portion, the second end of the limiter being mated with the mating portion; the cooperation portion has the cooperation position, the executor subassembly turn to with the barrel subassembly is when predetermineeing the contained angle, the second end extrusion of locating part the cooperation position is used for hindering the executor subassembly is relative the barrel subassembly is in turn the direction of motion and shake.

In one embodiment, the second end of the stop presses against the mating location to create a friction and/or torque that resists rocking of the actuator assembly relative to the barrel assembly in the direction of the bending motion.

In an embodiment, the limiting member is an elastic member, and when the actuator assembly is bent to form a preset included angle with the gun barrel assembly, the elastic member drives the second end of the limiting member to squeeze the matching position through elastic force, so as to prevent the actuator assembly from swinging relative to the gun barrel assembly in the bending movement direction.

In one embodiment, the articulation mechanism further comprises a bend drive mechanism for driving the actuator assembly through a bending motion of the articulation mechanism and a bend lock mechanism for locking the actuator assembly in a position at a different angle to the barrel assembly.

In one embodiment, the bending driving mechanism comprises two driving rods, wherein the two driving rods are respectively connected with two opposite sides of the proximal end of the actuator assembly, and the two driving rods are used for pulling the actuator assembly to realize the bending motion; the bending locking mechanism comprises a locking part and a clamping part, the locking part is arranged at the proximal end of the actuator assembly, the locking part is provided with a plurality of locking positions, and when the actuator assembly is bent to different locking angles relative to the gun barrel assembly, different locking positions are aligned with the clamping part; the clamping part can move close to and away from the aligned locking position so as to realize clamping and releasing clamping with the locking position.

In one embodiment, the device further comprises a movable part, wherein the proximal end of the actuator assembly is provided with a limiting space, the limiting part is movably arranged in the limiting space, and the movable part covers the limiting part; the first end of the limiting piece is abutted with the movable piece, the second end of the limiting piece is abutted with the matching part, and the limiting piece is in a deformation state under the acting force of the movable piece and the matching part; when the actuator assembly is bent to enable the second end of the limiting piece to be matched with different positions of the matching part, the limiting piece drives the movable piece to move in the limiting space so as to change the deformation degree of the limiting piece.

In a fourth aspect, an embodiment provides a surgical instrument comprising:

A handle assembly;

A barrel assembly having a proximal end coupled to the handle assembly and a distal end coupled to the implement assembly;

The gun barrel assembly comprises a joint mechanism, and the actuator assembly can realize bending movement through the joint mechanism;

And, a step of, in the first embodiment,

One of the gun barrel assembly and the actuator assembly is provided with a matching part, and the actuator assembly drives the limiting part to move relative to the matching part when the actuator assembly moves in a bending way relative to the gun barrel assembly; when the actuator assembly is bent to form a preset included angle with the gun barrel assembly, the limiting piece is matched with the matching part, so that the actuator assembly is prevented from swinging relative to the gun barrel assembly in the bending movement direction.

In one embodiment, when the actuator assembly is bent to form a preset included angle with the barrel assembly, the limiting piece is clamped with the matching portion.

In one embodiment, the device further comprises a bending driving mechanism for driving the actuator assembly to realize the bending motion through the joint mechanism; the bending driving mechanism comprises a driving knob, a driving rod and a locking rod, one end of the driving rod is connected with the actuator assembly, the other end of the driving rod is connected with the driving knob, one end of the locking rod is connected with the limiting piece, and the other end of the locking rod is connected with the driving knob; when the driving knob rotates, the driving rod drives the actuator assembly to realize the bending movement, and the locking rod drives the limiting piece to move to be matched with the matching part.

In one embodiment, the mating position of the mating portion is configured as a concave structure or a convex structure.

In one embodiment, the engaging portion has a plurality of engaging positions, and when the actuator assembly is bent to a preset angle different from the barrel assembly, the second end of the limiting member engages with the engaging position corresponding to the preset angle; the plurality of matching positions are arranged in an arc shape on the matching part, and the plurality of matching positions are symmetrically distributed relative to the axis of the gun barrel assembly.

The surgical instrument according to the above embodiment includes a handle assembly, an actuator assembly, a barrel assembly, a bend drive mechanism, and a stop. The actuator assembly comprises a first jaw and a second jaw, the first jaw is movably connected with the second jaw, and the first jaw and the second jaw can move relatively to realize closing and opening. The proximal end of the barrel assembly is connected to the handle assembly and the distal end is connected to the actuator assembly. The barrel assembly includes a articulation mechanism having a deflection axis about which the actuator assembly is capable of effecting deflection movement. The bending driving mechanism comprises a driving rod, one end of the driving rod is connected with the actuator assembly and used for driving the actuator assembly to realize bending movement. The limiting piece has a first end and a second end, one of the barrel assembly and the actuator assembly is matched with the first end of the limiting piece, the other of the barrel assembly and the actuator assembly is provided with a matching part, and the second end of the limiting piece is matched with the matching part. The matching part is provided with a plurality of matching positions, and when the actuator assembly is bent to a preset included angle different from the gun barrel assembly, the second end of the limiting piece is matched with the matching position corresponding to the preset included angle. In use of the surgical instrument, the operator may actuate the actuator assembly via the drive rod to effect a bending motion. Because the limiting piece is added, when the driving rod drives the actuator assembly to bend and move to different preset included angles with the gun barrel assembly, the second end of the limiting piece is matched with the matched position corresponding to the preset included angle, so that the actuator assembly is not easy to shake relative to the gun barrel assembly in the bending movement direction under a plurality of different preset included angles, and the problems that the staple cartridge assembly is inconvenient to detach, the positioning is inaccurate and the shaking is obvious in the operation of the actuator assembly are solved.

Drawings

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

FIG. 2 is a schematic top view of the proximal end of the actuator assembly mated with the distal end of the barrel assembly in one embodiment of the present application;

FIG. 3 is a schematic view of a bending locking mechanism according to an embodiment of the present application;

FIG. 4 is a schematic perspective view of the proximal end of the actuator assembly mated with the distal end of the barrel assembly in one embodiment of the present application;

FIG. 5 is a schematic view of a limiting member according to an embodiment of the present application;

FIG. 6 is a schematic view of a bend drive assembly driving an actuator assembly to bend to an angle of 0 with respect to a barrel in accordance with one embodiment of the present application;

FIG. 7 is a schematic top view of a bend drive assembly driving an actuator assembly to bend to one side of a barrel assembly in accordance with one embodiment of the present application;

FIG. 8 is a schematic perspective view of a bend drive assembly driving an actuator assembly to bend to one side of a barrel assembly in accordance with one embodiment of the present application;

FIG. 9 is a schematic cross-sectional view of the proximal end of the actuator assembly mated with the distal end of the barrel assembly in one embodiment of the present application;

FIG. 10 is a schematic perspective view of a bending drive mechanism driving a limiting member to move according to another embodiment of the present application;

FIG. 11 is an enlarged view of FIG. 10A in accordance with the present application;

FIG. 12 is a schematic side view of a bend driving mechanism driving a stopper to move according to another embodiment of the present application;

Reference numerals: 100. a handle assembly; 200. an actuator assembly; 210. a first jaw; 220. a second jaw; 230. a limit space; 231. a chute; 300. a barrel assembly; 310. a joint mechanism; 311. turning the rotating shaft; 400. a bending drive mechanism; 410. a driving rod; 420. driving a knob; 430. a locking lever; 500. a limiting piece; 510. a deformation opening; 600. a mating portion; 610. a mating position; 700. a bending locking mechanism; 710. a locking part; 711. inserting a gear; 712. a locking position; 720. a clamping part; 721. inserting teeth; 800. a movable member.

Detailed Description

The application will be described in further detail below with reference to the drawings by means of specific embodiments. Wherein like elements in different embodiments are numbered alike in association. In the following embodiments, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted, or replaced by other elements, materials, or methods in different situations. In some instances, related operations of the present application have not been shown or described in the specification in order to avoid obscuring the core portions of the present application, and may be unnecessary to persons skilled in the art from a detailed description of the related operations, which may be presented in the description and general knowledge of one skilled in the art.

Furthermore, the described features, operations, or characteristics of the description may be combined in any suitable manner in various embodiments. Also, various steps or acts in the method descriptions may be interchanged or modified in a manner apparent to those of ordinary skill in the art. Thus, the various orders in the description and drawings are for clarity of description of only certain embodiments, and are not meant to be required orders unless otherwise indicated.

The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects and does not have any sequential or technical meaning. The term "coupled" as used herein includes both direct and indirect coupling (coupling), unless otherwise indicated.

The present embodiment provides a surgical instrument.

Referring to fig. 1-12, the surgical instrument includes a handle assembly 100, an actuator assembly 200, a barrel assembly 300, a bend drive mechanism 400, and a stop 500.

Referring to fig. 1-7, an actuator assembly 200 includes a first jaw 210 and a second jaw 220, the first jaw 210 being movably coupled to the second jaw 220, the first jaw 210 and the second jaw 220 being capable of relative movement to effect closure and opening. The barrel assembly 300 is connected at a proximal end to the handle assembly 100 and at a distal end to the actuator assembly 200. The barrel assembly 300 includes an articulation mechanism 310, the articulation mechanism 310 having a articulation axis 311 about which the actuator assembly 200 is capable of effecting an articulation motion. The bending drive mechanism 400 includes a drive rod 410, and one end of the drive rod 410 is connected to the actuator assembly 200 for driving the actuator assembly 200 to perform a bending motion. The stopper 500 has a first end and a second end, one of the barrel assembly 300 and the actuator assembly 200 is engaged with the first end of the stopper 500, the other of the barrel assembly 300 and the actuator assembly 200 has an engagement portion 600, and the second end of the stopper 500 is engaged with the engagement portion 600. The engaging portion 600 has a plurality of engaging portions 610, and when the actuator assembly 200 is bent to a different predetermined angle with respect to the barrel assembly 300, the second end of the limiting member 500 engages the engaging portions 610 corresponding to the predetermined angle.

In use of the surgical instrument, an operator may actuate the actuator assembly 200 via the drive rod 410 to effect a bending motion. Due to the addition of the limiting member 500, when the driving rod 410 drives the actuator assembly 200 to perform bending movement to a preset included angle different from the gun barrel assembly 300, the second end of the limiting member 500 is matched with the matching position 610 corresponding to the preset included angle, so that the actuator assembly 200 is not easy to shake in the bending movement direction relative to the gun barrel assembly 300 under a plurality of different preset included angles, and the problems of inconvenience in disassembly of the nail bin assembly, inaccurate positioning and obvious shaking in operation of the actuator assembly 200 and the like are solved.

It should be noted that, in this embodiment, the "proximal end" of the member is the end of the member that is closer to the operator when the operator uses the surgical instrument, and the "distal end" is the end of the member that is farther from the operator when the operator uses the surgical instrument. In other embodiments, the number of mating bits 610 provided by the mating portion 600 may be one.

Referring to fig. 1-7, in one embodiment, the engagement of the second end of the stop 500 with the engagement location 610 corresponding to the predetermined angle may prevent the actuator assembly 200 from rocking in the direction of the turning motion relative to the barrel assembly 300.

The second end of the limiting piece 500 is matched with the corresponding matching at a preset included angle to prevent the actuator assembly 200 from shaking in the bending movement direction relative to the gun barrel assembly 300, so that unnecessary interference shaking of the actuator assembly 200 relative to the gun barrel assembly 300 is reduced, and the operation experience and operation quality of doctors are improved. Specifically, the second end of the stop 500 engages the engagement site 610 in a manner including, but not limited to, a snap fit, frictional contact, and magnetic attraction.

Referring to fig. 1-5, in one embodiment, the limiting member 500 is an elastic member, and when the actuator assembly 200 is bent to a different preset angle with respect to the barrel assembly 300, the elastic member drives the second end of the limiting member 500 to cooperate with the cooperation site 610 corresponding to the preset angle through elastic force.

Since the stopper 500 is an elastic member, the stopper 500 may be in a compressed or stretched state when the second end of the stopper 500 is not engaged with the engagement portion 610. When the actuator assembly 200 is bent to a different preset angle with the barrel assembly 300, the limiting member 500 can drive the second end of the limiting member 500 to cooperate with the cooperation site 610 corresponding to the preset angle under the action of the elastic restoring force of the limiting member 500, so as to realize that the second end of the limiting member 500 is automatically cooperated with the cooperation site 610.

It should be noted that the term "elastic member" in this embodiment should be understood in a broad sense, that is, the elastic member may include an elastic member integrally formed with itself as an elastic structure, or may include an "elastic member" formed by a combination of an elastic member and an inelastic portion.

Referring to fig. 5, in one embodiment, the limiting member 500 is a sheet-like structure, and the sheet-like structure has a plurality of deformation openings 510, and the deformation openings 510 extend inward from the edge of the sheet-like structure.

Referring to fig. 1 to 5, on the one hand, since the limiting member 500 has a sheet structure, the space occupied by the limiting member 500 in the thickness direction thereof is smaller, so that the volume of the surgical instrument is less affected by increasing the limiting member 500. On the other hand, by providing a plurality of deformation openings 510, elastic deformation of the stopper 500 is achieved by expansion or contraction of the deformation openings 510. Of course, in other embodiments, the limiting member 500 may be a spring, a V-shaped spring plate or other suitable elastic member.

Referring to fig. 1 to 7, in one embodiment, the engaging portion 610 of the engaging portion 600 is a concave structure or a convex structure, and the second end of the limiting member 500 is shaped to be engaged with the concave structure or the convex structure for being clamped with the concave structure or the convex structure.

The second end of the stopper 500 is engaged with the engagement portion 600 to prevent the actuator assembly 200 from rocking in the direction of the turning motion relative to the barrel assembly 300. Specifically, when the engaging portion 600 is a concave structure, the second end of the limiting member 500 may have a convex structure that is engaged with the concave structure. When the engaging portion 600 is a protruding structure, the second end of the limiting member 500 may have a concave structure that is engaged with the protruding structure.

Referring to fig. 1-7, in one embodiment, a plurality of concave structures or convex structures are arranged in an arc shape on the mating portion 600, and the plurality of concave structures or convex structures are symmetrically distributed with respect to the axis of the barrel assembly 300.

On the one hand, the matching positions 610 are arranged in an arc shape on the matching portion 600, so that the matching positions 610 are arranged in an arc shape along with the bending movement path of the actuator assembly 200, and when the actuator assembly 200 is bent to a different preset included angle with the gun barrel assembly 300, the second end of the limiting member 500 is matched with the matching position 610 corresponding to the preset included angle. On the other hand, since the mating sites 610 are symmetrically distributed about the axis of the barrel assembly 300, a plurality of predetermined angles between the actuator assembly 200 and the barrel assembly 300 can also be symmetrically distributed about the axis of the barrel assembly 300.

Referring to fig. 1-7, in one embodiment, when the second end of the stopper 500 is engaged with the engagement portion 610, the second end of the stopper 500 presses the engagement portion 610 to prevent the actuator assembly 200 from swinging in the direction of the turning motion relative to the barrel assembly 300.

When the actuator assembly 200 is turned to a preset angle with the barrel assembly 300, the second end of the limiting member 500 is engaged with the engagement portion 610 corresponding to the preset angle, so that the distal actuator is not easy to shake in the turning direction relative to the barrel assembly 300 under the preset angle. Specifically, the friction force generated by the compression of the second end of the stop 500 with the engagement site 610 may resist rocking of the actuator assembly 200 relative to the barrel assembly 300 in the direction of the bending motion. The force with which the second end of the stop member 500 presses the engagement location 610 may also create a moment with another stress on the barrel assembly 300, thereby resisting rocking of the actuator assembly 200 relative to the barrel assembly 300 in the direction of the bending motion.

Referring to fig. 1-7, in one embodiment, at least when the first jaw 210 and the second jaw 220 are open, the second end of the stop 500 can engage the engagement site 610 to prevent the actuator assembly 200 from rocking in the direction of the bending motion relative to the barrel assembly 300.

In some surgical instruments, when first jaw 210 and second jaw 220 are closed, actuator assembly 200 may be locked in a position at a different angle from barrel assembly 300 by turning lock mechanism 700. However, when the first jaw 210 and the second jaw 220 are opened, the bending locking mechanism 700 is not operated, so that the jaw is easy to shake in a bending movement direction relative to the barrel assembly 300 in an opened state, and after the limiting piece 500 is added, the shaking of the actuator assembly 200 relative to the barrel assembly 300 in an opened state of the jaw can be blocked by the cooperation of the limiting piece 500 and the cooperation position 610.

Referring to fig. 1-7, in one embodiment, the surgical instrument further includes a turn lock mechanism 700, the turn lock mechanism 700 being used to lock the actuator assembly 200 in a different angular position relative to the barrel assembly 300.

In operating the surgical instrument, the locking mechanism 700 may be used to lock the actuator assembly 200 in a different angular position relative to the barrel assembly 300. Specifically, the bending lock mechanism 700 is typically coupled with an opening and closing drive mechanism (not shown) that drives the first and second jaws 210, 220 to open and close such that the bending lock mechanism 700 can lock the effector assembly 200 at different angles to the barrel assembly 300 when the first and second jaws 210, 220 are closed.

Referring to fig. 1-3, in one embodiment, the bending locking mechanism 700 includes an arcuate mating gear 711 and mating teeth 721, the mating gear 711 being disposed at a proximal end of the actuator assembly 200, the mating teeth 721 being capable of being moved toward and away from the mating gear 711 to effect mating and unmating with the mating gear 711, to effect locking of the bending locking mechanism 700 when the mating teeth 721 are mated with the mating gear 711, and to release locking of the bending locking mechanism 700 when the mating teeth 721 are unmated from the mating gear 711.

When it is desired to lock the actuator assembly 200 to the barrel assembly 300, the mating teeth 721 may be driven toward the mating gear 711 such that the mating teeth 721 mate with the mating gear 711, thereby effecting the locking of the actuator assembly 200 to the barrel assembly 300 by the locking mechanism. When it is desired to unlock the locking mechanism from the actuator assembly 200 to the barrel assembly 300, the stab teeth 721 may be driven away from the stab gear 711 such that the stab teeth 721 are disengaged from the stab gear 711, thereby unlocking the twist locking mechanism 700.

Referring to fig. 1-9, in one embodiment, the driving rods 410 are configured in two, two driving rods 410 are respectively connected to two opposite sides of the proximal end of the actuator assembly 200, and the two driving rods 410 are used to pull the actuator assembly 200 to implement a bending motion. The bending locking mechanism 700 includes a locking portion 710 and a clamping portion 720, the locking portion 710 is disposed at a proximal end of the actuator assembly 200, the locking portion 710 has a plurality of locking positions 712, and when the actuator assembly 200 is bent to different locking angles relative to the barrel assembly 300, the different locking positions 712 are aligned with the clamping portion 720. The engagement portion 720 is movable toward and away from the aligned lock position 712 to effect engagement and disengagement with the lock position 712.

Since the driving levers 410 are provided in two, the actuator assembly 200 can be pulled to perform a bending motion in two opposite directions of the arc-shaped bending path by the two driving levers 410, respectively. When the actuator assembly 200 is rotated to a different locking angle with respect to the barrel assembly 300, the different locking positions 712 are aligned with the locking portions 720, and the locking and unlocking with the locking positions 712 can be achieved by driving the locking portions 720 to approach and separate from the aligned locking positions 712.

The "locking angle" related to the bending locking mechanism 700 and the "preset angle" related to the stopper 500 may be the same angle or may be different angles. The locking portion 710 may be the above-mentioned socket gear 711, and in this case, the locking portion 712 may be a gap between two teeth on the socket gear 711, and the engaging portion 720 may be the above-mentioned socket tooth 721. Of course, in other embodiments, the locking portion 710 may be a locking groove, and the locking portion 720 may be a locking protrusion engaged with the locking groove.

Referring to fig. 1-4 and 6-9, in one embodiment, the surgical instrument further includes a moveable member 800 having a spacing space 230 at a proximal end of the actuator assembly 200, the spacing member 500 is movably disposed within the spacing space 230, and the moveable member 800 covers the spacing member 500. The first end of the limiting member 500 abuts against the movable member 800, the second end of the limiting member 500 abuts against the matching portion 600, and the limiting member 500 is in a deformed state under the action force of the movable member 800 and the matching portion 600. When the actuator assembly 200 is bent to enable the second end of the limiting member 500 to be matched with the different matching positions 610, the limiting member 500 drives the movable member 800 to move in the limiting space 230, so as to change the deformation degree of the limiting member 500.

In one aspect, when the actuator assembly 200 is bent to make the second end of the limiting member 500 engage with different engaging positions 610, the limiting member 500 drives the movable member 800 to move in the limiting space 230, so as to change the deformation degree of the limiting member 500, so that the rotational resistance of the limiting member 500 to the actuator assembly 200 under different preset angles is different. On the other hand, the limiting member 500 is covered by the movable member 800, so that the movable member 800 plays a role in protecting and shielding the limiting member 500. Specifically, the actuator assembly 200 may be bent to allow the second end of the stopper 500 to engage with the different engagement locations 610 by configuring the different engagement locations 610 with different convex or concave curvatures, and the stopper 500 drives the movable member 800 to move in the stopper space 230 to change the deformation degree of the stopper 500.

Referring to fig. 6-9, in one embodiment, the proximal end of the actuator assembly 200 has a chute 231 or a raised stop portion, and the chute 231 or the stop portion forms a stop space 230.

The limiting space 230 is formed by the sliding groove 231 or the limiting part, on one hand, the limiting space 230 can limit the deformation direction of the limiting part 500, and on the other hand, friction force is generated between the sliding groove 231 or the limiting part and the limiting part 500, and the friction force is favorable for keeping the matching state of the limiting part 500 and the matching position 610.

In one embodiment, the engaging portion 610 of the engaging portion 600 has a first magnetic portion (not shown), and the limiting member 500 has a second magnetic portion (not shown), so that when the actuator assembly 200 is bent to form a predetermined angle with the barrel assembly 300, the first magnetic portion and the second magnetic portion are attracted to each other to prevent the actuator assembly 200 from swinging in the bending direction relative to the barrel assembly 300.

When the actuator assembly 200 is bent to form a preset angle with the barrel assembly 300, the first magnetic portion and the second magnetic portion are attracted to each other, and the actuator assembly 200 is prevented from swinging in the bending movement direction relative to the barrel assembly 300 by the attraction force and the friction force between the attraction post-limit piece 500 and the matching position 610. Specifically, at least one of the first magnetic portion and the second magnetic portion is a magnet, and the other may be a magnet or a magnetic material that can be attracted by the magnet.

In another aspect, the present embodiment also provides a surgical instrument.

Referring to fig. 1-9, the surgical instrument includes a handle assembly 100, an actuator assembly 200, a barrel assembly 300, and a stop 500.

The actuator assembly 200 includes a first jaw 210 and a second jaw 220, the first jaw 210 movably coupled to the second jaw 220, the first jaw 210 and the second jaw 220 being capable of relative movement to effect closure and opening. The barrel assembly 300 is connected at a proximal end to the handle assembly 100 and at a distal end to the actuator assembly 200. The barrel assembly 300 includes an articulation mechanism 310 through which the actuator assembly 200 can effect a bending motion. The stopper 500 has a first end and a second end, one of the barrel assembly 300 and the actuator assembly 200 is engaged with the first end of the stopper 500, the other of the barrel assembly 300 and the actuator assembly 200 has an engagement portion 600, and the second end of the stopper 500 is engaged with the engagement portion 600. The engaging portion 600 has a plurality of engaging portions 610, and when the actuator assembly 200 is bent to a different predetermined angle with the barrel assembly 300, the second end of the limiting member 500 engages with the engaging portion 610 corresponding to the predetermined angle to prevent the actuator assembly 200 from swinging in the bending direction relative to the barrel assembly 300.

Due to the addition of the limiting member 500, when the actuator assembly 200 is bent to move to a preset angle different from the gun barrel assembly 300, the second end of the limiting member 500 is matched with the matching position 610 corresponding to the preset angle, so that the actuator assembly 200 is not easy to shake in the bending movement direction relative to the gun barrel assembly 300 under a plurality of different preset angles, and the problems of inconvenience in disassembly of the nail bin assembly, inaccurate positioning, obvious shaking and the like in operation of the actuator assembly 200 are solved.

Referring to fig. 1-9, in one embodiment, the surgical instrument further includes a bend drive mechanism 400 and a bend lock mechanism 700, the bend drive mechanism 400 for driving the actuator assembly 200 through the articulation mechanism 310 to effect a bending motion, and the bend lock mechanism 700 for locking the actuator assembly 200 in a position at a different angle from the barrel assembly 300.

In one aspect, an operator may actuate the actuator assembly 200 via the articulation drive mechanism 400 to effect an articulation motion while using the surgical instrument. On the other hand, the operator may lock the actuator assembly 200 at a different angle to the barrel assembly 300 by bending the locking mechanism 700, thereby facilitating a reduction in the likelihood of unwanted interfering oscillations of the actuator assembly 200, and further facilitating an improvement in the operator's experience and surgical quality.

Referring to fig. 1-3, in one embodiment, a roll-over locking mechanism 700 is capable of locking the actuator assembly 200 in a position at a different angle from the barrel assembly 300 as the first jaw 210 and the second jaw 220 are closed.

Since the bending locking mechanism 700 is typically coupled with an opening and closing drive mechanism (not shown) that drives the first and second jaws 210, 220 to open and close, the bending locking mechanism 700 is able to lock the effector assembly 200 at different angles to the barrel assembly 300 when the first and second jaws 210, 220 are closed.

Referring to fig. 1-9, in one embodiment, the bending drive mechanism 400 includes drive rods 410, two drive rods 410 being respectively connected to opposite sides of the proximal end of the actuator assembly 200, the two drive rods 410 being configured to pull the actuator assembly 200 to perform a bending motion. The bending locking mechanism 700 includes a locking portion 710 and a clamping portion 720, the locking portion 710 is disposed at a proximal end of the actuator assembly 200, the locking portion 710 has a plurality of locking positions 712, and when the actuator assembly 200 is bent to different locking angles relative to the barrel assembly 300, the different locking positions 712 are aligned with the clamping portion 720. The engagement portion 720 is movable toward and away from the aligned lock position 712 to effect engagement and disengagement with the lock position 712.

In one aspect, the operator may actuate the actuator assembly 200 via the actuation rod 410 to effect a bending motion during use of the surgical instrument. On the other hand, since the driving levers 410 are provided in two, the actuator assembly 200 can be pulled to perform a bending motion in two opposite directions of the arc-shaped bending path by the two driving levers 410, respectively. When the actuator assembly 200 is rotated to a different locking angle with respect to the barrel assembly 300, the different locking positions 712 are aligned with the locking portions 720, and the locking and unlocking with the locking positions 712 can be achieved by driving the locking portions 720 to approach and separate from the aligned locking positions 712.

The "locking angle" related to the bending locking mechanism 700 and the "preset angle" related to the stopper 500 may be the same angle or may be different angles.

In another aspect, the present embodiment also provides a surgical instrument.

The actuator assembly 200 includes a first jaw 210 and a second jaw 220, the first jaw 210 movably coupled to the second jaw 220, the first jaw 210 and the second jaw 220 being capable of relative movement to effect closure and opening. The barrel assembly 300 is connected at a proximal end to the handle assembly 100 and at a distal end to the actuating assembly. The barrel assembly 300 includes an articulation mechanism 310 through which the actuator assembly 200 can effect a bending motion. The stopper 500 has a first end and a second end, one of the barrel assembly 300 and the actuator assembly 200 is engaged with the first end of the stopper 500, the other of the barrel assembly 300 and the actuator assembly 200 has an engagement portion 600, and the second end of the stopper 500 is engaged with the engagement portion 600. The engaging portion 600 has an engaging portion 610, and when the actuator assembly 200 is bent to form a predetermined angle with the barrel assembly 300, the second end of the limiting member 500 presses the engaging portion 610 to prevent the actuator assembly 200 from swinging in the bending direction relative to the barrel assembly 300.

Due to the addition of the limiting member 500, when the actuator assembly 200 is bent to move to a preset included angle with the gun barrel assembly 300, the second end of the limiting member 500 is matched with the matching position 610 corresponding to the preset included angle, so that the actuator assembly 200 is not easy to shake relative to the gun barrel assembly 300 in the direction of the bending movement under the preset included angle, and the problems that the staple cartridge assembly is inconvenient to detach, the positioning is inaccurate and the shaking is obvious in the operation of the actuator assembly 200 are solved.

Referring to fig. 1-5, in one embodiment, the second end of the stop 500 presses against the mating site 610 to create friction and/or torque that resists rocking of the actuator assembly 200 relative to the barrel assembly 300 in the direction of the bending motion.

When the actuator assembly 200 is turned to a preset angle with the barrel assembly 300, the second end of the limiting member 500 is engaged with the engagement portion 610 corresponding to the preset angle, so that the distal actuator is not easy to shake in the turning direction relative to the barrel assembly 300 under the preset angle. Specifically, the friction force generated by the compression of the second end of the stop 500 with the engagement site 610 may resist rocking of the actuator assembly 200 relative to the barrel assembly 300 in the direction of the bending motion. The force with which the second end of the stop member 500 presses the engagement location 610 may also create a moment with another stress on the barrel assembly 300, thereby resisting rocking of the actuator assembly 200 relative to the barrel assembly 300 in the direction of the bending motion. It may also include both the friction force and the moment.

Referring to fig. 1-5, in one embodiment, the stopper 500 is an elastic member, and when the actuator assembly 200 is bent to form a predetermined angle with the barrel assembly 300, the elastic member drives the second end of the stopper 500 to press the engaging portion 610 through elastic force, so as to prevent the actuator assembly 200 from shaking in the direction of the bending motion relative to the barrel assembly 300.

Since the stopper 500 is an elastic member, the stopper 500 may be in a compressed or stretched state when the second end of the stopper 500 is not engaged with the engagement portion 610. When the actuator assembly 200 is bent to a different preset angle with the barrel assembly 300, the limiting member 500 can drive the second end of the limiting member 500 to press the mating position 610 corresponding to the preset angle under the action of the elastic restoring force of the second end. Specifically, the limiting member 500 may be a spring plate or a spring in various forms.

In another aspect, the present embodiment also provides a surgical instrument.

Referring to fig. 1 and 10-12, the surgical instrument includes a handle assembly 100, an actuator assembly 200, a barrel assembly 300, and a rigid stop 500.

The actuator assembly 200 includes a first jaw 210 and a second jaw 220, the first jaw 210 movably coupled to the second jaw 220, the first jaw 210 and the second jaw 220 being capable of relative movement to effect closure and opening. The barrel assembly 300 is connected at a proximal end to the handle assembly 100 and at a distal end to the actuating assembly. The barrel assembly 300 includes an articulation mechanism 310 through which the actuator assembly 200 can effect a bending motion. One of the barrel assembly 300 and the actuator assembly 200 has a mating portion 600, and the actuator assembly 200 moves the stop 500 relative to the mating portion 600 when the actuator assembly 200 is bent relative to the barrel assembly 300. When the actuator assembly 200 is bent to form a predetermined angle with the barrel assembly 300, the stopper 500 is engaged with the engaging portion 600 to prevent the actuator assembly 200 from swinging in the direction of the bending motion relative to the barrel assembly 300.

Because the limiting piece 500 is added, when the actuator assembly 200 is bent to move, the limiting piece 500 is driven to move relative to the matching part 600, and when the actuator assembly 200 is bent to form a preset included angle with the gun barrel assembly 300, the second end of the limiting piece 500 is driven to match with the matching position 610 corresponding to the preset included angle, so that the remote actuator is not easy to shake relative to the gun barrel assembly 300 in the direction of bending movement under the preset included angle, and the problems of inconvenience in disassembly of the nail bin assembly, inaccurate positioning in the operation of the remote actuator, obvious shaking and the like are solved.

In this embodiment, the "rigid" stopper 500 means that the stopper 500 does not engage with or disengage from the engaging portion 600 due to its elastic deformation, but engages with or disengages from the engaging portion 600 by its reciprocating movement.

Referring to fig. 10-12, in one embodiment, when the actuator assembly 200 is bent to form a predetermined angle with the barrel assembly 300, the stopper 500 is engaged with the mating portion 600.

The limiting piece 500 is clamped with the matching part 600 under the preset included angle to prevent the actuator assembly 200 from swinging relative to the gun barrel assembly 300 in the bending movement direction, so that unnecessary interference swinging of the actuator assembly 200 relative to the gun barrel assembly 300 is reduced, and the operation experience and operation quality of doctors are improved. Specifically, the locking of the stopper 500 and the engaging portion 600 may be achieved by the engagement of the protruding structure and the recessed structure.

Referring to fig. 1,6 and 10-12, in one embodiment, the surgical instrument further includes a flexion drive assembly 400, the flexion drive assembly 400 being configured to drive the actuator assembly 200 through the articulation mechanism 310 to effect flexion movement. The bending driving assembly 400 includes a driving knob 420, a driving lever 410, and a locking lever 430, one end of the driving lever 410 is connected with the actuator assembly 200, the other end is connected with the driving knob 420, one end of the locking lever 430 is connected with the stopper 500, and the other end is connected with the driving knob 420. When the driving knob 420 rotates, the driving rod 410 drives the actuator assembly 200 to realize bending motion, and the locking rod 430 drives the limiting piece 500 to move to be matched with the matching part 600.

In use of the surgical instrument, an operator may move drive rod 410 by rotating drive knob 420, thereby effecting bending motion of actuator assembly 200 via drive rod 410. And the driving knob 420 also drives the locking rod 430 to move when rotating, so that the limiting piece 500 is driven by the locking rod 430 to move to be matched with the matching position 610, and further, the shaking of the actuator assembly 200 relative to the gun barrel assembly 300 in the direction of the turning motion is prevented by the matching of the limiting piece 500 and the matching part 600.

Referring to fig. 10-12, in one embodiment, the mating portion 600 has a mating portion 610 configured as a concave structure or a convex structure.

The stopper 500 is engaged with the engaging portion 600 to prevent the actuator assembly 200 from rocking in the direction of the turning motion with respect to the barrel assembly 300. Specifically, when the engaging portion 600 is a concave structure, the shape of the stopper 500 may be a convex structure that is engaged with the concave structure. When the engaging portion 600 is a convex structure, the shape of the stopper 500 may be a concave structure that is engaged with the convex structure.

Referring to fig. 10-12, in one embodiment, the engaging portion 600 has a plurality of engaging portions 610, and when the actuator assembly 200 is bent to a different predetermined angle from the barrel assembly 300, the second end of the limiting member 500 engages the engaging portions 610 corresponding to the predetermined angle. The plurality of engaging portions 610 are arranged in an arc shape on the engaging portion 600, and the plurality of engaging portions 610 are symmetrically distributed with respect to the axis of the barrel assembly 300.

On the one hand, since the plurality of matching positions 610 are arranged, and the matching positions 610 are arranged in an arc shape on the matching portion 600, the arrangement mode of the matching positions 610 and the bending movement path of the actuator assembly 200 are arc-shaped, so that the actuator assembly 200 is favorable for realizing that the limiting piece 500 is matched with the matching positions 610 corresponding to the preset included angle when the actuator assembly 200 is bent to the preset included angle different from the gun barrel assembly 300, and the actuator assembly 200 is not easy to shake when the actuator assembly 200 is bent to the preset included angle different from the preset included angle. On the other hand, since the mating sites 610 are symmetrically distributed about the axis of the barrel assembly 300, a plurality of predetermined angles between the actuator assembly 200 and the barrel assembly 300 can also be symmetrically distributed about the axis of the barrel assembly 300.

The foregoing description of the invention has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the invention pertains, based on the idea of the invention.

Claims

1. A surgical instrument, comprising:

A handle assembly;

And, a step of, in the first embodiment,

2. The surgical instrument of claim 1, wherein engagement of the second end of the stop member with the engagement location corresponding to the predetermined included angle resists rocking of the actuator assembly relative to the barrel assembly in the direction of the bending motion.

3. The surgical instrument of claim 1, wherein the stop member is an elastic member, and wherein the elastic member elastically drives the second end of the stop member to engage with an engagement location corresponding to the predetermined angle when the actuator assembly is bent to a predetermined angle different from the barrel assembly.

4. A surgical instrument according to claim 3, wherein the stop is a sheet-like structure having a plurality of deformed openings extending inwardly from an edge of the sheet-like structure.

5. The surgical instrument of claim 1, wherein the mating portion has a concave or convex configuration at a mating location, and the second end of the stop member is shaped to engage the concave or convex configuration for engagement therewith.

6. The surgical instrument of claim 5, wherein a plurality of the recessed or raised structures are arranged in an arcuate pattern on the mating portion and are symmetrically distributed about the axis of the barrel assembly.

7. The surgical instrument of claim 1, wherein the second end of the stop presses against the engagement site when the second end of the stop is engaged with the engagement site to resist rocking of the actuator assembly relative to the barrel assembly in the direction of the bending motion.

8. The surgical instrument of claim 1, wherein the second end of the stop is engageable with the engagement site to block rocking of the actuator assembly relative to the barrel assembly in the direction of the bending motion at least when the first and second jaws are open.

9. The surgical instrument of claim 1, further comprising a bending locking mechanism for locking the actuator assembly at a different angle to the barrel assembly.

10. The surgical instrument of claim 9, wherein the bending locking mechanism is configured to lock the actuator assembly in a different angular position from the barrel assembly when the first jaw and the second jaw are closed.

11. The surgical instrument of claim 9, wherein the bend locking mechanism includes an arcuate mating gear and mating teeth, the mating gear being disposed at a proximal end of the actuator assembly, the mating teeth being capable of being moved toward and away from the mating gear to effect mating and unmating with the mating gear to effect locking of the bend locking mechanism when the mating teeth are mated with the mating gear, and to release locking of the bend locking mechanism when the mating teeth are unmated from the mating gear.

12. The surgical instrument of claim 9, wherein the drive rods are configured in two pairs, the two drive rods being respectively connected to opposite sides of the proximal end of the actuator assembly, the two drive rods being configured to pull the actuator assembly to effect the bending motion; the bending locking mechanism comprises a locking part and a clamping part, the locking part is arranged at the proximal end of the actuator assembly, the locking part is provided with a plurality of locking positions, and when the actuator assembly is bent to different locking angles relative to the gun barrel assembly, different locking positions are aligned to the clamping part; the clamping part can move close to and away from the aligned locking position so as to realize clamping and releasing clamping with the locking position.

13. The surgical instrument of claim 3, further comprising a moveable member, the proximal end of the actuator assembly having a spacing space, the spacing member being movably disposed within the spacing space and the moveable member covering the spacing member; the first end of the limiting piece is abutted with the movable piece, the second end of the limiting piece is abutted with the matching part, and the limiting piece is in a deformation state under the acting force of the movable piece and the matching part; when the actuator assembly is bent to enable the second end of the limiting piece to be matched with different matching positions, the limiting piece drives the movable piece to move in the limiting space so as to change the deformation degree of the limiting piece.

14. The surgical instrument of claim 13, wherein the proximal end of the actuator assembly has a chute or raised stop, the chute or stop defining the stop space.

15. The surgical instrument of claim 1, wherein the mating portion has a first magnetic portion and the stop member has a second magnetic portion, the first magnetic portion and the second magnetic portion being attracted to each other when the actuator assembly is bent to a predetermined angle with the barrel assembly to inhibit rocking of the actuator assembly relative to the barrel assembly in the direction of the bending motion.

16. A surgical instrument, comprising:

A handle assembly;

And, a step of, in the first embodiment,

17. The surgical instrument of claim 16, wherein the stop member is an elastic member, and wherein the elastic member elastically drives the second end of the stop member to engage with an engagement location corresponding to the predetermined angle when the actuator assembly is bent to a different predetermined angle from the barrel assembly.

18. The surgical instrument of claim 17, wherein the stop is a sheet-like structure having a plurality of deformed openings extending inwardly from an edge of the sheet-like structure.

19. The surgical instrument of claim 16, wherein the mating portion has a concave or convex configuration at a mating location, and the second end of the stop member is shaped to engage the concave or convex configuration for engagement therewith.

20. The surgical instrument of claim 19, wherein a plurality of the recessed or raised structures are arranged in an arcuate pattern on the mating portion and are symmetrically distributed about the axis of the barrel assembly.

21. The surgical instrument of claim 16, wherein the second end of the stop presses against the engagement site when the second end of the stop is engaged with the engagement site to resist rocking of the actuator assembly relative to the barrel assembly in the direction of the bending motion.

22. The surgical instrument of claim 16, wherein the second end of the stop is engageable with the engagement site to block rocking of the actuator assembly relative to the barrel assembly in the direction of the bending motion at least when the first and second jaws are open.

23. The surgical instrument of claim 16, further comprising a bend drive mechanism for driving the actuator assembly through the articulation mechanism to effect the bending motion and a bend lock mechanism for locking the actuator assembly at a different angular position from the barrel assembly.

24. The surgical instrument of claim 23, wherein the bending locking mechanism is configured to lock the actuator assembly in a different angular position from the barrel assembly when the first jaw and the second jaw are closed.

25. The surgical instrument of claim 23, wherein the bend locking mechanism includes an arcuate mating gear and mating teeth, the mating gear being disposed at a proximal end of the actuator assembly, the mating teeth being capable of being moved toward and away from the mating gear to effect mating and unmating with the mating gear to effect locking of the bend locking mechanism when the mating teeth are mated with the mating gear, and to release locking of the bend locking mechanism when the mating teeth are unmated from the mating gear.

26. The surgical instrument of claim 23, wherein the articulation drive mechanism comprises drive rods, two of which are coupled to opposite sides of the proximal end of the actuator assembly, respectively, the two drive rods being configured to pull the actuator assembly to effect the articulation motion; the bending locking mechanism comprises a locking part and a clamping part, the locking part is arranged at the proximal end of the actuator assembly, the locking part is provided with a plurality of locking positions, and when the actuator assembly is bent to different locking angles relative to the gun barrel assembly, different locking positions are aligned to the clamping part; the clamping part can move close to and away from the aligned locking position so as to realize clamping and releasing clamping with the locking position.

27. The surgical instrument of claim 17, further comprising a moveable member, the proximal end of the actuator assembly having a spacing space, the spacing member being movably disposed within the spacing space and the moveable member covering the spacing member; the first end of the limiting piece is abutted with the movable piece, the second end of the limiting piece is abutted with the matching part, and the limiting piece is in a deformation state under the acting force of the movable piece and the matching part; when the actuator assembly is bent to enable the second end of the limiting piece to be matched with different matching positions, the limiting piece drives the movable piece to move in the limiting space so as to change the deformation degree of the limiting piece.

28. The surgical instrument of claim 27, wherein the proximal end of the actuator assembly has a chute or raised stop, the chute or stop defining the stop space.

29. A surgical instrument, comprising:

A handle assembly;

And, a step of, in the first embodiment,

30. The surgical instrument of claim 29, wherein the second end of the stop presses against the mating site to create a friction force and/or torque that resists rocking of the actuator assembly relative to the barrel assembly in the direction of the bending motion.

31. The surgical instrument of claim 29, wherein the stop member is an elastic member, and wherein the elastic member drives the second end of the stop member to press the engagement portion by elastic force when the actuator assembly is bent to a predetermined angle with the barrel assembly, so as to prevent the actuator assembly from swinging relative to the barrel assembly in the direction of the bending motion.

32. The surgical instrument of claim 31, wherein the stop is a sheet-like structure having a plurality of deformed openings extending inwardly from an edge of the sheet-like structure.

33. The surgical instrument of claim 29, wherein the articulation mechanism further comprises a bend drive mechanism for driving the actuator assembly through the articulation mechanism in a bending motion and a bend lock mechanism for locking the actuator assembly in a position at a different angle from the barrel assembly.

34. The surgical instrument of claim 33, wherein the articulation drive mechanism comprises two drive rods, one coupled to each of opposite sides of the proximal end of the actuator assembly, the two drive rods being configured to pull the actuator assembly to effect the articulation motion; the bending locking mechanism comprises a locking part and a clamping part, the locking part is arranged at the proximal end of the actuator assembly, the locking part is provided with a plurality of locking positions, and when the actuator assembly is bent to different locking angles relative to the gun barrel assembly, different locking positions are aligned with the clamping part; the clamping part can move close to and away from the aligned locking position so as to realize clamping and releasing clamping with the locking position.

35. The surgical instrument of claim 31, further comprising a moveable member, the proximal end of the actuator assembly having a spacing space, the spacing member being movably disposed within the spacing space and the moveable member covering the spacing member; the first end of the limiting piece is abutted with the movable piece, the second end of the limiting piece is abutted with the matching part, and the limiting piece is in a deformation state under the acting force of the movable piece and the matching part; when the actuator assembly is bent to enable the second end of the limiting piece to be matched with different positions of the matching part, the limiting piece drives the movable piece to move in the limiting space so as to change the deformation degree of the limiting piece.

36. The surgical instrument of claim 35, wherein the proximal end of the actuator assembly has a chute or raised stop, the chute or stop defining the stop space.

37. The surgical instrument of claim 29, wherein the mating portion has a first magnetic portion and the stop member has a second magnetic portion, the first magnetic portion and the second magnetic portion being attracted to each other when the actuator assembly is bent to a predetermined angle with the barrel assembly to inhibit rocking of the actuator assembly relative to the barrel assembly in the direction of the bending motion.

38. A surgical instrument, comprising:

A handle assembly;

And, a step of, in the first embodiment,

39. The surgical instrument of claim 38, wherein the stop member engages the mating portion when the actuator assembly is bent to a predetermined angle with the barrel assembly.

40. The surgical instrument of claim 38, further comprising a yaw drive mechanism for driving the actuator assembly through the articulation mechanism to effect the yaw movement; the bending driving mechanism comprises a driving knob, a driving rod and a locking rod, one end of the driving rod is connected with the actuator assembly, the other end of the driving rod is connected with the driving knob, one end of the locking rod is connected with the limiting piece, and the other end of the locking rod is connected with the driving knob; when the driving knob rotates, the driving rod drives the actuator assembly to realize the bending movement, and the locking rod drives the limiting piece to move to be matched with the matching part.

41. The surgical instrument of claim 38, wherein the mating location of the mating portion is configured as a concave structure or a convex structure.

42. The surgical instrument of claim 41, wherein the engagement portion has a plurality of engagement locations, and wherein the second end of the stop engages an engagement location corresponding to a predetermined included angle of the barrel assembly when the actuator assembly is bent to the predetermined included angle; the plurality of matching positions are arranged in an arc shape on the matching part, and the plurality of matching positions are symmetrically distributed relative to the axis of the gun barrel assembly.