WO2023208235A1

WO2023208235A1 - Surgical instrument

Info

Publication number: WO2023208235A1
Application number: PCT/CN2023/091873
Authority: WO
Inventors: 孙宝峰; 刘炳华; 刘向海; 魏海洲
Original assignee: 江苏风和医疗器材股份有限公司
Priority date: 2022-04-29
Filing date: 2023-04-28
Publication date: 2023-11-02
Also published as: CN116999109A

Abstract

A surgical instrument (1). The surgical instrument (1) comprises a first mechanism (2), a second mechanism (11) and a transmission member. The first mechanism (2) comprises a clutch assembly (22) and an output member. The output member is connected to the transmission member. The clutch assembly (22) is engaged with or coupled to the output member, in response to the first mechanism (2) being coupled to the transmission member, the second mechanism (11) drives the transmission member to return to a first initial position, and the transmission member drives the output member to return to a second initial position.

Description

surgical instruments

Cross-references to related applications

This application claims priority to the Chinese patent application filed with the China Patent Office on April 29, 2022, with the application number 202210476340.6 and the application title "A Surgical Instrument", the entire content of which is incorporated into this application by reference.

Technical field

This application relates to the technical field of medical devices, and in particular to a surgical instrument.

Background technique

A stapler suitable for surgical operations is a surgical cutting stapler that can remove excess tissue while suturing the patient's wound. It is widely used for tissue resection and tissue removal in minimally invasive surgeries such as abdominal surgery, gynecology, pediatrics, and thoracic surgery. consistent. The surgical cutting stapler is inserted into the patient's body through the cannula of the trocar precisely positioned at the surgical site, and then cuts and anastomoses the tissue by creating a longitudinal incision in the tissue and applying staples on the opposite side of the incision. The stapler includes a jaw assembly. The jaw assembly includes a nail bin seat and a staple base. The nail bin seat is used to receive the staple bin assembly. The staple bin assembly includes a staple bin body and a stapler disposed in the staple bin body. The cartridge body is provided with a number of staple cavities for accommodating staples. The staple cartridge body includes a top surface, and a nail outlet formed by the staple cavities penetrating the top surface is provided on the top surface.

Once the physician determines that the end effector is gripping the target tissue, the surgical cutting stapler can be fired, severing and suturing the tissue. When suturing, the top surface is in contact with the sutured tissue, and the cutting component in the surgical cutting stapler pushes the wedge-shaped pusher in the staple bin to move, so that the staple driver drives the staples in the staple bin to move upward from the staple cavity. The target tissue is pierced and sutured (i.e. the staples are removed).

The stapler has a first mechanism, the first mechanism drives the jaw assembly to open or close by driving the jaw transmission assembly, the first mechanism drives the cutting knife transmission assembly to move and then drives the cutting knife assembly to move within the jaw assembly, and it has A certain sequence of working methods, that is, the first mechanism first drives the jaw transmission assembly to close the jaw assembly, and then drives the transmission member of the cutting knife transmission assembly to move, so that the transmission member in the first initial position moves forward and drives the cutting knife assembly. Move forward to the distal position, then drive the transmission member to retreat to the first initial position, then drive the cutting knife assembly to return to the initial position, and finally drive the jaw transmission assembly to open the jaw assembly. However, when the existing first mechanism drives the transmission member to move to the first initial position, it may fail to drive the transmission member back to the first initial position, which may lead to malfunctions such as failure of the surgical instrument. Therefore, improvements are necessary.

Application content

In view of the shortcomings of the existing technology, this application aims to provide a surgical instrument.

This application is implemented through the following technical solutions:

A surgical instrument. The surgical instrument includes a first mechanism, a transmission member and a second mechanism. The first mechanism includes a clutch assembly and an output member. The clutch assembly is engaged or coupled with the output member. The output member is connected to the transmission member. The transmission member has a first In the initial position, the output member has a second initial position. When the transmission member is in the first initial position, the output member is in the second initial position. The clutch assembly is engaged with the output member to drive the transmission member to move. The clutch assembly is coupled with the output member to enable the transmission. The member is disengaged from the drive of the clutch assembly, and in response to the clutch assembly being coupled with the output member, the second mechanism drives the transmission member back to the first initial position so that the transmission member drives the output member back to the second initial position; in response to the clutch assembly being driven and output The components are connected, and the output component in the second initial position is engaged with the clutch assembly.

In one embodiment, the second mechanism includes a reset element, a first element, a guide element, and a second element provided on the transmission element;

In response to the clutch mechanism being coupled with the output member, and in response to the first element cooperating with the second element under the action of the return member, the first member is driven by the return member to make a second movement to drive the second member, and then drive the transmission member back to first initial position;

The guide member guides the first element to make a second movement along the first preset direction.

In one embodiment, in response to the transmission member being driven by the first element to reach the first initial position, the first element resists the second element under the action of the reset member to limit the transmission member to the first initial position;

In response to the transmission member being driven by the output member to depart from the first initial position, the first element is driven by the transmission member to make a third movement to separate the first element from the second element;

The guide member guides the first element to make a third movement along the second preset direction.

In one embodiment, the first element is a protrusion and the second element is a groove;

In response to the coupling of the clutch assembly with the output member, and in response to the first element partially entering the groove and abutting against the groove under the action of the reset member, the return member drives the protrusion to make a second movement to drive the groove, thereby driving the transmission member Return to the first initial position;

In response to the transmission member being driven by the first element to reach the first initial position, the protrusion resists the groove under the action of the return member to limit the transmission member to the first initial position;

In response to the transmission member being driven by the output member to depart from the first initial position, the protrusion is driven by the transmission member to make a third movement to separate the protrusion from the groove.

In one embodiment, the guide includes a receiving cavity in which the first element is at least partially movably arranged, The accommodating cavity guides the first component to perform a second movement along the first preset direction; the accommodating cavity guides the first component to perform a third movement along the second preset direction.

In one embodiment, the first preset direction is opposite to the second preset direction.

In one embodiment, the first preset direction intersects the movement direction of the transmission member.

In one embodiment, the transmission member is provided with a guide surface; after the output member drives the transmission member to move forward so that the transmission member is disengaged from the first element, in response to the transmission member being driven to move backward, the guide surface abuts against the first element. Connect and drive the movement of the first element;

In response to the coupling of the clutch assembly and the output member, the first element is driven by the reset member to make a second movement to drive the second member, thereby driving the transmission member back to the first initial position.

In one embodiment, in response to the transmission member being disengaged from the first element, the guide member stops the first member to prevent the first element from being disengaged from the guide member.

In one embodiment, the guide member includes a first limiting member, the first member includes a second limiting member, and the first limiting member cooperates with the second limiting member to stop the first member.

In one embodiment, the first limiting member includes a first abutting surface, the second limiting member includes a second abutting surface, and the first abutting surface abuts against the second abutting surface to stop the first element. .

In one embodiment, the first element has a preset position, and in response to the transmission member being driven by the output member to move forward to disengage from the first initial position, the first element is maintained at the preset position.

In one embodiment, the reset member is an elastic member, and the elastic member is connected to the first element;

In response to the coupling of the clutch assembly and the output member, the first element is driven by the elastic member to make a second movement to drive the second element, thereby driving the transmission member back to the first initial position.

In one embodiment, in response to the clutch assembly being coupled with the output member, and in response to the first element cooperating with the second element under the action of the elastic member, the elastic member drives the first element to make the second movement to drive the second element to move, Then drive the transmission member back to the first initial position;

In response to the transmission member being driven by the first element to reach the first initial position, the first element resists the second element under the action of the elastic member to limit the transmission member to the first initial position;

In response to the transmission member being driven by the output member to leave the first initial position, the first element is driven by the transmission member to make a third movement to separate the first element from the second element.

In one embodiment, the second mechanism is a magnetic element, and the transmission member is made of magnetic material;

In response to the clutch assembly coupling with the output member, the magnetic element drives the transmission member back to the first initial position.

In one embodiment, in response to the transmission member reaching the first initial position, the magnetic element limits the transmission member to the first initial position. starting position.

The beneficial effect of the present application is that the technical solution of the present application can ensure that the transmission member can return to the first initial position every time, thereby ensuring that the output member can return to the second initial position every time. The output in the second initial position When the component is connected to the clutch component again, it is engaged with the clutch component, thereby ensuring that the surgical instrument can be used normally and meet the surgical requirements.

Description of the drawings

Figure 1 is a schematic structural diagram of the surgical instrument of the present application;

Figure 2 is a schematic diagram of a partial internal structure of the surgical instrument shown in Figure 1;

Figure 3 is a cross-sectional view of the surgical instrument in the embodiment;

Figure 4 is an enlarged view of A in Figure 3;

Figure 5 is a schematic structural diagram of the second mechanism in the embodiment;

Figure 6 is a schematic structural diagram of the second mechanism in another embodiment;

Figure 7 is a cross-sectional view of the first mechanism in the embodiment;

Figure 8 is a cross-sectional view of the first mechanism in another embodiment;

Figure 9 is an exploded view of a partial internal structure of the surgical instrument shown in Figure 1;

Figure 10 is a schematic structural diagram of the first clutch member, the second clutch member and the intermediate member;

Figure 11 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the transmission member is in the first initial position, the output member is in the second initial position, and the jaws are not closed;

Figure 12 is a state diagram of the output member, first clutch member and intermediate member in Figure 11;

Figure 13 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the transmission member is in the first initial position, the output member is in the second initial position, and the jaws are closed;

Figure 14 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 12;

Figure 15 shows the second mechanism and the first mechanism when the transmission member is in the first initial position, the output member is in the second initial position, and the jaws are not closed, and the second effective rotation structure of the second clutch member is completely disengaged from the drive gear. and status diagrams of transmission components;

Figure 16 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 15;

Figure 17 shows the second mechanism, the first mechanism and the first effective conversion structure of the first clutch member when the transmission member is in the first initial position, the output member is in the second initial position, and the jaws are not closed and the output member begins to engage. State diagram of transmission components;

Figure 18 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 15;

Figure 19 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the transmission member is separated from the first initial position;

Figure 20 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 19;

Figure 21 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the cutting knife feed is completed;

Figure 22 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 21;

Figure 23 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the transmission member moves to the first initial position and the output member meshes with the last tooth of the first effective rotation structure of the first clutch member;

Figure 24 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 23;

Figure 25 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the first mechanism and the transmission member begin to couple;

Figure 26 is a state diagram of the output member, the first clutch member and the intermediate member in Figure 25;

Figure 27 is a cross-sectional view of Figure 25;

Figure 28 is a schematic structural diagram of the output member again being connected to the toothed portion of the clutch assembly in the prior art;

Figure 29 is a state diagram of the second mechanism, the first mechanism and the transmission assembly when the transmission member is in the first initial position, the output member is in the second initial position, and the jaws are not opened;

Figure 30 is a schematic structural diagram of the stapler and the reset limiting member.

Reference signs for the above drawings:
1. Surgical instrument; 11. Second mechanism; 111. Restoring member; 112. First component; 113. Second contact surface;
114. Second component; 115. Guide surface; 116. Guide piece; 117. First contact surface; 118. Main body part; 119. Protrusion; 12. Magnetic component; 13. Main body; 2. First mechanism; 21 , drive gear; 211, drive shaft; 22, clutch assembly; 23, first gear; 231, first toothed portion; 232, first toothless portion; 24, second gear; 241, second end face; 242, The second toothed part; 243. The second toothless part; 244. Bump; 25. Third gear; 251. First end face; 252. Arc groove; 253. Head end; 26. Output component; 261. No. Four gears; 262, connecting rod; 27, rotating shaft; 3, transmission assembly; 31, rack; 32, slider; 4, shaft assembly; 41, mandrel; 42, casing; 5, end effector ; 51. Nail bin seat; 52. Nail counter seat; 53. Nail bin assembly.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application and are not used to limit the present application. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

It is to be understood that the terms "proximal", "posterior" and "distal", "anterior" as used herein are relative to the clinician manipulating the handle of the stapler. The terms "proximal" and "posterior" refer to the portion closer to the clinician, and the term "distal" "End" and "front" refer to the part far away from the clinician. That is, the handle is the proximal end, and the end effector 5 is the distal end. For example, the proximal end of a component represents the end relatively close to the handle, and the distal end represents the relatively Close to one end of the jaw assembly. The terms "upper" and "lower" are based on the relative positions of the nail base 52 and the nail bin base 51 of the jaw assembly. Specifically, the nail base 52 is on "upper" and the nail bin base 51 Under. However, staplers can be used in many orientations and positions, so these terms expressing relative positional relationships are not restrictive and absolute.

In this application, unless otherwise clearly stated and limited, terms such as "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or a movable connection. , or integrated into one; it can be directly connected, or it can be indirectly connected through an intermediary, it can be an internal connection between two elements or an interactive relationship between two elements such as abutment. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances. It should be noted that when there is a qualifier before "connect" or "connect", it has the meaning defined by the corresponding qualifier. Only situations that obviously need to be excluded are excluded, and other possible situations are not excluded, such as "detachably connected" It refers to detachable connections and does not include integration, but movable connections are not excluded.

Taking the transmission member in the first initial position and the output member in the second initial position in Figure 11 as a reference, the term "first initial position" used in this article is the position of the transmission member when the cutting knife is retracted to the position, and the "second initial position" ” is the position of the output member when the transmission member is in the first initial position.

Selective connection refers to joining or coupling. Coupling refers to the termination of bonding due to changes in relative position or state between interacting components and the loss of the structure used for bonding.

In this article, the idle range means that when the clutch assembly 22 is driven with motion input, the clutch assembly 22 has no motion output, that is, it does not drive the cutting blade transmission assembly or the jaw transmission assembly. The idle stroke structure refers to the structure of the components of the clutch assembly 22 that can realize the idle stroke. The effective rotation range means that when the clutch assembly 22 has a motion input, that is, it is driven, the clutch assembly 22 has a motion output, that is, it drives the cutting knife transmission assembly or the jaw transmission assembly. The effective rotation structure refers to the structure of the components of the clutch assembly 22 that can achieve effective rotation.

Please refer to Figure 1. The existing surgical instrument 1 includes a main body 13, a shaft assembly 4 extending from the main body 13 to the distal end, an end effector 5 provided at the distal end of the shaft assembly 4, and a cutting knife (not shown in the figure). Shows).

The surgical instrument 1 also includes a first mechanism 2, a transmission assembly 3 and an electric module. The first mechanism 2 is located in the main body 13. A part of the transmission assembly 3 is located in the main body 13, a part is located in the shaft assembly 4, and a part is located in the end effector 5. inside; the cutting knife is located inside the end effector 5. Electric modules include electric motors. The first mechanism 2 drives the transmission component 3 to move. The transmission component 3 includes a transmission component. The first mechanism 2 includes an input component, a clutch component 22 connected to the input component, and an output component 26. The input component is connected to the motor, and the output component 26 includes an output component. and output components.

The surgical instrument 1 also includes a second mechanism 11 . The first mechanism 2 includes a clutch assembly 22 and an output member. The clutch assembly 22 and the output member The transmission member is engaged or coupled, the output member is connected to the transmission member, the transmission member has a first initial position, and the output member has a second initial position. When the transmission member is in the first initial position, the output member is in the second initial position, and the clutch assembly 22 and The output member is engaged to drive the transmission member to move, and the clutch assembly 22 is coupled with the output member so that the transmission member is disengaged from the driving of the clutch assembly 22. In response to the coupling of the clutch assembly 22 with the output member, the second mechanism 11 drives the transmission member back to the first initial position. So that the transmission member drives the output member back to the second initial position, and in response to the clutch assembly 22 being driven to connect with the output member, the output member in the second initial position is engaged with the clutch assembly 22 .

It can be understood that the second mechanism drives the transmission member back to the first initial position so that the output member returns to the second initial position, thereby enabling the output member to engage with the clutch assembly again, effectively preventing the first mechanism from being unable to drive the transmission member back to the first initial position. The first initial position, which in turn causes the problem of surgical instrument failure, enables the surgical instrument to be used normally, increases the service life of the surgical instrument, makes the surgical instrument more stable, and reduces surgical risks.

Taking the stapler as an example, the above structure will be described in detail. Specifically, the transmission component is the rack 31 .

In this embodiment, specifically, please refer to FIGS. 2 to 8 . The second mechanism 11 includes a reset member 111 , a first member 112 , a guide member 116 and a second member 114 provided on the transmission member.

In response to the coupling of the clutch assembly 22 with the output member, the first element 112 is driven by the reset member 111 to make a second movement to drive the second member 114, thereby driving the transmission member back to the first initial position;

The guide 116 guides the first element 112 to make the second movement along the first preset direction.

Specifically, the reset member 111 is an elastic member, and one end of the elastic member is connected to the first element 112 .

In response to the clutch assembly 22 being coupled with the output member, and in response to the first member 112 making a first movement under the action of the elastic member to cooperate with the second member 114, the elastic member drives the first member 112 to make a second movement to drive the second member. 114 moves, thereby driving the transmission member back to the first initial position.

In response to the transmission member reaching the first initial position, the first element 112 resists the second element 114 under the action of the elastic member to limit the transmission member to the first initial position.

In response to the transmission member being driven by the output member to leave the first initial position, the transmission member drives the first element 112 to make a third movement to separate the first element 112 from the second element 114 .

The guide 116 guides the first element 112 to make the first movement and the second movement along the first preset direction, and the guide 116 guides the first element 112 to make the third movement along the second preset direction.

Specifically, please refer to Figures 7 and 8. In this embodiment, the first element 112 is a protrusion 119, and the second element 114 is a groove.

Please refer to Figures 25 to 27, in response to the clutch assembly 22 being coupled with the output member, and in response to the protrusion 119 making a first movement under the action of the reset member 111 so that the protrusion 119 partially enters the groove and abuts against the groove, The reset member 111 drives the protrusion 119 to do the third The second movement drives the groove to move, thereby driving the transmission member to return to the first initial position.

Referring to FIG. 29 , in response to the transmission member being driven by the first element 112 to reach the first initial position, the protrusion 119 resists the groove under the action of the reset member 111 to limit the transmission member to the first initial position.

Referring to FIG. 19 , in response to the transmission member being driven by the output member to leave the first initial position, the protrusion 119 is driven by the transmission member to make a third movement to separate the protrusion 119 from the groove.

Please refer to Figure 7. In this embodiment, the protrusion 119 includes a convex arc-shaped surface, and the groove may be an indented wedge-shaped body. In other embodiments, please refer to FIG. 8 , the protrusions 119 include convex arcuate surfaces, and the grooves include concave arcuate surfaces.

In this embodiment, please refer to FIG. 4 , the guide 116 includes an accommodation cavity, the first element 112 is at least partially movably disposed in the accommodation cavity, and the accommodation cavity guides the first element 112 to perform a second movement along the first preset direction. and a third movement; the accommodation cavity guides the first element 112 to perform a third movement along the second preset direction.

The inner wall surface of the accommodation cavity acts on the first element 112 to cause it to make a second movement along the first preset direction or a third movement along the second preset direction. The first element 112 is at least partially accommodated in the accommodation cavity. The accommodation space of the accommodation cavity is slightly larger than the first element 112 . The accommodation space of the accommodation cavity matches the shape of the first element 112 so that its inner wall surface can face the first element 112 It plays a guiding role to prevent the first element 112 from swinging back and forth significantly when performing the first movement, the second movement and the third movement, thereby affecting the movement of the driving rack 31 back to the first initial position and limiting the movement of the rack 31 bit effect.

Specifically, the first component 112 includes a main body 118 and a protrusion 119 . The guide 116 includes a cavity and a through hole. The cavity is located above and communicated with the through hole. The cavity is used to movably accommodate the main body 118 of the first element 112 . The through hole is used to movably accommodate the main body 118 of the first element 112 . At least part of the protrusion 119 of the first element 112 is disposed, and the first contact surface 117 is the bottom surface of the cavity. Specifically, the accommodation cavity includes a first accommodation cavity and/or a second accommodation cavity. The first accommodation cavity is formed by setting the shape of the cavity to match the shape of the main body 118 of the first element 112 and setting the size of the cavity. The size of the main body 118 is slightly larger than that of the main body 118 to guide the movement of the main body 118. The second receiving cavity is formed by arranging the shape of the through hole to match the shape of the protrusion 119 of the first element 112. The size is set slightly larger than the size of the protrusion 119 to guide the movement of the protrusion 119, whereby the first accommodation cavity guides the movement of the main body 118 of the first element 112, and the second accommodation cavity guides the movement of the first element 112. The protrusion 119 moves, so that the receiving cavity guides the body portion 118 of the first element 112 and/or guides the movement of the protrusion 119 of the first element 112 .

The first preset direction is opposite to the second preset direction. The first preset direction intersects the movement direction of the transmission member. In this embodiment, the first preset direction is perpendicular to the movement direction of the transmission member.

The "preset position" of the first element 112 in this article means that when the first element 112 is separated from the second element 114 and the first element 112 is at the rear side of the second element 114 and abuts against the transmission member, the The location of an element 112. In other embodiments, the transmission member includes a guide surface 115, and the position where the first element 112 contacts the guide surface 115 is not the "preset position". "set".

Please refer to Figures 5 and 21. In this embodiment, in response to the rack 31 being driven forward by the output member, the protrusion 119 is disengaged from the rack 31, so that the protrusion 119 no longer moves during the movement of the rack 31. It abuts against the rack 31 to eliminate the friction force exerted by the rack 31 . The rack 31 is also provided with a guide surface 115 . After the rack 31 moves forward for a certain distance, the rack 31 is disengaged from the protrusion 119. Then, in response to the rack 31 being operated to move backward, the guide surface 115 contacts the protrusion 119 and drives the protrusion 119 to move. The bar 31 moves further backward, in response to the clutch assembly 22 coupling with the output member, and in response to the reset member 111 driving the protrusion 119 to make the first movement part into the groove and abutting with the groove, the reset member 111 drives the protrusion 119 to do The second movement in turn drives the rack 31 back to the first initial position.

It can be understood that when the protrusion 119 is disengaged from the rack 31 and the rack 31 moves backward to connect with the protrusion 119, the guide surface 115 can drive the protrusion 119 to move upward to prevent the protrusion 119 from connecting with the rack 31. When in contact, the interference rack 31 moves backward.

Please refer to FIG. 6 . In other embodiments, the rack 31 is driven by the output member to move forward so that after the first member 112 is separated from the second member 114 , the first member 112 is located behind the second member 114 and is connected to the transmission member. When abutting, the first element 112 remains in the preset position.

Please refer to FIGS. 4 and 21 . In response to the transmission member being disengaged from the first element 112 , the guide member 116 cooperates with the first member 112 to stop the first member 112 to prevent the first member 112 from being disengaged from the guide member 116 . The guide 116 also includes a first limiting member, and the first element 112 further includes a second limiting member. In response to the transmission member being disengaged from the first member 112, the reset member 111 drives the first member 112 to move in the first preset direction so that the second limiting member cooperates with the first limiting member to stop the first member 112. position, thereby preventing the first element 112 from disengaging from the guide 116 .

Specifically, the first limiting member includes a first abutting surface 117 , and the second limiting member includes a second abutting surface 113 . The second contact surface 113 is provided on the main body portion 118 of the first element 112 , the protrusion 119 is provided on one surface of the main body portion 118 , and the second contact surface 113 is provided on the periphery of the protrusion 119 . The guide member 116 also includes a through hole for movably receiving the protrusion 119 of the first limiting member and a first abutment surface 117 . The first contact surface 117 is the bottom surface of the cavity, and the through hole extends from the first contact surface 117 toward the outside of the cavity along the first preset direction. In response to the transmission member being disengaged from the first member 112 , the reset member 111 drives the first member 112 to move in the first preset direction so that the second contact surface 113 of the first member 112 and the first contact surface of the guide member 116 117 abuts, thereby preventing the first element 112 from being separated from the guide 116 .

It can be understood that the first abutment surface 117 and the second abutment surface 113 effectively prevent the first element 112 from coming out of the guide 116 when the transmission member is disengaged from the first element 112, and then when the transmission member moves backward. Interfere with the movement of transmission parts.

In this embodiment, the main body part 118 and the protrusion 119 are spherical as a whole, and the accommodation space of the cavity is cylindrical. The main body part 118 is movably accommodated in the cavity, and the main body part 118 moves in the accommodation space of the cavity. , the protrusion 119 is at least partially movably disposed in the through hole, and the protrusion 119 is at least partially capable of movement in the through hole. Further, by forming the above cavity The size of the accommodation space is set slightly larger than the size of the main body part 118, so that the above-mentioned cavity becomes the first accommodation cavity, and the first accommodation cavity guides the movement of the main body part 118; the size of another accommodation space formed by the above-mentioned through hole is set must be slightly larger than the size of the protrusion 119, and the other accommodation space matches the shape of the protrusion 119 of the first element 112, so that the above-mentioned through hole becomes a second accommodation cavity, and the second accommodation cavity guides the movement of the protrusion 119.

It can be understood that in other embodiments, the accommodation space of the cavity may be in other shapes, and the shape of the main body part 118 may also be in other shapes. The protrusion 119 may have other shapes, and the through hole may also have a shape matching the shape of the protrusion 119 .

The shaft assembly 4 includes a core shaft 41 and a sleeve 42 sleeved on the core shaft 41 . The core shaft 41 is connected to the rack 31 . The end effector 5 includes a jaw assembly and a nail cartridge assembly 53. The jaw assembly includes a nail cartridge seat 51 and a nail base 52 pivotably connected to the nail cartridge seat 51. The nail cartridge seat 51 is used to operably support the nail cartridge seat 51. The staple cartridge assembly 53 and the staple base 52 can selectively move between an open position and a closed position, thereby cooperating with the staple cartridge base 51 and the staple cartridge assembly 53 to loosen or clamp tissue. The cutting knife is located within the end effector 5. The nail cartridge assembly 53 is provided with a cutting groove for the movement of the cutting knife. The cutting knife cuts the tissue while moving distally in the cutting groove, and pushes the staples accommodated in the nail cartridge assembly 53 to extract the staples to the tissue. Perform anastomosis.

The stapler also includes a first mechanism 2, a transmission assembly 3 and an electric module. The first mechanism 2 is located in the main body 13. A part of the transmission assembly 3 is located in the main body 13, a part is located in the shaft assembly 4, and a part is located in the end effector 5. .

Electric modules include electric motors. The first mechanism 2 includes an input member, a clutch assembly 22 connected to the input member, and an output assembly 26 . The input part is the driving gear 21, and the input part is connected with the motor.

The output assembly 26 includes an output member and an output element. The output member is the fourth gear 261 and the output element is the connecting rod 262 .

The clutch assembly 22 includes a first clutch member, an intermediate member and a second clutch member. The first clutch member includes a first effective rotation structure and a first idle rotation structure. The intermediate piece includes a first clutch structure. The second clutch includes a second effective rotation structure and a second idle rotation structure, and the second clutch also includes a second clutch structure. The middle piece is connected to the first clutch piece and rotates synchronously, the driving gear 21 is connected to the middle piece, the driving gear is sleeved on the driving shaft 211, and the driving shaft 211 is connected to the motor. The clutch assembly 22 also includes a rotating shaft 27. Both the intermediate member and the second clutch member are rotatably sleeved on the rotating shaft 27. When the first clutch structure of the intermediate member is connected to the second clutch structure of the second clutch member, the intermediate member The second clutch member drives the second clutch member to move. When the first clutch structure of the middle member is separated from the second clutch structure of the second clutch member, the second clutch member is separated from the driving force of the middle member.

In this embodiment, please refer to Figures 9 and 10. The first clutch member is the first gear 23. The first gear 23 has a first toothed portion 231 and a first toothless portion 232. The first toothed portion 231 is The first effective rotation structure, the first toothless portion 232 is a first idle rotation structure. The second clutch member is the second gear 24. The second gear 24 has a second toothed portion 242 and a second toothless portion 243. The second toothed portion 242 is a second effective rotation structure, and the second toothless portion 243 is The second idle range structure.

The middle piece is the third gear 25. The middle piece includes a first clutch structure. The first clutch structure is an arc groove 252. The arc groove 252 is disposed on the first end surface 251 of the third gear 25, and the third gear 25 is connected to the driving gear 21; the second gear 24 includes a second clutch structure, the second clutch structure is a convex block 244, and the convex block 244 is disposed on the second On the second end face 241 of the gear 24, the first end face 251 of the intermediate member is adjacent to the second end face 241 of the second clutch member. The protrusion 244 at least partially extends into the arc groove 252, and the center of the arc groove 252 is located therein. The bump 244 can slide in the arc groove 252 on the rotation axis of the component.

On the one hand, the engagement of the bump 244 with the arc groove 252 can cause the third gear 25 and the second gear 24 to overlap; on the other hand, when the third gear 25 drives the fourth gear 261 through the first gear 23, the bump 244 can Sliding in the arc groove 252, the second gear 24 does not rotate with the third gear 25. At this time, the second toothless portion 243 is coupled with the driving gear 21, so that when the first mechanism 2 drives the cutting knife assembly to move, the second gear 24 does not rotate with the third gear 25. 24 will not drive the end effector 5 closed or open.

Specifically, as shown in FIG. 29 , when the bump 244 abuts the head end 253 of the arc groove 252 , as the driving gear 21 drives the third gear 25 to rotate clockwise, the third gear 25 rotates so that the arc groove 252 rotates. The head end 253 drives the protrusion 244 in contact with it to rotate, thereby driving the second gear 24 to rotate, so that the second gear 24 and the driving gear 21 switch from the coupling state to the engagement state. The coupling state is the second toothless portion 243 and the driving gear 21 . The drive gear 21 is coupled, and in the engaged state, the second toothed portion 242 is engaged with the drive gear 21 . That is to say, the connection between the protrusion 119 and the arc groove 252 can convert the coupling of the driving gear 21 and the second toothless portion 243 into the engagement of the driving gear 21 and the second toothed portion 242 , thereby realizing the coupling of the second gear 24 to the connecting rod. 262 is converted from a non-driven state to a driven state.

Specifically, please refer to Figures 23 and 25. During the movement of the rack 31 to the first initial position, the third gear 25 drives the first gear 23 to rotate clockwise, and the first toothed portion 231 of the first gear 23 is in contact with the first gear 23. The fourth gear 261 is disengaged, and the fourth gear 261 is coupled with the first toothless portion 232 (see Figure 25). The third gear 25 continues to rotate one tooth under the drive of the driving gear 21, so that the bump 244 abuts the arc groove 252. The head end 253 of the second gear 24 (see Figure 29), thereby aligning the teeth of the second toothed portion 242 of the second gear 24 with the teeth of the third gear 25, but the second toothed portion 242 and the driving gear 21 have not yet meshed. When the motor rotates, the driving gear 21 continues to drive the third gear 25 to rotate. When the third gear 25 rotates, the head end 253 of the arc groove 252 drives the bump 244 to rotate synchronously, so that the second toothed portion 242 begins to rotate with the driving gear 21 Engage, so that the second gear 24 and the third gear 25 can be synchronously engaged with the driving gear 21 to ensure the subsequent smooth opening of the end effector 5 to release the tissue.

Please refer to Figure 2. The transmission assembly 3 includes a cutting knife transmission assembly and a jaw transmission assembly. The cutting knife transmission assembly is used to drive the cutting knife to move within the end effector 5. The jaw transmission assembly is used to drive the end effector 5. Opening or closing of the jaw assembly.

The cutting blade transmission assembly includes a rack 31 and a mandrel 41 connected to the distal end of the rack 31. The distal end of the mandrel 41 is connected to the cutting blade. When the first toothed portion 231 of the first gear 23 is engaged with the fourth gear 261, the first gear 23 drives the fourth gear 261 to rotate, the fourth gear 261 drives the rack 31 to move, and the rack 31 drives the core shaft 41 to move. The mandrel 41 drives the cutting knife to move within the end effector 5; when the first toothless portion 232 of the first gear 23 is coupled with the fourth gear 261, the fourth gear 261 is disengaged from the drive. The rack 31 is coupled with the first mechanism 2 due to the drive of the moving gear 21 , and the rack 31 is separated from the drive of the first mechanism 2 .

The jaw transmission assembly includes a slider 32 connected to a connecting rod 262 and a sleeve 42 connected to the slider 32. The connecting rod 262 is connected to the second gear 24. When the second toothed portion 242 of the second gear 24 is connected to the driving gear When 21 is engaged, the driving gear 21 drives the second gear 24 to rotate, the second gear 24 drives the connecting rod 262 to move, the connecting rod 262 drives the slider 32 and the sleeve 42 to move, the sleeve 42 drives the jaw assembly to open and close; when the When the second toothless portion 243 of the second gear 24 is coupled with the driving gear 21 , the second gear 24 is separated from the drive of the driving gear 21 , and the connecting rod 262 is coupled with the first mechanism 2 .

One end of the connecting rod 262 is rotatably disposed on the second end surface 241 of the second gear 24. The second gear 24 drives the connecting rod 262 to move. The movement of the connecting rod 262 drives the jaw transmission assembly to move and thereby drives the jaw assembly to open or close. The position of the first gear 23 corresponds to the position of the fourth gear 261 so that the first gear 23 and the fourth gear 261 are selectively connected. The fourth gear 261 meshes with the rack 31. When the first toothed wheel of the first gear 23 When the portion 231 is engaged with the fourth gear 261, the fourth gear 261 drives the rack 31 forward or backward, and the rack 31 drives the cutting knife forward or backward through the mandrel 41.

The following describes the movement of the stapler during operation in detail.

Please refer to FIG. 11 and FIG. 12 , the rack 31 is in the first initial position, the fourth gear 261 is in the second initial position, the end effector 5 is in the open state, and the bump 244 is at the head end 253 of the arc groove 252 . The operator starts the motor, and the motor rotates forward, thereby driving the driving gear 21 to rotate clockwise. The driving gear 21 is connected with the first toothed portion 231 of the first gear 23, the second toothed portion 242 of the second gear 24, and the third gear. 25 mesh, the first toothless portion 232 of the first gear 23 is coupled with the fourth gear 261, the protrusion 244 of the second gear 24 is at the head end 253 of the arc groove 252 of the third gear 25, and the driving gear 21 drives the first The gear 23, the second gear 24 and the third gear 25 rotate counterclockwise synchronously, and the bump 244 is kept at the head end 253 of the arc groove 252. The second gear 24 rotates to drive the connecting rod 262 to move, and the connecting rod 262 in turn drives the slider. 32. The slider 32 drives the sleeve 42 to move forward, the sleeve 42 drives the jaw assembly of the end effector 5 to close, the first toothless portion 232 of the first gear 23 is coupled with the fourth gear 261, and the fourth gear 261 Maintaining the second initial position, the rack 31 remains in the first initial position.

Please refer to Figures 13 and 14. When the jaw assembly is closed to the bottom, the driving gear 21 and the second toothed portion 242 of the second gear 24 are about to be disengaged.

Please refer to Figures 15 and 16. The driving gear 21 and the second toothed portion 242 of the second gear 24 are completely out of mesh. At this time, the second toothless portion 243 is coupled with the driving gear 21, and the driving gear 21 and the third gear 25 Maintaining meshing, the first gear 23 and the third gear 25 rotate synchronously. In response to the coupling of the second toothless portion 243 with the driving gear 21 , the third gear 25 continues to rotate, and the bump 244 slides from the head end 253 of the arc groove 252 toward the end.

Please refer to Figures 15 to 20. The motor continues to rotate in the forward direction. The motor drives the driving gear 21 to rotate clockwise. The driving gear 21 drives the first gear 23 to rotate through the third gear 25, thereby causing the first toothed part of the first gear 23 to rotate. The portion 231 is engaged with the fourth gear 261 in the second initial position, and the fourth gear 261 starts to rotate from the second initial position to drive the rack 31 from the first The initial position moves forward. In response to the rack 31 being operated to move forward to break away from the first initial position, the rack 31 drives the protrusion 119 to make a third movement to separate the protrusion 119 from the groove, and guide the protrusion 119 along the third movement. Make the third movement in the second preset direction, thereby ensuring that the protrusion 119 releases the limit on the transmission member, and prevents the protrusion 119 from moving forward under the action of the friction of the rack 31 when doing the third movement, so that it cannot be quickly and accurately The restriction on the transmission parts is released, and the movement of the rack 31 is even interfered with. The inner wall surface of the accommodation cavity acts on the protrusion 119 to cause it to perform a third movement along the second preset direction.

It can be understood that, please refer to FIGS. 15 to 20 , "the first toothed portion 231 of the first gear 23 is engaged with the fourth gear 261 in the second initial position" means that the teeth 6 of the first gear 23 push against the fourth gear 261 . The teeth 13 of the fourth gear 261 , and thus the teeth 12 of the fourth gear 261 , enter between the teeth 6 and 5 of the first gear 23 , so that the first toothed portion 231 of the first gear 23 meshes with the fourth gear 261 .

The rack 31 drives the spindle 41 to move and thereby drives the cutting knife to move in the end effector 5. Please refer to Figure 4, Figure 5 and Figure 21. In response to the forward movement of the rack 31 and the disengagement of the protrusion 119, the reset member 111 The second element 114 is driven to move along the first preset direction, so that the second abutment surface 113 moves, and then the second abutment surface 113 moves to abut with the first abutment surface 117, thereby stopping the second element 114. Bit.

In other embodiments, please refer to FIG. 6 . During the process of the rack 31 being driven by the first mechanism 2 , the first element 112 is maintained at the preset position.

As shown in Figures 19 and 20, the state of the clutch assembly 22 at a certain moment when the cutting knife is moving forward, the second toothless portion 243 is coupled with the driving gear 21, the second gear 24 does not rotate, and the driving gear 21 cannot drive the end portion. The actuator 5 moves, that is, the jaw assembly remains in a closed state. The first toothed portion 231 meshes with the fourth gear 261. The driving gear 21 drives the third gear 25 to rotate counterclockwise and then drives the first gear 23 to rotate. The first gear 23 drives the fourth gear 261 to rotate. The arc of the first gear 23 The groove 252 rotates counterclockwise with the first gear 23, thereby causing the bump 244 originally located at the head end 253 of the arc groove 252 to slide toward the end until it reaches the position shown in Figure 16. At this point, the cutting knife feeding process is completed.

In the position shown in Figure 21 and Figure 22, the cutting knife completes tissue cutting. At this time, the operator operates the motor to rotate in the reverse direction. The motor drives the driving gear 21 to rotate counterclockwise. The driving gear 21 drives the first gear 23 and the third gear 25 to rotate clockwise. The first toothed portion 231 of the first gear 23 drives the third gear 23 to rotate clockwise. The fourth gear 261 rotates counterclockwise, and the fourth gear 261 drives the rack 31 to move toward the first initial position.

In this embodiment, please refer to FIG. 5 , FIG. 21 and FIG. 22 , the rack 31 is provided with a guide surface 115 . The rack 31 moves forward to disengage the rack 31 from the protrusion 119. In response to the backward movement of the rack 31, the guide surface 115 abuts the protrusion 119 and drives the protrusion 119 to move so that the protrusion 119 reaches the preset position. Location.

Please refer to FIG. 23 , the transmission member continues to move toward the first initial position, and the output member engages with the last tooth 6 of the first toothed portion 231 of the first gear 23 .

Please refer to Figures 25, 26 and 29. In this embodiment, before the first mechanism 2 and the rack 31 start to couple, the reset member 111 drives the protrusion 119 in the preset position to make the first movement in the first preset direction. Movement, causing the protrusion 119 to partially enter the groove and abut against the groove.

In other embodiments, after the first mechanism 2 and the rack 31 start to couple, the reset member 111 drives the protrusion 119 at the preset position to make a first movement in the first preset direction, so that the protrusion 119 partially enters the groove and moves Butt against the groove.

The guide 116 guides the protrusion 119 to make a first movement in the first preset direction, ensuring that the protrusion 119 partially enters the groove along the first preset direction and abuts against the groove, thereby ensuring that the subsequent protrusion 119 drives the groove.

It can be understood that, please refer to FIG. 25 and FIG. 26 , the first mechanism 2 and the rack 31 start to couple, and the fourth gear 261 does not return to the second initial position. If the fourth gear 261 remains in this position, when the first tooth 6 of the first toothed portion 231 of the first gear 23 is connected to the fourth gear 261 again, the first tooth 6 may be connected to the fourth gear 261 . The teeth 12 come into contact, causing the teeth to break, causing the first mechanism 2 to fail.

During this process, the second toothless portion 243 is coupled with the driving gear 21, the second gear 24 does not rotate, and the driving gear 21 cannot drive the end effector 5 to move, that is, the jaw assembly remains in a closed state, and the first gear 23 The arc groove 252 rotates along with the first gear 23 , thereby causing the bump 244 originally located at the end of the arc groove 252 to slide toward the head end 253 . In response to the protrusion 119 in the preset position, the first movement is made under the action of the reset member 111 so that the protrusion 119 leaves the preset position and at least partially enters the groove, and in response to the first toothless portion 232 of the first gear 23 Coupled with the fourth gear 261, the reset member 111 drives the protrusion 119 to make a second movement to drive the groove movement, thereby driving the rack 31 to return to the first initial position. The inner wall surface of the accommodation cavity of the guide 116 acts on the protrusion 119 to cause it to make a second movement along the first preset direction, ensuring that the protrusion 119 can resist the inner wall surface of the groove and make the second movement to drive the groove. Move to the first initial position.

Please refer to Figures 25 and 26. In response to the coupling of the first toothless portion 232 of the first gear 23 with the fourth gear 261, the rack 31 is separated from the drive of the first mechanism 2, and the protrusion 119 at least partially located in the groove is Under the action of the reset member 111, the second movement is started to drive the groove to move to the first initial position so that the rack 31 moves to the first initial position. The rack 31 moving to the first initial position drives the fourth gear 261 to move to the first initial position. 2. Initial position movement.

Specifically, please refer to Figures 25 to 27. At this time, the output member and the clutch assembly 22 begin to couple. If the second mechanism 11 is not used to drive the transmission member back to the first initial position, the output member cannot return to the second initial position, and the clutch assembly 22 continues to rotate so that the toothed portion of the clutch assembly 22 is connected to the output member again. Please refer to Figure 28. The clutch assembly 22 continues to move until the toothed portion of the clutch assembly is connected to the teeth of the output member again. Since the output member is not in the second initial position, the gear teeth 6 of the output member are connected to the toothed portion of the clutch assembly 22. The teeth 6 are in contact, which in turn causes the motor to be overloaded, causing the motor or circuit board to fail; or the teeth of the output part and/or the teeth of the clutch assembly are damaged, and the tooth chips fall off, causing the stapler to malfunction; or the teeth of the output part are damaged. And/or the teeth of the clutch assembly are damaged, resulting in missing teeth, which in turn shortens the rack stroke and the cutting knife cannot cut in place.

Please refer to FIGS. 5 and 29 . In response to the rack 31 being driven to move backward to reach the first initial position, the protrusion 119 abuts the groove under the action of the reset member 111 to limit the rack 31 to the first initial position. initial position, thereby limiting the fourth gear 261 to the second initial position, preventing the rack returning to the first initial position from moving forward under the action of gravity, thereby driving the fourth gear 261 away from the second initial position, ensuring that the fourth The gear 261 can be engaged with the first toothed portion 231 the next time it is connected to the first gear 23 .

As the first toothless portion 232 of the first gear 23 is coupled with the fourth gear 261, the motor continues to reverse, and the third gear 25 continues to rotate, so that the protrusion 244 abuts the head end 253 of the arc groove 252, thereby causing the third The teeth of the second toothed portion 242 of the second gear 24 are aligned vertically with the teeth of the third gear 25, but the second toothed portion 242 and the driving gear 21 have not yet meshed. At this time, the motor rotates, and the driving gear 21 drives the third gear 25. Rotate, when the third gear 25 rotates, the head end 253 of the arc groove 252 drives the bump 244 to rotate synchronously, so that the second toothed portion 242 begins to mesh with the driving gear 21, so that the second gear 24 and the third gear 25 can be synchronously rotated. The driving gear 21 is engaged, the driving gear 21 drives the second gear 24 to rotate, and the second gear 24 drives the end effector 5 to open.

In other embodiments, please refer to Figure 30. The second mechanism 11 is a magnetic element 12, and the transmission member is made of ferromagnetic material.

In response to the clutch assembly 22 coupling with the output member, the magnetic element 12 drives the transmission member back to the first initial position, and in response to the transmission member reaching the first initial position, the magnetic element 12 limits the transmission member in the first initial position.

Specifically, the first mechanism 2 drives the rack 31 to move toward the first initial position. In response to the coupling of the clutch assembly 22 with the output member, the magnetic element 12 attracts the rack 31 back to the first initial position through magnetic force, thereby driving the rack 31 The fourth gear 261 returns to the second initial position. In response to the magnetic element 12 reaching the first initial position, the magnetic element 12 attracts the rack 31 through magnetic force to limit the rack 31 to the first initial position, thereby moving the fourth gear 261 The limit is at the second initial position to ensure that the input member can be engaged when it is connected to the first toothed portion 231 of the first gear 23 again, preventing the input member from engaging with the first toothed portion 231 of the first gear 23 and causing the first Organization 2 failed.

In this embodiment, the magnetic element 12 is disposed at the proximal end of the first initial position. When the transmission element is in the first initial position, the transmission element is attracted by the magnetic force of the magnetic element 12 so that the transmission element and the magnetic element 12 are in contact.

To sum up, this application uses the second mechanism 11 to drive the transmission member back to the first initial position, and then drive the output member back to the second initial position, thereby ensuring that the next time the output member is connected to the first toothed portion 231 of the clutch assembly 22 It can engage with the first toothed portion 231 to prevent the output member that is not in the second initial position from contacting and hitting the teeth when connected to the first toothed portion 231, thereby causing the surgical instrument to fail. The second mechanism 11 of the present application has a simple structure and is easy to install. The reset member 111 drives the first element 112 to make the second movement, so that the first element 112 drives the second element 114, thereby driving the transmission member to move to the first initial position, and causing the first element 112 to contact the second element 114 to transmit the transmission. The output member is limited to the first initial position, thereby limiting the output member to the second initial position. The rack 31 moving to the first initial position drives the output member to move to the second initial position, and is limited to the first initial position. The transmission member is positioned to limit the output member to the second initial position, thereby preventing the output member from contacting and hitting the teeth when it is connected to the first effective rotation structure of the clutch assembly 22 again, thereby causing malfunctions such as failure of the surgical instrument.

It should be noted that although this embodiment uses a stapler as an example to illustrate the surgical instrument 1, the technical solution in this embodiment can be applied to components such as end effectors 5, cutting knives, transmission parts, and driving parts. other surgical instruments 1, and can drive the transmission member back to the first initial position and thereby stably limit the transmission member to the first initial position, so that the output member returns to and is limited to the second initial position, thereby ensuring that the output member It is again engaged with the effective switching structure of the clutch assembly 22 to prevent the output member from engaging with the clutch assembly 22, which may cause malfunctions such as failure of the surgical instrument.

It should be understood that although this specification is described in terms of implementations, not each implementation only contains an independent technical solution. This description of the specification is only for the sake of clarity. Persons skilled in the art should take the specification as a whole and understand each individual solution. The technical solutions in the embodiments can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

The series of detailed descriptions listed above are only specific descriptions of feasible implementations of the present application. They are not intended to limit the protection scope of the present application. Any equivalent implementations or implementations that do not deviate from the technical spirit of the present application or All changes should be included in the protection scope of this application.

Claims

A surgical instrument, characterized in that the surgical instrument includes a first mechanism, a transmission member and a second mechanism, the first mechanism includes a clutch assembly and an output member, the clutch assembly is engaged or coupled with the output member, The output member is connected to the transmission member, the transmission member has a first initial position, and the output member has a second initial position. When the transmission member is in the first initial position, the output member is in In the second initial position, the clutch assembly is engaged with the output member to drive the transmission member to move, and the clutch assembly is coupled with the output member so that the transmission member is disengaged from the drive of the clutch assembly, in response to After the clutch assembly is coupled with the output member, the second mechanism drives the transmission member back to the first initial position so that the transmission member drives the output member back to the second initial position; In response to the clutch assembly being driven into connection with the output member, the output member in the second initial position engages the clutch assembly.
The surgical instrument according to claim 1, wherein the second mechanism includes a reset member, a first member, a guide member, and a second member provided on the transmission member;

In response to the clutch mechanism being coupled with the output member, and in response to the first element cooperating with the second element under the action of the return member, the first member is driven by the return member to do a third operation. two movements to drive the second element and thereby drive the transmission member back to the first initial position;

The guide guides the first element to make the second movement in a first preset direction.
The surgical instrument according to claim 2, wherein in response to the transmission member being driven by the first member to reach the first initial position, the first member resists under the action of the reset member. Holding on the second element to limit the transmission member in the first initial position;

In response to the transmission member being driven by the output member to leave the first initial position, the first element is driven by the transmission member to make a third movement to separate the first element from the second element. ;

The guide guides the first element to make the third movement along the second preset direction.
The surgical instrument according to claim 3, wherein the first element is a protrusion and the second element is a groove;

In response to the clutch assembly being coupled to the output member, and in response to the first element partially entering the groove and abutting against the groove under the action of the return member, the return member drives the The protrusion makes the second movement to drive the groove, thereby driving the transmission member back to the first initial position;

In response to the transmission member being driven by the first element to reach the first initial position, the protrusion resists the groove under the action of the return member to limit the transmission member in the the first initial position;

In response to the transmission member being driven by the output member to depart from the first initial position, the protrusion is driven by the transmission member to make the third movement so that the protrusion is in contact with the groove. separation.
The surgical instrument according to claim 3, wherein the guide member includes a receiving cavity, the first element is at least partially movably disposed in the receiving cavity, the receiving cavity guides the first element. The second movement is carried out along the first preset direction; the accommodation cavity guides the first element to carry out the third movement along the second preset direction.
The surgical instrument according to claim 5, wherein the first preset direction is opposite to the second preset direction.
The surgical instrument according to claim 2, wherein the first preset direction intersects the movement direction of the transmission member.
The surgical instrument according to claim 2, wherein the transmission member is provided with a guide surface;

After the output member drives the transmission member to move forward so that the transmission member is disengaged from the first element, in response to the transmission member being driven to move backward, the guide surface and the first element Contact and drive the first element to move;

In response to the coupling of the clutch assembly with the output member, the first element is driven by the return member to make the second movement to drive the second member, thereby driving the transmission member back to the first initial position.
The surgical instrument according to claim 8, wherein in response to the transmission member being disengaged from the first member, the guide member stops the first member to prevent the first member from being disengaged. The guide.
The surgical instrument according to claim 9, wherein the guide member includes a first limiter, the first member includes a second limiter, and the first limiter and the second limiter are The positioning piece cooperates to stop the first component.
The surgical instrument according to claim 10, wherein the first limiting member includes a first contact surface, the second limiting member includes a second contact surface, and the first contact surface and The second contact surface abuts to stop the first element.
The surgical instrument according to claim 2, wherein the first element has a preset position, and in response to the transmission member being driven by the output member to move forward to disengage from the first initial position, the The first element remains in the preset position.
The surgical instrument according to claim 2, wherein the reset member is an elastic member, and the elastic member is connected to the first element;

In response to the coupling of the clutch assembly with the output member, the first element is driven by the elastic member to make the second movement to drive the second element, thereby driving the transmission member back to the first initial position.
The surgical instrument of claim 13, wherein in response to the clutch assembly being coupled to the output member, and in response to the first member engaging the second member under the action of the elastic member , described The elastic member drives the first element to make the second movement to drive the second element to move, and then drives the transmission member to return to the first initial position;

In response to the transmission member being driven by the first element to reach the first initial position, the first element resists the second element under the action of the elastic member to limit the transmission member. at the first initial position;

In response to the transmission member being driven by the output member to leave the first initial position, the first element is driven by the transmission member to make a third movement to separate the first element from the second element. .
The surgical instrument according to claim 1, characterized in that the second mechanism is a magnetic element, and the material of the transmission member is a magnetic substance;

In response to the clutch assembly coupling with the output member, the magnetic element drives the transmission member back to the first initial position.
The surgical instrument according to claim 15, wherein in response to the transmission member reaching the first initial position, the magnetic element limits the transmission member to the first initial position.