WO2024109947A1 - Electric surgical instrument - Google Patents

Abstract

Provided is a surgical instrument, which comprises: a handle assembly (10), wherein the handle assembly (10) comprises a first part (11a) and a second part (11b) that are detachably connected, the first part (11a) and the second part (11b) define an accommodating space, at least one group of transmission assemblies (13, 14) are provided in the first part (11a), and the transmission assemblies (13, 14) are operably connected to a transmission rod group of an elongated body assembly (20) to drive the transmission rod group to reciprocate along a longitudinal axis; and a power unit (60), wherein the power unit (60) is detachably mounted in the accommodating space and comprises at least one group of driving mechanisms (610, 620), the driving mechanism (610, 620) comprises a motor (611, 621) and a driving assembly (612, 622), the driving assembly (612, 622) is operably engaged with the transmission assembly (13, 14) of the first part (11a), and after the driving assembly (612, 622) is connected to the transmission assembly (13, 14), at least a part of the transmission assembly (13, 14) reciprocates along the longitudinal axis. The surgical instrument is provided with a reusable part capable of being reused, and a disposable part can have a reliable transmission connection with the reusable part.

Description

Electric surgical instrument

This application claims the priority of three Chinese patent applications filed with the China Patent Office on November 25, 2022, with application numbers 202211494353.2, 202211494359.X, and 202211497045.5, with the invention name “A Electric Surgical Instrument”, the entire contents of which are incorporated by reference in this application.

Technical Field

The present invention relates to the field of surgical instruments, and in particular to an electric surgical instrument for clamping, cutting and anastomosis.

Background technique

Linear clamping, cutting and stapling electric surgical instruments can clamp, suturing/staping, and cutting tissues during surgical operations. At present, according to the reusability of use, electric surgical stapling instruments can be divided into disposable, partially reusable, and completely or nearly completely reusable.

With the development of medical device technology, electric surgical stapling instruments are moving towards intelligent directions such as precise control, data feedback, force feedback, platformization, and digitization, which has led to an exponential increase in the cost of the instruments. In order to reduce the cost of using the instruments, the high-value parts of electric surgical stapling instruments need to be reused.

Summary of the invention

To this end, the present invention provides the following technical solutions:

An electric surgical instrument, comprising:

a handle assembly operable to provide a driving force to the end effector assembly;

An elongated body assembly defining a longitudinal axis and including a transmission rod assembly to transmit a driving force provided by the handle assembly; wherein the handle assembly comprises:

A first part and a second part that are detachably connected, the first part and the second part define a receiving space, the first part is provided with at least one transmission assembly, the transmission assembly is operably engaged with the transmission rod assembly of the elongated body assembly to drive the transmission rod assembly to reciprocate along the longitudinal axis;

A power unit, which is detachably mounted in the accommodating space, comprises at least one set of driving mechanisms, wherein the driving mechanisms comprise a motor and a driving assembly, wherein the driving assembly is operably engaged with the transmission assembly of the first part, and after the driving assembly is engaged with the transmission assembly, at least a portion of the transmission assembly reciprocates along the longitudinal axis.

In some embodiments of the present invention, the first portion forms the main body of the handle assembly, and the slender body assembly is rotatably connected to the first portion via a rotating head; the second portion forms the grip portion of the handle assembly.

In some embodiments of the present invention, the transmission assembly includes a transmission rack and a transmission gear set, the drive assembly includes a drive rack and a drive gear set, and the transmission gear set is operably engaged with the drive rack to convert the rotational motion of the motor into linear motion of the transmission rack along the longitudinal axis.

In some embodiments of the present invention, the power unit further comprises a support frame, and the motor is mounted on the support frame. The driving assembly is located on a first side of the supporting frame and on a second side of the supporting frame opposite to the first side.

In some embodiments of the present invention, the driving assembly is located on the inner side of the supporting frame, and a receiving groove is provided on the second side of the supporting frame. When the power unit is installed in the receiving space and connected to the first part, at least a portion of the transmission gear set in the first part is received in the receiving groove and engaged with the driving rack of the driving assembly.

In some embodiments of the present invention, the driving gear set of the driving assembly includes: a first driving gear rigidly connected to the motor output shaft, a second driving gear respectively engaged with the first driving gear and the driving rack, and the second driving gear is rotatably disposed on the supporting frame.

In some embodiments of the present invention, the driving gear group of the driving assembly further includes a third driving gear coaxially connected to the second driving gear, the second driving gear is engaged with the first driving gear through the third driving gear, and the second driving gear and the third driving gear form a reduction gear group.

In some embodiments of the present invention, the transmission gear set of the transmission assembly includes: a first transmission gear operably engaged with the driving rack of the driving assembly, and a second transmission gear coaxially arranged with the first transmission gear and engaged with the transmission rack.

In some embodiments of the present invention, the transmission rod group of the slender body assembly includes a firing rod that can move linearly along the longitudinal axis direction, the distal end of the firing rod is connected to the firing member of the end execution assembly, and the proximal end of the firing rod is rotatably connected to the transmission rack of the transmission assembly.

In some embodiments of the present invention, the transmission rod group of the slender body assembly includes a bending link that can move linearly along the longitudinal axis direction, the distal end of the bending link is connected to the hinge link of the end execution assembly, and the proximal end of the bending link is rotatably connected to the transmission rack of the transmission assembly.

In some embodiments of the present invention, the proximal end of the bending link is connected to the transmission rack of the transmission assembly through a transition assembly to allow the bending link to rotate relative to the transmission rack; wherein the transition assembly comprises: a first transition rod, a second transition rod and a rotating bearing, the proximal end of the bending link is fixedly connected to the second transition rod, the second transition rod fixes the inner ring of the rotating bearing, the distal end of the first transition rod is connected to the outer ring of the rotating bearing, and the proximal end of the first transition rod is connected to the transmission rack.

In some embodiments of the present invention, the power unit also includes a shell, the support frame is installed inside the shell, the shell has a first opening in the area where the output end of the drive assembly is located, and at least a portion of the transmission gear set of the first part enters the shell along the first opening and engages with the drive rack of the drive assembly.

In some embodiments of the present invention, the first transmission gear and the second transmission gear of the transmission gear set are rotatably connected to a support shaft, and the second transmission gear and the first transmission gear are axially connected via a connecting member located therebetween.

In some embodiments of the present invention, the handle assembly further comprises a clutch mechanism, adapted to disengage the transmission assembly from the drive assembly, the clutch mechanism comprising a clutch wrench pivotally mounted on the mounting frame of the first portion, the clutch wrench comprising a trigger portion, adapted to trigger the movement of the connecting member to enable the second transmission assembly to engage with the drive assembly. The movable gear is disengaged from the axial connection with the first transmission gear.

In some embodiments of the present invention, a reset member is further provided between the first transmission gear and the connecting member. When the clutch wrench is in the initial position, the connecting member cooperates with the first transmission gear and the second transmission gear respectively under the action of the reset member; when the clutch wrench is operated to the first working position, the connecting member overcomes the force of the reset member and disengages from the second transmission gear.

In some embodiments of the present invention, a transition sleeve is provided between the clutch wrench and the connecting member, one end of the transition sleeve abuts against the trigger portion of the clutch wrench, and the other end abuts against the end surface of the connecting member.

In some embodiments of the present invention, the handle assembly also includes a reset wrench for moving the firing rod to an initial position, the reset wrench is pivotally mounted on the mounting frame of the first part, a reset pawl is provided on the reset wrench, and when the reset wrench is operated from the initial position to the second working position, the reset pawl cooperates with the first transmission rack of the transmission assembly to retract the first transmission rack to the initial position.

In some embodiments of the present invention, the reset pawl is connected to the reset wrench through a pivot shaft, and the reset pawl is provided with a protrusion and a pawl portion at the other end away from the pivot shaft, the frame is provided with a limiting portion, and the rack is provided with a ratchet surface; when the reset wrench is in the initial position, the protrusion of the reset pawl abuts against the limiting portion; when the reset wrench is moved to the second working position, the protrusion of the reset pawl moves to the outside of the limiting portion, and the pawl portion cooperates with the ratchet surface of the rack.

In some implementations of the present invention, a linkage structure is provided between the reset wrench and the clutch wrench to achieve linkage, and the linkage structure is used to drive the reset wrench to rotate after the clutch wrench is turned to the first set position.

Some embodiments of the present invention also include an installation safety device suitable for cooperating with the distal end of the transmission rod group of the slender body assembly, so that the transmission assembly of the first part is in an initial state suitable for cooperating with the drive assembly of the power unit in the accommodating space.

In some embodiments of the present invention, the installation safety comprises: a main body portion that can be inserted into the supporting member, the main body portion is provided with a plug hole suitable for inserting the firing rod; a first limiting structure for limiting the axial and circumferential installation position of the main body portion is provided between the main body portion and the supporting member, a second limiting structure for limiting the axial relative position between the main body portion and the firing rod is provided between the main body portion and the firing rod, and a third limiting structure for limiting the circumferential relative position between the main body portion and the bending connecting rod is provided between the main body portion and the bending connecting rod.

In some embodiments of the present invention, the first limiting structure includes at least one first limiting protrusion arranged on the outer peripheral surface of the main body, and at least one first limiting groove extending circumferentially and at least one second limiting groove extending axially correspondingly on the inner wall of the tubular shell of the support member, wherein the second limiting groove extends axially along the distal end surface of the tubular shell to the first limiting groove.

In some embodiments of the present invention, the second limiting structure includes a second limiting protrusion arranged on the inner wall surface of the main body, and a necked section arranged at the distal end of the firing rod. When the mounting safety component is inserted into the supporting member, the second limiting protrusion abuts against the proximal end surface of the necked section, so that the firing rod moves to the initial position.

In some embodiments of the present invention, the third limiting structure includes a hook portion disposed at the distal end of the bending connecting rod, and a third limiting protrusion disposed at the proximal end of the main body, wherein the third limiting protrusion is arranged along the periphery of the main body. The rotating connecting rod rotates to the initial position.

The present invention also provides an electric surgical instrument, comprising:

a handle assembly operable to provide a driving force to the end effector assembly;

an elongated body assembly defining a longitudinal axis adapted to transmit a driving force provided by the handle assembly; the handle assembly comprising:

A first part and a second part are detachably connected, the first part and the second part define a receiving space, a first transmission assembly is arranged in the first part, and the first transmission assembly includes a first transmission rack and a first transmission gear set that are engaged with each other;

A power unit, which is detachably mounted in the accommodating space, and includes a first driving mechanism, which includes a first motor and a first driving assembly, and the first driving assembly includes a first driving rack and a first driving gear set that are engaged with each other; wherein, when the power unit is installed in the accommodating space, at least a portion of the first transmission gear set of the first transmission assembly is operably engaged with the first driving rack to convert the rotational motion of the first motor into the linear motion of the first transmission rack along the longitudinal axis.

In some embodiments of the present invention, the slender body assembly includes a firing rod that moves linearly along the longitudinal axis, the distal end of the firing rod is connected to the firing member of the end execution assembly, and the proximal end of the firing rod is rotatably connected to the first transmission rack of the first transmission assembly.

In some embodiments of the present invention, the power unit further includes a second drive mechanism, the second drive mechanism includes a second motor and a second drive assembly, the second drive assembly includes a second drive rack and a second drive gear set that are engaged with each other; the first part further includes a second transmission assembly, the second transmission assembly includes a second transmission rack and a second transmission gear set that are engaged with each other, and when the power unit is installed in the accommodating space, at least a portion of the second transmission gear set of the second transmission assembly is operably engaged with the second drive rack to convert the rotational motion of the second motor into linear motion of the second transmission rack along the longitudinal axis.

In some embodiments of the present invention, the slender body assembly further includes a bending link that moves linearly along the longitudinal axis, the distal end of the bending link is connected to the hinge link of the end execution assembly, and the proximal end of the bending link is rotatably connected to the second transmission rack of the second transmission assembly.

In some embodiments of the present invention, the first driving gear set includes: a first driving gear rigidly connected to the first motor output shaft, a second driving gear respectively engaged with the first driving gear and the first driving rack, and the second driving gear is rotatably disposed on the supporting frame.

In some embodiments of the present invention, the second drive gear group includes: a first drive gear rigidly connected to the output shaft of the second motor, a second drive gear respectively engaged with the first drive gear and the second drive rack, and a third drive gear coaxially connected to the second drive gear, the second drive gear is engaged with the first drive gear through the third drive gear, and the second drive gear and the third drive gear form a reduction gear group.

The technical effects of the above-mentioned surgical instrument of the present invention are described in detail in the specific implementation section.

BRIEF DESCRIPTION OF THE DRAWINGS

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, which will help to understand the objects and advantages of the present invention, wherein:

FIG1 is a schematic structural diagram of a specific embodiment of a surgical instrument of the present invention;

FIG2 is a schematic structural diagram of an end effector assembly in a specific embodiment of a surgical instrument of the present invention;

FIG3 is a schematic structural diagram of a staple cartridge assembly of an end effector assembly in a specific embodiment of a surgical instrument of the present invention;

FIG4 is an exploded view of a partial structure of a specific embodiment of a surgical instrument of the present invention;

FIG5 is an exploded view of a power unit and a handle assembly in a specific embodiment of the surgical instrument of the present invention;

FIG6 is a schematic diagram of a partial structure of a power unit in a specific embodiment of the surgical instrument of the present invention;

FIG7 is a partial exploded view of a power unit in a specific embodiment of the surgical instrument of the present invention;

FIG8 is a schematic structural diagram of a specific embodiment of the first driving mechanism in the surgical instrument of the present invention;

FIG9 is a schematic structural diagram of a specific embodiment of the second driving mechanism in the surgical instrument of the present invention;

FIG10 is a schematic diagram of the overall structure of a power unit in a specific embodiment of the surgical instrument of the present invention;

FIG11 is a partial cross-sectional view of a handle assembly portion of a specific embodiment of a surgical instrument of the present invention;

FIG12 is a partial cross-sectional view of a first portion of a specific embodiment of a surgical instrument of the present invention;

FIG13 is a schematic structural diagram of the first part of the internal components of a specific embodiment of the surgical instrument of the present invention;

FIG14 is a schematic structural diagram of a first part of a specific embodiment of a surgical instrument of the present invention;

FIG15 is a transmission coordination diagram of a first transmission assembly and a second transmission assembly in a specific embodiment of the surgical instrument of the present invention;

FIG16 is another transmission coordination diagram of the first transmission assembly and the second transmission assembly in a specific embodiment of the surgical instrument of the present invention;

17A-C are schematic diagrams showing the connection relationship between the clutch wrench and the first transmission assembly in a specific embodiment of the surgical instrument of the present invention;

FIG18A is a schematic structural diagram of a specific embodiment of a surgical instrument of the present invention when a reset wrench rotates along direction A';

FIG18B is a schematic structural diagram of a specific embodiment of the surgical instrument of the present invention when the reset wrench rotates along the B' direction;

FIG19 is a schematic structural diagram of a clutch wrench in a specific embodiment of the surgical instrument of the present invention;

FIG20 is a schematic structural diagram of a reset wrench in a specific embodiment of the surgical instrument of the present invention;

FIG21 is a schematic structural diagram of a reset pawl in a specific embodiment of the surgical instrument of the present invention;

FIG22 is a schematic diagram of a structure in which a safety device is installed in a specific embodiment of the surgical instrument of the present invention;

FIG23 is a front view and a cross-sectional view showing a safety device installed in a specific embodiment of the surgical instrument of the present invention;

FIG24 is a schematic structural diagram of an initial state of the installation of the safety insertion elongated body assembly in a specific embodiment of the surgical instrument of the present invention;

FIG25 is a schematic diagram of the structure of a surgical instrument according to a specific embodiment of the present invention after the safety assembly and the elongated body assembly are installed and plugged into place;

FIG26 is a schematic structural diagram of the distal end of the elongated body in one embodiment of the surgical instrument of the present invention;

FIG27 is a schematic diagram of a process of installing a safety plug into the distal end of the elongated body in a specific embodiment of the surgical instrument of the present invention;

28 is a schematic structural diagram of a surgical instrument according to a specific embodiment of the present invention, in which a safety device is installed and inserted into the distal end of the elongated body.

Detailed ways

The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. In each embodiment of the present invention, the "distal end/side" refers to the end of the surgical instrument away from the operator when the surgical instrument is operated, and the "proximal end/side" refers to the end/side close to the operator when the surgical instrument is operated.

The following is a specific embodiment of the surgical instrument. Generally speaking, the embodiment of the surgical instrument described herein is an endoscopic surgical cutting and stapling instrument. However, it should be noted that the surgical instrument can also be a non-endoscopic surgical cutting and stapling instrument, such as an open surgical instrument for open surgery.

Specifically, the electric surgical instrument 100 shown in FIG1 includes a handle assembly 10, a rotating head assembly 40, an elongated body assembly 20, and an end effector assembly 30, which are sequentially connected from the proximal end to the distal end. The elongated body assembly 20 extends distally from the distal end of the rotating head assembly 40, and the user operates the rotating head assembly 40 to rotate the elongated body assembly 40 and the end effector assembly 30 together around the longitudinal axis defined by the elongated body assembly 20. The end effector assembly 30 is operably mounted at the distal end of the elongated body assembly 20, and is used to operate tissue to perform specific surgical operations, such as clamping, suturing/anastomosis, cutting, and other surgical operations on tissue.

As shown in Figures 2 and 3, the end execution assembly 30 includes a proximal main body portion 30a and a distal execution portion 30b, and the proximal main body portion 30a and the distal execution portion 30b are pivotally connected by a joint assembly 30c. The distal execution portion 30b includes a staple cartridge assembly 31 and a staple anvil assembly 32, and the staple cartridge assembly 31 and the staple anvil assembly 32 can move relative to each other to close the jaws to clamp the tissue jaws. In a specific embodiment, the staple anvil assembly 32 can be operated to pivot toward the staple cartridge assembly 31 until the jaws of the end execution assembly 30 are closed to clamp the tissue; the staple anvil assembly 32 pivots in a direction away from the staple cartridge assembly 31 until the jaws of the end execution assembly 30 are opened to release the tissue. As an alternative embodiment, the nail magazine assembly 31 of the end execution assembly 30 can be operated to pivot toward the anvil assembly 32 until the jaws of the end execution assembly 30 are closed to clamp the tissue; and the nail magazine assembly 31 is operated to pivot in a direction away from the nail magazine assembly 31 until the jaws of the end execution assembly 30 are opened to release the tissue.

Specifically, as shown in FIG. 2 and FIG. 3 , the proximal main body portion 30a of the end execution assembly 30 is detachably connected to the distal end of the slender body assembly 20, and the proximal main body portion 30a includes a slender outer tube 33, an inner tube 34 disposed in the outer tube 33, and a firing member 35 disposed in the inner tube 34 and slidable; in the distal execution portion 30b of the end execution assembly 30, the nail magazine assembly 31 includes a nail magazine 310, a nail magazine base 311, and a slider 312 disposed in the nail magazine 310 and slidable along the longitudinal axis; the proximal end of the firing member 35 is connected to the firing rod 21 in the slender body assembly 20, and the distal end of the firing member 35 is in contact with the slider 312 and can slide/move in the longitudinal axis direction as a whole to perform the corresponding surgical operation. For example, When the firing member 35 is driven to move from the proximal end to the distal end, cutting and stapling operations are performed on the tissue.

Specifically, as shown in Fig. 2, the joint assembly 30c includes a first joint component 37 and a second joint component 38; the first joint component 37 and the second joint component 38 are pivotally connected to the inner tube 34 through a pivot pin, and the nail magazine base 311 is fixedly connected to the first joint component 37 and the second joint component 38. The proximal main body portion 30a also includes a hinge link 36 slidably disposed in the inner tube 34, the proximal end of the hinge link 36 includes a hook portion 36a, which is combined with the bending link 22 in the slender body assembly 20 through the hook portion 36a, and the distal end of the hinge link 36 acts on the protrusion 37a on the joint component 37, and the protrusion 37a is spaced from the pivot axis. The linear movement of the hinge link 36 causes the joint assembly 30c to pivot around the pivot pin, thereby driving the distal execution portion 30b to bend relative to the proximal main body portion 30a.

Of course, for those skilled in the art, other forms of end effector assemblies can also be selected according to different types of surgical operations. Meanwhile, the end effector 30 can be selected to be detachably connected to the elongated body assembly 20, or to be non-detachably connected to the elongated body assembly 20.

As shown in Figures 1, 4 and 5, in a specific embodiment of the electric surgical instrument 100 of the present invention, at least a portion of the handle assembly 10 is held by an operator. By means of push-buttons, buttons, etc. provided on the handle assembly 10, the operator can control the end execution assembly 30 of the electric surgical instrument 100 to perform actions such as closing, firing, retracting and opening, thereby completing the clamping, anastomosis, cutting and release operations of the tissue (described in detail later).

As shown in FIG5 , in a specific embodiment of the electric surgical instrument 100 of the present application, the handle assembly 10 includes a first part 11a and a second part 11b, wherein the first part 11a and the second part 11b define a storage space for the handle assembly 10, and the power unit 60 is detachably installed in the storage space to serve as a reusable component, and can be used in multiple surgeries in conjunction with brand new or sterilized first part 11a and second part 11b, thereby allowing the more expensive power unit portion of the electric surgical instrument to be reused. Furthermore, since the power unit 60 is entirely located inside the first part 11a and the second part 11b, it is isolated from the outer space of the handle assembly 10 and will not contaminate the sterile environment of the operating room.

Specifically, in an optional embodiment, the first part 11a and the second part 11b can be detachably connected as non-reusable disposable parts by means of snap connection, fastener connection, etc., wherein the first part 11a is extended along the longitudinal axis to form the main body 10a of the handle assembly 10, and the elongated body assembly 20 is rotatably connected to the distal end of the first part 11a through a rotating head 40. The second part 11b is in an inverted L-shape with an open structure as a whole, and a part of its area extends perpendicular to the longitudinal axis or extends at a certain angle relative to the longitudinal axis to form the gripping part 10b of the handle assembly 10, and another part of the second part 11b is formed as a connection transition zone that cooperates with the first part 11a. More specifically, as shown in FIG5, at least one connection buckle is provided in the connection transition zone of the second part 11b, and at least one connection bayonet is correspondingly provided in the first part 11a, and the connection buckle cooperates with the connection bayonet to realize the snap connection between the two. It is understandable that the first part 11a and the second part 11b can also be disinfected and sterilized through a medical sterilization process (sterilization methods such as low-temperature plasma or high-temperature and high-pressure methods) to achieve reuse of the two parts.

In the first part 11a of the electric surgical instrument 100 described in the present application, at least one transmission assembly is provided, and the transmission assembly is adapted to be operably engaged with at least one drive mechanism of the power unit 60 to control the electric surgical instrument 100. The instrument 100 performs a specific surgical operation. For example, as shown in FIG. 4 , in a specific embodiment of the electric surgical instrument 100 of the present invention, a first transmission assembly 13 (firing transmission assembly) is provided in the first part 11a, and the first transmission assembly 13 is suitable for performing closing, firing, retracting and opening operations on the end effector assembly 30 of the electric surgical instrument 100. Alternatively, in an alternative embodiment, a second transmission assembly 14 (bending transmission assembly) may be further provided in the first part 11a of the electric surgical instrument 100 of the present invention, and the second transmission assembly 14 is suitable for performing a bending operation on the end effector assembly 30 of the electric surgical instrument 100. The power unit 60 may also include corresponding drive mechanisms, for example, a first drive mechanism 610 (firing drive mechanism) and a second drive mechanism 620 (bending drive mechanism), and the first drive mechanism 610 and the second drive mechanism 620 are respectively mounted/accommodated on the mounting frame 630. The first drive mechanism 610 and the second drive mechanism 620 may be respectively operably engaged with the first transmission assembly 13 and the second transmission assembly 14, thereby providing power for the movement of the first transmission assembly 13 and the second transmission assembly 14, respectively. Of course, it is understandable that in other alternative embodiments, the electric surgical instrument 100 may include only one set of transmission components and drive mechanisms, or multiple sets of corresponding transmission components and drive mechanisms to meet the requirements of different surgical operations for surgical instruments.

As shown in FIG4 , the elongated body assembly 20 is formed into an elongated tubular shape, and includes an elongated external tube 23 defining a longitudinal axis and a support member 24, wherein most of the area of the support member 24 is located inside the elongated external tube 23, and the distal end of the support member 24 extends out of the distal end of the elongated external tube 23 and forms a tubular shell end having the same diameter as the elongated external tube 23; a transmission rod group for triggering the end execution assembly 30 to achieve bending, jaw opening or closing, and firing or retracting is provided in the elongated body assembly 20. Specifically, as shown in FIG2 and FIG4 , in one embodiment, a firing rod 21 is provided in the elongated body assembly 20, the distal end of the firing rod 21 is operably connected to the firing member 35 of the end execution assembly 30, and the proximal end of the firing rod 21 is engaged with the transmission assembly 13 of the first part 11a of the handle assembly 10. A bending link 22 is also provided in the elongated body assembly 20, the distal end of the bending link 22 is operably engaged with the hinge link 36 of the end actuator assembly 30, and the proximal end of the bending link 22 is engaged with the transmission assembly 14 of the first part 11a of the handle assembly 10. The firing rod 21 and the bending link 22 are respectively slidably supported on the support member 24. For example, specifically, the firing rod 21 is slidably connected to the inner sliding hole of the support member 24, and the bending link 22 is slidably connected to the outer sliding hole of the support member 24; the distal end of the firing rod 21 is located outside the distal tubular housing end of the support member 24, and the bending link 22 is located inside the distal tubular housing end of the support member 24.

The first transmission assembly 13 located in the first part 11a of the handle assembly 10 drives the firing rod 21 to move linearly along the longitudinal axis, thereby driving the firing member 35 of the end actuator assembly 30 to reciprocate, thereby realizing the closing and opening operations of the jaws of the end actuator assembly 30, and the anastomosis and cutting operations of the tissue clamped in the jaws. The second transmission assembly 14 located in the first part 11a of the handle assembly 10 drives the bending link 22 to move linearly along the longitudinal axis, thereby driving the hinge link 36 of the end actuator assembly 30 to reciprocate, and then causing the joint assembly 30c to pivot around the proximal main body 30a. More specifically, the inner wall of the tubular shell end of the support member 24 is provided with a first limiting groove 24a (as shown in FIG. 25), and the proximal end of the inner tube 34 of the end actuator assembly 30 includes an engagement lug 34a, and the two cooperate to releasably engage with the slender body assembly 20 in a bayonet connection manner. After the inner tube 34 is engaged with the elongated body assembly 20, the bending link 22 The firing rod 21 is connected to the hinged connecting rod 36 in the end execution assembly 30 by snapping, and the firing member 35 of the end execution assembly 30 is snapping connected.

Next, the specific structure of the driving mechanism 610, 620 in the power unit 60 will be described in detail with reference to the accompanying drawings. As shown in Figures 6 to 8, the first driving mechanism 610 includes a first motor 611 and a first driving assembly 612 engaged with the first motor 611 to convert the rotational motion output by the first motor 611 into a linear motion along the longitudinal axis. Specifically, as shown in Figures 6 and 7, the first motor 611 is installed on the first side (the lower side in Figure 6) of the mounting frame 630, so that the first motor 611 is accommodated in the inner side of the gripping portion 10b of the handle assembly 10 as a whole; the first driving assembly 612 is located on the second side (the upper side in Figure 6) of the mounting frame 630, and the first driving assembly 612 is at least partially installed on the inner side of the mounting frame 630, so that the first driving assembly 612 is located in the portion where the gripping portion 10b of the handle assembly 10 and the main body 10a are engaged. The first driving assembly 612 converts the rotational motion output by the first motor 611 into a linear motion of the rack parallel to the longitudinal axis in the manner of a gear rack. As shown in detail in Figures 7 and 8, the first drive assembly 612 includes a first drive rack 613 slidably accommodated on the mounting frame 630, and the first drive rack 613 engages the output shaft of the first motor 611 through the first drive gear set 614. The first drive gear set 614 includes a gear 614a (first drive gear) rigidly connected to the output shaft of the first motor 611, and a gear 614b (second drive gear) mounted on a shaft 614d and meshed with the gear 614a and the first drive rack 613, respectively. In other alternative embodiments, the first drive assembly 612 converts the rotational motion output by the first motor 611 into the rotational motion of the reduction gear in a gear transmission manner, and then meshes with the gear transmission set in the first part.

Similarly, as shown in FIG. 7 and FIG. 9 , the second drive mechanism 620 includes a second motor 621 and a second drive assembly 622 engaged with the second motor 621 to convert the rotational motion output by the second motor 621 into a linear motion along the longitudinal axis. As shown in FIG. 6 , the second motor 621 is mounted on the first side (the lower side in FIG. 6 ) of the mounting frame 630 , so that the second motor 621 is entirely accommodated inside the gripping portion 10 b of the handle assembly 10 ; the second drive assembly 622 is located on the second side (the upper side in FIG. 6 ) of the mounting frame 630 , and the second drive assembly 622 is at least partially mounted on the inner side of the mounting frame 630 , so that the second drive assembly 622 is entirely located at the portion where the gripping portion 10 b of the handle assembly 10 is engaged with the main body 10 a . Similarly, the second drive assembly 622 converts the rotational motion of the second motor 621 into a linear motion of the rack parallel to the longitudinal axis in the manner of a gear rack. As shown in detail in FIG9 , the second drive assembly 622 includes: a second drive rack 623 slidably accommodated on the mounting frame, and the second drive rack 623 engages the output shaft of the second motor 621 through a second drive gear set 624. The second drive gear set 624 includes a gear 624a (first drive gear) rigidly connected to the output shaft of the second motor 621, a gear 624b (second drive gear) engaged with the second drive rack 623, and a gear 624c (third drive gear) meshed with the gear 624a, and the gear 624b is coaxially connected to the gear 624c through a shaft 624d. Since the end effector assembly 30 of the electric surgical instrument 100 needs to maintain a smooth and slow movement when performing a bending operation, the second drive gear set 624 can be configured in the form of a reduction gear to control the longitudinal linear movement speed of the second drive rack 623. For example, the gear 624b and the gear 624c form a reduction gear set. For example, the gear 624c with a larger number of teeth than the gear 624a and/or the gear 624b is selected. In other alternative embodiments, the second drive assembly 622 drives the second motor 621 to output the second motor 621 in a gear transmission manner. The rotational motion output is converted into the rotational motion of the reduction gear, which is then meshed with the gear transmission set in the first part.

Accordingly, as shown in FIGS. 13 to 17 , the first part 11a of the electric surgical instrument 100 according to the embodiment of the present application includes a first transmission assembly 13, which includes a first transmission rack 132 rotatably engaged with the proximal end of the firing rod 21 of the elongated body assembly 20, and the first transmission rack 132 is operably engaged with the first drive rack 613 of the first drive assembly 612 of the power unit 60 through a first transmission gear set 133. Specifically, the first transmission gear set 133 includes a coaxially connected gear 133a (first transmission gear) and a gear 133b (second transmission gear), and the gear 133b is operably meshed with the first transmission rack 132.

Similarly, the electric surgical instrument 100 according to the embodiment of the present invention further has a second transmission assembly 14 disposed in the first part 11a, including a second transmission rack 142 engaged with the bending connecting rod 22 of the slender body assembly 20, and the second transmission rack 142 is operably engaged with the second drive rack 623 of the second drive assembly 622 of the power unit 60 through the second transmission gear set 143. Specifically, as shown in FIG. 16 , the second transmission gear set 143 includes a coaxially connected gear 143a (first transmission gear) and a gear 143b (second transmission gear), wherein the gear 143b is operably engaged with the second transmission rack 142, and the gear 143a is operably engaged with the second drive rack 623 of the second drive assembly 620 of the power unit 60.

Furthermore, the bending link 22 is connected to the second transmission rack 142 of the second transmission assembly 14 through a transition assembly 18, so as to allow the bending link 22 to rotate relative to the second transmission assembly 14. Specifically, as shown in FIG. 13 and FIG. 14, the transition assembly 18 includes a first transition rod 181 (proximal transition rod), a second transition rod 182 (distal transition rod) and a rotating bearing 183. The proximal end of the bending link 22 is fixedly connected to the second transition rod 182, the proximal end of the second transition rod 182 is fixedly connected to the inner ring of the rotating bearing 183, the distal end of the first transition rod 181 is fixedly connected to the outer ring of the rotating bearing 183, and the proximal end of the first transition rod 181 is connected to the second transmission rack 142. The above-mentioned transition assembly 18 allows the first transition rod 181 and the second transmission rack 142 to remain fixed when the rotating head 40 drives the slender body assembly 20 to rotate relative to the handle assembly 10, and the bending link 22 can rotate reliably.

Furthermore, a receiving groove is provided on the upper side of the mounting frame 630, and the side wall of the receiving groove is communicated with a partial area of the driving rack of the driving mechanism, which is suitable for accommodating at least a part of the transmission gear group 133 of the transmission assembly when the power unit 60 is installed in the accommodating space formed by the first part 11a and the second part 11b, such as accommodating the first transmission gear of the transmission gear group of the transmission assembly, so that it can be operably engaged with the driving rack of the driving assembly, thereby engaging the transmission assembly with the driving assembly. With specific reference to FIG6 , a first receiving groove 631 is provided on the upper side of the installation frame 630, and a side wall of the first receiving groove 631 is communicated with a partial area of the first drive rack 613. The first receiving groove 631 is suitable for accommodating the gear 133a of the first transmission gear set 133 of the first transmission assembly 13 when the power unit 60 is installed in the accommodation space formed by the first part 11a and the second part 11b, so that the gear 133a is operably engaged with the first drive rack 613 of the first drive assembly 612, thereby engaging the first transmission assembly 13 with the first drive assembly 612. Similarly, a second receiving groove 632 may also be provided on the upper side of the installation frame 630, and a side wall of the second receiving groove 632 is communicated with a partial area of the second drive rack 623. When the power unit 60 is installed in the accommodation space formed by the first part 11a and the second part 11b, The second accommodating groove 632 accommodates the gear 143 a of the second transmission gear set 143 of the second transmission assembly 14 , so that the gear 143 a is operably engaged with the second driving rack 623 of the second driving assembly 622 , thereby engaging the second transmission assembly 14 with the second driving assembly 622 .

Continuing with FIG. 6 , the power unit 60 further includes a power supply unit 65 for providing electric energy to the motors 611 and 621. The power supply unit 65 can be configured as a rechargeable power storage power supply unit or a power supply unit with a replaceable battery. The power supply unit 65 is mounted on a second circuit board 67, and the second circuit board 67 is mounted on the upper side of the mounting frame 630. The power unit 60 further includes a first circuit board 66 mounted on the second side of the mounting frame 630. The first circuit board 66 is arranged opposite to the power supply unit 65 at a distance. A first electrical connection unit 661 is arranged on the first circuit board 66. The first electrical connection unit 661 can be configured to include a first plug-in terminal mounted on the first circuit board 66. The first circuit board 66 serves as the main control circuit board of the electric surgical instrument 100, receives the detection electrical signal transmission from the first part 11a and the power unit 60 and controls the start and stop of the motors 611, 621. At the same time, it can also identify the number of uses/types/statuses of the first part 11a based on the electrical signals transmitted by electrical devices (such as position sensors, etc.) in the first part 11a, and prompt the user by issuing an alarm signal, etc., to prevent the reuse of disposable parts.

The mounting frame 630 is also provided with a first signal detection unit 671, as specifically shown in FIG. 15 , the first signal detection unit 671 includes a first position sensor mounted on the second circuit board 67, and the first position sensor is used to detect the moving position of the first drive rack 613, and the moving position can be an absolute position or a relative position. For example, the first position sensor can be configured as a proximity switch, and when the first drive rack 613 reaches a first set position, the first set position is, for example, the initial matching position of the first transmission assembly 13 and the first drive assembly 612, the proximity switch sends an electrical signal. When the power unit 60 is installed in the accommodation space, the power supply unit 65, the second electrical connection unit 690 and the first signal detection unit 671 are located in the area where the main body 10a of the handle assembly 10 is located.

As shown in FIG. 10 , the power unit 60 further includes a housing 64, the mounting frame 630 is mounted inside the housing 64, and the housing 64 has a first opening 641 in the area where the output ends of the driving mechanisms 610 and 620 are located, so that the gears 133a and 143a of the transmission gear sets 133 and 143 of the transmission assemblies 13 and 14 in the first part 11a are inserted into the accommodating grooves 631 and 632 along the first opening 641. The housing 64 has a second opening 642 in the area where the first electrical connection portion 661 is located. The first part 11a of the electric surgical instrument 100 further includes a second electrical connection portion 690 for connecting to the first electrical connection portion 661 in the power unit 60, and the second electrical connection portion 690 includes a second plug-in terminal mounted on the inner wall of the first part 11a. When the power unit 60 is mounted in the accommodating space, the second electrical connection portion 690 extends into the housing 64 along the second opening 682 to be electrically connected to the first electrical connection portion 661.

As shown in FIG. 6 , the power unit 60 further includes a trigger signal receiving unit 680 installed on the inner side of the housing 64. The trigger signal receiving unit 680 includes at least one push contact switch installed on the third circuit board 68, which is used to cooperate with at least one button or push-twist switch installed on the second part 11b to form a complete button switch to control the start or stop of the motor 611, 621 of the firing drive mechanism or the bending drive mechanism. The housing 64 is provided with a connection for connecting the button and the push contact switch on the distal end surface of the gripping portion 10b. Through hole.

Specifically, as shown in FIG. 11 , four buttons are provided on the second part 11 b, namely, a forward button 681 located on the upper side, a retract button 682 located on the lower side, a left turn button 683 located on the left side, and a right turn button 684 located on the right side. When the electric surgical instrument 100 is used for a turning operation, when the end effector assembly 30 of the electric surgical instrument 100 is kept in an open position, the user triggers the left turn button 683 or the right turn button 684, which can make the distal effector portion 30b of the end effector assembly 30 turn to a set angle relative to the proximal main body portion 30a. When the electric surgical instrument 100 is used for a closing and firing operation, the operator triggers the forward button 681 to close the jaws of the end effector assembly 30, and keeps it in a closed state for a first set time, for example, 15s-20s, and then triggers the forward button 681 again to realize the firing action. After the electric surgical instrument 100 completes the firing operation on the tissue, the user triggers the retract button 682 to perform the operation of retracting and opening the end effector assembly 30.

As shown in FIGS. 15 and 16, a second signal detection unit for detecting the moving position of the transmission racks 132, 142 is further provided in the first portion 11a. The second signal detection unit includes four groups of position sensors mounted on the fourth circuit board 69, which are respectively a second position sensor 693 for detecting the initial position of the first transmission rack 132 of the first transmission assembly 13 (corresponding to the initial position where the firing rod 21 does not move and the end execution assembly 30 is in the jaw open state), a first set position sensor 694 for detecting the first transmission rack 132 of the first transmission assembly 13 (corresponding to the initial position where the firing rod 21 does not move and the end execution assembly 30 is in the jaw open state), and a second position sensor 695 for detecting the first set position of the first transmission rack 132 of the first transmission assembly 13 (corresponding to the initial position where the firing rod 21 does not move and the end execution assembly 30 is in the jaw open state). The first circuit board 66 includes a third position sensor 694 for detecting a second set position of the first transmission rack 132 of the first transmission assembly 13 (corresponding to the firing position in which the firing rod 21 is in the firing completion position and the end execution assembly 30 is in the jaw closed state), a fourth position sensor 695 for detecting a first set position of the first transmission rack 132 of the first transmission assembly 13 (corresponding to the firing position in which the firing rod 21 is in the firing completion position and the end execution assembly 30 is in the jaw closed state), and a fifth position sensor 696 for detecting an initial position of the second transmission rack 142 of the second transmission assembly 14 (a position in which the extension direction of the end execution assembly 30 is the same as the extension direction of the elongated body assembly 20). The sensors 693, 694, 695, 696 are electrically connected to the second electrical connection portion 690, and transmit their detection signals to the first circuit board 66 through the second electrical connection portion 690.

In a specific embodiment of the electric surgical instrument 100 of the present application, a clutch mechanism 70 for clutching the drive mechanism and the transmission assembly is also included. In particular, when the power drive mechanism fails, the user can release the transmission assembly by operating the clutch mechanism 70. The clutch mechanism 70 includes a clutch wrench 74 located in the first part 11a, and a manual reset cover is provided on the first part 11a. By opening the manual reset cover, the clutch wrench 74 located inside the first part 11a can be exposed, which is convenient for the user to operate. Next, the specific structure of the clutch mechanism 70 will be described in detail in conjunction with the accompanying drawings.

As shown in FIG. 15 and FIG. 17A-C, the clutch wrench 74 is pivotally mounted on the support frame 111 located inside the first part 11a through the first pin 74c, and includes a handle 74b and a trigger portion 74a disposed on opposite sides of the first pin 74c. The user operates the handle 74b to pivot the clutch wrench 74 around the first pin 74c. When the clutch wrench 74 is operated to pivot from the initial position around the first pin 74c along the arrow A to the first working position, the trigger portion 74a causes the gear 133b of the first transmission gear set 133 to be axially disconnected from the gear 133a, thereby causing the gear 133a to be disconnected from the transmission connection with the first transmission assembly 13, thereby realizing the disconnection of the drive mechanism 610 from the transmission assembly 13.

More specifically, as shown in Fig. 17B-C, the gear 133b and the gear 133a of the first transmission gear set 133 are respectively sleeved on the support shaft 135 using a split structure, and the gear 133b and the gear 133a are axially connected by a connecting member 134 located between the two and movable up and down along the support shaft 135, so that the two are connected to rotate together relative to the support shaft 135. When the connecting member 134 is engaged with the gear 133a and the gear 133b at the same time, the relative rotational movement between the two is locked, that is, the rotation of the gear 133a drives the rotation of the gear 133b. As further shown in Figures 17B-C, a reset member 138 is provided between the gear 133a and the connecting member 134. When the clutch wrench 74 is in the initial position, the connecting member 134 is maintained in the first position under the action of the reset member 138. At this position, the gear 133b of the first transmission gear set 133 of the first transmission assembly 13 is non-rotatably connected to the gear 133a, that is, axially connected, so that the first drive assembly 612 is engaged with the first transmission assembly 13; when the clutch wrench 74 is operated to the first working position, the connecting member 134 overcomes the force of the reset member 138 and moves to the second position under the action of the trigger portion 74a of the clutch wrench 74. At this position, the connecting member 134 is only engaged with the gear 133a of the first transmission gear set 133 of the first transmission assembly 13, so that the gear 133b is disengaged from the gear 133a.

More specifically, as shown in FIG. 17B-C, the connecting member 134 is located inside the gear 133a and the gear 133b, and a transition sleeve 139 is provided between the clutch wrench 74 and the connecting member 134. The transition sleeve 139 is slidably sleeved on the support shaft 135, and one end of the transition sleeve 139 abuts against the trigger portion 74a of the clutch wrench 74, and the other end is inserted into the interior of the gear 133b along the end of the gear 133b and abuts against the end surface of the connecting member 134. The transition sleeve 139 is formed into a sleeve structure with a T-shaped cross section, and the diameter of the sleeve abutting against one side of the clutch wrench 74 is greater than the diameter of the sleeve inserted into the inner side of the gear 133b. More specifically, a part of the gear 133b (the upper part in FIG. 17B) is rotatably connected to the transition sleeve 139, and another part of the gear 133b (the lower part in FIG. 17B) cooperates with the connecting member 134. More specifically, the connecting member 134 is formed as a spline sleeve, which is slidably mounted on the support shaft 135. When located at the first position, its outer wall is key-connected to the inner holes of the gear 133a and the gear 133b to achieve synchronous rotation.

Similarly, in an alternative embodiment, the clutch mechanism 70 may further include a clutch wrench 74', which can realize the disengagement of the second transmission assembly 14 from the second drive mechanism 620 based on similar principles and mechanisms.

The first transmission component 13 realizes an operable axial connection between the gear 133a and the gear 133b by providing an axially slidable connecting piece 134, so as to facilitate the disengagement of the first transmission rack 132 of the first transmission component 13 from the driving mechanism 610 while keeping the position of the gear 133a unchanged, so that the gear 133a can reliably maintain a transmission connection with the first driving rack 613 in the first driving component, and the gear 133b always maintains a transmission connection with the first transmission rack 132, thereby improving the transmission reliability of the entire transmission component.

As shown in Figures 18A-B and Figures 20-21, in a specific embodiment of the electric surgical instrument 100 of the present application, it also includes a manual reset mechanism for moving the firing rod 21 to the initial position, and the manual reset mechanism includes a reset wrench 75 located on the inner side of the first part 11a and arranged at a position close to the clutch wrench 74; similarly, by opening the manual reset cover of the first part 11a to expose the reset wrench 75, the user can manually move the firing rod 21 back to the initial position by operating the reset wrench 75.

As shown in FIG. 18A , the reset wrench 75 is pivotally mounted on the first On the support frame 111 inside the part 11a, a reset pawl 76 is provided on the reset wrench 75. When the reset wrench 75 is pulled from the initial position to the second working position, the reset pawl 76 cooperates with the first transmission rack 132 of the first transmission assembly 13 and pushes the first transmission rack 132 to move to the initial position. Specifically, a ratchet 132a that cooperates with the reset pawl 76 is provided on the upper side surface of the first transmission rack 132. As shown in FIG18A, when the reset wrench 75 pivots along the first direction A', the reset pawl 76 abuts against the ratchet 132a and pushes the first transmission rack 132 back to the initial position; as shown in FIG18B, when the reset wrench 75 pivots along the second direction B', the reset pawl 76 slides relative to the ratchet 132a, and the first transmission rack 132 remains stationary. By repeatedly operating the reset lever 75 to rotate along the first direction A′ and the second direction B′, the first transmission rack 132 is returned to the initial position, thereby returning the firing rod 21 to the initial position.

The reset wrench 75 is provided with a pivot hole 75b, and the reset pawl 76 is pivotally connected to the pivot hole 75b of the reset wrench 75 through a pivot shaft 76c. The reset pawl 76 is provided with a protrusion 76a and a pawl portion 76b at the other end away from the pivot shaft. The support frame 111 is provided with a limiting portion. When the reset wrench 75 is in the initial position, the protrusion 76a of the reset pawl 76 abuts against the limiting portion 111a to limit the reset pawl 76. When the user pivots the reset wrench 75 to the second working position, the protrusion 76a of the reset pawl 76 moves to the outside of the limiting portion, releasing the limiting of the reset pawl 76, and the pawl portion 76b of the reset pawl 76 falls to a position that matches the surface of the ratchet 132a of the first transmission rack 132. More specifically, the limiting portion is a limiting protrusion arranged on the longitudinal side surface of the frame, the reset pawl 76 is integrally formed as a plate body, and the protrusion 76a is an axial protrusion protruding from the plate body, wherein the pivot axis of the reset pawl 76 and the protrusion 76a are respectively located on opposite sides of the second pin shaft 75c, so that when the reset wrench 75 rotates around the second pin shaft 75c, the pivot axis of the reset pawl 76 rotates accordingly, thereby driving the protrusion 76a to move to the outside of the limiting protrusion.

The manual reset mechanism also includes a second elastic member, which is suitable for connecting the reset wrench 75 and the reset pawl 76. Specifically, the second elastic member is configured as a torsion spring sleeved on the pivot shaft, one end of the torsion spring is inserted into the reset wrench 75, and the other end is inserted into the reset pawl 76. By providing the second elastic member, it is ensured that the reset pawl 76 is in a stable state and does not engage or contact with the first transmission rack 132 during the overturning or transportation of the device. It should be noted that when the electric firing is normal (not failed), the second elastic member is in a compressed state.

In an alternative embodiment, a linkage structure is provided between the reset wrench 75 of the manual reset mechanism and the clutch wrench 74 of the clutch mechanism to achieve linkage, and the linkage structure is used to drive the reset wrench 75 to rotate after the clutch wrench 74 of the clutch mechanism is moved to a first set position. When the clutch wrench 74 is moved to the first working position to achieve the clutch operation, the reset wrench 75 rotates to a second set position to instruct the user to further perform a reset operation.

Specifically, as shown in Figures 19 and 20, the linkage structure includes a linkage protrusion 74d and a linkage groove 75a that are respectively arranged on the opposite sides of the reset wrench 75 of the manual reset mechanism and the clutch wrench 74 of the clutch mechanism and cooperate with each other. For example, the linkage groove 75a is arranged on the reset wrench 75, and the linkage protrusion 74d is arranged on the clutch wrench 74. When the clutch wrench 74 of the clutch mechanism moves from the initial position to the first set position, the linkage protrusion 74d moves along the first side of the linkage groove 75a to the second side end. At this time, the firing The reset wrench 75 does not move with the trigger; when the clutch wrench 74 of the firing clutch mechanism continues to be moved from the first set position, the linkage protrusion 74d drives the linkage slide groove 75a to rotate synchronously, thereby driving the reset wrench 75 to rotate around the second pin shaft 75c.

In a specific embodiment of the electric surgical instrument 100 of the present application, as shown in Figures 22 and 23, it also includes an installed safety 50, which is used to cooperate with the distal end of the slender body assembly 20 before loading the end execution assembly 30, so that the first transmission assembly 13 in the first part 11a is maintained in an initial set position, in which the firing rod 21 is located in an unfired initial position, and the bending connecting rod 22 is in a position (non-bending position) that allows the end execution assembly 30 to extend along the longitudinal axis.

As shown in Figures 22 and 23, the installation safety 50 includes: a main body 51 that can be inserted into the tubular shell end of the support member 24, and the main body 51 of the installation safety 50 is provided with a plug-in hole 52 suitable for the firing rod 21 to be plugged in; a first limiting structure for limiting the axial installation position of the main body 51 is provided between the main body 51 and the support member 24, a second limiting structure for limiting the axial relative position between the main body 51 and the firing rod 21 is provided between the main body 51 and the firing rod 21, and a third limiting structure for limiting the circumferential relative position between the main body 51 and the bending connecting rod 22 is provided between the main body 51 and the bending connecting rod 22. Before loading the end execution assembly 30, the installation safety 50 is inserted into the distal end of the slender body assembly 20, that is, after cooperating with the tubular shell of the support member 24, the first limiting structure limits the axial plug-in position of the installation safety 50, and after plugging in, the installation safety 50 cooperates with the firing rod 21 and the bending connecting rod 22 through the second limiting structure and the third limiting structure respectively, so that the firing rod 21 and the bending connecting rod 22 are axially moved to the first set position, so that the first transmission assembly 13 in the first part 11a is located in a position capable of cooperating with the first drive mechanism 610 in the power unit 60.

Specifically, as shown in Figures 25 and 26, the first limiting structure includes at least one first limiting protrusion 511 arranged on the outer peripheral surface of the middle area of the main body 51 of the installation safety 50, and a first limiting groove 24a correspondingly arranged on the inner wall of the tubular shell of the support member 24; the inner wall of the tubular shell of the support member 24 is provided with a second limiting groove 24b between the distal end surface and the first limiting groove 24a, and the first limiting protrusion 511 on the main body 51 axially slides along the second limiting groove 24b and is inserted into the first limiting groove 24a to achieve its axial limiting. The first limiting groove 24a extends along the circumferential direction to set an angle, and the main body 51 of the installation safety 50 is rotated to set an angle so that it abuts against the side wall of the first limiting groove 24a extending along the circumferential direction, so as to achieve the fixing of the main body 51 and the support member 24 along the circumferential position.

As shown in Figures 25, 26-28, the distal end of the firing rod 21 has a necked section 21a, and the firing rod 21 is provided with a rotating convex edge 21b on the distal side of the necked section 21a, and the rotating convex edge 21b has a notch structure. A second limiting protrusion 512 is correspondingly provided on the inner wall surface of the main body 51. When the main body 51 is inserted into the distal end of the slender body assembly 20, the second limiting protrusion 512 enters the necked section 21a along the notch portion of the rotating convex edge 21b and abuts against the proximal end surface of the necked section 21a, thereby limiting the axial position of the main body 51 and the firing rod 21. When the firing rod 21 deviates from the initial position, the second limiting protrusion 512 of the main body 51 pushes the firing rod 21 to move toward the handle assembly 10 until it moves to the initial position of the firing rod 21.

As shown in Figures 27 and 28, the third limiting structure includes a hook portion 22a disposed at the distal end of the bending link 22, and a third limiting protrusion 513 disposed at the proximal end of the main body 51 of the installation safety 50. The limiting protrusion 513 is inserted into the supporting member 24 along with the main body 51. When the main body 51 rotates circumferentially to the position where the first limiting protrusion 511 and the first limiting groove 24a are circumferentially limited, the third limiting protrusion 513 moves circumferentially therewith and drives the bending link 22 to move to the initial position.

In order to facilitate the rotation of the main body 51 , the installation safety 50 is provided with a lever handle 53 on its distal outer side wall. The lever handle 53 is integrally formed with the main body 51 and is formed as a sheet structure extending radially along the main body 51 .

Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the present invention.

Claims (30)

1. An electric surgical instrument, comprising:

   a handle assembly operable to provide a driving force to the end effector assembly;

   An elongated body assembly defining a longitudinal axis and including a transmission rod assembly to transmit a driving force provided by the handle assembly; wherein the handle assembly comprises:

   A first part and a second part that are detachably connected, the first part and the second part define a receiving space, the first part is provided with at least one transmission assembly, the transmission assembly is operably engaged with the transmission rod assembly of the elongated body assembly to drive the transmission rod assembly to reciprocate along the longitudinal axis;

   A power unit, which is detachably mounted in the accommodating space, comprises at least one set of driving mechanisms, wherein the driving mechanisms comprise a motor and a driving assembly, wherein the driving assembly is operably engaged with the transmission assembly of the first part, and after the driving assembly is engaged with the transmission assembly, at least a portion of the transmission assembly reciprocates along the longitudinal axis.
2. The electric surgical instrument according to claim 1 is characterized in that: the first part forms the main body of the handle assembly, and the slender body assembly is rotatably connected to the first part through a rotating head; the second part forms the gripping portion of the handle assembly.
3. The electric surgical instrument according to claim 1 is characterized in that: the transmission assembly includes a transmission rack and a transmission gear set, the drive assembly includes a drive rack and a drive gear set, and the drive gear set is operably engaged with the drive rack to convert the rotational motion of the motor into the linear motion of the transmission rack along the longitudinal axis.
4. The electric surgical instrument according to claim 1 is characterized in that: the power unit also includes a support frame, the motor is installed on a first side of the support frame, and the drive assembly is located on a second side of the support frame opposite to the first side.
5. The electric surgical instrument according to claim 4 is characterized in that: the driving assembly is located on the inner side of the supporting frame, and a receiving groove is provided on the second side of the supporting frame. When the power unit is installed in the receiving space and connected to the first part, at least a part of the transmission gear set in the first part is received in the receiving groove and engaged with the driving rack of the driving assembly.
6. The electric surgical instrument according to claim 3 is characterized in that the driving gear set of the driving assembly includes: a first driving gear rigidly connected to the motor output shaft, a second driving gear respectively engaged with the first driving gear and the driving rack, and the second driving gear is rotatably arranged on the supporting frame.
7. The electric surgical instrument according to claim 6 is characterized in that the driving gear set of the driving assembly further includes a third driving gear coaxially connected to the second driving gear, the second driving gear is engaged with the first driving gear through the third driving gear, and the second driving gear and the third driving gear form a reduction gear set.
8. The electric surgical instrument according to claim 3, characterized in that: the transmission gear set of the transmission assembly comprises: a first transmission gear operably engaged with the drive rack of the drive assembly, and a The gear is coaxially arranged and engaged with the transmission rack.
9. The electric surgical instrument according to claim 1 is characterized in that the transmission rod group of the slender body assembly includes a firing rod that can move linearly along the longitudinal axis direction, the distal end of the firing rod is connected to the firing member of the end execution assembly, and the proximal end of the firing rod is rotatably connected to the transmission rack of the transmission assembly.
10. The electric surgical instrument according to claim 1 is characterized in that the transmission rod group of the slender body assembly includes a bending link that can move linearly along the longitudinal axis direction, the distal end of the bending link is connected to the hinge link of the end execution assembly, and the proximal end of the bending link is rotatably connected to the transmission rack of the transmission assembly.
11. The electric surgical instrument according to claim 10 is characterized in that: the proximal end of the bending link is connected to the transmission rack of the transmission assembly through a transition assembly to allow the bending link to rotate relative to the transmission rack; wherein the transition assembly comprises: a first transition rod, a second transition rod and a rotating bearing, the proximal end of the bending link is fixedly connected to the second transition rod, the second transition rod fixes the inner ring of the rotating bearing, the distal end of the first transition rod is connected to the outer ring of the rotating bearing, and the proximal end of the first transition rod is connected to the transmission rack.
12. The electric surgical instrument according to claim 4 is characterized in that: the power unit also includes a shell, the support frame is installed inside the shell, the shell has a first opening in the area where the output end of the drive assembly is located, and at least a part of the transmission gear set of the first part enters the shell along the first opening and engages with the drive rack of the drive assembly.
13. The electric surgical instrument according to claim 8, characterized in that the first transmission gear and the second transmission gear of the transmission gear set are rotatably connected to the support shaft, and the second transmission gear and the first transmission gear are axially connected via a connecting member located therebetween.
14. The electric surgical instrument according to claim 18 is characterized in that: the handle assembly also includes a clutch mechanism, suitable for disengaging the transmission assembly from the drive assembly, the clutch mechanism includes a clutch wrench pivotally mounted on the mounting frame of the first part, and the clutch wrench includes a trigger portion, suitable for triggering the movement of the connecting member to disengage the second transmission gear from the axial connection with the first transmission gear.
15. The electric surgical instrument according to claim 19 is characterized in that: a reset member is also provided between the first transmission gear and the connecting member, and when the clutch wrench is in the initial position, the connecting member cooperates with the first transmission gear and the second transmission gear respectively under the action of the reset member; when the clutch wrench is operated to the first working position, the connecting member overcomes the force of the reset member and disengages from the second transmission gear.
16. The electric surgical instrument according to claim 19 is characterized in that a transition sleeve is provided between the clutch wrench and the connecting member, one end of the transition sleeve abuts against the trigger portion of the clutch wrench, and the other end abuts against the end surface of the connecting member.
17. The electric surgical instrument according to claim 19, characterized in that: the handle assembly further comprises a reset wrench for moving the firing rod to an initial position, the reset wrench being pivotally mounted on the mounting frame of the first part, and a reset pawl being arranged on the reset wrench. In the working position, the reset pawl cooperates with the first transmission rack of the transmission assembly to return the first transmission rack to an initial position.
18. The electric surgical instrument according to claim 22 is characterized in that: the reset pawl is connected to the reset wrench through a pivot shaft, the reset pawl is provided with a protrusion and a pawl portion at the other end away from the pivot shaft, the frame is provided with a limiting portion, and the rack is provided with a ratchet surface; when the reset wrench is in the initial position, the protrusion of the reset pawl abuts against the limiting portion; when the reset wrench is moved to the second working position, the protrusion of the reset pawl moves to the outside of the limiting portion, and the pawl portion cooperates with the ratchet surface of the rack.
19. The electric surgical instrument according to claim 23 is characterized in that a linkage structure is provided between the reset wrench and the clutch wrench to achieve linkage, and the linkage structure is used to drive the reset wrench to rotate after the clutch wrench is turned to the first set position.
20. The electric surgical instrument according to claim 1 is characterized in that it also includes a mounting safety adapted to cooperate with the distal end of the transmission rod assembly of the slender body assembly so that the transmission assembly of the first part is in an initial state adapted to cooperate with the drive assembly of the power unit in the accommodating space.
21. The electric surgical instrument according to claim 20 is characterized in that: the installation safety comprises: a main body that can be inserted into the supporting member, a plug-in hole suitable for inserting the firing rod is provided inside the main body; a first limiting structure for limiting the axial and circumferential installation position of the main body is provided between the main body and the supporting member, a second limiting structure for limiting the axial relative position between the main body and the firing rod is provided between the main body and the firing rod, and a third limiting structure for limiting the circumferential relative position between the main body and the bending connecting rod is provided between the main body and the bending connecting rod.
22. The electric surgical instrument according to claim 20 is characterized in that: the first limiting structure includes at least one first limiting protrusion arranged on the outer peripheral surface of the main body, and at least one first limiting groove extending circumferentially and at least one second limiting groove extending axially on the inner wall of the tubular shell of the supporting member, and the second limiting groove extends axially along the distal end surface of the tubular shell to the first limiting groove.
23. The electric surgical instrument according to claim 20 is characterized in that: the second limiting structure includes a second limiting protrusion arranged on the inner wall surface of the main body, and a necking section arranged at the distal end of the firing rod, and when the mounting safety component is inserted into the supporting member, the second limiting protrusion abuts against the proximal end surface of the necking section, so that the firing rod moves to the initial position.
24. The electric surgical instrument according to claim 20 is characterized in that the third limiting structure includes a hook portion arranged at the distal end of the bending link, and a third limiting protrusion arranged at the proximal end of the main body, and the third limiting protrusion rotates circumferentially with the main body and drives the bending link to move to an initial position.
25. An electric surgical instrument, comprising:

    a handle assembly operable to provide a driving force to the end effector assembly;

    an elongated body assembly defining a longitudinal axis adapted to transmit a driving force provided by the handle assembly; wherein the handle assembly comprises:

    The first part and the second part are detachably connected, the first part and the second part define a receiving space, the first part is provided with a first transmission assembly, and the first transmission assembly includes a first transmission rack and a first transmission rack that are engaged with each other. A first transmission gear set;

    A power unit, which is detachably mounted in the accommodating space, and includes a first driving mechanism, which includes a first motor and a first driving assembly, and the first driving assembly includes a first driving rack and a first driving gear set that are engaged with each other; wherein, when the power unit is installed in the accommodating space, at least a portion of the first transmission gear set of the first transmission assembly is operably engaged with the first driving rack to convert the rotational motion of the first motor into the linear motion of the first transmission rack along the longitudinal axis.
26. The electric surgical instrument according to claim 25 is characterized in that the slender body assembly includes a firing rod that moves linearly along the longitudinal axis, the distal end of the firing rod is connected to the firing member of the end execution assembly, and the proximal end of the firing rod is rotatably connected to the first transmission rack of the first transmission assembly.
27. The electric surgical instrument according to claim 25 is characterized in that the power unit further includes a second drive mechanism, the second drive mechanism includes a second motor and a second drive assembly, the second drive assembly includes a second drive rack and a second drive gear set that are engaged with each other; the first part further includes a second transmission assembly, the second transmission assembly includes a second transmission rack and a second transmission gear set that are engaged with each other, and when the power unit is installed in the accommodating space, at least a portion of the second transmission gear set of the second transmission assembly is operably engaged with the second drive rack to convert the rotational motion of the second motor into linear motion of the second transmission rack along the longitudinal axis direction.
28. The electric surgical instrument according to claim 27 is characterized in that the slender body assembly further includes a bending link that moves linearly along the longitudinal axis, the distal end of the bending link is connected to the hinge link of the end execution assembly, and the proximal end of the bending link is rotatably connected to the second transmission rack of the second transmission assembly.
29. The electric surgical instrument according to claim 25 is characterized in that the first drive gear group includes: a first drive gear rigidly connected to the first motor output shaft, a second drive gear respectively engaged with the first drive gear and the first drive rack, and the second drive gear is rotatably disposed on the support frame.
30. The electric surgical instrument according to claim 27 is characterized in that: the second drive gear group includes: a first drive gear rigidly connected to the output shaft of the second motor, a second drive gear respectively engaged with the first drive gear and the second drive rack, and a third drive gear coaxially connected to the second drive gear, the second drive gear is engaged with the first drive gear through the third drive gear, and the second drive gear and the third drive gear form a reduction gear group.