CN117159063A

CN117159063A - Surgical instrument

Info

Publication number: CN117159063A
Application number: CN202210589317.8A
Authority: CN
Inventors: 李帅帅
Original assignee: Reach Surgical Inc
Current assignee: Reach Surgical Inc
Priority date: 2022-05-26
Filing date: 2022-05-26
Publication date: 2023-12-05

Abstract

The invention discloses a surgical instrument, and belongs to the field of medical instruments. Comprising the following steps: a handle assembly, an elongate body assembly, and an end effector assembly connected in sequence from a proximal end to a distal end; an end effector assembly for manipulating tissue, the handle assembly being operable to provide a driving force thereto, the elongate body assembly defining a longitudinal axis and transmitting the driving force of the handle assembly to the end effector assembly; the handle assembly comprises a driving mechanism and a force detection device; the driving mechanism comprises a motor assembly and a transmission assembly, an output part of the transmission assembly is connected with a transmission rod of the slender body assembly so as to convert torque output by the motor assembly into linear motion of the transmission rod, and the transmission assembly comprises at least one rotating part capable of bearing axial acting force; the force detection device comprises a force sensor for detecting the axial acting force applied to the rotating part. The surgical instrument of the present invention is capable of accurately acquiring the firing force of the end effector assembly.

Description

Surgical instrument

Technical Field

The present invention relates to the field of surgical instruments, and in particular to a surgical instrument for clamping, cutting and stapling.

Background

Linear clamping, cutting and stapling surgical instruments may be used in surgical procedures to resect tissue. A conventional linear clamping, cutting and stapling surgical instrument includes a handle assembly, an elongated body and an end effector unit. The end effector includes a pair of grasping members that clamp against tissue to be stapled. One of the grasping members includes a staple cartridge receiving area and a mechanism for driving staples through tissue and against an anvil portion on the other grasping member, and the end effector unit further includes a firing member for cutting tissue driven by a drive mechanism disposed on a side of the handle assembly and a drive mechanism disposed within the handle assembly and the elongate body; when the electric firing mechanism is used, a user can control the driving mechanism to start to enable the firing member to move so as to cut tissues by triggering the firing button on the handle assembly.

During use of the stapler, firing force, which generally refers to the force exerted on the instrument firing member by a load (e.g., an end effector assembly that clamps tissue) during use of the stapler (e.g., during firing or during closure of the stapler), is one of the key technical indicators. Along with the improvement of the dynamization and the intellectualization of the surgical instrument, parameter support can be provided for tissue thickness identification, firing speed adjustment, end execution unit abnormality judgment and the like by collecting the data of the firing force in real time. For this reason, how to accurately obtain the above-mentioned firing force is a technical problem to be solved by those skilled in the art at present.

Disclosure of Invention

To this end, the present invention provides a surgical instrument capable of acquiring the magnitude of the firing force of the firing member in real time.

Aiming at the technical problems, the invention provides the following technical scheme:

a surgical instrument, comprising: a handle assembly, an elongate body assembly, and an end effector assembly operably connected in sequence from a proximal end to a distal end; an end effector assembly for manipulating tissue, the handle assembly being operable to provide a driving force thereto, the elongate body assembly defining a longitudinal axis and transmitting the driving force of the handle assembly to the end effector assembly; the handle assembly comprises a driving mechanism and a force detection device; the driving mechanism comprises a motor assembly and a transmission assembly, the output part of the transmission assembly is connected with a transmission rod of the slender body assembly so as to transmit the power output by the motor assembly to the transmission rod, and the transmission assembly comprises at least one rotating part bearing axial acting force; the force detection device comprises a force sensor for detecting the axial acting force applied to the rotating part.

In some embodiments of the present invention, the force detection device further includes a control unit that determines a driving force to which the end effector assembly is subjected based on a detection signal of the force sensor.

In some embodiments of the present invention, the rotating portion is provided with a gear, and the force sensor detects an axial force acting on the gear.

In some embodiments of the present invention, when the gear teeth transmit power, the line of contact of the engagement is not parallel to the axis of the rotating portion.

In some embodiments of the present invention, a thrust bearing is further provided between the rotating portion of the transmission assembly and the force sensor, and an axial force of the rotating portion acts on the force sensor through the thrust bearing.

In some embodiments of the present invention, the handle assembly includes a frame including a first receiving cavity extending in a first direction and a second receiving cavity extending in a second direction, the first receiving cavity being in communication with the second receiving cavity, an output portion of the transmission assembly being slidably coupled within the first receiving cavity, at least a rotating portion of the transmission assembly being mounted within the second receiving cavity, and the motor assembly being mounted on an outer side of the second receiving cavity.

In some embodiments of the present invention, the frame includes a first side wall and a second side wall that are disposed opposite to each other, the first side wall is provided with a through hole, the motor assembly is mounted on an outer side of the first side wall, and the output shaft extends into the second accommodating cavity of the frame along the through hole and is connected to the transmission portion.

In some embodiments of the present invention, one side of the force sensor is abutted against the thrust bearing, and the other side of the force sensor is abutted against the inner side of the first side wall or the second side wall.

In some embodiments of the invention, an end of the rotating portion remote from the output shaft of the motor assembly is rotatably coupled to the frame.

In some embodiments of the present invention, a stop ring is disposed at an end of the rotating portion, which is far away from the output shaft of the motor assembly, and the stop ring abuts against an inner side of the second side wall of the frame.

In some embodiments of the present invention, a stop ring is disposed at one end of the rotating portion, which is far away from the output shaft of the motor assembly, one side of the force sensor abuts against the stop ring, and the other side of the force sensor abuts against the inner side of the second side wall.

In some embodiments of the present invention, the limiting ring is fixedly connected to the rotating portion or integrally formed with the rotating portion.

In some embodiments of the present invention, the transmission assembly includes a helical gear-rack transmission set, where the helical gear-rack transmission set includes a helical gear and a helical rack, the rotation portion is a helical gear, the output portion is a helical rack, and the force sensor detects an axial force applied to the helical gear.

In some embodiments of the present invention, the bevel gear is connected to the output shaft of the motor assembly through a first thrust bearing, one side of the force sensor is abutted against the first thrust bearing, and the other side of the force sensor is abutted against the inner side of the first side wall.

In some embodiments of the present invention, one end of the bevel gear, which is far away from the output shaft of the motor assembly, is connected to a frame through a second thrust bearing, one side of the force sensor is abutted to the second thrust bearing, and the other side of the force sensor is abutted to the inner side of the second side wall.

In some embodiments of the present invention, the transmission assembly includes a bevel gear transmission set and a rack-and-pinion transmission set, the bevel gear transmission set includes a first bevel gear connected to an output shaft of the motor assembly and a second bevel gear meshed with the first bevel gear, and the rack-and-pinion transmission set includes a gear coaxially connected to the second bevel gear and a rack meshed with the gear; the rotating part is a first bevel gear and/or a second bevel gear, the output part is a first rack, and the force sensor detects the axial acting force applied to the first bevel gear and/or the second bevel gear.

In some embodiments of the present invention, the transmission assembly includes a worm gear and worm gear transmission set and a rack and pinion transmission set, the worm gear and worm gear transmission set includes a worm connected to an output shaft of the motor assembly and a worm gear meshed with the worm gear, the rack and pinion transmission set includes a gear coaxially connected to the worm gear and a rack meshed with the gear, the rotation part is the worm gear and/or the worm gear, the output part is the gear, and the force sensor detects an axial force applied to the worm gear and/or the worm gear.

In some embodiments of the present invention, an axial force of the worm acts on the force sensor through a first thrust bearing, a connection hole is formed at a first side end of the worm, an output shaft of the motor assembly extends into the connection hole to be connected with the worm, and the first thrust bearing and the force sensor are located between the first side end of the worm and a first side wall of the frame.

In some embodiments of the present invention, the worm is connected to the output shaft of the motor assembly through a first thrust bearing, one side of the force sensor is abutted against the first thrust bearing, and the other side of the force sensor is abutted against the inner side of the first side wall.

In some embodiments of the invention, an end of the worm remote from the output shaft is rotatably coupled to the frame.

In some embodiments of the present invention, a stop collar is disposed at an end of the worm remote from the output shaft, and the stop collar abuts against an inner side of the second side wall of the frame.

In some embodiments of the present invention, a stop collar is disposed at one end of the worm far away from the output shaft, one side of the force sensor is abutted against the stop collar, and the other side of the force sensor is abutted against the inner side of the second side wall.

In some embodiments of the present invention, the stop collar is fixedly connected to the worm or integrally formed with the worm.

In some embodiments of the present invention, one end of the worm remote from the output shaft is connected to a frame through a second thrust bearing, one side of the force sensor is abutted against the second thrust bearing, and the other side of the force sensor is abutted against the inner side of the second side wall.

In some embodiments of the invention, the drive assembly further comprises a manual unlocking feature operable to trigger the drive assembly to move the drive rod to an initial position.

In some embodiments of the present invention, the manual unlocking structure includes a connection portion disposed on an end portion of the transmission assembly away from the motor assembly, where the connection portion is adapted to cooperate with a rotation wrench to drive the rotation portion of the transmission assembly to rotate.

In some embodiments of the present invention, the connection portion includes a socket disposed at an end portion of one side of the transmission assembly.

In some embodiments of the present invention, the handle assembly further includes a position detecting device for detecting a position of the driving rod and an indicating device for indicating that the driving rod is located at the initial position, and the control unit controls the indicating device according to a detection signal of the position detecting device.

The present invention also provides a surgical instrument comprising: a handle assembly, an elongate body assembly, and an end effector assembly operably connected in sequence from a proximal end to a distal end; an end effector assembly for manipulating tissue, the handle assembly being operable to provide a driving force thereto, the elongate body assembly defining a longitudinal axis and transmitting the driving force of the handle assembly to the end effector assembly; the handle assembly comprises a driving mechanism and a force sensor; the driving mechanism comprises a motor assembly and a transmission assembly, the transmission assembly comprises a worm gear and worm transmission group and a gear and rack transmission group, the worm gear and worm transmission group comprises a worm connected with an output shaft of the motor assembly and a worm gear meshed with the worm, the gear and rack transmission group comprises a gear coaxially connected with the worm gear and a rack meshed with the gear, and the force sensor detects axial acting force borne by the worm and/or the worm gear.

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

in the surgical instrument provided by the invention, the force detection device is arranged on the transmission component at the side of the handle component, so that a loose design space is provided, and the force detection device is convenient to install and fix. Meanwhile, the force sensor detects the axial force of the rotating part, so that the problem that the signal wire of the force sensor moves along with the actuating element and/or the transmission element to interfere other parts caused by the fact that the force sensor is arranged on the side of the end actuating assembly and/or the slender body assembly can be avoided. In addition, the force sensor is designed on the side of the handle assembly, so that the volume and strength requirements of the force sensor are reduced, and the cost of the force sensor element is reduced.

Drawings

The objects and advantages of the present invention will be better understood by describing in detail preferred embodiments thereof with reference to the accompanying drawings in which:

FIG. 1 is a schematic view of one embodiment of a surgical instrument of the present invention;

FIG. 2 is a schematic view of one embodiment of an end effector assembly of the surgical instrument of the present invention;

FIG. 3 is a schematic view of one embodiment of a staple cartridge assembly in a surgical instrument of the present invention;

FIG. 4 is a cross-sectional view of one embodiment of a handle assembly and an elongate body assembly of the surgical instrument of the present invention;

FIG. 5 is an exploded view of portions of the handle assembly of one embodiment of the surgical instrument of the present invention;

FIG. 6 is a partial cross-sectional view of a portion of a handle assembly in one embodiment of a surgical instrument of the present invention;

FIG. 7 is a partial cross-sectional view of a drive mechanism and force sensing device in one embodiment of a surgical instrument of the present invention;

FIG. 8 is another partial cross-sectional view of the drive mechanism and force detection device of one embodiment of the surgical instrument of the present invention;

FIG. 9 is a schematic view of the mounting engagement of a drive mechanism with a force sensor in one embodiment of a surgical instrument of the present invention;

FIG. 10 is a schematic view of the mounting engagement of a drive mechanism with a torsion sensor in another embodiment of a surgical instrument of the present invention;

FIG. 11 is a schematic view of the mounting engagement of a drive mechanism with a torsion sensor in another embodiment of a surgical instrument of the present invention;

FIG. 12 is a schematic view of the mounting engagement of a drive mechanism with a torsion sensor in another embodiment of a surgical instrument according to the present invention;

FIG. 13 is a force diagram of a worm gear set in one embodiment of the surgical instrument of the present invention;

FIG. 14 is a force diagram of a bevel gear set in one embodiment of the surgical instrument of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

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

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

The following is one embodiment of a surgical instrument. Generally, an embodiment of the surgical instrument described herein is an endoscopic surgical cutting anastomosis instrument. However, it should be noted that the surgical instrument may also be a non-endoscopic surgical cutting anastomosis instrument, such as an open surgical instrument for open surgery.

Specifically, the surgical instrument illustrated in FIG. 1 includes a handle assembly 10, an elongate body assembly 20, and an end effector assembly 30 connected in sequence from a proximal end to a distal end. Wherein end effector assembly 30 is configured to manipulate tissue to perform a particular surgical procedure, such as clamping, stapling/stapling, cutting, etc., of the tissue.

Referring to fig. 2, the end effector assembly 30 includes a cartridge assembly 31 and an anvil assembly 32, with the cartridge assembly 31 and anvil assembly 32 being relatively movable to close the jaws to grasp tissue jaws. In a particular embodiment, anvil assembly 32 of end effector assembly 30 is operable to pivot toward cartridge assembly 31 until the jaws of end effector assembly 30 are closed to grasp tissue; anvil assembly 32 is pivoted away from cartridge assembly 31 until the jaws of end effector assembly 30 are opened to release tissue. In an alternative embodiment, the cartridge assembly 31 of the end effector assembly 30 may be operated toward the pivoting anvil assembly 32 until the jaws of the end effector assembly 30 are closed to grasp tissue; and cartridge assembly 31 is operatively pivoted away from cartridge assembly 31 until the jaws of end effector assembly 30 are opened to release tissue. Further, a movable firing member 35 is disposed within the end effector assembly 30 for performing surgical actions, the firing member 35 being operable to reciprocate, for example, to perform corresponding surgical procedures, such as cutting and stapling of tissue, as the firing member 35 is driven proximally to distally.

In particular, as shown in fig. 2 and 3, the end effector assembly 30 includes an elongate outer tube 33, an inner tube 34 disposed within the outer tube 33, and a firing member 35 slidably disposed within the inner tube 34; distal to end effector assembly 30 includes relatively movable cartridge assembly 31 and anvil assembly 32; the nail bin assembly 31 comprises a nail bin 310, a nail bin base 311 and a sliding block 312 which is arranged in the nail bin 310 and can slide along the longitudinal axis; the firing member 35 slides/moves longitudinally to perform a corresponding surgical operation. Further, the firing member 35 interferes with the sled 312 and is integrally slidable/movable longitudinally to perform a corresponding surgical procedure.

As shown in fig. 1, at least a portion of the handle assembly 10 is grasped by an operator to manipulate the surgical instrument. For example, the handle assembly 10 includes a handle housing 11 that can be grasped by a user. In a particular embodiment, the handle assembly 10 of the surgical instrument 100 is provided with a trigger that a user manipulates to operate the end effector assembly 30 to perform the closing and firing actions; alternatively, in alternative embodiments, the surgical instrument may also be configured to manipulate the end effector assembly 30 to perform a closing and/or firing action by way of a push button, or the like, provided on the handle housing 11; alternatively, in an alternative embodiment, the surgical instrument may also be operated to open the jaws of the end effector by means of a trigger, push button, or the like provided on the handle housing 11 to release tissue.

As shown in fig. 1, 4, the elongate body assembly 20 includes a tubular housing 21 defining a longitudinal axis C; within the tubular housing 21 is provided a drive rod 22, the proximal end of the drive rod 22 being connected to the output end of the drive mechanism 12 within the handle assembly 10 and the distal end being connected to the firing member 35 of the end effector assembly 30 for transmitting the driving force of the drive mechanism 12 to the firing member 35.

As shown in fig. 4, the handle assembly 10 includes a handle housing 11 and a drive mechanism 12 housed inside the handle housing 11 for providing a driving force to the elongate body assembly 20 and the end effector assembly 30. For example, the drive mechanism 12 reciprocates the firing member 35 of the end effector assembly 30 by driving the drive rod 22 of the elongate body assembly 20 to effect the closing and opening of the jaws of the end effector assembly 30 and the cutting and stapling of tissue clamped in the jaws. In an alternative embodiment, the drive mechanism 12 effects the closing and opening of the jaws of the end effector assembly 30 by driving the elongate body assembly 20, such as the tubular housing 21, and the drive mechanism 12 reciprocates the firing member 35 of the end effector assembly 30 by driving the drive rod 22 of the elongate body assembly 20 to perform a cutting, stapling operation on tissue clamped in the jaws.

As shown in fig. 5, the handle housing 11 includes a first half shell 11a and a second half shell 11b, and the first half shell 11a and the second half shell 11b may be detachably connected by a snap connection, a fastener connection, or the like. The handle housing 11 is generally T-shaped overall, comprising a main body portion extending in a longitudinal axis C and a grip portion extending in a direction substantially perpendicular to or inclined at an angle to the longitudinal axis C, the main body portion and the grip portion defining an installation space for the drive mechanism 12.

As shown in fig. 5, the driving mechanism 12 includes a motor assembly 121 and a transmission assembly 120, the transmission assembly 120 is operatively connected between the motor assembly 121 and the transmission rod 22 of the elongate body assembly 20, the transmission assembly 120 includes at least one rotating portion capable of bearing an axial force, and an output portion connected to the transmission rod 22 of the elongate body assembly 20, so as to convert the torque output by the motor assembly 121 into a linear motion of the transmission rod 22 and linearly move the transmission rod 22 along the longitudinal axis C to implement the firing motion of the firing member 35. Specifically, in an alternative embodiment, the axial direction of the output shaft of the motor assembly 121 forms an angle with the longitudinal axis C; more specifically, the motor assembly 121 is positioned in the installation space inside the grip portion so that the center of gravity of the handle assembly 10 is close to the area gripped by the user.

In order to accurately capture the force (e.g., firing or closing force) acting on the firing member 35 as the surgical instrument is operated for a closing or firing motion, the handle assembly 10 further includes a force detection device that includes a force sensor 13 that detects the axial force exerted by the rotating portion of the drive assembly. When the driving mechanism 12 drives the firing member 35 to perform the firing action, the torque output by the motor assembly 121 is converted into the force of the firing member 35 along the longitudinal axis direction through the transmission assembly 120, and the magnitude of the firing force received by the firing member 35 can be indirectly obtained by detecting the magnitude of the axial force acting on the rotating portion of the transmission assembly, which can bear the axial force.

By providing the force sensor 13 on the drive assembly on the side of the handle assembly 10, the force detection device is conveniently installed and fixed, and because the rotating portion capable of carrying the axial force does not axially move, detecting the axial force of the rotating portion by the force sensor 13 can avoid the problem that the force sensor is arranged on the side of the end effector assembly 30 and/or the elongate body assembly 20, and the force sensor needs to interfere with other parts due to the fact that the signal wire of the force sensor moves along with the movement of the effector (such as the firing member 35) and/or the drive element (such as the drive rod 22). In addition, the force sensor 13 is designed on the side of the handle assembly 10, so that a loose design space is provided, the volume and strength requirements of the force sensor 13 are reduced, and the cost of the force sensor element is reduced.

Further, the force detecting device further comprises a control unit 19, and the control unit 19 determines the firing force received by the firing member 35 according to the detection signal of the force sensor 13. Specifically, the control unit 18 includes a memory and a processor, where the memory stores a force conversion model between an axial force on the rotating part of the transmission assembly and a firing force of the firing member 35; the processor determines the acting force of the firing member 35 along the longitudinal axis, i.e. the firing force of the firing member 35, based on the force conversion model and the detection signal of the force sensor 13.

In particular, as shown in fig. 4-9, in the surgical instrument 100 according to one embodiment of the present invention, the transmission assembly 120 includes a worm gear set 122 and a rack and pinion set 123, and as shown in fig. 5, the worm gear set 122 includes a worm 122a connected to an output shaft of the motor assembly 121, and a worm gear 122b mated with the worm 122 a; further, the rack and pinion drive set 123 includes a rack 123a operatively coupled to the drive rod 22 of the elongate body assembly 20, and a pinion 123b mated to the rack 123 a; the turbine 122b and the gear 123b are respectively and fixedly connected to the same transmission shaft 128.

When the motor assembly 121 is started, the worm 122a rotates along the axis along with the output shaft of the motor assembly 121, so as to drive the turbine 122b to rotate around the rotation axis, the gear 123b synchronously rotates along with the turbine 122b, and drives the rack 123a to reciprocate along the longitudinal axis, so as to push or pull the transmission rod 22 to synchronously reciprocate, and further drive the firing member 35 to move. For example, when the motor assembly 121 is rotated in a first direction to move the rack 123a proximally to distally along the longitudinal axis, the firing member 35 is caused to move proximally to distally along the longitudinal axis, thereby operating the end effector assembly 30 of the surgical instrument to perform a closing or firing operation to clamp, staple, and cut tissue. When the motor assembly 121 is rotated in a second direction to move the rack 123a distally to proximally along the longitudinal axis, the firing member 35 is caused to move distally to proximally along the longitudinal axis, thereby operating the end effector assembly 30 of the surgical instrument to complete the retraction, opening operation to release the clamped tissue.

In one embodiment, the worm 122a is the rotating part of the transmission assembly 120, the rack 123a is the output part of the transmission assembly 120, and the force sensor 13 is used for detecting the axial force applied by the worm 122 a. In other alternative embodiments, the rotating portion of the transmission assembly 120 is the turbine 122b, the output portion of the transmission assembly 120 is the rack 123a, and the force sensor 13 is configured to detect an axial force applied to the turbine 122 b. In another alternative embodiment, two groups of force sensors 13 are provided, and the two groups of force sensors 13 respectively detect the axial forces respectively received by the worm 122a and the turbine 122b of the transmission assembly 120.

Next, a force conversion model of the force detection device, i.e., the force F of the rack 123a in the direction of the longitudinal axis C, will be described with reference to the force sensor 13 detecting the axial force applied to the worm 122a _R Axial force F with worm 122a _a1 Is a relationship of (3).

Referring to FIG. 13, the axial force F of the worm 122a _a1 Obtained directly from the force sensor 13, i.e. F measured by the force sensor 13 _M Axial force F of worm 122a _a1 ；

Based on the principle of interaction of the forces, the turbine 122b and the worm 122a are subjected to an axial force F _a1 ＝F _t2 ＝F _M ，F _t2 Acting force of the worm 122a along the circumferential direction thereof;

F _G r is the circumferential force of the gear 123b _G To the pitch radius of the gear 123b meshing with the rack 123a (i.e. to the actual meshing radius, e.g. teethWheel 123b is an involute gear, R _G Involute radius), R ₂ For the pitch radius of the turbine 122b, the gear 123b and the turbine 122b can rotate integrally, and the torque of the two is the same, so that the following can be obtained: f (F) _t2 /R ₂ ＝F _G /R _G ，F _G ＝F _t2 *R _G /R ₂ ；

The force is applied to each other, the firing force that moves the rack 123a is the same as the axial force of the gear 123b,

it can be derived that: f (F) _R ＝F _G ＝F _t2 *R _G /R ₂ 。

Further, when the turbine 122b is a screw turbine 122b, and the force sensor 13 collides with the screw turbine 122b and can measure the axial force of the screw turbine 122 b;

directly obtained, F measured by force sensor 13 _M Axial force F of spiral turbine 122b _a2 ；

Further, the helix angle of the helical turbine 122b is γ (helix angle, which refers to the angle between the teeth of the helical gear and the axis), F _t2 Force F is applied to the helical turbine 122b in the circumferential direction thereof _a2 ＝F _t2 *tanγ,F _t2 ＝F _a2 /tanγ；

F _G R is the circumferential force of the gear 123b _G The pitch radius of the gear 123b for meshing with the rack 123a (the actual meshing radius, e.g. the gear is an involute gear, R _G Involute radius), R ₂ For the pitch radius of the screw turbine 122b, the gear 123b and the screw turbine 122b can rotate integrally, and the torque of the two is the same, so that the following can be obtained: f (F) _t2 /R ₂ ＝F _G /R _G ，

F _G ＝F _t2 *R _G /R ₂ ＝F _a2 *R _G /tanγ*R ₂ ；

it can be derived that: f (F) _R ＝F _G ＝F _t2 *R _G /R ₂ ＝F _a2 *R _G /tanγ*R ₂ 。

In an alternative embodiment, a first thrust bearing 126 is arranged between the worm 122a and the force sensor 13, and the axial force acting on the worm 122a is transmitted to the force sensor 13 via the first thrust bearing 126.

As shown in fig. 6-8, the worm 122a is connected to the output shaft of the motor assembly 121, and the first thrust bearing 126 is adapted to carry the axial load caused by the worm 122a, because the worm 122a has a tendency to move axially (in the direction of arrow a) when the motor assembly 121 drives the worm 122a to rotate. In a specific embodiment, the force sensor 13 is located at an end of the first thrust bearing 126 away from the worm 122a, and the axial force of the worm 122a acts on the force sensor 13 through the first thrust bearing 126. When the motor assembly 121 rotates in a first direction to move the rack 123a from the proximal end to the distal end along the longitudinal axis, the axial force of the worm 122a is directed to the output shaft of the motor assembly 121 by designing the rotation direction of the worm 122a, and at this time, the axial force of the worm 122a acts on the force sensor 13 through the first thrust bearing 126. Since the axial acting surface of the first thrust bearing 126 is an annular surface, it can act on the force sensor 13 relatively uniformly, thereby improving detection accuracy.

Further, in accordance with one embodiment of the present invention, as shown in FIG. 7, the handle assembly 10 further includes a frame 18 for mounting the drive mechanism 12, the frame 18 including a first receiving chamber 18a extending in a first direction and a second receiving chamber 18b extending in a second direction, the first receiving chamber 18a being in communication with the second receiving chamber 18 b. More specifically, the first direction extends in the same direction as the longitudinal axis and the second direction is perpendicular to the first direction. The first receiving cavity 18a is configured to receive at least a portion of the drive assembly of the drive mechanism 12, e.g., the first receiving cavity 18a is configured to receive the rack 123a such that the rack 123a is slidably mounted within the first receiving cavity 18a and is operatively connected to the drive rod 22 distal of the frame 18. At least a portion of the transmission assembly 120 is received in the second receiving chamber 18 b. For example, the worm gear 122 and the gear 123b of the rack and pinion driving set 123 are accommodated and mounted in the second accommodating cavity 18b, wherein the worm 122a extends along a second direction, the gear 123b and the worm gear 122b are respectively connected to a driving shaft 128 extending along a third direction, the third direction is perpendicular to the second direction, and the third direction is perpendicular to the first direction. The motor assembly 121 is mounted on the outer side of the second accommodating cavity 18b, and an output shaft of the motor assembly 121 extends along the second direction.

As further shown in fig. 7, the frame 18 includes a first side wall 181 and a second side wall 182 that are disposed opposite to each other, the first side wall 181 is provided with a through hole, the motor assembly 121 is mounted on the outer side of the first side wall 181, and an output shaft of the motor assembly 121 extends into the second accommodating cavity 18b of the frame 18 along the through hole to be connected with the worm 122 a. More specifically, the motor assembly 121 includes a cylindrical body portion, a mounting plate 121a is disposed on a side close to the output shaft, the diameter of the mounting plate 121a is larger than that of the cylindrical body portion, four mounting holes are formed in the mounting plate 121a, and the motor assembly 121 is mounted and fixed by fastening screws penetrating the mounting holes and screw holes formed in the first side wall 181 of the frame 18.

Further, one side of the force sensor 13 abuts against the first thrust bearing 126, and the other side of the force sensor 13 abuts against the inner side of the first side wall 181. The force sensor 13 is formed as a circular cylinder, which surrounds the output shaft of the motor assembly 121 with a gap therebetween, so as to avoid inaccurate axial force measurement caused by the rotation of the force sensor 13.

Specifically, the connection mode between the output shaft of the motor assembly 121 and the worm 122a is not unique; in one embodiment, as shown in fig. 7, the end of the worm 122a has a connection hole, and the output shaft of the motor assembly 121 extends into the connection hole to be connected with the worm 122 a. Specifically, the connection hole is a square hole, and the end of the output shaft of the motor assembly 121 is a square shaft, and the square shaft is inserted into the square hole to realize anti-rotation connection of the motor assembly and the square shaft. The first thrust bearing 126 and the force sensor 13 are located between the first side end of the worm 122a and the first side wall 181 of the frame 18. In another embodiment, the worm 122a is connected with the output shaft of the motor assembly 121 through a first thrust bearing 126, the worm 122a and the output shaft of the motor assembly 121 are in interference connection with the collar of the first thrust bearing 126, the race of the first thrust bearing 126 is abutted against one side of the force sensor 13, and the other side of the force sensor 13 is abutted against the inner side of the first side wall 181.

In an alternative embodiment, as shown in fig. 8, the end of the worm 122a remote from the output shaft is rotatably coupled to the frame 18. Specifically, an end of the worm 122a remote from the output shaft is formed into a cylindrical shaft end, a rotation hole is provided on the second side wall 182 of the frame 18, and the cylindrical shaft end of the worm 122a is rotatably connected to the rotation hole. The end of the worm 122a away from the output shaft is provided with a limiting ring 14, and the limiting ring 14 abuts against the inner side of the second side wall 182 of the frame 18, so as to realize axial limiting of the worm 122 a. Specifically, the stop collar 14 is fixedly connected to the worm 122a, for example, by screwing, on the worm 122a or integrally formed with the stop collar 14 and the worm 122 a.

In an alternative embodiment, when the firing member 35 performs the firing motion, the force sensor 13 may be specifically installed as follows when the axial force of the worm 122a is directed to a side away from the output shaft of the motor assembly 121: one end of the worm 122a, which is far away from the output shaft, is provided with a limiting ring 14, one side of the force sensor 13 is abutted against the limiting ring 14, and the other side of the force sensor 13 is abutted against the inner side of the second side wall 182. The axial force of the worm 122a then acts on the force sensor 13 via the stop collar 14. Specifically, the stop collar 14 is fixedly connected to the worm 122a, for example, by screwing, on the worm 122a or integrally formed with the stop collar 14 and the worm 122 a. The force sensor 13 is formed as a circular cylinder, which surrounds the end of the worm 122a with a gap therebetween, so as to avoid inaccurate measurement of axial force caused by rotation of the force sensor 13 with the worm 122 a. When the firing member 35 performs the firing operation, the axial force applied to the worm 122a acts on the force sensor 13 through the stop collar 14.

When the firing member 35 performs the firing action, the force of the worm 122a in the axial direction is directed to a side away from the output shaft of the motor assembly 121, the force sensor 13 may be further installed in the following specific installation manner: the end of the worm 122a far away from the output shaft is rotatably connected to the frame 18 through a second thrust bearing, specifically, a shaft sleeve for connecting the second thrust bearing is arranged on the inner side of the second side wall 182 of the frame 18, a seat ring of the second thrust bearing is sleeved on the shaft sleeve, and a shaft collar of the second thrust bearing is connected with a shaft end of the worm 122 a. The force sensor 13 is sleeved on the shaft sleeve, one side of the force sensor 13 is abutted against the second thrust bearing, and the other side of the force sensor 13 is abutted against the inner side of the second side wall 182. When the firing member 35 performs the firing operation, the axial force applied to the worm 122a acts on the force sensor 13 through the second thrust bearing.

The transmission assembly 120 is matched with the gear-rack transmission group 123 by adopting the turbine-worm transmission group 122, the transmission ratio of the transmission assembly 120 is large, the output requirement on the torque of the motor assembly 121 is small, and a motor with smaller diameter is favorable and selected. The worm gear drive set 122 is self-locking to facilitate the closed hold of the end effector of the surgical instrument after closure. The axial separation of the turbine 122b is small, the reaction force of the turbine 122b to the worm 122a is mainly concentrated in the axial direction of the worm 122a, which is favorable for capturing the force sensor 13, and the whole transmission assembly 120 has a compact structure, and is convenient for installation and fixation.

As an alternative embodiment, the transmission assembly can also be designed in such a way that it comprises a helical gear-rack set or a bevel gear-rack set in a driving engagement with a pinion-rack.

For example, as shown in fig. 10, in a specific embodiment, the transmission assembly 130 includes a helical gear rack transmission set 132, where the helical gear rack transmission set 132 includes a helical gear 132a and a helical gear 132b, the rotating portion of the transmission assembly 130 is the helical gear 132b, the output portion of the transmission assembly 130 is the helical gear 132a, and the force sensor 13 detects an axial force applied to the helical gear 132 b. The helical gear and rack transmission group 132 is adopted, reliable transmission can be realized by only two transmission components, the structure is simple and compact, and the axial force borne by the helical gear 132b can be regulated by setting the helical angle of the helical gear 132b, so that the force sensor 13 can accurately obtain the axial force of the helical gear 132 b. The stress analysis of the helical gear rack assembly 132 is the same as that of the worm gear worm assembly 122, and will not be described again here.

Similar to the previous embodiment, a first thrust bearing 126 may be provided between the bevel gear 132b and the force sensor 13, and a stop collar 14 may be provided at an end of the bevel gear 132b remote from the output shaft of the motor assembly 121, the stop collar 14 abutting against an inside (not shown) of the second side wall 182 of the frame 18. As an alternative embodiment, the end of the bevel gear 132b away from the output shaft of the motor assembly 121 is connected to the frame 18 by a second thrust bearing, one side of the force sensor 13 abuts against the second thrust bearing, and the other side of the force sensor abuts against the inner side of the second side wall 182.

In a specific embodiment, as shown in fig. 11 and 12, the transmission assembly 140 includes a bevel gear transmission set 142 and a rack and pinion transmission set 143, where the bevel gear transmission set 142 includes a first bevel gear 142a connected to an output shaft of the motor assembly 121 and a second bevel gear 142b in meshed connection therewith, and the rack and pinion transmission set 143 includes a gear 143b coaxially connected to the second bevel gear 142b and a rack 143a in meshed connection with the gear 143 b. The transmission assembly 140 in the embodiment adopts the bevel gear transmission group 142 to be matched with the gear rack transmission group 143, and has the advantages of convenient and simple installation, stable operation and low noise.

In this embodiment, the rotating part of the transmission assembly 140 is a first bevel gear 142a and/or a second bevel gear 142b, and the output part of the transmission assembly 140 is a rack 143a. As shown in fig. 11, the force sensor 13 is configured to detect an axial force applied to the first bevel gear 142 a; in other alternative embodiments, as shown in fig. 12, the force sensor 13 is configured to detect the axial force applied to the second bevel gear 142 b. In another alternative embodiment, two groups of force sensors 13 are provided, and the two groups of force sensors 13 respectively detect the axial forces applied by the first bevel gear 142a and the second bevel gear 142 b.

The force conversion model of the force detection device, i.e., the force F of the rack 143a in the direction of the longitudinal axis C, will be described below with reference to the force sensor 13 detecting the axial force applied to the first bevel gear 142a _R Axial force F with first bevel gear 142a _x1 Is a relationship of (3).

Wherein the force F measured by the force sensor 13 _M Axial force F of first bevel gear 142a _x1 ；

The force analysis is shown in FIG. 14, and the axial force F of the first bevel gear 142a is based on the force interaction _x1 Circumferential force F of second bevel gear 142b _r2 ，F _x2 F is the axial force of the second bevel gear 142b _r1 F is the radial force of the first bevel gear 142a _tm Is tangential force of a division circle at the midpoint of the tooth width, T ₂ Torque for the second bevel gear 142 b;

F _r2 ＝F _tm /(tanα*cosδ ₂ )，F _tm ＝F _r2 /(tanα*cosδ ₂ )；

F _tm ＝2T ₂ /d _m2 ＝Fr2/(tanα*cosδ ₂ )，T ₂ ＝F _r2 *d _m2 /(tanα*cosδ ₂ *2)；

F _G r is the circumferential force of the gear 143b _G To the pitch radius of the gear 143b (i.e. to the actual meshing radius, e.g. the gear is an involute gear, R _G Involute radius), R ₂ For the pitch radius of the second bevel gear 142b, the gear and the second bevel gear 142b rotate integrally, and the torque of the two is the same, so that it can be obtained that: f (F) _G /R _G ＝F _r2 *d _m2 /(tanα*cosδ ₂ *2)，F _G ＝F _r2 *d _m2 *R _G /(tanα*cosδ ₂ *2)；

The forces are mutually such that the resistance at the end of the rack 143a (i.e., the rack firing force) is the same as the resistance of the gear 143b, which can be derived from: f (F) _R ＝F _G

The force is applied to each other, the firing force that moves the rack 143a is the same as the axial force of the gear 143b,

it can be derived that: f (F) _R ＝F _G ＝F _r2 *d _m2 *R _G /(tanα*cosδ ₂ *2)。

Further, as shown in fig. 12, the force sensor 13 axially abuts against the second bevel gear 142b, and the axial force of the second bevel gear 142b can be measured, and the force F measured by the force sensor 13 can be directly obtained _M Axial force F of second bevel gear 142b _x2 ；

F _r2 ＝F _tm /(tanα*cosδ ₂ )，F _tm ＝F _r2 /(tanα*cosδ ₂ )；

F _tm ＝2T ₂ /d _m2 ＝F _r2 /(tanα*cosδ ₂ )，T ₂ ＝F _r2 *d _m2 /(tanα*cosδ ₂ *2)；

F _G r is the circumferential force of the gear _G To the pitch radius of the toothed wheel engaged with the rack (to the actual engagement radius, e.g. the toothed wheel is an involute gear, R _G An involute radius), the gear and the second bevel gear 142b rotate integrally, and the torque of the two is the same, so that the following can be obtained: f (F) _G /R _G ＝F _r2 *d _m2 /(tanα*cosδ ₂ *2)，F _G ＝F _r2 *d _m2 *R _G /(tanα*cosδ ₂ *2)；

The forces are mutually acting, so that the striking force for moving the rack is the same as the axial force of the gear,

it can be derived that: f (F) _R ＝F _G ＝F _x1 *d _m2 *R _G /(tanα*cosδ ₂ *2)。

In the surgical instrument 100 of one embodiment of the present invention, a manual unlocking mechanism is also provided within the handle assembly 10 for operably triggering the drive assemblies 120,130,140 to move the drive rod 22 to an initial position upon forced shut down in the event of a malfunction or loss of power to the motor assembly 121. Specifically, in an alternative embodiment, when the transmission assembly 120 includes the worm gear transmission set 122, as shown in fig. 8, the manual unlocking structure includes a connection portion 15 located on an end portion of the worm 122a away from the motor assembly 121, and the connection portion 15 is adapted to cooperate with a rotating wrench, and the rotating wrench is rotated in a first direction to rotate the worm 122a, so as to move the rack 123a proximally, and retract the firing member 35 to the initial position. Specifically, the connection portion 15 includes a socket groove disposed at an end of the worm 122a, where the socket groove is connected with the rotating wrench in an anti-rotation manner, for example, the socket groove is formed into an inner hexagonal groove, and the rotating wrench is an inner hexagonal wrench, and is inserted into the inner hexagonal groove to realize reverse rotation of the worm 122a and drive the rack 123a to retract proximally.

In another alternative embodiment, when the transmission assembly 130 includes the helical gear-rack transmission set 132, the manual unlocking structure includes a socket disposed on an end portion of the helical gear 132b, which is far away from the motor assembly 121, and the socket is connected with the rotating wrench in an anti-rotation manner, for example, the socket is formed into an inner hexagonal groove, and the rotating wrench is an inner hexagonal wrench, and is inserted into the inner hexagonal groove to realize the reverse rotation of the helical gear 132b and drive the helical gear 132a to retract proximally. Similarly, when the transmission assembly 140 includes the bevel gear transmission set 142, the manual unlocking structure includes a socket disposed on an end of the first bevel gear 142a away from the motor assembly 121, and the rotary wrench is inserted into the socket to retract the rack 143a proximally.

The handle assembly 10 further comprises a position detecting device for detecting the position of the transmission rod 22 of the elongated body assembly and an indicating device for indicating that the transmission rod 22 is located at the initial position, wherein the control unit controls the indicating device according to the detection signal of the position detecting device, and the indicating device is specifically an indicating lamp, an indicating sound or other indicating devices which can be easily perceived by an operator and are arranged outside the handle. When the transmission rod 22 moves to the initial position, the control indicating device is started, so that a user perceives that the transmission rod 22 is retracted to the position.

In an alternative embodiment, the position detecting device is a contact switch mounted on a circuit board; the output part of the transmission assembly is provided with a protruding structure, when the output part of the transmission assembly is retracted to the position, the protruding structure triggers the contact switch to act, a detection signal is generated, and the control unit detects that the output part of the transmission assembly is retracted to the position.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While obvious variations or modifications are contemplated as falling within the scope of the present invention.

Claims

1. A surgical instrument, comprising:

a handle assembly, an elongate body assembly, and an end effector assembly operably connected in sequence from a proximal end to a distal end; an end effector assembly for manipulating tissue, the handle assembly being operable to provide a driving force thereto, the elongate body assembly defining a longitudinal axis and transmitting the driving force of the handle assembly to the end effector assembly; it is characterized in that the method comprises the steps of,

The handle assembly comprises a driving mechanism and a force detection device; the driving mechanism comprises a motor assembly and a transmission assembly, the output part of the transmission assembly is connected with a transmission rod of the slender body assembly so as to transmit the power output by the motor assembly to the transmission rod, and the transmission assembly comprises at least one rotating part bearing axial acting force; the force detection device comprises a force sensor for detecting the axial acting force applied to the rotating part.

2. The surgical instrument of claim 1, wherein: the force detection device further includes a control unit that determines a driving force to which the end effector assembly is subjected based on a detection signal of the force sensor.

3. The surgical instrument of claim 1, wherein: the rotating part is provided with a transmission tooth, and the force sensor detects the axial force acting on the transmission tooth.

4. A surgical instrument according to claim 3, wherein: when the transmission gear transmits power, the meshed contact line is not parallel to the axis of the rotating part.

5. The surgical instrument of claim 1, wherein: and a thrust bearing is further arranged between the rotating part of the transmission assembly and the force sensor, and the axial force of the rotating part acts on the force sensor through the thrust bearing.

6. The surgical instrument of claim 1, wherein: the handle assembly comprises a frame, the frame comprises a first accommodating cavity extending along a first direction and a second accommodating cavity extending along a second direction, the first accommodating cavity is communicated with the second accommodating cavity, an output part of the transmission assembly is slidably connected in the first accommodating cavity, at least a rotating part of the transmission assembly is installed in the second accommodating cavity, and the motor assembly is installed on the outer side face of the second accommodating cavity.

7. A surgical instrument according to claim 6, wherein: the frame comprises a first side wall and a second side wall which are oppositely arranged, a through hole is formed in the first side wall, the motor assembly is mounted on the outer side of the first side wall, and the output shaft extends into the second accommodating cavity of the frame along the through hole and is connected with the transmission part.

8. The surgical instrument of claim 7, wherein: one side of the force sensor is abutted to the thrust bearing, and the other side of the force sensor is abutted to the inner side of the first side wall or the second side wall.

9. The surgical instrument of claim 6, wherein: one end of the rotating part, which is far away from the output shaft of the motor assembly, is rotatably connected to the frame.

10. The surgical instrument of claim 7, wherein: one end of the rotating part, which is far away from the output shaft of the motor assembly, is provided with a limiting ring, and the limiting ring is abutted to the inner side of the second side wall of the frame.

11. The surgical instrument of claim 7, wherein: one end of the rotating part, which is far away from the output shaft of the motor assembly, is provided with a limiting ring, one side of the force sensor is abutted to the limiting ring, and the other side of the force sensor is abutted to the inner side of the second side wall.

12. The surgical instrument of claim 10 or 11, wherein: the limiting ring is fixedly connected to the rotating part or integrally formed with the rotating part.

13. The surgical instrument of any one of claims 1-12, wherein: the transmission assembly comprises a bevel gear and rack transmission group, the bevel gear and rack transmission group comprises a bevel gear and a bevel gear, the rotating part is the bevel gear, the output part is the bevel gear, and the force sensor detects the axial force born by the bevel gear.

14. The surgical instrument of claim 13, wherein: the bevel gear is connected with an output shaft of the motor assembly through a first thrust bearing, one side of the force sensor is abutted to the first thrust bearing, and the other side of the force sensor is abutted to the inner side of the first side wall.

15. The surgical instrument of claim 13, wherein: one end of the output shaft, which is far away from the motor assembly, of the bevel gear is connected to the frame through a second thrust bearing, one side of the force sensor is abutted to the second thrust bearing, and the other side of the force sensor is abutted to the inner side of the second side wall.

16. The surgical instrument of any one of claims 1-12, wherein: the transmission assembly comprises a bevel gear transmission group and a gear rack transmission group, wherein the bevel gear transmission group comprises a first bevel gear connected with an output shaft of the motor assembly and a second bevel gear meshed with the first bevel gear, and the gear rack transmission group comprises a gear coaxially connected with the second bevel gear and a rack meshed with the gear; the rotating part is a first bevel gear and/or a second bevel gear, the output part is a first rack, and the force sensor detects the axial acting force applied to the first bevel gear and/or the second bevel gear.

17. The surgical instrument of any one of claims 1-12, wherein: the transmission assembly comprises a worm gear and worm transmission group and a gear and rack transmission group, the worm gear and worm transmission group comprises a worm connected with an output shaft of the motor assembly and a worm gear meshed with the worm, the gear and rack transmission group comprises a gear coaxially connected with the worm gear and a rack meshed with the gear, the rotating part is the worm and/or the worm gear, the output part is the gear, and the force sensor detects axial acting force borne by the worm and/or the worm gear.

18. The surgical instrument of claim 17, wherein: the axial force of the worm acts on the force sensor through a first thrust bearing, a connecting hole is formed in the end portion of the first side of the worm, an output shaft of the motor assembly stretches into the connecting hole to be connected with the worm, and the first thrust bearing and the force sensor are located between the end portion of the first side of the worm and the first side wall of the frame.

19. The surgical instrument of claim 17, wherein: the worm is connected with an output shaft of the motor assembly through a first thrust bearing, one side of the force sensor is abutted to the first thrust bearing, and the other side of the force sensor is abutted to the inner side of the first side wall.

20. The surgical instrument of claim 19, wherein: one end of the worm, which is far away from the output shaft, is rotatably connected to the frame.

21. The surgical instrument of claim 20, wherein: one end of the worm, which is far away from the output shaft, is provided with a limiting ring, and the limiting ring is abutted against the inner side of the second side wall of the frame.

22. The surgical instrument of claim 20, wherein: one end of the worm, which is far away from the output shaft, is provided with a limiting ring, one side of the force sensor is abutted to the limiting ring, and the other side of the force sensor is abutted to the inner side of the second side wall.

23. A surgical instrument according to claim 21 or 22, wherein: the limiting ring is fixedly connected to the worm or integrally formed with the worm.

24. The surgical instrument of claim 17, wherein: one end of the worm far away from the output shaft is connected to the frame through a second thrust bearing, one side of the force sensor is abutted to the second thrust bearing, and the other side of the force sensor is abutted to the inner side of the second side wall.

25. The surgical instrument of claim 1, wherein: the drive assembly also includes a manual unlocking feature operable to trigger the drive assembly to move the drive rod to an initial position.

26. The surgical instrument of claim 25, wherein: the manual unlocking structure comprises a connecting part arranged on one side end part of the transmission assembly, which is far away from the motor assembly, and the connecting part is suitable for being matched with a rotary spanner to drive the rotating part of the transmission assembly to rotate.

27. The surgical instrument of claim 26, wherein: the connecting part comprises a splicing groove arranged at one side end part of the transmission assembly.

28. The surgical instrument of claim 25, wherein: the handle assembly further comprises a position detection device for detecting the position of the transmission rod and an indicating device for indicating that the transmission rod is located at the initial position, and the control unit controls the indicating device according to the detection signal of the position detection device.

29. A surgical instrument, comprising:

a handle assembly, an elongate body assembly, and an end effector assembly operably connected in sequence from a proximal end to a distal end; an end effector assembly for manipulating tissue, the handle assembly being operable to provide a driving force thereto, the elongate body assembly defining a longitudinal axis and transmitting the driving force of the handle assembly to the end effector assembly; the method is characterized in that:

the handle assembly comprises a driving mechanism and a force sensor; the driving mechanism comprises a motor assembly and a transmission assembly, the transmission assembly comprises a worm gear and worm transmission group and a gear and rack transmission group, the worm gear and worm transmission group comprises a worm connected with an output shaft of the motor assembly and a worm gear meshed with the worm, the gear and rack transmission group comprises a gear coaxially connected with the worm gear and a rack meshed with the gear, and the force sensor detects axial acting force borne by the worm and/or the worm gear.