CN117752378A - Surgical instrument - Google Patents

Abstract

The invention discloses a surgical instrument. The surgical instrument includes: a jaw assembly; a handle; a base; a steering member; the driving assembly is arranged in the handle; the pull rod assembly is rotatably connected with the first hinge point of the steering piece at the far end and the driving assembly at the near end; the connecting rod assembly is rotatably connected with the second hinge point of the steering piece at the far end, and is rotatably connected with the third hinge point of the pull rod assembly at the near end; the steering piece comprises a connecting part positioned between the first hinge point and the second hinge point, and the pull rod assembly comprises a rod body part positioned between the first hinge point and the third hinge point; the rod body part, the connecting part and the connecting rod assembly enclose a positioning frame; and the positioning part is used for positioning the positioning frame and further positioning the steering piece. Through the location to positioning frame, realize the location to turning to the piece, avoided the unstable problem of angle of keeping silent subassembly angle, take place the angular displacement.

Description

Surgical instrument

Technical Field

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

Background

Surgical cutting staplers are a commonly used medical instrument to replace manual suturing by inserting a cannula of a penetrator positioned at a surgical site into a patient, then making a longitudinal incision in the tissue and applying staples on opposite sides of the incision to sever and staple the tissue.

The existing surgical cutting anastomat comprises a jaw assembly steering piece, a driving assembly and a pull rod assembly, wherein the steering piece is connected with the jaw assembly and can drive the jaw assembly to rotate. The driving assembly can drive the pull rod assembly to move, the pull rod assembly is connected with the steering piece, the steering piece can be driven to rotate by the movement of the pull rod assembly, and then the jaw assembly is driven to rotate, so that the steering of the jaw assembly is completed. In order to save the volume of the jaw driving device, the prior art adopts a scheme that a pull rod assembly is only connected with one side of a steering member, and drives the steering member to rotate on one side through the pull rod assembly, but after the steering of the jaw assembly is completed, the jaw assembly needs to be kept in an angle state after the rotation, but the pull rod assembly of the single-side connecting member has poor capability of positioning the steering member, so that the problem that the angle of the jaw assembly after the rotation is unstable and the angle deviation is generated easily occurs.

Disclosure of Invention

Aiming at the defects of the prior art, the invention aims to provide a surgical instrument which solves the problems that the angle of a jaw assembly is unstable and the angle is deviated.

The invention is realized by the following technical scheme:

a surgical instrument, comprising: a jaw assembly; a handle; the base body is connected with the handle; the proximal end of the steering piece is pivotally connected with the seat body, and the distal end of the steering piece is connected with the jaw assembly; the driving assembly is arranged in the handle; the distal end of the pull rod assembly is rotatably connected with the first hinge point of the steering member, the proximal end of the pull rod assembly is rotatably connected with the driving assembly, and the pull rod assembly moves to drive the steering member to rotate in response to the driving of the driving assembly so as to enable the jaw assembly to rotate; the distal end of the connecting rod assembly is rotatably connected with the second hinge point of the steering member, and the proximal end of the connecting rod assembly is rotatably connected with the third hinge point of the pull rod assembly; the first hinge point is positioned at one side of the pivot center of the steering member, the second hinge point is positioned at the other side of the pivot center of the steering member, the steering member comprises a connecting part positioned between the first hinge point and the second hinge point, and the pull rod assembly comprises a rod body part positioned between the first hinge point and the third hinge point; the rod body part, the connecting part and the connecting rod assembly enclose a positioning frame; and the positioning part is used for positioning the positioning frame and further positioning the steering piece.

Further, the pull rod assembly comprises a pull rod and a first connecting rod, the distal end of the first connecting rod is rotatably connected with a first hinge point of the steering member, the proximal end of the first connecting rod is rotatably connected with a fourth hinge point of the distal end of the pull rod, the proximal end of the pull rod is connected with the driving assembly, and the pull rod moves to drive the first connecting rod to move so as to drive the steering member to rotate in response to the driving of the driving assembly, so that the jaw assembly rotates; the rod body part comprises a first connecting rod and a part of the pull rod positioned between the fourth hinging point and the third hinging point.

Further, the axis of the third hinging point is coincident with that of the fourth hinging point, and the rod body part is a first connecting rod.

Further, the link assembly includes a second link and a third link, the distal end of the second link being rotatably coupled to the second hinge point of the steering member; one end of the third connecting rod is rotatably connected with the proximal end of the second connecting rod, and the other end of the third connecting rod is rotatably connected with the third hinge point; the positioning frame is quadrilateral in appearance.

Further, the positioning frame is in a parallelogram shape, the first connecting rod is parallel to the second connecting rod, and the third connecting rod is parallel to the connecting part.

Further, the third hinge point is spaced from the fourth hinge point, and the third hinge point is located near the fourth hinge point.

Further, the link assembly includes a second link and a third link, the distal end of the second link being rotatably coupled to the second hinge point of the steering member; one end of the third connecting rod is rotatably connected with the proximal end of the second connecting rod, and the other end of the third connecting rod is rotatably connected with the third hinge point; the positioning frame is pentagonal in appearance.

Further, the positioning part positions the third connecting rod, and then positions the positioning frame.

Further, the positioning part comprises a limiting groove arranged on the base body, a positioning shaft is arranged in the middle of the third connecting rod, and the positioning shaft is movably accommodated in the limiting groove; the limiting groove is provided with a limiting wall, and the limiting wall blocks the third connecting rod from moving so as to position the third connecting rod.

Further, the limit groove extends along the width direction of the seat body.

Further, the limiting wall is an arc-shaped wall.

Further, the driving assembly comprises a motor, a screw rod connected with the motor and a nut in threaded connection with the screw rod; the proximal end of the pull rod assembly is connected with the nut; in response to the driving of the motor, the lead screw drives the nut to move linearly to drive the pull rod assembly to move.

Further, the link assembly includes a second link and a third link, the distal end of the second link being rotatably coupled to the second hinge point of the steering member; one end of the third connecting rod is rotatably connected with the proximal end of the second connecting rod, and the other end of the third connecting rod is rotatably connected with the third hinge point.

Compared with the prior art, the invention has the beneficial effects that: through the link assembly setting, body of rod portion connecting portion with link assembly encloses into positioning frame, through the location of locating part to positioning frame to the location of turning to the piece has been avoided keeping silent the angle after the subassembly rotates unstable, and the problem of the angular displacement that brings from this.

Drawings

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

FIG. 2 is a schematic view of the steering member and jaw assembly of a first embodiment of the invention;

FIG. 3 is a schematic view of a positioning frame according to a first embodiment of the present invention;

FIG. 4 is a schematic view of another positioning frame according to the first embodiment of the present invention;

FIG. 5 is an exploded view of the housing, linkage assembly, steering member and tie rod assembly of the first embodiment of the present invention;

fig. 6 is a schematic structural view of a driving structure of the first embodiment of the present invention;

fig. 7 is a schematic view showing the structure of the steering member according to the first embodiment of the present invention when rotated in one direction;

fig. 8 is a schematic view showing the structure of the positioning member according to the first embodiment of the present invention when rotated in the other direction;

fig. 9 is a front view of a housing according to a first embodiment of the present invention;

fig. 10 is a schematic view showing the structure of the steering member in the initial position according to the first embodiment of the present invention;

fig. 11 is a schematic view showing a structure of the steering member according to the first embodiment of the present invention when rotated at a certain angle;

fig. 12 is a schematic view of a structure of the steering member rotated by a certain angle according to the first embodiment of the present invention, which is intended to show the relationship between the steering member rotation angle a and the first link rotation angle b;

fig. 13 is a schematic structural view of a base according to a first embodiment of the present invention;

FIG. 14 is a schematic view of the connection of the angle connector to the jaw assembly of the first embodiment of the present invention;

fig. 15 is a schematic structural view of an angle connector according to a first embodiment of the present invention.

Wherein the above figures include the following reference numerals:

100. a handle; 110. a body; 120. a shaft assembly; 121. a sleeve; 130. a jaw assembly; 140. a drive assembly; 141. a screw nut structure; 142. a screw rod; 143. a nut; 144. a motor; 145. a transmission structure; 200. a base; 210. a limit groove; 211. a limiting wall; 220. a second sliding groove; 230. a first avoidance groove; 240. a second avoidance groove; 300. a steering member; 310. a first hinge point; 320. a second hinge point; 330. a pivot center; 340. a first sliding groove; 350. a connection part; 400. a pull rod assembly; 410. a pull rod; 411. a fixed section; 420. a first link; 421. a fourth hinge point; 430. a rod body; 500. a connecting rod assembly; 510. a second link; 520. a third link; 521. positioning a shaft; 522. a third hinge point; 530. a positioning frame; 600. an angle connector; 610. a first protrusion; 620. a second protrusion; 630. a cutter bar; x, length direction; y, width direction.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. 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.

It is to be understood that the terms "proximal" and "distal" are used herein with respect to a clinician manipulating a handle of a surgical instrument. The term "proximal" refers to the portion proximal to the clinician, and the term "distal" refers to the portion distal to the clinician. I.e., the handles are proximal and the jaw assembly is distal, e.g., the proximal end of a component represents an end relatively close to the handles and the distal end represents an end relatively close to the jaw assembly. The terms "upper" and "lower" refer to the relative positions of the staple abutment and the cartridge abutment of the jaw assembly, specifically the staple abutment being "upper" and the cartridge abutment being "lower". However, surgical instruments are used in many orientations and positions, and these terms of relative positioning are not intended to be limiting and absolute.

In the present invention, unless explicitly specified and limited otherwise, the terms "connected," "connected," and the like are to be construed broadly, and may be fixedly connected, detachably connected, movably connected, or integrated, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between the two elements or interaction relationship between the two elements such as abutting. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances. It should be noted that, when the terms "connected" and "connected" are used in the meanings defined by the corresponding terms, only the cases where the terms are clearly required are excluded, and other possible cases are not excluded, such as "detachably connected" means detachably connected, not including being integrated, but movable connection and the like are not excluded.

Example 1

Referring to fig. 1-3, the present embodiment provides a surgical instrument, particularly a stapler.

The surgical instrument includes a handle 100, a jaw assembly 130, a housing 200, a steering member 300, a drive assembly 140, and a pull rod assembly 400. Wherein the housing 200 is coupled to the handle 100. The proximal end of the steering member 300 is rotatably coupled to the housing 200, and the distal end of the steering member 300 is coupled to the jaw assembly 130 such that the steering member 300 can rotate the jaw assembly 130. The distal end of the pull rod assembly 400 is rotatably coupled to the steering member 300 and the proximal end is coupled to the drive assembly 140. In response to actuation of the drive assembly 140, the pull rod assembly 400 moves to drive rotation of the steering member 300 and, in turn, the jaw assembly 130.

Specifically, the distal end of the base 200 is provided with a pivot shaft, the center of the proximal end of the steering member 300 is provided with a connecting hole, and the pivot shaft is inserted into the connecting hole to be connected with the connecting hole in a matching manner, so that the steering member 300 can rotate around the pivot shaft, and the axis of the pivot shaft is the pivot center 330 of the steering member 300. When the steering member 300 rotates to abut against the base 200, the steering member 300 cannot continue to rotate, here, the limit position of the steering member 300, and the steering member 300 has one limit position in both the clockwise direction and the counterclockwise direction. The distal end of the tie rod assembly 400 is coupled to a first hinge point 310 of the steering member 300, the first hinge point 310 being disposed eccentrically to the steering member 300, offset from the pivot center 330. When the driving assembly 140 drives the tie rod assembly 400, the tie rod assembly 400 moves in the length direction X, and the moving tie rod assembly 400 pushes or pulls the side of the steering member 300 having the first hinge point 310, so that the steering member 300 rotates.

In this embodiment, the pull rod assembly 400 is located at one side of the seat 200 and connected to one side of the steering member 300, and after the jaw assembly 130 is turned, the driving assembly 140 locks the pull rod assembly 400 to position the steering member 300, but the pull rod assembly 400 disposed at one side has insufficient positioning capability on the steering member 300, so that the problem that the position of the steering member 300 is unstable, the angle of the jaw assembly 130 after being turned is unstable, and the angle is easy to deviate is easily caused.

To solve the above problems, the surgical instrument of the present embodiment further includes a link assembly 500 and a positioning portion, as shown in fig. 3 to 5, a distal end of the link assembly 500 is rotatably connected to the second hinge point 320 of the steering member 300, and a proximal end of the link assembly 500 is rotatably connected to the third hinge point 522 of the pull rod assembly 400; the steering member 300 includes a connection portion 350 between the first hinge point 310 and the second hinge point 320, and the tie rod assembly 400 includes a rod body portion 430 between the first hinge point 310 and the third hinge point 522; the rod body 430, the connection portion 350 and the link assembly 500 enclose a positioning frame 530; the positioning part positions the positioning frame 530, thereby positioning the steering member 300. The connection portion 350 is a part of the positioning frame 530, and positioning of the connection portion 350 and the steering member 300 can be completed by positioning the positioning frame 530. The first hinge point 310 and the second hinge point 320 are respectively located at two sides of the pivot center 330, that is, the first connecting rod 420 and the second connecting rod 510 are respectively connected at two sides of the pivot center 330 of the steering member 300, positioning of the positioning frame 530 can achieve positioning of the steering member 300 at two sides of the pivot center 330, positioning effect is good, positioning of the steering member 300 is more stable, and further angle stability of the jaw assembly 130 after steering is achieved, and angle deviation is not easy to occur.

Wherein the drawbar assembly 400 comprises: the distal end of the first link 420 is rotatably connected to the steering member 300, the proximal end is rotatably connected to the fourth hinge point 421 at the distal end of the first link 420, the proximal end of the first link 420 is connected to the driving assembly 140, and the first link 420 is linearly moved to drive the steering member 300 to rotate in response to the driving of the driving assembly 140, thereby rotating the jaw assembly 130. Meanwhile, the rotation of the steering member 300 rotates the first hinge point 310 to displace in the width direction Y, thereby driving the distal end of the first link 420 to move in the width direction Y, and rotating the first link 420.

The driving assembly 140 drives the pull rod 410 by the following structure: as shown in fig. 6, the drive assembly 140 includes a lead screw nut structure 141, a motor 144, and a transmission structure 145, and the lead screw nut structure 141 includes a lead screw 142 and a nut 143. The motor 144 passes through transmission structure 145 and connects lead screw 142, lead screw 142 and nut 143 screw-thread fit, when motor 144 passes through transmission structure 145 drive lead screw 142 and rotates, lead screw 142 moves through the cooperation drive nut 143 with nut 143, the pull rod subassembly 400 is connected in nut 143, along length direction X displacement under the drive of nut 143, nut 143 connects the pull rod subassembly with drive pull rod subassembly motion, specifically, nut connects pull rod 410, can drive pull rod 410 along length direction X displacement, pull rod 410 can drive first link 420 motion in order to drive steering gear 300 rotation when the displacement, and then drive jaw subassembly 130 rotation. In this embodiment, the lead screw angle of the thread in the lead screw nut structure 141 is smaller than the equivalent friction angle, so that the lead screw nut structure 141 has a self-locking function, and after the drive of the lead screw 142 is stopped, both the nut 143 and the pull rod 410 are locked.

As shown in fig. 3 and 4, when the jaw assembly 130 is in the initial position, i.e., no rotation occurs, the hinge point of the first link 420 and the pull rod 410 and the first hinge point 310 are located at substantially the same height. As shown in fig. 7, when the driving assembly 140 drives the pull rod 410 to move distally, the first link 420 is pushed to move distally, and the first link 420 pushes one side of the steering member 300 having the first hinge point 310, so that the steering member 300 rotates clockwise, and the first hinge point 310 also rotates clockwise with the steering member 300 and displaces in the width direction Y, thereby driving the distal end of the first link 420 to move upwardly in the width direction Y, so that the first link 420 rotates. As shown in fig. 8, when the driving assembly 140 drives the pull rod 410 to move proximally, the first link 420 is pulled to move proximally, and the first link 420 pulls the side of the steering member 300 having the first hinge point 310, so that the steering member 300 rotates counterclockwise, and the first hinge point 310 also rotates counterclockwise with the steering member 300 and displaces in the width direction Y, thereby driving the distal end of the first link 420 to move downward in the width direction Y, so that the first link 420 rotates. After the jaw assembly 130 is turned, the pull rod 410 is locked by the drive assembly 140.

In this embodiment, the positioning frame 530 is formed by the connecting rod assembly 500, the rod body 430 and the connecting portion 350, and the positioning frame 530 is positioned by the positioning portion to further position the steering member 300, when the steering member 300 rotates by a certain angle, the offset of the positioning frame 530 is substantially consistent with the rotation angle of the steering member 300, so that the positioning portion can effectively prevent the positioning frame 530 and the steering member 300 from being offset when limiting the positioning frame 530, and ensure the stable positions of the steering member 300 and the jaw assembly 130.

The linkage assembly 500 includes a second link 510 and a third link 520, the second link 510 being distal to the third link 520; the distal end of the second link 510 is rotatably coupled to the second hinge point 320 of the steering member 300 such that the distal end of the link assembly 500 is rotatably coupled to the second hinge point 320 of the steering member 300; the third link 520 is rotatably coupled at one end to the proximal end of the second link 510 and at the other end to the third hinge point 522 such that the proximal end of the link assembly 500 is rotatably coupled to the third hinge point 522.

In one embodiment, as shown in fig. 3, the third hinge point 522 coincides with the fourth hinge point 421, and the portion of the pull rod assembly 400 located between the third hinge point 522 and the first hinge point 310 is the first link 420, that is, the rod portion 430 is the first link 420, so that the first link 420, the connecting portion 350 and the link assembly 500 enclose the positioning frame 530. The positioning frame 530 has a quadrangular shape. Of course, in other embodiments, the number of links included in the link assembly 500 may be 3 or more, and the positioning frame 530 may have other polygonal shapes. It should be noted that, if the link assembly 500 includes at least two links, the positioning frame 530 enclosed by the first link 420, the connecting portion 350 and the link assembly 500 is triangular, which results in the steering member 300 not being able to rotate.

In a preferred embodiment, the positioning frame 530 has a parallelogram shape, the first link 420 is parallel to the second link 510, and the third link 520 is parallel to the connection portion 350. It is apparent that in the parallelogram mechanism, the movement states of the first link 420 and the second link 510 are the same, and the movement states of the third link 520 and the connecting portion 350 are the same, so that the movement states of the third link 520 and the steering member 300 are the same. The same motion state means that the angular displacement, the angular velocity and the angular acceleration are equal. In this embodiment, the positioning portion positions the third link 520, and thus positions the positioning frame 530, thereby positioning the steering member 300. Because the third link 520 and the steering member 300 have the same motion state, the positioning of the steering member 300 can be achieved by positioning the third link 520 under the action of the positioning frame 530, so as to keep the position of the steering member 300 stable, and further stabilize the angle and position of the jaw assembly 130.

In another embodiment, as shown in fig. 4, the third hinge point 522 is spaced from the fourth hinge point 421, and the third hinge point 522 is located near the fourth hinge point 421 to avoid interference caused by the intersection of the first link 420 and the third link 520. The pull rod 410 forms a fixed segment 411 between the third hinge point 522 and the fourth hinge point 421, and the rod body 430 includes a first link 420 and the fixed segment 411. The positioning frame 530 has a pentagonal shape. Of course, in other embodiments, the number of links included in the link assembly 500 may be 3 or more, and the positioning frame 530 may have other polygonal shapes. Among the five rod bodies constituting the positioning frame 530, when the tie rod 410 stops moving to stop the rotation of the steering member 300, the fixing section 411 is locked and cannot be moved or rotated; the connection part 350 is pivotally connected to the seat body 200 and can only rotate; in this embodiment, the positioning portion positions the third link 520, so that three of the five rod bodies in the positioning frame 530 are limited or positioned, positioning of the pentagonal positioning frame 530 is achieved, any one of the rod bodies in the positioning frame 530 cannot move or rotate, positioning of the steering member 300 is achieved, and the positioning frame 530 and the positioning portion can keep the position of the steering member 300 stable, so that the angle position of the jaw assembly 130 is stable.

In the above embodiments, when the pull rod 410 is driven by the driving assembly 140 to move, the first link 420 is driven to displace in the length direction X, so that the connecting portion 350 and the steering member 300 rotate, and the second link 510 and the first link 420 move substantially synchronously; the movement of the third link 520 is a compound movement, one end of the third link 520 is rotatably connected to the third hinge point 522 of the pull rod 410, and when the pull rod 410 moves in the length direction X, the bottom end of the third link 520 is driven to move synchronously with the pull rod 410, and meanwhile, the third link 520 rotates around the third hinge point 522, and the direction in which the bottom end of the third link 520 moves is substantially opposite to the direction in which the third link 520 rotates, so that the movement path of the middle part of the third link 520 is substantially along the width direction. The positioning of the third link 520 by the positioning portion is achieved by limiting the rotation of the third link 520, specifically, blocking the rotation of the third link 520 in the length direction X. When the pull rod 410 moves, the third connecting rod 520 is driven to perform the above compound movement, the third connecting rod 520 moves in the width direction, and the positioning part does not block the compound movement of the third connecting rod 520, so that the positioning frame 530 and the connecting part 350 can rotate under the drive of the pull rod 410; when the pull rod 410 is locked without being driven, the bottom of the third link 520 cannot move, and at this time, the positioning portion can block the rotation of the third link 520 in the length direction X, so that the third link 520 is locked, thereby positioning the third link 520 and further positioning the positioning frame 530.

Specifically, the positioning of the positioning portion to the third link 520 is achieved by the following structure: as shown in fig. 3 to 5, the positioning portion includes a limiting groove 210 disposed on the base 200. The third link 520 has a positioning shaft 521 at a middle portion thereof, and the positioning shaft 521 is movably received in the limiting groove 210, where the movement includes rotation and/or movement. When the pull rod assembly 400 is locked without being driven, since one end of the third link 520 is rotatably connected to the third hinge point 522 of the pull rod 410, the third link 520 can only rotate toward the front end or the rear end along the first direction, the specific first direction is the length direction X, the limiting groove 210 has the limiting wall 211, and the limiting wall 211 can block the movement of the positioning shaft 521 along the length direction X to block the rotation of the third link 520, so as to position the third link 520, so that the third link 520 cannot rotate, and the positioning of the positioning frame 530 is realized. The limiting walls 211 are respectively located at two sides of the positioning shaft 521 in the length direction X, so as to limit the third link 520 to rotate clockwise or counterclockwise in the length direction X.

The third link 520 is positioned by the limit slot 210 to ensure the stability of the positioning frame 530, thereby ensuring the stability of the steering member 300 and the jaw assembly 130. If the jaw assembly 130 is subjected to an external force, the external force acts on the positioning frame 530 through the jaw assembly 130 and the steering member 300, and the steering member 300 and the jaw assembly 130 remain stable because the positioning frame 530 remains stable. Even if the third link 520 is slightly shifted in the limit groove 210, the steering member 300 is synchronously shifted with the third link 520 by a small shift angle, so that the positioning effect of the positioning portion on the steering member 300 is good.

Since the bottom end of the third link 520 is rotatably connected to the third hinge 522, when the third link 520 rotates, the positioning shaft 521 in the middle is displaced in the width direction Y, so in this embodiment, the limiting slot 210 extends along the width direction Y of the base 200, so that the third link 520 can move in the limiting slot 210 along the width direction Y, and the limiting slot 210 does not block the compound movement of the third link 520. When the third connecting rod 520 is displaced in the limit groove 210, the limit walls 211 on both sides are always abutted, so that the limit walls 211 can always limit the limit of the third connecting rod 520 in the length direction X. Further, the limiting wall 211 is an arc-shaped wall. When the third link 520 moves, the moving path of the positioning shaft 521 is an arc, and the arc of the arc wall is the same as the arc of the moving path of the positioning shaft 521, so that the positioning shaft 521 can be always limited, and the third link 520 is further limited.

The reason why the positioning part positions the positioning frame 530 by positioning the third link 520 instead of positioning the positioning frame 530 by positioning the first link 420 or the second link 510 is as follows: as shown in fig. 10 and 11, when the steering member 300 is rotated by a certain angle, that is, the connection part 350 in the positioning frame 530 is rotated by a certain angle, the angle by which the first link 420 and the second link 510 are rotated is relatively small. The ratio of the rotation angle of the first link 420 to the steering angle of the steering member 300 is large, for example, the first link 420 is rotated only by 1 ° when the steering member 300 is rotated by 24 °. When the first link 420 is limited, if the first link 420 rotates with a small offset, the steering member 300 rotates with a large amount. Therefore, the difficulty of positioning the first link 420 is great and the effect is poor. The second link 510 is substantially consistent with the movement of the first link 420, so that the positioning of the second link 510 is difficult and has poor effect. The reason why the ratio of the rotation angle of the steering member 300 to the rotation angle of the first link 420 is large is specifically as follows:

as shown in fig. 10, when the steering member 300 drives the first link 420 to rotate through the first hinge point 310, the first link 420 takes the fourth hinge point 421 as the rotation center, and the distal end of the first link 420 moves along with the first hinge point 310 in the width direction Y, so that the first link 420 rotates. Where, as shown in fig. 11, when the steering member 300 rotates by the angle a, the displacement of the first hinge point 310 in the width direction Y is L1, l1=r (1-cosa) can be obtained, where R is the distance between the first hinge point 310 and the pivot center 330. Because of the smaller size of the steering member 300 in the surgical instrument, the distance R between the first hinge point 310 and the pivot center 330 is smaller, which in turn results in a smaller value for L1. The displacement L1 of the first hinge point in the width direction Y after the steering member 300 is rotated by a certain angle is small.

Further, as shown in fig. 12, the distance between the distal end and the proximal end of the first link 420 in the length direction X is L2, the length of the first link 420 is L3, L1, L2 and L3 form a right triangle, and the angle b of rotation of the first link 420 is the angle formed between the rotated first link 420 and the initial position of the first link 420, i.e. the angle between L2 and L3 in fig. 12. The sine value of the angle b is equal to the ratio of L1 to L3, and L3 is a fixed value, so that the angle b by which the first link 420 rotates is positively correlated with the displacement L1 of the first link 420 in width. Since the value of L1 is small and the value of L3 is large relative to L1, the ratio of L1 to L3 is small, and thus the angle b by which the first link 420 rotates is also small. For the above reasons, when the steering member 300 is disturbed by other factors to rotate a certain angle, the angle driving the first link 420 to rotate is smaller, so that the ratio of the rotation angle of the steering member 300 to the rotation angle of the first link 420 is larger. Therefore, the difficulty of positioning the first link 420 or the second link 510 is relatively high and the effect is relatively poor, and the third link 520 is selectively positioned in the present embodiment, so as to obtain relatively low positioning difficulty and relatively good positioning effect on the positioning frame 530.

It should be noted that, as shown in fig. 5 and 13, the third connecting rod 520 is disposed on one side of the second connecting rod 510 near the base 200, that is, the third connecting rod 520 is disposed on the lower side of the second connecting rod 510, the upper surface of the base 200 is provided with a first avoidance groove 230, and the first avoidance groove 230 is formed by recessing along the thickness direction of the base 200, so that the base 200 forms a avoidance space, and the base 200 is prevented from blocking the movement and rotation of the third connecting rod 520. The third link 520 is at least partially located in the first avoidance groove 230, and the positioning portion is disposed in the first avoidance groove 230 and connected to the third link 520. Specifically, the positioning portion is a limiting groove 210 formed at the bottom of the first avoidance groove 230, and the positioning shaft 521 of the third link 520 is movably accommodated in the limiting groove 210.

Further, a second avoidance groove 240 is formed in one side of the seat body 200, the second avoidance groove 240 is formed along the length direction X, the pull rod 410 is accommodated in the second avoidance groove 240 and can move in the second avoidance groove 240, and the second avoidance groove 240 enables the structure of the seat body 200 and the pull rod 410 to be more compact. Meanwhile, when the steering member 300 rotates between the two extreme positions, the tie rod 410 is always positioned in the second escape groove 240.

In one embodiment, as shown in fig. 7, 14 and 15, the surgical instrument further includes an angle connector 600, the angle connector 600 is disposed above the steering member 300 and the seat 200, two ends of the angle connector 600 extend downward to form a first protrusion 610 and a second protrusion 620, the steering member 300 is provided with a first sliding groove 340, the seat 200 is provided with a second sliding groove 220, the first protrusion 610 is embedded in the first sliding groove 340, the second protrusion 620 is embedded in the second sliding groove 220, a receiving groove is provided at the top of the angle connector 600 for receiving a portion of the cutter bar 630, the cutter bars 630 are formed in a plurality of sheets, one end of each cutter bar 630 is connected with a cutter blade located in the jaw assembly 130, and the other end is connected with a cutter blade driving mechanism of the handle 100 for driving the cutter blade to move under the driving of the cutter blade driving mechanism. When the jaw assembly 130 turns, the cutter bars 630 are also bent, and the plurality of cutter bars 630 are accommodated in the accommodating groove of the angle connector 600, so that the bent cutter bars 630 can be prevented from being scattered, and meanwhile, the cutter bars 630 are limited, so that the condition that the cutter bars 630 are curled during feeding is avoided, and the cutter bars 630 can effectively drive the cutter.

The angle connector 600 is located between the first link 420 and the second link 510, where a first avoidance section is disposed on a side of the first link 420 facing the second link 510, and a second avoidance section is disposed on a side of the second link 510 facing the first link 420, as shown in fig. 4 and 5. The first escape section is concavely formed in a direction away from the second link 510, and the second escape section is concavely formed in a direction away from the first link 420. As the jaw assembly 130 and the steering member 300 rotate, the angle connector 600 also rotates, and the first and second back-out sections provide space for rotation of the angle connector 600, avoiding interference of the angle connector 600 with the first link 420 or the second link 510.

Specifically, as shown in FIG. 1, the surgical instrument further includes a shaft assembly 120, the shaft assembly 120 being connected between the handle 100 and the jaw assembly 130. Shaft assembly 120 includes a sleeve 121 coupled to a proximal end of jaw assembly 130, and a mandrel assembly received within sleeve 121. Sleeve 121 is movable relative to handle 100 to drive opening or closing of jaw assembly 130; the base 200 is disposed in the sleeve 121 and is connected to the handle 100, and the sleeve 121 does not move with the sleeve 121 when the sleeve 200 moves. The jaw assembly 130 includes a cartridge housing and a staple abutment pivotally connected to the cartridge housing. The surgical instrument further includes a cutting blade assembly coupled to the mandrel assembly, the cutting blade assembly including the knife bar 630 and the cutting blade described above.

In one embodiment, the surgical instrument is not detachable and the drive assembly 140 is disposed within the handle 100.

In another embodiment, the surgical instrument is detachable and includes a front end assembly and a handle 100, the handle 100 including a handle assembly and a housing assembly, the handle assembly being releasably closed by the housing assembly, the housing assembly being detachably assembled with the front end assembly to connect the front end assembly and the handle assembly and block bacteria of the handle assembly from entering the front end assembly. The motor 144 is arranged on the handle assembly, the screw nut structure 141 is arranged on the front end assembly, the housing assembly is provided with a first coupling, the motor 144 is provided with a driving shaft, the screw 142 is connected with a transmission shaft, and the front end assembly is arranged behind the housing assembly, the driving shaft is connected with the transmission shaft through the first coupling, so that the motor can drive the screw 142. In response to the driving of the motor 144, the screw rod 142 can be rotated to drive the nut 143 to move in the axial direction.

In non-detachable and detachable embodiments, the surgical instrument further includes a drive device for driving the shaft assembly 120 in motion and/or the jaw assembly 130 in motion, and a power source for powering the drive device. Specifically, the driving device comprises a cutter driving mechanism, a jaw driving mechanism and a clutch mechanism, wherein a power source selectively drives the cutter driving mechanism and the jaw driving mechanism through the clutch mechanism, when the power source drives the jaw driving mechanism, the driving sleeve moves to drive the nail propping seat to pivot relative to the nail bin seat so as to realize opening and closing of the jaw assembly, when the power source drives the cutter driving mechanism, the cutter assembly is driven to move forwards so as to realize firing and backward movement so as to realize retracting, and the power source can be an operating handle for manual operation or a motor. The jaw driving mechanism, the cutter driving mechanism and the power source are all in the prior art, and specific structural components can be seen in the applicant's prior application CN202010365525.0, and are not described herein.

It should be noted that the above embodiments have been described with respect to a surgical instrument using a stapler as an example, and that the above embodiments may be applied to other surgical instruments having a jaw assembly.

In summary, in the surgical instrument of the present embodiment, the positioning frame 530 with multiple links is formed by combining the connecting portion of the first link 420 and the steering member 300 through the arrangement of the link assembly 500 and the positioning portion, and the positioning of the steering member 300 is achieved through the positioning of the positioning frame 530 including a portion of the steering member 300, so that the problems of unstable angle and angular offset of the jaw assembly 130 are avoided.

It should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is for clarity only, and that the skilled artisan should recognize that the embodiments may be combined as appropriate to form other embodiments that will be understood by those skilled in the art.

The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.

Claims (13)

1. A surgical instrument, comprising:

a jaw assembly;

a handle;

the base body is connected with the handle;

a steering member, a proximal end of the steering member being pivotally connected to the housing, a distal end of the steering member being connected to the jaw assembly;

the driving assembly is arranged in the handle;

a pull rod assembly, the distal end of the pull rod assembly being rotatably connected to the first hinge point of the steering member, the proximal end of the pull rod assembly being rotatably connected to the drive assembly, the pull rod assembly being movable to drive the steering member to rotate in response to actuation of the drive assembly, thereby rotating the jaw assembly;

a link assembly, a distal end of the link assembly being rotatably connected to the second articulation point of the steering member, a proximal end of the link assembly being rotatably connected to the third articulation point of the pull rod assembly; the first hinge point is positioned on one side of the pivot center of the steering member, the second hinge point is positioned on the other side of the pivot center of the steering member, the steering member comprises a connecting part positioned between the first hinge point and the second hinge point, and the pull rod assembly comprises a rod body part positioned between the first hinge point and the third hinge point; the rod body, the connecting part and the connecting rod assembly enclose a positioning frame;

and the positioning part is used for positioning the positioning frame and further positioning the steering piece.

2. The surgical instrument of claim 1, wherein the linkage assembly comprises a linkage and a first link, a distal end of the first link being rotatably coupled to the first articulation point of the steering member and a proximal end being rotatably coupled to a fourth articulation point of the distal end of the linkage; the proximal end of the pull rod is connected with the driving assembly, and the pull rod moves to drive the first connecting rod to move so as to drive the steering piece to rotate in response to the driving of the driving assembly, so that the jaw assembly rotates; the lever body includes a portion of the first link and the pull rod between the fourth hinge point and the third hinge point.

3. The surgical instrument of claim 2, wherein the third hinge point is coincident with the fourth hinge point axis and the shaft portion is the first link.

4. The surgical instrument of claim 3, wherein the linkage assembly comprises a second link and a third link, the second link distal end rotatably coupled to the second hinge point of the steering member; one end of the third connecting rod is rotatably connected with the proximal end of the second connecting rod, and the other end of the third connecting rod is rotatably connected with the third hinge point; the positioning frame is quadrilateral in appearance.

5. The surgical instrument of claim 4, wherein the positioning frame is parallelogram in shape, the first link is parallel to the second link, and the third link is parallel to the connection.

6. The surgical instrument of claim 2, wherein the third hinge point is spaced apart from the fourth hinge point and the third hinge point is proximal to the fourth hinge point.

7. The surgical instrument of claim 6, wherein the linkage assembly comprises a second link and a third link, the second link distal end rotatably coupled to the second hinge point of the steering member; one end of the third connecting rod is rotatably connected with the proximal end of the second connecting rod, and the other end of the third connecting rod is rotatably connected with the third hinge point; the positioning frame is pentagonal in appearance.

8. The surgical instrument of claim 5 or 7, wherein the positioning portion positions the third link to thereby position the positioning frame.

9. The surgical instrument of claim 8, wherein the positioning portion comprises a limiting slot provided in the housing, a positioning shaft is provided in a middle portion of the third link, and the positioning shaft is movably received in the limiting slot; the limiting groove is provided with a limiting wall, and the limiting wall blocks the third connecting rod from moving so as to position the third connecting rod.

10. The surgical instrument of claim 9, wherein the limit slot extends in a width direction of the housing.

11. The surgical instrument of claim 9, wherein the stop wall is an arcuate wall.

12. The surgical instrument of claim 1, wherein the drive assembly comprises a motor, a lead screw coupled to the motor, a nut threadably coupled to the lead screw; the proximal end of the pull rod assembly is connected with the nut; and responding to the driving of the motor, the screw rod drives the nut to move linearly so as to drive the pull rod assembly to move.

13. The surgical instrument of claim 1, wherein the linkage assembly comprises a second link and a third link, the second link distal end rotatably coupled to the second hinge point of the steering member; one end of the third connecting rod is rotatably connected with the proximal end of the second connecting rod, and the other end of the third connecting rod is rotatably connected with the third hinge point.