CN218009830U - Surgical instrument - Google Patents

Abstract

The utility model discloses a surgical instrument belongs to the medical instrument field. The method comprises the following steps: the handle assembly, the elongated body assembly and the end effector assembly are sequentially connected from the proximal end to the distal end; an end effector assembly for manipulating tissue, the handle assembly operable to provide a driving force to the end effector assembly, 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 drive mechanism includes a motor assembly and a transmission assembly configured to be operably connected between the motor assembly and a drive rod of the elongate body assembly to convert torque output by the motor assembly into linear motion of the drive rod; the force detection device comprises a torque sensor mounted on a transmission component of the transmission assembly for transmitting torque. The surgical instrument of the present invention can accurately acquire the firing force of the tip actuating assembly.

Description

Surgical instrument

Technical Field

The utility model relates to the field of surgical instruments, in particular to a clamping, cutting and anastomotic surgical instrument.

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 unit includes a pair of grasping members that grasp 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, the end effector further including a firing member for cutting tissue driven by a drive mechanism disposed on the handle assembly side and a transmission mechanism disposed within the handle assembly and the elongate body; when the firing mechanism is electrically operated, a user can control the driving mechanism to start by triggering a firing button on the handle assembly so as to enable the firing component to move to cut tissues.

The firing force, which is typically the force exerted by the stapler on the instrument firing member by a load (e.g., an end effector assembly holding tissue) during use of the stapler (e.g., the stapler during firing or during closure), is one of the key technical criteria. With the improvement of the electric and intelligent performance of the surgical instrument, parameter support can be provided for tissue thickness identification, firing speed adjustment, end execution unit abnormity judgment and the like by acquiring the data of the firing force in real time. Therefore, how to accurately obtain the above-mentioned striking force becomes a technical problem to be solved by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

Therefore, the utility model provides a can acquire the surgical instrument of the percussion force size of percussion component in real time.

To the technical problem, the utility model provides a following technical scheme:

a surgical instrument, comprising: the handle assembly, the slender body assembly and the end part execution assembly are sequentially connected from the near end to the far end; an end effector assembly for manipulating tissue, the handle assembly being operable to provide a driving force to the end effector assembly, 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 drive mechanism includes a motor assembly and a transmission assembly configured to be operably connected between the motor assembly and a drive rod of the elongate body assembly to convert torque output by the motor assembly into linear motion of the drive rod; the force detection device comprises a torque sensor which is arranged on a transmission component used for transmitting torque in the transmission assembly.

In some embodiments of the present invention, the force detecting device further includes a control unit, and the control unit determines the driving force received by the end actuating assembly according to the detection signal of the torque sensor.

The utility model discloses an among the partial implementation, drive assembly includes at least one rack and pinion transmission group, rack of rack and pinion transmission group with the transfer line is connected, torque sensor install in the axis of rotation of the gear of rack and pinion transmission group.

In some embodiments of the present invention, the rack and pinion transmission set is a straight rack and pinion transmission set or a helical rack and pinion transmission set.

In some embodiments of the present invention, the rack-and-pinion transmission set includes a driving gear, a driven gear and a rack, the driving gear is connected to an output shaft of the percussion driving motor, and the driving gear is in transmission connection with the rack through the driven gear; the torque sensor is arranged on a rotating shaft where the driving gear or the driven gear is located.

In some embodiments of the present invention, the transmission assembly includes a rack and pinion transmission set and a worm and gear transmission set, the output shaft of the motor assembly is connected to the worm assembly of the worm and gear transmission set, and the worm and gear assembly of the worm and gear transmission set and the gear assembly of the rack and pinion transmission set are respectively connected to the first transmission shaft; the torque sensor is mounted on the worm assembly or the first transmission shaft.

In some embodiments of the present invention, the handle assembly includes a frame, the frame includes a first accommodating chamber extending along a first direction and a second accommodating chamber and a third accommodating chamber extending along a second direction, the first accommodating chamber is communicated with the second accommodating chamber, and the second accommodating chamber is separated from the third accommodating chamber by a partition wall; the rack assembly is connected with the first accommodating cavity in a sliding mode, the worm and gear transmission group and the gear assembly of the gear and rack transmission group are installed in the second accommodating cavity, the torsion sensor is installed in the third accommodating cavity, and the motor assembly is installed on the outer side face of the third accommodating cavity.

The utility model discloses an among the partial implementation, the frame is including relative first lateral wall and the second lateral wall that sets up, set up the through-hole on the first lateral wall, the motor install in on the outside of first lateral wall, the output shaft is followed the through-hole stretches into the third of frame hold the intracavity and with the tip of worm subassembly passes through torque sensor connects.

In some embodiments of the present invention, the worm assembly is rotatably connected to the partition wall through a third thrust bearing.

The utility model discloses an in some embodiments, drive assembly still includes manual unlocking structure, manual unlocking structure is operativelytriggered drive assembly so that the transfer line removes to initial position.

The utility model discloses an among the partial implementation mode, manual unlocking structure including set up in drive assembly keeps away from connecting portion on one side end of motor element, connecting portion are suitable for and cooperate in order to drive with rotatory spanner drive assembly rotates.

In some embodiments of the present invention, the connecting portion includes an insertion groove formed in the end portion of the transmission assembly.

The utility model discloses an in some embodiments, handle component is still including being used for detecting the position detection device of transfer line position and the indicating device who instructs the transfer line to be located initial position, the control unit is according to position detection device's detection signal control indicating device.

The technical scheme of the utility model relative prior art have following technological effect:

the utility model provides an among the surgical instrument, through set up torque sensor on the drive assembly of handle components side, provided comparatively loose design space, the installation of the torque sensor of being convenient for is fixed, also avoids force sensor to set up in tip executive assembly and/or elongated body subassembly side simultaneously, and force sensor removes the problem of interfering to other spare parts along with executive component and/or drive component simultaneous movement and the signal line of the force sensor who leads to thereupon. Moreover, the force sensor is designed on the side of the handle assembly, so that the requirements on the volume and the strength 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 understood from the following detailed description of the preferred embodiments of the invention, taken in conjunction with the accompanying drawings, in which:

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

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

FIG. 3 is an exploded view of a portion of an end effector of the surgical instrument of the present invention;

FIG. 4 is a cross-sectional view of one embodiment of a surgical instrument of the present invention;

FIG. 5 is a schematic view of a drive mechanism and force sensing device of one embodiment of a surgical instrument according to the present invention;

FIG. 6 is an exploded view of a drive mechanism and force detection device in one embodiment of a surgical instrument of the present invention;

fig. 7 is a schematic view of a drive mechanism coupled to a force sensing device in accordance with an embodiment of the present invention.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed 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 otherwise explicitly specified or limited, the terms "mounted," "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Furthermore, the technical features mentioned in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

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

One embodiment of a surgical instrument is as follows. In general, embodiments of the surgical instruments described herein are endoscopic surgical cutting and stapling instruments. However, it should be noted that the surgical instrument may also be a non-endoscopic surgical cutting stapling instrument, such as an open surgical instrument for open surgery.

Specifically, fig. 1 shows a surgical instrument that includes a handle assembly 10, an elongate body assembly 20, and an end effector assembly 30 connected in series from a proximal end to a distal end. The end effector assembly 30 is used, among other things, to manipulate tissue to perform specific surgical procedures, such as grasping, stapling/stapling, cutting, etc., the tissue.

Referring to FIG. 2, end effector assembly 30 includes a cartridge assembly 31 and an anvil assembly 32, which cartridge assembly 31 and anvil assembly 32 are movable relative to one another to close the jaws and thereby clamp the tissue jaws. In one particular embodiment, the anvil assembly 32 of the end effector assembly 30 can be operatively pivoted toward the cartridge assembly 31 until the jaws of the end effector assembly 30 are closed to clamp tissue; anvil assembly 32 is pivoted away from cartridge assembly 31 until the jaws of end effector assembly 30 are opened to release the tissue. In an alternative embodiment, cartridge assembly 31 of the end effector assembly 30 can be operated to pivot anvil assembly 32 toward one another until the jaws of the end effector assembly 30 are closed to clamp 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 the tissue. Further, disposed within end effector assembly 30 is a movable firing member for performing surgical actions, which firing member is operable to reciprocate, e.g., to perform corresponding surgical actions when driven proximally to distally, such as: the tissue is subjected to a cutting and stapling operation.

Specifically, as shown in fig. 2 and 3, the end effector assembly 30 proximally includes an elongated outer tube 33, an inner tube 34 disposed within the outer tube 33, a firing member 35 slidably disposed within the inner tube 34; the distal end of end effector assembly 30 includes a relatively movable cartridge assembly 31 and an anvil assembly 32; the nail cartridge assembly 31 comprises a nail cartridge 310, a nail cartridge base 311 and a slide block 312 which is arranged in the nail cartridge 310 and can slide along the longitudinal axis; firing member 35 slides/moves longitudinally to perform the corresponding surgical procedure. Further, the firing member 35 interferes with the sled 312 and is movable in a single body along the longitudinal axis to form a firing member for performing a corresponding surgical procedure.

As shown in FIG. 1, at least a portion of the handle assembly 10 is held by an operator to manipulate the surgical instrument. For example, the handle assembly 10 includes a handle housing 11 that can be gripped by a user. In one particular embodiment, a trigger is provided on the handle assembly 10 of the surgical instrument 100, and a user operates the end effector assembly 30 to perform the closing and firing motions by operating the trigger; alternatively, in alternative embodiments, the surgical instrument may also be used to manipulate the end effector assembly to perform the closing and/or firing motions by way of push buttons, etc. disposed on the handle housing 11; alternatively, in an alternative embodiment, the surgical instrument can also be used to manipulate the jaws of the end effector open to release tissue by way of a trigger, push-button, or the like disposed on the handle housing 11.

As shown in fig. 1, 4, the elongate body assembly 20 includes a tubular housing 21 defining a longitudinal axis C; a drive link 22 is disposed within the tubular housing 21, and the drive link 22 has a proximal end coupled to the output of the drive mechanism 12 within the handle assembly 10 and a distal end coupled 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 within the handle housing 11 for providing a driving force to the elongated 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 held 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 effects the reciprocating motion of the firing member of the end effector assembly 30 by driving the drive rod 22 of the elongate body assembly 20 to effect the cutting and stapling of the tissue held in the jaws.

The handle housing 11 is generally T-shaped as a whole, and includes a main body portion extending in a longitudinal axis direction C and a grip portion extending in a direction substantially perpendicular to the longitudinal axis C or inclined at an angle with respect to the longitudinal axis C, and the main body portion and the grip portion form a mounting space for the driving mechanism 12.

As shown in fig. 5, the drive mechanism 12 includes a motor assembly 121 and a transmission assembly configured to be operatively connected to the motor assembly 121 and the transmission rod 22 of the elongated body assembly 20 so as to transmit power output from the motor assembly 121 to the transmission rod 22 and to linearly move the transmission rod 22 along the longitudinal axis C. Specifically, in an alternative embodiment, the axial direction of the output shaft of the motor assembly 121 forms an included angle with the longitudinal axis C; more specifically, the motor assembly 121 is located 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 firing force applied to the firing member when the surgical instrument is operated in a closing or firing motion, the handle assembly 10 further includes a force sensing device including a torque sensor 15 for sensing the amount of torque on the transmission components that transmit torque in the transmission assembly. When the driving mechanism 12 drives the firing member to perform the firing motion, the torque output by the motor assembly 121 is converted into an acting force of the firing member along the longitudinal axis direction through the transmission assembly, and the magnitude of the firing force applied to the firing member can be indirectly obtained by detecting the magnitude of the torque acting on the transmission assembly. By providing the torque sensor 15 on the transmission assembly on the handle assembly 10 side, the torque sensor 15 can be easily mounted and secured while also avoiding the problem of interference with other components caused by the force sensor being disposed on the end effector 30 and/or the elongated body assembly 20 side, which may cause the force sensor to move simultaneously with the effector (e.g., firing member) and/or the transmission member (e.g., transmission rod 22) and the signal lines of the force sensor to move therewith. Moreover, the force sensor is designed on the side of the handle assembly 10, so that a relatively loose design space is provided, the requirements on the volume and the strength of the force sensor are reduced, and the cost of the force sensor element is reduced.

Further, the force detection device further comprises a control unit, and the control unit determines the firing force applied to the firing member according to the detection signal of the torque sensor 15. Specifically, the control unit comprises a memory and a processor, wherein a force conversion model is stored in the memory, and the force conversion model is a force conversion model between a torque force on a transmission part for transmitting the torque in the transmission assembly and a firing force of a firing component; the processor determines the acting force of the firing member along the longitudinal axis direction, that is, the firing force of the firing member, according to the force conversion model and the torque force detected by the torque sensor 15.

In view of the reasonable arrangement of the transmission assembly within the handle housing 11 and the transmission stability of the transmission assembly, in the surgical instrument 100 according to an embodiment of the present invention, as shown in fig. 5, the transmission assembly employs at least one rack-and-pinion transmission set, and the rotational torque of the motor assembly 121 can be reliably transmitted to the first rack 126 through the rack-and-pinion transmission set. Of course, in other alternative embodiments, the transmission assembly may employ various transmission mechanisms for converting a rotational force into a linear movement force, such as a lead screw-nut mechanism or the like.

When the motor assembly 121 is activated, the gears of the rack and pinion set rotate along the axis thereof with the output shaft of the motor assembly 121, thereby driving the first rack 126 of the rack and pinion set to reciprocate along the longitudinal axis, pushing or pulling the transmission rod 22 to reciprocate synchronously, thereby driving the firing member to move. For example, when the motor assembly 121 is rotated in a first direction to move the first rack 126 along the longitudinal axis from the proximal end to the distal end, the firing member is entrained to move along the longitudinal axis from the proximal end to the distal end, thereby operating the end effector assembly 30 of the surgical instrument to complete a closing or firing operation to ultimately clamp, staple, and cut tissue. When the motor assembly 121 is rotated in the second direction to move the first rack 126 along the longitudinal axis from the distal end to the proximal end, the firing member is entrained to move along the longitudinal axis from the distal end to the proximal end, thereby operating the end effector assembly 30 of the surgical instrument to complete the retraction, opening operation to release the clamped tissue.

In an alternative embodiment, the rack and pinion transmission set is a straight rack and pinion transmission set or a helical rack and pinion transmission set, wherein the axis of the rotation shaft of the first gear 127 of the rack and pinion transmission set is perpendicular to the longitudinal axis C, and the tooth surface of the first rack 126 of the rack and pinion transmission set is located on the front side or the rear side thereof.

In an optional embodiment, the rack-and-pinion transmission set includes a driving gear, a driven gear, and a rack, the driving gear is connected to an output shaft of the firing drive motor, and the driving gear and the rack are in transmission connection through the driven gear. In other alternative embodiments, the number of gears may be increased or no gear reduction part may be provided according to the required transmission ratio and installation space, and transmission is realized by a set of gear-rack transmission set in cooperation with the motor assembly 121.

In the rack-and-pinion transmission set, the rotating shaft of the gear bears the torque force output by the motor assembly 121. As shown in fig. 5, the torque sensor 15 is mounted on the rotating shaft of the gear in the rack and pinion transmission set. Depending on the arrangement of the transmission assembly within the handle assembly 10, one way is to mount the torque sensor 15 on the rotational axis of a gear disposed coaxially with the output shaft of the motor assembly 121. In another embodiment, the torque sensor 15 may be mounted on the rotation shaft of the driven gear.

Specifically, in the surgical instrument 100 according to an embodiment of the present invention, as shown in fig. 6 and 7, the transmission assembly includes a worm gear and worm drive set and a rack and pinion drive set, the worm gear and worm drive set includes a worm assembly 122 connected to the output shaft of the motor assembly 121, and a worm gear assembly 123 engaged with the worm assembly 122; the rack and pinion drive train includes a rack assembly 125 operably connected to the drive rod 22 of the elongate body assembly 20, and a gear assembly 124 cooperating with the first rack 126 assembly; the turbine assembly 123 and the gear assembly 124 are respectively fixedly connected to the first transmission shaft 128.

When the motor assembly 121 is activated, the worm assembly 122 rotates along the axis thereof with the output shaft of the motor assembly 121 to drive the worm gear assembly 123 to rotate around the rotation axis thereof, and the gear assembly 124 rotates synchronously with the worm gear assembly 123 and drives the rack assembly 125 to reciprocate along the longitudinal axis, pushing or pulling the transmission rod 22 to reciprocate synchronously, thereby driving the firing member to move. For example, when the motor assembly 121 is rotated in a first direction to move the rack assembly 125 along the longitudinal axis from the proximal end to the distal end, the firing member is entrained to move along the longitudinal axis from the proximal end to the distal end, thereby operating the end effector assembly 30 of the surgical instrument to complete a closing or firing operation to ultimately clamp, staple, and cut tissue. When the motor assembly 121 is rotated in the second direction to move the rack assembly 125 distally to proximally along the longitudinal axis, the firing member is caused to move distally to proximally along the longitudinal axis, thereby operating the end effector assembly 30 of the surgical instrument to perform a retraction, opening operation to release the clamped tissue.

In an alternative embodiment, as shown in fig. 7, the torque sensor 15 is sleeved on the output shafts of the worm assembly 122 and the motor assembly 121. In other alternative embodiments, the torque sensor 15 may also be mounted on the first transmission shaft 128.

Specifically, as shown in fig. 7, the handle assembly 10 further includes a frame 14 for mounting the driving mechanism 12, the frame 14 includes a first accommodating cavity 14a extending along a first direction, and a second accommodating cavity 14b and a third accommodating cavity 14c extending along a second direction, the first accommodating cavity 14a is communicated with the second accommodating cavity 14b, and the second accommodating cavity 14b is separated from the third accommodating cavity 14c by a partition wall 143. More specifically, the first direction extends co-directionally with the longitudinal axis and the second direction is perpendicular to the first direction. Specifically, the first accommodating cavity 14a is used for installing a rack assembly 125, and the rack assembly 125 is slidably connected in the first accommodating cavity 14a and connected with the transmission rod 22 outside the frame 14; the worm gear assembly 122 is disposed in the second accommodating cavity 14b, and the gear assembly 124 of the worm gear and worm transmission set and the gear rack transmission set are mounted in the second accommodating cavity 14b, wherein the worm gear assembly 122 extends along the second direction, and the gear assembly 124 and the worm gear assembly 123 are respectively connected to a first transmission shaft 128 extending along a third direction, wherein 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 an outer side surface of the third accommodating cavity 14c, and an output shaft of the motor assembly 121 extends in the second direction.

In an alternative embodiment, as shown in fig. 7, the end of the worm assembly 122 remote from the output shaft is rotatably connected to the frame 14. Specifically, an end of the worm assembly 122 away from the output shaft is formed as a cylindrical shaft end, a rotation hole is formed on the second side wall 142 of the frame 14, and the cylindrical shaft end of the worm assembly 122 is rotatably connected to the rotation hole. A limiting ring 122a is disposed at an end of the worm assembly 122 away from the output shaft, and the limiting ring 122a abuts against an inner side of the second sidewall 142 of the frame 14, so as to achieve axial limiting of the worm assembly 122. Specifically, the limit ring 122a is fixedly connected to the worm assembly 122, for example, fixed to the worm assembly 122 in a threaded manner or integrally formed with the limit ring 122a and the worm assembly 122.

Specifically, as shown in fig. 7, the frame 14 includes a first side wall 141 and a second side wall 142 that are disposed opposite to each other, a through hole is formed in the first side wall 141, the motor assembly 121 is mounted on an outer side of the first side wall 141, and an output shaft of the motor assembly 121 extends into the third accommodating cavity 14c of the frame 14 along the through hole and is connected to the worm assembly 122 through the torque sensor 15.

In order to reduce the friction of the worm assembly 122 acting on the partition wall 143, the worm assembly 122 is rotatably connected to the partition wall 143 by a third thrust bearing 129.

The transmission assembly is matched with the gear and rack transmission assembly by adopting the worm and gear transmission assembly, the transmission ratio of the transmission assembly is large, the output requirement on the torque of the motor assembly 121 is low, and the motor with smaller diameter is favorably selected. The worm gear and worm transmission set has self-locking performance, and is beneficial to the closure maintenance of the end effector of the surgical instrument after the closure and the locking when the firing movement of the firing component in the end effector is stopped, namely the firing component is kept locked at the stop position.

In one embodiment of the surgical instrument of the present invention, as shown in fig. 7, the transmission assembly further comprises a manual unlocking structure operable to trigger the transmission assembly to move the transmission rod 22 to the initial position when the motor assembly 121 is out of order or is forcibly stopped in the event of a power loss. Specifically, in an alternative embodiment, when the transmission assembly includes a worm gear and worm transmission set, the manual unlocking structure includes a connecting portion 122b located at an end portion of the worm assembly 122 on a side away from the motor assembly 121, and the connecting portion 122b is adapted to cooperate with a rotating wrench to rotate the rotating wrench in a first direction to rotate the worm assembly 122, and thus the rack assembly 125, to move toward the proximal end, so as to retract the firing member to the initial position. Specifically, the connecting portion 122b includes an insertion groove disposed at an end of the worm assembly 122, the insertion groove is rotationally connected to the rotary wrench, for example, the insertion groove is formed as an inner hexagonal groove, the rotary wrench is an inner hexagonal wrench, and the rotary wrench is inserted into the inner hexagonal groove to realize the reverse rotation of the worm rod assembly 122 and drive the rack assembly 125 to retract to the near side. In another optional embodiment, when the transmission assembly includes a rack-and-pinion transmission assembly, the manual unlocking structure includes an insertion groove disposed on an end portion of one side of the gear away from the motor assembly 121, the insertion groove is connected to the rotary wrench in a rotation-proof manner, and the rotary wrench is inserted into the insertion groove to realize reverse rotation of the gear and drive the rack to retract to the near side.

The handle assembly 10 further includes a position detecting device for detecting a position of the transmission rod 22 and an indicating device for indicating that the transmission rod 22 is located at the initial position, and the control unit controls the indicating device according to a detection signal of the position detecting device, wherein the indicating device is specifically an indicator light, an indicator sound or other indicating devices which are arranged outside the handle and can be easily sensed by an operator. When the actuator rod 22 is moved to the initial position, the control and indication device is activated, allowing the user to sense that the actuator rod 22 is retracted.

In an alternative embodiment, the position detection device is a contact switch mounted on a circuit board; the rack assembly 125 is provided with a protrusion structure, and when the rack assembly 125 is retracted to the proper position, the protrusion structure triggers the contact switch to act, so as to generate a detection signal, and the control unit detects that the rack assembly 125 is retracted to the proper position.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims (13)

1. A surgical instrument, comprising:

the handle assembly, the elongated body assembly and the end effector assembly are sequentially connected from the proximal end to the distal end; an end effector assembly for manipulating tissue, the handle assembly operable to provide a driving force to the end effector assembly, 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 preparation method is characterized in that,

the handle assembly comprises a driving mechanism and a force detection device;

the drive mechanism includes a motor assembly and a transmission assembly configured to be operably connected between the motor assembly and a drive rod of the elongate body assembly to convert torque output by the motor assembly into linear motion of the drive rod;

the force detection device comprises a torque sensor mounted on a transmission component of the transmission assembly for transmitting torque.

2. A surgical instrument as recited in claim 1, wherein: the force detection device further comprises a control unit, and the control unit determines the driving force applied to the end actuating assembly according to the detection signal of the torsion sensor.

3. A surgical instrument as recited in claim 1, wherein: the transmission assembly comprises at least one gear and rack transmission set, a rack of the gear and rack transmission set is connected with the transmission rod, and the torsion sensor is mounted on a rotating shaft of a gear of the gear and rack transmission set.

4. A surgical instrument as recited in claim 3, wherein: the gear rack transmission set is a straight gear rack transmission set or a helical gear rack transmission set.

5. A surgical instrument as recited in claim 4, wherein: the gear rack transmission set comprises a driving gear, a driven gear and a rack, the driving gear is connected to an output shaft of the firing driving motor, and the driving gear is in transmission connection with the rack through the driven gear; the torque sensor is arranged on a rotating shaft where the driving gear or the driven gear is located.

6. A surgical instrument as recited in claim 1, wherein: the transmission assembly comprises a gear rack transmission set and a worm gear transmission set, an output shaft of the motor assembly is connected with a worm assembly of the worm gear transmission set, and a worm gear assembly of the worm gear transmission set and a gear assembly of the gear rack transmission set are respectively connected to the first transmission shaft; the torque sensor is mounted on the worm assembly or the first transmission shaft.

7. A surgical instrument as recited in claim 6, wherein: the handle assembly comprises a frame, the frame comprises a first accommodating cavity extending along a first direction, and a second accommodating cavity and a third accommodating cavity extending along a second direction, the first accommodating cavity is communicated with the second accommodating cavity, and the second accommodating cavity is separated from the third accommodating cavity by a partition wall; the rack assembly is connected with the first accommodating cavity in a sliding mode, the worm and gear transmission group and the gear assembly of the gear and rack transmission group are installed in the second accommodating cavity, the torsion sensor is installed in the third accommodating cavity, and the motor assembly is installed on the outer side face of the third accommodating cavity.

8. A surgical instrument as recited in claim 7, wherein: the frame comprises a first side wall and a second side wall which are arranged oppositely, a through hole is formed in the first side wall, the motor is installed on the outer side of the first side wall, and the output shaft extends into a third containing cavity of the frame along the through hole and is connected with the end part of the worm assembly through the torsion sensor.

9. A surgical instrument as recited in claim 7, wherein: the worm assembly is rotatably coupled to the divider wall by a third thrust bearing.

10. A surgical instrument as recited in claim 1, wherein: the transmission assembly further includes a manual unlocking structure operable to trigger the transmission assembly to move the transmission rod to an initial position.

11. A surgical instrument as recited in claim 10, wherein: the manual unlocking structure comprises a connecting part which is arranged on the end part of one side of the transmission assembly far away from the motor assembly, and the connecting part is suitable for being matched with a rotary wrench to drive the transmission assembly to rotate.

12. A surgical instrument as recited in claim 11, wherein: the connecting part comprises an inserting groove arranged at the end part of the transmission component.

13. A surgical instrument as recited in claim 10, 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 a detection signal of the position detection device.

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