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," "third," and the like 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, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, directly connected, or indirectly connected through an intermediary, or may be in communication with the interior of 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 powered surgical instrument that is distal to the operator when operated, and "proximal/side" refers to the end/side of the powered surgical instrument that is proximal to the operator when operated.
The following is a specific embodiment of the powered surgical instrument. Generally, embodiments of the powered surgical instruments described herein are endoscopic surgical cutting anastomosis instruments. However, it should be noted that the powered surgical instrument may also be a non-endoscopic surgical cutting anastomosis instrument, such as an open powered surgical instrument for open surgery.
Specifically, fig. 1 illustrates an electrically powered surgical instrument 100 that includes a handle assembly 10, a rotator head assembly 40, an elongate body assembly 20, and an end effector assembly 30 that are sequentially connected from a proximal end to a distal end. Wherein the elongate body assembly 20 extends distally from a distal end of the rotary head assembly 40, a user operating the rotary head assembly 40 can rotate the elongate body assembly 20 and the end effector assembly 30 together about a longitudinal axis defined by the elongate body assembly 20. An end effector assembly 30 is operably mounted to the distal end of the elongate body assembly 20 for manipulating tissue to perform a particular surgical procedure, such as clamping, stapling/stapling, cutting, etc., of the tissue.
Referring to fig. 2 and 3, the end effector 30 includes a proximal body portion 30a and a distal effector portion 30b, with the proximal body portion 30a and the distal effector portion 30b being pivotally connected by a joint assembly 30 c. Distal actuating portion 30b includes a cartridge assembly 31 and an anvil assembly 32, and cartridge assembly 31 and anvil assembly 32 are relatively movable to close the jaws to grasp the tissue jaws. In one embodiment, the anvil assembly 32 is operable to pivot toward the cartridge assembly 31 until the jaws of the end effector assembly 30 are closed to grasp tissue, and the anvil assembly 32 is pivoted away from the cartridge assembly 31 until the jaws of the end effector assembly 30 are opened to release tissue. In an alternative embodiment, the cartridge assembly 31 of the end effector assembly 30 is operable to pivot the anvil assembly 32 until the jaws of the end effector assembly 30 are closed to clamp tissue, and the cartridge assembly 31 is operable to pivot away from the cartridge assembly 31 until the jaws of the end effector assembly 30 are opened to release tissue.
Specifically, as shown in FIGS. 2 and 3, the proximal body portion 30a of the end effector assembly 30 is removably attached to the distal end of the elongate body assembly 20, the proximal body portion 30a including an elongate outer tube 33, an inner tube 34 disposed within the outer tube 33, and a slidable firing member 35 disposed within the inner tube 34, the cartridge assembly 31 including a cartridge 310, a cartridge mount 311, and a longitudinally slidable sled 312 disposed within the cartridge 310 in the distal effector portion 30b of the end effector assembly 30, the proximal end of the firing member 35 being attached to the firing rod 21 within the elongate body assembly 20, the distal end of the firing member 35 abutting the sled 312 and being integrally slidable/movable in the longitudinal axis to perform a corresponding surgical procedure. For example, as firing member 35 is driven proximally to distally, a cutting and stapling operation is effected on the tissue.
Specifically, as shown in fig. 2, the joint assembly 30c includes a first joint member 37 and a second joint member 38, the first joint member 37 and the second joint member 38 are pivotally connected to the inner tube 34 by a pivot pin, and the cartridge base 311 is fixedly connected to the first joint member 37 and the second joint member 38. The proximal body portion 30a further includes an articulation link 36 slidably disposed within the inner tube 34, the proximal end of the articulation link 36 including a hook 36a, the distal end of the articulation link 36 acting upon a protrusion 37a on a knuckle 37 by engagement of the hook 36a with the articulation link 22 within the elongate body assembly 20, the protrusion 37a being spaced from the pivot axis, the linear movement of the articulation link 36 causing the articulation assembly 30c to pivot about the pivot pin, thereby causing the distal actuating portion 30b to flex relative to the proximal body portion 30 a.
Of course, other forms of end effector assemblies may be selected for different types of surgical procedures, as will be apparent to those skilled in the art. Also, the end effector assembly 30 may alternatively be removably coupled to the elongate body assembly 20 or may be non-removably coupled to the elongate body assembly 20.
As shown in fig. 1, 4-5, in one embodiment of the powered surgical instrument 100 of the present invention, at least a portion of the handle assembly 10 is grasped by an operator, who, by pushing a button, knob, or the like provided on the handle assembly 10, can manipulate the end effector assembly 30 of the powered surgical instrument 100 to perform closing, firing, retraction, and opening actions to complete clamping, stapling, cutting, and releasing of tissue (as will be described in greater detail below).
As shown in fig. 5, in one embodiment of the powered surgical instrument 100 of the present application, the handle assembly 10 includes a first portion 11a and a second portion 11b, the first portion 11a and the second portion 11b defining a receiving space for the handle assembly 10, and the power unit 60 is removably mounted in the receiving space as a reusable component that mates with the brand new or sterilized first portion 11a and second portion 11b during multiple operations, such that the costly power unit portion of the powered surgical instrument is reused, and, because the power unit 60 is entirely located inside the first portion 11a and the second portion 11b, it is isolated from the space outside the handle assembly 10, without contaminating the sterile environment of the operating room.
Specifically, in an alternative embodiment, the first portion 11a and the second portion 11b may be detachably connected as a non-reusable disposable by a snap connection, a fastener connection, or the like, wherein the first portion 11a is disposed to extend along a longitudinal axis to form the main body portion 10a of the handle assembly 10, and the elongate body assembly 20 is rotatably connected to the distal end of the first portion 11a by a swivel head assembly 40. The second portion 11b is generally inverted L-shaped with an open structure, a partial region thereof extending perpendicularly to the longitudinal axis or extending at an angle oblique to the longitudinal axis, forming a grip portion 10b of the handle assembly 10, and another partial region of the second portion 11b is formed as a connection transition zone for mating connection with the first portion 11 a. More specifically, as shown in fig. 5, at least one connection buckle is disposed at the connection transition region of the second portion 11b, and at least one connection bayonet is disposed at the first portion 11a, where the connection buckle and the connection bayonet are engaged to achieve a snap connection. It will be appreciated that the first portion 11a and the second portion 11b may be reused by performing sterilization treatment by a medical sterilization treatment process (sterilization means such as low temperature plasma or high temperature and high pressure).
Within the first portion 11a of the powered surgical instrument 100 of the present application, at least one set of transmission assemblies 13 is provided that are adapted to be operably engaged with at least one set of drive mechanisms of the power unit 60 to perform a particular surgical operation of the powered surgical instrument 100. For example, as shown in FIG. 4, in one embodiment of the powered surgical instrument 100 of the present application, a first transmission assembly 13 (firing transmission assembly) is disposed within the first portion 11a, the first transmission assembly 13 being adapted to perform closing, firing, retraction and opening operations on the end effector assembly 30 of the powered surgical instrument 100. Or in the alternative, the first portion 11a of the powered surgical instrument 100 of the present application may further be provided with a second transmission assembly 14 (a crimping transmission assembly), the second transmission assembly 14 being adapted to perform crimping operations on the end effector assembly 30 of the powered surgical instrument 100. The power unit 60 may also include corresponding drive mechanisms, such as a first drive mechanism 610 (firing drive mechanism) and a second drive mechanism 620 (crimping drive mechanism), the first and second drive mechanisms 610, 620 being mounted/received on a mounting frame 630, respectively. The first and second drive mechanisms 610, 620 are operably engageable with the first and second transmission assemblies 13, 14, respectively, to power movement of the first and second transmission assemblies 13, 14, respectively. It will of course be appreciated that in other alternative embodiments, the powered surgical instrument 100 may include only one set of transmission assemblies and drive mechanisms, or multiple sets of corresponding transmission assemblies and drive mechanisms, to address the needs of the surgical instrument for different surgical procedures.
As shown in FIG. 4, the elongate body assembly 20 is formed in an elongate tubular shape and includes an elongate body outer tube 23 defining a longitudinal axis and a support member 24, a majority of the support member 24 being located inside the elongate body outer tube 23, the distal end of the support member 24 extending beyond the distal outer side of the elongate body outer tube 23 and forming a tubular housing end of the same size as the diameter of the elongate body outer tube 23, a drive rod set being disposed within the elongate body assembly 20 for triggering the end effector assembly 30 to effect bending, jaw opening or closing and firing or retraction actions. In particular, as shown in FIGS. 2 and 4, in one embodiment, a firing bar 21 is disposed within the elongate body assembly 20, the distal end of the firing bar 21 being operatively coupled to the firing member 35 of the end effector assembly 30, the proximal end of the firing bar 21 being engaged with the drive train assembly 13 of the first portion 11a of the handle assembly 10. Disposed within the elongate body assembly 20 is also a turn link 22, the distal end of the turn link 22 being operatively engaged with the articulation link 36 of the end effector assembly 30, and the proximal end of the turn link 22 being engaged with the drive assembly 13 of the first portion 11a of the handle assembly 10. The firing bar 21 and the deflection link 22 are slidably supported on a support member 24, respectively. For example, the firing bar 21 is slidably coupled within the interior slide bore of the support member 24, the deflection link 22 is slidably coupled within the exterior slide bore of the support member 24, the distal end of the firing bar 21 is outboard of the distal tubular housing end of the support member 24, and the deflection link 22 is inboard of the distal tubular housing end of the support member 24.
The first transmission assembly 13 positioned in the first part 11a of the handle assembly 10 drives the firing bar 21 to linearly move along the longitudinal axis direction so as to drive the firing member 35 of the end effector assembly 30 to reciprocate, thereby realizing the closing and opening operations of the jaws of the end effector assembly 30 and the anastomosis and cutting operations of the tissues clamped in the jaws. The second transmission assembly 14, located within the first portion 11a of the handle assembly 10, is adapted to reciprocate the articulation link 36 of the end effector assembly 30 by driving the articulation link 22 in a linear motion along the longitudinal axis and thereby pivot the articulation assembly 30c about the proximal body portion 30 a. More specifically, the tubular housing end inner wall of the support member 24 is provided with a first limiting recess 24a (as shown in FIG. 20), and the proximal end of the inner tube 34 of the end effector assembly 30 includes an engagement tab 34a that cooperate to releasably engage the elongate body assembly 20 in a bayonet connection. After the inner tube 34 is engaged with the elongate body assembly 20, the deflection link 22 is snap-connected to a hinge link 36 within the end effector assembly 30, and the firing bar 21 is snap-connected to a firing member 35 of the end effector assembly 30.
The specific structure of the drive mechanisms 610,620 in the power unit 60 will be described in detail below with reference to the accompanying drawings. As shown in fig. 6-8, the first drive mechanism 610 includes a first motor 611 and a first drive assembly 612 coupled to the first motor 611 to convert rotational motion output by the first motor 611 into linear motion along a longitudinal axis. Specifically, as shown in fig. 6 and 7, the first motor 611 is mounted on a first side (lower side in fig. 6) of the mounting frame 630 such that the first motor 611 is integrally accommodated inside the grip portion 10b of the handle assembly 10, the first driving assembly 612 is located on a second side (upper side in fig. 6) of the mounting frame 630, and the first driving assembly 612 is at least partially mounted inside the mounting frame 630 such that the first driving assembly 612 is integrally located at a portion where the grip portion 10b of the handle assembly 10 is engaged with the main body portion 10 a. The first drive assembly 612 converts the rotational motion output by the first motor 611 into linear motion of the rack in a rack and pinion fashion, parallel to the longitudinal axis. As shown in detail in fig. 7 and 8, the first drive assembly 612 includes a first drive rack 613 slidably received on a mounting frame 630, the first drive rack 613 engaging the output shaft of the first motor 611 through a first drive gear set 614. The first drive gear set 614 includes a gear 614a (first drive gear) rigidly connected to the output shaft of the first motor 611, and a gear 614b (second drive gear) mounted to the shaft 614d and meshed with the gear 614a and the first drive rack 613, respectively. In other alternative embodiments, the first driving assembly 612 converts the rotational motion output by the first motor 611 into the rotational motion of the reduction gear in a geared manner, and is further in meshed connection with the gear set in the first portion.
Similarly, as shown in fig. 7 and 9, the second driving mechanism 620 includes a second motor 621 and a second driving assembly 622 coupled to the second motor 621 to convert the rotational motion output by the second motor 621 into a linear motion along the longitudinal axis. As shown in fig. 6, the second motor 621 is mounted on a first side (lower side in fig. 6) of the mounting frame 630 such that the second motor 621 is integrally accommodated inside the grip portion 10b of the handle assembly 10, the second driving assembly 622 is located on a second side (upper side in fig. 6) of the mounting frame 630, and the second driving assembly 622 is at least partially mounted inside the mounting frame 630 such that the second driving assembly 622 is integrally located at a portion where the grip portion 10b of the handle assembly 10 is engaged with the main body portion 10 a. Similarly, the second drive assembly 622 converts rotational movement of the second motor 621 into linear movement of the rack in a rack and pinion fashion, parallel to the longitudinal axis. As shown in detail in fig. 9, the second drive assembly 622 includes a second drive rack 623 slidably received on the mounting frame, the second drive rack 623 engaging the output shaft of the second motor 621 through a second drive gear set 624. The second driving gear set 624 includes a gear 624a (first driving gear) rigidly connected to the output shaft of the second motor 621, a gear 624b (second driving gear) engaged with the second driving rack 623, and a gear 624c (third driving gear) engaged with the gear 624a, and the gear 624b and the gear 624c are coaxially connected by a shaft 624 d. Because the end effector assembly 30 of the powered surgical instrument 100 is required to maintain smooth and slow motion while performing a bending operation, the second drive gear set 624 may be configured as a reduction gear to control the speed of longitudinal linear movement of the second drive rack 623, e.g., by combining gear 624b with gear 624c into a reduction gear set, e.g., by selecting gear 624c having a greater number of teeth than gear 624a and/or gear 624 b. In other alternative embodiments, the second driving unit 622 converts the rotational motion output by the second motor 621 into the rotational motion of the reduction gear in a geared manner, and is further in meshed connection with the gear set in the first portion.
13-17, The first portion 11a of the powered surgical instrument 100 of the present embodiment includes a first transmission assembly 13, the first transmission assembly 13 including a first transmission rack 132 rotatably engaged with the proximal end of the firing bar 21 of the elongate body assembly 20, the first transmission rack 132 operably engaged with a first drive rack 613 of the first drive assembly 612 of the power unit 60 via a first transmission gear set 133. Specifically, the first drive gear set 133 includes a gear 133a (first drive gear) and a gear 133b (second drive gear) coaxially connected, the gear 133b being operatively engaged with the first drive rack 132.
Similarly, the powered surgical instrument 100 of the present embodiment further includes a second transmission assembly 14 disposed within the first portion 11a thereof and including a second transmission rack 142 engaged with the turn link 22 of the elongate body assembly 20, the second transmission rack 142 being operatively engaged with a second drive rack 623 of a second drive assembly 622 of the power unit 60 via a second transmission gear set 143. As shown particularly in fig. 16, the second drive gear set 143 includes a gear 143a (first drive gear) and a gear 143b (second drive gear) coaxially connected, wherein the gear 143b is operatively engaged with the second drive rack 142 and the gear 143a is operatively engaged with the second drive rack 623 of the second drive assembly 620 of the power unit 60.
Further, the turn link 22 is coupled to the second drive rack 142 of the second drive assembly 14 via the transition assembly 18 to allow the turn link 22 to rotate relative to the second drive assembly 14. As shown in fig. 13 and 14, the transition assembly 18 includes a first transition rod 181 (proximal transition rod), a second transition rod 182 (distal transition rod), and a rolling bearing 183, where a proximal end of the curved connecting rod 22 is fixedly connected to the second transition rod 182, a proximal end of the second transition rod 182 is fixedly connected to an inner ring of the rolling bearing 183, a distal end of the first transition rod 181 is fixedly connected to an outer ring of the rolling bearing 183, and a proximal end of the first transition rod 181 is connected to the second driving rack 142. The first transition rod 181 and the second transmission rack 142 are kept fixed, and the bending connecting rod 22 reliably rotates when the rotary head 40 drives the elongated body assembly 20 to rotate relative to the handle assembly 10 by adopting the transition assembly 18.
Further, the mounting frame 630 has a receiving groove on an upper side thereof, and a side wall of the receiving groove is in communication with a partial region of the driving rack of the driving mechanism, and is adapted to receive at least a portion of the driving gear set 133 of the driving assembly, such as the first driving gear of the driving gear set of the driving assembly, to be operatively engaged with the driving rack of the driving assembly, thereby engaging the driving assembly with the driving assembly, when the power unit 60 is mounted in the receiving space formed by the first portion 11a and the second portion 11 b. Referring specifically to fig. 6, a first accommodating groove 631 is provided on the upper side of the mounting frame 630, and a side wall of the first accommodating groove 631 is in communication with a partial region of the first driving rack 613, and the first accommodating groove 631 is adapted to accommodate the gear 133a of the first driving gear set 133 of the first transmission assembly 13 when the power unit 60 is mounted in the accommodating space formed by the first portion 11a and the second portion 11b, so that the gear 133a is operatively engaged with the first driving rack 613 of the first driving assembly 612, thereby engaging the first transmission assembly 13 with the first driving assembly 612. Similarly, the upper side of the mounting frame 630 may further be provided with a second receiving groove 632, wherein a side wall of the second receiving groove 632 is in communication with a partial region of the second driving rack 623, and the second receiving groove 632 receives the gear 143a of the second driving gear set 143 of the second transmission assembly 14 when the power unit 60 is mounted in the receiving space formed by the first portion 11a and the second portion 11b, so that the gear 143a is operatively engaged with the second driving rack 623 of the second driving assembly 622, thereby engaging the second transmission assembly 14 with the second driving assembly 622.
As further shown in fig. 6, the power unit 60 further includes a power supply portion 65 for supplying electric power to the motors 611 and 621, and the power supply portion 65 may be configured as a rechargeable power storage power supply portion or a power supply portion with a replaceable battery. The power supply part 65 is mounted on a second circuit board 67, and the second circuit board 67 is mounted on the upper side of the mounting frame 630. The power unit 60 further includes a first circuit board 66 mounted on the second side of the mounting frame 630, the first circuit board 66 being disposed opposite to the power supply portion 65 with a first electrical connection portion 661 disposed on the first circuit board 66, and the first electrical connection portion 661 may be configured to include a first plug terminal mounted on the first circuit board 66. The first circuit board 66 serves as a general control circuit board for the electric surgical instrument 100, receives the detected electric signal transmission from the first portion 11a and the power unit 60, and controls the start and stop of the motors 611,621, and at the same time, can identify the number of times/type/status of use of the first portion 11a, etc. according to the electric signal transmitted from the electric device (such as a position sensor, etc.) in the first portion 11a, and prompts the user by sending out an alarm signal, etc. to prevent the reuse of the disposable portion.
The mounting frame 630 further includes a first signal detecting unit 671, as shown in fig. 15, where the first signal detecting unit 671 includes a first position sensor mounted on the second circuit board 67, and the first position sensor is configured to detect a movement position of the first driving rack 613, where the movement position may be an absolute position or a relative position. For example, the first position sensor may be configured as a proximity switch that emits an electrical signal when the first drive rack 613 reaches a first set position, such as an initial mating position of the first transmission assembly 13 with the first drive assembly 612. When the power unit 60 is mounted in the accommodating space, the power supply portion 65, the second electrical connection portion 690, and the first signal detection portion 671 are located in the area of the main body portion 10a of the handle assembly 10.
As shown in fig. 10, the power unit 60 further includes a housing 64, the mounting frame 630 is mounted inside the housing 64, the housing 64 has a first opening 641 in a region where the output end of the driving mechanism 610,620 is located, so that the gears 133a,143a of the driving gear sets 133,143 of the driving assemblies 13,14 in the first portion 11a are inserted into the receiving groove 631,632 along the first opening 641. The housing 64 has a second opening 642 in the region of the first electrical connection 661, a second electrical connection 690 for connecting the first electrical connection 661 in the power unit 60 is further provided in the first portion 11a of the powered surgical instrument 100, the second electrical connection 690 includes a second plug terminal mounted on the inner wall of the first portion 11a, and when the power unit 60 is mounted in the accommodating space, the second electrical connection 690 extends into the housing 64 along the second opening 682 to be electrically connected with the first electrical connection 661.
As further shown in fig. 6, the power unit 60 further includes a trigger signal receiving portion 680 mounted on the inside of the housing 64, the trigger signal receiving portion 680 including at least one push contact switch mounted on the third circuit board 68 for cooperating with at least one button or push button mounted on the second portion 11b to form a complete button switch for controlling the activation or deactivation of the firing drive mechanism or the motors 611,621 of the bending drive mechanism. The distal end face of the housing 64 facing the grip portion 10b is provided with a communication hole for communicating a button with a push contact switch.
Specifically, as shown in fig. 11, four buttons, that is, an advance button 681 on the upper side, a retreat button 682 on the lower side, a leftward turn button 683 on the left side, and a rightward turn button 684 on the right side, are provided on the second portion 11 b. When using the powered surgical instrument 100 to perform a bending operation, a user activates the left bend button 683 or the right bend button 684 while the end effector 30 of the powered surgical instrument 100 is held in the open position, enabling the distal end effector 30b of the end effector 30 to be bent a set angle relative to the proximal body portion 30 a. When using the powered surgical instrument 100 for a closing and firing operation, the operator activates the forward button 681 to close the jaws of the end effector assembly 30 and hold them closed for a first set period of time, e.g., 15s-20s, before activating the forward button 681 again to effect a firing action. After the powered surgical instrument 100 has completed the firing operation on the tissue, the user activates the retract button 682 to perform the operations of retracting and opening the end effector assembly 30.
As shown in fig. 15 and 16, a second signal detecting part for detecting the moving positions of the drive racks 132 and 142 is further provided in the first portion 11a, and the second signal detecting part includes four sets of position sensors mounted on the fourth circuit board 69, which are respectively a second position sensor 693 for detecting the initial position of the first drive rack 132 of the first drive assembly 13 (corresponding to the initial position of the firing bar 21 being not moved and the end effector 30 being in the jaw open state), a third position sensor 694 for detecting the first set position of the first drive rack 132 of the first drive assembly 13 (corresponding to the firing bar 21 being in the cocked position and the end effector 30 being in the jaw closed state), a fourth position sensor 695 for detecting the second set position of the first drive rack 132 of the first drive assembly 13 (corresponding to the firing bar 21 being in the completed position and the end effector 30 being in the jaw closed state), and a fifth position sensor 696 for detecting the initial position of the second drive rack 132 of the second drive assembly 14 (corresponding to the firing bar 21 being in the jaw closed state) being in the same direction as the extending direction of the extension position sensor 696 of the extension body of the fifth position sensor assembly. The sensor 693,694,695,696 is electrically connected to the second electrical connection 690, and transmits a detection signal thereof to the first circuit board 66 through the second electrical connection 690.
In one embodiment of the powered surgical instrument 100 of the present application, as shown in FIGS. 17, 18a, 18b, a mounting bumper 50 is included for engaging the distal end of the elongate body assembly 20 prior to loading the end effector assembly 30 to maintain the first transmission assembly 13 within the first portion 11a in an initial set position in which the firing bar 21 is in an unfired initial position and the deflection link 22 is in a position (non-deflected position) extending the end effector assembly 30 in the longitudinal axis direction.
As shown in fig. 17, 18a and 18b, the mounting safety 50 includes a main body 51 that can be inserted into the tubular housing end of the supporting member 24, an insertion hole 52 that is adapted to insert the firing rod 21 is provided in the main body 51 of the mounting safety 50, a first limiting structure for limiting the axial mounting position of the main body 51 is provided between the main body 51 and the supporting member 24, and a second limiting structure for limiting the axial relative position between the main body 51 and the firing rod 21 is provided between the main body 51 and the firing rod 21. By inserting the mounting bumper 50 into the distal end of the elongate body assembly 20, i.e., into engagement with the tubular housing of the support member 24, prior to loading the end effector assembly 30, the firing bar 21 is moved axially to a first set position by the first limiting structure defining an axially-oriented, engaged position of the mounting bumper 50 with the firing bar 21 after engagement by the second limiting structure, such that the first transmission assembly 13 in the first portion 11a is positioned to engage the first drive mechanism 610 in the power unit 60.
Specifically, as shown in fig. 20 and 21, the first limiting structure comprises at least one first limiting protrusion 511 arranged on the outer peripheral surface of the middle area of the main body part 51 of the mounting insurance 50, and a first limiting groove 24a correspondingly arranged on the inner wall of the tubular shell of the supporting member 24, wherein a second limiting groove 24b is arranged on the inner wall of the tubular shell of the supporting member 24 along the distance from the distal end surface to the first limiting groove 24a, and the first limiting protrusion 511 on the main body part 51 is axially slidably inserted into the first limiting groove 24a along the second limiting groove 24b to realize axial limiting. The first limiting groove 24a extends along the circumferential direction by a set angle, and the main body 51 of the installation safety 50 is rotated by a set angle to be abutted against the side wall of the first limiting groove 24a extending along the circumferential direction, so as to fix the circumferential position of the main body 51 and the supporting member 24.
As shown in fig. 20 and 21-23, the distal end of the firing rod 21 has a neck section 21a, the distal end side of the neck section 21a of the firing rod 21 is provided with a rotating flange 21b, the rotating flange 21b has a notch structure, the inner wall surface of the main body 51 is correspondingly provided with a second limiting protrusion 512, when the main body 51 is inserted into the distal end of the elongated body assembly 20, the second limiting protrusion 512 enters the neck section 21a along the notch of the rotating flange 21b and abuts against the proximal end surface of the neck section 21a, so that the axial positions of the main body 51 and the firing rod 21 are limited, and when the firing rod 21 deviates from the initial position, the second limiting protrusion 512 of the main body 51 pushes the firing rod 21 to move toward the handle assembly 10 until the initial position of the firing rod 21 is reached.
In order to facilitate the rotation of the main body 51, the mounting bumper 50 is provided with a pulling handle 53 on the outer side wall of the distal end, and the pulling handle 53 is integrally formed with the main body 51, and is formed into a sheet structure extending radially along the main body 51.
On the basis of the above embodiment, the installation guard 50 further includes an anti-disassembly structure, so that the installation guard 50 cannot be disassembled until the transmission assembly 13 is assembled with the driving mechanism of the power unit 60, thereby ensuring that the transmission assembly 13 is maintained at the initial set position when assembled with the driving mechanism. In this initial set position, the transmission assembly 13 is in an initial state adapted to engage the drive mechanism of the power unit 60.
As shown in fig. 24-28, the anti-disassembly structure of the mounting bumper 50 includes a limit groove 510, wherein the limit groove 510 is disposed on a side wall of the main body 51, extends to a proximal end surface of the main body 51, and defines an opening on the proximal end surface of the main body 51. Further, the anti-disassembly mechanism further includes a boss 220 disposed at the distal end of the bent link 22, the boss 220 protruding from the side of the bent link 22. The limit groove 510 is adapted to receive the boss 220 to limit circumferential movement of the mounting bumper 50 relative to the elongate body assembly 20.
The assembly of the mounting bumper 50 with the handle assembly 10 according to the embodiments of the present invention will be described in detail, wherein the mounting bumper 50 is mounted on the distal end of the elongate body assembly 20 of the handle assembly 10 in an inserting and rotating manner. When the mounting guard 50 is inserted into the distal end of the elongate body assembly 20, the mounting guard 50 is rotated, and the firing bar 21 is engaged with the insertion hole 52 of the mounting guard 50 by the second limiting structure. At this time, the boss 220 on the bent link 22 is aligned with the limit slot 510 on the mounting fuse 50 to facilitate the mating. The bent link 22 is then moved distally in the axial direction, so that the boss 220 slides from the opening on the end surface of the main body 51 into the limiting groove 510, and the boss 220 is clamped in the limiting groove 510 to circumferentially limit the mounting protector 50, preventing the mounting protector 50 from rotating, and the combined mounting protector 50 and bent link 22 are shown in fig. 25.
The boss 220 on the bending connecting rod 22 is clamped into the anti-rotation groove 510, so that the rotation of the installation insurance 50 can be effectively prevented, the firing bar 21 cannot be separated from the installation insurance 50 due to the fact that the installation insurance 50 cannot rotate, the operator cannot detach the installation insurance 50 before the power unit 60 is installed on the handle assembly 10, the firing bar 21 and the bending connecting rod 22 are kept at initial positions, and smooth assembly between the power unit 60 and the handle assembly 10 is ensured.
When the handle assembly 10 and the power unit 60 are mounted in place, the bent link 22 is operated to move proximally a distance such that the boss 220 is withdrawn from the limit slot 510, releasing the rotational restriction of the mounting bumper 50, allowing the user to detach the mounting bumper 50 from the handle assembly 10.
As an alternative embodiment, the groove wall of the limit groove 510 is provided with a damping protrusion 514, the boss 220 is provided with a damping groove 221, and when the boss 220 is inserted into the limit groove 510, the damping protrusion 514 is clamped into the damping groove 221. As shown in fig. 24, by the damping protrusion 514 being engaged into the damping groove 221, the force required for the disengagement of the boss 220 from the limit groove 510 can be increased, so that the boss 220 is prevented from being disengaged from the limit groove 510 in an abnormal state, and the stability of the connection of the installation bumper 50 and the bent link 22 can be increased. As an alternative embodiment, as shown in fig. 24, the damping protrusion 514 includes a damping surface located in the limiting groove 510, the damping surface is an arc surface, and the damping protrusion 514 is snapped into the damping groove 221 through the damping surface. The invention sets the damping surface as the cambered surface, which is beneficial to reducing the resistance force born by the damping bulge 514 when the damping bulge 514 is clamped into the damping groove 221, and is convenient for the damping bulge 514 to separate from the damping groove 221 when the bending connecting rod 22 is retracted.
As an alternative embodiment, as shown in fig. 25 and 27b, the wall surface of the bottom of the damping groove 221 is an arc surface that is concave, and the arc surface is attached to the damping surface. The embodiment of the invention is beneficial to increasing the contact area between the damping protrusion 514 and the damping groove 221 and the fitting degree at the contact position so as to improve the stability of the damping protrusion 514 in the damping groove 221.
As an alternative embodiment, two joints on the damping surface along the axial direction with the groove wall of the limit groove 510 are a first damping point 515 and a second damping point 516, where the first damping point 515 and the second damping point 516 are respectively abutted against the first damping groove wall and the second damping groove wall which are oppositely arranged on the damping groove 221. The first damping point 515 and the second damping point 516 are respectively abutted with the first damping groove wall and the second damping groove wall on the damping groove 221, and the corresponding abutting positions of the first damping point 515 and the second damping point 516 with the first damping groove wall and the second damping groove wall are respectively limited, so that the stability of the damping protrusion 514 when being limited in the damping groove 221 is improved, and the stability of the boss 220 arranged in the limiting groove 510 is further improved.
As an alternative embodiment, the bent connecting rod 22 is provided with an embedded groove 222, and the boss 220 is mounted in the embedded groove 222. As shown in fig. 27b, the embedded groove 222 provides the local limiting and mounting functions for the boss 220, so as to increase the structural stability of the boss 220 on the bent connecting rod 22, and meanwhile, avoid the boss 220 and the bent connecting rod 22 occupying extra space at the joint, thereby improving the structural compactness.
As an alternative embodiment, the embedded groove 222 includes a guiding groove wall 223, the guiding groove wall 223 is located at a distal end of the embedded groove 222, a guiding inclined plane 224 is formed on a top surface of the guiding groove wall 223, and the guiding inclined plane 224 extends to a distal side surface of the guiding groove wall 223. As shown in FIG. 27b, the guide ramp 224 may act as a guide when the bent link 22 snaps into the mounting bumper 50 or end effector 30, and may facilitate precise assembly of the bent link 22 with the mounting bumper 50 or end effector 30.
26, 27B, 28, the bent link 22 further includes a hooking portion 22a at a front end of the embedded groove 222 for hooking on a bent actuator of the end effector assembly 30 when the elongated body assembly 20 is connected with the end effector assembly 30. In the embodiment of the invention, the hooking portion 22a is hooked on the bending actuator to drive the bending actuator to bend, and the embedded groove 222 located behind the hooking portion 22a avoids the bending actuator to prevent position interference.
As an alternative embodiment, the handle assembly 10 is removably mated with the power unit 60, and when the handle assembly 10 and the power unit 60 are in place, the bent link 22 is operated to move proximally a distance such that the boss 220 is withdrawn from the limit slot 510, releasing the circumferential rotational limit of the elongate body assembly 20 on the mounting bumper 50, so that the mounting bumper 50 may be removed. In the embodiment of the present application, after the handle assembly 10 and the power unit 60 are installed in place, the bent connecting rod 22 is operated to move proximally for a certain distance to drive the boss 220 to withdraw from the limiting groove 510, so that the installation bumper 50 is rotated and disassembled, and the disassembling process is simple and reliable.
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.