CN111374725A - End effector driving device for surgical instrument and surgical instrument - Google Patents

Abstract

The invention discloses an end effector driving device for a surgical instrument, which comprises a transmission mechanism, a control mechanism and a motor assembly, wherein the transmission mechanism comprises a rack assembly and a gear assembly; the first gear is driven by the motor assembly, and the rack drives the end effector to open and close; the control mechanism includes a movable linkage that moves the first gear to move the first gear out of engagement with the rack. The end effector driving device comprises the connecting piece, and an operator can manually control the connecting piece to enable the rack assembly to move backwards, so that the nail abutting seat can pivot smoothly to open the end effector smoothly, and the safety of the operation is improved.

Description

End effector driving device for surgical instrument and surgical instrument

Technical Field

The present invention relates to the field of surgical instruments.

Background

As is well known, the endocavity cutting stapler has been commonly used in the abdominal cavity and other intracavitary operations.

Existing endocutters generally include a handle assembly, a shaft assembly extending longitudinally from the handle assembly, and an end effector disposed at a distal end of the shaft assembly. The stapler also includes a trigger and motor assembly extending downwardly from the bottom of the operating assembly. The trigger can be manipulated to open and close the end effector. The end effector includes a cartridge seat for operably supporting a staple cartridge therein and an anvil pivotally connected to the cartridge seat, the anvil being selectively movable between an open position and a closed position. Operating the trigger, the shaft assembly may be advanced such that the staple holder pivots to close the end effector. Likewise, operation of the trigger may also retract the shaft assembly, thereby causing the staple holder to pivot and open the end effector. When the end effector is positioned in a human body cavity and closed, if the trigger or the motor assembly fails, the nail abutting seat cannot pivot, so that the end effector cannot be opened, and the treated tissue cannot be separated from the end effector, so that the end effector cannot be moved out of the human body cavity, and the surgical risk is increased.

Disclosure of Invention

The invention aims to provide an end effector driving device for a surgical instrument and the surgical instrument, wherein the end effector can be opened manually.

In order to achieve the purpose, the invention is realized by the following technical scheme: an end effector drive for a surgical instrument comprising a drive mechanism, a control mechanism, and a motor assembly, the drive mechanism comprising a rack assembly and a gear assembly, the rack assembly comprising a rack, the gear assembly comprising a first gear, the first gear engaged with the rack; the first gear is driven by the motor assembly, and the rack drives the end effector to open and close; the control mechanism comprises a movable connector, and the connector moves to drive the first gear to move so that the first gear is disengaged from the rack.

Further, the control mechanism further comprises a knob assembly, and the knob assembly comprises a toothed piece; the toothed member is engaged with the rack, or the toothed member is controllably engaged with the rack.

Further, the motions are all linear movements.

Further, the gear assembly further comprises a first rod, and the first gear is sleeved on the first rod; the connecting piece is provided with a first clamping hole, and the first rod piece penetrates through the first clamping hole.

Further, the connecting piece comprises a first flat plate part, the first flat plate part comprises the first clamping hole, and the first flat plate part is positioned on one side of the first gear; the gear assembly further comprises a first spring sleeved on the first rod piece, and the first spring is located on the other side of the first gear.

Further, the connecting piece further comprises a second flat plate part and a third flat plate part which connects the first flat plate part and the second flat plate part, the second flat plate part comprises a second clamping hole, and the second clamping hole is a strip-shaped hole; the control mechanism further comprises a knob assembly, the knob assembly comprises a convex column, and the convex column is located in the second clamping hole.

Further, the control mechanism further comprises a knob assembly, the knob assembly comprises a main body portion, the main body portion is provided with an accommodating groove, and the knob assembly further comprises a stop pin, and part of the stop pin is accommodated in the accommodating groove.

Furthermore, the stop pin comprises a protruding part extending out of the accommodating groove, and the protruding part is provided with a first guide inclined surface.

Further, the main body portion includes a base portion and a first protrusion protruding from a side surface of the base portion, and the receiving groove is disposed on the first protrusion.

Further, the surgical instrument comprises a body, wherein the body is provided with an accommodating cavity, a first notch and a second notch are arranged at the edge of the accommodating cavity, the accommodating groove is accommodated in the accommodating cavity, and the first notch is provided with a second guide inclined plane.

Furthermore, the knob assembly further comprises a third spring sleeved on the stop pin, and the third spring is contained in the containing groove.

Furthermore, the control mechanism further comprises a knob assembly, wherein the knob assembly comprises a convex column, and the convex column is movably connected with the connecting piece.

Further, the connecting piece further comprises a second flat plate part and a middle part connecting the first flat plate part and the second flat plate part, and the control mechanism further comprises a button, wherein the button is connected with the second flat plate part.

Further, the control mechanism further comprises a knob assembly, the knob assembly further comprises a second gear and a handle portion, the handle portion and the second gear rotate synchronously, and the second gear is meshed with the rack.

Further, the knob assembly further comprises a second rod, and the handle portion and the second gear are both mounted on the second rod.

Further, the knob assembly includes a scale bar.

Further, the end effector comprises a staple cartridge seat and a staple abutting seat which is pivotally connected with the staple cartridge seat; the rack assembly further comprises a pressing ring arranged at one end of the rack, the surgical instrument comprises a sleeve, the pressing ring is connected to one end of the sleeve, and the other end of the sleeve is movably connected to the nail abutting seat; the surgical instrument further includes a body and a second spring disposed about the sleeve, at least a portion of the second spring being positioned between the compression ring and the body.

Further, the motor assembly comprises a motor and a third gear, the third gear is fixed to an output shaft of the motor, and the third gear is meshed with the first gear.

Further, the gear assembly further comprises a first rod, and the first gear is sleeved on the first rod; the connecting piece is provided with a first clamping hole, and the first rod piece penetrates through the first clamping hole.

Further, the connecting piece comprises a first flat plate part, the first flat plate part comprises the first clamping hole, and the first flat plate part is positioned on one side of the first gear; the gear assembly further comprises a first spring sleeved on the first rod piece, and the first spring is located on the other side of the first gear.

Further, the connecting piece also comprises a second flat plate part, the second flat plate part comprises a second clamping hole, and the second clamping hole is a strip-shaped hole; the knob assembly further comprises a convex column, and the convex column is located in the second clamping hole.

Further, the connecting piece further comprises a third flat plate part connecting the first flat plate part and the second flat plate part, the first flat plate part extends along the horizontal direction, the third flat plate part is formed by bending downwards from the edge of the first flat plate part, and the second flat plate part is formed by bending rightwards from the side edge of the third flat plate part.

Further, the knob assembly further includes a body portion to which the toothed member is mounted.

Furthermore, the main body part is provided with an accommodating groove, and the knob assembly further comprises a stop pin partially accommodated in the accommodating groove.

Furthermore, the stop pin comprises a protruding part extending out of the accommodating groove, and the protruding part is provided with a first guide inclined surface.

Further, the surgical instrument comprises a body, wherein the body is provided with an accommodating cavity, a first notch and a second notch are arranged at the edge of the accommodating cavity, the accommodating groove is accommodated in the accommodating cavity, and the first notch is provided with a second guide inclined plane.

Further, the knob assembly further comprises a convex column, and the convex column is movably connected with the connecting piece.

Further, the knob assembly further comprises a handle portion, the toothed part is a second gear, the handle portion and the second gear rotate synchronously, and the second gear is meshed with the rack.

Further, the knob assembly further comprises a second rod, and the handle portion and the second gear are both mounted on the second rod.

Further, the main body portion includes a base portion and a first protrusion protruding from a side surface of the base portion, and the receiving groove is disposed on the first protrusion.

Furthermore, the knob assembly further comprises a third spring sleeved on the stop pin, and the third spring is contained in the containing groove.

Furthermore, the accommodating groove comprises an intermediate section, a first section and a second section, the first section and the second section are located at two ends of the intermediate section, a first stop wall and a second stop wall are arranged at two ends of the intermediate section, the stop pin comprises a strip-shaped body part and a stop block protruding from the body part in the transverse direction, one side of the stop block abuts against the first stop wall, the other side of the stop block abuts against one end of the third spring, and the other end of the third spring abuts against the second stop wall.

Furthermore, the main body part is provided with a through groove penetrating through the top surface and the bottom surface of the main body part, the through groove comprises two opposite side walls, the knob assembly further comprises a second rod piece located in the through groove, the toothed piece is provided with a through hole, and the second rod piece penetrates through the through hole.

Further, the toothed member includes a horizontal portion, an inclined portion extending obliquely downward from the horizontal portion, and a toothed portion extending downward from the inclined portion, and the through hole is located in the toothed portion.

Further, the surgical instrument includes a body provided with a through slot; the knob assembly rotates to rotate the toothed member to a position where the toothed member can pass through the through slot to abut and engage the rack.

Further, the connecting piece further comprises a second flat plate part, and the control mechanism further comprises a button, wherein the button is connected with the second flat plate part.

Furthermore, the connecting piece still includes third flat board portion and fourth flat board portion that connects first flat board portion with the second flat board portion, first flat board portion extends along the horizontal direction, third flat board portion from the right edge bending type downwards of first flat board portion forms, fourth flat board portion from the side edge bending type rightwards of third flat board portion forms, the second flat board portion from the side edge bending type of fourth flat board portion forms.

Further, the knob assembly includes a scale bar, and the surgical instrument includes a body to which the scale bar is mounted.

The invention also provides a surgical instrument comprising an operating assembly, an end effector, and a shaft assembly extending longitudinally from the operating assembly, wherein the operating assembly comprises a body and an end effector driving device mounted on the body, the shaft assembly comprises a mandrel and a sleeve sleeved on the mandrel, one end of the sleeve is movably connected to the end effector, the other end of the sleeve is connected to the end effector driving device, and the end effector driving device is the end effector driving device as described in any one of the above items.

Further, the end effector drive device further comprises a trigger; the motor assembly comprises a motor; the trigger controls the motor to rotate in a first direction or a second direction, the first direction being opposite to the second direction.

Further, the end effector drive apparatus further comprises a circuit board assembly, the trigger and the motor assembly both being electrically connected to the circuit board assembly; the trigger controls the motor to rotate in the first direction or the second direction through the circuit board assembly.

Furthermore, the circuit board assembly comprises a circuit board, a detection unit, a processor and a control circuit unit, wherein the detection unit, the processor and the control circuit unit are arranged on the circuit board; the detection unit is used for detecting a signal output by the trigger and inputting the signal to the processor, the processor analyzes the signal and then transmits the signal to the control circuit unit, and the control circuit unit transmits the signal to the motor.

The invention has the beneficial effects that: the end effector driving device comprises the connecting piece and the knob assembly, an operator can manually control the connecting piece and the knob assembly to enable the rack assembly to move backwards, so that the nail abutting seat can pivot smoothly to open the end effector smoothly, and the safety and the reliability of the operation are improved.

Drawings

FIG. 1 is a schematic diagram of a stapler according to a first embodiment of the invention;

FIG. 2 is a schematic diagram of the circuit board assembly of FIG. 1;

FIG. 3 is a schematic view of a portion of the stapler of FIG. 1;

FIG. 4 is a partial schematic view of the stapler of FIG. 3;

FIG. 5 is a partial schematic view of the stapler of FIG. 3;

FIG. 6 is a partial schematic view of the stapler of FIG. 4;

FIG. 7 is a partial schematic view of the stapler of FIG. 6;

FIG. 8 is an exploded perspective view of a portion of the stapler shown in FIG. 7;

FIG. 9 is a schematic structural view of the connector shown in FIG. 8;

FIG. 10 is a schematic view of the button of FIG. 8;

FIG. 11 is a schematic structural view of a stapler according to a second embodiment of the invention;

FIG. 12 is a partial schematic view of the stapler of FIG. 11;

FIG. 13 is a partial schematic view of the stapler of FIG. 11;

FIG. 14 is a partial schematic view of the stapler of FIG. 12;

FIG. 15 is a partial schematic view of the stapler of FIG. 14;

FIG. 16 is a schematic structural view of the connector shown in FIG. 15;

FIG. 17 is a schematic structural view of the knob assembly shown in FIG. 15;

FIG. 18 is a schematic view of the knob assembly of FIG. 17 from another perspective;

FIG. 19 is a schematic view of the knob assembly of FIG. 18 from another perspective;

FIG. 20 is an exploded perspective view of the knob assembly shown in FIG. 19;

FIG. 21 is a schematic view of the toothed member of FIG. 20;

FIG. 22 is a partial schematic view of the stapler of FIG. 12.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. The meaning of "a number" is at least one.

The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

As shown in fig. 1 to 10, a stapler 100 according to a first embodiment of the present invention includes a handle assembly 10, a shaft assembly 60 longitudinally extending from the handle assembly 10, and an end effector 70 disposed at one end of the shaft assembly 60. The end effector 70 includes a cartridge seat 72 and an anvil seat 71 pivotally coupled to the cartridge seat 72, the cartridge seat 72 for operably supporting a staple cartridge (not shown) therein, the anvil seat 71 being selectively movable between an open position and a closed position. The operating assembly 10 includes a body 11 and an end effector drive mounted to the body 11. The end effector drive arrangement includes a transmission mechanism 20 and a control mechanism 30. The transmission mechanism 20 includes a rack assembly 21 and a gear assembly 24. The control mechanism 30 includes a knob assembly 50, a connector 40, and a button 36 connected to the connector 40. The end effector driving device further comprises a circuit board assembly 101, a trigger 90 and a motor assembly 80, wherein the trigger 90 and the motor assembly 80 are connected with the circuit board assembly 101 through conducting wires. The circuit board assembly 101 includes a circuit board 102, and a detection unit, a processor and a control circuit unit mounted on the circuit board 102. The motor assembly 80 includes a third gear 81 and a motor 82, the third gear 81 is fixed to an output shaft of the motor 82, and the third gear 81 is connected to the transmission mechanism 20. The trigger 90 is operable to open and close the end effector 70, the trigger 90 includes two buttons (not numbered), when an operator presses one of the buttons, the detection unit in the circuit board assembly 101 detects an input signal released by the button and inputs the input signal to the processor, the processor analyzes the input signal and transmits the signal to the control circuit unit, the control circuit unit transmits the signal to the motor 82, and the motor 82 controls the third gear 81 to rotate forward; when the operator presses another key, the detection unit in the circuit board assembly 101 detects the input signal and inputs the signal to the processor, the processor analyzes the signal and transmits the signal to the control circuit unit, the control circuit unit transmits the signal to the motor 82, and the motor 82 controls the third gear 81 to rotate reversely. The third gear 81 drives operation of the gear train 20, and the gear train 20 may advance or retract the shaft assembly 60, thereby causing the anvil 71 to pivot to close or open the end effector 70. An end effector 70 is attached to a distal end of the shaft assembly 60. The terms "proximal", "posterior", and "distal", "anterior" are used herein with respect to a clinician manipulating the operating assembly 10 of the stapler 100. The term "proximal" refers to a portion closer to the clinician, "posterior" refers to a direction closer to the clinician, the term "distal" refers to a portion further from the clinician, and "anterior" refers to a direction further from the clinician. That is, operating assembly 10 is proximal and end effector 70 is distal, as the proximal end of a component is shown relatively close to one end of operating assembly 10 and the distal end is shown relatively close to one end of end effector 70.

As shown in fig. 5 to 8, the rack assembly 21 includes a rack 22 and a pressing ring 23 disposed at one end of the rack 22. The rack 22 includes a first tooth portion 221 and a second tooth portion 222 which are disposed adjacently, and a plane of the first tooth portion 221 is perpendicular to a plane of the second tooth portion 222. The gear assembly 24 includes a first rod 25, a first gear 26 sleeved on the first rod 25, and a first spring 27, wherein the first spring 27 is abutted against one side of the first gear 26. The body 11 is provided with an upper supporting wall 14 and a lower supporting wall 15 which are oppositely arranged, two ends of the first rod 25 are respectively arranged on the upper supporting wall 14 and the lower supporting wall 15, one side of the first spring 27 is abutted against the lower supporting wall 15, the other side is abutted against the first gear 26, and the first gear 26 is meshed with the rack 22. The shaft assembly 60 includes a core 61 and a sleeve 62 disposed around the core 61, and the sleeve 62 includes a first end 63 connected to the rack assembly 21 and a second end 65 connected to the end effector 70. The outer wall of the first end 63 of the sleeve 62 is provided with a groove 64, the inner wall of the press ring 23 is provided with a rib 231, the groove 64 and the rib 231 are matched to assemble the sleeve 62 and the press ring 23 together, and the second end 65 of the sleeve 62 is movably connected to the nail abutting seat 71. The sleeve 62 is driven by the pressing ring 23 to move forward or backward, when the sleeve 62 moves forward, the second end portion 65 of the sleeve 62 drives the nail abutting seat 71 to rotate downward to achieve closing, so that the end effector 70 is in a closed state, and when the sleeve 62 moves backward, the second end portion 65 of the sleeve 62 drives the nail abutting seat 71 to rotate upward to achieve opening, so that the end effector 70 is in an open state. The body 11 is provided with a first accommodating groove 111 for accommodating the first end portion 63 of the sleeve 62, the first accommodating groove 111 includes an insertion hole 121 penetrating through the front end wall 12, the first end portion 63 of the sleeve 62 is inserted into the first accommodating groove 111 from the insertion hole 121, the press ring 23 is sleeved on the first end portion 63, and the first end portion 63 and the press ring 23 are both accommodated in the first accommodating groove 111. The operating assembly 10 further includes a second spring 120 sleeved on the first end portion 63, one end of the second spring 120 abuts against the pressing ring 23, and the other end of the second spring 120 is clamped on the front end wall 12, i.e. a portion of the second spring 120 is accommodated in the first accommodating groove 111, and the other portion of the second spring passes through the insertion hole 121 and is exposed out of the first accommodating groove 111. When the end effector 70 is opened, one end of the pressing ring 23 abuts against the second spring 120, and the other end of the pressing ring 23 abuts against the rear end wall 13 of the first housing groove 111. The firing trigger 90 may operate the circuit board assembly 101 to operate the motor assembly 80, and the third gear 81 in the motor assembly 80 may drive the first gear 26 to rotate in a first direction or in a second direction, wherein the first direction is opposite to the second direction. When the first gear 26 rotates around the first direction, the first gear 26 drives the rack assembly 21 to move forward; when the first gear 26 rotates in a second direction opposite to the first direction, the rack assembly 21 is moved backward by the first gear 26. When the rack assembly 21 moves forward, the rack assembly 21 drives the sleeve 62 to move forward, and the second end portion 65 of the sleeve 62 drives the nail abutting seat 71 to rotate downward to realize closing, so that the end effector 70 is in a closed state. At this time, the press ring 23 has moved forward, one end of the press ring 23 is pressed against the second spring 120 to contract, and the other end of the press ring 23 is separated from the rear end wall 13 of the first housing groove 111 by a distance, that is, a stroke by which the press ring 23 and the sleeve 62 move forward. When the rack assembly 21 moves backward, the rack assembly 21 drives the sleeve 62 to move backward, and the second end portion 65 drives the nail abutting seat 71 to rotate upward to open, so that the end effector 70 is in an open state.

As shown in fig. 9 and 10, the connecting member 40 includes a first flat plate portion 41, a second flat plate portion 44, and a third flat plate portion 42 and a fourth flat plate portion 43 connecting the first flat plate portion 41 and the second flat plate portion 44. The first flat plate portion 41 extends in the horizontal direction, the third flat plate portion 42 is formed by bending downward from the right edge of the first flat plate portion 41, the fourth flat plate portion 43 is formed by bending rightward from the side edge of the third flat plate portion 42, and the second flat plate portion 44 is formed by bending from the side edge of the fourth flat plate portion 43. The horizontal, up, down, right, etc. directions are all based on fig. 1 and 3. The first plate portion 41 is provided with a first holding hole 410, the first rod 25 is inserted into the first holding hole 410, the first plate portion 41 is located between the first gear 26 and the upper support wall 14, and the first plate portion 41 abuts against the first gear 26. The button 36 is connected to the second flat plate portion 44, and specifically, the button 36 is provided with a mounting groove 360, and the second flat plate portion 44 is mounted in the mounting groove 360. When the button 36 is pressed downwards, the connecting member 40 can be driven to move downwards, so that the first flat plate portion 41 is pressed downwards to press the first gear 26, the first gear 26 is separated from the first tooth portion 221 of the rack 22, after the first gear 26 is separated from the first tooth portion 221 of the rack 22, the press ring 23 moves backwards under the driving of the elastic force of the second spring 120, the sleeve 62 moves backwards under the driving of the press ring 23, at this time, the nail abutting seat 71 rotates upwards, the end effector 70 is in an open state, that is, the rack assembly 21 drives the sleeve 62 to move backwards, and further drives the nail abutting seat 71 to rotate upwards to open, so that the end effector 70 is opened.

Referring to fig. 7, the knob assembly 50 includes a second rod 51, a second gear 52 mounted on the second rod 51, and a handle 53, the second gear 52 is mounted at one end of the second rod 51, the second gear 52 and the second rod 51 are in interference fit, the second gear 52 is engaged with the second tooth 222 of the rack 22, and the handle 53 is mounted at the other end of the second rod 51. Thus, the handle portion 53 rotates in synchronization with the second gear 52. The operator rotates the handle 53 to rotate the second rod 51, so as to rotate the second gear 52, thereby driving the rack 22 to move forward or backward. The knob assembly 50 further includes a bearing 54 sleeved on the second rod 51, the bearing 54 is located between the second gear 52 and the handle portion 53, and the bearing 54 is used for supporting the second rod 51, so that the second rod 51 can rotate smoothly under the driving of the handle portion 53 or the second gear 222. The knob assembly 50 further includes a scale bar 55 mounted on the body 11, the scale bar 55 is disposed corresponding to the handle portion 53, when the handle portion 53 rotates within a certain range, an intersection point always exists between the handle portion 53 and the scale bar 55, and the intersection point changes along with the rotation of the handle portion 53, that is, the change of the intersection point between the handle portion 53 and the scale bar 55 is used to indicate the moving distance of the rack assembly 21. When the trigger 90 and the motor assembly 80 drive the rack assembly 21 to move by driving the first gear 26 to rotate, the rack assembly 21 drives the second gear 52 to rotate, and the second gear 52 drives the handle portion 53 to rotate through the second rod 51. The operator can determine the distance the rack assembly 21 has moved by the change in the scale indicated on the scale bar 55 as the handle portion 53 is rotated, thereby determining the open or closed state of the end effector 70.

When the trigger 90, the circuit board assembly 101 and the motor assembly 80 cannot effectively drive the first gear 26 to rotate so as to open the end effector 70, an operator may press the button 36 downward, the button 36 drives the connecting member 40 to move downward, so that the first flat plate portion 41 presses the first gear 26 downward, the first gear 26 is separated from the rack 22, the rack assembly 21 moves backward under the driving of the second spring 120, the rack assembly 21 drives the sleeve 62 to move backward, at this time, the second end portion 65 of the sleeve 62 drives the nail abutting seat 71 to rotate upward, and the end effector 70 is in an open state. Meanwhile, the second tooth portion 222 of the rack 22 of the rack assembly 21 drives the second gear 52 to rotate, and the second gear 52 drives the handle portion 53 to rotate through the second rod 51. The operator can judge the distance the rack assembly 21 moves backward by the scale change indicated on the scale bar 55 when the handle portion 53 is rotated. If the backward movement distance of the rack assembly 21 does not meet the requirement, the operator can manually rotate the handle 53 to drive the second gear 52 to rotate, that is, the operator rotates the handle 53 clockwise, the handle 53 drives the second rod 51 to rotate clockwise, the second rod 51 drives the second gear 52 to rotate clockwise, and the second gear 52 drives the rack assembly 21 to continue moving backward. In this embodiment, the clockwise direction and the counterclockwise direction are based on fig. 1 and 3.

When the trigger 90, circuit board assembly 101, and motor assembly 80 are not effective to drive the rotation of the first gear 26 to close the end effector 70, the operator may manually close the end effector 70 by: when the button 36 is pressed downwards, the button 36 drives the connecting member 40 to move downwards, so that the first flat plate portion 41 presses the first gear 26 downwards, the first gear 26 is separated from the rack 22, at this time, an operator can manually rotate the handle portion 53 to drive the second gear 52 to rotate, that is, the operator rotates the handle portion 53 in the counterclockwise direction, the handle portion 53 drives the second rod 51 to rotate counterclockwise, the second rod 51 drives the second gear 52 to rotate counterclockwise, and the second gear 52 drives the rack assembly 21 to move forwards.

As shown in fig. 11 to 22, a stapler 100 according to a second embodiment of the present invention includes a handle assembly 10, a shaft assembly 60 longitudinally extending from the handle assembly 10, and an end effector 70 disposed at one end of the shaft assembly 60. The end effector 70 includes a cartridge seat 72 and an anvil seat 71 pivotally coupled to the cartridge seat 72, the cartridge seat 72 for operably supporting a staple cartridge (not shown) therein, the anvil seat 71 being selectively movable between an open position and a closed position. The operating assembly 10 includes a body 11 and an end effector drive mounted to the body 11. The end effector drive arrangement includes a transmission mechanism 20 and a control mechanism 30. The transmission mechanism 20 includes a rack assembly 21 and a gear assembly 24. The control mechanism 30 includes a knob assembly 50 and a link 40. The end effector drive further includes a circuit board assembly (not shown), a trigger (not shown), and a motor assembly 80, both the trigger and the motor assembly 80 being connected to the circuit board assembly via conductive traces. The circuit board assembly comprises a circuit board, a detection unit, a processor and a control circuit unit, wherein the detection unit, the processor and the control circuit unit are installed on the circuit board. The motor unit 80 includes a third gear 81 and a motor (not shown), the third gear 81 is fixed to an output shaft of the motor, and the third gear 81 is connected to the transmission mechanism 20. The trigger can be manipulated to open and close the end effector 70, the trigger includes two buttons, when an operator presses one of the buttons, the detection unit in the circuit board assembly detects an input signal released by the button and inputs the input signal to the processor, the processor analyzes the input signal and transmits the signal to the control circuit unit, the control circuit unit transmits the signal to the motor, and the motor controls the third gear 81 to rotate forward; when the operator presses another key, the detection unit in the circuit board assembly detects an input signal and inputs the input signal to the processor, the processor analyzes the input signal and transmits the signal to the control circuit unit, the control circuit unit transmits the signal to the motor, and the motor controls the third gear 81 to rotate reversely. The structures and the operating principles of the circuit board assembly, the trigger and the motor assembly are the same as those of the first embodiment. The third gear 81 drives operation of the gear train 20, and the gear train 20 may advance or retract the shaft assembly 60, thereby causing the anvil 71 to pivot to close or open the end effector 70. The operating assembly 10 further includes a knob housing 59 that houses the knob assembly 50, the knob assembly 50 being rotatable within the knob housing 59. An end effector 70 is attached to a distal end of the shaft assembly 60. The terms "proximal", "posterior", and "distal", "anterior" are used herein with respect to a clinician manipulating the operating assembly 10 of the stapler 100. The term "proximal" refers to a portion closer to the clinician, "posterior" refers to a direction closer to the clinician, the term "distal" refers to a portion further from the clinician, and "anterior" refers to a direction further from the clinician. That is, operating assembly 10 is proximal and end effector 70 is distal, as the proximal end of a component is shown relatively close to one end of operating assembly 10 and the distal end is shown relatively close to one end of end effector 70. In this embodiment, both the clockwise direction and the counterclockwise direction are based on fig. 11 and 12.

Referring to fig. 13 to 14, the rack assembly 21 includes a rack 22 and a pressing ring 23 disposed at one end of the rack 22. The gear assembly 24 includes a first rod 25, a first gear 26 sleeved on the first rod 25, and a first spring 27, wherein the first spring 27 is abutted against one side of the first gear 26. The body 11 is provided with an upper supporting wall 14 and a lower supporting wall 15 which are oppositely arranged, and two ends of the first rod 25 are respectively arranged on the upper supporting wall 14 and the lower supporting wall 15. The first spring 27 abuts on one side against the lower support wall 15 and on the other side against the first gear 26, the first gear 26 being engaged with the rack 22. The shaft assembly 60 comprises a core shaft 61 and a sleeve 62 sleeved outside the core shaft 61, the sleeve 62 comprises a first end 63 connected to the press ring 23 and a second end 65 connected to the end effector 70, a groove 64 is formed in the outer wall of the first end 63 of the sleeve 62, a rib 231 is formed in the inner wall of the press ring 23, the groove 64 and the rib 231 are matched to enable the sleeve 62 and the press ring 23 to be assembled together, and the second end 65 of the sleeve 62 is movably connected to the nail abutting seat 71. The sleeve 62 is driven by the pressing ring 23 to move forward or backward, when the sleeve 62 moves forward, the second end portion 65 of the sleeve 62 drives the nail abutting seat 71 to rotate downward to achieve closing, so that the end effector 70 is in a closed state, and when the sleeve 62 moves backward, the second end portion 65 of the sleeve 62 drives the nail abutting seat 71 to rotate upward to achieve opening, so that the end effector 70 is in an open state. The body 11 is provided with a first accommodating groove 111 for accommodating the first end portion 63 of the sleeve 62, the first accommodating groove 111 includes an insertion hole 121 penetrating through the front end wall 12, the first end portion 63 of the sleeve 62 is inserted into the first accommodating groove 111 from the insertion hole 121, the press ring 23 is sleeved on the first end portion 63, and the first end portion 63 and the press ring 23 are both accommodated in the first accommodating groove 111. The operating assembly 10 further includes a second spring 120 sleeved on the first end portion 63, one end of the second spring 120 abuts against the pressing ring 23, and the other end of the second spring 120 is clamped on the front end wall 12, i.e. a portion of the second spring 120 is accommodated in the first accommodating groove 111, and the other portion of the second spring passes through the insertion hole 121 and is exposed out of the first accommodating groove 111. When the end effector 70 is opened, one end of the pressing ring 23 abuts against the second spring 120, and the other end of the pressing ring 23 abuts against the rear end wall 13 of the first housing groove 111. The firing trigger may operate the circuit board assembly to operate the motor assembly 80, and the third gear 81 in the motor assembly 80 may drive the first gear 26 to rotate in a first direction or in a second direction, wherein the first direction is opposite to the second direction. When the first gear 26 rotates around the first direction, the first gear 26 drives the rack assembly 21 to move forward; when the first gear 26 rotates in a second direction opposite to the first direction, the rack assembly 21 is moved backward by the first gear 26. When the rack assembly 21 moves forward, the rack assembly 21 drives the sleeve 62 to move forward, and the second end portion 65 of the sleeve 62 drives the nail abutting seat 71 to rotate downward to realize closing, so that the end effector 70 is in a closed state. At this time, the press ring 23 has moved forward, one end of the press ring 23 is pressed against the second spring 120 to contract, and the other end of the press ring 23 is separated from the rear end wall 13 of the first housing groove 111 by a distance, that is, a stroke by which the press ring 23 and the sleeve 62 move forward. When the rack assembly 21 moves backward, the rack assembly 21 drives the sleeve 62 to move backward, and the second end portion 65 drives the nail abutting seat 71 to rotate upward to open, so that the end effector 70 is in an open state.

As shown in fig. 15 to 22, the connecting member 40 includes a first flat plate portion 41, a second flat plate portion 43, and a third flat plate portion 45 connecting the first flat plate portion 41 and the second flat plate portion 43. The first flat plate portion 41 extends in the horizontal direction, the third flat plate portion 45 is formed by bending downward from the edge of the first flat plate portion 41, and the second flat plate portion 43 is formed by bending rightward from the side edge of the third flat plate portion 45. In this embodiment, the horizontal, up, down, right, etc. directions are based on fig. 11 and 12. The first plate portion 41 is provided with a first holding hole 42, the first rod 25 is inserted into the first holding hole 42, the first plate portion 41 is located between the first gear 26 and the upper support wall 14, and the first plate portion 41 abuts against the first gear 26. The second flat plate portion 43 is provided with a second holding hole 44, and the second holding hole 44 is a strip-shaped hole. The knob assembly 50 includes a main body 51 and a toothed member 58 mounted on the main body 51, the main body 51 has a protrusion 514, and the protrusion 514 is disposed through the second retaining hole 44. The main body 51 includes a base 511, a first protrusion 512 protruding from one side surface of the base 511, and a second protrusion 513 protruding from the other side surface of the base 511, and the first protrusion 512 is provided with a second receiving groove 52. The knob assembly 50 comprises a stop pin 56, and the stop pin 56 is partially accommodated in the second accommodating groove 52; the stop pin 56 further includes a protrusion 563 extending out of the second receiving groove 52, and the protrusion 563 is provided with a first guiding slope 564. The body 11 is provided with a receiving cavity 16 corresponding to the first protrusion 512, the first notch 17 and the second notch 18 are adjacently disposed at the edge of the receiving cavity 16, the protrusion 563 is located in the first notch 17, the first notch 17 is provided with a second guiding inclined plane 171 corresponding to the first guiding inclined plane 564, and the second guiding inclined plane 171 is disposed adjacent to the second notch 18. First guide ramp 564 cooperates with second guide ramp 171 to facilitate movement of tab 563 from within first notch 17 into second notch 18. When the knob assembly 50 rotates counterclockwise, the protruding portion 563 of the stop pin 56 rotates from the first notch 17 into the second notch 18, the protruding pillar 514 of the knob assembly 50 drives the second plate portion 43 to move downward, and the second plate portion 43 drives the first plate portion 41 to move downward. In this embodiment, the counterclockwise direction is based on fig. 11 and 12. The first flat plate portion 41 presses the first gear 26 downwards to separate the first gear 26 from the rack 22, after the first gear 26 is separated from the rack 22, the pressing ring 23 moves backwards under the driving of the elastic force of the second spring 120, the sleeve 62 moves backwards under the driving of the pressing ring 23, at this time, the nail abutting seat 71 rotates upwards, the end effector 70 is in an open state, that is, the rack assembly 21 drives the sleeve 62 to move backwards, and then drives the nail abutting seat 71 to rotate upwards to open, so that the end effector 70 is opened.

As shown in fig. 20 to 22, the knob assembly 50 further includes a third spring 57 sleeved on the stop pin 56. The second receiving cavity 52 includes a middle section 523, and a first section 521 and a second section 522 located at two ends of the middle section 523, wherein the width of the middle section 523 is greater than the widths of the first section 521 and the second section 522, and a first stopping wall 524 and a second stopping wall 525 are disposed at two ends of the middle section 523. The stop pin 56 includes an elongated body 561 and a stop 562 protruding from two lateral sides of the body 561, one side of the stop 562 abuts against the first stop wall 524, the other side of the stop 562 abuts against one end of the third spring 57, and the other end of the third spring 57 abuts against the second stop wall 525. The protrusion 563 of the stop pin 56 extends from the first segment 521 of the second receiving groove 52 under the action of the third spring 57, and when the knob assembly 50 rotates in the counterclockwise direction, the third spring 57 abuts against the stop 562 so that the protrusion 563 can move from the first notch 17 into the second notch 18. The body 51 has a through groove 53 that penetrates the base 511, the first protrusion 512, and the second protrusion 513, and the through groove 53 has opposite side walls 54. The knob assembly 50 further includes a second shaft 55 mounted in the through slot 53, a toothed member 58 mounted to the second shaft 55, the toothed member 58 being rotatable about the second shaft 55 within the through slot 53. The toothed member 58 includes a horizontal portion 581, a slope portion 582 extending obliquely downward from the horizontal portion 581, and a toothed portion 583 extending downward from the slope portion 582, the toothed portion 583 is provided with a through hole 584, and the second rod member 55 is inserted into the through hole 584 and has both ends attached to the opposite side walls 54 of the through groove 53. The body 11 is provided with a through slot 19 corresponding to the rack 22, and the tooth-shaped portion 583 can pass through the through slot 19 to abut against and mesh with the rack 22. When the knob assembly 50 is rotated counterclockwise, the toothed member 58 rotates counterclockwise with the knob assembly 50. When the protrusion 563 moves from within the first notch 17 into the second notch 18, the through slot 53 is aligned with the through slot 19, and the toothed element 58 is rotatable about the second rod 55 within the through slot 53 and the through slot 19, thereby effecting engagement of the toothed element 58 with the rack 22 under control of the knob assembly 50. The toothed member 58 rotates around the second rod 55 in the through groove 53 and the through groove 19 (the rotating direction is the direction in which the horizontal portion 581 is away from the second protrusion 513), the toothed portion 583 passes through the through groove 19 to abut against and engage with the rack 22, and at this time, if the toothed member 58 continues to rotate in the above direction, the rack assembly 21 moves forward by the toothed portion 583.

When the trigger 90, the circuit board assembly 101 and the motor assembly 80 cannot effectively drive the first gear 26 to rotate so as to open the end effector 70, the operator may rotate the knob assembly 50 counterclockwise, the protruding portion 563 of the stop pin 56 rotates into the second notch 18 from the first notch 17, the protruding pillar 514 of the knob assembly 50 drives the second flat plate portion 43 to move downward, the second flat plate portion 43 drives the first flat plate portion 41 to move downward, the first flat plate portion 41 presses the first gear 26 downward, so that the first gear 26 is separated from the rack 22, after the first gear 26 is separated from the rack 22, the press ring 23 moves backward under the driving of the elastic force of the second spring 120, the sleeve 62 moves backward under the driving of the press ring 23, at this time, the nail abutting seat 71 rotates upward, and the end effector 70 is in an open state.

When the trigger 90, the circuit board assembly 101 and the motor assembly 80 cannot effectively drive the first gear 26 to rotate so as to close the end effector 70, the operator may rotate the knob assembly 50 counterclockwise, the protruding portion 563 of the stop pin 56 rotates from the first notch 17 into the second notch 18, the protruding column 514 of the knob assembly 50 drives the second flat plate portion 43 to move downward, the second flat plate portion 43 drives the first flat plate portion 41 to move downward, and the first flat plate portion 41 presses the first gear 26 downward, so that the first gear 26 is separated from the rack 22; the toothed member 58 rotates counterclockwise with the knob assembly 50, when the protrusion 563 moves from the first notch 17 to the second notch 18, the through groove 53 is aligned with the through groove 19, the toothed member 58 rotates around the second rod 55 in the through groove 53 and the through groove 19 (the rotating direction is the direction in which the horizontal portion 581 is away from the second protrusion 513), the toothed portion 583 passes through the through groove 19 to abut against and engage with the rack 22, at this time, if the toothed member 58 continues to rotate in the above direction, the rack assembly 21 moves forward under the driving of the toothed portion 583, the sleeve 62 moves forward under the driving of the pressing ring 23 of the rack assembly 21, at this time, the nail abutting seat 71 rotates downward, and the end effector 70 is in a closed state.

The present invention further provides a stapler 100, which comprises an operating assembly 10, an end effector 70, and a shaft assembly 60 extending longitudinally from the operating assembly 10, wherein the operating assembly 10 comprises a body 11 and an end effector driving device installed on the body 11, the shaft assembly 60 comprises a core shaft 61 and a sleeve 62 sleeved on the core shaft 61, one end of the sleeve 62 is movably connected to the end effector 70, and the other end of the sleeve 62 is connected to the end effector driving device.

In summary, the end effector driving apparatus of the present stapler 100 includes a connecting member 40 and a knob assembly 50. When the trigger 90, the circuit board assembly 101 or the motor assembly 80 fails and the rack assembly 21 cannot move backwards, the operator can control the gear assembly 24 to disengage from the rack assembly 21 by driving the connecting member 40 to move downwards, so that the rack assembly 21 moves backwards under the driving of the elastic force of the second spring 120, and the nail abutting seat 71 can pivot to open the end effector 70. Further, when the trigger 90, the circuit board assembly 101 or the motor assembly 80 fails to work and the rack assembly 21 cannot move forward, the operator can drive the rack assembly 21 to move forward by manually controlling the connecting member 40 and the knob assembly 50, so that the nail abutting seat 71 can be pivoted to close the end effector 70, and the safety and reliability of the operation are further improved.

Although the embodiment of the present invention has been shown and described, it is understood that the above embodiment is illustrative and not restrictive, and that those skilled in the art may make changes, modifications, substitutions and alterations to the above embodiment without departing from the scope of the present invention, and all such changes, modifications, substitutions and alterations are intended to be within the scope of the present invention.

Claims (43)

1. An end effector drive for a surgical instrument comprising a drive mechanism, a control mechanism, and a motor assembly, the drive mechanism comprising a rack assembly and a gear assembly, the rack assembly comprising a rack, the gear assembly comprising a first gear, the first gear engaged with the rack; the first gear is driven by the motor assembly, and the rack drives the end effector to open and close; the method is characterized in that: the control mechanism comprises a movable connector, and the connector moves to drive the first gear to move so that the first gear is disengaged from the rack.

2. An end effector drive arrangement for a surgical instrument as recited in claim 1, wherein: the control mechanism further comprises a knob assembly, and the knob assembly comprises a toothed piece; the toothed member is engaged with the rack, or the toothed member is controllably engaged with the rack.

3. An end effector drive arrangement for a surgical instrument as claimed in either of claims 1 and 2, wherein: the motions are all linear movements.

4. An end effector drive arrangement for a surgical instrument as recited in claim 1, wherein: the gear assembly further comprises a first rod, and the first gear is sleeved on the first rod; the connecting piece is provided with a first clamping hole, and the first rod piece penetrates through the first clamping hole.

5. An end effector drive arrangement for a surgical instrument as recited in claim 4, wherein: the connecting piece comprises a first flat plate part, the first flat plate part comprises the first clamping hole, and the first flat plate part is positioned on one side of the first gear; the gear assembly further comprises a first spring sleeved on the first rod piece, and the first spring is located on the other side of the first gear.

6. An end effector drive arrangement for a surgical instrument as recited in claim 5, wherein: the connecting piece further comprises a second flat plate part and a third flat plate part which connects the first flat plate part and the second flat plate part, the second flat plate part comprises a second clamping hole, and the second clamping hole is a strip-shaped hole; the control mechanism further comprises a knob assembly, the knob assembly comprises a convex column, and the convex column is located in the second clamping hole.

7. An end effector drive arrangement for a surgical instrument as recited in claim 1, wherein: the control mechanism further comprises a knob assembly, the knob assembly comprises a main body portion, an accommodating groove is formed in the main body portion, and the knob assembly further comprises a stop pin which is partially accommodated in the accommodating groove.

8. An end effector drive arrangement for a surgical instrument as recited in claim 7, wherein: the stop pin comprises a protruding part extending out of the containing groove, and the protruding part is provided with a first guide inclined plane.

9. An end effector drive arrangement for a surgical instrument as recited in claim 8, wherein: the main body part comprises a base part and a first convex part protruding from one side surface of the base part, and the accommodating groove is formed in the first convex part.

10. An end effector drive arrangement for a surgical instrument as recited in claim 7, wherein: the surgical instrument comprises a body, wherein the body is provided with an accommodating cavity, a first notch and a second notch are arranged at the edge of the accommodating cavity, an accommodating groove is accommodated in the accommodating cavity, and the first notch is provided with a second guide inclined plane.

11. An end effector drive arrangement for a surgical instrument as recited in claim 7, wherein: the knob assembly further comprises a third spring sleeved on the stop pin, and the third spring is contained in the containing groove.

12. An end effector drive arrangement for a surgical instrument as recited in claim 1, wherein: the control mechanism further comprises a knob assembly, wherein the knob assembly comprises a convex column, and the convex column is movably connected with the connecting piece.

13. An end effector drive arrangement for a surgical instrument as recited in claim 5, wherein: the connecting piece further comprises a second flat plate part and a middle part connecting the first flat plate part and the second flat plate part, and the control mechanism further comprises a button, and the button is connected with the second flat plate part.

14. An end effector drive arrangement for a surgical instrument as recited in claim 1, wherein: the control mechanism further comprises a knob assembly, the knob assembly further comprises a second gear and a handle portion, the handle portion and the second gear rotate synchronously, and the second gear is meshed with the rack.

15. An end effector drive arrangement for a surgical instrument as recited in claim 14, wherein: the knob assembly further comprises a second rod, and the handle portion and the second gear are both mounted on the second rod.

16. An end effector drive arrangement for a surgical instrument as recited in claim 14, wherein: the knob assembly includes a scale bar.

17. An end effector drive arrangement for a surgical instrument as claimed in either of claims 1 and 2, wherein: the end effector comprises a nail bin seat and a nail abutting seat which is pivotally connected with the nail bin seat; the rack assembly further comprises a pressing ring arranged at one end of the rack, the surgical instrument comprises a sleeve, the pressing ring is connected to one end of the sleeve, and the other end of the sleeve is movably connected to the nail abutting seat; the surgical instrument further includes a body and a second spring disposed about the sleeve, at least a portion of the second spring being positioned between the compression ring and the body.

18. An end effector drive arrangement for a surgical instrument as claimed in either of claims 1 and 2, wherein: the motor assembly comprises a motor and a third gear, the third gear is fixed on an output shaft of the motor, and the third gear is meshed with the first gear.

19. An end effector drive arrangement for a surgical instrument as recited in claim 2, wherein: the gear assembly further comprises a first rod, and the first gear is sleeved on the first rod; the connecting piece is provided with a first clamping hole, and the first rod piece penetrates through the first clamping hole.

20. An end effector drive arrangement for a surgical instrument as recited in claim 19, wherein: the connecting piece comprises a first flat plate part, the first flat plate part comprises the first clamping hole, and the first flat plate part is positioned on one side of the first gear; the gear assembly further comprises a first spring sleeved on the first rod piece, and the first spring is located on the other side of the first gear.

21. An end effector drive arrangement for a surgical instrument as recited in claim 20, wherein: the connecting piece further comprises a second flat plate part, the second flat plate part comprises a second clamping hole, and the second clamping hole is a strip-shaped hole; the knob assembly further comprises a convex column, and the convex column is located in the second clamping hole.

22. An end effector drive arrangement for a surgical instrument as recited in claim 21, wherein: the connecting piece further comprises a third flat plate part which is connected with the first flat plate part and the second flat plate part, the first flat plate part extends along the horizontal direction, the third flat plate part is formed by downwards bending the edge of the first flat plate part, and the second flat plate part is formed by rightwards bending the side edge of the third flat plate part.

23. An end effector drive arrangement for a surgical instrument as recited in claim 2, wherein: the knob assembly further includes a body portion to which the toothed member is mounted.

24. An end effector drive arrangement for a surgical instrument as recited in claim 23, wherein: the main body part is provided with an accommodating groove, and the knob assembly further comprises a stop pin partially accommodated in the accommodating groove.

25. An end effector drive arrangement for a surgical instrument as recited in claim 24, wherein: the stop pin comprises a protruding part extending out of the containing groove, and the protruding part is provided with a first guide inclined plane.

26. An end effector drive arrangement for a surgical instrument as recited in claim 24, wherein: the surgical instrument comprises a body, wherein the body is provided with an accommodating cavity, a first notch and a second notch are arranged at the edge of the accommodating cavity, an accommodating groove is accommodated in the accommodating cavity, and the first notch is provided with a second guide inclined plane.

27. An end effector drive arrangement for a surgical instrument as recited in claim 2, wherein: the knob assembly further comprises a convex column which is movably connected with the connecting piece.

28. An end effector drive arrangement for a surgical instrument as recited in claim 2, wherein: the knob assembly further comprises a handle portion, the toothed part is a second gear, the handle portion and the second gear rotate synchronously, and the second gear is meshed with the rack.

29. An end effector drive arrangement for a surgical instrument as recited in claim 28, wherein: the knob assembly further comprises a second rod, and the handle portion and the second gear are both mounted on the second rod.

30. An end effector drive arrangement for a surgical instrument as recited in claim 24, wherein: the main body part comprises a base part and a first convex part protruding from one side surface of the base part, and the accommodating groove is formed in the first convex part.

31. An end effector drive arrangement for a surgical instrument as recited in claim 24, wherein: the knob assembly further comprises a third spring sleeved on the stop pin, and the third spring is contained in the containing groove.

32. An end effector drive arrangement for a surgical instrument as recited in claim 31, wherein: the accommodating groove comprises an intermediate section, a first section and a second section, wherein the first section and the second section are located at two ends of the intermediate section, a first stopping wall and a second stopping wall are arranged at two ends of the intermediate section, the stopping pin comprises a long-strip-shaped body part and a stop block protruding from the body part transversely, one side of the stop block abuts against the first stopping wall, the other side of the stop block abuts against one end of the third spring, and the other end of the third spring abuts against the second stopping wall.

33. An end effector drive arrangement for a surgical instrument as recited in claim 23, wherein: the knob assembly comprises a knob assembly and a main body part, wherein the knob assembly comprises a knob body and a tooth part, the knob body is provided with a through groove penetrating through the top surface and the bottom surface of the main body part, the through groove comprises two opposite side walls, the knob assembly further comprises a second rod piece located in the through groove, the tooth part is provided with a through hole, and the second rod piece penetrates through the through hole.

34. An end effector drive arrangement for a surgical instrument as recited in claim 33, wherein: the toothed part comprises a horizontal part, an inclined part and a toothed part, wherein the inclined part extends downwards from the horizontal part in an inclined mode, the toothed part extends downwards from the inclined part, and the through hole is located in the toothed part.

35. An end effector drive arrangement for a surgical instrument as recited in claim 2, wherein: the surgical instrument includes a body provided with a through slot; the knob assembly rotates to rotate the toothed member to a position where the toothed member can pass through the through slot to abut and engage the rack.

36. An end effector drive arrangement for a surgical instrument as recited in claim 20, wherein: the connecting piece further comprises a second flat plate part, and the control mechanism further comprises a button, wherein the button is connected with the second flat plate part.

37. An end effector drive arrangement for a surgical instrument as recited in claim 36, wherein: the connecting piece further comprises a third flat plate part and a fourth flat plate part which are connected with the first flat plate part and the second flat plate part, the first flat plate part extends along the horizontal direction, the third flat plate part is formed by downwards bending the right edge of the first flat plate part, the fourth flat plate part is formed by rightwards bending the side edge of the third flat plate part, and the second flat plate part is formed by bending the side edge of the fourth flat plate part.

38. An end effector drive arrangement for a surgical instrument as recited in claim 2, wherein: the knob assembly includes a scale bar, and the surgical instrument includes a body to which the scale bar is mounted.

39. A surgical instrument comprising a handle assembly, an end effector, and a shaft assembly extending longitudinally from the handle assembly, the handle assembly comprising a body and an end effector driver mounted to the body, the shaft assembly comprising a core shaft and a sleeve disposed about the core shaft, one end of the sleeve being movably coupled to the end effector and the other end of the sleeve being coupled to the end effector driver, the surgical instrument comprising: the end effector drive device is according to any one of claims 1-18.

40. A surgical instrument comprising a handle assembly, an end effector, and a shaft assembly extending longitudinally from the handle assembly, the handle assembly comprising a body and an end effector driver mounted to the body, the shaft assembly comprising a core shaft and a sleeve disposed about the core shaft, one end of the sleeve being movably coupled to the end effector and the other end of the sleeve being coupled to the end effector driver, the surgical instrument comprising: the end effector drive device is as claimed in any one of claims 2, 19-38.

41. The surgical instrument of claim 40, wherein: the end effector drive device further comprises a trigger; the motor assembly comprises a motor; the trigger controls the motor to rotate in a first direction or a second direction, the first direction being opposite to the second direction.

42. The surgical instrument of claim 41, wherein: the end effector drive apparatus further comprises a circuit board assembly, the trigger and the motor assembly both being electrically connected to the circuit board assembly; the trigger controls the motor to rotate in the first direction or the second direction through the circuit board assembly.

43. The surgical instrument of claim 42, wherein: the circuit board assembly comprises a circuit board, a detection unit, a processor and a control circuit unit, wherein the detection unit, the processor and the control circuit unit are arranged on the circuit board; the detection unit is used for detecting a signal output by the trigger and inputting the signal to the processor, the processor analyzes the signal and then transmits the signal to the control circuit unit, and the control circuit unit transmits the signal to the motor.

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