Surgical robot and surgical instrument

Abstract

The invention provides a surgical robot and a surgical instrument. The surgical instrument comprises a wire transmission structure and an instrument tail end, wherein the wire transmission structure comprises a base and n transmission modules, each transmission module comprises at least one tail end driving shaft, two traction bodies and two guide wheels, each guide wheel comprises a wire groove for accommodating the corresponding traction body, and the wire groove comprises a wire groove rotating surface, an entry tangency point and a departure tangency point; and the included angles formed by the traction bodies defined by the tail end driving shafts and the entry tangency points and the rotating surfaces of the wire grooves are 0-0.2 degree, and the projections of all the traction bodies at the departure tangency points on the proximal end are ordered in the circumferential arrangement sequence of corresponding through holes. Due to the arrangement, the wire transmission structure of the surgical instrument can reduce or eliminate friction resistance between the wire grooves and the traction bodies through fewer guide wheels, the traction bodies cannot be mutually overlapped andscratched, the transmission efficiency of the wire transmission structure of the surgical instrument is improved, and the service life of the surgical instrument is prolonged.

Description

technical field [0001] The invention relates to the technical field of surgical instruments, in particular to a surgical robot and surgical instruments. Background technique [0002] In recent years, with the application and development of robot-related technologies, especially the development of computing technology, the role of medical surgical robots in clinical practice has attracted more and more attention. Among them, the minimally invasive surgical robot system can reduce the physical labor of doctors during the operation through interventional therapy, and at the same time achieve the purpose of precise surgery, so that patients have less trauma, less blood loss, less postoperative infection, and faster postoperative recovery. The design of the surgical instruments used in the surgical robot directly determines the success or failure of the minimally invasive surgical robot system, and the performance of surgical instruments is a key factor affecting the performance ...

AI Technical Summary

Problems solved by technology

[0005] The object of the present invention is to provide a surgical robot and a surgical instrument to solve one or more of the problems of the existing surgical instruments, such as the large deflection angle between the guide wheel groove and at least one steel wire, and the cross wear between the steel wires. indivual

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