Surgical instrument, slave operation equipment and surgical robot

Abstract

The present invention provides a surgical instrument, a slave operation device using the surgical instrument, and a surgical robot having the slave operation device, the surgical instrument comprisingan end effector and a drive device, the drive device comprising a first drive unit and a second drive unit, the driving device comprises a first driving unit, a second driving unit, a third driving unit and a pitching mechanism, wherein the first driving unit and the second driving unit respectively control a first pair of cables and a second pair of cables to control opening, closing and yawingmovement of an end effector; and the third driving unit drives the pitching mechanism to move along a straight line, so that the lengths of the first pair of cables and the second pair of cables in the driving device are changed simultaneously to control the pitching motion of the end effector.

Description

technical field [0001] The invention relates to the field of medical instruments, in particular to a surgical instrument, a slave operating device using the surgical instrument, and a surgical robot with the slave operating device. Background technique [0002] Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopy and thoracoscopy and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. [0003] With the advancement of science and technology, robotic technology for minimally invasive surgery has gradually matured and been widely used. A minimally invasive surgical robot usually includes a main operation console and a slave operation device. The master operation console is used to send control commands to the slave operation device according to the doctor's operation to con...

AI Technical Summary

Problems solved by technology

[0005] However, the yaw, opening and closing, and pitching motions of the end effector are controlled by two sets of different driving cables, which increases the complexity of the structure of the end effector, which is not conducive to making the volume of the end effector smaller, and the end effector's A smaller volume can make the end effector adapt to more application scenarios, for example, the end effector can enter smaller human cavity, or make the surgical incision smaller

However, the existing end effector drive devices cannot manipulate the same set of drive cables to control the opening and closing, yaw and opening and closing movements of the end effector.

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