Surgical instrument and surgical robot

Abstract

An embodiment of the invention discloses a surgical instrument and a surgical robot. The surgical instrument comprises a driven mechanism configured to be connected with a driving unit and an end effector connected with the driven mechanism, and is characterized by further comprising a movable element rotationally connected with the end effector, the driven mechanism comprises a first mechanism and a second mechanism, the first mechanism drives the movable element to rotate under the action of the driving unit, the second mechanism drives the end effector to rotate relative to the movable element under the action of the driving unit, and when the movable element rotates, the end effector rotates along with the movable element, and the first mechanism and the second mechanism are both made of rigid materials. The surgical instrument is high in transmission efficiency and high in structural rigidity.

Description

technical field

[0001] Embodiments of the present invention relate to the field of medical instruments, and in particular, to a surgical instrument and a surgical robot. Background technique

[0002] In recent years, the application of surgical robots in clinical operations has attracted more and more attention. A surgical robot includes a console and an operating arm. The manipulator arm includes a surgical instrument at an end, and an instrument drive unit operatively connected to the surgical instrument for actuating the surgical instrument. The surgical instrument includes a driven mechanism connected with the instrument driving unit, and an end effector connected with the driven mechanism. The instrument drive unit drives the driven mechanism, and then drives the end effector to perform surgical operations in the human body instead of human hands. Commonly, the end effector is configured as, for example, a clamp or the like.

[0003] The driven mechanisms of existin...

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