Parallel movement mechanism, surgical instrument and surgical robot

Abstract

The invention discloses a parallel movement mechanism, a surgical instrument and a surgical robot. The parallel movement mechanism comprises a near-end joint, a far-end joint, a constraint line and a plurality of driving assemblies. The distal end of the proximal joint is swingable relative to its proximal end along at least one plane, each plane passing through a central axis of the parallel movement mechanism and defining a normal plane passing through the central axis. The distal end of the distal joint is swingable relative to the proximal end thereof along the at least one plane. A restraint line is used to maintain an orientation of the distal end of the distal joint relative to the proximal end of the proximal joint. The driving assemblies are used for actuating the far-end joints, and each driving assembly comprises a far-end flexible piece, a near-end flexible piece and a connecting piece. The distal flexible member includes a distal section located within the distal joint. The proximal flexible member includes a proximal section located within the proximal joint. The connecting piece is connected with the far-end flexible piece and the near-end flexible piece, and the rigidity of the connecting piece is larger than that of the two flexible pieces. In the neutral state, the far-end section and the near-end section are located on the two sides of the normal plane respectively.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and more particularly to a parallel motion mechanism for a surgical instrument, a surgical instrument having the parallel motion mechanism, and a surgical robot having the surgical instrument. Background Art

[0002] In the prior art, a parallel motion mechanism is connected in series between the end effector and the rear end of a surgical instrument, which can make the end effector of the surgical instrument more conveniently reach the expected operation position. At the same time, the parallel motion mechanism changes the position of the end effector without changing the direction of the end effector. Compared with the structure of joint series connection, the use of the parallel motion mechanism can ensure a larger movement range of the end effector. Improving the actuation stiffness of the parallel motion mechanism is beneficial to improving the motion accuracy of the mechanism. Summary of the Invention

[0003] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further described in detail in the Detailed Description section. The Summary of the Invention section of the present application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0004] A first aspect of the present application provides a parallel motion mechanism for a surgical instrument, which includes:

[0005] A proximal joint, the distal end of the proximal joint being able to swing relative to the proximal end of the proximal joint along at least one plane, each of the planes passing through the central axis of the parallel motion mechanism, each of the planes defining a normal plane respectively, the normal plane passing through the central axis and being perpendicular to the corresponding plane;

[0006] A distal joint for connecting an end effector, the distal end of the distal joint being able to swing relative to the proximal end of the distal joint along the at least one plane, the proximal end of the distal joint being connected to and relatively fixed to the distal end of the proximal joint;

[0007] A constraint line for maintaining the orientation of the distal end of the distal joint relative to the proximal end of the proximal joint, one end of the constraint line being fixed to the distal end of the distal joint and the other end of the constraint line being fixed to the proximal end of the proximal joint;

[0008] A plurality of drive assemblies for actuating the distal joint, each drive assembly including:

[0009] A distal flexible member, the distal flexible member passing through the distal joint and being fixed to the distal end of the distal joint, the distal flexible member including a distal section located within the distal joint,

[0010] A proximal flexible member that passes through the proximal joint and is configured to be connected to a rear transmission device. The proximal flexible member includes a proximal section located within the proximal joint, and

[0011] A connecting member that connects the distal flexible member and the proximal flexible member. The stiffness of the connecting member is greater than that of the distal flexible member and greater than that of the proximal flexible member,

[0012] wherein, when the parallel motion mechanism is in a neutral state, the distal section and the proximal section are respectively located on both sides of the normal plane.

[0013] Optionally, when the parallel motion mechanism is in a neutral state, the proximal section and the distal section of the drive assembly extend parallel to the central axis, and the distance between the proximal section and the normal plane is equal to the distance between the distal section and the normal plane.

[0014] Optionally, when the parallel motion mechanism is in a neutral state, in the projection of the parallel motion mechanism along the extension direction of the central axis, the proximal section and the distal section of the drive assembly are centrosymmetric about the central axis.

[0015] Optionally, between the proximal end of the distal joint and the distal end of the proximal joint, the distal flexible member extends along a first straight line, and the proximal flexible member extends along a second straight line.

[0016] Optionally, the first straight line and the second straight line are coplanar.

[0017] Optionally, the first straight line is parallel to the second straight line and parallel to the central axis of the parallel motion mechanism.

[0018] Optionally, the connecting member includes a first connection position connected to the distal flexible member and a second connection position connected to the proximal flexible member. The first connection position and the second connection position are spaced apart in the circumferential direction around the central axis.

[0019] Optionally, when the parallel motion mechanism is in a neutral state, the proximal section and the distal section of the drive assembly extend parallel to the central axis. In the projection of the parallel motion mechanism along the extension direction of the central axis, the first connection position and the second connection position are located on the line connecting the position of the distal flexible member and the position of the proximal section.

[0020] Optionally, when the parallel motion mechanism is in the neutral state, the proximal section and the distal section of the drive assembly extend parallel to the central axis. In the projection of the parallel motion mechanism along the extension direction of the central axis, the first connection position coincides with the position of the distal flexible member, and the second connection position coincides with the position of the proximal section.

[0021] Optionally, the first connection position and the second connection position are spaced apart along the extension direction of the central axis.

[0022] Optionally, the parallel motion mechanism further includes a central tube, which extends along the extension direction of the central axis and is connected between the proximal joint and the distal joint, and a plurality of the connecting members are arranged around the central tube.

[0023] Optionally, the connecting member includes a guiding portion, which is connected to the central tube and is movable relative to the central tube along the extension direction of the central axis.

[0024] Optionally, the guiding portion is configured as a guiding ring, and the guiding ring is sleeved on the outer periphery of the central tube.

[0025] Optionally, the connecting member further includes a connecting rod extending parallel to the central axis, and the guiding ring is arranged at the end or the middle of the connecting rod.

[0026] Optionally, the connecting member further includes a first connecting portion connected to the distal flexible member and a second connecting portion connected to the proximal flexible member, wherein the first connecting portion protrudes radially from the outer peripheral surface of the guiding ring or the connecting rod, and the second connecting portion protrudes radially from the outer peripheral surface of the guiding ring or the connecting rod.

[0027] Optionally,

[0028] Along the extension direction of the central axis, the plurality of the connecting members do not intersect with each other; or,

[0029] Along the extension direction of the central axis, at least two of the connecting members are arranged in an interleaved manner.

[0030] Optionally, the at least one plane includes a first plane, the normal plane of the first plane is a first normal plane, and the plurality of drive assemblies include:

[0031] A first drive assembly and a second drive assembly, and the proximal sections of the first drive assembly and the second drive assembly are respectively located on both sides of the first normal plane.

[0032] Optionally, the distance between the proximal section of the first drive assembly and the first normal plane is equal to the distance between the proximal section of the second drive assembly and the first normal plane, and the distance between the distal section of the first drive assembly and the first normal plane is equal to the distance between the distal section of the second drive assembly and the first normal plane.

[0033] Optionally, the proximal section of the first drive assembly and the proximal section of the second drive assembly are centrosymmetric about the central axis, and the distal section of the first drive assembly and the distal section of the second drive assembly are centrosymmetric about the central axis.

[0034] Optionally, the at least one plane further includes a second plane, the second plane intersects the first plane at the central axis, the normal plane of the second plane is the second normal plane, and the plurality of drive assemblies further includes:

[0035] A third drive assembly and a fourth drive assembly, the proximal sections of the third drive assembly and the

[0036] proximal section of the fourth drive assembly are respectively located on both sides of the second normal plane.

[0037] Optionally, the distance between the proximal section of the third drive assembly and the second normal plane is equal to the distance between the proximal section of the fourth drive assembly and the second normal plane, and the distance between the distal section of the third drive assembly and the second normal plane is equal to the distance between the distal section of the fourth drive assembly and the second normal plane.

[0038] Optionally, the proximal section of the third drive assembly and the proximal section of the fourth drive assembly are centrosymmetric about the central axis, and the distal section of the third drive assembly and the distal section of the fourth drive assembly are centrosymmetric about the central axis.

[0039] A second aspect of the present application provides a surgical instrument, which includes:

[0040] A parallel motion mechanism according to any one of the technical solutions in the first aspect;

[0041] An end effector connected to the distal joint of the parallel motion mechanism; and

[0042] A rear-end transmission device, the end of the proximal flexible member is connected to the rear-end transmission device.

[0043] Optionally, the end effector is configured as a hook, a spatula, a needle, a clamp or scissors.

[0044] Optionally, the surgical instrument further includes an end joint, and the end effector and the distal joint are connected through the end joint.

[0045] Optionally, the end joint includes a yaw joint seat and a pitch joint seat. The proximal end of the end effector is rotatably connected to the distal end of the yaw joint seat about a yaw axis, and the proximal end of the yaw joint seat is rotatably connected to the distal end of the pitch joint seat about a pitch axis.

[0046] Optionally, the proximal end of the end effector is rotatably connected to the distal end of the yaw joint seat by a first pin shaft, and / or the proximal end of the yaw joint seat is rotatably connected to the distal end of the pitch joint seat by a second pin shaft.

[0047] Optionally, the end effector includes a first jaw and a second jaw. The proximal ends of the first jaw and the second jaw are rotatably connected to the yaw joint seat by the first pin shaft, and the first jaw and the second jaw can respectively rotate relative to the yaw joint seat about the first pin shaft.

[0048] Optionally, it further includes at least one pair of end drive wires. The ends of the at least one pair of end drive wires are connected to the rear transmission device, and the end drive wires are used to drive the end joint and / or the end effector to move relative to the distal joint.

[0049] Optionally, it further includes a cable. The cable is electrically connected to the end effector, and when the parallel motion mechanism is in a neutral state, the cable extends along the central axis.

[0050] A third aspect of the present application provides a surgical robot, which includes:

[0051] A robotic arm, on which an instrument driving device is provided; and

[0052] The surgical instrument according to any one of the technical solutions in the second aspect, the surgical instrument is detachably connected to the robotic arm, and the instrument driving device is in transmission connection with the rear transmission device to control the proximal flexible member through the rear transmission device. Description of the Drawings

[0053] The following drawings of the present application are hereby incorporated as part of the present application for understanding the present application. The embodiments and descriptions thereof shown in the drawings are used to explain the principles of the present application.

[0054] In the drawings:

[0055] Figure 1 is a top view schematic diagram of a surgical robot according to an embodiment of the present application;

[0056] Figure 2 is Figure 1 a side view schematic diagram of the robotic arm system in

[0057] Figure 3 Schematic diagram of a surgical instrument according to an embodiment of the present application;

[0058] Figure 4 is Figure 3 Schematic diagram of some components of the surgical instrument shown, in which a distal joint, a terminal joint, and a terminal actuator are shown;

[0059] Figure 5 is Figure 3 Schematic diagram of the surgical instrument shown, in which the shaft tube is omitted;

[0060] Figure 6 is Figure 3 Schematic diagram of some components of the surgical instrument shown, in which a proximal joint, a distal joint, a terminal joint, a terminal actuator, and a terminal drive wire are shown;

[0061] Figure 7 Schematic diagram of some components of a parallel motion mechanism according to an embodiment of the present application, in which a proximal joint, a distal joint, and a constraint wire are shown;

[0062] Figure 8 Schematic diagram of some components of a parallel motion mechanism according to an embodiment of the present application, in which a proximal joint, a distal joint, and a drive assembly are shown;

[0063] Figure 9 is Figure 8 Schematic diagram of the drive assembly shown;

[0064] Figure 10 is Figure 9 Schematic diagram of the connector shown;

[0065] Figure 11 and Figure 12 is Figure 10 Schematic diagram of a variant example of the connector shown;

[0066] Figure 13 Schematic diagram of a parallel motion mechanism according to an embodiment of the present application, in which the shaft tube and the constraint wire are omitted, and the parallel motion mechanism is in a zero position state;

[0067] Figure 14 is Figure 3 Side view schematic diagram of the parallel motion mechanism shown in a direction parallel to the first plane, in which the first proximal joint portion and the first distal joint portion deviate from the zero position angle;

[0068] Figure 15 is Figure 3 Side view schematic diagram of the parallel motion mechanism shown in a direction parallel to the second plane, in which the second proximal joint portion and the second distal joint portion deviate from the zero position angle;

[0069] Figure 16 is a schematic view of the view along Figure 13 the L1 direction in

[0070] Figure 17 is a schematic view of the view along Figure 13 the L2 direction in

[0071] Figure 18 is Figure 13 a schematic view of various forms in which a plurality of connecting members shown are arranged along the axial direction of the parallel motion mechanism;

[0072] Figure 19 is Figure 13 a schematic view of the proximal joint shown in

[0073] Description of reference numerals:

[0074] 10: Proximal joint

[0075] 11: First proximal joint part

[0076] 12: Second proximal joint part

[0077] 13: Third proximal joint part

[0078] 14: Second tooth profile

[0079] 14A: Second tooth profile edge

[0080] 15: First card slot

[0081] 16: Second card slot

[0082] 17: First tooth profile

[0083] 17A: First tooth profile edge

[0084] 19A: First rolling surface

[0085] 19B: Second rolling surface

[0086] 19C: Third rolling surface

[0087] 19D: Second rolling surface

[0088] 20: Distal joint

[0089] 21: First distal joint part

[0090] 22: Second distal joint part

[0091] 23: Third distal joint part

[0092] 30: Constraint line

[0093] 31: First restraint line

[0094] 32: Second restraint line

[0095] 33: Third restraint line

[0096] 34: Fourth restraint line

[0097] 40: Driving assembly

[0098] 41: First driving assembly

[0099] 42: Second driving assembly

[0100] 43: Third driving assembly

[0101] 44: Fourth driving assembly

[0102] 45: Distal flexible member

[0103] 46: Proximal flexible member

[0104] 47: Connecting member

[0105] 47A: Connecting rod

[0106] 47B: Guide portion

[0107] 47C: First connecting portion

[0108] 47D: First connection position

[0109] 47E: Second connecting portion

[0110] 47F: Second connection position

[0111] 48: Distal section

[0112] 49: Proximal section

[0113] 50: End driving wire

[0114] 51: First end driving wire

[0115] 52: Second end driving wire

[0116] 53: Third end driving wire

[0117] 54: Fourth end driving wire

[0118] 60B: Proximal parallel motion driving wire through-hole

[0119] 60A: Distal parallel motion driving wire through-hole

[0120] 61B: First proximal through-hole

[0121] 61A: First distal through-hole

[0122] 62B: Second proximal through-hole

[0123] 62A: Second distal through-hole

[0124] 63B: Third proximal through-hole

[0125] 63A: Third distal through-hole

[0126] 64B: Fourth proximal through-hole

[0127] 64A: Fourth distal through-hole

[0128] 70B: Proximal constraint wire through-hole

[0129] 70A: Distal constraint wire through-hole

[0130] 71B: First proximal constraint wire through-hole

[0131] 71A: First distal constraint wire through-hole

[0132] 72B: Second proximal constraint wire through-hole

[0133] 72A: Second distal constraint wire through-hole

[0134] 73B: Third proximal constraint wire through-hole

[0135] 73A: Third distal constraint wire through-hole

[0136] 74B: Fourth proximal constraint wire through-hole

[0137] 74A: Fourth distal constraint wire through-hole

[0138] 80B: Proximal end drive wire through-hole

[0139] 80A: Distal end drive wire through-hole

[0140] 81B: First proximal drive wire through-hole

[0141] 81A: First distal drive wire through-hole

[0142] 82B: Second proximal drive wire through-hole

[0143] 82A: Second distal drive wire through-hole

[0144] 83B: Third proximal drive wire through-hole

[0145] 83A: Third distal drive wire through-hole

[0146] 84B: Fourth proximal drive wire through-hole

[0147] 84A: Fourth distal drive wire through-hole

[0148] 91: Shaft tube

[0149] 92: Central tube

[0150] 100: Surgical instrument

[0151] 110: End effector

[0152] 111: First jaw

[0153] 112: Second jaw

[0154] 120: End joint

[0155] 121: Yaw joint seat

[0156] 122: Pitch joint seat

[0157] 123: First pin shaft

[0158] 124: Second pin shaft

[0159] 130: Parallel motion mechanism

[0160] 140: Shaft part

[0161] 150: Rear end transmission

[0162] 200: Surgical robot

[0163] 210: Control system

[0164] 220: Manipulator system

[0165] 221: Manipulator arm

[0166] 222: Instrument holding arm

[0167] 230: Imaging system

[0168] A1: First proximal axis

[0169] A3: Third proximal axis

[0170] AX1: Yaw axis

[0171] AX2: Pitch axis

[0172] B1: Second proximal axis

[0173] B3: Fourth proximal axis

[0174] DA: Axial direction

[0175] P1: First plane

[0176] P2: Second plane

[0177] P3: The first normal plane

[0178] P4: The second normal plane

[0179] PC: The central axis Detailed implementation manners

[0180] In the following description, numerous specific details are given to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the present application can be implemented without one or more of these details. In other instances, to avoid confusion with the present application, some well-known technical features are not described.

[0181] To thoroughly understand the present application, a detailed description will be presented in the following. It should be understood that these implementation manners are provided to make the disclosure of the present application thorough and complete, and to fully convey the concept of these exemplary implementation manners to those of ordinary skill in the art. Obviously, the implementation of the present application is not limited to the specific details familiar to those skilled in the art. The preferred implementation manners of the present application are described in detail below. However, in addition to these detailed descriptions, the present application may also have other implementation manners.

[0182] The ordinal numbers such as "first" and "second" cited in the present application are merely identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" does not imply the existence of a "second component" by itself, and the term "second component" does not imply the existence of a "first component" by itself. The use of the words "first", "second", and "third", etc. does not represent any order, and these words can be interpreted as names.

[0183] It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", and similar expressions used in the present application are for illustrative purposes only and not for limitation.

[0184] The terms "distal end" and "proximal end" used in the present application are directional terms, which are common terms in the field of interventional medical devices. Among them, the "distal end" refers to the end far from the operator during the operation, and the "proximal end" refers to the end close to the operator during the operation.

[0185] The expressions "parallel" / "perpendicular" and similar ones used in the present application include both absolute parallel / perpendicular relationships and approximately parallel / perpendicular relationships (for example, relationships within the range of -5° to +5° from the absolute parallel / perpendicular), and can achieve equivalent effects.

[0186] The term "rigid material" used in the present application refers to a material with good resistance to deformation, which has a very small deformation amount or the deformation amount can be ignored under the action of external forces.

[0187] The present application provides a parallel motion mechanism for a surgical instrument, a surgical instrument having the parallel motion mechanism, and a surgical robot having the surgical instrument.

[0188] Hereinafter, specific embodiments of the present application will be described in more detail with reference to the accompanying drawings, which show representative embodiments of the present application and do not limit the present application.

[0189] The surgical robot 200 according to an embodiment of the present application is a robot that can perform surgery remotely. Refer to Figure 1 , the surgical robot 200 may include a control system 210 (also referred to as a doctor's console 210), a robotic arm system 220 (also referred to as a patient-side robotic arm system 220), and an imaging system 230 (also referred to as an endoscope system 230).

[0190] Among them, the control system 210 has a display unit for displaying the surgical instrument environment, a doctor's operation control mechanism, an armrest, etc. Among them, an observation window is provided on the display unit for the doctor to observe. The operation control mechanism is configured such that its actions can correspond to the actions of the surgical instrument. The armrest is used to place the doctor's arm. In addition, on the doctor's console 210, there are also other control switches that are convenient for the hands or feet to touch or press to perform various function operations and complete human-machine interaction.

[0191] The imaging system 230 has a display screen, an endoscope controller, system electronics, an image processor, etc.

[0192] Refer to Figure 2 , the robotic arm system 220 may include at least one robotic arm 221 and a surgical instrument 100 mounted thereon. The robotic arm 221 has several connecting arms. Adjacent two connecting arms are relatively movable with a specific degree of freedom, so that the end of the robotic arm can achieve multi-degree-of-freedom (such as 7 degrees of freedom, which may vary according to different surgical instruments) movement. A tool-holding arm 222 is provided at the end of the robotic arm 221. The surgical instrument 100 is detachably mounted on the tool-holding arm 222. The surgical instrument 100 may be an instrument for performing surgical operations, such as an electrocautery device, a clamp, a vascular occluder, etc., or may be a camera for image acquisition of the surgical area, such as an endoscope, or may be other surgical instruments.

[0193] In some examples, the robotic arm 221 can be configured to move mechanically around a remote center of motion (RCM). For example, in laparoscopic surgery, the RCM is defined as the port through which the patient's abdominal cavity is entered during the surgery. During the surgery, the robotic arm 221 is manipulated so that the instrument holding arm 222 drives the surgical instrument 100 to perform movements such as pitching, deflecting, inserting, and rotating. During the movement, the longitudinal axis of the surgical instrument 100 always passes through the RCM point to avoid non-surgical injuries to the patient's abdominal incision caused by the surgical instrument 110.

[0194] The surgical instrument 100 sequentially includes a rear-end transmission device 150, a shaft portion 140, and a distal end effector 110 from the proximal end to the distal end. The rear-end transmission device 150 is in transmission connection with an instrument drive device provided in the instrument holding arm 222. The rear-end transmission device 150 can be connected to the distal end effector 110 through transmission members such as push-pull rods, wires, ropes, belts, etc. The shaft portion 140 is connected between the rear-end transmission device 150 and the distal end effector 110 to space the rear-end transmission device 150 from the distal end effector 110 and to support the distal end effector 110. The distal end effector 110 can be a tool head for performing surgical operations such as cutting tissues, such as hooks, shovels, needles, clamps, scissors, etc., or an endoscope lens for image acquisition. For example, in the examples of the present application, see Figure 4 , the distal end effector 110 is a clamp, including a first jaw 111 and a second jaw 112, capable of performing opening and closing movements. When the surgical instrument 100 is an electro-surgical instrument, it further includes a cable, and the cable is electrically connected to the distal end effector 110 to supply power to the distal end effector 110.

[0195] Furthermore, a joint can be provided between the distal end effector 110 and the shaft portion 140, such as a wrist joint, a parallel motion mechanism, an elbow joint, etc., to improve the mobility of the distal end effector 110. The rear-end transmission device 150 can drive the joint to move through transmission members such as push-pull rods, wires, ropes, belts, etc.

[0196] See Figure 3 , the surgical instrument 100 of the embodiment of the present application includes a distal end joint 120 and a parallel motion mechanism 130. The distal end effector 110 is connected to the distal end of the wrist joint 120, and the proximal end of the wrist joint 120 is connected to the distal end of the parallel motion mechanism 130. In the examples of the present application, the wrist joint 120 is closer to the distal end effector 110 than other joints, so it is also called the distal end joint in the present application.

[0197] In the examples of the present application, the distal end joint 120 includes a pitching joint and a yaw joint. Specifically, as Figure 4As shown, the end joint 120 may include a connected pitch joint seat 122 and a yaw joint seat 121. The yaw joint seat 121 is used to connect the end effector 110. The pitch joint seat 122 is used to connect the distal end of the parallel motion mechanism 130, such that the end joint 120 and the end effector 110 can move with the distal end of the parallel motion mechanism 130. The proximal end of the end effector 110 is rotatably connected to the distal end of the yaw joint seat 121 about the yaw axis AX1, forming a yaw joint. For example, the proximal end of the end effector 110 is rotatably connected to the distal end of the yaw joint seat 121 by a first pin shaft 123, and the axis of the first pin shaft 123 is the yaw axis AX1. The proximal end of the yaw joint seat 121 is rotatably connected to the distal end of the pitch joint seat 122 about the pitch axis AX2, forming a pitch joint. For example, the proximal end of the yaw joint seat 121 is rotatably connected to the distal end of the pitch joint seat 122 by a second pin shaft 124, and the axis of the second pin shaft 124 is the pitch axis AX2. The axis AX1 and the axis AX2 are not parallel, for example, perpendicular to each other.

[0198] In an example of the present application, the end effector 110 is configured as a clamp, for example, and includes a first jaw 111 and a second jaw 112 arranged oppositely. The proximal ends of both the first jaw 111 and the second jaw 112 are rotatably connected to the yaw joint seat 121 by the first pin shaft 123, such that the first jaw 111 and the second jaw 112 can respectively rotate relative to the yaw joint seat 121 about the first pin shaft 123.

[0199] For example, the yaw joint seat 121 may be configured in a U shape, and the proximal ends of the first jaw 111 and the second jaw 112 of the end effector 110 are placed in the U-shaped space of the yaw joint seat 121 and rotatably connected to the yaw joint seat 121 by the first pin shaft 123. By the rotation of the first jaw 111 and the second jaw 112, the yaw movement of the end joint 120 and the opening and closing movement of the end effector 110 can be achieved. For example, the pitch joint seat 122 may also be configured in a U shape, and the proximal end of the yaw joint seat 121 is placed in the U-shaped space of the pitch joint seat 122 and rotatably connected to the pitch joint seat 122 by the second pin shaft 124. By the rotation of the yaw joint seat 121, the pitch movement of the end joint 120 can be achieved.

[0200] It can be understood that in the example of the present application, both the pitch joint and the yaw joint in the end joint 120 are configured as rotational joints to shorten the length of the end joint 120 and reduce the movement space of the end joint 120. However, in other examples not shown, the pitch joint and the yaw joint may also be configured as rolling joints, a combination of rotational joints and rolling joints, or serpentine joints, etc.

[0201] It can be understood that in the example of the present application, the end joint 120 includes two degrees of freedom, namely pitch and yaw. However, in other examples not shown, the end joint 120 may include only one degree of freedom, such as pitch or yaw, or the end joint 120 may include three or more degrees of freedom.

[0202] It can be understood that in other examples not shown, as a variant of the example of the present application, the wrist joint 120 may not be provided between the end effector 110 and the parallel motion mechanism 130, and / or an elbow joint may be provided between the parallel motion mechanism 130 and the rear transmission device 150.

[0203] Figure 5 The foregoing rear transmission device for driving the parallel motion mechanism 130 and the end joint 120 is shown. As Figure 5 shown, the surgical instrument 100 further includes an end drive wire 50. The instrument drive device (not labeled) provided on the instrument holding arm 222 brakes the end joint 120 and / or the end effector 110 through the rear transmission device 150 and the end drive wire 50. The number of end drive wires 50 is related to the degrees of freedom of movement of the end joint 120. Refer to Figure 6 , since the end joint 120 in this example has two degrees of freedom of movement, namely pitch and yaw, two pairs of end drive wires 50 can be provided. For example, one pair of end drive wires 51 and 52 controls the pitch movement of the end joint 120, and the other pair of end drive wires 53 and 54 controls the yaw movement of the end joint 120.

[0204] When the end effector 110 is a tool such as a clamp or scissors that needs to perform an opening and closing movement, the opening and closing movement of the end effector 110 can be controlled by a pair of end drive wires 53 and 54 that control the yaw movement. That is, the yaw movement and the opening and closing movement of the end effector 110 are controlled by a pair of end drive wires. The specific control method and the specific structure and working principle of the rear transmission device 150 cooperating therewith can refer to existing solutions, such as those disclosed in Chinese Patent CN113208732A or Chinese Patent CN113367796A, and will not be described in detail here. Alternatively, the opening and closing movement of the end effector 110 can also be controlled by an additional end drive wire.

[0205] The end drive wire 50 can be constructed as a wire or a drive wire rope with better rigidity.

[0206] The parallel motion mechanism 130 includes a proximal joint 10 and a distal joint 20. The proximal joint 10 is disposed at the proximal end of the parallel motion mechanism 130 and is used to connect to the shaft portion 140. The distal joint 20 is disposed at the distal end of the parallel motion mechanism 130. The distal joint 20 is used to connect to the end effector 110, for example, through the end joint 120. The end effector 110 is connected to the distal end of the end joint 120, and the proximal end of the end joint 120 is connected to the distal end of the parallel motion mechanism 130, so that the end effector 110 and the distal joint 20 are connected through the end joint 120. The proximal end of the distal joint 20 is connected to and relatively fixed to the distal end of the proximal joint 10.

[0207] In one example, the proximal end of the distal joint 20 is connected to and relatively fixed to the distal end of the proximal joint 10 through a shaft tube 91. The shaft tube 91 is made of, for example, a rigid material and maintains its shape unchanged, so that the proximal end of the distal joint 20 and the distal end of the proximal joint 10 maintain their relative positions and orientations unchanged. The shaft tube 91 is, for example, configured as an elongated cylindrical shape. On the one hand, it can increase the movement radius of the parallel motion mechanism 130, and on the other hand, it can facilitate wire passing. When the parallel motion mechanism 130 does not yaw, that is, when it is in the zero position state (which can also be called the neutral state), as Figure 3 、 Figures 5 to 8 shown, both the proximal joint 10 and the distal joint 20 extend along the axial direction DA, so that the parallel motion mechanism 130 has a linear structure. At this time, the central axis of the shaft tube 91 coincides with the central axis PC of the parallel motion mechanism 130, and the extending direction of the central axis PC is also the axial direction DA. The proximal end of the distal joint 20 and the distal end of the proximal joint 10 can be connected to the shaft tube 91 by, for example, threading, gluing, snap-fitting, etc. In other examples not shown, the shaft tube 91 can be omitted, that is, the proximal end of the distal joint 20 and the distal end of the proximal joint 10 can be directly connected to each other by threading, gluing, snap-fitting, etc.

[0208] The distal end of the proximal joint 10 can swing relative to the proximal end of the proximal joint 10 along at least one plane, and each plane passes through the central axis PC of the parallel motion mechanism 130 and does not coincide with each other. The distal end of the distal joint 20 can also swing relative to the proximal end of the distal joint 20 along the at least one plane. The at least one plane can include, as Figure 3 shown, the first plane P1 and / or the second plane P2, and can also include other planes that do not coincide with the first plane P1 and the second plane P2.

[0209] It should be noted that when it is described herein that a component one swings relative to a component two along a plane, it can be understood that the movement trajectory of any point in the component one relative to the component two is on or parallel to the plane.

[0210] As Figure 5 and Figure 7As shown, the parallel motion mechanism 130 also includes a constraint line 30. Figure 5 and Figure 8 As shown, the parallel motion mechanism 130 further includes a drive assembly 40. The drive assembly 40 is configured to actuate the distal joint 20. The constraint wire 30 is used to maintain the orientation of the distal end of the distal joint 20 relative to the proximal end of the proximal joint 10. As the distal joint 20 moves, the proximal joint 10 is actuated by the constraint wire 30.

[0211] For example, one end of the constraint wire 30 is fixed to the proximal end of the proximal joint 10, and the other end is fixed to the distal end of the distal joint 20. In order to maintain the orientation of the distal end of the distal joint 20 relative to the proximal end of the proximal joint 10, the constraint wire 30 can be configured so that the proximal joint 10 and the distal joint 20 have the same angle and opposite direction of swing. The constraint wire 30 is always in a tensioned state in the parallel motion mechanism 130, thereby ensuring that the proximal joint 10 and the distal joint 20 move synchronously. The constraint wire 30 has good rigidity, so that the length of the constraint wire 30 remains basically unchanged when subjected to a tensile force that maintains its tensioned state. The constraint wire 30 can be made of a rigid material, such as a steel wire, a tungsten wire, etc.

[0212] The driving assembly 40 is used to actuate the distal end of the distal joint 20 to swing relative to the proximal end of the distal joint 20 along the at least one plane. Specifically, one end of the driving assembly 40 is fixed to the distal end of the distal joint 20, and the other end is sequentially extended through the distal joint 20, the shaft tube 91 and the proximal joint 10 and then connected to the rear end transmission device located at the proximal end of the surgical instrument 100, so that the instrument driving device set in the mechanical arm 222 can actuate the distal joint 20 through the rear end transmission device and the driving assembly 40. When the instrument driving device outputs the driving force, the driving force is transmitted to the distal end of the distal joint 20 via the rear end transmission device and the driving assembly 40, so that the distal end of the distal joint 20 rotates relative to the proximal end of the distal joint 20, and the distal end of the constraint line 30 is pulled. Since the length of the constraint line 30 remains unchanged, the proximal end of the constraint line 30 is correspondingly pulled, so that the proximal end of the constraint line 30 actuates the proximal end of the proximal joint 10, so that the proximal end of the proximal joint 10 swings relative to the distal end of the proximal joint 10. At this time, the parallel motion mechanism 130 presents a shape in which both ends are bent in opposite directions relative to the middle, which is called the yaw state of the parallel motion mechanism 130 .

[0213] like Figure 8 and Figure 9 As shown, each driving assembly 40 includes a distal flexible member 45 , a proximal flexible member 46 and a connecting member 47 .

[0214] The distal flexible member 45 passes through the distal joint 20 and is fixed to the distal end of the distal joint 20. The distal flexible member 45 includes a distal section 48 located within the distal joint. The proximal flexible member 46 passes through the proximal joint 10 and is used to connect to the rear transmission device. The proximal flexible member 46 includes a proximal section 49 located within the proximal joint. The distal flexible member 45 and the proximal flexible member 46 can be configured as drive wire ropes or belts similar to the end drive wire 50 and / or the restraint wire 30, such as steel wires, tungsten wires, steel belts, etc.

[0215] The connecting member 47 connects the distal flexible member 45 and the proximal flexible member 46. The stiffness of the connecting member 47 is greater than the stiffness of the distal flexible member 45 and the stiffness of the proximal flexible member 46, such that when subjected to the same tensile force, the deformation amount of the connecting member 47 is less than the deformation amounts of the distal flexible member 45 and the proximal flexible member 46, or the deformation amount of the connecting member 47 can be negligible compared to the deformation amounts of the distal flexible member 45 and the proximal flexible member 46. The connecting member 47 can increase its stiffness by changing the force-bearing area and / or the material, etc. For example, the connecting member 47 can be configured as a metal part or a hard plastic part with a force-bearing area larger than that of the distal flexible member 45 and the proximal flexible member 46.

[0216] The end of the proximal flexible member 46 is connected to the rear transmission device. The instrument drive device of the robotic arm 221 is in transmission connection with the rear transmission device to control the movement of the proximal flexible member 46 (such as controlling the retraction and extension of the proximal flexible member 46) through the rear transmission device, that is, controlling the movement of the drive assembly 40.

[0217] In this application, the distal end of the proximal joint 10 can swing relative to the proximal end of the proximal joint 10 along at least one plane, and the distal end of the distal joint 20 can also swing relative to the proximal end of the distal joint 20 along the at least one plane. Each plane defines a normal plane that passes through the central axis PC and is perpendicular to the corresponding plane. When the parallel motion mechanism 130 is in the neutral state, the distal section 48 and the proximal section 49 of the drive assembly 40 are respectively located on both sides of the normal plane. Thus, when the parallel motion mechanism 130 swings, the lengths of the distal section 48 and the proximal section 49 increase or decrease simultaneously. Compared with the case where the distal section 48 and the proximal section 49 are arranged on the same side of the normal plane, the length change amount of the drive assembly 40 within the parallel motion mechanism 130 increases. Therefore, the transmission ratio can be increased, that is, the displacement amount of the drive assembly 40 is increased, thereby reducing the driving force of the rear transmission device. The tensile force received by the drive assembly 40 is reduced, which helps to reduce the tensile deformation of the drive assembly 40, thereby reducing the transmission error and improving the driving accuracy.

[0218] In one example, when the parallel motion mechanism 130 is in the neutral state, the proximal section 49 and the distal section 48 of the drive assembly 40 extend parallel to the central axis PC, and the distance between the proximal section 49 and the normal plane is equal to the distance between the distal section 48 and the normal plane. Thus, the elongation or shortening amount of the proximal section 49 is equal to the elongation or shortening amount of the distal section 48, so that the transmission ratio increases in integer multiples, which helps to simplify the structural design and drive control.

[0219] In one example, when the parallel motion mechanism 130 is in the neutral state, the proximal section 49 and the distal section 48 of the drive assembly 40 extend parallel to the central axis PC. In the projection of the parallel motion mechanism 130 along the extension direction DA of the central axis PC, the proximal section 49 and the distal section 48 of the drive assembly 40 are centrosymmetric about the central axis PC. This is advantageous for the case where the parallel motion structure 130 has multiple degrees of freedom. The number of drive assemblies 40 is related to the number of degrees of freedom, which is beneficial to the design of the extension paths of the flexible transmission members of each drive assembly 40 and prevents crossing and motion interference between multiple flexible transmission members.

[0220] Since the distal section 48 and the proximal section 49 of the drive assembly 40 are respectively located on both sides of the normal plane, it is easy to cause the distal flexible member 45 and the proximal flexible member 46 to bend and spiral extend within the parallel motion mechanism 130. This extension method will reduce the overall stiffness of the drive assembly 40 and is not conducive to improving the drive accuracy. To ensure the overall stiffness of the drive assembly 40, the drive assembly 40 needs to be configured such that the distal flexible member 45 and the proximal flexible member 46 both extend linearly between the proximal end of the distal joint 20 and the distal end of the proximal joint 10. Specifically, the distal flexible member 45 extends along a first straight line between the proximal end of the distal joint 20 and the distal end of the proximal joint 10, and the proximal flexible member 46 extends along a second straight line between the proximal end of the distal joint 20 and the distal end of the proximal joint 10.

[0221] In one example, the first straight line and the second straight line can be coplanar, so that the driving force of the rear-end transmission device is transmitted in this plane, which can improve the transmission efficiency of the rear-end driving force. Optionally, the plane where the first straight line and the second straight line are located passes through the central axis PC, that is to say, the first straight line, the second straight line and the central axis PC are coplanar, which can further improve the transmission efficiency.

[0222] In one example, the first straight line and the second straight line can both be parallel to the central axis PC of the parallel motion mechanism 130. On the one hand, it can reduce the lengths of the distal flexible member 45 and the proximal flexible member 46, thereby reducing the amount of tensile deformation. On the other hand, it is advantageous for the case where there are multiple drive assemblies 40, which is beneficial to the design of the extension paths of the flexible transmission members of each drive assembly 40 and prevents crossing and motion interference between multiple flexible transmission members.

[0223] To enable the distal flexible member 45 and the proximal flexible member 46 to extend linearly between the proximal end of the distal joint 20 and the distal end of the proximal joint 10, the connection positions of the connecting member 47 and the distal flexible member 45 and the connection positions of the connecting member 47 and the proximal flexible member 46 can be circumferentially spaced about the central axis. Specifically, as Figures 9 to 10 shown, the connecting member 47 includes a first connection position 47D connected to the distal flexible member 45 and a second connection position 47F connected to the proximal flexible member 46, and the first connection position 47D and the second connection position 47F are circumferentially spaced about the central axis.

[0224] In one example, when the parallel motion mechanism 130 is in the neutral state, in the projection of the parallel motion mechanism 130 along the extension direction DA of the central axis PC, both the first connection position 47D and the second connection position 47F are located on the line connecting the position of the distal flexible member 45 and the position of the proximal section 49, so that the above-mentioned first line and second line are coplanar. Optionally, the line connecting the position of the distal flexible member 45 and the position of the proximal section 49 passes through the position of the central axis PC, so that the first line, the second line and the central axis PC are coplanar.

[0225] In one example, when the parallel motion mechanism 130 is in the neutral state, in the projection of the parallel motion mechanism 130 along the extension direction DA of the central axis PC, the first connection position 47D coincides with the position of the distal flexible member 45, and the second connection position 47F coincides with the position of the proximal section 49, so that the above-mentioned first line and second line are parallel to the central axis PC.

[0226] In one example, the first connection position 47D and the second connection position 47F can be spaced along the extension direction DA of the central axis PC, so that the proportion of the connecting member 47 in the drive assembly 40 increases, which helps to improve the stiffness of the drive assembly 40.

[0227] Next, taking Figures 10 to 12 as an example, three exemplary structures of the connecting member 47 will be introduced.

[0228] As Figures 10 to 12As shown, the connecting member 47 includes a first connecting portion 47C for connecting to the distal flexible member 45. Specifically, the distal flexible member 45 is connected to the first connecting position 47D of the first connecting portion 47C. Similarly, the connecting member 47 further includes a second connecting portion 47E for connecting to the proximal flexible member 46. Specifically, the proximal flexible member 46 is connected to the second connecting position 47F of the second connecting portion 47E. The connecting member 47 further includes a connecting rod 47A, and the first connecting portion 47C and the second connecting portion 47E are connected by the connecting rod 47A. For example, the connecting rod 47A can extend along the central axis PC and has two end heads, namely, a distal end head and a proximal end head. The first connecting portion 47C is arranged at the distal end head of the connecting rod 47A, and the second connecting portion 47E is arranged at the proximal end head of the connecting rod 47A.

[0229] The parallel motion mechanism 130 further includes a central tube 92. The central tube 92 extends along the extending direction DA of the central axis PC and is connected between the proximal joint 10 and the distal joint 20 for guiding other cables, such as the cable for powering the end effector 110. The central tube 92 is also made of a rigid material, for example, and its shape remains unchanged. The axis of the central tube 92 coincides with the central axis PC. The connecting members 47 of the plurality of driving components 40 of the parallel motion mechanism 130 are arranged around the central tube 92. That is, the plurality of driving components 40 are circumferentially spaced apart in the annular space between the shaft tube 91 and the central tube 92. Optionally, the plurality of driving components 40 are equally circumferentially spaced apart along the parallel motion mechanism 130.

[0230] The connecting member 47 may further include a guiding portion 47B for connecting to the central tube 92 to counteract the couple moment generated by the distal flexible member 45 and the proximal flexible member 46 on the connecting member 47. The guiding portion 47B is movable relative to the central tube 92 along the extending direction DA of the central axis PC. For example, the guiding portion 47B can be configured as a guiding ring, and the guiding ring 47B is sleeved on the outer periphery of the central tube 92. The guiding ring 47B can be arranged at the end or the middle of the connecting rod 47A. Correspondingly, the first connecting portion 47C can radially protrude from the outer periphery of the guiding ring 47B or the connecting rod 47A, and the second connecting portion 47E can radially protrude from the outer periphery of the guiding ring 47B or the connecting rod 47A.

[0231] As Figure 10As shown, the connecting member 47 includes a guiding ring 47B disposed at the proximal end of the connecting rod 47A. The second connecting portion 47E is connected to the outer circumferential surface of the guiding ring 47B and protrudes radially from the outer circumferential surface of the guiding ring 47B. The first connecting portion 47C is connected to the distal end of the connecting rod 47A and protrudes radially from the outer circumferential surface of the distal end. Of course, the guiding ring 47B can also be disposed at the distal end of the connecting rod 47A, the first connecting portion 47C protrudes radially from the outer circumferential surface of the guiding ring 47B, and the second connecting portion 47E protrudes radially from the outer circumferential surface of the proximal end.

[0232] As Figure 11 shown, the connecting member 47 includes two guiding rings 47B respectively disposed at the proximal end and the distal end of the connecting rod 47A. It can be understood that the two guiding rings 47B are coaxially arranged, and the central axis of the two guiding rings 47B coincides with the central axis PC. The first connecting portion 47C is connected to the outer circumferential surface of the distal guiding ring 47B and protrudes radially from the outer circumferential surface of the guiding ring 47B. The second connecting portion 47E is connected to the outer circumferential surface of the proximal guiding ring 47B and protrudes radially from the outer circumferential surface of the guiding ring 47B.

[0233] As Figure 12 shown, the connecting member 47 includes a guiding ring 47B disposed in the middle of the connecting rod 47A. The first connecting portion 47C and the second connecting portion 47E are respectively disposed at both ends of the connecting rod 47A and protrude from the outer circumferential surface of the connecting rod 47A. The connecting rod 47A includes a first rod 47G and a second rod 47H respectively located on both sides of the guiding ring 47B along the axial direction DA. Optionally, the first rod 47G and the second rod 47H are circumferentially spaced apart along the guiding ring 47B to facilitate the arrangement of the first connecting portion 47C and the second connecting portion 47E.

[0234] In the present application, the outer circumferential surface of the connecting rod 47A refers to the side surface of the connecting rod 47A connected between the two end surfaces. The cross-sectional shape of the connecting rod 47A can be a part of a ring or other shapes to be adapted to the guiding ring 47B or the central tube 92. For example, from Figure 11 and Figure 12 it can be seen that the side of the connecting rod 47A facing the guiding ring 47B is configured as a concave surface conforming to the arc of the outer surface of the guiding ring 47B, so that when the guiding ring 47B is sleeved on the central tube 92, there is a gap between the connecting rod 47A and the central tube 92, and it will not affect the movement of the connecting member 47 relative to the central tube 92.

[0235] Along the extension direction DA of the central axis PC, a plurality of connecting members 47 can be non-interleaved with each other, which helps to avoid interference between the plurality of connecting members 47. Or, at least two connecting members 47 can be arranged in an interleaved manner, which helps to shorten the length of the parallel motion mechanism 130. When the connecting member 47 adopts Figure 10 andFigure 12 When applicable to the structure shown, it can be applied to the case where multiple connecting members 47 are arranged in an interleaved manner. For example, as Figure 13 shown, Figure 10 shown, four connecting members 47 having the structure shown are arranged in an interleaved manner. When multiple connecting members 47 adopt the Figure 11 structure shown, it can be applied to the case where the connecting members 47 are not interleaved with each other, or two connecting members 47 are grouped and arranged in an interleaved manner.

[0236] Hereinafter, embodiments of the present application will be described in detail by taking the parallel motion mechanism 130 having two degrees of freedom of movement as an example.

[0237] In the first degree of freedom of movement of the parallel motion mechanism 130, the distal end of the proximal joint 10 can swing relative to the proximal end of the proximal joint 10 along the first plane P1, and the distal end of the distal joint 20 can also swing relative to the proximal end of the distal joint 20 along the first plane P1, wherein the normal plane of the first plane P1 is the first normal plane P3. The drive assembly 40 includes a first drive assembly 41 and a second drive assembly 42. It can be understood that the first drive assembly 41 and the second drive assembly 42 each include the distal flexible member, the proximal flexible member, and the connecting member as described above, which will not be elaborated herein.

[0238] When the parallel motion mechanism 130 is in the neutral state, the proximal section and the distal section of the first drive assembly 41 are respectively located on both sides of the first normal plane P3, and the proximal section and the distal section of the second drive assembly 42 are respectively located on both sides of the first normal plane P3. The proximal section of the first drive assembly 41 and the proximal section of the second drive assembly 42 are respectively located on both sides of the first normal plane P3. Therefore, the distal section of the first drive assembly 41 and the distal section of the second drive assembly 42 are also respectively located on both sides of the first normal plane P3.

[0239] In the second degree of freedom of movement of the parallel motion mechanism 130, the distal end of the proximal joint 10 can further swing relative to the proximal end of the proximal joint 10 along the second plane P2, and the distal end of the distal joint 20 can also swing relative to the proximal end of the distal joint 20 along the second plane P2, wherein the normal plane of the second plane P1 is the second normal plane P4. In this embodiment, the first plane P1 and the second plane P2 are perpendicularly intersected at the central axis PC of the parallel motion mechanism 130. The drive assembly 40 includes a third drive assembly 43 and a fourth drive assembly 44. It can be understood that the third drive assembly 43 and the fourth drive assembly 44 each include the distal flexible member, the proximal flexible member, and the connecting member as described above, which will not be elaborated herein.

[0240] When the parallel motion mechanism 130 is in the neutral state, the proximal section and the distal section of the third drive assembly 43 are respectively located on both sides of the second normal plane P4, and the proximal section and the distal section of the fourth drive assembly 44 are respectively located on both sides of the second normal plane P4. The proximal section of the third drive assembly 43 and the proximal section of the fourth drive assembly 44 are respectively located on both sides of the second normal plane P4. Therefore, the distal section of the third drive assembly 43 and the distal section of the fourth drive assembly 44 are respectively located on both sides of the second normal plane P4.

[0241] It can be understood that in this embodiment, since the first plane P1 is perpendicular to the second plane P2, the first normal plane P3 coincides with the second plane P2, and the second normal plane P4 coincides with the first plane P1.

[0242] In the example shown in this embodiment, the proximal joint 10 includes a first proximal joint portion 11, a second proximal joint portion 12, and a third proximal joint portion 13 that are sequentially connected. Among them, the first proximal joint portion 11 is disposed at the proximal end of the parallel motion mechanism 130. The second proximal joint portion 12 is connected to the distal end of the first proximal joint portion 11 and can swing relative to the first proximal joint portion 11 along the second plane P2. That is to say, the movement trajectory of any point in the second proximal joint portion 12 relative to the first proximal joint portion 11 is on the second plane P2 or parallel to the second plane P2. The third proximal joint portion 13 is connected to the distal end of the second proximal joint portion 12 and can swing relative to the second proximal joint portion 12 along the first plane P1. That is to say, the movement trajectory of any point in the third proximal joint portion 13 relative to the second proximal joint portion 12 is on the first plane P1 or parallel to the first plane P1.

[0243] The distal joint 20 includes a first distal joint portion 21, a second distal joint portion 22, and a third distal joint portion 23 that are sequentially connected. Among them, the third distal joint portion 23 is connected to the third proximal joint portion 13 and is relatively fixed to keep the relative positions and orientations of the two unchanged. The second distal joint portion 22 is connected to the distal end of the third distal joint portion 23 and can swing relative to the third distal joint portion 23 along the first plane P1 described above. That is to say, the movement trajectory of any point in the second distal joint portion 22 relative to the third distal joint portion 23 is on the first plane P1 or parallel to the first plane P1. The first distal joint portion 21 is connected to the distal end of the second distal joint portion 22 and can swing relative to the second distal joint portion 22 along the second plane P2 described above. That is to say, the movement trajectory of any point in the first distal joint portion 21 relative to the second distal joint portion 22 is on the second plane P2 or parallel to the second plane P2.

[0244] The third distal joint portion 23 and the third proximal joint portion 13 are connected by a shaft tube 91. The shaft tube 91 can be made of a rigid material and maintain its shape unchanged, so that the relative position and orientation of the third distal joint portion 23 and the third proximal joint portion 13 remain unchanged.

[0245] Optionally, in the example of the present application, refer to Figure 7 , the parallel motion mechanism 130 includes two pairs of constraint lines 30, namely the first constraint line 31, the second constraint line 32, the third constraint line 33 and the fourth constraint line 34 respectively. When the parallel motion mechanism 130 is in the neutral state, the two pairs of constraint lines 30 are arranged symmetrically with respect to both the first plane P1 and the second plane P2, and optionally extend parallel to the central axis PC. Since the lengths of the constraint lines 30 remain unchanged, this arrangement of the constraint lines can, on the one hand, cause the lengths of the constraint lines 30 in the distal joint 20 to change in the opposite direction to the lengths of the constraint lines 30 in the proximal joint 10, so as to achieve the parallel motion of the parallel motion mechanism 130. At the same time, the two-degree-of-freedom motions of the parallel motion mechanism 130 do not affect each other.

[0246] Specifically, when the parallel motion mechanism 130 moves with the first degree of freedom of movement, the first distal joint portion 21 rotates by a first angle relative to the second distal joint portion 22, one side of it moves relatively away from the second distal joint portion 22, and the other side moves relatively closer to the second distal joint portion 22 (as Figure 14 shown). For example, the lengths of the constraint lines 31 and 32 increase by a first length between the first distal joint portion 21 and the second distal joint portion 22, while correspondingly decreasing by the first length between the second proximal joint portion 12 and the first proximal joint portion 11. At the same time, the lengths of the constraint lines 33 and 34 decrease by the first length between the first distal joint portion 21 and the second distal joint portion 22, while correspondingly increasing by the first length between the second proximal joint portion 12 and the first proximal joint portion 11, so that the second proximal joint portion 12 also rotates by the first angle relative to the first proximal joint portion 11, and the rotation direction is opposite to the rotation direction of the first distal joint portion 21 relative to the second distal joint portion 22.

[0247] When the parallel motion mechanism 130 moves with the second degree of freedom of movement, the second distal joint portion 22 rotates by a second angle relative to the third distal joint portion 23, one side of it moves relatively away from the third distal joint portion 23, and the other side moves relatively closer to the third distal joint portion 23 (as Figure 15As shown. For example, the lengths of the constraint lines 31 and 34 increase by a second length between the second distal joint portion 22 and the third distal joint portion 23, and correspondingly decrease by the second length between the third proximal joint portion 13 and the second proximal joint portion 12. At the same time, the lengths of the constraint lines 32 and 33 decrease by the second length between the second distal joint portion 22 and the third distal joint portion 23, and correspondingly increase by the second length between the third proximal joint portion 13 and the second proximal joint portion 12, such that the third proximal joint portion 13 rotates by a second angle relative to the second proximal joint portion 12, and the rotation direction is opposite to the rotation direction of the second distal joint portion 22 relative to the third distal joint portion 23.

[0248] Thus, during the swinging of the parallel motion mechanism 130, it is always ensured that the first proximal joint portion 11 is parallel (or has the same orientation) to the first distal joint portion 21, that is, it does not affect the direction of the end effector 110, and the translational motion of the end effector 110 is achieved. In this application, the end effector 110 can achieve translational motion in two degrees of freedom.

[0249] In one example, the distance between the proximal section of the first drive assembly 41 and the first normal plane P3 is equal to the distance between the proximal section of the second drive assembly 42 and the first normal plane P3, and the distance between the distal section of the first drive assembly 41 and the first normal plane P3 is equal to the distance between the distal section of the second drive assembly 42 and the first normal plane P3. Thus, when the parallel motion mechanism 130 moves only with the first degree of freedom of movement, the elongation or shortening amount of the first drive assembly 41 within the parallel motion mechanism 130 is the same as the shortening or elongation amount of the second drive assembly 42 within the parallel motion mechanism 130, that is, the sum of the lengths of the first drive assembly 41 and the second drive assembly 42 within the parallel motion mechanism 130 remains unchanged, which is convenient for control.

[0250] Optionally, the proximal section of the first drive assembly 41 is centrosymmetric with respect to the central axis PC with the proximal section of the second drive assembly 42, and the distal section of the first drive assembly 41 is centrosymmetric with respect to the central axis PC with the distal section of the second drive assembly 42. Thus, when the parallel motion mechanism 130 moves simultaneously with the first degree of freedom of movement and the second degree of freedom of movement, the elongation or shortening amount of the first drive assembly 41 within the parallel motion mechanism 130 is the same as the shortening or elongation amount of the second drive assembly 42 within the parallel motion mechanism 130, that is, the sum of the lengths of the first drive assembly 41 and the second drive assembly 42 within the parallel motion mechanism 130 remains unchanged, which is further convenient for control.

[0251] Further optionally, the proximal sections of the first drive assembly 41, the proximal sections of the second drive assembly 42, the distal sections of the first drive assembly 41, and the distal sections of the second drive assembly 42 are all located in the first plane P1. Thus, when the parallel motion mechanism 130 moves simultaneously with the first degree of freedom of movement and the second degree of freedom of movement, and since the first plane P1 and the second plane P2 are perpendicular, the change in length of the first drive assembly 41 and the change in length of the second drive assembly 42 are not affected by the second degree of freedom of movement.

[0252] Correspondingly, the rear-end transmission device 150 may include a first winch, and the proximal flexible members of the first drive assembly 41 and the proximal flexible members of the second drive assembly 42 are two lines wound in opposite directions on the first winch. When the parallel motion mechanism 130 is in the neutral state, the lengths of the first drive assembly 41 and the second drive assembly 42 are equivalent; when the first winch rotates, the length of the proximal flexible member of the first drive assembly 41 released (retracted) is equal to the length of the proximal flexible member of the second drive assembly 42 retracted (released).

[0253] In one example, the distance between the proximal section of the third drive assembly 43 and the second normal plane P4 is equal to the distance between the proximal section of the fourth drive assembly 44 and the second normal plane P2, and the distance between the distal section of the third drive assembly 43 and the second normal plane P4 is equal to the distance between the distal section of the fourth drive assembly 44 and the second normal plane P2. Thus, when the parallel motion mechanism 130 moves only with the second degree of freedom of movement, the elongation or shortening amount of the third drive assembly 43 within the parallel motion mechanism 130 is the same as the shortening or elongation amount of the fourth drive assembly 44 within the parallel motion mechanism 130, that is, the total length of the third drive assembly 43 and the fourth drive assembly 44 within the parallel motion mechanism 130 remains unchanged, which is convenient for control.

[0254] Optionally, the proximal section of the third drive assembly 43 and the proximal section of the fourth drive assembly 44 are centrosymmetric about the central axis PC, and the distal section of the third drive assembly 43 and the distal section of the fourth drive assembly 44 are centrosymmetric about the central axis PC. Thus, when the parallel motion mechanism 130 moves simultaneously with the first degree of freedom of movement and the second degree of freedom of movement, the elongation or shortening amount of the third drive assembly 43 within the parallel motion mechanism 130 is the same as the shortening or elongation amount of the fourth drive assembly 44 within the parallel motion mechanism 130, that is, the total length of the third drive assembly 43 and the fourth drive assembly 44 within the parallel motion mechanism 130 remains unchanged, which is further convenient for control.

[0255] Further optionally, the proximal sections of the third drive assembly 43, the proximal sections of the fourth drive assembly 44, the distal sections of the third drive assembly 43, and the distal sections of the fourth drive assembly 44 are all located in the second plane P2. When the parallel motion mechanism 130 moves simultaneously with the first degree of freedom of movement and the second degree of freedom of movement, and since the first plane P1 and the second plane P2 are perpendicular, the amount of change in the length of the third drive assembly 43 and the amount of change in the length of the fourth drive assembly 44 are not affected by the first degree of freedom of movement.

[0256] Correspondingly, the rear-end transmission 150 may include a second winch, and the proximal flexible members of the third drive assembly 43 and the proximal flexible members of the fourth drive assembly 44 are two lines wound in opposite directions on the second winch. When the parallel motion mechanism 130 is in the neutral state, the lengths of the third drive assembly 43 and the fourth drive assembly 44 are comparable; when the second winch rotates, the length of the proximal flexible member of the third drive assembly 43 released (retracted) is equal to the length of the proximal flexible member of the fourth drive assembly 44 retracted (released).

[0257] The end drive wire 50 is used to drive the end joint 120 and the end effector 110 to move. One end of the end drive wire 50 is connected to the rear-end transmission, and the other end extends through the shaft portion 140 and the parallel motion mechanism 130 and is then connected to the end joint 120 or the end effector 110. In order to prevent the movement of the parallel motion mechanism 130 from affecting the control of the end drive wire 50 over the end joint 120 and the end effector 110, it is necessary to decouple the end drive wire 50 from the parallel motion mechanism 130. To this end, the end drive wire 50 may be arranged such that when the parallel motion mechanism 130 is in the neutral state, each pair of end drive wires 50 extends parallel to the central axis PC and is symmetrically arranged about the central axis PC. Such an arrangement can ensure that when the parallel motion mechanism 130 moves, the increase (decrease) in the length of each end drive wire 50 at the proximal joint 10 is equal to the decrease (increase) in the length of each end drive wire 50 at the distal joint 20, that is to say, the length of the end drive wire 50 within the parallel motion mechanism 130 remains constant, which means that the movement of the parallel motion mechanism 130 will not cause a change in the length of the end drive wire 50, thus achieving the decoupling of the end drive wire 50 from the parallel motion mechanism 130.

[0258] In the example of the present application, the end effector 120 includes two degrees of freedom, namely pitch and yaw, and the movement of the end effector 120 is controlled by two pairs of end drive lines 50 respectively. The first pair of end drive lines 50 are the first end drive line 51 and the second end drive line 52, and the second pair of end drive lines 50 are the third end drive line 53 and the fourth end drive line 54. When the parallel motion mechanism 130 is in the neutral state, the 4 end drive lines 50 extend parallel to the central axis PC within the parallel motion mechanism 130. The first end drive line 51 and the second end drive line 52 are centrosymmetric about the central axis PC, and the third end drive line 53 and the fourth end drive line 54 are centrosymmetric about the central axis PC.

[0259] As described above, in the example of the present application, the surgical instrument 100 includes 4 restraint lines 30, 4 drive assemblies 40, and 4 end drive lines 50. All 12 lines sequentially extend through the first proximal joint portion 11, the second proximal joint portion 12, the third proximal joint portion 13, the third distal joint portion 23, the second distal joint portion 22, and the first distal joint portion 21. Therefore, as Figure 16 and Figure 17 shown, each of the first proximal joint portion 11, the second proximal joint portion 12, and the third proximal joint portion 13 is correspondingly provided with 4 proximal restraint line through-holes 70B for passing the restraint lines 30, 4 proximal parallel motion drive line through-holes 60B for passing the drive assemblies 40, and 4 proximal end drive line through-holes 80B for passing the end drive lines 50; each of the third distal joint portion 23, the second distal joint portion 22, and the first distal joint portion 21 is correspondingly provided with 4 distal restraint line through-holes 70A for passing the restraint lines 30, 4 distal parallel motion drive line through-holes 60A for passing the drive assemblies 40, and 4 distal end drive line through-holes 80A for passing the end drive lines 50.

[0260] Optionally, in the neutral state, the sections of the drive assemblies 40 in the proximal joint 10 and in the distal joint 20 extend parallel to the central axis PC. In addition, as mentioned above, in the neutral state, the restraint lines 30 and the end drive lines 50 both extend parallel to the central axis PC. Therefore, the corresponding set of wire passing holes (including three wire passing holes in the example of the present application) of each wire in the first proximal joint portion 11, the second proximal joint portion 12, and the third proximal joint portion 13 are aligned in the direction parallel to the central axis PC, the three wire passing holes corresponding to each wire in the third distal joint portion 23, the second distal joint portion 22, and the first distal joint portion 21 are aligned in the direction parallel to the central axis PC, and the two wire passing holes corresponding to each restraint line 30 and end drive line 50 in the third proximal joint portion 13 and the first distal joint portion 21 are aligned in the direction parallel to the central axis PC.

[0261] The following describes the arrangement of 12 wires in conjunction with the 12 wire-passing through holes of the third proximal joint portion 13 (see Figure 16 ) and the 12 wire-passing through holes of the first distal joint portion 21 (see Figure 17 ). In Figure 16 and Figure 17 , the third proximal joint portion 13 and the first distal joint portion 21 when the parallel motion mechanism 130 is in the neutral state are respectively shown, and the first plane P1, the second plane P2 and the central axis PC are perpendicular to the paper surface.

[0262] For the 4 end drive wires 50, the proximal joint 10 is provided with 4 groups of proximal end drive wire through holes 80B. Taking the third proximal joint portion 13 as an example, referring to Figure 16 , they are respectively the first proximal drive wire through hole 81B, the second proximal drive wire through hole 82B, the third proximal drive wire through hole 83B and the fourth proximal drive wire through hole 84B; the distal joint 20 is provided with 4 groups of distal end drive wire through holes 80A. Taking the first distal joint portion 21 as an example, referring to Figure 17 , they are respectively the first distal drive wire through hole 81A, the second distal drive wire through hole 82A, the third distal drive wire through hole 83A and the fourth distal drive wire through hole 84A. The first proximal drive wire through hole 81B and the first distal drive wire through hole 81A are used for the first end drive wire 51 to pass through. The second proximal drive wire through hole 82B and the second distal drive wire through hole 82A are used for the second end drive wire 52 to pass through. The third proximal drive wire through hole 83B and the third distal drive wire through hole 83A are used for the first end actuator drive wire 53 to pass through. The fourth proximal drive wire through hole 84B and the fourth distal drive wire through hole 84A are used for the second end actuator drive wire 54 to pass through.

[0263] It can be seen from Figure 16 that the distances between the through holes 81B, 82B, 83B and 84B and the central axis PC are equal. The through holes 81B and 82B are symmetrically arranged about the central axis PC, and the through holes 83B and 84B are symmetrically arranged about the central axis PC. For example, the through holes 81B, 82B, 83B and 84B are rotationally symmetrically arranged about the central axis PC. It can be seen from Figure 17 that the arrangement of the through holes 81A, 82A, 83A, 84A of the distal joint 20 is similar to the arrangement in the proximal joint 10 in Figure 16 , and will not be elaborated here.

[0264] And in conjunction with Figure 16 and Figure 17It can be seen that the through holes 81B, 82B, 83B, 84B of the proximal joint 10 are aligned with the through holes 81A, 82A, 83A, 84A of the distal joint 20 in the direction parallel to the central axis PC. Therefore, in the neutral state, the four end drive lines 51, 52, 53, 54 extend parallel to the central axis PC within the parallel motion mechanism 130.

[0265] For the four constraint lines 30, the proximal joint 10 is provided with four groups of proximal end constraint line through holes 70B. Taking the third proximal joint part 13 as an example, referring to Figure 16 , they are respectively the first proximal constraint line through hole 71B, the second proximal constraint line through hole 72B, the third proximal constraint line through hole 73B, and the fourth proximal constraint line through hole 74B. The distal joint 20 is provided with four groups of distal end constraint line through holes 70A. Taking the first distal joint part 21 as an example, referring to Figure 17 , they are respectively the first distal constraint line through hole 71A, the second distal constraint line through hole 72A, the third distal constraint line through hole 73A, and the fourth distal constraint line through hole 74A. The first proximal constraint line through hole 71B and the first distal constraint line through hole 71A are used for the first end constraint line 31 to pass through. The second proximal constraint line through hole 72B and the second distal constraint line through hole 72A are used for the second end constraint line 32 to pass through. The third proximal constraint line through hole 73B and the third distal constraint line through hole 73A are used for the third end constraint line 33 to pass through. The fourth proximal constraint line through hole 74B and the fourth distal constraint line through hole 74A are used for the fourth end constraint line 34 to pass through.

[0266] From Figure 16 , it can be seen that the through holes 71B, 72B, 73B, and 74B are arranged rotationally symmetrically about the central axis PC. The through holes 71B, 72B, 73B, and 74B are symmetrically arranged with respect to both the first plane P1 and the second plane P2, so that the four constraint lines 30 are symmetrically arranged with respect to both the first plane P1 and the second plane P2 in the proximal joint 10. Further, the distance of each of the through holes 71B, 72B, 73B, and 74B from the first plane P1 is equal to the distance from the second plane P2, that is, the connection line between the center of each of the through holes 71B, 72B, 73B, and 74B and the central axis PC bisects the angle between the first plane P1 and the second plane P2. From Figure 17 , it can be seen that the arrangement of the through holes 71B, 72B, 73B, 74B of the distal joint 20 is similar to the arrangement in Figure 16 in the proximal joint 10 and will not be elaborated herein.

[0267] And in combination with Figure 16 and Figure 17It can be seen that the through-holes 71B, 72B, 73B, 74B of the proximal joint 10 and the through-holes 71A, 72A, 73A, 74A of the distal joint 20 are aligned in the direction parallel to the central axis PC. Therefore, in the neutral state, the four constraint lines 31, 32, 33, 34 extend parallel to the central axis PC within the parallel motion mechanism 130.

[0268] For the four drive assemblies 40, the proximal joint 10 is provided with four groups of proximal parallel motion drive line through-holes 60B. Taking the third proximal joint portion 13 as an example, referring to Figure 16 , they are respectively the first proximal through-hole 61B, the second proximal through-hole 62B, the third proximal through-hole 63B, and the fourth proximal through-hole 64B. The distal joint 20 is provided with four groups of distal parallel motion drive line through-holes 60A. Taking the first distal joint portion 21 as an example, referring to Figure 17 , they are respectively the first distal through-hole 61A, the second distal through-hole 62A, the third distal through-hole 63A, and the fourth distal through-hole 64A. The first proximal through-hole 61B is used for the proximal flexible member of the first drive assembly 41 to pass through, and the first distal through-hole 61A is used for the distal flexible member of the first drive assembly 41 to pass through. The second proximal through-hole 62B is used for the proximal flexible member of the second drive assembly 42 to pass through, and the second distal through-hole 62A is used for the distal flexible member of the second drive assembly 42 to pass through. The third proximal through-hole 63B is used for the proximal flexible member of the third drive assembly 43 to pass through, and the third distal through-hole 63A is used for the distal flexible member of the third drive assembly 43 to pass through. The fourth proximal through-hole 64B is used for the proximal flexible member of the fourth drive assembly 44 to pass through, and the fourth distal through-hole 64A is used for the distal flexible member of the fourth drive assembly 44 to pass through.

[0269] Different from the through-holes 70B, 70A and the through-holes 80B, 80A, the proximal parallel motion drive line through-holes 60B and the distal parallel motion drive line through-holes 60A are not aligned in the direction parallel to the central axis PC.

[0270] Specifically, in the projection of the parallel motion mechanism 130 along the axial direction DA, the first proximal through-hole 61B and the first distal through-hole 61A are centrosymmetric about the central axis PC, such that the proximal section of the first driving component 41 and the distal section of the first driving component 41 are centrosymmetric about the central axis PC; the second proximal through-hole 62B and the second distal through-hole 62A are centrosymmetric about the central axis PC, such that the proximal section of the second driving component 42 and the distal section of the second driving component 42 are centrosymmetric about the central axis PC; the first proximal through-hole 61B and the second proximal through-hole 62B are centrosymmetric about the central axis PC, such that the proximal section of the first driving component 41 and the proximal section of the second driving component 42 are centrosymmetric about the central axis PC; the first distal through-hole 61A and the second distal through-hole 62A are centrosymmetric about the central axis PC, such that the distal section of the first driving component 41 and the distal section of the second driving component 42 are centrosymmetric about the central axis PC.

[0271] For the case where the first plane P1 is perpendicular to the second plane P2, the first proximal through-hole 61B and the second distal through-hole 62A are aligned, and the first distal through-hole 61A and the second proximal through-hole 62B are aligned.

[0272] Similarly, in the projection of the parallel motion mechanism 130 along the axial direction DA, the third proximal through-hole 63B and the third distal through-hole 63A are symmetrically arranged about the central axis PC, such that the proximal section of the third driving component 43 and the distal section of the third driving component 43 are centrosymmetric about the central axis PC; the fourth proximal through-hole 64B and the fourth distal through-hole 64A are symmetrically arranged about the central axis PC, such that the proximal section of the fourth driving component 44 and the distal section of the fourth driving component 44 are centrosymmetric about the central axis PC; the third proximal through-hole 63B and the fourth proximal through-hole 64B are symmetrically arranged about the central axis PC, such that the proximal section of the third driving component 43 and the proximal section of the fourth driving component 44 are centrosymmetric about the central axis PC; the third distal through-hole 63B and the fourth distal through-hole 64A are symmetrically arranged about the central axis PC, such that the distal section of the third driving component 43 and the distal section of the fourth driving component 44 are centrosymmetric about the central axis PC.

[0273] For the case where the first plane P1 is perpendicular to the second plane P2, the third proximal through-hole 63B and the fourth distal through-hole 64A are aligned, and the third distal through-hole 63A and the fourth proximal through-hole 64B are aligned.

[0274] Since there are 4 driving components 40 in this embodiment, there are 4 connecting members 47, and the arrangement of the connecting members 47 can be as Figure 18 shown. Figure 18 In (a) of shows an arrangement of 4 connecting members 47 without interlacing with each other in the extending direction DA of the central axis PC. Figure 18Sub - figure (b) shows that the connecting members 47 of the first driving assembly 41 and the connecting members 47 of the second driving assembly 42 are staggered in the extending direction DA of the central axis PC, and the connecting members 47 of the third driving assembly 43 and the connecting members 47 of the fourth driving assembly 44 are staggered in the extending direction DA of the central axis PC. Figure 18 Sub - figure (c) shows that the 4 connecting members 47 are staggered with each other in the extending direction DA of the central axis PC. It can be understood that the arrangement order of the 4 connecting members 47 does not need to be the same as that shown in the figure and can be adjusted according to needs.

[0275] In the embodiments of the present application, the proximal joint 10 and the distal joint 20 can be configured as rolling joints. The following will combine Figure 19 , taking the proximal joint 10 as an example, to briefly describe the motion mechanism of the rolling joint and the schematic structure for realizing this motion mechanism.

[0276] As Figure 19 shown, the second proximal joint part 12 is respectively provided with first clamping grooves 15 on opposite sides, and the first proximal joint part 11 is respectively provided with first tooth profiles 17 on opposite sides. The first tooth profiles 17 are clamped in the first clamping grooves 15. When relative rotation occurs between the first proximal joint part 11 and the second proximal joint part 12, the first tooth profiles 17 rotate in the first clamping grooves 15. At the same time, the notch of the first clamping groove 15 always remains in contact with the edge 17A of the first tooth profile 17.

[0277] At the same time, the first proximal joint part 11 is provided with a first rolling surface 19A, and the second proximal joint part 12 is provided with a second rolling surface 19B. When relative rotation occurs between the first proximal joint part 11 and the second proximal joint part 12, the first rolling surface 19A and the second rolling surface 19B always contact each other and roll relative to each other. The first rolling surface 19A and the second rolling surface 19B serve as a load - bearing mechanism for bearing the mutual force between the first proximal joint part 11 and the second proximal joint part 12 caused by the pulling force of the driving assembly. Specifically, both the first rolling surface 19A and the second rolling surface 19B are configured as arc surfaces. Among them, the axis of the arc of the first rolling surface 19A is the first proximal axis A1. The axis of the arc of the second rolling surface 19B is the third proximal axis A3, and the third proximal axis A3 is parallel to the first proximal axis A1 and keeps a constant distance from the first proximal axis A1. The first proximal axis A1 and the third proximal axis A3 are perpendicular to the second plane P2.

[0278] By designing the shape of the first tooth profile edge 17A and the mating elements between the first tooth profile 17 and the first card slot 15, when the first tooth profile 17 rotates in the first card slot 15, pure rolling (without relative sliding) occurs simultaneously between the first rolling surface 19A and the second rolling surface 19B. When the first rolling surface 19A performs pure rolling along the first rotation direction on the second rolling surface 19B, the first rolling surface 19A (or any part of the first proximal joint portion 11) revolves around the third proximal axis A3 by a first angle along the first rotation direction and simultaneously rotates around the first proximal axis A1 by a first angle along the first rotation direction. Thus, the relative rotation (swing) between the first proximal joint portion 11 and the second proximal joint portion 12 is achieved.

[0279] Similar to the relative rotation between the first proximal joint portion 11 and the second proximal joint portion 12, the relative rotation between the second proximal joint portion 12 and the third proximal joint portion 13 is also achieved through pure rolling between components. For example, the third joint portion 13 is provided with a second tooth profile 14, and the second proximal joint portion 12 is provided with a second card slot 16 for holding the second tooth profile 14. At the same time, the second proximal joint portion 12 is provided with an arc-shaped fourth rolling surface 19D, and the third proximal joint portion 13 is provided with an arc-shaped third rolling surface 19C corresponding to the fourth rolling surface 19D for achieving pure rolling with the fourth rolling surface 19D. The axis of the arc of the fourth rolling surface 19D is the second proximal axis B1, and the axis of the arc of the third rolling surface 19C is the fourth proximal axis B3. The third rolling surface 19C and the fourth rolling surface 19D serve as a load-bearing mechanism for bearing the interaction force between the third proximal joint portion 13 and the second proximal joint portion 12 caused by the pulling force of the driving component. The second proximal axis B1 and the fourth proximal axis B3 are parallel and the distance between them remains unchanged. The second proximal axis B1 and the fourth proximal axis B3 are perpendicular to the first plane P1. By designing the shape of the second tooth profile edge 14A and the mating elements between the second tooth profile 14 and the second card slot 16, when the second tooth profile 14 rotates in the second card slot 16, pure rolling (without relative sliding) occurs simultaneously between the third rolling surface 19C and the fourth rolling surface 19D.

[0280] The motion mechanism of the relative rotation (swing) between the third proximal joint portion 13 and the second proximal joint portion 12 is similar to that of the relative rotation (swing) between the first proximal joint portion 11 and the second proximal joint portion 12 described above, and will not be elaborated here.

[0281] The first card slot 15 and the second card slot 16 are arranged at an interval of 90 degrees circumferentially, for example, so that the first proximal axis A1 and the second proximal axis B1 are perpendicular to each other.

[0282] Similarly, the distal joint 20 can also have the same motion mechanism as the proximal joint 10, and thus can also be constructed with the same structure, which will not be elaborated here.

[0283] In addition to Figure 19 the structure shown, the rolling joint can also have other implementation forms. For example, the rolling surfaces provided on two adjacent joint parts can be omitted, and a connecting rod can be provided between the two joint parts. The two ends of the connecting rod are respectively rotatably connected to the two joint parts, that is, the connecting rod is used as the load-bearing mechanism. Another example is that the tooth profiles and card slots provided on two adjacent joint parts can be replaced with a pair of meshing gears.

[0284] Although the embodiments of the present application specifically introduce the embodiments in which the parallel motion mechanism 130 has two degrees of freedom of movement, it can be understood that in other embodiments, the parallel motion mechanism 130 can also have one degree of freedom, or can have more than two degrees of freedom.

[0285] When understanding the scope of the present application, the term "comprising" and its derivatives as used herein are intended to be open-ended terms that specify the presence of the recited features, elements, components, groups, wholes, and / or steps, but do not exclude the presence of other unrecited features, elements, components, groups, wholes, and / or steps. This concept also applies to words with similar meanings, such as the terms "including", "having", and their derivatives.

[0286] The term "attached" or "attachment" used herein includes: a configuration in which an element is directly fixed to another element by directly fixing the element to the other element; a configuration in which an element is indirectly fixed to another element by fixing the element to an intermediate member, and the intermediate member is in turn fixed to the other element; and a configuration in which one element is integral with another element, that is, one element is substantially a part of the other element. This definition also applies to words with similar meanings, such as "connected", "coupled", "joined", "mounted", "adhered", "fixed", and their derivatives. Finally, degree terms such as "substantially", "about", and "approximately" used herein represent the amount of deviation that modifies the term such that the final result will not change significantly.

[0287] Unless otherwise defined, the technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the technical field of the present application. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present application. The features described in one embodiment herein can be applied to another embodiment alone or in combination with other features, unless the feature is not applicable or otherwise stated in that other embodiment.

[0288] The present application has been described through the above embodiments. However, it should be understood that the above embodiments are only for illustrative and explanatory purposes, and are not intended to limit the present application to the scope of the described embodiments. In addition, those skilled in the art can understand that the present application is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the present application, and these variations and modifications all fall within the scope claimed by the present application.

Claims

1. A parallel motion mechanism for a surgical instrument, characterized in that, Comprising: A proximal joint, the distal end of the proximal joint being capable of swinging relative to the proximal end of the proximal joint along at least one plane, each of the planes passing through the central axis of the parallel motion mechanism, each of the planes respectively defining a normal plane, the normal plane passing through the central axis and being perpendicular to the corresponding plane; A distal joint for connecting to an end effector, the distal end of the distal joint being capable of swinging relative to the proximal end of the distal joint along the at least one plane, the proximal end of the distal joint being connected to and relatively fixed to the distal end of the proximal joint; A constraint line for maintaining the orientation of the distal end of the distal joint relative to the proximal end of the proximal joint, one end of the constraint line being fixed to the distal end of the distal joint and the other end of the constraint line being fixed to the proximal end of the proximal joint; A plurality of drive assemblies for actuating the distal joint, each of the drive assemblies comprising: A distal flexible member, the distal flexible member passing through the distal joint and being fixed to the distal end of the distal joint, the distal flexible member including a distal section located within the distal joint, A proximal flexible member, the proximal flexible member passing through the proximal joint and being used for connection to a rear transmission device, the proximal flexible member including a proximal section located within the proximal joint, and A connecting member connecting the distal flexible member and the proximal flexible member, the stiffness of the connecting member being greater than the stiffness of the distal flexible member and greater than the stiffness of the proximal flexible member, wherein when the parallel motion mechanism is in a neutral state, the distal section and the proximal section are respectively located on both sides of the normal plane.

2. The parallel motion mechanism according to claim 1, characterized in that When the parallel motion mechanism is in a neutral state, the proximal section and the distal section of the drive assembly extend parallel to the central axis, and the distance between the proximal section and the normal plane is equal to the distance between the distal section and the normal plane.

3. The parallel motion mechanism according to claim 2, characterized in that, When the parallel motion mechanism is in a neutral state, in the projection of the parallel motion mechanism in the extending direction along the central axis, the proximal section and the distal section of the drive assembly are centrosymmetric about the central axis.

4. The parallel motion mechanism according to claim 1, wherein, Between the proximal end of the distal joint and the distal end of the proximal joint, the distal flexible member extends along a first straight line, and the proximal flexible member extends along a second straight line.

5. The parallel motion mechanism according to claim 4, characterized in that The first straight line and the second straight line are coplanar.

6. The parallel motion mechanism according to claim 4, characterized in that, The first straight line is parallel to the second straight line and parallel to the central axis of the parallel motion mechanism.

7. The parallel motion mechanism according to claim 1, wherein, The connecting member includes a first connection position connected to the distal flexible member and a second connection position connected to the proximal flexible member, the first connection position and the second connection position being spaced apart in the circumferential direction around the central axis.

8. The parallel motion mechanism according to claim 7, characterized in that, When the parallel motion mechanism is in a neutral state, the proximal section and the distal section of the drive assembly extend parallel to the central axis, and in the projection of the parallel motion mechanism in the extending direction along the central axis, the first connection position and the second connection position are located on the straight line connecting the position of the distal flexible member and the position of the proximal section.

9. The parallel motion mechanism according to claim 7, characterized in that, When the parallel motion mechanism is in a neutral state, the proximal section and the distal section of the drive assembly extend parallel to the central axis. In the projection of the parallel motion mechanism along the extension direction of the central axis, the first connection position coincides with the position of the distal flexible member, and the second connection position coincides with the position of the proximal section.

10. The parallel motion mechanism according to claim 7, characterized in that, The first connection position and the second connection position are spaced apart along the extension direction of the central axis.

11. The parallel motion mechanism according to claim 1, characterized in that, The parallel motion mechanism further includes a central tube that extends along the extension direction of the central axis and is connected between the proximal joint and the distal joint, and a plurality of the connecting members are arranged around the central tube.

12. The parallel motion mechanism according to claim 11, characterized in that, The connecting member includes a guiding portion that is connected to the central tube and is movable relative to the central tube along the extension direction of the central axis.

13. The parallel motion mechanism according to claim 12, characterized in that, The guiding portion is configured as a guiding ring that is sleeved on the outer periphery of the central tube.

14. The parallel motion mechanism according to claim 13, characterized in that, The connecting member further includes a connecting rod that extends parallel to the central axis, and the guiding ring is provided at an end or a middle portion of the connecting rod.

15. The parallel motion mechanism according to claim 14, characterized in that, The connecting member further includes a first connecting portion connected to the distal flexible member and a second connecting portion connected to the proximal flexible member. Wherein, the first connecting portion protrudes radially from the outer peripheral surface of the guiding ring or the connecting rod, and the second connecting portion protrudes radially from the outer peripheral surface of the guiding ring or the connecting rod.

16. The parallel motion mechanism according to claim 1, wherein along the extension direction of the central axis, the plurality of the connecting members do not intersect with each other; or along the extension direction of the central axis, at least two of the connecting members are arranged in an interleaved manner.

17. The parallel motion mechanism according to any one of claims 1 to 16, characterized in that, The at least one plane includes a first plane, the normal plane of the first plane is a first normal plane, and the plurality of drive assemblies include: a first drive assembly and a second drive assembly, the proximal sections of the first drive assembly and the second drive assembly are respectively located on both sides of the first normal plane.

18. The parallel motion mechanism according to claim 17, characterized in that, The distance between the proximal section of the first drive assembly and the first normal plane is equal to the distance between the proximal section of the second drive assembly and the first normal plane, and the distance between the distal section of the first drive assembly and the first normal plane is equal to the distance between the distal section of the second drive assembly and the first normal plane.

19. The parallel motion mechanism according to claim 17, characterized in that, The proximal section of the first drive assembly and the proximal section of the second drive assembly are centrosymmetric about the central axis, and the distal section of the first drive assembly and the distal section of the second drive assembly are centrosymmetric about the central axis.

20. The parallel motion mechanism according to claim 17, wherein The at least one plane further includes a second plane, the second plane intersects with the first plane at the central axis, the normal plane of the second plane is a second normal plane, and the plurality of drive assemblies further include: a third drive assembly and a fourth drive assembly, the proximal sections of the third drive assembly and the fourth drive assembly are respectively located on both sides of the second normal plane.

21. The parallel motion mechanism according to claim 20, characterized in that, The distance between the proximal section of the third drive assembly and the second normal plane is equal to the distance between the proximal section of the fourth drive assembly and the second normal plane, and the distance between the distal section of the third drive assembly and the second normal plane is equal to the distance between the distal section of the fourth drive assembly and the second normal plane.

22. The parallel motion mechanism according to claim 20, characterized in that, The proximal section of the third drive assembly is centrosymmetric with the proximal section of the fourth drive assembly about the central axis, and the distal section of the third drive assembly is centrosymmetric with the distal section of the fourth drive assembly about the central axis.

23. A surgical instrument, characterized in that, Comprising: The parallel motion mechanism according to any one of claims 1 to 22; An end effector connected to the distal joint of the parallel motion mechanism; And A rear transmission, the end of the proximal flexible member being connected to the rear transmission.

24. The surgical instrument according to claim 23, wherein, The end effector is configured as a hook, a spatula, a needle, a clamp or scissors.

25. The surgical instrument according to claim 23, characterized in that, It further includes an end joint, and the end effector and the distal joint are connected through the end joint.

26. The surgical instrument according to claim 25, characterized in that, The end joint includes a yaw joint seat and a pitch joint seat. The proximal end of the end effector is rotatably connected to the distal end of the yaw joint seat about the yaw axis, and the proximal end of the yaw joint seat is rotatably connected to the distal end of the pitch joint seat about the pitch axis.

27. The surgical instrument according to claim 26, wherein, The proximal end of the end effector is rotatably connected to the distal end of the yaw joint seat through a first pin shaft, and / or the proximal end of the yaw joint seat is rotatably connected to the distal end of the pitch joint seat through a second pin shaft.

28. The surgical instrument according to claim 27, wherein, The end effector includes a first jaw and a second jaw. The proximal ends of the first jaw and the second jaw are rotatably connected to the yaw joint seat through the first pin shaft, and the first jaw and the second jaw can respectively rotate relative to the yaw joint seat about the first pin shaft.

29. The surgical instrument according to any one of claims 23 to 28, characterized in that, It further includes at least one pair of end drive wires. The ends of the at least one pair of end drive wires are connected to the rear transmission, and the end drive wires are used to drive the end joint and / or the end effector to move relative to the distal joint.

30. The surgical instrument according to any one of claims 23 to 28, characterized in that, It further includes a cable, and the cable is electrically connected to the end effector. When the parallel motion mechanism is in a neutral state, the cable extends along the central axis.

31. A surgical robot, characterized in that, Comprising: A robotic arm, on which an instrument drive device is provided; And The surgical instrument according to any one of claims 23 to 30, the surgical instrument being detachably connected to the robotic arm, and the instrument drive device is in transmission connection with the rear transmission to control the proximal flexible member through the rear transmission.

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