Decoupling structure for relieving motion coupling of multi-degree-of-freedom surgical instrument

Abstract

The utility model belongs to the technical field of medical instruments, and discloses a decoupling structure for relieving motion coupling of a multi-degree-of-freedom surgical instrument, which is characterized in that a decoupling sheet is additionally arranged in a push-pull plate for controlling deflection and rotation of a wrist part, so that a steel wire rope for controlling opening and closing of a clamp is wound around a cylindrical bulge on the decoupling sheet in an S-shaped path; the guide wheel is connected with the guide wheel at the far end; when the push-pull plate for controlling the wrist to deflect and rotate rotates, the synchronous rotation of the decoupling sheet can play a traction role on the steel wire rope, so that the steel wire rope for controlling the opening and closing of the clamp is tensioned or loosened, and the looseness or elongation of the steel wire rope during the rotation of the wrist can be compensated; therefore, the coupling problem of movement of the wrist joint and the tail end clamp in the multi-degree-of-freedom surgical instrument driven by the rope is effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, and more specifically, to a decoupling structure for alleviating motion coupling of multi-degree-of-freedom surgical instruments. Background Art

[0002] In multi-degree-of-freedom surgical instruments based on wire transmission, when each active component drives the wire rope, a motion coupling phenomenon that affects the motion accuracy and control operation will occur inside the instrument, thereby affecting the mechanical properties of the instrument. If the operation is improper, the safety of the operation will be greatly reduced. A typical example is the motion coupling effect of wrist joint rotation on the end clamp. When the wrist joint rotates in different directions, the end clamp will be pulled by the wire rope and move accordingly. The reason is that the rotation of the wrist joint will cause the wire rope that controls the movement of the end clamp to be tensioned and relaxed at a specific position, causing the movement of the end clamp to be affected by the wrist movement. The length of relaxation and tension is equal to the radius of the groove bottom of the guide wheel plus the radius of the wire rope multiplied by the angle of wrist rotation, that is, s = θ (Rd + r), which is the coupling effect of wrist rotation on the clamp movement. Utility Model Content

[0003] In order to overcome the shortcomings of the prior art, the utility model provides a decoupling sheet for alleviating the motion coupling of a multi-degree-of-freedom surgical instrument, which can effectively eliminate the coupling problem between the wrist joint and the end clamp motion in a wire-driven multi-degree-of-freedom surgical instrument.

[0004] The utility model is implemented by the following technical solutions:

[0005] A decoupling sheet for alleviating the motion coupling of a multi-degree-of-freedom surgical instrument, the multi-degree-of-freedom surgical instrument comprising a driving unit and an end effector, the driving unit controlling the opening and closing of a clamp or the yaw rotation of a wrist of the end effector through a steel wire rope, the driving unit being provided with a shell, a first push-pull plate and a second push-pull plate which can rotate around an axis being installed in the shell, and a first transmission structure for driving the first push-pull plate to rotate, and a second transmission structure for driving the second push-pull plate to rotate, the second push-pull plate being arranged between the first push-pull plate and the end effector, the first push-pull plate being connected to a first steel wire rope for controlling the opening and closing of the clamp, and the second push-pull plate being connected to a second steel wire rope for controlling the yaw rotation of the wrist of the end effector;

[0006] The decoupling structure includes two decoupling plates correspondingly arranged in the two mounting grooves of the second push-pull plate, and the decoupling plate is provided with two cylindrical protrusions. The two ends of the first steel wire rope respectively pass through the cylindrical protrusions in the two decoupling plates in an "S"-shaped path, and are finally fixedly connected to the first push-pull plate.

[0007] Furthermore, one end of the first steel wire rope is fixedly connected to the first push-pull plate, and the other end passes through the cylindrical protrusion in the upper decoupling plate in an "S"-shaped path, and is connected around the first guide wheel used to control the opening and closing of the clamp, and then passes through the cylindrical protrusion in the lower decoupling plate in an "S"-shaped path, and is finally fixedly connected to the first push-pull plate.

[0008] Furthermore, the radius of the cylindrical protrusion on the decoupling plate is equal to the groove bottom radius of the first guide wheel.

[0009] Furthermore, the first push-pull plate is composed of two semicircular parts and is installed in the shell through a first rotation axis; the second push-pull plate is installed in the shell through a second rotation axis, and the second rotation axis synchronously passes through two decoupling plates, so that the decoupling plates can follow the second push-pull plate to rotate synchronously around the axis.

[0010] Further, the first transmission structure includes an operating trigger, a first connecting rod, a first paddle, a first top plate, and a first push-pull rod; one end of the first connecting rod is rotatably mounted in the shell through a rotating shaft, and a slide groove is provided; the operating trigger is rotatably mounted in the shell through a rotating shaft, and a first connecting shaft is provided to pass through the end of the slide groove; the first paddle can be slidably mounted in the shell forward and backward, and a second connecting shaft is provided at the bottom to pass through the middle of the slide groove; the first top plate is mounted on the first paddle, and the two ends of the first push-pull rod are respectively hinged to the surfaces of the first top plate and the first push-pull plate, and the first push-pull plate is placed in the sliding forward direction of the first paddle.

[0011] Furthermore, the second transmission structure includes a knob, a push rod, a second connecting rod, a second paddle, a second top plate, and a second push-pull rod; the knob can be rotatably installed in the shell body around an axis, a turntable is provided on the top of the knob, a fixed shaft is provided on the turntable and is connected to one end of the push rod, the other end of the push rod is connected to one end of the second connecting rod through a rotating shaft, and the other end of the second connecting rod is connected to the bottom of the second paddle through a rotating shaft, the second paddle can be slidably installed in the shell body forward and backward, and is placed between the first paddle and the first push-pull plate, the second top plate is installed on the second paddle, and is provided with a through groove for the first push-pull rod to pass freely, and the two ends of the second push-pull rod are respectively hinged to the surfaces of the second top plate and the second push-pull plate; one end of the second steel wire rope is fixedly connected to the second push-pull plate, and the other end is circuitously connected to the second guide wheel used to control the wrist swing rotation, and is finally also fixedly connected to the second push-pull plate.

[0012] Furthermore, the shell is composed of two symmetrically arranged and detachably installed half-shell plates; the shell includes a cylindrical mounting cylinder and a handle arranged at the bottom of the mounting cylinder, and the interior of the mounting cylinder and the interior of the handle are both hollow and interconnected; one side of the top of the operating trigger is rotatably mounted on one side of the handle through a rotating shaft; one end of the first connecting rod is rotatably mounted in the mounting cylinder through a rotating shaft, and the other end extends from the cavity of the mounting cylinder into the cavity of the handle, and is connected with the first connecting shaft on the other side of the top of the operating trigger through a sliding groove; the first paddle can be slidably mounted in the limiting groove at the bottom of the mounting cylinder, and a first extension end is provided at the bottom to extend into the inner cavity of the handle, and a second connecting shaft is provided on one side of the first extension end to pass through the middle of the sliding groove.

[0013] Furthermore, a mounting slot for mounting the knob is provided at the top of one side of the handle, and the knob can be rotatably installed in the mounting slot around an axis; the second paddle can be slidably installed in the limiting slot at the bottom of the mounting cylinder, and a second extension end is provided at the bottom to extend into the inner cavity of the handle; the push rod and the second connecting rod are placed in the inner cavity of the handle, one end of the push rod is connected to the fixed axis on the turntable at the top of the knob, and the other end is connected to one end of the second connecting rod through a rotating shaft, and the other end of the second connecting rod is connected to the second extension end at the bottom of the second paddle through a rotating shaft.

[0014] Furthermore, the first top plate and the second top plate are circular plates, the first paddle and the second paddle are both provided with semicircular mounting slots, and the bottoms of the first top plate and the second top plate are respectively snap-fitted and mounted in the mounting slots of the first paddle and the second paddle.

[0015] Furthermore, the first push-pull plate is composed of two semicircular parts and is installed in the shell through a first rotation axis; the second push-pull plate is installed in the shell through a second rotation axis, and the second rotation axis synchronously passes through two decoupling plates, so that the decoupling plates can follow the second push-pull plate to rotate synchronously around the axis.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] The utility model designs a decoupling piece with a cylindrical protrusion in the push-pull plate for controlling the yaw and rotation of the wrist, so that the steel wire rope for controlling the opening and closing of the clamp can be passed around the cylindrical protrusion in an "S"-shaped path and then connected to the guide wheel at the far end. When the push-pull plate for controlling the yaw and rotation of the wrist rotates, the decoupling piece rotates synchronously to pull the steel wire rope, so that the steel wire rope for controlling the opening and closing of the clamp is tightened or relaxed, thereby compensating for the slackness or elongation of the steel wire rope when the wrist rotates, thereby eliminating the coupling effect of the wrist rotation on the movement of the clamp, and effectively improving the accuracy and stability of the use of minimally invasive multi-degree-of-freedom surgical instruments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of a multi-degree-of-freedom surgical instrument.

[0019] Figure 2 Schematic diagram of the internal structure of the drive unit.

[0020] Figure 3 It is a schematic diagram of the winding of the first steel wire rope in the decoupling structure.

[0021] Figure 4 It is the structural schematic diagram of the decoupling piece.

[0022] Figure 5 Schematic diagram of the connection between the wire rope and the end effector.

[0023] Figure 6 for Figure 5 Schematic diagram from another angle.

[0024] Figure 7 It is a schematic diagram of the structure of the first and second transmission mechanisms.

[0025] Figure 8 Schematic diagram of the limit seat.

[0026] Fig. 9 Schematic diagram of the wrist joint rotating clockwise.

[0027] Fig.10 Schematic diagram of the counterclockwise rotation of the wrist joint.

[0028] In the figure: clamp 1, shell 2, mounting cylinder 201, handle 202, limiting groove 203, first push-pull plate 3, second push-pull plate 4, first steel wire rope 5, second steel wire rope 6, decoupling plate 7, cylindrical protrusion 701, operating trigger 8, first connecting rod 9, slide groove 901, first paddle 10, first top plate 11, first push-pull rod 12, first connecting shaft 13, second connecting shaft 14, first guide wheel 15, knob 16, push rod 17, second connecting rod 18, second paddle 19, second top plate 20, second push-pull rod 21, turntable 22, second guide wheel 23, limiting seat 24, first rotation axis 25, second rotation axis 26. DETAILED DESCRIPTION

[0029] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The drawings provide preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0030] Example 1

[0031] This embodiment shows a multi-degree-of-freedom surgical instrument, including a driving unit and an end effector. The driving unit controls the opening and closing of the clamp 1 of the end effector or the swing rotation of the wrist through a wire rope. The driving unit is provided with a shell 2, in which a first push-pull plate 3 and a second push-pull plate 4 that can rotate around an axis are installed, as well as a first transmission structure for driving the first push-pull plate 3 to rotate, and a second transmission structure for driving the second push-pull plate 4 to rotate. The second push-pull plate 4 is placed between the first push-pull plate 3 and the end effector. The first push-pull plate 3 is connected to a first wire rope 5 for controlling the clamp 1, the second push-pull plate 4 is connected to a second steel wire rope 6 for controlling the wrist of the end effector to perform yaw rotation; wherein, a decoupling structure is provided in the second push-pull plate 4, and the decoupling structure includes two decoupling plates 7 correspondingly arranged in two mounting grooves of the second push-pull plate 4, and two cylindrical protrusions 701 are provided on the decoupling plate 7; one end of the first steel wire rope 5 is fixedly connected to the first push-pull plate 3, and the other end passes through the cylindrical protrusion 701 in the upper decoupling plate 7 in an "S"-shaped path, and is connected around the first guide wheel 15 (refer to Figure 5 or Figure 6 ), and then detours through the cylindrical protrusion 701 in the lower decoupling plate 7 in an "S"-shaped path, and finally is fixedly connected to the first push-pull plate 3; one end of the second steel wire rope 6 is fixedly connected to the second push-pull plate 4, and the other end detours around and connects to the second guide wheel 23 (refer to Figure 5 or Figure 6 ), and finally fixedly connected to the second push-pull plate 4.

[0032] See also Figure 4 In this embodiment, the radius of the cylindrical protrusion 701 on the decoupling plate 7 is equal to the groove bottom radius of the first guide wheel 15.

[0033] In this embodiment, the first push-pull plate 3 is composed of two semicircular parts and is installed in the shell 2 through the first rotation axis 25; the second push-pull plate 4 is installed in the shell 2 through the second rotation axis 26, and the second rotation axis 26 synchronously passes through the two decoupling plates 7, so that the decoupling plates 7 can follow the second push-pull plate 4 to rotate synchronously around the axis.

[0034] The two ends of the first steel wire rope 5 for controlling the opening and closing of the clamp 1 of the utility model respectively pass through the upper and lower decoupling plates 7 fixed in the second push-pull plate 4 for controlling the movement of the wrist in an "S"-shaped path, and finally are respectively fixed in the first push-pull plate 3 for controlling the opening and closing of the clamp 1. In this way, when the wrist is controlled to yaw and rotate through the second driving mechanism, the state of the steel wire rope for controlling the opening and closing of the clamp 1 can be affected to a certain extent.

[0035] The specific decoupling principle is as follows: when the second push-pull plate 4 that controls the wrist's yaw rotation rotates clockwise around the axis, the wrist in the end effector deflects clockwise accordingly. At this time, due to the synchronous clockwise rotation of the two decoupling plates 7, the first steel wire rope 5 is pulled, so that the first steel wire rope 5 that controls the opening and closing of the clamp 1 is tightened, thereby compensating for the slack of the first steel wire rope 5 when the wrist rotates clockwise. Similarly, when the second push-pull plate 4 that controls the wrist's yaw rotation rotates counterclockwise around the axis, the wrist in the end effector deflects counterclockwise accordingly. At this time, due to the synchronous counterclockwise rotation of the two decoupling plates 7, the first steel wire rope 5 is pulled, thereby compensating for the elongation of the first steel wire rope 5 when the wrist rotates counterclockwise. Since the motion compensation amount generated by the rotation of the decoupling piece 7 is equal to the radius of the winding column of the decoupling piece 7 plus the radius of the first steel wire rope 5 multiplied by the rotation angle of the second push-pull plate 4, that is, the rotation angle of the wrist, the magnitude is also s=θ(Rd+r), thus eliminating the coupling effect of the wrist rotation on the clamp movement. Effectively improve the accuracy and stability of the use of minimally invasive surgical instruments, simple structure, low assembly difficulty.

[0036] Example 2

[0037] This embodiment shows a specific implementation of the first transmission structure and the second transmission structure. The two decoupling plates 7 described in Example 1 can also be used in transmission structures of other specific structures, which is conceivable to those skilled in the art.

[0038] See also Figure 2 , Figure 5-Figure 7 In this embodiment, the first transmission structure includes an operating trigger 8, a first connecting rod 9, a first paddle 10, a first top plate 11, and a first push-pull rod 12; one end of the first connecting rod 9 is rotatably installed in the shell 2 through a rotating shaft, and a slide groove 901 is opened; the operating trigger 8 is rotatably installed in the shell 2 through a rotating shaft, and a first connecting shaft 13 is provided to pass through the end of the slide groove 901; the first paddle 10 is slidably installed in the shell 2 back and forth, and a second connecting shaft 14 is provided at the bottom to pass through the middle of the slide groove 901; the first top plate 11 is installed on the first paddle 10, and the two ends of the first push-pull rod 12 are respectively hinged to the surfaces of the first top plate 11 and the first push-pull plate 3, and the first push-pull plate 3 is placed in the sliding forward direction of the first paddle 10.

[0039] The first transmission structure is designed based on multi-link motion. The principle of using the first transmission structure to drive the clamp 1 to open and close through the first steel wire rope 5 is as follows:

[0040] When the trigger 8 is pressed down counterclockwise or lifted up clockwise, the first connecting shaft 13 will drive the first connecting rod 9 to rotate clockwise upward or counterclockwise downward around the axis for a certain angle, and the first paddle 10 cooperating with the slide groove 901 of the first connecting rod 9 will eventually translate forward or backward under the constraints of the freedom of the shell 2 and the second connecting shaft 14. When the first paddle 10 drives the first top plate 11 to move forward or backward, due to the limitation of the hinge, the first push-pull plate 3 will deflect counterclockwise or clockwise around the axis under the rigid connection, thereby realizing the forward and backward pulling of the first steel wire rope 5 that controls the opening and closing of the clamp 1 of the end actuator, so as to control the rotation of the first guide wheel 15 and realize the opening and closing control of the clamp 1.

[0041] See also Figure 2 , Figure 5-Figure 8 In this embodiment, the second transmission structure includes a knob 16, a push rod 17, a second connecting rod 18, a second paddle 19, a second top plate 20, and a second push-pull rod 21; the knob 16 can be rotatably installed in the shell 2 around the axis, a turntable 22 is provided on the top of the knob 16, a fixed shaft is provided on the turntable 22 and connected to one end of the push rod 17, the other end of the push rod 17 is connected to one end of the second connecting rod 18 through a rotating shaft, and the other end of the second connecting rod 18 is connected to the bottom of the second paddle 19 through a rotating shaft, the second paddle 19 can be slidably installed in the shell 2 back and forth, and is placed between the first paddle 10 and the first push-pull plate 3, the second top plate 20 is installed on the second paddle 19, and a through groove is opened for the first push-pull rod 12 to freely pass through, and the two ends of the second push-pull rod 21 are respectively hinged to the surfaces of the second top plate 20 and the second push-pull plate 4.

[0042] Among them, a stopper 24 is provided at one end of the second connecting rod 18 connected to the push rod 17, and one end of the push rod 17 is installed in the stopper 24 through a rotating shaft. In this embodiment, a stopper 24 is designed at the front end connection part of the second connecting rod 18 (see Figure 8 ), so that the push rod 17 can only perform unidirectional movement in the direction of one side of the knob 16, and the knob 16 can only rotate within a certain angle range, thereby ensuring the accuracy of the movement and achieving precise control of the rotation angle of the wrist joint.

[0043] The prototype of the second transmission structure is a crank slider mechanism in the basic four-bar linkage mechanism, in which an ergonomic knob 16 acts as a crank, and the second connecting rod 18 and the second paddle 19 act as sliders under freedom constraints. Fig. 9 and Fig.10 The principle of using the second transmission structure to drive the end effector wrist to perform yaw rotation through the second steel wire rope 6 is as follows:

[0044] When the knob 16 rotates clockwise or counterclockwise, it will drive the push rod 17 to move in a general plane, thereby driving the second connecting rod 18 and the second paddle 19 to move forward or backward, and then the second paddle 19 drives the second top plate 20 to move forward or backward in the axial direction of the second push-pull rod 21. However, due to the limitation of the hinge, the second push-pull plate 4 will deflect clockwise or counterclockwise around the axis under the rigid connection, thereby realizing the forward and backward pulling of the second steel wire rope 6 that controls the rotation of the wrist of the end effector, so as to control the rotation of the second guide wheel 23 and realize the rotation and deflection control of the wrist.

[0045] The deflection angle of the wrist joint and the end clamp depends on the distance from the connection position of the wire rope in the push-pull plate to the center of the rotating shaft. Geometrically expressed, it is the rotation radius of the circle tangent to the wire rope. The deflection angle can be designed according to actual task requirements.

[0046] See also Figure 1 and Figure 2 In this embodiment, the shell 2 is composed of two symmetrically arranged and detachably installed half-shell plates; the shell 2 includes a cylindrical mounting cylinder 201 and a handle 202 arranged at the bottom of the mounting cylinder 201, and the interior of the mounting cylinder 201 and the interior of the handle 202 are both hollow and interconnected.

[0047] Among them, one side of the top of the operating trigger 8 is rotatably mounted on one side of the handle 202 through a rotating shaft; one end of the first connecting rod 9 is rotatably mounted in the mounting cylinder 201 through a rotating shaft, and the other end extends from the cavity of the mounting cylinder 201 into the cavity of the handle 202, and is connected with the first connecting shaft 13 on the other side of the top of the operating trigger 8 through the slide groove 901; the first paddle 10 can be slidably mounted in the limiting groove 203 at the bottom of the mounting cylinder 201, and a first extension end is provided at the bottom to extend into the inner cavity of the handle 202, and a second connecting shaft 14 is provided on one side of the first extension end to pass through the middle of the slide groove 901. A mounting slot for mounting the knob 16 is provided at the top of one side of the handle 202, and the knob 16 can be rotatably installed in the mounting slot around an axis; the second paddle 19 can be slid forward and backward and installed in the limiting slot 203 at the bottom of the mounting cylinder 201, and a second extension end is provided at the bottom to extend into the inner cavity of the handle 202; the push rod 17 and the second connecting rod 18 are placed in the inner cavity of the handle 202, one end of the push rod 17 is connected to the fixed axis on the turntable 22 at the top of the knob 16, and the other end is connected to one end of the second connecting rod 18 through a rotating shaft, and the other end of the second connecting rod 18 is connected to the second extension end at the bottom of the second paddle 19 through a rotating shaft.

[0048] See also Figure 7In this embodiment, the first top plate 11 and the second top plate 20 are circular plates, and the first paddle 10 and the second paddle 19 are both provided with semicircular mounting slots, and the bottoms of the first top plate 11 and the second top plate 20 are respectively mounted in the mounting slots of the first paddle 10 and the second paddle 19. This design facilitates the disassembly and installation of the top and the paddle, and at the same time fits the shape of the mounting cylinder 201 without affecting its forward and backward sliding.

[0049] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an element in the middle. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an element in the middle. The terms "one side", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0051] The above are only embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A decoupling structure for alleviating the motion coupling of a multi-degree-of-freedom surgical instrument, the multi-degree-of-freedom surgical instrument comprising a driving unit and an end effector, the driving unit controlling the opening and closing of a clamp (1) of the end effector or the swing rotation of a wrist through a steel wire rope, characterized in that: The driving part is provided with a shell (2), in which a first push-pull plate (3) and a second push-pull plate (4) which can rotate around an axis are installed, as well as a first transmission structure for driving the first push-pull plate (3) to rotate, and a second transmission structure for driving the second push-pull plate (4) to rotate, the second push-pull plate (4) is arranged between the first push-pull plate (3) and the end effector, the first push-pull plate (3) is connected to a first steel wire rope (5) for controlling the opening and closing of the clamp (1), and the second push-pull plate (4) is connected to a second steel wire rope (6) for controlling the wrist of the end effector to perform a yaw rotation; The decoupling structure comprises two decoupling plates (7) correspondingly arranged in two mounting grooves of the second push-pull plate (4), the decoupling plate (7) being provided with two cylindrical protrusions (701), and the two ends of the first steel wire rope (5) respectively pass through the cylindrical protrusions (701) in the two decoupling plates (7) in an "S"-shaped path, and are finally fixedly connected to the first push-pull plate (3).

2. The decoupling structure for alleviating motion coupling of a multi-DOF surgical instrument according to claim 1, characterized in that: One end of the first steel wire rope (5) is fixedly connected to the first push-pull plate (3), and the other end passes through the cylindrical protrusion (701) in the upper decoupling plate (7) in an "S"-shaped path, and is connected around the first guide wheel (15) used to control the opening and closing of the clamp (1), and then passes through the cylindrical protrusion (701) in the lower decoupling plate (7) in an "S"-shaped path, and is finally fixedly connected to the first push-pull plate (3).

3. The decoupling structure for alleviating motion coupling of a multi-DOF surgical instrument according to claim 2, characterized in that: The radius of the cylindrical protrusion (701) on the decoupling plate (7) is equal to the groove bottom radius of the first guide wheel (15).

4. The decoupling structure for alleviating motion coupling of a multi-DOF surgical instrument according to claim 3, characterized in that: The first push-pull plate (3) is composed of two semicircular parts, and is installed in the shell (2) via a first rotation axis (25); the second push-pull plate (4) is installed in the shell (2) via a second rotation axis (26), and the second rotation axis (26) synchronously passes through two decoupling plates (7), so that the decoupling plates (7) can follow the second push-pull plate (4) to synchronously rotate around the axis.

5. The decoupling structure for alleviating motion coupling of a multi-DOF surgical instrument according to claim 4, characterized in that: The first transmission structure comprises an operating trigger (8), a first connecting rod (9), a first paddle (10), a first top plate (11), and a first push-pull rod (12); One end of the first connecting rod (9) is rotatably mounted in the housing (2) via a rotating shaft, and is provided with a slide groove (901); the operating trigger (8) is rotatably mounted in the housing (2) via a rotating shaft, and is provided with a first connecting shaft (13) passing through the end of the slide groove (901); the first paddle (10) is slidably mounted in the housing (2) forwards and backwards, and is provided with a second connecting shaft (14) passing through the middle of the slide groove (901) at the bottom; the first top plate (11) is mounted on the first paddle (10), and the two ends of the first push-pull rod (12) are respectively hinged to the surfaces of the first top plate (11) and the first push-pull plate (3), and the first push-pull plate (3) is placed in the sliding forward direction of the first paddle (10).

6. The decoupling structure for alleviating motion coupling of a multi-DOF surgical instrument according to claim 5, characterized in that: The second transmission structure comprises a knob (16), a push rod (17), a second connecting rod (18), a second paddle (19), a second top plate (20), and a second push-pull rod (21); The knob (16) is rotatably mounted in the housing (2), a rotating disk (22) is provided on the top of the knob (16), a fixed shaft is provided on the rotating disk (22) and is connected to one end of the push rod (17), the other end of the push rod (17) is connected to one end of the second connecting rod (18) via a rotating shaft, the other end of the second connecting rod (18) is connected to the bottom of the second paddle (19) via a rotating shaft, the second paddle (19) is slidably mounted in the housing (2) and is placed on the first paddle (10). Between the first push-pull plate (3), the second top plate (20) is installed on the second paddle (19), and is provided with a through slot for the first push-pull rod (12) to freely pass through, and the two ends of the second push-pull rod (21) are respectively hinged to the surface of the second top plate (20) and the second push-pull plate (4); one end of the second steel wire rope (6) is fixedly connected to the second push-pull plate (4), and the other end is circuitously connected to the second guide wheel (23) for controlling the wrist yaw rotation, and finally is also fixedly connected to the second push-pull plate (4).

7. The decoupling structure for alleviating motion coupling of a multi-DOF surgical instrument according to claim 6, characterized in that: The shell (2) is composed of two symmetrically arranged and detachably mounted half-shell plates; the shell (2) comprises a cylindrical mounting cylinder (201) and a handle (202) arranged at the bottom of the mounting cylinder (201); the interior of the mounting cylinder (201) and the interior of the handle (202) are both hollow and communicate with each other; One side of the top of the operating trigger (8) is rotatably mounted on one side of the handle (202) via a rotating shaft; one end of the first connecting rod (9) is rotatably mounted in the mounting cylinder (201) via a rotating shaft, and the other end extends from the cavity of the mounting cylinder (201) into the cavity of the handle (202), and is connected with the first connecting shaft (13) on the other side of the top of the operating trigger (8) through a sliding groove (901); the first paddle (10) is slidably mounted in the limiting groove (203) at the bottom of the mounting cylinder (201), and a first extension end is provided at the bottom to extend into the inner cavity of the handle (202), and a second connecting shaft (14) is provided on one side of the first extension end to pass through the middle of the sliding groove (901).

8. The decoupling structure for alleviating motion coupling of a multi-DOF surgical instrument according to claim 7, characterized in that: A mounting slot for mounting the knob (16) is provided at the top of one side of the handle (202), and the knob (16) can be rotatably mounted in the mounting slot around an axis; the second paddle (19) can be slidably mounted in a limiting slot (203) at the bottom of the mounting cylinder (201) forward and backward, and a second extension end is provided at the bottom to extend into the inner cavity of the handle (202); the push rod (17) and the second connecting rod (18) are placed in the inner cavity of the handle (202), one end of the push rod (17) is connected to a fixed axis on the turntable (22) at the top of the knob (16), and the other end is connected to one end of the second connecting rod (18) through a rotating shaft, and the other end of the second connecting rod (18) is connected to the second extension end at the bottom of the second paddle (19) through a rotating shaft.

9. The decoupling structure for alleviating motion coupling of a multi-DOF surgical instrument according to claim 8, characterized in that: The first top plate (11) and the second top plate (20) are circular plates, and the first paddle (10) and the second paddle (19) are both provided with semicircular mounting slots, and the bottoms of the first top plate (11) and the second top plate (20) are respectively snap-fitted and mounted in the mounting slots of the first paddle (10) and the second paddle (19).

10. The decoupling structure for alleviating motion coupling of a multi-DOF surgical instrument according to claim 9, characterized in that: The first push-pull plate (3) is composed of two semicircular parts, and is installed in the shell (2) via a first rotation axis (25); the second push-pull plate (4) is installed in the shell (2) via a second rotation axis (26), and the second rotation axis (26) synchronously passes through two decoupling plates (7), so that the decoupling plates (7) can follow the second push-pull plate (4) to synchronously rotate around the axis.

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