Surgical instrument and auxiliary medical system

Abstract

A surgical instrument and an auxiliary medical system. The surgical instrument comprises a rear end transmission mechanism and a front end execution mechanism. The rear end transmission mechanism comprises a bottom plate, a mounting plate, a winding assembly array, a plurality of cables and a transmission part. And a first mounting hole is formed in the bottom plate. The mounting plate and the bottom plate are arranged in a spaced mode and connected, and a second mounting hole is formed in the mounting plate. The winding assembly array comprises a plurality of winding assemblies, and the two ends of each winding assembly are rotatably arranged in the first mounting hole and the second mounting hole respectively. And each cable is wound on the corresponding winding assembly. The transmission member connects the plurality of cables to the front end execution mechanism to control the front end execution mechanism to move. The bottom plate and the mounting plate are connected on the periphery of the winding assembly array and define a mounting area, and the winding assembly array, the transmission part and the cable at least located between the winding assembly array and the transmission part are all located in the mounting area.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a surgical instrument and an auxiliary medical system. BACKGROUND

[0002] Surgical robots are successfully applied to various minimally invasive surgeries due to their advantages such as dexterous action, intuitive operation, and short learning curve. The surgical robot has a mechanical arm for holding a surgical instrument. The surgical instrument includes a rear-end driving assembly, a shaft, and an end effector, etc. The rear-end driving assembly and the end effector can be drivingly connected through a driving rope or the like transmission assembly, so as to drive the end effector to perform multi-degree-of-freedom motion.

[0003] A known surgical instrument uses a cable wound on a winch to drive the end effector, but sufficient space is needed in the rear-end driving assembly to set the cable and the transmission assembly. In addition, during assembly, there is a problem of how to conveniently wind the cable on the winch. SUMMARY

[0004] A series of simplified concepts are introduced in the summary part, which will be further described in detail in the detailed description part. The summary part of the present application does not mean to try to limit the key features and necessary technical features of the claimed technical solutions, nor to try to determine the protection scope of the claimed technical solutions.

[0005] To at least partially solve the above problems, the first aspect of the present application provides a surgical instrument for a surgical robot, the surgical instrument comprising a rear-end transmission mechanism and a front-end execution mechanism,

[0006] The rear-end transmission mechanism comprises:

[0007] a bottom plate, the bottom plate being provided with a first mounting hole;

[0008] a mounting plate, the mounting plate being spaced apart from the bottom plate and connected with the bottom plate, the mounting plate being provided with a second mounting hole;

[0009] an array of winding assemblies, the array of winding assemblies comprising a plurality of winding assemblies, both ends of each winding assembly being rotatably arranged in the first mounting hole and the second mounting hole, respectively;

[0010] a plurality of cables, each cable being wound on a corresponding winding assembly; and

[0011] a transmission member, the transmission member connecting the plurality of cables to the front-end execution mechanism to control the movement of the front-end execution mechanism;

[0012] The bottom plate and the mounting plate are connected outside the installation area of the winding assembly array, leaving a part of the area inside the winding assembly array, which can be used to set the cable and other functional components.

[0013] According to the surgical instrument of the present application, the bottom plate and the mounting plate supporting the winding assembly array are connected outside the installation area of the winding assembly array, leaving a part of the area inside the winding assembly array, which can be used to set the cable and other functional components.

[0014] The second aspect of the present application provides an auxiliary medical system, which comprises a patient-side robot arm and the surgical instrument described above, and the surgical instrument is detachably mounted to the patient-side robot arm. BRIEF DESCRIPTION OF DRAWINGS

[0015] The following drawings of the present application are hereby incorporated into the present application as part of the present application for the purpose of understanding the present application. The drawings of the embodiments of the present application and their descriptions are used to explain the principles of the present application.

[0016] Figure 1 A schematic diagram of a surgical robot system according to some embodiments of the present application;

[0017] Figure 2 A schematic diagram of a surgical instrument according to some embodiments of the present application;

[0018] Figure 3 A schematic diagram of a rear-end transmission mechanism of a surgical instrument according to some embodiments of the present application;

[0019] Figure 4 A schematic diagram of a rear-end transmission mechanism according to some embodiments of the present application; Figure 3 A schematic diagram of a rear-end transmission mechanism according to some embodiments of the present application;

[0020] Figure 5 A schematic diagram of a rear-end transmission mechanism according to some embodiments of the present application; Figure 3 A schematic diagram of a rear-end transmission mechanism according to some embodiments of the present application;

[0021] Figure 6 A schematic diagram of a rear-end transmission mechanism according to some embodiments of the present application; Figure 3 A schematic diagram of a rear-end transmission mechanism according to some embodiments of the present application;

[0022] Figure 7 A schematic diagram of a winding assembly of a rear-end transmission mechanism according to some embodiments of the present application;

[0023] Figure 8 A schematic diagram of a mounting plate of a rear-end transmission mechanism according to some embodiments of the present application. DETAILED DESCRIPTION

[0024] In the following description, numerous specific details are set forth to provide a more thorough understanding of the present application. However, it will be apparent to one of skill in the art upon

[0025] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0026] Numerical ordinals such as "first" and "second" as used herein are merely identifiers and do not necessarily imply a specific order or sequence unless specifically stated otherwise. Moreover, use of terms such as "first" and "second", etc. do not imply the existence of a limitation that there be only one "first" and / or one "second" such term. Also, use of terms such as "top", "bottom", "front", "back", "left", "right", "inner", "outer" and the like are made for purposes of illustration and description and not limitation.

[0027] Reference will now be made to Figures 1 to 8 Example embodiments in accordance with the present application will be described in greater detail.

[0028] Referring to Figure 1 , the present application provides an auxiliary medical system 1, which can also be referred to as a surgical robot system 1. The auxiliary medical system 1 can remotely manipulate to complete a surgical operation, which can include a control system 30 (also referred to as a physician console), a patient-side robotic arm 10, and an imaging system 40.

[0029] The control system 30 has a display unit for showing the environment of a surgical instrument 100, a physician operating control mechanism, and an armrest, etc. on it. The display unit has an observation window for the physician to observe, the physician operating control mechanism is configured to have its actions correspond to the actions of the surgical instrument 100, and the armrest is used to place the physician's arm. In addition, the physician console also has other control switches that are convenient for hands or feet to touch or press to perform various function operations, to complete human-computer interaction.

[0030] The imaging system 40 has a display screen, an endoscope controller, system electronics, an image processor, etc.

[0031] The side mechanical arm 10 comprises at least one mechanical arm 14. Figure 1 Taking a single-hole surgery robot as an example, the mechanical arm 14 has a plurality of links, and an end of the mechanical arm 14 is provided with an instrument manipulator 17, a plurality of instrument holding arms 15 are arranged on the instrument manipulator 17, instrument drivers (not shown) are installed on the instrument holding arms 15, and a surgical instrument 100 or an endoscope is detachably installed on the instrument drivers.

[0032] As shown in Figure 2 , the surgical instrument 100 provided by the embodiment of the present application comprises a rear end transmission mechanism 101, a main pipe 103 extending from the rear end transmission mechanism 101 to a distal end, and a front end execution mechanism 102 connected to a front end of the main pipe 103. The rear end transmission mechanism 101 is driven by the instrument driver to drive the front end execution mechanism 102 through the transmission of a transmission member such as a cable in the main pipe 103. When performing surgery, part of the main pipe 103 and the front end execution mechanism 102 of the surgical instrument 100 are inserted through the chest, abdominal wall and other tissues to replace the human hand to perform surgery.

[0033] Please refer to Figures 3 to 4 , the surgical instrument comprises the rear end transmission mechanism 101 and the front end execution mechanism 102, and the rear end transmission mechanism 101 comprises:

[0034] a bottom plate 110, the bottom plate 110 being provided with a first mounting hole 113;

[0035] a mounting plate 120, the mounting plate 120 being spaced apart from the bottom plate 110 and connected to the bottom plate 110, and the mounting plate 120 being provided with a second mounting hole 124;

[0036] a wire winding assembly array 130, the wire winding assembly array 130 comprising a plurality of wire winding assemblies 131, and two ends of each wire winding assembly 131 being rotatably arranged in the first mounting hole 113 and the second mounting hole 124, respectively;

[0037] a plurality of cables 150, each cable 150 being wound on a corresponding wire winding assembly 131; and

[0038] a transmission member, the transmission member connecting the plurality of cables 150 to the front end execution mechanism 102 to control the movement of the front end execution mechanism 102;

[0039] wherein the bottom plate 110 and the mounting plate are connected at the periphery of the wire winding assembly array 130 and define an installation area 111, and the wire winding assembly array 130, the transmission member and the cables 150 located at least between the wire winding assembly array 130 and the transmission member are located in the installation area 111.

[0040] It should be noted that the installation area 111 refers to a three-dimensional space defined by the bottom plate 110, the mounting plate 120 and the connecting portion connecting the bottom plate 110 and the mounting plate 120.

[0041] The bottom plate 110 is used to support the mounting plate 120, the wire winding assembly array 130, the cable 150, the transmission members and the like. The rear-end transmission mechanism 101 further comprises a housing arranged on the bottom plate 110 to protect the internal structure of the rear-end transmission mechanism 101.

[0042] One of the functions of the mounting plate 120 is to support the wire winding assembly array 130.

[0043] The wire winding assembly array 130 is connected with the mechanical arm 14 and is driven by the instrument driver of the mechanical arm 14. In some embodiments, the wire winding assembly array 130 described above can be all the wire winding assembly arrays 130 in the rear-end transmission mechanism 101. In other embodiments, the rear-end transmission mechanism 101 further comprises other wire winding assembly arrays 130. For example, the rear-end transmission mechanism 101 comprises six wire winding assemblies 131, and the wire winding assembly array 130 described above comprises only four wire winding assemblies 131, which are located within the mounting area 111, and the other two wire winding assemblies 131 are located outside the mounting area 111. Similarly, all the transmission members of the rear-end transmission mechanism 101 can be arranged within the mounting area 111, or part of the transmission members can be arranged outside the mounting area 111.

[0044] According to the surgical instrument of the present application, the bottom plate 110 supporting the wire winding assembly array 130 is connected with the mounting plate 120 at the periphery of the wire winding assembly array 130, and the cable 150 and the transmission members are arranged in the mounting area 111 surrounded by the bottom plate 110 and the mounting plate 120, without occupying the internal space of the wire winding assembly array 130, so that the space utilization can be improved.

[0045] Optionally, the mounting plate 120 comprises a bottom wall 121 and a side wall 122, the side wall 122 is connected to the bottom plate 110 to support the bottom wall 121 on the bottom plate 110, and the bottom wall 121, the side wall 122 and the bottom plate 110 jointly define the mounting area 111. The side wall 122 can be provided with a pin and / or a hook and the like, and the bottom plate 110 is provided with a groove matched with the pin and / or the hook, and the pin or the hook is fixed by cooperating with the groove.

[0046] In other embodiments, the bottom plate 110 and the mounting plate 120 can also be connected without the side wall 122, but by other ways. For example, the bottom plate 110 has a side wall 122 for connecting the mounting plate 120, or a connecting member is additionally arranged to connect the bottom plate 110 and the mounting plate 120 respectively to fix them.

[0047] Reference Figure 6 and Figure 7The winding assembly 131 comprises an input shaft 132, a first winding drum 133 and a second winding drum 134. The first winding drum 133 and the second winding drum 134 are coaxially sleeved on the input shaft 132, so that the first winding drum 133 and the second winding drum 134 can rotate together. Optionally, different cables 150 are wound on the first winding drum 133 and the second winding drum 134 respectively, so that when the winding assembly 131 rotates, the cable 150 wound on the first winding drum 133 is pulled in and the cable 150 wound on the second winding drum 134 is released; or the cable 150 wound on the second winding drum 134 is pulled in and the cable 150 wound on the first winding drum 133 is released. In other embodiments, two parts of the same cable 150 can also be wound on the first winding drum 133 and the second winding drum 134.

[0048] Optionally, the first winding drum 133 and the second winding drum 134 are of a non-integral structure. That is, the first winding drum 133 and the second winding drum 134 are independent components, and are assembled on the input shaft 132 respectively.

[0049] With reference to Figure 4 and Figure 6 The rear-end transmission mechanism 101 further comprises a first bearing 161 and a second bearing 162. The first bearing 161 is arranged in the first mounting hole 113, the outer ring of the first bearing 161 is connected with the bottom plate 110, and the inner ring of the first bearing 161 is connected with the first winding drum 133. The second bearing 162 is arranged in the second mounting hole 124, the outer ring of the second bearing 162 is connected with the mounting plate 120, and the inner ring of the second bearing 162 is connected with the second winding drum 134.

[0050] The rear-end transmission mechanism 101 further has a winding area 112. The bottom plate 110 is provided with an open first winding area outside the mounting area 111, and the first winding area is used for winding the cable 150 on the first winding drum 133. The mounting plate 120 is provided with an open second winding area outside the mounting area 111, and the second winding area is used for winding the cable 150 on the second winding drum 134.

[0051] In assembling, the second spool 134 is first mounted to the input shaft 132 together with the second bearing 162, and then the cable 150 is wound onto the second spool 134. After that, the first bearing 161 and the first spool 133 are assembled and mounted to the input shaft 132, and the cable 150 is wound onto the first spool 133. Finally, the mounting plate 120 is fixed to the base plate 110. In other words, the assembly sequence is: lower bearing, lower spool and base plate 110 assembly, winding the lower layer cable; upper bearing and upper spool assembly, mounting the upper spool to the input shaft, winding the upper layer cable; connecting the base plate 110 and the mounting plate 120, at this time the upper bearing enters the bearing hole of the mounting plate 120. This assembly method ensures that the outer side area of the winding assembly array 130 is open when winding the cable, which facilitates the winding of the lower layer cable, and the upper side area is also open, which facilitates the winding of the upper layer cable.

[0052] As shown in Figure 2 and Figure 7 To facilitate installation, the diameter D of the second mounting hole 124 of the mounting plate 120 is greater than the maximum size d of the end of the winding assembly 131.

[0053] The internal mechanism of the rear end transmission mechanism 101 of the present embodiment will be described in more detail below. It should be noted that this example is only one example of the present application, and is not a limitation of the present application.

[0054] The plurality of winding assemblies 131 of the rear end transmission mechanism 101 includes a first winding assembly 131A, a second winding assembly 131B, and a third winding assembly 131C. Among them, the first winding assembly 131A is arranged along the first direction D1, the second winding assembly 131B is arranged along the first direction D1, and the first winding assembly 131A and the second winding assembly 131B are arranged along the second direction D2 orthogonal to the first direction D1, thereby forming two rows of winding assemblies 131. The third winding assembly 131C is located between the row formed by the first winding assembly 131A and the row formed by the second winding assembly 131B. In the illustrated embodiment, only one row of first winding assemblies 131A is shown, and only one row of second winding assemblies 131B is shown. In alternative embodiments, more than two first winding assemblies 131A can form a row, and more than two second winding assemblies 131B can form a row. In the embodiments of the present application, the first winding assembly 131A and the second winding assembly 131B are each three, and only in the drawings are omitted.

[0055] The transmission member includes a first transmission member 141 and a second transmission member 145. The plurality of cables 150 includes a first cable 151, a second cable 152, a third cable 153, and a fourth cable 154. Among them, the first cable 151 and the second cable 152 are connected between the first winding assembly 131A and the third winding assembly 131C via the first transmission member 141, the second cable 152 is connected between the second winding assembly 131B and the third winding assembly 131C via the first transmission member 141, the third cable 153 is connected between the first winding assembly 131A and the third winding assembly 131C via the second transmission member 145, and the fourth cable 154 is connected between the second winding assembly 131B and the third winding assembly 131C via the second transmission member 145.

[0056] Among them, the first cable 151 and the second cable 152 are wound in opposite directions around the first winding assembly 131A, and the first cable 151 and the second cable 152 are wound in the same direction around the third winding assembly 131C. The third cable 153 and the fourth cable 154 are wound in opposite directions around the second winding assembly 131B, and the third cable 153 and the fourth cable 154 are wound in the same direction around the third winding assembly 131C. And, the third cable 153 and the first cable 151 are wound in opposite directions around the third winding assembly 131C, it is easy to understand that the fourth cable 154 and the second cable 152 are also wound in opposite directions around the third winding assembly 131C. And, the first transmission member 141 and the second transmission member 145 are located at different heights in the axial direction of the winding assembly 131.

[0057] The first transmission member 141 includes a first movable pulley 142 and a second movable pulley 143. The first cable 151 is connected around the first movable pulley 142 and connected between the first winding assembly 131A and the third winding assembly 131C. The second cable 152 is connected around the second movable pulley 143 and connected between the second winding assembly 131B and the third winding assembly 131C. When the first winding assembly 131A or the third winding assembly 131C rotates, the first movable pulley 142 moves under the action of the first cable 151, and the second movable pulley 143 moves under the action of the second cable 152.

[0058] The second transmission member 145 includes a third movable pulley 146 and a fourth movable pulley 147. The third cable 153 is connected around the third movable pulley 146 and connected between the first winding assembly 131A and the third winding assembly 131C. The fourth cable 154 is connected around the fourth movable pulley 147 and connected between the second winding assembly 131B and the third winding assembly 131C. When the second winding assembly 131B or the third winding assembly 131C rotates, the third movable pulley 146 moves under the action of the third cable 153, and the fourth movable pulley 147 moves under the action of the fourth cable 154.

[0059] The first cable 151 and the third cable 153 are wound around different portions of the first winding assembly 131A, for example, the first cable 151 is wound around the first winding drum 133 of the first winding assembly 131A, and the third cable 153 is wound around the second winding drum 134 of the first winding assembly 131A in reverse direction.

[0060] The second cable 152 and the fourth cable 154 are wound around different portions of the second winding assembly 131B, for example, the second cable 152 is wound around the first winding drum 133 of the second winding assembly 131B, and the fourth cable 154 is wound around the second winding drum 134 of the second winding assembly 131B in reverse direction.

[0061] The transmission further comprises a first guide wheel 144 and a second guide wheel 148. The first cable 151 is arranged to pass around the first guide wheel 144 such that two portions of the first cable 151 on both sides of the first movable pulley 142 are parallel to each other. The fourth cable 154 is arranged to pass around the second guide wheel 148 such that two portions of the fourth cable 154 on both sides of the fourth movable pulley 147 are parallel to each other.

[0062] The rear-end transmission mechanism 101 further comprises a first driving cable 104, a second driving cable 105, a third driving cable 106 and a fourth driving cable 107, which are connected to the first movable pulley 142, the second movable pulley 143, the third movable pulley 146 and the fourth movable pulley 147 respectively. The first driving cable 104, the second driving cable 105, the third driving cable 106 and the fourth driving cable 107 are arranged to extend in the main pipe 103 to connect the front-end execution mechanism 102.

[0063] As an example, the first driving cable 104 and the third driving cable 106 are connected to the lower jaw of the gripper of the execution device (not shown), and the second driving cable 105 and the fourth driving cable 107 are connected to the upper jaw of the gripper of the execution device (not shown). By equal-length pulling in the second driving cable 105 and the fourth driving cable 107 while equal-length releasing the first driving cable 104 and the third driving cable 106, the pitch forward movement of the front-end execution mechanism 102 is achieved. Similarly, by equal-length pulling in the first driving cable 104 and the third driving cable 106 while equal-length releasing the second driving cable 105 and the fourth driving cable 107, the pitch reverse movement of the front-end execution mechanism 102 is achieved.

[0064] Specifically, the first winding assembly 131A can pull in one of the first driving cable 104 and the third driving cable 106 via the first cable 151, the third cable 153, the first movable pulley 142 and the third movable pulley 146 by rotating while releasing the other one of the first driving cable 104 and the third driving cable 106 to realize the left and right rotation of the front end actuator 102.

[0065] When the third winding assembly 131C remains stationary, the first cable 151 wound on the first winding assembly 131A is pulled in while the third cable 153 wound on the first winding assembly 131A is released isometrically by driving the motor to control the first winding assembly 131A to rotate counterclockwise, that is, the third driving cable 106 is pulled in via the third movable pulley 146 while the first driving cable 104 is released isometrically via the first movable pulley 142, thereby realizing the left rotation of the front end actuator 102. When the third winding assembly 131C remains stationary, the third cable 153 wound on the first winding assembly 131A is pulled in while the first cable 151 wound on the first winding assembly 131A is released isometrically by driving the motor to control the first winding assembly 131A to rotate clockwise, that is, the third driving cable 106 is pulled in via the first movable pulley 142 while the third cable 153 is released isometrically via the third movable pulley 146, thereby realizing the right rotation of the front end actuator 102.

[0066] The second winding assembly 131B can pull in one of the second driving cable 105 and the fourth driving cable 107 via the second cable 152, the fourth cable 154, the second movable pulley 143 and the fourth movable pulley 147 by rotating while releasing the other one of the second driving cable 105 and the fourth driving cable 107 to realize the pitch rotation of the front end actuator 102. Specifically, when the third winding assembly 131C remains stationary, the fourth cable 154 wound on the second winding assembly 131B is pulled in while the second cable 152 wound on the second winding assembly 131B is released isometrically by driving the motor to control the second winding assembly 131B to rotate counterclockwise, that is, the fourth driving cable 107 is pulled in via the fourth movable pulley 147 while the second driving cable 105 is released isometrically via the second movable pulley 143, so that the front end actuator 102 is rotated upward in pitch. When the third winding assembly 131C remains stationary, the second cable 152 wound on the second winding assembly 131B is pulled in while the fourth driving cable 107 wound on the second winding assembly 131B is released isometrically by driving the motor to control the second winding assembly 131B to rotate clockwise, that is, the second driving cable 105 is pulled in via the second movable pulley 143 while the fourth driving cable 107 is released isometrically via the fourth movable pulley 147, so that the front end actuator 102 is rotated downward in pitch.

[0067] In some embodiments of the present application, the winding assembly array 130 encloses an inner region, and the transmission members and the portion of the cable are disposed in the inner region to make full use of the internal space of the mounting region 111 or the lateral space within the winding assembly array 130. For example, the winding assembly array 130 including the first winding assembly 131A, the second winding assembly 131B, and the third winding assembly 131C (and the winding assemblies not shown in the figure) encloses an inner region, and the plurality of transmission members including the first movable pulley 142 / second movable pulley 143 / third movable pulley 146 / fourth movable pulley 147 and the entire cable 150 and the portion of the first drive cable 104 are disposed in the inner region to make full use of the internal space of the mounting region 111 or the lateral space within the winding assembly array 130.

[0068] The transmission members and the portion of the cable connected to the transmission members are movably suspended in the mounting region 111 in the direction W from the proximal end to the distal end. The proximal end is the side away from the main pipe 103, and the distal end is the side close to the main pipe 103. That is, by leaving the connecting region between the mounting plate and the bottom plate, the frictional torque when the transmission members and the cable move is reduced, and the drive loss is reduced. For example, the plurality of transmission members including the first movable pulley 142 / second movable pulley 143 / third movable pulley 146 / fourth movable pulley 147 and the entire cable 150 and the portion of the first drive cable 104 are movably suspended in the mounting region 111 in the direction W from the proximal end to the distal end.

[0069] Optionally, the transmission members include the first transmission member 141 and the second transmission member 145 movably suspended in the mounting region 111, and the first transmission member 141 and the second transmission member 145 are located at different heights in the axial direction of the winding assembly, so as to reduce the drive loss while making full use of the longitudinal space within the mounting region 111 or the winding assembly array 130. For example, the first movable pulley 142 and the second movable pulley 143, and the third movable pulley 146 and the fourth movable pulley 147 are movably suspended at different heights.

[0070] Unless otherwise defined, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application. Features described in one embodiment can be applied to another embodiment, unless the features are not compatible with the other embodiment or are otherwise stated to be not applicable.

[0071] The present application has been described by the above examples, but it should be understood that the above examples are only for the purpose of example and illustration, and the present application is not limited to the above examples. More various modifications and changes can be made according to the teachings of the present application, and all of these modifications and changes fall within the scope of the present application.

Claims

1. A surgical instrument for a surgical robot, characterized by The surgical instrument comprises a rear end transmission mechanism and a front end execution mechanism, The rear end transmission mechanism comprises: a bottom plate provided with a first mounting hole; a mounting plate spaced apart from and connected to the bottom plate, the mounting plate being provided with a second mounting hole; an array of wire winding assemblies, each wire winding assembly being rotatably arranged at both ends in the first mounting hole and the second mounting hole; a plurality of cables, each cable being wound on a corresponding wire winding assembly; and a transmission member connecting the plurality of cables to the front end execution mechanism to control the movement of the front end execution mechanism; wherein the bottom plate and the mounting plate are connected at the periphery of the array of wire winding assemblies and define an installation area, and the array of wire winding assemblies, the transmission member and at least the cables between the array of wire winding assemblies and the transmission member are located in the installation area.

2. The surgical instrument of claim 1, wherein, The transmission member and at least part of the cables connected to the transmission member are movably suspended in the installation area in the direction from the proximal end to the distal end.

3. The surgical instrument of claim 2, wherein, The transmission member comprises a first transmission member and a second transmission member suspended in the installation area, and the first transmission member and the second transmission member are located at different heights in the axial direction of the wire winding assembly.

4. The surgical instrument of claim 2, wherein, The array of wire winding assemblies encloses an inner area, and the transmission member and part of the cables are arranged in the inner area.

5. The surgical instrument of claim 1, wherein the plurality of wire winding assemblies comprises a first wire winding assembly, a second wire winding assembly and a third wire winding assembly, the first wire winding assembly and the second wire winding assembly are respectively located in two wire winding assembly rows of the array of wire winding assemblies, and the third wire winding assembly row is located between the two wire winding assembly rows; the transmission member comprises a first transmission member and a second transmission member; the plurality of cables comprises a first cable, a second cable, a third cable and a fourth cable, the first cable is connected between the first wire winding assembly and the third wire winding assembly via the first transmission member, the second cable is connected between the second wire winding assembly and the third wire winding assembly via the first transmission member, the third cable is connected between the first wire winding assembly and the third wire winding assembly via the second transmission member, and the fourth cable is connected between the second wire winding assembly and the third wire winding assembly via the second transmission member; wherein the first cable and the second cable are wound in opposite directions around the first wire winding assembly, and the first cable and the second cable are wound in the same direction around the third wire winding assembly; the third cable and the fourth cable are wound in opposite directions around the second wire winding assembly, and the third cable and the fourth cable are wound in the same direction around the third wire winding assembly, and the third cable and the first cable are wound in opposite directions around the third wire winding assembly.

6. The surgical instrument of claim 5, wherein, The transmission member and at least a portion of the cable connected to the transmission member are movably suspended in the mounting region in a direction W from proximal to distal, and the first transmission member and the second transmission member are located at different heights in the axial direction of the wire winding assembly.

7. Surgical instrument according to any one of claims 1 to 6, characterized in that The wire winding assembly comprises an input shaft, a first wire winding drum and a second wire winding drum, the first wire winding drum and the second wire winding drum are coaxially sleeved on the input shaft, the first wire winding drum and the second wire winding drum are of non-integral structure, and the first wire winding drum and the second wire winding drum are wound with different cables or two parts of the same cable.

8. The surgical instrument according to claim 7, wherein The rear end transmission mechanism further comprises: a first bearing, the first bearing is arranged in the first mounting hole, the outer ring of the first bearing is connected with the bottom plate, and the inner ring of the first bearing is connected with the first wire winding drum; and a second bearing, the second bearing is arranged in the second mounting hole, the outer ring of the second bearing is connected with the mounting plate, and the inner ring of the second bearing is connected with the second wire winding drum.

9. Surgical instrument according to any one of claims 1 to 6, characterized in that The mounting plate comprises a bottom wall and a side wall, the side wall is connected to the bottom plate to support the bottom wall on the bottom plate, and the bottom wall, the side wall and the bottom plate jointly define the mounting region.

10. An auxiliary medical system, characterized by The surgical instrument according to any one of claims 1-9 is detachably mounted to the bedside mechanical arm.

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