Drive box, operating arm and surgical robot

Abstract

The present invention discloses a driving box, an operating arm and a surgical robot, wherein the driving box is connected to an end instrument through a connecting rod and a driving wire passing through the connecting rod, the driving box comprises a base connected to the connecting rod, a driving shaft assembly arranged on the base, and a housing arranged on the base and accommodating the driving shaft assembly, the driving shaft assembly comprises a driving shaft wound with a driving wire, and an adjusting portion connected to the driving shaft through the driving wire; the adjusting portion is slidably connected to the housing, the adjusting portion is used to move along the housing to a predetermined position to tighten or relax the driving wire, and the driving shaft is used to drive the end instrument to realize movement in the corresponding degree of freedom direction through the driving wire when rotating. The present invention can flexibly adjust the tension of the driving wire.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a drive box, an operating arm and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

[0003] With the advancement of science and technology, minimally invasive surgical robot technology has gradually matured and has been widely used. Minimally invasive surgical robots usually include a master console and a slave operating device. The master console is used to send control commands to the slave operating device according to the doctor's operation to control the slave operating device. The slave operating device is used to respond to the control commands sent by the master console and perform corresponding surgical operations.

[0004] The operating device usually includes a mechanical arm, a power mechanism arranged on the mechanical arm, and an operating arm. The mechanical arm is used to adjust the position of the operating arm, the operating arm is used to extend into the body and perform surgical operations, and the power mechanism is used to drive the end instrument of the operating arm to perform corresponding operations. However, the drive wire of the existing operating arm cannot be flexibly adjusted after being fixed, which causes various problems. For example, when performing surgical operations, the drive wire of the operating arm may become loose or slip, resulting in low operating accuracy; or the drive wire may be over-tensioned, resulting in inflexible operation. Therefore, the flexible adjustment of the tension of the drive wire is an issue that needs to be urgently solved in the industry. Summary of the invention

[0005] The main purpose of the present invention is to provide a drive box, an operating arm and a surgical robot, which are intended to flexibly adjust the tension of the drive wire.

[0006] To achieve the above-mentioned purpose, the present invention provides a driving box, which is connected to the end instrument through a connecting rod and a driving wire passing through the connecting rod. The driving box includes a base connected to the connecting rod, a driving shaft assembly arranged on the base, and a shell arranged on the base and accommodating the driving shaft assembly. The driving shaft assembly includes a driving shaft wound with a driving wire, and an adjusting part connected to the driving shaft through the driving wire; the adjusting part is slidably connected to the shell, and the adjusting part is used to move along the shell to a predetermined position to tighten or relax the driving wire. The driving shaft is used to drive the end instrument to achieve movement in the direction of the corresponding degree of freedom through the driving wire when rotating.

[0007] Preferably, a slide groove is provided on the shell, and the adjustment part includes a slider slidably connected to the slide groove and an adjusting wheel fixed on the slider, and the adjusting wheel abuts against the driving wire to tighten or relax the driving wire when the slider moves to the predetermined position; the shell is also provided with an adjusting member fixed to the shell when the slider moves to the predetermined position, and the adjusting member is used to limit the movement of the slider in the slide groove.

[0008] Preferably, a slide groove is provided on the shell, and the adjustment part includes a slider tightly connected to the slide groove, and an adjustment wheel fixed on the slider, and the adjustment wheel abuts against the drive wire to tighten or relax the drive wire when the slider moves to the predetermined position.

[0009] Preferably, the drive shaft assembly includes a first rotating shaft arranged on the base and a second rotating shaft arranged on the first rotating shaft and rotating coaxially with the first rotating shaft, a first group of drive wires with opposite winding directions are wound around the first rotating shaft, and a second group of drive wires with opposite winding directions are wound around the second rotating shaft.

[0010] Preferably, the drive shaft assembly also includes a first group of reversing wheels located between the first rotating shaft and the axis of the connecting rod and connected to the first rotating shaft through the first group of driving wires, and a second group of reversing wheels located between the second rotating shaft and the axis of the connecting rod and connected to the second rotating shaft through the second group of driving wires; the adjusting wheels include a first group of adjusting wheels connected to the first group of reversing wheels through the first group of driving wires, and a second group of adjusting wheels connected to the second group of reversing wheels through the second group of driving wires, the first group of driving wires being tensioned by the first group of adjusting wheels and then passing through the connecting rod to be connected to the end device, and the second group of driving wires being tensioned by the second group of adjusting wheels and then passing through the connecting rod to be connected to the end device.

[0011] Preferably, the first group of reversing wheels and the first group of adjusting wheels are relatively located on both sides of the first group of driving wires, and a portion of the first group of driving wires between the first group of reversing wheels and the first group of adjusting wheels is in a straight line; and / or the second group of reversing wheels and the second group of adjusting wheels are relatively located on both sides of the second group of driving wires, and a portion of the second group of driving wires between the second group of reversing wheels and the second group of adjusting wheels is in a straight line.

[0012] Preferably, the drive shaft assembly also includes a third group of reversing wheels located above the connecting rod and connected to the first group of adjusting wheels, the first group of reversing wheels and the first rotating shaft through the first group of driving wires in sequence, so as to guide the first group of driving wires tensioned by the first group of adjusting wheels to pass through the connecting rod and be connected to the end device; and a fourth group of reversing wheels located above the connecting rod and connected to the second group of adjusting wheels, the second group of reversing wheels and the second rotating shaft through the second group of driving wires in sequence, so as to guide the second group of driving wires tensioned by the second group of adjusting wheels to pass through the connecting rod and be connected to the end device.

[0013] Preferably, the extension direction of the first group of drive wires after being reversed by the third group of reversing wheels is parallel to the extension direction of the first group of drive wires between the first group of adjusting wheels and the third group of reversing wheels; the extension direction of the second group of drive wires after being reversed by the fourth group of reversing wheels is parallel to the extension direction of the second group of drive wires between the second group of adjusting wheels and the fourth group of reversing wheels.

[0014] Preferably, the second rotating shaft is rotatably adjustable relative to the first rotating shaft to adjust the posture of the end instrument to an initial state.

[0015] Preferably, the second rotating shaft has an axis body, the first rotating shaft includes a first body for passing through the axis body, a fastening piece fastened with the first body, and a bolt piece for fastening the first body and the fastening piece, and the bolt piece is also used to fix the second rotating shaft to the axis body.

[0016] Preferably, the first body is provided with a first winding groove for accommodating the first group of driving wires, the fastening member is provided with a first through hole and a second through hole arranged oppositely at two ends thereof, and the first body is provided with a third through hole and a fourth through hole at positions corresponding to the first through hole and the second through hole; the bolt member includes a first bolt and a second bolt, the first group of driving wires includes a first driving wire close to the base side, and a second driving wire away from the base side, and the tightening / relaxing length of the first driving wire is correspondingly equal to the relaxing / tightening length of the second driving wire; the first bolt is used to fix the first driving wire to the first through hole of the fastening member when passing through the first through hole and the third through hole in sequence; the second bolt is used to fasten the first body and the fastening member and fix the second rotating shaft to the shaft body when passing through the second through hole and the fourth through hole in sequence.

[0017] Preferably, the first body is provided with a fifth through hole on a side corresponding to the second through hole and the fourth through hole; the bolt member also includes a third bolt, and the third bolt is used to fix the second drive wire at the fifth through hole of the first body when passing through the fifth through hole.

[0018] Preferably, the first body is provided with a sixth through hole on a side corresponding to the first through hole and the third through hole, and the sixth through hole is used for allowing a rotating rod to pass through so as to adjust an angle of the first rotating shaft on the shaft body relative to the second rotating shaft.

[0019] Preferably, the second rotating shaft also includes a second body fixed on the shaft body, and the second body is provided with a second winding groove for accommodating the second group of drive wires, the second group of drive wires includes a third drive wire close to the base side, and a fourth drive wire away from the base side, and the tightening / relaxing length of the third drive wire is equal to the relaxing / tightening length of the fourth drive wire.

[0020] Preferably, the second body is provided with a seventh through hole and an eighth through hole which are relatively arranged on both sides close to the base and away from the base respectively, and the second rotating shaft also includes a fourth bolt for fixing the third driving wire at the seventh through hole when passing through the seventh through hole, and a fifth bolt for fixing the fourth driving wire at the eighth through hole when passing through the eighth through hole.

[0021] Preferably, the drive box also includes a self-rotating drive shaft arranged on the base and wound with a third group of drive wires in opposite winding directions, and a slave drive shaft connected to the self-rotating drive shaft through the third group of drive wires, and the slave drive shaft is rotationally connected to the connecting rod.

[0022] Preferably, the slave drive shaft is provided with a first protrusion at the end near one end of the connecting rod along its axial direction toward the connecting rod; the connecting rod includes an inner tube extending into the slave drive shaft and connected to the slave drive shaft, and an outer tube fixedly connected to the inner tube, the outer tube is provided with a notch corresponding to the first protrusion on a side near the slave drive shaft, and the notch has a side wall that abuts against the first protrusion; the notch is used to accommodate the protrusion and abut against it through the first protrusion and the side wall of the notch, so that when the slave drive shaft rotates, the outer tube is driven to rotate through the first protrusion, thereby driving the connecting rod to rotate.

[0023] Preferably, the inner tube is provided with a receiving groove at the end away from the drive shaft, and the end instrument has a connecting piece, and the connecting piece has a second protrusion extending axially at the end on one side close to the inner tube, and the second protrusion is used to connect with the receiving groove of the inner tube after entering the outer tube.

[0024] Preferably, a limiting block is protrudingly provided along the periphery of the secondary driving shaft at the end of the secondary driving shaft on the side close to the connecting rod, and a side of the limiting block facing the base is abutted and connected with a side of the base facing the connecting rod.

[0025] Preferably, the self-rotation drive shaft assembly further comprises a guide wheel located between the self-rotation drive shaft and the slave drive shaft, and the guide wheel is respectively connected to the self-rotation drive shaft and the slave drive shaft through the self-rotation drive wire.

[0026] Preferably, the drive box also includes an end opening and closing drive shaft arranged on the base and wound with a fourth group of drive wires in opposite winding directions, a fifth group of reversing wheels located between the end opening and closing drive shaft and the axis of the connecting rod, and a sixth group of reversing wheels located above the connecting rod. The fourth group of drive wires pass through the connecting rod and are connected to the end device after being reversed by the fourth group of reversing wheels and the fifth group of reversing wheels in turn.

[0027] Preferably, the drive shaft assembly includes a pitch angle drive shaft and a swing angle drive shaft arranged opposite to each other on the base; the base is provided with a first mounting hole and a second mounting hole arranged opposite to each other in a diagonal direction, a third mounting hole and a fourth mounting hole arranged opposite to each other in a diagonal direction, and a fifth mounting hole located at the center of the base and surrounded by the first mounting hole, the second mounting hole, the third mounting hole and the fourth mounting hole; the shell includes a first bracket connected to the base and snapped onto the base, the first bracket and the base form a accommodating space, the first mounting hole, the second mounting hole, the third mounting hole, the fourth mounting hole and the fifth mounting hole are respectively used to guide the pitch angle drive shaft, the swing angle drive shaft, the rotation drive shaft, the terminal opening and closing drive shaft and the slave drive shaft to be accommodated in the accommodating space.

[0028] Preferably, the first bracket includes a column extending from the base toward a direction away from the end instrument, and a cover body connected to the column and extending in a direction parallel to the base; the cover body includes a first cover body corresponding to the position of the first mounting hole, a second cover body corresponding to the position of the second mounting hole, a third cover body corresponding to the position of the third mounting hole, a fourth cover body corresponding to the position of the fourth mounting hole, and a fifth cover body corresponding to the position of the fifth mounting hole; the first cover body, the second cover body, the third cover body, the fourth cover body and the fifth cover body are respectively enclosed with the column and the base to form a first accommodating space, a second accommodating space, a third accommodating space, a fourth accommodating space and a fifth accommodating space with an opening, and the accommodating space includes the first accommodating space, the second accommodating space, the third accommodating space, the fourth accommodating space and the fifth accommodating space.

[0029] Preferably, the column is provided with a first slide groove on a side away from the pitch angle driving axis, and a second slide groove on a side away from the swing angle driving axis, so that the slider can slide along the first slide groove, the second slide groove and the direction perpendicular to the base respectively.

[0030] Preferably, the first bracket is provided with a first mounting portion at a position between the first cover body and the fifth cover body, and the first mounting portion is provided with a first threaded hole along the direction of the column; the first bracket is provided with a second mounting portion at a position between the second cover body and the fifth cover body, and the second mounting portion is provided with a second threaded hole along the direction of the column, and the first threaded hole and the second threaded hole are respectively used for the adjustment member to pass through and be fastened to the first bracket.

[0031] Preferably, the first mounting portion, the first slide groove, the base and the column form a sixth accommodating space, and the second mounting portion, the second slide groove, the base and the column form a seventh accommodating space, and the sixth accommodating space and / or the seventh accommodating space are used to accommodate the first group of adjusting wheels and the second group of adjusting wheels.

[0032] Preferably, the first slide groove or the second slide groove, the base and the column are surrounded on a side adjacent to the sixth accommodating space to form an installation space, and the installation space is used to accommodate the reversing wheels corresponding to the pitch angle drive shaft and the roll angle drive shaft.

[0033] Preferably, at least one of the first cover body, the second cover body, the third cover body, the fourth cover body and the fifth cover body is respectively provided with a flange protruding toward the direction of the base, and the flange is used to confine the corresponding driving shaft in the corresponding accommodating space.

[0034] Preferably, the first cover body is provided with a first through hole at a position corresponding to the first mounting hole and a first cover piece covering the first through hole and fixed to the first cover body; the second cover body is provided with a second through hole at a position corresponding to the second mounting hole and a second cover piece covering the second through hole and fixed to the second cover body; the third cover body is provided with a third through hole at a position corresponding to the third mounting hole and a third cover piece covering the third through hole and fixed to the third cover body, the fourth cover body is provided with a fourth through hole at a position corresponding to the fourth mounting hole and a fourth cover piece covering the fourth through hole and fixed to the fourth cover body, and the fifth cover body is provided with a fifth through hole at a position corresponding to the fifth mounting hole and a fifth cover piece covering the fifth through hole and fixed to the fifth cover body.

[0035] Preferably, the shell also includes a second bracket mounted on the first bracket, and the second bracket is provided with an eighth accommodating space in a position corresponding to the fifth accommodating space in a direction away from the first bracket, and the eighth accommodating space is used to accommodate the third group of reversing wheels and the fourth group of reversing wheels corresponding to the drive shaft assembly; the second bracket and the first bracket are enclosed in a position corresponding to the fifth accommodating space to form a ninth accommodating space, and the ninth accommodating space is used to accommodate the sixth group of reversing wheels.

[0036] Preferably, the second bracket is provided with a third threaded hole and / or a fourth threaded hole at a position corresponding to the first threaded hole, so that the adjusting member can pass through the third threaded hole and the first threaded hole in sequence and be fastened to the first bracket and the second bracket.

[0037] Preferably, the second bracket includes a bracket body located above the first bracket, and a first group of supporting legs and a second group of supporting legs extending from the bracket body toward the base on one side of the pitch angle driving axis and one side of the swing angle driving axis, respectively; the column where the first slide slot is located divides the first group of supporting legs into two first installation spaces to accommodate the reversing wheels corresponding to the pitch angle driving axis; the column where the second slide slot is located divides the second group of supporting legs into two second installation spaces to accommodate the reversing wheels corresponding to the swing angle driving axis.

[0038] To achieve the above objectives, the present invention also provides an operating arm, which includes a drive box, a connecting rod and an end device as described above that are connected in sequence, and a drive wire that passes through the connecting rod and is respectively connected to the end device and the drive box.

[0039] To achieve the above objective, the present invention further provides a surgical robot, which comprises the operating arm as described above.

[0040] The drive box, operating arm and surgical robot provided by the present invention are provided with a drive shaft with a drive wire wound thereon, and an adjusting part connected to the drive shaft through the drive wire. The adjusting part is slidably connected to the shell, and the adjusting part is used to move along the shell to a predetermined position to tighten or relax the drive wire. By utilizing the tensioning or relaxing adjustment function of the adjusting part, when the drive shaft rotates, the end instrument can be driven by the drive wire to achieve precise movement in the direction of the corresponding pitch angle or swing angle, thereby improving the operating accuracy and flexibility of the operating arm when performing surgical operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a structural schematic diagram of an embodiment of a manipulator arm of the present invention;

[0042] Figure 2 for Figure 1 A schematic structural diagram of an embodiment of a medium pitch angle drive shaft assembly or a roll angle drive shaft assembly;

[0043] Figure 3 for Figure 2 A schematic structural diagram of an embodiment of a middle drive shaft;

[0044] Figure 4 for Figure 3 A schematic structural diagram of an embodiment of a second main body;

[0045] Figure 5 for Figure 1 A schematic diagram of the structure of an embodiment of a middle pitch angle drive shaft assembly, a swing angle drive shaft assembly, a rotation drive shaft assembly and a terminal opening and closing drive shaft assembly;

[0046] Figure 6 for Figure 1 A schematic diagram of the assembly of a drive shaft and a connecting rod in one embodiment;

[0047] Figure 7 for Figure 1 A schematic diagram of the assembly of a middle connecting rod and a connecting member according to an embodiment;

[0048] Figure 8 for Figure 1 A schematic structural diagram of an embodiment of a middle housing;

[0049] Fig. 9 for Figure 1 A schematic structural diagram of an embodiment of a middle housing and an adjusting part;

[0050] Fig.10 for Fig. 9 Enlarged schematic diagram of part A in the middle.

[0051] Description of Figure Numbers:

[0052]

[0053] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0056] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0057] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0058] The present invention provides a surgical robot, which includes a main operating table and a slave operating device. The main operating table is used to send control commands to the slave operating device according to the doctor's operation to control the slave operating device; the slave operating device is used to respond to the control command sent by the main operating table and perform corresponding surgical operations. The slave operating device includes a mechanical arm, a power mechanism arranged on the mechanical arm, and an operating arm. The operating arm is used to extend into the body under the driving action of the power mechanism to perform corresponding surgical operations.

[0059] like Figure 1 As shown, the operating arm 1 includes a driving box 10, a connecting rod 20 and an end instrument 30 connected in sequence, and the operating arm 1 also includes a driving wire that passes through the connecting rod 20 and is respectively connected to the end instrument 30 and the driving box 10.

[0060] like Figure 1As shown, the drive box 10 is connected to the end instrument 30 through the connecting rod 20 and the driving wire passing through the connecting rod 20. The drive box 10 includes a base 11 connected to the connecting rod 20, a pitch angle drive shaft assembly 12, a swing angle drive shaft assembly 15, a rotation drive shaft assembly 17 and a terminal opening and closing drive shaft assembly 18 arranged on the base 11, and a housing 19 arranged on the base 11 and accommodating each drive shaft assembly. Among them, the pitch angle drive shaft assembly 12 and the swing angle drive shaft assembly 15 are arranged opposite to each other on the base 11, and the rotation drive shaft assembly 17 and the terminal opening and closing drive shaft assembly 18 are arranged opposite to each other on the base 11. Of course, in other embodiments, the pitch angle drive shaft assembly 12 and the swing angle drive shaft assembly 15 are arranged adjacent to each other on the base 11, and similarly, the rotation drive shaft assembly 17 and the terminal opening and closing drive shaft assembly 18 can also be arranged adjacent to each other on the base 11. The relative positions of the above-mentioned drive shaft assemblies on the base 11 can be reasonably set according to actual needs.

[0061] The pitch angle drive shaft assembly 12 has the same structure as the roll angle drive shaft assembly 15, and the pitch angle drive shaft assembly 12 is taken as an example for description. Figure 1 As shown, the pitch angle drive shaft assembly 12 specifically includes a drive shaft 121 wound with a drive wire, and an adjustment portion 122 connected to the drive shaft 121 through the drive wire; the adjustment portion 122 is slidably connected to the housing 19, and the adjustment portion 122 is used to move along the housing 19 to a predetermined position to tighten or loosen the drive wire, and the drive shaft 121 is used to drive the end instrument 30 to achieve movement in the corresponding degree of freedom direction through the drive wire when rotating. It can be understood that the predetermined position can include a first position and a second position, and when the adjustment portion moves along the housing to the first position, the drive wire can be tightened; when the adjustment portion moves along the housing to the second position, the drive wire can be loosened.

[0062] In one embodiment, if Figure 1 As shown, the adjusting portion 122 includes a slider 1221 slidably connected to the slide slot and an adjusting wheel 1222 fixed to the slider 1221. Fig.10 As shown, the housing 19 is provided with a slide groove 190, and the adjusting wheel 1222 abuts against the driving wire to tighten or loosen the driving wire when the slider 1221 moves to the predetermined position in the slide groove 190. The housing 19 is also provided with an adjusting member 14 fixed to the housing 19 for abutting against the slider 1221 when it moves to the predetermined position, and the adjusting member 14 is used to limit the movement of the slider 1221 in the slide groove 190.

[0063] In another embodiment, if Figure 1 As shown, the adjusting portion 122 includes a slider 1221 slidably connected to the slide slot 190 and an adjusting wheel 1222 fixed to the slider 1221. Fig.10 As shown, a slide groove 190 is provided on the housing 19 , and the adjusting wheel 1222 abuts against the driving wire to tighten or loosen the driving wire when the slider 1221 moves to the predetermined position in the slide groove 190 .

[0064] like Figure 2 As shown, the pitch angle driving shaft assembly 12 includes a first rotating shaft 123 disposed on the base 11, and a second rotating shaft 124 disposed on the first rotating shaft 123 and coaxially rotating with the first rotating shaft 123. The second rotating shaft 124 can be rotated and adjusted relative to the first rotating shaft 123 to adjust the posture of the end instrument 30 to an initial state. A first group of driving wires 125 with opposite winding directions are wound around the first rotating shaft 123, and a second group of driving wires 126 with opposite winding directions are wound around the second rotating shaft 124. The first group of driving wires 125 include a first driving wire 1251 close to the side of the base 11, and a second driving wire 1252 away from the side of the base 11, and the length of the first driving wire 1251 tightened / relaxed is equal to the length of the second driving wire 1252 relaxed / tightened. The second group of drive wires 126 includes a third drive wire 1261 close to the side of the base 11, and a fourth drive wire 1262 away from the side of the base 11, and the length of the third drive wire 1261 tightened / relaxed is equal to the length of the fourth drive wire 1262 relaxed / tightened. It can be understood that the positions of the first drive wire 1251 and the second drive wire 1252 can be replaced, and the specific positions of the two relative to the base 11 can be reasonably set according to actual needs. Similarly, the positions of the third drive wire 1261 and the fourth drive wire 1262 can be replaced, and the specific positions of the two relative to the base 11 can be reasonably set according to actual needs. In this embodiment, the diameter L1 of the first rotating shaft 123 is greater than the diameter L2 of the second rotating shaft 124. L1 / L2=a / b (a, b respectively represent the moving distance of the corresponding drive wire on one side). In other embodiments, the diameter of the first rotating shaft 123 is equal to the diameter of the second rotating shaft 124.

[0065] Specifically, Figure 3 and Figure 4As shown, the second rotating shaft 124 has a shaft body 1240, and the first rotating shaft 123 includes a first body 1231 for passing through the shaft body 1240, a fastening member 1232 fastened with the first body 1231, and a bolt member for fastening the first body 1231 and the fastening member 1232 and fixing the second rotating shaft 124 to the shaft body 1240. The bolt member includes a first bolt 12331, a second bolt (not shown in the figure), a third bolt (not shown in the figure), a fourth bolt 12333, and a fifth bolt (not shown in the figure).

[0066] Furthermore, the first body 1231 is provided with a first winding groove 12311 for accommodating the first group of driving wires 125, and the fastening piece 1232 is provided with a first through hole 12321 and a second through hole 12322 arranged opposite to each other at its two ends, and the first body 1231 is provided with a third through hole (not shown in the figure) and a fourth through hole 12313 at positions corresponding to the first through hole 12321 and the second through hole 12322, a fifth through hole 12314 is provided on the side corresponding to the second through hole 12322 and the fourth through hole 12313, and a sixth through hole 12315 is provided on the side corresponding to the first through hole 12321 and the third through hole. The first bolt 12331 is used to fix the first drive wire 1251 to the first through hole 12321 of the buckling member 1232 when passing through the first through hole 12321 and the third through hole in sequence; the second bolt is used to buckle the first body 1231 and the buckling member 1232 and fix the second rotating shaft 124 to the shaft body 1240 when passing through the second through hole 12322 and the fourth through hole 12313 in sequence; the third bolt is used to fix the second drive wire 1252 to the fifth through hole 12314 of the first body 1231 when passing through the fifth through hole 12314. The sixth through hole 12315 is used for the rotating rod to pass through so as to adjust the angle of the first rotating shaft 123 on the shaft body 1240 relative to the second rotating shaft 124.

[0067] It can be understood that when it is necessary to adjust the posture of the end device 30 to the initial state, the zero-position tooling adjustment piece (not shown in the figure) can be used to clamp the end device 30 to keep it in a straight state; at this time, if the posture of the end device 30 is still not in the initial state, the position of the first rotating shaft 123 relative to the second rotating shaft 124 can be further adjusted by the rotating rod to further put the end device 30 in the initial state.

[0068] The second rotating shaft 124 further includes a second body 1241 fixed to the shaft body 1240, the second body 1241 is provided with a second winding groove 12410 for accommodating the second group of driving wires 126, and the second body 1241 is provided with a seventh through hole 12411 and an eighth through hole 12412 which are arranged opposite to each other on both sides close to the base 11 and away from the base 11. The fourth bolt 12333 is used to fix the third driving wire 1261 at the seventh through hole 12411 when passing through the seventh through hole 12411, and the fifth bolt is used to fix the fourth driving wire 1262 at the eighth through hole 12412 when passing through the eighth through hole 12412.

[0069] like Figure 2 As shown, the pitch angle driving shaft assembly 12 further includes a first set of reversing wheels 1213 located between the first rotating shaft 123 and the axis of the connecting rod 20 and connected to the first rotating shaft 123 through the first set of driving wires 125, and a second set of reversing wheels 1214 located between the second rotating shaft 124 and the axis of the connecting rod 20 and connected to the second rotating shaft 124 through the second set of driving wires 126. It can be understood that the first set of reversing wheels 1213 is used to guide the direction of the first set of driving wires 125 extending from the first rotating shaft 123, and at the same time, prevent the first set of driving wires 125 from slipping off the first winding groove 12311. Similarly, the second set of reversing wheels 1214 is used to guide the direction of the second set of driving wires 126 extending from the second rotating shaft 124, and at the same time, prevent the second set of driving wires 126 from slipping off the second winding groove 12410.

[0070] Furthermore, the adjusting wheel 1222 includes a first group of adjusting wheels 1226 connected to the first group of reversing wheels 1213 through the first group of driving wires 125, and a second group of adjusting wheels 1227 connected to the second group of reversing wheels 1214 through the second group of driving wires 126. After the first group of driving wires 125 are tensioned by the first group of adjusting wheels 1226, they pass through the connecting rod 20 and are connected to the end device 30. After the second group of driving wires 126 are tensioned by the second group of adjusting wheels 1227, they pass through the connecting rod 20 and are connected to the end device 30.

[0071] The first group of reversing wheels 1213 and the first group of adjusting wheels 1226 are relatively located on both sides of the first group of driving wires 125, and the portion of the first group of driving wires 125 between the first group of reversing wheels 1213 and the first group of adjusting wheels 1226 is in a straight line state, so that the force loss generated when the first group of driving wires 125 pass through the first group of reversing wheels 1213 and the first group of adjusting wheels 1226 can be reduced; and / or the second group of reversing wheels 1214 and the second group of adjusting wheels 1227 are relatively located on both sides of the second group of driving wires 126, and the portion of the second group of driving wires 126 between the second group of reversing wheels 1214 and the second group of adjusting wheels 1227 is in a straight line state, so that the force loss generated when the second group of driving wires 126 pass through the second group of reversing wheels 1214 and the second group of adjusting wheels 1227 can be reduced.

[0072] The pitch angle drive shaft assembly 12 also includes a third group of reversing wheels 1215 located above the connecting rod 20 and connected to the first group of adjusting wheels 1226, the first group of reversing wheels 1213 and the first rotating shaft 123 through the first group of driving wires 125 in sequence, so as to guide the first group of driving wires 125 tensioned by the first group of adjusting wheels 1226 to pass through the connecting rod 20 and be connected to the end device 30; and a fourth group of reversing wheels 1216 located above the connecting rod 20 and connected to the second group of adjusting wheels 1227, the second group of reversing wheels 1214 and the second rotating shaft 124 through the second group of driving wires 126 in sequence, so as to guide the second group of driving wires 126 tensioned by the second group of adjusting wheels 1227 to pass through the connecting rod 20 and be connected to the end device 30. The extension direction of the first group of drive wires 125 after being reversed by the third group of reversing wheels 1215 is parallel to the extension direction of the first group of drive wires 125 between the first group of adjusting wheels 1226 and the third group of reversing wheels 1215; the extension direction of the second group of drive wires 126 after being reversed by the fourth group of reversing wheels 1216 is parallel to the extension direction of the second group of drive wires 126 between the second group of adjusting wheels 1227 and the fourth group of reversing wheels 1216.

[0073] The pitch angle drive shaft assembly 12 or the swing angle drive shaft assembly 15 provided by the present invention comprises a drive shaft 121 wound with a drive wire, and an adjusting portion 122 connected to the drive shaft 121 through the drive wire, wherein the adjusting portion 122 is slidably connected to the shell 19, and the adjusting portion 122 is used to move to a predetermined position along the shell 19 to tighten or loosen the drive wire. By utilizing the tensioning effect of the adjusting portion 122, when the drive shaft 121 rotates, the end instrument 30 can be driven by the drive wire to achieve precise movement in the direction of the corresponding pitch angle or swing angle, thereby improving the operating accuracy of the operating arm 1 when performing surgical operations.

[0074] like Figure 5 As shown, the self-rotation drive shaft assembly 17 includes a self-rotation drive shaft 171 arranged on the base 11 and wound with a third group of drive wires 170 with opposite winding directions, a slave drive shaft 172 connected to the self-rotation drive shaft 171 through the third group of drive wires 170, and a guide wheel 173 located between the self-rotation drive shaft 171 and the slave drive shaft 172 and connected to the self-rotation drive shaft 171 and the slave drive shaft 172 through the self-rotation drive wire. In this embodiment, the self-rotation drive wire can be prevented from interfering with other drive wires by providing the guide wheel 173, and at the same time, the space of the drive box can be fully utilized, so that the drive box structure is more compact. Wherein, the slave drive shaft 172 is rotationally connected to the connecting rod 20.

[0075] Specifically, Figure 6 As shown, the end of the slave drive shaft 172 near one end of the connecting rod 20 is provided with a first protrusion 174 along its axial direction toward the connecting rod 20. The connecting rod 20 includes an inner tube 21 extending into the slave drive shaft 172 and connected to the slave drive shaft 172, and an outer tube 22 fixedly connected to the inner tube 21, and the outer tube 22 is provided with a notch 175 corresponding to the first protrusion 174 on a side near the slave drive shaft 172. The notch 175 has a side wall (not shown) against which the first protrusion 174 abuts. The notch 175 is used to accommodate the first protrusion 174, and abuts against the first protrusion 174 and the side wall of the notch 175, so that when the slave drive shaft 172 rotates, the outer tube 22 is driven to rotate through the first protrusion 174, thereby driving the connecting rod 20 to rotate.

[0076] A stopper 176 is also provided at the end of the slave drive shaft 172 near the connecting rod 20 along the periphery of the slave drive shaft 172, and a side of the stopper 176 facing the base 11 is abutted against a side of the base 11 facing the connecting rod 20. In this way, the slave drive shaft 172 can be restricted from moving in the direction away from the base 11 in the drive box 10.

[0077] Furthermore, if Figure 7 As shown, the inner tube 21 is provided with a receiving groove 210 at one end away from the slave drive shaft 172, and the end instrument 30 has a connecting piece 31, and the connecting piece 31 has a second protrusion 310 extending axially at the end of one side close to the inner tube 21, and the second protrusion 310 is used to connect with the receiving groove 210 of the inner tube 21 after entering the outer tube 22.

[0078] like Figure 5 As shown, the terminal opening and closing drive shaft assembly 18 includes an terminal opening and closing drive shaft 182 which is arranged on the base 11 and is wound with a fourth group of drive wires 181 with opposite winding directions, a fifth group of reversing wheels 183 located between the terminal opening and closing drive shaft 182 and the axis of the connecting rod 20, and a sixth group of reversing wheels 184 located above the connecting rod 20. The fourth group of drive wires 181 are successively reversed by the fourth group of reversing wheels 1216 and the fifth group of reversing wheels 183, and then pass through the connecting rod 20 to be connected to the terminal instrument 30.

[0079] like Figure 8 As shown, the base 11 is provided with a first mounting hole 111 and a second mounting hole 112 which are arranged opposite to each other in a diagonal direction, a third mounting hole 113 and a fourth mounting hole 114 which are arranged opposite to each other in a diagonal direction, and a fifth mounting hole 115 which is located at the center of the base 11 and is surrounded by the first mounting hole 111, the second mounting hole 112, the third mounting hole 113 and the fourth mounting hole 114. The housing 19 includes a first bracket 191 which is connected to the base 11 and is buckled onto the base 11, the first bracket 191 and the base 11 form a receiving space 192, and the first mounting hole 111, the second mounting hole 112, the third mounting hole 113, the fourth mounting hole 114 and the fifth mounting hole 115 are respectively used to guide the pitch angle driving axis, the sway angle driving axis, the rotation driving axis 171, the terminal opening and closing driving axis 182 and the slave driving axis 172 to be accommodated in the receiving space 192.

[0080] Specifically, the first bracket 191 includes a column 1910 extending from the base 11 in a direction away from the end instrument 30, and a cover 1930 connected to the column 1910 and extending in a direction parallel to the base 11. The cover 1930 includes a first cover 1931 corresponding to the position of the first mounting hole 111, a second cover 1932 corresponding to the position of the second mounting hole 112, a third cover 1933 corresponding to the position of the third mounting hole 113, a fourth cover 1934 corresponding to the position of the fourth mounting hole 114, and a fifth cover 1935 corresponding to the position of the fifth mounting hole 115. The first cover body 1931, the second cover body 1932, the third cover body 1933, the fourth cover body 1934 and the fifth cover body 1935 are respectively enclosed with the column 1910 and the base 11 to form a first accommodating space 1936, a second accommodating space 1937, a third accommodating space 1938, a fourth accommodating space 1939 and a fifth accommodating space 1940 with openings. The first cover body 1931, the second cover body 1932, the third cover body 1933, the fourth cover body 1934 and the fifth cover body 1935 are respectively provided with a first flange 1941, a second flange 1942, a third flange 1943, a fourth flange (not shown in the figure) and a fifth flange 1945 protruding toward the direction of the base 11, and the first flange 1941, the second flange 1942, the third flange 1943, the fourth flange and the fifth flange 1945 are respectively used to confine the corresponding drive shaft in the corresponding accommodating space, so as to prevent the corresponding drive shaft from slipping out of the accommodating space.

[0081] The column 1910 is provided with a first slide groove 1946 on the side away from the pitch angle driving axis, and a second slide groove (not shown in the figure) on the side away from the roll angle driving axis, so that the slider 1221 can slide along the first slide groove 1946, the second slide groove and the direction perpendicular to the base 11 respectively.

[0082] The first bracket 191 is provided with a first mounting portion 1951 at a position between the first cover 1931 and the fifth cover 1935, and a second mounting portion 1952 is provided at a position between the second cover 1932 and the fifth cover 1935. The first mounting portion 1951 is provided with a first threaded hole 1953 along the direction of the column 1910, and a second threaded hole 1954 along the direction of the column 1910. The first threaded hole 1953 and the second threaded hole 1954 are respectively used for the adjustment member 14 to pass through and be fastened to the first bracket 191.

[0083] The first mounting portion 1951, the first slide groove 1946, the base 11 and the column 1910 together form a sixth accommodating space 1955, and the second mounting portion 1952, the second slide groove, the base 11 and the column 1910 form a seventh accommodating space (not shown in the figure), and the sixth accommodating space 1955 and / or the seventh accommodating space are used to accommodate the first group of adjusting wheels 1226 and the second group of adjusting wheels 1227.

[0084] like Figure 1 and Figure 8 As shown, the first cover body 1931 is provided with a first through hole 1961 at a position corresponding to the first mounting hole 111 and a first cover sheet 1962 covering the first through hole 1961 and fixed to the first cover body 1931; the second cover body 1932 is provided with a second through hole 1963 at a position corresponding to the second mounting hole 112 and a second cover sheet 1964 covering the second through hole 1963 and fixed to the second cover body 1932; the third cover body 1933 is provided with a third through hole 1965 at a position corresponding to the third mounting hole 113 and The third cover piece 1966 is covered on the third through hole 1965 and fixed on the third cover body 1933, the fourth cover body 1934 is provided with a fourth through hole 1967 at a position corresponding to the fourth mounting hole 114, and a fourth cover piece 1968 is covered on the fourth through hole 1967 and fixed on the fourth cover body 1934, and the fifth cover body 1935 is provided with a fifth through hole 1969 at a position corresponding to the fifth mounting hole 115, and a fifth cover piece (not shown in the figure) is covered on the fifth through hole 1969 and fixed on the fifth cover body 1935. In this embodiment, the setting of each through hole can reduce the weight of the first bracket 191. In addition, in order to prevent each drive shaft from being installed from the corresponding mounting hole and then being perforated from the corresponding through hole, each cover piece is provided to prevent each drive shaft from slipping out of the corresponding through hole. In addition, each cover piece can be made of plastic or other materials, thereby reducing the weight of the drive box 10.

[0085] like Fig. 9 As shown, the housing 19 further includes a second bracket 198 mounted on the first bracket 191, and the second bracket 198 is provided with an eighth accommodation space 1981 in a direction away from the first bracket 191 at a position corresponding to the fifth accommodation space, and the eighth accommodation space 1981 is used to accommodate the third group of reversing wheels 1215 and the fourth group of reversing wheels 1216 corresponding to the drive shaft assembly; the second bracket 198 and the first bracket 191 are enclosed at a position corresponding to the fifth accommodation space to form a ninth accommodation space 1982, and the ninth accommodation space 1982 is used to accommodate the sixth group of reversing wheels 184. It can be understood that the accommodation space includes each of the above accommodation spaces.

[0086] The second bracket 198 is provided with a third threaded hole (not shown in the figure) at a position corresponding to the first threaded hole 1953, so that the adjusting member 14 can pass through the third threaded hole and the first threaded hole 1953 in sequence and be fixed to the first bracket 191 and the second bracket 198; the second bracket 198 is provided with a fourth threaded hole 1984 at a position corresponding to the first threaded hole 1953, so that the adjusting member 14 can pass through the fourth threaded hole 1984 and the second threaded hole 1954 in sequence and be fixed to the first bracket 191 and the second bracket 198.

[0087] The second bracket includes a bracket body 1980 located above the first bracket, and a first group of support legs 1985 and a second group of support legs 1986 extending from the bracket body to the direction of the base on one side of the pitch angle drive shaft and one side of the swing angle drive shaft. It can be understood that the first group of support legs and the second group of support legs each have two legs, and the two legs are relatively located on both sides of the bracket body. The column where the first slide slot is located separates the first group of support legs into two first installation spaces (not shown in the figure) to accommodate the reversing wheels corresponding to the pitch angle drive shaft. Specifically, the reversing wheels corresponding to the pitch angle drive shaft are a first group of reversing wheels and a second group of reversing wheels. The first group of reversing wheels includes two first wheels close to the base and two second wheels away from the base. In this embodiment, the height of the second wheel relative to the base is higher than the height of the first wheel relative to the base. That is, the first installation space away from the terminal opening and closing drive shaft 182 is used to accommodate one of the first wheels and one of the second wheels. Similarly, another first installation space close to the terminal opening and closing drive shaft 182 is used to accommodate another first wheel and another second wheel. The column where the second slide slot is located divides the second group of supporting legs into two second installation spaces (not shown in the figure) to accommodate the reversing wheels corresponding to the swing angle drive shaft. The specific implementation scheme is the same as above and will not be repeated here.

[0088] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A drive box, the drive box is connected to the end instrument through a connecting rod and a driving wire passing through the connecting rod, characterized in that: The driving box comprises a base connected to the connecting rod, a driving shaft assembly arranged on the base, and a shell arranged on the base and accommodating the driving shaft assembly, wherein the driving shaft assembly comprises a driving shaft wound with a driving wire, and an adjusting part connected to the driving shaft through the driving wire; The adjusting portion is slidably connected to the housing, and the adjusting portion is used to move along the housing to a predetermined position to tighten or loosen the driving wire, and the driving shaft is used to drive the end instrument to realize movement in a corresponding degree of freedom direction through the driving wire when rotating; Wherein, a slide groove is provided on the shell, and the adjustment part includes a slider and an adjustment wheel fixed on the slider, and the adjustment wheel abuts against the driving wire to tighten or relax the driving wire when the slider moves to the predetermined position along the direction perpendicular to the slide groove and the base.

2. The drive box according to claim 1, characterized in that: The slide groove is slidably connected to the slider; the housing is also provided with an adjusting member fixed to the housing for supporting the slider when it moves to the predetermined position, and the adjusting member is used to limit the movement of the slider in the slide groove.

3. The drive box according to claim 1, characterized in that: The slide groove is tightly connected with the slide block.

4. The drive box according to claim 2 or 3, characterized in that: The drive shaft assembly includes a first rotating shaft arranged on the base and a second rotating shaft arranged on the first rotating shaft and rotating coaxially with the first rotating shaft, a first group of driving wires with opposite winding directions are wound on the first rotating shaft, and a second group of driving wires with opposite winding directions are wound on the second rotating shaft.

5. The drive box according to claim 4, characterized in that: The drive shaft assembly also includes: A first set of reversing wheels located between the first rotating shaft and the axis of the connecting rod and connected to the first rotating shaft through the first set of driving wires, and a second set of reversing wheels located between the second rotating shaft and the axis of the connecting rod and connected to the second rotating shaft through the second set of driving wires; The adjusting wheels include a first group of adjusting wheels connected to the first group of reversing wheels through the first group of driving wires, and a second group of adjusting wheels connected to the second group of reversing wheels through the second group of driving wires. After being tensioned by the first group of adjusting wheels, the first group of driving wires pass through the connecting rod and are connected to the end device. After being tensioned by the second group of adjusting wheels, the second group of driving wires pass through the connecting rod and are connected to the end device.

6. The drive box according to claim 5, characterized in that: The first group of reversing wheels and the first group of adjusting wheels are relatively located on both sides of the first group of driving wires, and a portion of the first group of driving wires between the first group of reversing wheels and the first group of adjusting wheels is in a straight line; and / or the second group of reversing wheels and the second group of adjusting wheels are relatively located on both sides of the second group of driving wires, and a portion of the second group of driving wires between the second group of reversing wheels and the second group of adjusting wheels is in a straight line.

7. The drive box according to claim 5 or 6, characterized in that: The drive shaft assembly also includes: a third group of reversing wheels located above the connecting rod and connected to the first group of adjusting wheels, the first group of reversing wheels and the first rotating shaft respectively through the first group of driving wires, so as to guide the first group of driving wires tensioned by the first group of adjusting wheels to pass through the connecting rod and be connected to the end instrument; and A fourth group of reversing wheels is located above the connecting rod and is connected to the second group of adjusting wheels, the second group of reversing wheels and the second rotating shaft through the second group of driving wires in sequence, so as to guide the second group of driving wires tensioned by the second group of adjusting wheels to pass through the connecting rod and be connected to the end instrument.

8. The drive box according to claim 7, characterized in that: The extending direction of the first group of driving wires after being reversed by the third group of reversing wheels is parallel to the extending direction of the portion of the first group of driving wires between the first group of adjusting wheels and the third group of reversing wheels; The extending direction of the second group of driving wires after being reversed by the fourth group of reversing wheels is parallel to the extending direction of the portion of the second group of driving wires between the second group of adjusting wheels and the fourth group of reversing wheels.

9. The drive box according to claim 4, characterized in that: The second rotating shaft is rotatably adjustable relative to the first rotating shaft to adjust the posture of the end instrument to an initial state.

10. The drive box according to claim 9, characterized in that: The second rotating shaft has an axis body, and the first rotating shaft includes a first body for passing through the axis body, a fastening piece fastened with the first body, and a bolt piece for fastening the first body and the fastening piece, and the bolt piece is also used to fix the second rotating shaft to the axis body.

11. The drive box according to claim 10, characterized in that: The first body is provided with a first winding groove for accommodating the first group of driving wires, the buckle is provided with a first through hole and a second through hole arranged oppositely at two ends thereof, and the first body is provided with a third through hole and a fourth through hole at positions corresponding to the first through hole and the second through hole; The bolt assembly includes a first bolt and a second bolt, the first group of drive wires includes a first drive wire close to the base side, and a second drive wire away from the base side, the length of the first drive wire being tightened / relaxed is equal to the length of the second drive wire being relaxed / tightened; the first bolt is used to fix the first drive wire at the first through hole of the fastening member when passing through the first through hole and the third through hole in sequence; the second bolt is used to fasten the first body and the fastening member and fix the second rotating shaft to the shaft body when passing through the second through hole and the fourth through hole in sequence.

12. The drive box according to claim 11, characterized in that: The first body is provided with a fifth through hole on a side corresponding to the second through hole and the fourth through hole; the bolt member also includes a third bolt, and the third bolt is used to fix the second drive wire at the fifth through hole of the first body when passing through the fifth through hole.

13. The drive box according to claim 12, characterized in that: The first body is provided with a sixth through hole on a side corresponding to the first through hole and the third through hole, and the sixth through hole is used for a rotating rod to pass through so as to adjust the angle of the first rotating shaft on the shaft body relative to the second rotating shaft.

14. The drive box according to any one of claims 9 to 13, characterized in that: The second rotating shaft also includes a second body fixed on the shaft body, and the second body is provided with a second winding groove for accommodating the second group of driving wires. The second group of driving wires includes a third driving wire close to the base side and a fourth driving wire away from the base side. The tightening / relaxing length of the third driving wire is equal to the relaxing / tightening length of the fourth driving wire.

15. The drive box according to claim 14, characterized in that: The second body is respectively provided with a seventh through hole and an eighth through hole which are relatively arranged on both sides close to the base and away from the base. The second rotating shaft also includes a fourth bolt for fixing the third driving wire at the seventh through hole when passing through the seventh through hole, and a fifth bolt for fixing the fourth driving wire at the eighth through hole when passing through the eighth through hole.

16. The drive box according to claim 5, characterized in that: The drive box also includes a self-rotating drive shaft arranged on the base and wound with a third group of drive wires in opposite winding directions, and a slave drive shaft connected to the self-rotating drive shaft through the third group of drive wires, and the slave drive shaft is rotationally connected to the connecting rod.

17. The drive box according to claim 16, characterized in that: The slave drive shaft is provided with a first protrusion at the end near one end of the connecting rod along its axial direction toward the connecting rod; the connecting rod includes an inner tube extending into the slave drive shaft and connected to the slave drive shaft, and an outer tube fixedly connected to the inner tube, the outer tube is provided with a notch corresponding to the first protrusion on a side near the slave drive shaft, and the notch has a side wall that abuts against the first protrusion; the notch is used to accommodate the protrusion and abuts against it through the first protrusion and the side wall of the notch, so that when the slave drive shaft rotates, the outer tube is driven to rotate through the first protrusion, thereby driving the connecting rod to rotate.

18. The drive box according to claim 17, characterized in that: The inner tube is provided with a receiving groove at one end away from the slave drive shaft, and the end instrument has a connecting piece, and the connecting piece has a second protrusion extending axially at the end of one side close to the inner tube, and the second protrusion is used to connect with the receiving groove of the inner tube after entering the outer tube.

19. The drive box according to claim 16, characterized in that: A limiting block is protrudingly provided at the end of the slave driving shaft on the side close to the connecting rod along the periphery of the slave driving shaft, and a side of the limiting block facing the base is abutted and connected with a side of the base facing the connecting rod.

20. The drive box according to any one of claims 16 to 19, characterized in that: The self-rotating drive shaft assembly also includes a guide wheel located between the self-rotating drive shaft and the slave drive shaft, and the guide wheel is respectively connected to the self-rotating drive shaft and the slave drive shaft through the third group of drive wires.

21. The drive box according to claim 16, characterized in that: The drive box also includes an end opening and closing drive shaft arranged on the base and wound with a fourth group of drive wires in opposite winding directions, a fifth group of reversing wheels located between the end opening and closing drive shaft and the axis of the connecting rod, and a sixth group of reversing wheels located above the connecting rod. The fourth group of drive wires pass through the connecting rod and are connected to the end instrument after being reversed by the fourth group of reversing wheels and the fifth group of reversing wheels in turn.

22. The drive box according to claim 21, characterized in that: The drive shaft assembly comprises a pitch angle drive shaft and a roll angle drive shaft which are arranged opposite to each other on the base; the base is provided with a first mounting hole and a second mounting hole which are arranged opposite to each other in a diagonal direction, a third mounting hole and a fourth mounting hole which are arranged opposite to each other in a diagonal direction, and a fifth mounting hole which is located at the center of the base and is surrounded by the first mounting hole, the second mounting hole, the third mounting hole and the fourth mounting hole; The shell includes a first bracket connected to the base and snapped onto the base, the first bracket and the base form a accommodating space, the first mounting hole, the second mounting hole, the third mounting hole, the fourth mounting hole and the fifth mounting hole are respectively used to guide the pitch angle drive axis, the swing angle drive axis, the rotation drive axis, the terminal opening and closing drive axis and the slave drive axis to be accommodated in the accommodating space.

23. The drive box according to claim 22, characterized in that: The first bracket includes a column extending from the base in a direction away from the end instrument, and a cover body connected to the column and extending in a direction parallel to the base; the cover body includes a first cover body corresponding to the position of the first mounting hole, a second cover body corresponding to the position of the second mounting hole, a third cover body corresponding to the position of the third mounting hole, a fourth cover body corresponding to the position of the fourth mounting hole, and a fifth cover body corresponding to the position of the fifth mounting hole; The first cover body, the second cover body, the third cover body, the fourth cover body and the fifth cover body are respectively enclosed with the column and the base to form a first accommodating space, a second accommodating space, a third accommodating space, a fourth accommodating space and a fifth accommodating space with an opening, and the accommodating space includes the first accommodating space, the second accommodating space, the third accommodating space, the fourth accommodating space and the fifth accommodating space.

24. The drive box according to claim 23, characterized in that: The column is provided with a first slide groove on the side away from the pitch angle driving axis, and a second slide groove on the side away from the swing angle driving axis, so that the slider can slide along the first slide groove, the second slide groove and the direction perpendicular to the base respectively; the self-rotation driving axis and the terminal opening and closing driving axis are arranged opposite to each other on the base; the diameter of the first rotating shaft is greater than the diameter of the second rotating shaft.

25. The drive box according to claim 24, characterized in that: The first bracket is provided with a first mounting portion at a position between the first cover body and the fifth cover body, and the first mounting portion is provided with a first threaded hole along the direction of the column; the first bracket is provided with a second mounting portion at a position between the second cover body and the fifth cover body, and the second mounting portion is provided with a second threaded hole along the direction of the column, and the first threaded hole and the second threaded hole are respectively used for the adjustment member to pass through and be fastened to the first bracket.

26. The drive box according to claim 25, characterized in that: The first mounting portion, the first slide groove, the base and the column together form a sixth accommodating space, and the second mounting portion, the second slide groove, the base and the column form a seventh accommodating space. The sixth accommodating space and / or the seventh accommodating space are used to accommodate the first group of adjusting wheels and the second group of adjusting wheels.

27. A drive box according to any one of claims 22 to 26, characterized in that: At least one of the first cover body, the second cover body, the third cover body, the fourth cover body and the fifth cover body is respectively provided with a flange protruding toward the direction of the base, and the flange is used to limit the corresponding driving shaft in the corresponding accommodating space.

28. The drive box according to claim 27, characterized in that: The first cover body is provided with a first through hole at a position corresponding to the first mounting hole and a first cover piece covering the first through hole and fixed to the first cover body; the second cover body is provided with a second through hole at a position corresponding to the second mounting hole and a second cover piece covering the second through hole and fixed to the second cover body; the third cover body is provided with a third through hole at a position corresponding to the third mounting hole and a third cover piece covering the third through hole and fixed to the third cover body; the fourth cover body is provided with a fourth through hole at a position corresponding to the fourth mounting hole and a fourth cover piece covering the fourth through hole and fixed to the fourth cover body; the fifth cover body is provided with a fifth through hole at a position corresponding to the fifth mounting hole and a fifth cover piece covering the fifth through hole and fixed to the fifth cover body.

29. The drive box according to claim 25, characterized in that: The shell also includes a second bracket mounted on the first bracket, and the second bracket is provided with an eighth accommodating space in a position corresponding to the fifth accommodating space in a direction away from the first bracket, and the eighth accommodating space is used to accommodate the third group of reversing wheels and the fourth group of reversing wheels corresponding to the drive shaft assembly; the second bracket and the first bracket are enclosed in a position corresponding to the fifth accommodating space to form a ninth accommodating space, and the ninth accommodating space is used to accommodate the sixth group of reversing wheels.

30. The drive box according to claim 29, characterized in that: The second bracket is provided with a third threaded hole and / or a fourth threaded hole at a position corresponding to the first threaded hole, so that the adjusting member can pass through the third threaded hole and the first threaded hole in sequence and be fastened to the first bracket and the second bracket.

31. The drive box according to claim 29, characterized in that: The second bracket includes a bracket body located above the first bracket, and a first group of supporting legs and a second group of supporting legs extending from the bracket body toward the base on one side of the pitch angle driving axis and one side of the swing angle driving axis respectively; the column where the first slide slot is located divides the first group of supporting legs into two first installation spaces to accommodate the reversing wheels corresponding to the pitch angle driving axis; the column where the second slide slot is located divides the second group of supporting legs into two second installation spaces to accommodate the reversing wheels corresponding to the swing angle driving axis.

32. An operating arm, characterized in that: The operating arm includes a driving box, a connecting rod and an end instrument as described in any one of claims 1 to 31, which are connected in sequence, and the operating arm also includes a driving wire that passes through the connecting rod and is respectively connected to the end instrument and the driving box.

33. A surgical robot, characterized in that: The surgical robot comprises the manipulator arm as described in claim 32.

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