Surgical instruments, operating devices, and surgical robots

Abstract

The present invention provides a surgical instrument, a slave operating device using the surgical instrument, and a surgical robot having the slave operating device. The surgical instrument includes an end effector, a driving device, and a cable. The cable includes a first driving cable, a first pair of cables, and a second pair of cables. The driving device is configured to drive the end effector to perform a pitching motion through the first pair of cables and the first driving cable, and to drive the end effector to perform a yaw motion through the first pair of cables and the second pair of cables. In the present invention, the end effector is driven using different driving principles in two directions of the pitching motion, that is, the pitching motion in the first direction is driven by a dedicated pitching driving cable, and the pitching motion in the other direction is driven by the cable that drives the yaw of the end effector.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and particularly to a driving device for a surgical instrument, a surgical instrument using the driving device, a slave operating device using the surgical instrument, and a surgical robot having the slave operating device. 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 small trauma, light pain, and fast recovery.

[0003] With the progress of technology, minimally invasive surgery robot technology has gradually matured and has been widely used. A minimally invasive surgery robot generally includes a master operation console and a slave operating device. The master operation 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 operation console and perform corresponding surgical operations.

[0004] A surgical instrument that can be detachably connected to the slave operating device is connected to the slave operating device. The surgical instrument includes a driving device and an end effector for performing surgery. The driving device is used to connect the surgical instrument to the slave operating device and receive the driving force from the slave operating device to drive the end effector to move. The driving device is connected to the end effector through a driving cable, and the driving device manipulates the movement of the end effector through the driving cable. The end effector generally includes three degrees of freedom of movement, namely opening and closing, pitching movement, and yaw movement. Some end effectors also have a self-rotation movement. In the prior art, the yaw and opening and closing movements of the end effector are controlled by a set of driving cables, while the pitching movement of the end effector is controlled by another set of driving cables.

[0005] Performing surgical operations inside the human body often requires facing many complex scenarios. One of them is that when the end effector pitches in one direction, it requires greater force, while when pitching in the opposite direction, it does not require much force. For example, during a surgical operation, it is necessary to use a surgical instrument to lift a part of human tissue, or press down a part of human tissue in one direction. When the end effector of the surgical instrument pitches in the direction of lifting or pressing down the human tissue, it needs to provide greater force to lift or press down the human tissue combination. On the contrary, releasing the human tissue lifted or pressed down by the end effector does not require much force.

[0006] However, the forces for the end effector to pitch in two directions in the prior art are the same. This either makes it impossible for the end effector to provide the required large force when pitching in one direction, or makes the end effector have greater forces when pitching in both directions. Because outputting a greater pitching force requires a larger driving cable or a thicker cable, which causes unnecessary space waste. Summary of the Invention

[0007] Based on this, to solve the above problems, the present invention provides a surgical instrument, a slave operating device using the surgical instrument, and a surgical robot having the slave operating device. The surgical instrument includes:

[0008] An end effector, which includes a first bracket, a second bracket, a first clamping portion, and a second clamping portion. The second bracket is rotatably connected to the first bracket, and the first clamping portion and the second clamping portion are rotatably connected to the second bracket;

[0009] A driving cable, which includes a first driving cable, a first pair of cables, and a second pair of cables. The distal ends of the first pair of cables are arranged on the first clamping portion, and the distal ends of the second pair of cables are arranged on the second clamping portion. One end of the first driving cable is connected to the second bracket. The first bracket is provided with a first pulley set and a second pulley set for guiding the first pair of cables and the second pair of cables. The second pulley set is located between the first pulley set and the first clamping portion or the second clamping portion. The part of the first driving cable between the second bracket and the first bracket and the part of the first pair of cables between the first pulley set and the first bracket are on the same side of the first pulley set, and are on the opposite side of the first pulley set from the part of the second pair of cables between the first pulley set and the first bracket;

[0010] A driving device, which is used to drive the second bracket to rotate relative to the first bracket through the first pair of cables and the first driving cable so that the end effector performs a pitching motion, and drive the end effector to perform a yaw motion through the first pair of cables and the second pair of cables.

[0011] Preferably, the winding mode of the first pair of cables on the first pulley set and the second pulley set is opposite to the winding mode of the second pair of cables on the first pulley set and the second pulley set.

[0012] Preferably, the part of the first pair of cables from the first clamping portion to the second pulley set and the part of the second pair of cables between the second clamping portion and the second pulley set are respectively on both sides of the axis of rotation of the second bracket relative to the first bracket.

[0013] Preferably, the first pair of cables includes a second driving cable and a third driving cable. The distal ends of the second driving cable and the third driving cable are both arranged on the first clamping portion. The winding mode of the second driving cable on the first set of pulleys and the second set of pulleys is the same as the winding mode of the third driving cable on the first set of pulleys and the second set of pulleys.

[0014] Preferably, the second pair of cables includes a fourth drive cable and a fifth drive cable. The distal ends of the fourth drive cable and the fifth drive cable are both provided on the second clamping portion. The winding manner of the third drive cable on the first set of pulleys and the second set of pulleys is the same as that of the second drive cable on the first set of pulleys and the second set of pulleys.

[0015] Preferably, the first pulley group includes a first pulley, a second pulley, a third pulley, and a fourth pulley sequentially arranged on the same pin. The second pulley group includes a fifth pulley, a sixth pulley, a seventh pulley, and an eighth pulley sequentially arranged on the same pin. The distal end of the second drive cable is guided through the rear of the second pulley and then through the front of the sixth pulley and finally installed on the first clamping portion. The distal end of the third drive cable is guided through the rear of the third pulley and then through the front of the seventh pulley and installed on the first clamping portion.

[0016] Preferably, the distal end of the fourth drive cable is guided through the front of the first pulley and then through the rear of the fifth pulley and installed on the second clamping portion. The distal end of the fifth drive cable is guided through the front of the fourth pulley and then through the rear of the eighth pulley and installed on the second clamping portion.

[0017] Preferably, the first bracket has a first through hole for the first drive cable to pass through, a second through hole for the second drive cable to pass through, and a third through hole for the second drive cable to pass through. The first through hole, the second through hole, and the third through hole are on the same side of the first plane, and the first plane passes through the axes of the first pulley group and the second pulley group.

[0018] Preferably, the first bracket has a fourth through hole for the fourth drive cable to pass through and a fifth through hole for the fifth drive cable to pass through. The fourth through hole and the fifth through hole are on the same side of the first plane and on the opposite side of the first plane from the first through hole, or the second through hole, or the third through hole.

[0019] Preferably, the straight line passing through the centers of the second through hole and the third through hole is parallel to the straight line passing through the centers of the fourth through hole and the fifth through hole.

[0020] Preferably, the second through hole, the third through hole, the fourth through hole, and the fifth through hole form a trapezoid.

[0021] Preferably, the first through hole, the second through hole, the third through hole, and the fourth through hole form a parallelogram.

[0022] Preferably, the driving device includes: a driving unit. One end of the first drive cable is connected to the driving unit. The driving unit drives the pitching motion of the end effector through the first drive cable and the first pair of cables.

[0023] Decoupling mechanism, the decoupling mechanism includes a main decoupling member and a secondary decoupling member. The main decoupling member is coaxially arranged with the driving unit. The main decoupling member is used to rotate coaxially with the driving unit and drive the secondary decoupling member to move, so as to increase the length of one of the first pair of cables and the second pair of cables in the driving device and reduce the length of the other pair of cables in the driving device, so that the driving unit drives the end effector to perform a pitching motion.

[0024] Preferably, the main decoupling member is configured to drive the secondary decoupling member to move linearly to change the lengths of the first pair of cables and the second pair of cables in the driving device.

[0025] Preferably, the secondary decoupling member includes a carriage and a first guiding portion and a second guiding portion respectively arranged at both ends of the carriage. The first pair of cables extend to the end effector after being guided by the first guiding portion, and the second pair of cables extend to the end effector after being guided by the second guiding portion. The main decoupling member changes the lengths of the first pair of cables and the second pair of cables in the driving device by driving the carriage to move linearly.

[0026] Preferably, the secondary decoupling member further includes a first decoupling cable and a second decoupling cable connected to both ends of the carriage. The main decoupling member is connected to the carriage through the first decoupling cable and the second decoupling cable, and the main decoupling member is configured to drive the carriage to move by manipulating the first decoupling cable and the second decoupling cable.

[0027] Preferably, the main decoupling member is connected to the carriage by a gear meshing method.

[0028] Preferably, the main decoupling member has a cam structure, and the main decoupling member is used to rotate to drive the cam structure to abut against the carriage to drive the carriage to move.

[0029] Preferably, the driving device further includes a first guiding wheel and a second guiding wheel. The first pair of cables first pass through the guiding of the first guiding wheel and then through the guiding of the first guiding portion and then extend to the end effector. The second pair of cables first pass through the guiding of the second guiding wheel and then through the guiding of the second guiding portion and then extend to the end effector.

[0030] Preferably, the moving direction of the carriage is parallel to the portion of the first pair of cables between the first guiding portion and the first guiding wheel.

[0031] Preferably, the moving direction of the carriage is parallel to the portion of the second pair of cables between the second guiding portion and the second guiding wheel.

[0032] Preferably, the driving device further includes a third guiding wheel and a fourth guiding wheel. The first pair of cables extend to the end effector after being guided by the first guiding portion and then through the guiding of the third guiding wheel. The second pair of cables extend to the end effector after being guided by the second guiding portion and then through the guiding of the fourth guiding wheel.

[0033] Preferably, the axis of the above-mentioned third guide wheel is parallel to the axis of the fourth guide wheel and perpendicular to the axis of the first guide wheel or the axis of the second guide wheel.

[0034] Preferably, the direction of movement of the above-mentioned carriage is parallel to the portion of the first pair of cables between the first guide portion and the third guide wheel, and the direction of movement of the carriage is parallel to the portion of the second pair of cables between the second guide portion and the fourth guide wheel.

[0035] Preferably, the above-mentioned drive unit and the main decoupling member rotate in the first direction to increase the length of the first pair of cables on the end effector and decrease the length of the second pair of cables on the end effector, and the decoupling member moves under the drive of the main decoupling member to decrease the length of the first pair of cables in the drive device and increase the length of the second pair of cables in the drive device.

[0036] Preferably, the above-mentioned drive unit and the main decoupling member are used to rotate in the second direction opposite to the first direction to decrease the length of the first pair of cables on the end effector and increase the length of the second pair of cables on the end effector, and the decoupling member is used to move under the drive of the main decoupling member to increase the length of the first pair of cables in the drive device and decrease the length of the second pair of cables in the drive device.

[0037] Preferably, the above-mentioned drive unit and the main decoupling member rotate such that the change in the length of the second drive cable or the fourth drive cable on the end effector is equal to twice the distance that the decoupling member moves in the drive device.

[0038] Preferably, the above-mentioned main decoupling member rotates in the first direction to release the first decoupling cable and retract the second decoupling cable so that the carriage moves, thereby decreasing the length of the first pair of cables in the drive device and increasing the length of the second pair of cables in the drive device.

[0039] Preferably, the above-mentioned main decoupling member rotates in the second direction opposite to the first direction to retract the first decoupling cable and release the second decoupling cable so that the carriage moves, thereby increasing the length of the first pair of cables in the drive device and decreasing the length of the second pair of cables in the drive device.

[0040] Preferably, the above-mentioned main decoupling member is used to rotate so that the change in the length of the second drive cable or the fourth drive cable on the end effector is equal to twice the distance that the carriage moves in the drive device.

[0041] Preferably, the proximal end of the above-mentioned second bracket has an annular groove, and the distal end of the first drive cable is received in the annular groove and forms a wrap angle in the annular groove.

[0042] Preferably, the radii of the pulleys in the second set of pulleys are the same, all being r1, the radius of the main decoupling member is r2, the radius of the drive unit is R2, and the bottom groove radius R1 of the annular groove, the radius r1 of the second set of pulleys, the radius r2 of the main decoupling member, and the radius R2 of the drive unit satisfy the following relationship:

[0043]

[0044] Wherein, N is the number of guiding parts and is an even number.

[0045] Preferably, the number N of the guiding parts is 2.

[0046] A slave operating device includes a robotic arm and the above-mentioned surgical instrument. The surgical instrument is installed on the robotic arm, and the robotic arm is used to manipulate the movement of the surgical instrument.

[0047] A surgical robot includes a master operation console and a slave operating device. The slave operating device performs corresponding operations according to the instructions of the master operation console.

[0048] The end effector of the surgical instrument of the present invention uses different driving principles in two directions of pitching motion for driving, that is, the pitching motion in the first direction is driven by a dedicated pitching drive cable, while the pitching motion in the other direction is driven by the drive cable for driving the yaw of the end effector. Since the dedicated drive cable can provide greater force, it can meet the application scenario of providing greater force when the end effector pitches in one direction. Moreover, using the drive cable for driving the yaw of the end effector to drive the pitching motion of the end effector in the other direction saves the drive cable and also saves space, enabling the end effector to be made smaller. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a schematic structural diagram of the slave operating device of the surgical robot according to an embodiment of the present invention;

[0050] Figure 2 It is a schematic structural diagram of the master operation console of the surgical robot according to an embodiment of the present invention;

[0051] Figure 3 It is a schematic structural diagram of the robotic arm of the slave operating device according to an embodiment of the present invention;

[0052] Figure 4 It is a schematic structural diagram of the surgical instrument according to an embodiment of the present invention;

[0053] Figures 5A - 5H It is a schematic structural diagram of the end effector according to an embodiment of the present invention;

[0054] Figure 6A It is a perspective view of the first bracket of the end effector according to an embodiment of the present invention;

[0055] Figure 6B Top view of the first bracket of the end effector according to an embodiment of the present invention;

[0056] Figure 6C Top view of the first bracket of the end effector according to another embodiment of the present invention;

[0057] Figures 7A - 7C Pitch view of the driving device according to an embodiment of the present invention;

[0058] Figure 8A is Figure 7A Enlarged schematic view of the first guiding part and the first guiding wheel part in the embodiment shown;

[0059] Figure 8B is Figure 7A Enlarged schematic view of the first guiding part and the third guiding wheel part of the embodiment shown;

[0060] Figure 9 Schematic diagram of the driving device according to an embodiment of the present invention;

[0061] Figure 10 Schematic diagram of the driving device according to an embodiment of the present invention. Detailed implementation manners

[0062] For the convenience of understanding the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. The preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present invention more thorough and comprehensive.

[0063] It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only embodiments. The terms "distal end" and "proximal end" used herein are orientation terms, which are common terms in the field of interventional medical devices. Among them, the "distal end" refers to the end far from the operator during the operation, and the "proximal end" refers to the end close to the operator during the operation.

[0064] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this invention belongs. The terms used in the description of the present invention herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0065] A minimally invasive surgical robot generally includes a slave operating device and a master operating console. Figure 1 Shown is the slave operating device 100 according to an embodiment of the present invention. Figure 2 Shown is the master operating console 200 according to an embodiment of the present invention. A surgeon performs relevant control operations on the slave operating device 100 on the master operating console 200, and the slave operating device 100 performs a surgical operation on a human body according to the input instructions of the master operating console 200. The master operating console 200 and the slave operating device 100 can be placed in an operating room, or can be placed in different rooms. Even the master operating console 200 and the slave operating device 100 can be far apart. For example, the master operating console 200 and the slave operating device 100 are located in different cities respectively. The master operating console 200 and the slave operating device 100 can transmit data in a wired manner, or can transmit data in a wireless manner. For example, the master operating console 200 and the slave operating device 100 are located in an operating room, and data is transmitted between them in a wired manner. Another example is that the master operating console 200 and the slave operating device 100 are in different cities respectively, and long-distance data transmission is performed between them through a 5G wireless signal.

[0066] As Figure 1 Shown, the slave operating device 100 includes a plurality of robotic arms 110. Each robotic arm 110 includes a plurality of joints and a tool holding arm 130. The plurality of joints are linked to realize the movement of the tool holding arm 130 with multiple degrees of freedom. A surgical instrument 120 for performing a surgical operation is installed on the tool holding arm 130. The surgical instrument 120 enters the human body through a trocar 140 fixed at the distal end of the tool holding arm 130. The robotic arm 110 is used to manipulate the movement of the surgical instrument 120 to perform the operation. The surgical instrument 120 is detachably installed on the tool holding arm 130, so that different types of surgical instruments 120 can be replaced at any time or the surgical instrument 120 can be removed to wash or disinfect the surgical instrument 120. As Figure 3 Shown, the tool holding arm 130 includes a tool holding arm body 131 and an instrument mounting bracket 132. The instrument mounting bracket 132 is used to mount the surgical instrument 120. The instrument mounting bracket 132 can slide on the tool holding arm body 131, thereby driving the surgical instrument 120 to advance or retract along the tool holding arm body 131.

[0067] As Figure 4As shown, the surgical instrument 120 includes a drive device 170 at the proximal end of the surgical instrument 120 and an end effector 150 at the distal end, as well as a long shaft 160 located between the drive device 170 and the end effector 150. The drive device 170 is used to connect with the instrument mounting bracket 132 of the instrument holding arm 130. There are multiple actuators (not shown in the figure) in the instrument mounting bracket 132. The multiple actuators engage with the drive device 170 to transmit the driving force of the actuators to the drive device 170. The long shaft 160 is used to connect the drive device 170 and the end instrument 150. The long shaft 160 is hollow to allow the drive cable to pass through. The drive device 170 manipulates the movement of the end effector 150 through the drive cable, so that the end effector 150 performs relevant surgical operations.

[0068] Figures 5A - 5D The following is a schematic structural diagram of the end effector 150 according to an embodiment of the present invention. As Figure 5A and 5B shown, the end effector 150 includes a first bracket 210 and a second bracket 310. The distal end of the first bracket 210 has a first strut 211 and a second strut 212. The proximal end of the first bracket 210 has a first base 213. One end of the base 213 is connected to the long shaft 160. The other end of the first base 213 extends towards the distal end of the end effector 150 to form the first strut 211 and the second strut 212. The first strut 211, the second strut 212, and the first base 213 form a structure similar to a U-shaped clamp.

[0069] A first pin 214 and a second pin 215 are arranged between the first strut 211 and the second strut 212. One end of the first pin 214 is fixedly connected to the first strut 211, and the other end is fixedly connected to the second strut 212. Similarly, one end of the second pin 215 is fixedly connected to the first strut 314, and the other end is fixedly connected to the second strut 212. The first pin 214 and the second pin 215 are arranged side by side on the first strut 211 and the second strut 212, and the first pin 214 is closer to the base 213 of the first bracket 210 than the second pin 215.

[0070] A first set of pulley groups is provided on the first pin 214, and a second set of pulley groups is provided on the second pin 215. The first set of pulley groups includes a first pulley 221, a second pulley 222, a third pulley 223, and a fourth pulley 224 sequentially arranged on the first pin 214. The second set of pulley groups includes a fifth pulley 225, a sixth pulley 226, a seventh pulley 227, and an eighth pulley 228 sequentially arranged on the second pin 215. The first pulley 211 to the eighth pulley 218 are all used to guide the drive cable. Since the pulleys for guiding the drive cable are all arranged on the first bracket 210 and there are no pulleys on the second bracket 310, the volume of the second bracket 310 can be made smaller, making the volume of the end effector 150 smaller, and there is no risk of pulley detachment.

[0071] A third support column 311, a fourth support column 312, and a pitching wheel 314 are provided on the second bracket 310. The third support column 311 and the fourth support column 312 extend from the pitching wheel 314 along the distal end of the end effector 150. The third support column 311, the fourth support column 312, and the pitching wheel 314 form a shape of a substantially U-shaped frame. The pitching wheel 314 of the second bracket 310 is installed on the first bracket 210 through the second pin 312. The second bracket 310 can rotate around the axis AA' passing through the second pin 215 to achieve the pitching motion of the end effector 150.

[0072] A third pin 313 is provided between the third support column 311 and the fourth support column 312 of the second bracket 310. The third pin 313 is perpendicular to the second pin 215. One end of the third pin 313 is fixedly connected to the third support column 311 and the other end is fixedly connected to the fourth support column 312. The end effector 150 further includes a clamping portion 410. The second set of pulley groups is located between the first set of pulley groups and the clamping portion 410. The clamping portion 410 includes a first clamping portion 411 and a second clamping portion 412. The first clamping portion 411 and the second clamping portion 412 are rotatably arranged on the second bracket 310 through the third pin 313. The first clamping portion 411 and the second clamping portion 412 can rotate around the axis BB' passing through the third pin 313 to achieve the opening and closing and / or yaw motion of the end effector 150. The first clamping portion 411 and the second clamping portion 412 can be pliers for clamping tissues, or staplers for suturing, or cauterizers for electrocautery, etc.

[0073] Figure 5A The direction identifiers in are for facilitating the description of the winding method of the drive cable on the end effector 150. The distal end and the proximal end in the identifiers refer to the distal end and proximal end directions of the end effector 150. The front, rear, left, and right refer to the front direction, rear direction, left direction, and right direction of the end effector 150 in the Figure 5A viewing angle. Although there are no direction identifiers in other figures, it can be based on Figure 5AIt is relatively easy to derive the direction of the end effector 150. The drive cables provided on the end effector 150 include a first drive cable, a first pair of cables, and a second pair of cables. Among them, the first pair of cables includes a second drive cable 152A and a third drive cable 152B. The second drive cable 152A and the third drive cable 152B cooperate to manipulate the second clamping portion 412 to rotate around the third pin 313. The first drive cable 151, the second drive cable 152A, and the third drive cable 152B cooperate together to manipulate the pitching motion of the end effector 150. The second pair of cables includes a fourth drive cable 153A and a fifth drive cable 153B. The fourth drive cable 153A and the fifth drive cable 153B cooperate to manipulate the first clamping portion 411 to rotate around the third pin 313. The second drive cable 152A, the third drive cable 152B, the fourth drive cable 153A, and the fifth drive cable 153B cooperate together to achieve the opening / closing and yawing motions of the end effector 150.

[0074] The distal end of the first drive cable 151 has a first mounting end 151A. The second bracket 310 has a first mounting cavity for accommodating the first mounting end 151A. The first mounting end 151A is accommodated in the first mounting cavity to connect the first drive cable 151 to the second chassis 310. The distal ends of the first pair of cables and the second pair of cables respectively have a second mounting end 152C and a third mounting end 153C. The first clamping portion 411 and the second clamping portion 412 respectively have a second mounting cavity 411A and a third mounting cavity 412A. The second mounting cavity 411A and the third mounting cavity 412A are respectively used to accommodate the third mounting end 153C and the second mounting end 152C to connect the first pair of cables and the second pair of cables to the second clamping portion 412 and the first clamping portion 411 respectively.

[0075] In order to enable the first drive cable 151, the second drive cable 152A, and the third drive cable 152B to cooperate together to manipulate the pitching motion of the end effector 150, on one side of the end effector 150, the winding method of the first pair of cables on the first pulley group and the second pulley group is opposite to the winding method of the second pair of cables on the first pulley group and the second pulley group. The winding method of the second drive cable 152A on the first group of pulleys and the second group of pulleys is the same as the winding method of the third drive cable 152B on the first group of pulleys and the second group of pulleys. The winding method of the fourth drive cable 153A on the first group of pulleys and the second group of pulleys is the same as the winding method of the fifth drive cable 153B on the first group of pulleys and the second group of pulleys. Specifically, as Figure 5CAs shown, the proximal end of the second drive cable 152A is connected to the drive unit within the drive device 170. The distal end of the second drive cable 152A is guided through the rear of the second pulley 222 and then continues to extend towards the distal end of the end effector 150. It is then guided through the front of the sixth pulley 226 and continues to extend along the distal end of the end instrument 150 and finally is installed within the third mounting cavity 412A on the second clamping portion 412 through the second mounting end 152C. The third drive cable 152B is guided through the rear of the third pulley 223 and then continues to extend towards the distal end of the end effector 150. It is then guided through the front of the seventh pulley 227 and continues to extend towards the distal end of the end effector 150 and finally is installed within the third mounting cavity 412A on the second clamping portion 412 through the second mounting end 152C.

[0076] The distal end of the fourth drive cable 153A is guided through the front of the first pulley 221 and then continues to extend towards the distal end of the end effector 150. It is then guided through the rear of the fifth pulley 225 and continues to extend towards the distal end of the end instrument 150 and finally is installed within the second mounting cavity 411A of the first clamping portion 411 through the third mounting end 153C. The distal end of the fifth drive cable 153B is guided through the front of the fourth pulley 224 and then continues to extend towards the distal end of the end effector 150. It is then guided through the rear of the eighth pulley 218 and continues to extend towards the distal end of the end instrument 150 and finally is installed within the second mounting cavity 411A on the first clamping portion 411 through the third mounting end 153C.

[0077] The second drive cable 152A and the third drive cable 152B cooperate together to manipulate the second clamping portion 412 to rotate around the axis BB' of the third pin 313. The fourth drive cable 153A and the fifth drive cable 153B cooperate together to manipulate the first clamping portion 411 to rotate around the axis BB' of the third pin 313. Furthermore, the second drive cable 152A, the third drive cable 152B, the fourth drive cable 153A, and the fifth drive cable 153B cooperate together to manipulate the first clamping portion 411 and the second clamping portion 412 to achieve the opening and closing and / or yaw movement of the end effector 150.

[0078] In addition, the first drive cable 151A, the second drive cable 152A, and the third drive cable 152B cooperate together to manipulate the clamping portion 410 and the second bracket 310 to rotate around the axis AA' of the second pin 215 to achieve the pitching movement of the end effector 150. Since the axis AA' of the second pin 215 is perpendicular to the third pin 313, the yaw movement and the pitching movement of the end effector 150 are also orthogonal.

[0079] Specifically, as Figures 5C - 5DAs shown, when the drive mechanism 170 simultaneously pulls and retracts the second drive cable 152A and the third drive cable 152B and simultaneously releases the first drive cable 151, the fourth drive cable 153A, and the fifth drive cable 153B, the clamping portion 410 and the second bracket 310 rotate counterclockwise about the axis AA' of the second pin 215, and the end effector 150 performs Figure 5D the pitching motion shown; when the drive mechanism 170 pulls and retracts the first drive cable 151A and / or simultaneously pulls and retracts the fourth drive cable 153A and the fifth drive cable 153B, the clamping portion 410 and the second bracket 310 rotate clockwise about the axis AA' of the second pin 215, and the end effector 150 performs Figure 5E the pitching motion shown.

[0080] When the drive mechanism 170 pulls and retracts the third drive cable 152B and the fifth drive cable 153B and simultaneously releases the second drive cable 152A and the fourth drive cable 153A, the clamping portion 410 rotates clockwise about the axis BB' of the third pin 313, and the end effector 150 performs Figure 5F the yawing motion shown. When the drive device 170 pulls and retracts the third drive cable 152B and the fourth drive cable 153A and simultaneously releases the second drive cable 152A and the fifth drive cable 153B, the first clamping portion 411 rotates counterclockwise about the axis BB' of the third pin 313, and the second clamping portion 412 rotates clockwise about the axis BB' of the third pin 313, and the end effector 150 performs Figure 5G the motion of the clamping portion 410 opening shown. The above pitching, yawing, and opening / closing motions of the end effector 150 can also be performed simultaneously, as shown in

[0081] Figure shows the first drive cable 151, the first pair of cables, and the second pair of cables cooperating to manipulate the end effector 150 to perform pitching, yawing, and opening / closing motions simultaneously. It can be understood that when the movement direction of the drive cable is opposite to the above direction, the pitching, yawing, and opening / closing directions of the end effector 150 are opposite to the above directions, which will not be elaborated here.

[0082] Compared with the existing end effector, the end effector 150 of the surgical instrument of the present invention is manipulated clockwise along the axis AA' of the second pin by the first drive cable 151, while the counterclockwise rotation of the end effector along the axis AA' of the second pin is manipulated by the second drive cable 152A and the third drive cable 153A together. Since the torque exerted on the second bracket 310 by the drive mechanism 170 when pulling in the first drive cable 151 is greater than the torque exerted on the second bracket 310 by the drive mechanism 170 when pulling in the second drive cable 152A and the third drive cable 152B, therefore, the end effector 150 is more powerful when pitching clockwise about the axis AA' than when pitching counterclockwise about the axis AA'. This is mainly to make the end effector 150 suitable for scenarios where a greater force is required when pitching in one direction, while a relatively smaller force is required when pitching in the opposite direction. For example, in a surgical operation, when the surgical instrument needs to lift a part of human tissue or press down on a part of human tissue in one direction, a greater force is required for the end effector of the surgical instrument to lift or press down the human tissue. Conversely, a relatively smaller force is required to release the human tissue lifted or pressed by the end effector.

[0083] In an embodiment of the present invention, when the end effector 150 of the surgical instrument rotates clockwise along the axis AA' of the second pin, it is manipulated by the first drive cable 151, the fourth drive cable 153A, and the fifth drive cable 153B together. At this time, compared with when the end effector 150 is rotated clockwise only by the first drive cable 151, the end effector 150 has greater power when rotating clockwise along the axis AA' of the second pin, enabling the end effector to adapt to scenarios where a greater force can be provided during pitching operation in a single direction.

[0084] In addition, since the present invention has only one first drive cable dedicated to manipulating the pitching movement of the end effector 150, which is one less drive cable dedicated to manipulating the pitching movement of the end effector compared to the existing end effector, the volumes of the first bracket and the second bracket can be made smaller, thereby making the volume of the entire end effector correspondingly smaller, the structure simpler, and the assembly and installation more convenient.

[0085] It can be understood that in other embodiments, contrary to the above two embodiments, the first drive cable dedicated to manipulating the pitching of the end effector manipulates the end effector to pitch counterclockwise about the axis AA', while the second drive cable and the third drive cable for manipulating the opening / closing and yawing of the end effector manipulate the end effector to pitch clockwise about the axis AA'.

[0086] To achieve the manipulation of the pitching movement of the end effector by using the second drive cable and the third drive cable for manipulating the opening / closing and yawing of the end effector, as Figures 5C - 5GAs shown, regardless of how the end effector 150 moves, the first part of the first pair of cables 152A' and the second part of the second pair of cables 152B' between the second pulley set and the third installation cavity 412A of the second clamping portion 412, and the third part of the second pair of cables 153A' and the fourth part of the fourth pair of cables 153B' between the second pulley set and the second installation cavity 411A of a clamping portion 411 are respectively located on both sides of the first plane M passing through the axis AA' of the second pin 215 and perpendicular to the axis BB' of the third pin 313. Among them, the part of the first pair of cables between the second pulley set and the third installation cavity 412A and the part of the third pair of cables between the second pulley set and the second installation cavity 411A do not include the part where the first cable and the third pair of cables are wound around the second pulley set.

[0087] As Figure 5C shown, the part of the first pair of cables between the second pulley set and the third installation cavity 412A of the second clamping portion 412 includes the first part of the second drive cable 152A between the sixth pulley 226 and the third installation cavity 412A, i.e., 152A', and the second part of the third drive cable 152B between the seventh pulley 227 and the third installation cavity 412A, i.e., 152B'. The part of the third pair of cables between the second pulley set and the second installation cavity 411A of the first clamping portion 411 includes the third part of the fourth drive cable 153A between the fifth pulley 225 and the second installation cavity 411A, i.e., 152A', and the fourth part of the fifth drive cable 153B between the eighth pulley 228 and the second installation cavity 411A, i.e., 152B'.

[0088] Therefore, when the driving device 170 simultaneously retracts and pulls the second drive cable 152A and the third drive cable 152B of the first pair of cables and releases the first drive cable 151 and the fourth drive cable 153A and the fifth drive cable 153B of the third pair of cables, the second clamping portion 412 is pushed by the torque of the first pair of cables and rotates counterclockwise around the axis AA' of the second pin 215, and the end effector 150 performs Figure 5D the pitching motion as shown. Conversely, when the driving device 170 retracts and pulls the first drive cable 151 and releases the first pair of cables, the second bracket 310 rotates clockwise around the axis AA' of the second pin 215 under the tension of the first drive cable 151, and the pitching motion of the end effector 150 is as Figure 5EAs shown. In another embodiment, the driving device 170 pulls the first driving cable 151 and simultaneously pulls the fourth driving cable 153A and the fifth driving cable 153B, and releases the first pair of cables. At this time, while the second bracket 310 is subjected to the pulling force of the first driving cable 151, the first clamping portion 411 is also pushed by the torque of the second pair of cables. As a result, the end effector 150 is driven by two torques (i.e., the torques of the first driving cable 151 and the second pair of cables) to rotate clockwise. Therefore, when the end effector 150 performs a clockwise pitching motion, it can provide a greater force to adapt to more application scenarios.

[0089] As Figures 5D - 5H shown, regardless of how the end effector 150 pitches, the first partial cable 152A' and the second partial cable 152B' and the third partial cable 153A' and the fourth partial cable 153B' are always on both sides of the first plane M. The first partial cable 152A' and the second partial cable 152B' are always on the same side of the first plane M, and the third partial cable 153A' and the fourth partial cable 154 are always on the other same side of the first plane M. Therefore, regardless of the position of the end effector 150, simultaneously pulling the second driving cable 152A and the third driving cable 152B can make the end effector 150 be subjected to a torque that drives it to rotate clockwise around the axis AA' and rotate clockwise around the axis AA'. Similarly, regardless of the position of the end effector 150, simultaneously pulling the fourth driving cable 153A and the fifth driving cable 153B can make the end effector 150 be subjected to a torque that drives it to rotate counterclockwise around the axis AA' and rotate counterclockwise around the axis AA'.

[0090] Similarly, the portion of the first pair of cables between the first pulley set and the first chassis 213 of the first bracket 210 and the portion of the third pair of cables between the first pulley set and the first chassis 213 are respectively on both sides of the second plane P passing through the axis of the first pin 214 and the axis AA' of the second pin 215 (the second plane P passes through the rotation axis AA' of the pitching motion of the end effector 150 and is perpendicular to the end face of the distal end of the first chassis 213). The portion of the first pair of cables between the first pulley set and the first chassis 213 of the second bracket 210 and the portion of the second pair of cables between the first pulley set and the first chassis 213 do not include the portion wound around the first pulley set.

[0091] As Figure 6A and 6B, through holes for the first drive cable, the first pair of cables, and the second pair of cables are provided on the first chassis 213. Specifically, the first chassis 213 has a first through hole 213A for the first drive cable 151 to pass through, a second through hole 213B for the second drive cable 152A to pass through, a third through hole 213C for the third drive cable 152B to pass through, a fourth through hole 213D for the fourth drive cable 153A to pass through, and a fifth through hole 213E for the fifth drive cable 153B to pass through. Among them, the first through hole 213A, the second through hole 213B, and the third through hole 213C are on the same side of the second plane P, and the fourth through hole 213D and the fifth through hole 213E are on the other side of the second plane P. In this way, the part of the first pair of cables between the first pulley set and the first chassis 213 and the part of the second pair of cables between the first pulley set and the first chassis 213 are respectively on both sides of the second plane P, and the first drive cable 151 for cooperatively manipulating the pitching motion of the end effector 150 and the part of the first pair of cables between the first pulley set and the first chassis 213 are on the same side of the second plane P.

[0092] The straight line passing through the centers of the second through hole 213B and the third through hole 213C is parallel to the straight line passing through the centers of the fourth through hole 213D and the fifth through hole 213E. As Figure 6A shown, the connecting lines of the centers of the second through hole 213B, the third through hole 213C, the fourth through hole 213D, and the fifth through hole 213E form a trapezoid. In this way, each drive cable can extend straight from the first chassis 213 to the first pulley set in parallel, maximizing the transmission efficiency of the drive cable. Another embodiment of the present invention is as Figure 6C shown, the connecting lines of the centers of the second through hole 223B, the third through hole 223C, the fourth through hole 223D, and the fifth through hole 223E on the first bracket 220 form a parallelogram. The proximal ends of the first pair of cables and the second pair of cables pass through the through holes on the first brackets 210 and 220 and then enter the long shaft 160 and are finally fixed in the drive device 170.

[0093] Since the proximal ends of the second drive cable 152A and the third drive cable 152B of the first pair of cables and the fourth drive cable 153A and the fifth drive cable 153B of the third pair of cables are all wound around the drive unit within the drive device 170, and the drive unit can only perform rotational motion to achieve the retraction or release of the first drive cable 151 to the fifth drive cable 153B. However, since the drive unit cannot translate, it cannot retract or release the second drive cable 152A and the third drive cable 152A simultaneously. Similarly, the drive unit cannot retract or release the fourth drive cable 153A and the fifth drive cable 153B simultaneously. In the embodiment shown in FIG. 5A, when the end effector 150 rotates clockwise about the axis AA' of the second pin 215, it is necessary to retract the first drive cable 151 and at the same time release the second drive cable 152A and the third drive cable 152B of the first pair of cables. When the end effector 150 rotates counterclockwise about the axis AA' of the second pin 215, it is necessary to retract the second drive cable 152A and the third drive cable 153A of the first pair of cables simultaneously and at the same time release the fourth drive cable 153A and the fifth drive cable 153B of the second pair of cables. In short, there is a coupling relationship between the first drive cable 151, the first pair of cables, and the second pair of cables. This is caused by the orthogonality of both the pitching motion and the yaw motion of the end effector. Therefore, the existing drive device cannot drive the pitching motion of the end effector 150 of the present invention. Thus, the present invention also proposes a drive device that can drive the end effector 150 of the present invention, especially drive the end effector 150 of the present invention to perform a pitching motion. It can be understood that the drive device of the present invention can not only be applied to the end effector 150 of the present invention, but also be applied to other end effectors that have a different structure from the end effector 150 of the present invention but the same principle.

[0094] The following details this coupling relationship between the first drive cable 151, the first pair of cables, and the second pair of cables. When the end effector 150 rotates from Figure 5C the straight zero state shown to Figure 5E the pitching state shown, during the drive device 170 retracting the first drive cable 151, if the target pitching angle that the end effector 150 needs to turn through is α, the positions of the first pair of cables and the second pair of cables leaving the second pulley set from the horizontal plane a passing through the axis of the second pin 215 need to rotate clockwise by an angle α from Figure 5C the position in to Figure 5EPosition of plane b. Assuming that the radius of each pulley of the second pulley block is r1, in order for the end effector 150 to successfully rotate the target's pitch angle α, at this time, the wrap angles of the second driving cable 152A and the third driving cable 152B on the sixth pulley 226 and the seventh pulley 227 must be increased by a length L at the same time, where L = α * r1, and the corresponding wrap angles of the fourth driving cable 153A and the fifth driving cable 153B on the fifth pulley 225 and the eighth pulley 228 are decreased by a length L at the same time. Similarly, if it is necessary to simultaneously retract and pull the second driving cable 152A and the third driving cable 152B so that the end effector 150 rotates counterclockwise by an angle α from Figure 5C the zero position in Figure 5D the position shown, then it must be possible to reduce the wrap angles of the second driving cable 152A and the third driving cable 152B on the sixth pulley 226 and the seventh pulley 227 by a length L at the same time, and correspondingly, the wrap angles of the third driving cable 153A and the fifth driving cable 153B on the fifth pulley 225 and the eighth pulley 228 are increased by a length L at the same time, where L = α * r1.

[0095] And as Figure 7A shown, inside the driving device 170, the proximal end of the first driving cable 151 is wound around the rotatable first driving unit 171, the second driving cable 152A and the third driving cable 152B are wound around the rotatable second driving unit 172 in opposite directions, the fourth driving cable 153A and the fifth driving cable 153B are wound around the rotatable second driving unit 173 in opposite directions, and the first driving unit 171, the second driving unit 172, and the third driving unit 173 are rotatably installed inside the driving device. Therefore, the second driving unit 172 and the third driving unit 173 can only rotate around their axes and cannot translate. Therefore, only by rotating the second driving unit 172, the lengths of the second driving cable 152A and the third driving cable 152B cannot be increased or decreased at the same time. Similarly, rotating the third driving unit 173 cannot increase or decrease the lengths of the fourth driving cable 153A and the fifth driving cable 153B at the same time. And as described above, if it is necessary to realize the pitching motion of the end effector 150, it is necessary to increase or decrease the lengths of the second driving cable 152A and the third driving cable 152B at the same time, and the lengths of the fourth driving cable 153A and the fifth driving cable 153B must be increased or decreased at the same time. Therefore, the movement of the first driving cable 151 is restricted by the first pair of cables, and the first pair of cables and the second pair of cables are restricted by each other when operating the pitching motion of the end effector.

[0096] The relationship in which the change of one element is restricted by another element is called a coupling relationship, that is, there is a coupling relationship between one element and another element. For the first drive cable 151, the first pair of cables and the second pair of cables, this restricted relationship can be that the first drive cable is restricted by the first pair of cables, so that the first drive cable cannot move at all, making the end effector unable to achieve pitch movement. It can also be that the first drive cable is restricted by the first pair of cables, and the first pair of cables and the second pair of cables are restricted by each other, so that any movement of the first drive cable, the first pair of cables and the second pair of cables will cause the other cables to move unexpectedly, causing the end effector to move unexpectedly and be unable to move. Perform the desired operation, for example, when the first drive cable 151 is manipulating the pitch movement of the end effector, due to the coupling relationship between the first drive cable 151 and the first pair of cables, the movement of the first drive cable will simultaneously cause the movement of the first pair of cables and / or the first pair of cables, so that the end effector will cause the opening and closing and / or yaw movement of the end effector while the pitch movement is simultaneously therewith, resulting in the pitch movement and the opening and closing and / or the offset movement of the end effector affecting each other, and the pitch movement and the opening and closing and / or the offset movement of the end effector are not independent of each other, so that the end effector 150 cannot correctly perform the surgical operation. Therefore, it is necessary to release the coupling relationship between the first driving cable 151, the first pair of cables and the second pair of cables, so that the movement of the first driving cable 151 is no longer restricted by the first pair of cables, and the first pair of cables and the second pair of cables are no longer restricted by each other when manipulating the pitch movement of the end effector, and the movement energies of each driving cable are independent of each other and do not interfere with or affect each other. The release of the coupling relationship between the first driving cable 151 and the first pair of cables, and between the first pair of cables and the second pair of cables when manipulating the pitch movement of the end effector is called decoupling.

[0097] How to release the coupling relationship between the above-mentioned driving cables? Figure 5ATaking the end effector in the illustrated embodiment as an example, an existing decoupling method is to use a software algorithm for decoupling. The main operation console 200 controls the first drive unit to drive the first drive cable to move, and also controls the second drive unit and the third drive unit to drive the first pair of cables and the second pair of cables to move, so that the wrap angle length of the first cable and the first pair of cables on the pulley increases by L or decreases by L as the third pair of cables moves. However, this decoupling method requires that the first part cable 152A' and the second part cable 152B' of the first pair of cables on the end effector are respectively located on the opposite sides of the first plane M, and the third part cable 153A' and the fourth part cable 153B' of the second pair of cables are also respectively located on the opposite sides of the first plane M, so that the second drive cable 152A and the third drive cable 152B of the first pair of cables form a loop across the first plane M, and the fourth drive cable 153A and the fifth drive cable 153B of the second pair of cables also form a loop across the first plane M. Only then can decoupling be achieved by controlling the movement of the drive unit through software. However, as mentioned above, the present invention Figure 5A The first cable 152A' and the second cable 152B' of the first pair of cables on the end effector of the illustrated embodiment are located on the same side of the first plane M, and the second cable 153A' and the third cable 153B' of the second pair of cables are also located on the same side of the first plane M. Therefore, the existing software decoupling method cannot decouple the end effector of this type of the present invention. In addition, the method of decoupling using software algorithms will make the control program of the surgical robot complicated and prone to errors, and this method of decoupling using software algorithms will cause each drive unit of the driving mechanism of the surgical instrument to lose its independence. Specifically, the driving device has a first drive unit that drives the first drive cable, a second drive unit that drives the first pair of cables, and a third drive unit that drives the second pair of drive cables. Ideally, the control of each drive unit is opposite to each other. However, when using software algorithm decoupling, it is necessary to control the above three drive units to move together at the same time, which causes the three drive units to lose their independence and is prone to control errors. Moreover, the software decoupling method cannot remove Figure 5A The coupling relationship between the drive cables in the illustrated embodiment.

[0098] The present invention proposes a mechanical decoupling solution, in which a mechanical decoupling mechanism is provided in the driving device 170 of the surgical instrument 120, thereby avoiding the disadvantages of the above-mentioned software algorithm decoupling.

[0099] like Figure 7A FIG. 1 is a schematic diagram of a driving device 170 according to an embodiment of the present invention. The driving device 170 is suitable for driving Figure 5AThe end effector shown. The drive device 170 includes a housing 178 and a first drive unit 171 located within the housing 178 for driving the end effector 150 to perform a pitching motion, a second drive unit 172 and a third drive unit 173 for driving the end effector 150 to perform opening / closing, yawing, and pitching motions, and a fourth drive unit 174 for driving the long shaft 160 to perform a self-rotation motion. The proximal end of the first drive cable 151 is wound around the first drive unit, and its distal end is mounted on the end effector 150. The second drive cable 152A and the third drive cable 152B of the first pair of cables are wound around the second drive unit 172 in opposite winding manners respectively. The fourth drive cable 153A and the fifth drive cable 153B of the second pair of cables are wound around the third drive unit 173 in opposite winding manners respectively. The sixth drive cable 154A and the seventh drive cable 154B of the third pair of cables are wound around the fourth drive unit 174 in opposite winding manners respectively.

[0100] When the actuator drive shaft 171A within the instrument mounting bracket 132 drives the first drive unit 171 to rotate, the first drive unit 171 retracts or releases the first drive cable 151 to cause the second bracket 310 to rotate about the axis AA' of the second pin 215. When the actuator drive shaft 172A within the instrument mounting bracket 132 drives the second drive unit 172 to rotate, the second drive unit 172 retracts or releases the second drive cable 152A or the third drive cable 152B to cause the second clamping portion 412 to rotate about the third pin 313. When the actuator drives the third drive unit 173 to rotate with its shaft 173A, the third drive unit 173 retracts or releases the fourth drive cable 154A or the fifth drive cable 154B to cause the first clamping portion 411 to rotate about the third pin 313. The movement of the first clamping portion 411 and the second clamping portion 412 about the third pin 313 causes the end effector 150 to perform opening / closing and / or yawing motions. When the actuator drives the fourth drive unit 174 to rotate with its shaft 174A within the instrument mounting bracket 132, the fourth drive unit 174 retracts or releases the seventh drive cable 154A or the eighth drive cable 154B to achieve driving the self-rotation motion of the long shaft 160.

[0101] The drive device 170 further includes a decoupling mechanism 175 for releasing the coupling relationship among the first drive cable 151, the first pair of cables, and the second pair of cables on the end effector 150 side. The decoupling mechanism 175 includes a main decoupling member 1751 and a slave decoupling member. The slave decoupling member includes a carriage 1752 and a first guiding portion 1753 and a second guiding portion 1754 connected to both ends of the carriage. The main decoupling member 1761 is connected to both ends of the carriage 1752 through a first decoupling cable 1761 and a second decoupling cable 1762. The main decoupling member 1751 drives the movement of the slave decoupling member through the first decoupling cable 1761 and the second decoupling cable 1762. The first decoupling cable 1761 and the second decoupling cable 1762 are wound around the main decoupling member 1751 in opposite ways. The main decoupling member 1761 rotates with the same angular velocity as the first drive unit 171. In this embodiment, the main decoupling member 1751 and the first drive unit 171 are arranged on the same shaft 173A. Therefore, the main decoupling member 1751 rotates coaxially with the first drive unit 171 along the shaft 171A. In some other embodiments, the main decoupling member 1751 and the first drive unit 171 may also be respectively arranged on different rotating shafts. The main decoupling member 1751 and the first drive unit 171 have different radii. The radius of the main decoupling member 1751 is r2, and the radius of the first drive unit 171 is R2, where r2 < R2. The main decoupling member 1751 realizes the movement of the slave decoupling member by retracting or releasing the first decoupling cable 1761 or the second decoupling cable 1761. The main decoupling member 1751 and the first drive unit 171 may receive driving from the same power source. The power source is the actuator in the above-mentioned slave operating device. In other embodiments, the main decoupling member and the first drive unit are arranged on different rotating shafts, but the main decoupling member still receives the driving force homologous to the first drive unit, for example, they are respectively connected and driven in different ways by the same actuator to drive the main decoupling member and the first drive unit.

[0102] The following details how the decoupling mechanism 175 realizes decoupling. As Figures 7A - 7CAs shown, the second driving cable 152A and the third driving cable 152B are guided by the first guide wheel 176A, the first guide part 1753 and the third guide wheel 176C, and then enter the long shaft 160 and extend to be connected to the end effector 150. The fourth driving cable 153A and the fifth driving cable 153B are guided by the second guide wheel 176B, the second guide part 1754 and the fourth guide wheel 176D, and then enter the long shaft and extend to be connected to the end effector 150. The first driving cable 151 is guided by the fifth guide wheel 176E, and then enters the long shaft and extends to be connected to the end effector 150. As for how the first driving cable 151 to the fifth driving cable 153B are connected to the end effector 150, it has been described in detail above and will not be repeated here. The slave decoupling member of the decoupling mechanism 175 can slide relative to the housing 178 of the driving device 170. Specifically, when the main decoupling member rotates, the first decoupling cable 1761 is pulled and the second decoupling cable 1762 is released at the same time, or the first decoupling cable 1761 is released and the second decoupling cable 1762 is released at the same time, thereby pulling the slave decoupling member to move in the driving device 170. Since the first pair of cables are wound around the first guide portion 1753 and the second pair of cables are wound around the second guide portion 1754, when the slave decoupling member is pulled and moved, the first guide portion 1753 and the second guide portion 1754 respectively drive the first pair of cables and the second pair of cables to change their lengths in the driving device 170, thereby releasing the coupling relationship between the first driving cable 151, the first pair of cables and the second pair of cables.

[0103] In order to enable the decoupling mechanism 175 to accurately release the coupling relationship between the first drive cable 151, the first pair of cables, and the second pair of cables, the slave decoupling member driven by the main decoupling member 1751 always moves in a straight line, and the length changes of the second drive cable 152A, the third drive cable 152B, the fourth drive cable 153A, and the fifth drive cable 154B in the drive device 170 caused by the movement of the slave decoupling member are always linear. Specifically, as shown in FIGS. 7A-7C, after being redirected by the fifth guide pulley 176F, the first decoupling cable 1561 extends along the movement direction of the carriage 1752 and is fixed to one end of the slave decoupling member. Similarly, after being redirected by the seventh guide pulley 176G, the second decoupling cable 1762 extends along the movement direction of the carriage 1752 and is fixed to the other end of the slave decoupling member. In this way, the portion of the first decoupling cable 1761 between the fifth guide pulley 176F and the carriage 1752 is parallel to the movement direction of the slave decoupling member. Similarly, the portion of the second decoupling cable 1762 between the seventh guide pulley 176G and the carriage 1752 is also parallel to the movement direction of the slave decoupling member. Therefore, during the decoupling process, the movement speed of the carriage 1752 of the slave decoupling member pulled by the first decoupling cable 1761 and the second decoupling cable 1762 is in a proportional relationship with the rotational linear speed of the main decoupling member 1751 and the first drive unit 171. It can be understood that in some other embodiments, only a part of the portion of the first decoupling cable 1761 between the fifth guide pulley 176F and the carriage 1752 is parallel to the movement direction of the slave decoupling member, or only a part of the portion of the second decoupling cable 1762 between the seventh guide pulley 176G and the carriage 1752 is parallel to the movement direction of the slave decoupling member, and the non-parallel portions do not change the movement direction of the carriage, so that the slave decoupling member still moves in a straight line.

[0104] In addition, the first guide pulley 176A to the fourth guide pulley 176D, the fifth guide pulley 176F, the seventh guide pulley 176G, the first guide portion 1753, and the second guide portion 1754 all have a structure with two side-by-side pulleys for guiding two drive cables. As Figure 8AAs shown, the two side-by-side pulleys of the first guide wheel 176A, the first guide portion 1753, and the third guide wheel 1762 are respectively used to guide the second drive cable 152A and the third drive cable 152B. After being guided by the first guide wheel 176A, a fifth part of the cable 152Aa is formed between the first guide wheel 176A and the first guide portion 1753 for the second drive cable 152A, and a sixth part of the cable 152Ba is formed between the first guide wheel 176A and the first guide portion 1753 for the third drive cable 152B. The fifth part of the cable 152Aa and the sixth part of the cable 152Ba do not include the parts wound around the pulleys. The fifth part of the cable 152Aa and the sixth part of the cable 152Ba are both parallel to the movement direction of the decoupling member. Therefore, when the decoupling member moves linearly under the drive of the main decoupling member 1751, the length changes of the first part of the cable 151Aa and the second part of the cable 151Ba are always linear.

[0105] As Figure 8B shown, a seventh part of the cable 152Ab is formed between the first guide portion 1753 and the third guide wheel 176C for the second drive cable 152A, and an eighth part of the cable 152Bb is formed between the first guide portion 1753 and the third guide wheel 176C for the third drive cable 152B. The seventh part of the cable 152Ab and the eighth part of the cable 152Bb are symmetric with respect to the central plane H1 of the third guide wheel 176C. The central plane H1 of the third guide wheel 176C refers to the plane located at the center of the two side-by-side pulleys of the third guide wheel 176C and perpendicular to the axis c1 of the third guide wheel 176C. Similarly, the seventh part of the cable 152Ab and the eighth part of the cable 152Bb also do not include the parts wound around the pulleys. The angles between the seventh part of the cable 152Ab and the eighth part of the cable 152Bb and the central plane H1 are both θ, and the angle θ is small enough so that the lengths of the fifth part of the cable 152Ab and the seventh part of the cable 152Bb are almost equal to the shortest straight-line distance between the first guide portion 1753 and the third guide 176C on the central plane H1. Thus, the seventh part of the cable 152Ab and the eighth part of the cable 152Bb are also substantially parallel to the movement direction of the decoupling member. Therefore, when the decoupling member moves linearly under the drive of the main decoupling member 1751, the length changes of the seventh part of the cable 152Ab and the eighth part of the cable 152Bb are also basically linear.

[0106] The portions of the fourth drive cable 153A and the fifth drive cable 153B of the second pair of cables between the second guide pulley 176B, the second guide portion 1754, and the fourth guide pulley 176D are also arranged in the same way as the above-mentioned first pair of cables, which will not be elaborated here. Therefore, during the decoupling process, the length change speed of any one of the drive cables from the second drive cable 152A to the fifth drive cable 153B is in a proportional relationship with the movement speed of the carriage 1752. As described above, the movement speed of the carriage 1752 is in a proportional relationship with the rotational linear speed of the main decoupling member 1751 and the first drive unit 171. Therefore, the length change speed of any one of the drive cables from the second drive cable 152A to the fifth drive cable 153B is in a proportional relationship with the rotational linear speed of the main decoupling member 1751 and the first drive unit 171, making the decoupling process precisely controllable.

[0107] The decoupling process of the drive device 170 is as Figure 7B and 7C shown. As Figure 7B shown, when the first drive unit 171 rotates clockwise (the first direction), the first drive unit 171 winds up the first drive cable 151. If the second bracket 220 of the end effector 150 is to rotate clockwise around the second axis AA’ as Figure 5E shown, the entire end effector 150 performs a pitching motion in the direction as Figure 5E shown. As described above, at this time, the wrap angles of the second drive cable 152A and the third drive cable 152B on the sixth pulley 226 and the seventh pulley 227 need to increase by L simultaneously. At the same time, the wrap angles of the fourth drive cable 153A and the fifth drive cable 153B on the fifth pulley 225 and the eighth pulley 228 need to decrease by L simultaneously to enable the end effector 150 to smoothly perform the pitching motion. Since the main decoupling member 1751 of the decoupling mechanism 175 rotates coaxially with the first drive unit 171, when the first drive unit 171 rotates clockwise along the shaft 171A, the main decoupling member 1751 also rotates clockwise along the shaft 171A. At this time, the main decoupling member 1751 winds up the second decoupling cable 1762 and simultaneously releases the first decoupling cable 1761. Assuming that the arc length turned by the main decoupling member 1751 is L / 2, the slave decoupling member moves a distance of L / 2 along the A direction under the pulling of the second decoupling cable 1762, causing the lengths of the portions of the second drive cable 152A and the third drive cable 153B between the first guide pulley 176A and the first guide portion 1753 and between the first guide portion 1753 and the third guide pulley 176C to each decrease by L / 2. Therefore, the lengths of the second drive cable 152A and the third drive cable 152B inside the drive device 170 each decrease by L.

[0108] Conversely, the lengths of the fourth drive cable 153A and the fifth drive cable 153B between the second guide pulley 176B and the second guide portion 1754 and between the second guide portion 1754 and the fourth guide pulley 176D are each increased by L / 2, so that the lengths of the fourth drive cable 153A and the fifth drive cable 153B within the drive device 170 are increased by L. The change in the length of the first pair of cables and the second pair of cables within the drive device is 2L. Therefore, when the main decoupling member rotates, the change in the length of the first pair of cables or the second pair of cables on the end effector is equal to four times the distance that the decoupling member moves within the drive device. The pitch pulley 314 of the second bracket 310 has an annular groove 314A for accommodating and guiding the first drive cable 151. When the end effector 150 pitches, the first drive cable can form a wrap angle in this annular groove. As Figure 5E shown, when the end effector 150 pitches clockwise by an angle of α, if the bottom radius of the annular groove 314A is R1, the wrap angle length of the first drive cable 151 on the annular groove 314 of the pitch pulley 314 is reduced by L1, where L1 = α * R1. Since the clockwise pitching movement of the end effector 150 is driven by the first drive unit 171 within the drive device 170, as Figure 7B shown, at this time, if the angle that the first drive unit 171 turns to make the end effector 150 pitch clockwise by an angle of α is β, the first drive unit 171 pulls in the first drive cable 151, so that the length of the first drive cable 151 wound around the first drive unit 171 is increased by L1, where L1 = β * R2. Since the main decoupling member 1751 and the first drive unit 1751 rotate coaxially, correspondingly, the main decoupling member 1751 releases the first decoupling cable 1761 and simultaneously pulls in the second decoupling cable 1763, thereby pulling the slave decoupling member to move a distance of L / 2 in the A direction. Correspondingly, the length of the first decoupling cable 1761 wound around the main decoupling member 1761 is reduced by L / 2, that is, the first decoupling cable 1767 is released by L / 2, and the length of the second decoupling cable 1768 wound around the main decoupling member 1761 is increased by L / 2, where L / 2 = β * r2. As can be seen from the foregoing, L = α * r1. To sum up, from the following four equations: L1 = α * R1, L1 = β * R2, L / 2 = β * r2, L = α * r1, the following relationship can be obtained:

[0109]

[0110] The above relationship indicates that the ratio of the radius of the first drive unit 173 to the radius of the main decoupling member 1761 is twice the ratio of the bottom radius of the annular groove 314A of the pitch wheel 314 to the radius of the second set of pulleys. The reason for this factor of 2 is that the decoupling member has two guiding portions for guiding the first cable and the first pair of cables, namely the first guiding portion 1753 and the second guiding portion 1754. In other embodiments, the number of guiding portions of the decoupling member can also be other quantities, and thus the relationship between the ratio of the radius of the first drive unit to the radius of the main decoupling member and the ratio of the annular groove radius of the pitch wheel to the radius of the second set of pulleys will also change accordingly. For example, the decoupling member can have N guiding wheels for guiding the first cable and the first pair of cables, so that the ratio of the radius of the first drive unit to the radius of the main decoupling member is N times the ratio of the bottom radius of the annular groove of the pitch wheel to the radius of the second set of pulleys, that is: However, with an increase in the number of guiding portions of the decoupling member, the volume of the decoupling member also increases accordingly. Preferably, two guiding portions are used for the decoupling member in the above embodiment.

[0111] As a result, the reduction in the lengths of the second drive cable 152A and the third drive cable 152B within the drive device 170 is equal to the increase in the wrap lengths required around the sixth pulley 226 and the seventh pulley 227 respectively for the second drive cable 152A and the third drive cable 152B, and the increase in the lengths of the fourth drive cable 153A and the fifth drive cable 153B within the drive device 170 is equal to the reduction in the wrap lengths required around the fifth pulley 225 and the eighth pulley 228 for the fourth drive cable 153A and the fifth drive cable 153B. Therefore, the movement of pulling the first drive cable 151 is no longer restricted by the first pair of cables, and the movement of pulling the first drive cable 151 will not cause slack in the second pair of cables at the end effector 150. The decoupling mechanism 175 achieves the decoupling relationship between the second pair of cables and the first drive cable, and the end effector 150 performs Figure 5E the clockwise pitching motion shown.

[0112] As Figure 7CAs shown, when the first driving unit 171 rotates counterclockwise (the second direction), since the main decoupling member 1751 of the decoupling mechanism 175 rotates coaxially and at the same angular velocity as the first driving unit 171, when the first driving unit 171 rotates counterclockwise along the shaft 171A, the main decoupling member 1751 also rotates counterclockwise along the shaft 171A. At this time, the main decoupling member 1751 pulls the first decoupling cable 1761 and simultaneously releases the second decoupling cable 1762. Suppose the arc length turned by the main decoupling member 1751 is L / 2, then the slave decoupling member moves a distance of L / 2 along the B direction under the pulling of the first decoupling cable 1761, thereby causing the lengths of the parts of the second driving cable 152A and the third driving cable 153B between the first guide pulley 176A and the first guiding portion 1753 and between the first guiding portion 1753 and the third guide pulley 176C to increase by L / 2 respectively. Therefore, the lengths of the second driving cable 152A and the third driving cable 152B in the driving device 170 increase by L respectively. Conversely, the lengths of the parts of the fourth driving cable 153A and the fifth driving cable 153B between the second guide pulley 176B and the second guiding portion 1754 and between the second guiding portion 1754 and the fourth guide pulley 176D decrease by L / 2 respectively. Therefore, the lengths of the fourth driving cable 153A and the fifth driving cable 153B in the driving device 170 decrease by L.

[0113] At this time, the length changes of the second driving cable 152A, the third driving cable 152B, the fourth driving cable 153A, and the fifth driving cable 153B are reflected at the end effector as the driving device 170 simultaneously pulls the second driving cable 152A and the third driving cable 152B, and simultaneously releases the fourth driving cable 153A and the fifth driving cable 153B.

[0114] Thus, the increase in the lengths of the second driving cable 152A and the third driving cable 152B in the driving device 170 is equal to the decrease in the wrap angle lengths required by the second driving cable 152A and the third driving cable 152B on the sixth pulley 226 and the seventh pulley 227 respectively, and the decrease in the lengths of the fourth driving cable 153A and the fifth driving cable 153B in the driving device 170 is equal to the increase in the wrap angle lengths required by the fourth driving cable 153A and the fifth driving cable 153B on the fifth pulley 225 and the eighth pulley 228 respectively. Therefore, when the driving device simultaneously pulls the second driving cable 152A and the third driving cable 152B, it is no longer restricted by the fourth driving cable 153A and the fifth driving cable 153B. The decoupling mechanism 175 realizes the decoupling of the first pair of cables and the second pair of cables, and the end effector 150 can smoothly execute Figure 5D the counterclockwise pitching motion shown.

[0115] The driving device of another embodiment of the present invention is asFigure 9 As shown, the driving device 270 is mostly the same as the driving device 170 in the previous embodiment. The difference is that the driving device 270 is provided with guide wheels for guiding the first pair of cables and the second pair of cables, that is, the driving device 270 is provided with a seventh guide wheel 176H, an eighth guide wheel 176I, a ninth guide wheel 176J and a tenth guide wheel 176K. The second driving cable 152A and the third driving cable 152B enter the long shaft 160 and extend to the end effector 150 after being guided by the first guide wheel 176A, the first guiding portion 1753, the third guide wheel 176C, the seventh guide wheel 176H and the ninth guide wheel 176J in sequence. The fourth driving cable 153A and the fifth driving cable 153B enter the long shaft 160 and extend to the end effector 150 after being guided by the second guide wheel 176B, the second guiding portion 1754, the fourth guide wheel 176D, the eighth guide wheel 176I and the tenth guide wheel 176K in sequence. Compared with the previous embodiment, the portions of the second driving cable 152A and the third driving cable 152B between the first guiding portion 1753 and the third guide wheel 176C and the portions of the fourth driving cable 153A and the fifth driving cable 153B between the second guiding portion 1754 and the fourth guide 176D are parallel to the moving direction of the decoupling member, so that the error of the linear change of the lengths of the first cable and the first pair of cables in the driving device 270 caused by the movement of the compliant decoupling member is smaller than that in the previous embodiment.

[0116] The driving device of another embodiment of the present invention is as Figure 10 As shown, the main decoupling member 1751 of the decoupling mechanism 275 of the driving device 370 is connected to the slave decoupling member 1752 in a manner of gear meshing. Specifically, the slave decoupling member is provided with a carriage 2752, and both ends of the carriage 2752 are respectively connected to a first guiding portion 2753 and a second guiding portion 2754. The body of the carriage 3751 has a rack structure, and the main decoupling member 2751 has a gear structure meshing with the rack mechanism of the carriage 3751. When the main decoupling member 2751 rotates, the main decoupling member 2751 will drive the pitching mechanism to move linearly, so as to change the lengths of the first pair of cables and the second pair of cables in the driving device 370, thereby realizing the release of the first driving cable 151. It can be understood that the main decoupling member 2751 of the decoupling mechanism 275 and the slave decoupling member can not only be meshed in a gear-rack manner, but also be meshed in a manner of two gears in some other embodiments. In some other embodiments, the main decoupling member and the slave decoupling member of the slave decoupling member can also be connected in the form of a cam, that is, the main decoupling member includes a cam structure, and the cam structure abuts against the carriage of the slave decoupling member. When the main decoupling member rotates, the cam structure abuts against the carriage and pushes the carriage of the slave decoupling member to move linearly.

[0117] The above-described embodiments merely represent several implementation manners of the present invention. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A surgical instrument, characterized in that, The surgical instrument includes: An end effector, the end effector includes a first bracket, a second bracket, a first clamping portion, and a second clamping portion. The distal end of the first bracket has a first strut and a second strut. The second bracket is rotatably connected to the first bracket. The first clamping portion and the second clamping portion are rotatably connected to the second bracket; A cable, the cable includes a first drive cable, a first pair of cables, and a second pair of cables. The distal ends of the first pair of cables are disposed on the first clamping portion. The distal ends of the second pair of cables are disposed on the second clamping portion. One end of the first drive cable is connected to the second bracket. The first bracket is provided with a first pulley set and a second pulley set for guiding the first pair of cables and the second pair of cables. The second pulley set is located between the first pulley set and the first clamping portion or the second clamping portion. The portion of the first drive cable between the second bracket and the first bracket and the portion of the first pair of cables between the first pulley set and the first bracket are on the same side of the first pulley set, and are on the opposite side of the first pulley set from the portion of the second pair of cables between the first pulley set and the first bracket; A drive device, the drive device is configured to drive the second bracket to rotate relative to the first bracket through the first pair of cables and the first drive cable so that the end effector performs a pitching motion, and drive the end effector to perform a yaw motion through the first pair of cables and the second pair of cables; The drive device includes: A drive unit, one end of the first drive cable is connected to the drive unit; A decoupling mechanism, the decoupling mechanism includes a main decoupling member and a slave decoupling member. The main decoupling member is coaxially arranged with the drive unit. The main decoupling member is configured to rotate coaxially with the drive unit and drive the slave decoupling member to move, so as to increase the length of one of the first pair of cables and the second pair of cables in the drive device and reduce the length of the other of the first pair of cables and the second pair of cables in the drive device, so that the drive unit drives the end effector to perform a pitching motion. The slave decoupling member includes a carriage, a first moving wheel and a second moving wheel respectively disposed at both ends of the carriage, and a first decoupling cable and a second decoupling cable connected to both ends of the carriage. The main decoupling member is connected to the carriage through the first decoupling cable and the second decoupling cable. The main decoupling member is configured to drive the carriage to move by manipulating the first decoupling cable and the second decoupling cable.

2. The surgical instrument according to claim 1, characterized in that, The winding mode of the first pair of cables on the first pulley set and the second pulley set is opposite to the winding mode of the second pair of cables on the first pulley set and the second pulley set.

3. The surgical instrument according to claim 1, characterized in that, The portion of the first pair of cables from the first clamping portion to the second pulley set and the portion of the second pair of cables from the second clamping portion to the second pulley set are respectively on both sides of the axis of rotation of the second bracket relative to the first bracket.

4. The surgical instrument according to claim 2, characterized in that, The first pair of cables includes a second drive cable and a third drive cable. The distal ends of the second drive cable and the third drive cable are both disposed on the first clamping portion. The winding manner of the second drive cable around the first pulley set and the second pulley set is the same as that of the third drive cable around the first pulley set and the second pulley set.

5. The surgical instrument according to claim 4, characterized in that, The second pair of cables includes a fourth drive cable and a fifth drive cable. The distal ends of the fourth drive cable and the fifth drive cable are both disposed on the second clamping portion. The winding manner of the fourth drive cable around the first pulley set and the second pulley set is the same as that of the fifth drive cable around the first pulley set and the second pulley set.

6. The surgical instrument according to claim 5, characterized in that, The first pulley set includes a first pulley, a second pulley, a third pulley, and a fourth pulley sequentially disposed on the same pin. The second pulley set includes a fifth pulley, a sixth pulley, a seventh pulley, and an eighth pulley sequentially disposed on the same pin. The distal end of the second drive cable is guided through the rear of the second pulley and then through the front of the sixth pulley and finally installed on the first clamping portion. The distal end of the third drive cable is guided through the rear of the third pulley and then through the front of the seventh pulley and installed on the first clamping portion.

7. The surgical instrument according to claim 6, characterized in that, The distal end of the fourth drive cable is installed on the second clamping portion after being guided through the front of the first pulley and then through the rear of the fifth pulley. The distal end of the fifth drive cable is installed on the second clamping portion after being guided through the front of the fourth pulley and then through the rear of the eighth pulley.

8. The surgical instrument according to claim 5, characterized in that, The first bracket has a first through hole for the first drive cable to pass through, a second through hole for the second drive cable to pass through, and a third through hole for the third drive cable to pass through. The first through hole, the second through hole, and the third through hole are on the same side of a first plane, and the first plane passes through the axes of the first pulley set and the second pulley set.

9. The surgical instrument according to claim 8, characterized in that, The first bracket has a fourth through hole for the fourth drive cable to pass through and a fifth through hole for the fifth drive cable to pass through. The fourth through hole and the fifth through hole are on the same side of the first plane and on the opposite side of the first plane from the first through hole, or the second through hole, or the third through hole.

10. The surgical instrument according to claim 9, characterized in that, The straight line passing through the centers of the second through hole and the third through hole is parallel to the straight line passing through the centers of the fourth through hole and the fifth through hole.

11. The surgical instrument according to claim 10, characterized in that, The second through hole, the third through hole, the fourth through hole, and the fifth through hole are arranged in a trapezoid.

12. The surgical instrument according to claim 10, characterized in that, The first through hole, the second through hole, the third through hole, and the fourth through hole are arranged in a parallelogram.

13. The surgical instrument according to claim 1, characterized in that, The first pair of cables extends to the end effector after being guided by the first moving wheel, and the second pair of cables extends to the end effector after being guided by the second moving wheel. The main decoupling member changes the lengths of the first pair of cables and the second pair of cables in the driving device by driving the carriage to move linearly.

14. The surgical instrument according to claim 5, characterized in that, The driving device further includes a first guide wheel and a second guide wheel. The first pair of cables first pass through the guidance of the first guide wheel and then through the guidance of the first moving wheel and then extend to the end effector. The second pair of cables first pass through the guidance of the second guide wheel and then through the guidance of the second moving wheel and then extend to the end effector.

15. The surgical instrument according to claim 14, characterized in that, The direction of movement of the carriage is parallel to the portion of the first pair of cables between the first moving wheel and the first guide wheel.

16. The surgical instrument according to claim 14, characterized in that, The direction of movement of the carriage is parallel to the portion of the second pair of cables between the second moving wheel and the second guide wheel.

17. The surgical instrument according to claim 16, characterized in that, The driving device further includes a third guide wheel and a fourth guide wheel. The first pair of cables pass through the guidance of the first moving wheel and then through the guidance of the third guide wheel and then extend to the end effector. The second pair of cables pass through the guidance of the second moving wheel and then through the guidance of the fourth guide wheel and then extend to the end effector.

18. The surgical instrument according to claim 17, wherein, The axis of the third guide wheel is parallel to the axis of the fourth guide wheel and perpendicular to the axis of the first guide wheel or the axis of the second guide wheel.

19. The surgical instrument according to claim 18, wherein, The direction of movement of the carriage is parallel to the portion of the first pair of cables between the first moving wheel and the third guide wheel, and the direction of movement of the carriage is parallel to the portion of the second pair of cables between the second moving wheel and the fourth guide wheel.

20. The surgical instrument according to claim 5, wherein, The driving unit and the main decoupling member are used to rotate in a first direction to increase the length of the first pair of cables on the end effector and decrease the length of the second pair of cables on the end effector. The slave decoupling member moves under the drive of the main decoupling member to decrease the length of the first pair of cables in the driving device and increase the length of the second pair of cables in the driving device.

21. The surgical instrument according to claim 20, wherein, The driving unit and the main decoupling member are used to rotate in a second direction opposite to the first direction to decrease the length of the first pair of cables on the end effector and increase the length of the second pair of cables on the end effector. The slave decoupling member is used to move under the drive of the main decoupling member to increase the length of the first pair of cables in the driving device and decrease the length of the second pair of cables in the driving device.

22. The surgical instrument according to claim 21, wherein, The driving unit and the main decoupling member rotate such that the change in the length of the second driving cable or the fourth driving cable on the end effector is equal to twice the distance that the slave decoupling member moves in the driving device.

23. The surgical instrument according to claim 5, wherein, The main decoupling member rotates in a first direction to release the first decoupling cable and retract the second decoupling cable such that the carriage moves, thereby decreasing the length of the first pair of cables in the driving device and increasing the length of the second pair of cables in the driving device.

24. The surgical instrument according to claim 23, wherein, The main decoupling member rotates in a second direction opposite to the first direction to retract the first decoupling cable and release the second decoupling cable such that the carriage moves, thereby increasing the length of the first pair of cables in the driving device and decreasing the length of the second pair of cables in the driving device.

25. The surgical instrument according to claim 24, wherein, The main decoupling member is used to rotate so that the change in the length of the second drive cable or the fourth drive cable on the end effector is equal to twice the distance that the carriage moves within the drive device.

26. The surgical instrument according to claim 25, wherein, The proximal end of the second bracket has an annular groove, and the distal end of the first drive cable is received in the annular groove and forms a wrap angle within the annular groove.

27. The surgical instrument according to claim 26, wherein, The radii of the pulleys of the second pulley set are the same, all being r1, the radius of the main decoupling member is r2, the radius of the drive unit is R2, and the bottom groove radius R1 of the annular groove, the radii r1 of the pulleys of the second pulley set, the radius r2 of the main decoupling member, and the radius R2 of the drive unit satisfy the following relationship: Wherein, N is the number of the moving wheels and is an even number.

28. The surgical instrument according to claim 27, wherein, The number N of the moving wheels is 2.

29. An operating device, wherein, The slave operating device includes a robotic arm and a surgical instrument according to any one of claims 1-28, the surgical instrument is mounted on the robotic arm, and the robotic arm is used to manipulate the movement of the surgical instrument.

30. A surgical robot, wherein, The surgical robot includes a master operation console and a slave operating device according to claim 29, and the slave operating device performs corresponding operations according to the instructions of the master operation console.

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