Surgical instruments, operating equipment and surgical robots

Abstract

The present invention provides a surgical instrument, a slave operating device using the surgical instrument, and a surgical robot with the slave operating device, wherein the surgical instrument includes an end effector, a driving device and a cable, the driving device is configured to drive the end effector to move through the cable, the cables include a first pair of cables and a second pair of cables for driving the end effector to perform yaw motion and a third pair of cables for driving the end effector to perform pitch motion, since the pitch motion and yaw motion of the end effector are orthogonal, the third pair of cables on the end effector are coupled with the first pair of cables and the second pair of cables on one side of the end effector, the driving device also includes a decoupling device for releasing the above coupling relationship, and the main decoupling component of the decoupling device is not directly connected to the driving unit in the driving device for driving the movement of the third pair of cables.

Description

Technical Field

[0001] The present invention relates to the field of medical instruments, and in particular to a surgical instrument, 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 less trauma, less pain, and faster recovery.

[0003] With the advancement of science and technology, minimally invasive surgical robot technology has gradually matured and has been widely used. Minimally invasive surgical robots usually include a master operating console and a slave operating device. The master operating 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 operating console and perform corresponding surgical operations.

[0004] A surgical instrument that can be detached from 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 a 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, namely rotation, pitching and yaw. Some end effectors also have rotation, wherein the yaw movement is controlled by a group of driving cables, and the driving cables for the pitch movement are controlled by another group of driving cables. Since the pitch movement and yaw movement of the end effector are orthogonal, when the end effector performs a pitch movement, there is a coupling relationship between the driving cables controlling the pitch and the driving cables controlling the yaw, that is, the movement of the driving cables controlling the pitch is restricted by the driving cables controlling the yaw, so it is necessary to release this coupling relationship between the two. The prior art adopts a software decoupling method, but the algorithm of the software decoupling method is relatively complex, which increases the complexity of the system control program. In addition, the software decoupling method may have errors during data collection, and therefore cannot accurately release the coupling relationship between the two. Summary of the invention

[0005] Based on this, in order 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 an end effector, a driving device and a cable, the driving device is configured to drive the end effector to move through the cable, the cable includes a first pair of cables and a second pair of cables for driving the end effector to perform yaw motion, and a third pair of cables for driving the end effector to perform pitch motion, characterized in that the driving device includes:

[0006] A driving unit, one end of the first pair of cables is connected to the driving unit, the other end of the third pair of cables is connected to the end effector, and the driving unit is used to drive the end effector to perform a pitch motion through the third pair of cables;

[0007] A decoupling device, a decoupling device control unit, a main decoupling member and a slave decoupling member, the slave decoupling member comprising a first guide portion and a second guide portion for guiding a first pair of cables and a second pair of cables respectively, the control unit being used to control the main decoupling member according to pitch indication information of an end effector to 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 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 pitch movement.

[0008] Preferably, the master decoupling member is used to drive the slave decoupling member to move in a straight line to change the lengths of the first pair of cables and the second pair of cables in the driving device.

[0009] Preferably, the above-mentioned main decoupling member is used to drive the slave decoupling member to move so as to reduce 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 when the drive unit rotates to increase the length of the first pair of cables on the end actuator and reduce the length of the second pair of cables on the end actuator.

[0010] Preferably, the above-mentioned main decoupling member is used to drive the slave decoupling member to move so as to increase the length of the first pair of cables in the drive device and reduce the length of the second pair of cables in the drive device when the drive unit rotates to reduce the length of the first pair of cables on the end actuator and increase the length of the second pair of cables on the end actuator.

[0011] Preferably, the driving device further comprises a first guide wheel, the first pair of cables are guided by the first guide wheel and then by the first guide portion, and the movement direction of the slide is parallel to the portion of the first pair of cables between the first guide wheel and the first guide portion.

[0012] Preferably, the driving device further comprises a second guide wheel, the second pair of cables are guided by the second guide wheel and then by the second guide portion, and the movement direction of the slide is parallel to the portion of the second pair of cables between the second guide wheel and the second guide portion.

[0013] Preferably, the driving unit and the main decoupling member rotate together so that a 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 moving distance of the slave decoupling member in the driving device.

[0014] Preferably, the pitch indication information includes a control signal for controlling the rotation of the driving unit.

[0015] Preferably, the pitch indication information includes tension information on the first pair of cables and the second pair of cables, and the decoupling device further includes a detection unit for detecting tension information on the first pair of cables and the second pair of cables and transmitting the detected tension information to the control unit.

[0016] Preferably, the pitch indication information includes rotation data of the driving unit, and the decoupling device includes an encoder arranged on the driving unit, and the encoder detects the rotation data of the driving unit and transmits the detected rotation data to the control unit.

[0017] Preferably, the above-mentioned slave decoupling component also includes a slide, a first decoupling cable and a second decoupling cable, the first guide portion and the second guide portion are respectively arranged at both ends of the slide, one end of the first decoupling cable and the second decoupling cable are connected to the slide, and the other end of the first decoupling cable and the second decoupling cable are connected to the main decoupling component.

[0018] Preferably, the main decoupling member rotates in a first direction to release the first decoupling cable and pull the second decoupling cable to move the carriage, thereby reducing 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.

[0019] Preferably, the decoupling rotates in a second direction opposite to the first direction to retract the first decoupling cable and release the second decoupling cable to move the carriage to increase the length of the first pair of cables in the drive device and reduce the length of the second pair of cables in the drive device.

[0020] A slave operating device comprises a mechanical arm and the above-mentioned surgical instrument. The surgical instrument is mounted on the mechanical arm and the mechanical arm is used to manipulate the movement of the surgical instrument.

[0021] A surgical robot comprises a main operating console and the above-mentioned slave operating device, wherein the slave operating device performs corresponding operations according to the instructions of the main operating console.

[0022] The surgical instrument of the present invention uses a mechanical structure to decouple the driving cable for manipulating the pitch motion of the end effector and the driving cable for manipulating the yaw motion of the end effector, and can very accurately and controllably decouple the two. The use of mechanical decoupling can reduce the program algorithm of the entire surgical robot, making the operation of the surgical robot more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of a slave operating device of a surgical robot according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the structure of a main operating console of a surgical robot according to an embodiment of the present invention;

[0025] Figure 3 A schematic diagram of the structure of a mechanical arm of a slave operating device according to an embodiment of the present invention;

[0026] Figure 4 It is a schematic structural diagram of a surgical instrument according to an embodiment of the present invention;

[0027] Figures 5A-5D It is a structural schematic diagram of an end effector according to an embodiment of the present invention;

[0028] Figure 5E This is a schematic diagram of a structure in which a driving cable is located inside a long axis according to an embodiment of the present invention;

[0029] Fig. 6A A three-dimensional diagram of a first support frame of an end effector according to an embodiment of the present invention;

[0030] Figure 6B A top view of a first support frame of an end effector according to an embodiment of the present invention;

[0031] Figure 6C A top view of a first support frame of an end effector according to another embodiment of the present invention;

[0032] Figures 7A-7C It is a schematic diagram of an end effector in a pitch state according to an embodiment of the present invention;

[0033] Fig. 8A is a schematic diagram of a driving device according to an embodiment of the present invention;

[0034] Figure 8B and 8C for Fig. 8A A partial schematic diagram of the first driving cable and the second driving cable in the driving device shown being wound around the guide wheel;

[0035] Figures 8D-8E for Fig. 8A Schematic diagram of the decoupling process of the driving device;

[0036] Fig. 9A is a schematic diagram of a driving device according to an embodiment of the present invention;

[0037] Fig. 9B for Fig. 9A Schematic diagram of the decoupling process of the drive device shown;

[0038] Fig. 10A is a schematic diagram of a driving device according to an embodiment of the present invention;

[0039] Fig. 10B for Fig. 10A Schematic diagram of the decoupling process of the drive device shown;

[0040] Fig.11 FIG. 1 is a schematic diagram of a driving device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given 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, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly understood.

[0042] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be a centered element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centered element at the same time. When an element is considered to be "coupled" to another element, it indicates that the change of at least one element will be restricted by another element. "Decoupling" means releasing the coupling relationship, indicating that two elements with a coupling relationship no longer have a coupling relationship, and the change of one element is no longer restricted by another element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method. The terms "distal end" and "proximal end" used herein are used as directional words, which are commonly used terms in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0044] Minimally invasive surgical robots generally include slave operating equipment and a main operating console. Figure 1 FIG. 1 is a slave operating device 100 according to an embodiment of the present invention. Figure 2The main operation console 200 of an embodiment of the present invention is a main operation console 200. The surgeon performs relevant control operations on the slave operation device 100 on the main operation console 200, and the slave operation device 100 performs surgical operations on the human body according to the input instructions of the main operation console 200. The main operation console 200 and the slave operation device 100 can be placed in the same operating room, or in different rooms, and even the main operation console 200 and the slave operation device 100 can be far apart. For example, the main operation console 200 and the slave operation device 100 are respectively located in different cities. The main operation console 200 and the slave operation device 100 can transmit data by wire or by wireless. For example, the main operation console 200 and the slave operation device 100 are located in the same operating room, and data is transmitted between the two by wire. For example, the main operation console 200 and the slave operation device 100 are respectively located in different cities, and long-distance data transmission is performed between the two through 5G wireless signals.

[0045] like Figure 1 As shown, the slave operation device 100 includes multiple robotic arms 110, each of which includes multiple joints and a robotic arm 130. The multiple joints are linked to achieve multiple degrees of freedom of movement of the robotic arm 130. The robotic arm 130 is equipped with a surgical instrument 120 for performing a surgical operation. The surgical instrument 120 passes through a trocar 140 fixed at the distal end of the robotic arm 130 and enters the human body. 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 mounted on the robotic 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 rinse or sterilize the surgical instrument 120. Figure 3 As shown, the surgical arm 130 includes a surgical arm body 131 and an instrument mounting frame 132 . The instrument mounting frame 132 is used to mount the surgical instrument 120 . The instrument mounting frame 132 can slide on the surgical arm body 131 , thereby driving the surgical instrument 120 to advance or retreat along the surgical arm body 131 .

[0046] like Figure 4As shown, the surgical instrument 120 includes a driving device 170 and an end effector 150 respectively located at the proximal end of the surgical instrument 120, and a long shaft 160 located between the driving device 170 and the end effector 150. The driving device 170 is used to connect with the instrument mounting frame 132 of the robotic arm 130. The instrument mounting frame 132 has a plurality of actuators (not shown in the figure). The plurality of actuators are engaged with the driving device 170 to transmit the driving force of the actuators to the driving device 170. The long shaft 160 is used to connect the driving device 170 and the end instrument 150. The long shaft 160 is hollow for the driving cable to pass through. The driving device 170 controls the movement of the end effector 150 through the driving cable so that the end effector 150 performs the relevant surgical operation.

[0047] Figure 5A-5D FIG. 1 is a schematic diagram of the structure of an end effector 150 according to an embodiment of the present invention. Figure 5A The end effector 150 shown includes a first bracket 210 and a second bracket 220, the distal end of the first bracket 210 includes a first pillar 314 and a second pillar 315, the proximal end of the first bracket 210 includes a base frame 316, one end of the base frame 316 is connected to the long axis 160, and the first pillar 314 and the second pillar 315 extend from the other end of the base frame 316 toward the distal end of the end effector 150, and the first pillar 314, the second pillar 315 and the base frame 316 form a roughly U-shaped clamp structure.

[0048] A first pin 311 and a second pin 312 are arranged between the first pillar 314 and the second pillar 315. One end of the first pin 311 is fixedly connected to the first pillar 314, and the other end thereof is fixedly connected to the second pillar 315. Similarly, one end of the second pin 312 is fixedly connected to the first pillar 314, and the other end thereof is fixedly connected to the second pillar 315. The second pin 312 and the first pin 311 are arranged side by side on the first pillar 314 and the second pillar 315, wherein the first pin 311 is closer to the base frame 316 of the first bracket 210 than the second pin 312.

[0049] To better illustrate the structure of the proximal end of the end effector 150, Figure 5B and Figure 5C The first bracket 210 is not shown. Figure 5B and Figure 5CAs shown, a first pulley group is arranged on the first pin 311, and the first pulley group includes a first pulley 211, a second pulley 212, a third pulley 213 and a fourth pulley 214 which are arranged on the first pin 311 in sequence; a second pulley group is arranged on the second pin 312, and the second pulley group includes a fifth pulley 215, a sixth pulley 216, a seventh pulley 217 and an eighth pulley 218 which are arranged on the second pin 312 in sequence; the first pulley 211 to the eighth pulley 218 are all used for guiding the drive cable; since the pulleys for guiding the drive cable are all arranged on the first bracket 210 and there is no pulley on the second bracket 220, the volume of the second bracket 220 can be made smaller, so that the volume of the end effector 150 is smaller, and there is no risk of the pulley falling off.

[0050] The second bracket 210 is provided with a third pillar 317, a fourth pillar 318 and a pitch wheel 319, which extend from the pitch wheel 319 along the distal end of the end effector 150 to form the third pillar 317 and the fourth pillar 318, and the third pillar 317, the fourth pillar 318 and the pitch wheel 319 form a roughly U-shaped frame shape, and the pitch wheel 319 of the second bracket 220 is installed on the second pin 312, and the second bracket 220 can rotate around the axis AA' passing through the second pin 312 to realize the pitch movement of the end effector 150.

[0051] A third pin 313 is provided between the third pillar 317 and the fourth pillar 318 of the second bracket 220. One end of the third pin 313 is fixedly connected to the third pillar 317 and the other end is fixedly connected to the fourth pillar 318. The third pin 313 is perpendicular to the first pin 311 and the second pin 312. The clamping part of the end effector 150 includes a first clamping part 230 and a second clamping part 240. The first clamping part 230 and the second clamping part 240 are rotatably provided on the second bracket 220 through the third pin 313. The first clamping part 230 and the second clamping part 240 can rotate around the axis BB' passing through the third pin 313 to realize the opening and closing and / or yaw movement of the end effector 150. The first clamping part 230 and the second clamping part 240 can be clamps for clamping tissues, or staplers for suturing, or cautery devices for electric cauterization, etc.

[0052] like Figures 5A-5D As shown, Figure 5A and 5B The direction markings shown are for the purpose of more conveniently describing the winding method of the drive cable on the end effector 150. The distal end and proximal end in the markings refer to the distal end and proximal end directions of the end effector 150, and the front, rear, left, and right refer to the directions of the end effector 150. Figure 5A and 5B The front direction, rear direction, left direction and right direction of the end effector 150 under the viewing angle. Although there are no direction marks in the figure, the other directions can be Figure 5A and 5B It is relatively easy to deduce the direction of the end effector 150. The driving cables arranged on the end effector 150 include a first pair of cables and a second pair of cables for manipulating the opening and closing and / or yaw movement of the end effector 150, and a third pair of cables for manipulating the pitch movement of the end effector 150. The first pair of cables includes a first driving cable 151A and a second driving cable 151B, wherein one end of the first driving cable 151A and the second driving cable 151B can be connected together or separated, which is the case for the second pair of cables and the third pair of cables. The second pair of cables includes a third driving cable 152A and a fourth driving cable 152B, and the third pair of cables includes a fifth driving cable 153A and a sixth driving cable 153B. Figure 5E As shown, each driving cable includes three sections. Taking the first driving cable 151A as an example, the first driving cable 151A includes a first cable section 151A1 for connecting to the driving device and a second cable section 151A2 for connecting to the end effector. The first cable section 151A1 and the second cable section 151A2 are connected by a rigid strip 151A3. Compared with using a whole driving cable, such a structure has higher transmission efficiency and is also prone to multiple driving cables being entangled in the long axis 160. It can be understood that in some other embodiments, the driving cable can also be a complete and unsegmented cable.

[0053] On one side of the end effector 150, the winding method of the first pair of cables on the first pulley block and the second pulley block is opposite to the winding method of the second pair of cables on the first pulley block and the second pulley block, the winding method of the first driving cable 151A of the first pair of cables on the first pulley block and the second pulley block is the same as the winding method of the second driving cable 151B on the first pulley block and the second pulley block, and the winding method of the third driving cable 152A of the second pair of cables on the first pulley block and the second pulley block is the same as the winding method of the fourth driving cable 152B on the first pulley block and the second pulley block. Specifically, the proximal end of the first driving cable 151A is connected to the driving unit in the driving device 170, and the distal end of the first driving cable 151A is guided by the front part of the first pulley 211 and extends toward the distal end of the end effector 150, and is guided by the rear part of the fifth pulley 215 and continues to extend along the distal end of the end instrument 150 and is finally fixed on the first clamping part 230. The second driving cable 151B is guided by the front of the fourth pulley 214 and then extends toward the distal end of the end effector 150, and then is guided by the rear of the eighth pulley 218 and then continues to extend toward the distal end of the end effector 150 and is finally fixed to the first clamping portion 230. The distal end of the third driving cable 152A is guided by the rear of the second pulley 212 and then extends toward the distal end of the end effector 150, and then is guided by the front of the sixth pulley 216 and then continues to extend toward the distal end of the end instrument 150 and is fixed to the second clamping portion 240. The distal end of the fourth driving cable 152B is guided by the rear of the third pulley 213 and then extends toward the distal end of the end effector 150, and then is guided by the front of the seventh pulley 217 and then continues to extend toward the distal end of the end instrument 150 and is transitioned to the second clamping portion 240.

[0054] The first drive cable 151A and the second drive cable 151B together drive the first clamping part 230 to rotate around the axis BB', and the third drive cable 152A and the fourth drive cable 152B together drive the second clamping part 240 to rotate around the axis BB', and then the first drive cable 151A, the second drive cable 151B, the third drive cable 152A and the fourth drive cable 152B together drive the first clamping part 230 and the second clamping part 240 to perform opening and closing and / or yaw movements.

[0055] The proximal ends of the fifth driving cable 153A and the sixth driving cable 153B of the third pair of cables are connected to the driving device 170, and the distal ends of the two are accommodated in the annular groove of the pitch wheel 319. The ends of the two are respectively fixed in the second bracket 220. The fifth driving cable 153A and the sixth driving cable 153B drive the second bracket 220 to rotate along the axis AA', and then the second bracket 220 drives the first clamping part 230 and the second clamping part 240 to perform pitch motion along the axis AA'.

[0056] The structure of the end effector 150 of the present invention and the winding method of the driving cable are different from those of the existing end effector. The first pulley group of the existing end effector is set on the first bracket of the end effector, and the second pulley group is set on the second bracket. The second pulley group performs pitching motion together with the second bracket. In addition, the winding method of the driving cable of the present invention is also different from that of the prior art. After the driving cable of the present invention is wound in the above-mentioned winding method, Figures 5A-5D As shown, the first driving cable 151A of the first pair of cables has a first portion of cable 151Aa between the fifth pulley 215 and the first clamping portion 230, the second driving cable 151B of the first pair of cables has a second portion of cable 151Ba between the eighth pulley 218 and the first clamping portion 230, the third driving cable 152A of the second pair of cables has a third portion of cable 152Aa between the sixth pulley 216 and the second clamping portion 240, and the fourth driving cable 151B of the second pair of cables has a third portion of cable 151Ba between the eighth pulley 218 and the first clamping portion 230. 2B There is a fourth portion of cable 152Ba between the seventh pulley 217 and the first clamping portion 240, wherein no matter how the end effector 150 pitches, the first portion of cable 151Aa and the second portion of cable 151Ba are always located on the same side of plane M, and the third portion of cable 152Aa and the fourth portion of cable 152Ba are always located on the same side of the other side of plane M. Plane M is a plane passing through the axis AA' of the second pin 312 and perpendicular to the axis BB' of the third pin 313. The first portion of cable 151Aa and the second portion of cable 151Ba are always located on the same side of plane M, and the third portion of cable 152Aa and the fourth portion of cable 152Ba are always located on the same side of the other side of plane M, so that the winding of the first pair of cables and the second pair of cables on the end effector 150 is relatively simple and neat, and it is also relatively easy to assemble.

[0057] like Figure 5C , 5D As shown, the first drive cable 151A and the second drive cable 151B are connected from the first bracket 210 ( Figure 5C and Figure 5D For the convenience of showing the driving cable, the first bracket 210 is not shown) and there are fifth and sixth cable sections 151Ab and 151Bb between the first pulley 211 and the fourth pulley 214 respectively. The third driving cable 152A and the fourth driving cable 151B have seventh and eighth cable sections 152Ab and 152Bb from the first bracket 210 to the second pulley 212 and the third pulley 213 respectively. The fifth and sixth cable sections 151Ab and 151Bb are both located on the same side of a plane P, which refers to a plane passing through the axis of the first pin 311 and the axis of the second pin 312 at the same time. The seventh and eighth cable sections 152Ab and 152Bb are both located on the same side of the other side of the plane P.

[0058] like Fig. 6A and6B As described, the base frame 316 of the first bracket 210 has a plurality of through holes for the driving cables to pass through, the plurality of through holes include a first through hole 219a for the fifth portion cable 151Ab of the first driving cable 151A to pass through, a second through hole 219b for the sixth portion cable 151Bb of the second driving cable 151B to pass through, a third through hole 219c for the seventh portion cable 152Ab of the third driving cable 152A to pass through, a fourth through hole 219d for the eighth portion cable 152Bb of the fourth driving cable 152B to pass through, a fifth through hole 219e for the fifth driving cable 153A to pass through, and a sixth through hole 219f for the sixth driving cable 153B to pass through. In order to enable the first driving cable 151A and the second driving cable 151B, the third driving cable 152A and the fourth driving cable 152B to undergo the same changes simultaneously (for example, their lengths increase or decrease simultaneously) when the end effector 150 performs pitch motion, the first through hole 219a and the second through hole 219b are located on the same side of the plane P, the third through hole 219c and the fourth through hole are located on the other side of the plane P, and the straight line passing through the center of the first through hole 219a and the second through hole 219b is parallel to the straight line passing through the center of the third through hole 219c and the center of the fourth through hole 219d. Due to this parallel relationship, the driving cable can pass through the through hole on the base frame 316 of the first bracket 210 and extend straight to the first pulley group, thereby making the driving efficiency of the driving cable relatively high.

[0059] like Figure 6B As shown, the first through hole 219a, the second through hole 219b, the third through hole 219c and the fourth through hole 219d are respectively located at the four vertices of the trapezoid, so that the first driving cable 151A and the second driving cable 151B pass through the first pulley 211 and the fourth pulley 214 on the outer side, respectively, and the third driving cable 152A and the fourth driving cable 152B pass through the second pulley 212 and the third pulley 213 on the inner side, respectively. In order to reduce the driving force loss of the fifth driving cable 153A and the sixth driving cable 153B when driving the pitching movement of the end effector 150, the fifth through hole 219e and the sixth through hole 219f are both located outside the trapezoid formed by the first through hole 219a, the second through hole 219b, the third through hole 219c and the fourth through hole 219d.

[0060] Another embodiment is Figure 6C The first through hole 319a, the second through hole 319b, the third through hole 319c and the fourth through hole 319d in the first bracket 310 are respectively located at the four vertices of the parallelogram, and the fifth through hole 319e and the sixth through hole 319f are both located outside the parallelogram formed by the first through hole 319a, the second through hole 319b, the third through hole 319c and the fourth through hole 319d.

[0061] In the prior art, the fifth cable of the first driving cable and the six cable of the second driving cable are located on the opposite sides of the plane P, the seven cable of the third driving cable and the eighth cable of the fourth driving cable are also located on the opposite sides of the plane P, which is reflected in the distribution of the through holes for the driving cables to pass through on the first bracket. The two through holes for the first driving cable and the second driving cable of the first pair of cables to pass through are located on the opposite sides of the plane P, and the two through holes for the third driving cable and the fourth driving cable of the second pair of cables to pass through are also located on the opposite sides of the plane P. Since the end effector of the present invention and the prior art end effector are different in the entire structure and winding method, the end effector of the present invention is safer than the prior art, the driving cable and the pulley are not easy to fall off compared with the prior art, the assembly of the end instrument is also easier, and the volume of the entire end instrument is also smaller. Although the end device of the present invention has the above-mentioned advantages over the prior art, the end device of the present invention also brings new challenges, namely, the driving device of the existing end effector cannot drive the end effector of the present invention. More specifically, the method used by the driving device of the existing end effector to decouple the coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables is no longer applicable to the end effector of the present invention.

[0062] The coupling relationship between the third pair of cables of the end device 150 and the first pair of cables and / or the second pair of cables is described in detail below. As shown in FIG5 , the tangent points of the first portion of cables 151Aa, the second portion of cables 151Ba, the third portion of cables 152Aa and the fourth portion of cables 152Ba leaving the fifth pulley 215, the eighth pulley 218, the sixth pulley 216 and the seventh pulley 217 respectively are all located on plane a, and plane a is a plane passing through the first axis AA' and perpendicular to the above-mentioned plane P.

[0063] When the end effector 150 is to perform a pitching motion, the driving device 170 needs to pull the fifth driving cable 153A or the sixth driving cable 153B of the third pair of cables, so that the second bracket 220 drives the first clamping portion 230 and the second clamping portion 240 to perform a pitching motion around the first axis AA'. Fig. 7A and 7B As shown, the driving device 170 retracts and pulls the sixth driving cable 153B, so that the second bracket 220 and the first clamping part 230 and the second clamping part 240 perform pitch motion around the first axis AA'. If the end effector 150 only performs pitch motion, it is necessary to maintain the length of the first part cable 151Aa, the second part cable 151Ba, the third part cable 152Aa and the fourth part cable 153Ba constant, otherwise it will cause the end effector 150 to yaw or open and close motion.

[0064] At the end effector 150 Figures 5A-5D The straight position shown rotates to Figure 7A-7B During the pitch state shown in FIG. 1 , when the driving device 170 retracts the sixth driving cable 153B, if the target pitch angle that the end effector 150 needs to rotate through is α, the plane a needs to be rotated from Figure 5D The position in is also rotated by angle α to Fig. 7A The position of plane b, if the radius of the first pulley group and the second pulley group are both r1, in order to successfully rotate the end effector 150 to the target pitch angle α, the wrap lengths of the first drive cable 151A and the second drive cable 151B on the fifth pulley 215 and the eighth pulley 218 must be increased by a length L, where L = α*r1, and the wrap lengths of the corresponding third drive cable 152A and the fourth drive cable 152B on the sixth pulley 216 and the seventh pulley 217 must be reduced by a length L. Fig. 8A As shown, in the driving device 170, the first driving cable 151A and the second driving cable 151B are wound around the rotatable first driving unit 171 in opposite directions, and the third driving cable 152A and the fourth driving cable 152B are wound around the rotatable second driving unit 172 in opposite directions. The first driving unit 171 and the second driving unit 172 are rotationally fixed on their rotation axes, so the first driving unit 171 and the second driving unit 172 cannot be translated. Therefore, the first driving cable 151A and the second driving cable 151B cannot be translated by rotating the first driving unit 171 alone. Similarly, rotating the second drive unit 172 cannot increase or decrease the lengths of the third drive cable 152A and the fourth drive cable 152B at the same time. As mentioned above, if the end effector 150 is to successfully perform the pitch motion, the lengths of the first drive cable 151A and the second drive cable 151B on the end effector 150 must be increased or decreased at the same time, and the lengths of the third drive cable 152A and the fourth drive cable 152B on the end effector must be decreased or increased at the same time. Therefore, the movement of the third pair of cables is restricted by the first pair of cables and the second pair of cables.

[0065] 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 pair of cables, the second pair of cables and the third pair of cables, this restricted relationship can be that the third pair of cables is restricted by the first pair of cables and / or the second pair of cables, so that the third pair of cables cannot move at all, making it impossible for the end effector to achieve pitch movement. It can also be that the third pair of cables is restricted by the first pair of cables and / or the second pair of cables, so that the movement of any cable among the first pair of cables, the second pair of cables and the third pair of cables will cause the other cables to move unexpectedly, causing the end effector to move unexpectedly and fail to perform the desired operation. For example, when the third pair of cables is manipulating the pitching movement of the end effector, due to the coupling relationship between the third pair of cables and the first pair of cables and / or the second pair of cables, the movement of the third pair of cables will simultaneously cause the movement of the first pair of cables and / or the second pair of cables, so that the end effector will cause the opening and closing and / or yaw movement of the end effector while the pitching movement is in progress, resulting in the pitching movement of the end effector and the opening and closing and / or offset movement affecting each other, and the pitching movement of the end effector and the opening and closing and / or offset movement 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 third pair of cables and the first pair of cables and / or the second pair of cables, so that the movement of the third pair of cables is no longer restricted by the first pair of cables and / or the second pair of cables, and the movements between the two can be independent of each other, without interfering or affecting each other. This release of the coupling relationship between the third pair of cables and the first pair of cables and / or the second pair of cables is called decoupling.

[0066] As to how to release the above coupling relationship, an existing decoupling method is to use software algorithm for decoupling. When the main operation console 200 controls the third driving unit to drive the third pair of cables to move, it also controls the first driving unit and the second driving 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 pair of cables and the second pair of cables on the pulley increases or decreases with the movement of the third pair of cables. However, this decoupling method requires that the first part of the cables 151Aa and the second part of the cables 151Ba of the first pair of cables on the end effector are respectively located on the opposite sides of the plane M, and the third part of the cables 152Aa and the fourth part of the cables 152Ba of the second pair of cables are also respectively located on the opposite sides of the plane M, so that the first driving cables 151A and the second driving cables 151B of the first pair of cables form a loop across the plane M, and the third driving cables 152A and the fourth driving cables 152B of the second pair of cables also form a loop across the plane M. Only then can decoupling be achieved by controlling the movement of the driving units through software. However, the present invention Figure 5AThe first cable 151Aa and the second cable 151Ba of the first pair of cables on the end effector of the illustrated embodiment are located on the same side of the plane M, and the third cable 153Aa and the fourth cable 153Ba of the second pair of cables are also located on the same side of the 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 three drive units that drive three pairs of cables respectively. Ideally, the control of each drive unit is mutually opposed. However, when using software algorithm decoupling, it is necessary to simultaneously control the above three drive units to move together, which causes the three drive units to lose their independence and is prone to control errors.

[0067] 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.

[0068] like Fig. 8A 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 5A The end effector shown. The driving device 170 includes a first driving unit 171 and a second driving unit 172 for driving the end effector 150 to perform opening and closing and / or yaw motion, a third driving unit 173 for driving the end effector 150 to perform pitch motion, and a fourth driving unit 174 for driving the long axis 160 to perform rotation motion. The first driving cable 151A and the second driving cable 151B of the first pair of cables are respectively wound around the first driving unit 171 in opposite winding ways, the third driving cable 152A and the fourth driving cable 152B of the second pair of cables are respectively wound around the second driving unit 172 in opposite winding ways, the fifth driving cable 153A and the sixth driving cable 153B of the third pair of cables are respectively wound around the third driving unit 173 in opposite winding ways, and the seventh driving cable 154A and the eighth driving cable 154B are respectively wound around the fourth driving unit 174 in opposite winding ways.

[0069] When the actuator drive shaft 171A in the instrument mounting frame 132 rotates and drives the first drive unit 171 to rotate along with its axis, the first drive unit 171 retracts or releases the first drive cable 151A or the second drive cable 151B to rotate the first clamping portion 230 around its third pin 313. When the actuator in the instrument mounting frame 132 drives the second drive unit 172 to rotate along with its axis 172A, the second drive unit 172 retracts or releases the second drive cable 152A or the third drive cable 152B to rotate the second clamping portion 240 around the third pin 313. The first clamping portion 230 and the second clamping portion 240 move around the third pin 313 so that the end effector 150 performs opening and closing and / or yaw movements. When the actuator drive shaft 173A in the instrument mounting frame 132 rotates to drive the third drive unit 173 to rotate, the third drive unit 173 pulls or releases the fifth drive cable 153A or the sixth drive cable 153B to rotate the second bracket 220 around the axis AA' of the second pin 312, thereby achieving the pitching motion of the end effector 150. When the actuator in the instrument mounting frame 132 drives the fourth drive unit 174 to rotate along its shaft 174A, the fourth drive unit 174 pulls or releases the seventh drive cable 154A or the eighth drive cable 154B to achieve the self-rotation motion of the drive long shaft 160.

[0070] The drive device 170 further includes a decoupling mechanism for releasing the coupling relationship between the third pair of cables and the first and second pairs of cables on the end effector 150 side. The decoupling mechanism includes a main decoupling member 1761 and a slave decoupling member 176. The slave decoupling member 176 includes a carriage 1762 and first and second guide portions 1763 and 1764 connected to both ends of the carriage 1762. The main decoupling member 1761 is connected to the carriage 1762 through a first decoupling cable 1767 and a second decoupling cable 1768. The main decoupling member 1761 manipulates the movement of the slave decoupling member by driving the first decoupling cable 1767 and the second decoupling cable 1768. The first decoupling cable 1767 and the second decoupling cable 1768 are wound around the main decoupling member 1761 in opposite ways. The main decoupling member 1761 and the third drive unit 173 move at the same angular velocity. The main decoupling member 1761 and the third drive unit 173 can be arranged on the same shaft 173A. Therefore, the main decoupling member 1761 rotates coaxially with the third drive unit 173 along the shaft 173A. In some other embodiments, the main decoupling member 1761 and the third drive unit 173 can also be respectively arranged on different rotating shafts. The main decoupling member 1761 and the third drive unit 173 have different radii. The radius of the main decoupling member 1761 is r2, and the radius of the third drive unit 173 is R2, where r2 < R2. The main decoupling member 1761 realizes the movement of the slave decoupling member by retracting or releasing the first decoupling cable 1767 or the second decoupling cable 1768. The main decoupling member 1761 and the third drive unit 173 can be driven by 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 third drive unit are arranged on different rotating shafts, but the main decoupling member still receives the driving force homologous to the third drive unit. For example, the main decoupling member and the third drive unit are respectively connected and driven in different ways on the same actuator. Using the same power source to drive the third drive unit and the main decoupling member simultaneously can make the control of decoupling simpler. The decoupling mechanism does not need to separately detect the coupling state. The main decoupling member and the coupling source (i.e., the third drive unit) receive the same control information, but the structures on the transmission side are different.

[0071] Such as Fig. 8A, the first driving cable 151A and the second driving cable 151B are guided by the third guide wheel 177A, the first guide part 1763 and the third guide wheel 177C in turn, then enter the long shaft and extend to the end effector 150. The third driving cable 152A and the fourth driving cable 152B are guided by the second guide wheel 177B, the second guide part 1764 and the fourth guide wheel 177D in turn, then enter the long shaft and extend to the end effector 150. The fifth driving cable 153A and the sixth driving cable 153B are guided by the fifth guide wheel 177E and the sixth guide wheel 177F in turn, then enter the long shaft and extend to the end effector 150. As for how the first driving cable 151A to the sixth driving cable 153B are connected to the end effector 150, it has been described in detail above and will not be repeated here.

[0072] The decoupling process is as follows Fig.8D As shown in FIG. 1 , when the third driving unit 173 rotates counterclockwise (in the first direction) along with its shaft 173A, the third driving unit 173 retracts the sixth driving cable 153B and releases the fifth driving cable 153A at the same time, so that the second bracket 220 of the end effector 150 is as shown in FIG. Fig. 7A and 7B The entire end effector 150 performs a pitching motion by rotating around the axis AA' of the second pin 312. As described above, at this time, the wrap angle lengths of the first driving cable 151A and the second driving cable 151B on the fifth pulley 215 and the eighth pulley 218 need to be increased by L at the same time, and at the same time, the wrap angle lengths of the third driving cable 152A and the fourth driving cable 152B on the sixth pulley 216 and the seventh pulley 217 need to be reduced by L at the same time so that the end effector 150 can smoothly perform a pitching motion. Since the main decoupling member 1761 of the decoupling mechanism rotates coaxially with the third driving unit 173, when the third driving unit 173 rotates counterclockwise with the shaft 173A, the main decoupling member 1761 also rotates counterclockwise with the shaft 173A. At this time, the main decoupling member 1761 retracts the first decoupling cable 1767 and releases the second decoupling cable 1768. If the arc length of the main decoupling member 1761 is L / 2, the main decoupling member 1761 retracts the first decoupling cable 1767 and releases the second decoupling cable 1768. Under pulling, it moves a distance of L / 2 in direction A. At this time, due to the movement of the decoupling member, the lengths of the first driving cable 151A and the second driving cable 151B in the driving device 170 will be reduced by L at the same time, that is, the length of the first pair of cables in the driving device 170 will be reduced by 2L. Correspondingly, the lengths of the third driving cable 152A and the fourth driving cable 152B in the driving device 170 will be increased by L at the same time, that is, the length of the second pair of cables in the driving device 170 will be increased by 2L.

[0073] Thus, the length reduction of the first driving cable 151A and the second driving cable 151B in the driving device 170 is equal to the required increase in the length of the first driving cable 151A and the second driving cable 151B on the fifth pulley 215 and the eighth pulley 218, respectively, and the length increase of the third driving cable 152A and the fourth driving cable 152B in the driving device 170 is equal to the required decrease in the length of the third driving cable 152A and the fourth driving cable 152B on the sixth pulley 216 and the seventh pulley 217. On the contrary, if Fig. 8E As shown, when the third drive unit 173 and the main decoupling member 1761 rotate clockwise (in the second direction) together, the increase in the length of the first drive cable 151A and the second drive cable 151B in the drive device 170 is equal to the required decrease in the length of the wrap angle of the first drive cable 151A and the second drive cable 151B on the fifth pulley 215 and the eighth pulley 218, respectively, and the decrease in the length of the third drive cable 152A and the fourth drive cable 152B in the drive device 170 is equal to the required increase in the length of the wrap angle of the third drive cable 152A and the fourth drive cable 152B on the sixth pulley 216 and the seventh pulley 217. As a result, the length change of the first pair of cables and the second cable on one side of the end effector caused by the pitch movement of the end effector is completely provided by the length change of the first pair of cables and the second cable in the driving device. Therefore, the movement of the third pair of cables will no longer be restricted by the first pair of cables and the second pair of cables. The decoupling mechanism realizes the release of the coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables.

[0074] In order to enable the decoupling mechanism to accurately and controllably release the coupling relationship between the first pair of cables and the second pair of cables and the third pair of cables, the main decoupling member 1761 of the decoupling mechanism drives the slave decoupling member 176 to always move in a straight line, and the length changes of the first drive cable 151A, the second drive cable 151B, the third drive cable 152A and the fourth cable 152B caused by the movement of the slave decoupling member 176 are always linear. As shown in Figures 9A-9C, the first decoupling cable 1767 is redirected by the seventh guide wheel 1765 and then fixed to one end of the slave decoupling member 176 along the movement direction of the slave decoupling member 176. Similarly, the second decoupling cable 1768 is redirected by the eighth guide wheel 1766 and then fixed to the other end of the slave decoupling member 176 along the movement direction of the slave decoupling member 176. Therefore, the movement of the main decoupling member 1761 will cause the slave decoupling member 176 to move in a straight line. Furthermore, the portion of the first decoupling cable 1767 between the seventh guide wheel 1765 and the slave decoupling member 176 and the portion of the second decoupling cable 1768 between the eighth guide wheel 1766 and the slave decoupling member 176 are parallel to the movement direction of the slave decoupling member 176. During the decoupling process, the length change speed of the first decoupling cable 1767 and the second decoupling cable 1768 is directly proportional to the rotation linear speed of the main decoupling member 1761. Therefore, the movement speed of the slave decoupling member 176 is also directly proportional to the rotation linear speed of the main decoupling member 1761 and the third drive unit 173, thereby making the decoupling process precisely controllable.

[0075] like Figures 8B-8C As shown, the first guide wheel 177A, the first guide portion 1763 and the third guide wheel 177C all have a structure with two pulleys arranged side by side, and the two pulleys are used to guide the first driving cable 151A and the second driving cable 151B respectively. The first driving cable 151A forms a first decoupling portion cable 151Ac between the third guide wheel 177C and the first guide portion 1763, and a third decoupling portion cable 151Ad is formed between the first guide portion 1763 and the first guide wheel 177A. The second driving cable 151B forms a second decoupling portion cable 151Ac between the third guide wheel 177C and the first guide portion 1763. 51Bc, a fourth decoupling portion cable 151Bd is formed on the first guide portion 1763 and the first guide wheel 177A. Similarly, the second guide portion 1764, the second guide wheel 177B and the fourth guide wheel 177D also have a structure with two pulleys arranged side by side. The third drive cable 152A and the fourth drive cable 152B have a fifth decoupling portion cable 152Ac and a sixth decoupling portion cable 152Bc between the fourth guide wheel 177D and the second guide portion 1764, respectively, and a seventh decoupling portion cable 152Ad and an eighth decoupling portion cable ( Fig. 8AIn order to achieve more accurate decoupling, it is necessary to make the length change of the first decoupling part cable 151Ac equal to the length change of the second decoupling part cable 151Bc during the decoupling process. Therefore, the first decoupling part cable 151Ac and the second decoupling part cable 151Bc respectively form equal angles θ with the plane passing through the center of the third guide wheel 177C and perpendicular to the axis c1 of the third guide wheel 177C, and the fifth decoupling part cable 152Ac and the seventh decoupling part cable 152Bc also have the same setting as the seventh guide wheel 177D, so that during the decoupling process, the length changes of the first decoupling part cable 151Ac and the second decoupling part cable 151Bc are the same, and the length changes of the fifth decoupling part cable 152Ac and the seventh decoupling part cable 152Bc are the same. In addition, since θ is relatively small, the axial spacing H1 between the first decoupling part cable 151Ac and the second decoupling part cable 151Bc and the first guide wheel 1764 and the fourth guide wheel 177B is roughly equal. During the decoupling process, the first decoupling part cable 151Ac and the second decoupling part cable 151Bc are roughly parallel to the movement direction of the decoupling part, so that the nonlinear changes of the first decoupling part cable 151Ac and the second decoupling part cable 151Bc during the decoupling process caused by the first decoupling part cable 151Ac and the second decoupling part cable 151Bc are smaller, thereby achieving more precise decoupling.

[0076] like Figure 8C As shown, the third decoupling portion cable 151Ad, the fourth decoupling portion cable 151Bd, the seventh decoupling portion cable 152Ad and the eighth decoupling portion cable are parallel to the movement direction of the slave decoupling member 176. In this way, the speed of the change in length of the third decoupling portion cable 151Ad, the fourth decoupling portion cable 151Bd, the seventh decoupling portion cable 152Ad and the eighth decoupling portion cable caused by the movement of the slave decoupling member during the decoupling process is directly proportional to the speed of movement of the slave decoupling member 176. Therefore, during the decoupling process, the speed of the length change of any one of the first drive cable 151A to the fourth drive cable 152B in the drive device 170 is directly proportional to the moving speed of the slave decoupling member 176. As described above, the moving speed of the slave decoupling member 176 is directly proportional to the rotation linear speed of the main decoupling member 1761 and the third drive unit 173. Therefore, during the decoupling process, the length change speed of any one of the first to fourth drive cables 151A, 152B in the drive device 170 is also directly proportional to the rotational linear speed of the main decoupling component 1761 and the third drive unit 173, thereby accurately controlling the length change of the first pair of cables and the second pair of cables on the end effector 150 through the main decoupling component 173 and the third drive unit 173, thereby achieving precise and controllable decoupling.

[0077] like Fig.8D The decoupling process of this embodiment is shown. Compared with the state shown in Figure 9A, the main decoupling member 1761 rotates counterclockwise by an arc length of L / 2, and the slave decoupling member 176 moves L / 2 distance in the A direction accordingly. The lengths of the first decoupling portion cable 151Ac, the third decoupling portion cable 151Ad, the second decoupling portion cable 151Bc, and the fourth decoupling portion cable 151Bd are simultaneously reduced by L / 2, so that the first driving cable 151A and the second driving cable 151B are simultaneously reduced in length L in the driving device 170, that is, the length of the first pair of cables in the driving device is reduced by 2L. Similarly, the lengths of the fifth decoupling portion cable 152Ac, the sixth decoupling portion cable 152Ad, the seventh decoupling portion cable 152Bc, and the eighth decoupling portion cable are simultaneously increased by L / 2, so that the third driving cable 152A and the fourth driving cable 152B are simultaneously increased in length L in the driving device 170, that is, the length of the second pair of cables in the driving device is increased by 2L.

[0078] Back again Fig. 7A , if the radius of the second pulley block in this embodiment is r1, the bottom radius of the annular groove 319A on the pitch wheel 319 of the second bracket 220 for accommodating and guiding the fifth drive cable 153A and the sixth drive cable 153B is R1, when the end effector 150 pitches, the fifth drive cable 153A or the sixth drive cable 153B can form a wrap angle in the annular groove. Figure 5D The zero position shown is rotated to Fig. 7A During the state shown, if the pitch angle of the end effector 150 is α, the wrap angle length of the fifth driving cable 153A in the annular groove 319A on the pitch wheel 319 increases by L1, and the wrap angle length of the sixth driving cable 153B in the annular groove 319A on the pitch wheel 319 decreases by L1 at the same time, wherein L1=α*R1. Since the pitch motion of the end effector 150 is driven by the third driving unit 173 in the driving device 170, as shown in FIG. Fig.8DAs shown, at this time, if the third driving unit 173 rotates counterclockwise (in the first direction) at an angle of α to make the end effector 150 pitch, the angle is β, the third driving unit 173 releases the fifth driving cable 153A and simultaneously retracts the sixth driving cable 153B, so that the length of the fifth driving cable 153A wrapped around the third driving unit 173 is reduced by L1, and the length of the sixth driving cable 153B wrapped around the third driving unit 173 is increased by L1, wherein L1=β*R2. Since the main decoupling member 1761 and the third driving unit 173 rotate coaxially, the main decoupling member 1761 releases the first decoupling cable 1767 and simultaneously retracts the second decoupling cable 1768, so that the length of the first decoupling cable 1767 wrapped 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 wrapped around the main decoupling member 1761 is increased by L / 2, wherein L / 2=β*r2, so that the slide 1762 moves a distance of L / 2 in the A direction, so that the lengths of the first driving cable 151A and the second driving cable 151B in the driving device 170 are respectively reduced by L, and the lengths of the third driving cable 152A and the fourth driving cable 152B in the driving device 170 are respectively increased by L. As can be seen from the above, L=α*r1. In summary, through the above four formulas: L1 = α * R1, L1 = β * R2, L / 2 = β * r2, L = α * r1, we can get the following relationship:

[0079]

[0080] The above relationship shows that the ratio of the radius of the third drive unit 173 to the radius of the main decoupling member 1761 is twice the ratio of the groove bottom radius of the annular groove 319A of the pitch wheel 319 to the radius of the second pulley block. The reason for this 2-fold relationship is that the slave decoupling member has two guide parts, namely the first guide part 1763 and the second guide part 1764. In other embodiments, the number of guide parts of the slave decoupling member 176 can also be other numbers, so that the relationship between the ratio of the radius of the third drive unit to the radius of the main decoupling member and the ratio of the radius of the pitch wheel to the radius of the second pulley block also changes accordingly. For example, the slave decoupling member can have N guide parts, and the ratio of the radius of the third drive unit to the radius of the main decoupling member is N times the ratio of the groove bottom radius of the annular groove of the pitch wheel to the radius of the second pulley block, that is: However, the increase in the number of guide parts of the slave decoupling member will increase the volume of the slave decoupling member accordingly. It is more preferred that the slave decoupling member in the above embodiment uses two guide parts. It can be understood that the radius of the above-mentioned drive unit and the radius of the main decoupling member refer to the radius of the part on which the drive cable or the decoupling cable is wound, such as the radius of the winch, and the radius of the pulley refers to the groove bottom radius of the pulley, which can be used to calculate the wrap angle length of the drive cable wound on the pulley. Although the pulley radius has different explanations in different documents (such as the bottom groove radius, the groove bottom radius), the pulley radius in the invention is a parameter used to measure the wrap angle length of the drive cable wound on the pulley.

[0081] Therefore, the length changes of the first pair of cables and the second pair of cables on one side of the end effector 150 required for the pitching movement of the end effector 150 are all accurately provided by the decoupling mechanism 176, so that the movement of the third pair of cables is no longer restricted by the first pair of cables and the second pair of cables, and the precise decoupling between the third pair of cables and the first pair of cables and the second pair of cables is achieved. During the entire decoupling process, the lengths of the first part of the cables 151Aa, the second part of the cables 151Ba, the third part of the cables 152Aa and the fourth part of the cables 153Ba can be kept constant, and the tension of the entire first pair of cables and the second pair of cables is also kept constant. In addition, since only the shaft 173A of the third drive unit 173 moves during the entire decoupling process, the first drive unit 171, the second drive unit 172 and the third drive unit 173 are completely independent. In addition, since the main decoupling member 1761 rotates coaxially with the coupling source, i.e., the third drive unit 173, which causes the coupling relationship, the main decoupling member 1761 and the coupling source third drive unit 173 move at the same angular velocity, and the two physically move completely synchronously. There is no need for the main operation setting to give a signal to control the decoupling mechanism. The movement of the decoupling mechanism is synchronized with the movement of the coupling source. The decoupling mechanism synchronizes with the third drive unit to decouple without any delay, and the length change of the first pair of cables and the second pair of cables on the side of the end effector 150 caused by the coupling source third drive unit 173 can be completely and accurately mapped to the length change of the first pair of cables and the second pair of cables on the decoupling mechanism 176, so that the decoupling mechanism 176 can completely and accurately release the coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables. The so-called precise decoupling means that the third drive unit rotates a certain degree and the slave decoupling member moves a certain distance. The relationship between the two is determined, and the above-mentioned radius ratio equations have been given. In addition, since the slave decoupling component 176 is always driven by the main decoupling component 1761 to move to the corresponding position instead of being driven by the first pair of cables or the second pair of cables, the first pair of cables and the second pair of cables are basically not subjected to force on the slave decoupling component during the entire decoupling process. Therefore, the tension of the first pair of cables and the second pair of cables remains basically unchanged during the decoupling process, thereby increasing the service life of the first pair of cables and the second pair of cables and the accuracy of control over the end actuator 150.

[0082] Fig. 9A and 9BA driving device 270 according to another embodiment of the present invention is shown. The driving device 270B includes a first driving unit 271, a second driving unit 272, a third driving unit 273, a third driving unit 274 and a decoupling mechanism 276. When the first driving unit 271 rotates along with its axis 271A, the first driving unit 271 retracts or releases the first driving cable 151A or the second driving cable 151B to rotate the first clamping portion 230 around the third pin 313. When the actuator in the instrument mounting frame 132 drives the second driving unit 272 to rotate along with its axis 272A, the second driving unit 272 retracts or releases the second driving cable 152A or the third driving cable 152B to rotate the second clamping portion 240 around the third pin 313. The first clamping portion 230 and the second clamping portion 240 move around the third pin 313 so that the end effector 150 performs opening and closing and / or yaw motions. When the actuator in the instrument mounting frame 132 drives the third driving unit 273 to rotate along its axis 273A, the third driving unit 173 retracts or releases the fifth driving cable 153A or the sixth driving cable 153B to rotate the second bracket 220 around the axis AA' of the second pin so that the end effector 150 performs a pitch motion.

[0083] The decoupling mechanism 276 includes a main decoupling member 2761 and a slave decoupling member. The main decoupling member 2761 is a gear that rotates coaxially with the third drive unit 273. The slave decoupling member includes a rack 2762 and a first guide portion 2763 and a second guide portion 2764 connected at both ends of the rack 2762. The first drive cable 151A and the second drive cable 151B enter the long shaft 160 through the first guide portion 2763 of the slave decoupling member, and the second drive cable 152A and the second drive cable 152B enter the long shaft 160 through the second guide portion 2764 of the slave decoupling member.

[0084] like Fig. 9B As shown, when the third drive unit 273 and the main decoupling member 273 rotate counterclockwise with the shaft 273A, the third drive unit 273 retracts the sixth drive cable 153B and releases the fifth drive cable 153A, and the end effector 150 is as shown in FIG. Fig. 7A , 7BAs shown, a pitch motion is performed. At the same time, if the arc length of the main decoupling member 2761 rotating counterclockwise is L / 2, the length of the slave decoupling member moving along the A direction under the drive of the main decoupling member 2761 is also L / 2, the lengths of the first driving cable 151A and the second driving cable 151B between the first guide portion 2763 and the first guide wheel 277A, and the lengths between the first guide portion 2763 and the third guide wheel 277C are both reduced by L / 2, and the lengths of the third driving cable 152A and the fourth driving cable 152B between the second guide portion 2764 and the second guide wheel 277B, and the lengths between the second guide portion 2764 and the fourth guide wheel 277D are both increased by L / 2, so that the lengths of the first driving cable 151A and the second driving cable 151B in the driving device 270 are reduced by L as a whole, and the lengths of the third driving cable 152A and the fourth driving cable 152B in the driving device 270 are increased by L as a whole. Thus, the decoupling mechanism 276 in the drive device 270 provides the change in length of the first drive cable 151A to the fourth drive cable 152B on one side of the end effector 150 required for the pitch movement of the end effector 150, thereby releasing the coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables, and the movement of the third pair of cables is no longer restricted by the first pair of cables and / or the second pair of cables.

[0085] Fig. 10A , 10B The driving device 370 of another embodiment of the present invention is shown. The driving device 270B includes a first driving unit 371, a second driving unit 372, a third driving unit 373, a fourth driving unit 374 and a decoupling mechanism 376. Except that the structure of the decoupling mechanism 376 is different from that of the two embodiments, the other components are basically the same as those of the above two embodiments, and will not be repeated here. The decoupling mechanism 376 includes a main decoupling member 3761 that rotates coaxially with the third driving unit 373, a decoupling cam 3762 that is fixedly connected to or integrally formed with the main decoupling member 3761, and the two ends of the decoupling cam 3762 are respectively connected by a first guide portion 3763 and a second guide portion 3764.

[0086] like Fig. 10B As shown, when the main decoupling member 3761 and the third driving unit 373 rotate counterclockwise with the shaft 373A, the third driving unit 373 retracts the sixth driving cable 153B and releases the fifth driving cable 153A at the same time, and the end effector 150 is as shown in FIG. Figures 7A-7CAs shown, the pitch motion is performed. At the same time, the decoupling cam 3762 is driven by the main decoupling member 3761 and also rotates counterclockwise with the shaft 373A, so that the length of the first drive cable 151A and the second drive cable 151B between the first guide wheel 377A and the third guide wheel 377C is reduced by L, and the length of the third drive cable 152A and the fourth drive cable 152B between the second guide wheel 377B and the fourth guide wheel 377D is increased by L. Therefore, the decoupling mechanism 376 in the drive device 370 can provide the length change of the first drive cable 151A to the fourth drive cable 152B on one side of the end actuator 150 required for the pitch motion of the end actuator 150, thereby releasing the coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables, and the movement of the third pair of cables is no longer restricted by the first pair of cables and / or the second pair of cables.

[0087] Fig.11 The driving device 770 of one embodiment of the present invention comprises a first driving unit 771, a second driving unit 772, a third driving unit 773 and a fourth driving unit 774, the proximal ends of the first driving cable 151A and the second driving cable 151B are wound around the first driving unit 771 in opposite ways, the proximal ends of the third driving cable 152A and the fourth driving cable 152B are wound around the second driving unit 772 in opposite ways, and the proximal ends of the fifth driving cable 153A and the sixth driving cable 153B are wound around the third driving unit 773 in opposite ways.

[0088] The decoupling mechanism of the driving device 770 includes a main decoupling member 7761 and a slave decoupling member 7762. The main decoupling member 7761 is used to drive the slave decoupling member 7762 to move so as to release the above coupling relationship. Different from the above embodiments, the main decoupling member 7761 in this embodiment is not directly connected to the third driving unit 773, the main decoupling member 7761 and the third driving unit 773 are non-coaxially arranged, and the main decoupling member 7761 moves independently of the third driving unit 773, that is, the main decoupling member 7761 does not receive the driving force from the actuator driving the third driving unit 773 to drive the slave decoupling member 7762 as in the above embodiments, and the main decoupling member 7761 drives the slave decoupling member 7762 to move according to the pitch indication information of the pitch device that can characterize the end effector 150.

[0089] The decoupling mechanism also includes a detection unit and a control unit. The detection unit includes a first tension sensor TS1, a second tension sensor TS2, a third tension sensor TS3, and a fourth tension sensor TS4, which are respectively arranged on the first drive cable 151A, the second drive cable 152B, the third drive cable 152A, and the fourth drive cable 152B and are used to detect the tension changes thereof. The first tension sensor TS1, the second tension sensor TS2, the third tension sensor TS3, and the fourth tension sensor TS4 transmit the detected tension change information to the control unit (not shown in the figure). The control unit receives the signal input of the detection unit and outputs a control signal after processing to control the movement of the main decoupling component 7761. It can be understood that the control unit is not limited to being arranged in the drive device, and can also be arranged in the mechanical arm or the main control console, as long as it can communicate with the detection unit and control the movement of the main decoupling component.

[0090] The other parts of the drive device 770 and Fig. 8A Similar to the embodiment shown, specifically, the driving device 770 also includes a first guide wheel 777A, a second guide wheel 777B, a third guide wheel 777C and a fourth guide wheel 777D, and the slave decoupling member 7762 includes two guide parts, namely a first guide part 7767 and a second guide part 7765, and the first guide part 7767 and the second guide part 7765 are connected by a slide 7763 in the middle, and the main decoupling member 7761 is connected to the slave decoupling member 7762 by a first decoupling cable 1768 and a second decoupling cable 1769. The first drive cable 151A and the second drive cable 151B are first redirected by the first guide wheel 777A, and then are guided by the first guide part 7764 of the decoupling member 7762, and finally enter the long axis 160 through the third guide wheel 777C. The third drive cable 152A and the fourth drive cable 152B are redirected by the second guide wheel 777B, and then are guided by the second guide part 7765 of the decoupling member 7762, and finally enter the long axis 160 through the fourth guide wheel 777D.

[0091] The decoupling process of the drive device 770 is as follows: Fig.11 As shown, when the third driving unit 773 rotates counterclockwise (in the first direction), the third driving cable 773 pulls the fourth driving cable 153B and releases the third driving cable 153A at the same time. At this time, the end effector 150 is as shown in FIG. Fig. 7A , 7B Since the third pair of cables is coupled with the first pair of cables and the second pair of cables, the end effector 150 is Fig. 7A , 7BDuring the pitching motion shown, the tension of the first driving cable 151A and the second driving cable 151B will increase rapidly. The control unit receives and processes input signals from the first tension sensor TS1, the second tension sensor TS2, the third tension sensor TS3 and the fourth tension sensor TS4. Due to the increase in the tension of the first driving cable 151A and the second driving cable 151B and the decrease in the third driving cable 152A and the fourth driving cable 152B, the control unit will output a control signal to control the rotation of the main decoupling component 7761 to balance the tension of the first driving cable 151A to the fourth driving cable 152B.

[0092] Specifically, the control unit controls the main decoupling member 7761 to rotate counterclockwise, at which time the main decoupling member 7761 will retract the second decoupling cable 7769 and release the first decoupling cable 7768. At this time, if the tension change of the first pair of cables and the second pair of cables caused by the pitching movement of the end effector 150 is balanced, the main decoupling member unit 7762 will move along the A direction for a distance of L / 2. If the main decoupling member unit 7762 moves along the A direction for a distance of L / 2, similar to the above embodiments, since the first pair of cables are on the first guide wheel 777A and Part of the cables between the first guide portion 7764 is parallel to the movement direction of the slave decoupling member 7762, and part of the cables between the first guide portion 7764 and the third guide wheel 777C is roughly parallel to the movement direction of the slave decoupling member 7762. Similarly, part of the cables of the second pair of cables between the second guide wheel 777B and the second guide portion 7765 is parallel to the movement direction of the slave decoupling member 7762, and part of the cables of the second pair of cables between the second guide portion 7765 and the fourth guide wheel 777D is roughly parallel to the movement direction of the slave decoupling member 7762. Therefore, the distance between the first drive cable 151A and the second drive cable 151B between the first guide wheel 777A and the first guide portion 7764 and the distance between the first guide portion 7764 and the third guide wheel 777C is reduced by L / 2, so that the length of the first drive cable 151A and the second drive cable 151B in the drive device is reduced by L, that is, the length of the first pair of cables in the drive device 770 is reduced by 2L. On the contrary, the length of the third drive cable 152A and the fourth drive cable 152B in the drive device is increased by 2L, that is, the distance between the second pair of cables in the drive device 770 is increased by 2L. The reason for the length change L of the first to fourth driving cables in the driving device is the number of guides connected to the first pair of cables and / or the second pair of cables on the decoupling member 7765. In this embodiment, the number of guides is 2, and the length change of the first driving cable and / or the third driving cable in the driving device is twice the moving distance of the corresponding decoupling member 7765. It can be understood that in other embodiments, the number of guides on the decoupling member can also be other numbers. If the number of guides on the decoupling member is N, the length change of the first pair of cables and / or the second pair of cables in the driving device is the moving distance of the corresponding decoupling member 7765.

[0093] Thus, the decoupling mechanism within the drive device 770 provides the change in length of the first drive cable 151A, the second drive cable 151B, the third drive cable 152A and the fourth drive cable 152B on one side of the end effector 150 required for the pitch movement of the end effector 150, thereby releasing the coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables. The movement of the third pair of cables is no longer restricted by the first drive cables and the second drive cables, so that the end effector 150 can smoothly perform pitch operations.

[0094] Since the drive cable will always wear out during use, and there will be corresponding errors in the detection of the tension sensor, the use of the tension of the drive cable as the pitch indication information of the end effector 150 may not be able to decouple very accurately. For example, in theory, the decoupling member 7762 needs to move a distance of L / 2 to achieve complete decoupling. However, due to the error of the tension sensor, the control unit may control the movement distance of the decoupling member 7762 to be not L / 2 based on the data of the tension sensor. Therefore, in one embodiment, the rotation state of the third drive unit 773 is used as the pitch state indication information of the end effector 150. The detection unit of the drive device 770 is an encoder connected to the third drive unit 773. The encoder can accurately detect the rotation angle of the third drive unit 773, so that the control unit can accurately obtain the rotation angle of the third drive unit 773 in real time, and then can accurately calculate the pitch angle of the end effector 150 to control the movement of the decoupling member 7762, thereby Fig. 8A As in the embodiment shown, the decoupling mechanism in the driving device 770 can accurately provide the length changes of the first driving cable 151A, the second driving cable 151B, the third driving cable 152A and the fourth driving cable 152B on one side of the end effector 150 required for the pitching movement of the end effector 150, thereby releasing the coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables, and the movement of the third pair of cables is no longer restricted by the first driving cable and the second driving cable, so that the end effector 150 can smoothly perform the pitching operation. In some other embodiments, the decoupling mechanism does not need to be provided with a detection unit, and the control unit of the decoupling mechanism and the third driving unit simultaneously receive the control signal from the main control console, and the control signal from the main control console is used as the pitching state indication information of the end effector 150. The control unit can control the main decoupling component and the third driving unit to operate synchronously through the control signal from the main control console.

[0095] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A surgical instrument, comprising an end effector, a drive device and a cable, wherein the drive device is configured to drive the end effector to move through the cable, the cable comprising a first pair of cables and a second pair of cables for driving the end effector to perform a yaw motion, and a third pair of cables for driving the end effector to perform a pitch motion, characterized in that: The driving device comprises: A driving unit, one end of the third pair of cables is connected to the driving unit, the other end of the third pair of cables is connected to the end effector, and the driving unit is used to drive the end effector to perform pitch motion through the third pair of cables; A decoupling device, the decoupling device comprises a control unit, a main decoupling member and a slave decoupling member, the slave decoupling member comprises a first guide portion and a second guide portion for guiding the first pair of cables and the second pair of cables respectively, the slave decoupling member further comprises a slide, a first decoupling cable and a second decoupling cable, the first guide portion and the second guide portion are respectively arranged at two ends of the slide, one end of the first decoupling cable and the second decoupling cable are connected to the slide, and the other ends of the first decoupling cable and the second decoupling cable are connected to the main decoupling member, the control unit is used to control the main decoupling member to drive the slave decoupling member to move through the first decoupling cable and the second decoupling cable according to the pitch indication information of the end effector, thereby increasing the length of one pair of cables in the first pair of cables and the second pair of cables in the driving device and reducing the length of the other pair of cables in the driving device, so that the driving unit drives the end effector to perform a pitch motion; The first guide wheel, the first pair of cables are guided by the first guide wheel and then by the first guide part, and the movement direction of the decoupling member is parallel to the part of the first pair of cables between the first guide wheel and the first guide part.

2. The surgical instrument according to claim 1, characterized in that: The main decoupling member is used to drive the slave decoupling member to move in a straight line to change the lengths of the first pair of cables and the second pair of cables in the driving device.

3. The surgical instrument according to claim 2, characterized in that: The main decoupling member is used to drive the slave decoupling member to move so as to reduce 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 when the driving unit rotates to increase the length of the first pair of cables on the end actuator and reduce the length of the second pair of cables on the end actuator.

4. The surgical instrument according to claim 2, characterized in that: The main decoupling member is used to drive the slave decoupling member to move so as to increase the length of the first pair of cables in the driving device and reduce the length of the second pair of cables in the driving device when the driving unit rotates to reduce the length of the first pair of cables on the end actuator and increase the length of the second pair of cables on the end actuator.

5. The surgical instrument according to claim 1, characterized in that: The driving device also includes a second guide wheel, and the second pair of cables are guided by the second guide wheel and then by the second guide part. The movement direction of the decoupling member is parallel to the part of the second pair of cables between the second guide wheel and the second guide part.

6. The surgical instrument according to claim 5, characterized in that: The driving unit and the master decoupling member rotate to change the length of the first pair of cables or the second pair of cables on the end effector by an amount equal to four times the moving distance of the slave decoupling member in the driving device.

7. The surgical instrument according to claim 1, characterized in that: The pitch indication information includes a control signal for controlling the rotation of the driving unit.

8. The surgical instrument according to claim 1, characterized in that: The pitch indication information includes tension information on the first pair of cables and the second pair of cables, and the decoupling device further includes a detection unit for detecting the tension information on the first pair of cables and the second pair of cables and transmitting the detected tension information to the control unit.

9. The surgical instrument according to claim 1, characterized in that: The pitch indication information includes rotation data of the drive unit, and the decoupling device includes an encoder arranged on the drive unit, and the encoder is used to detect the rotation data of the drive unit and transmit the detected rotation data to the control unit.

10. The surgical instrument according to claim 2, characterized in that: The main decoupling member is used to rotate in a first direction to release the first decoupling cable and pull the second decoupling cable to move the carriage, thereby reducing 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.

11. The surgical instrument according to claim 10, characterized in that: The main decoupling member is used to rotate in a second direction opposite to the first direction to retract the first decoupling cable and release the second decoupling cable to move the slide, thereby increasing the length of the first pair of cables in the drive device and reducing the length of the second pair of cables in the drive device.

12. A slave operating device, characterized in that: The slave operating device comprises a robotic arm and a surgical instrument as described in any one of claims 1 to 11, wherein the surgical instrument is mounted on the robotic arm, and the robotic arm is used to manipulate the movement of the surgical instrument.

13. A surgical robot, characterized in that: The surgical robot comprises a main operating console and a slave operating device as claimed in claim 12, wherein the slave operating device performs corresponding operations according to instructions of the main operating console.

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