Surgical instruments, operating devices, and surgical robots

Abstract

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

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and particularly 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 surgeries inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has advantages such as small trauma, light pain, and quick recovery.

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

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

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

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

[0007] Based on this, to solve the above problems, the present invention provides a surgical instrument, a slave operating device using the surgical instrument, and a surgical robot having the slave operating device. A 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 driving cable, a second driving cable, and a third driving cable. The first driving cable is used to cooperate with the second driving cable and the third driving cable to drive the end effector to perform a pitching motion. The second driving cable and the third driving cable are also used to drive the end effector to perform a yawing motion. The driving device includes:

[0008] A driving unit, the proximal end of the first driving cable is connected to the driving unit. The driving unit drives the end effector to perform a pitching motion through the first driving cable and in cooperation with the second driving cable and the third driving cable;

[0009] A decoupling mechanism, the decoupling mechanism includes a main decoupling member and a slave decoupling member connected to the main decoupling member. The slave decoupling member includes a carriage and a guiding portion provided at one end of the carriage for guiding the second driving cable and the third driving cable. The main decoupling member is coaxially arranged with the driving unit. The main decoupling member is used to rotate coaxially with the driving unit and drive the carriage to move so as to simultaneously increase or simultaneously decrease the lengths of the second driving cable and the third driving cable in the driving device, so that the driving unit drives the end effector to perform a pitching motion.

[0010] Preferably, the main decoupling member drives the carriage to move linearly to change the lengths of the second driving cable and the third driving cable in the driving device.

[0011] Preferably, the slave decoupling member further includes a first decoupling cable and a second decoupling cable connected to both ends of the carriage. One ends of the first decoupling cable and the second decoupling cable are connected to the main decoupling member. The main decoupling member is configured to drive the carriage to move through the first decoupling cable and the second decoupling cable to change the lengths of the second driving cable and the third driving cable in the driving device.

[0012] Preferably, the main decoupling member and the carriage are connected by a gear meshing manner.

[0013] Preferably, the main decoupling member has a cam structure. The main decoupling member is used to rotate to drive the cam structure to abut against the carriage and drive the carriage to move.

[0014] Preferably, the carriage further includes a first convex body and a second convex body. The cam structure includes a first cam and a second cam which are axially offset from each other up and down on the main decoupling member. The main decoupling member rotates so that the first cam abuts against the first convex body and the second cam abuts against the second convex body to push the carriage to move.

[0015] Preferably, the outer contour of the projection of the above-mentioned first cam and / or second cam on a plane perpendicular to the rotation axis of the main decoupling member has an involute, and there is a linear variation relationship between the variation amount of the distance from the involute to the rotation axis of the main decoupling member and the angle through which the main decoupling member rotates around the rotation axis.

[0016] Preferably, the above-mentioned outer contour further includes a first arc and a second arc located at both ends of the involute, and the distance from the involute to the rotation axis of the main decoupling member gradually increases from one end where the involute is connected to the first arc to the other end where the involute is connected to the second arc.

[0017] Preferably, the above-mentioned driving device further includes a first guide pulley, and the second driving cable and the third driving cable are first guided by the first guide pulley and then by the guiding portion and extend to the end effector.

[0018] Preferably, the moving direction of the above-mentioned decoupling member is parallel to the portions of the second driving cable and the third driving cable between the first guiding portion and the carriage.

[0019] Preferably, the above-mentioned driving device further includes a second guide pulley, and the second driving cable and the third driving cable are guided by the guiding portion and then guided by the second guide pulley and extend to the end effector.

[0020] Preferably, the moving direction of the above-mentioned carriage is parallel to the portions of the second driving cable and the third driving cable between the guiding portion and the second guide pulley.

[0021] Preferably, the above-mentioned first driving unit and the main decoupling member rotate in a first direction to simultaneously reduce the lengths of the first driving cable and the second driving cable on the end effector and cause the slave decoupling member to move under the drive of the main decoupling member, thereby increasing the lengths of the second driving cable and the third driving cable within the driving device.

[0022] Preferably, the above-mentioned first driving unit and the main decoupling member rotate in a second direction to simultaneously increase the lengths of the first driving cable and the second driving cable on the end effector and cause the slave decoupling member to move under the drive of the main decoupling member, thereby reducing the lengths of the second driving cable and the third driving cable within the driving device.

[0023] Preferably, the above-mentioned first driving unit and the main decoupling member are used to rotate so that the variation amount of the length of the second driving cable or the third driving cable on the end effector is equal to twice the distance that the slave decoupling member moves within the driving device.

[0024] Preferably, the above-mentioned main decoupling member is used to rotate in a second direction so that the reduction amount of the length of the first cable on the end effector is equal to twice the distance that the main decoupling member unit moves within the driving device.

[0025] Preferably, the main decoupling member is used to rotate in the first direction to retract and pull the first decoupling cable and release the second decoupling cable, so that the carriage moves, thereby increasing the lengths of the second drive cable and the third drive cable in the drive device.

[0026] Preferably, the main decoupling member is used to rotate in the second direction opposite to the first direction to release the first decoupling cable and retract and pull the second decoupling cable, so that the carriage moves, thereby reducing the lengths of the second drive cable and the third drive cable in the drive device.

[0027] A slave operating device includes a robotic arm and the above surgical instrument. The surgical instrument is mounted on the robotic arm, and the robotic arm is used to manipulate the movement of the surgical instrument.

[0028] A surgical robot includes a main operation console and the above slave operating device. The slave operating device performs corresponding operations according to the instructions of the main operation console.

[0029] The drive device of the surgical instrument of the present invention can drive the end effector to use different drive principles when pitching in two directions. That is, the pitching movement in the first direction is driven by a dedicated pitching drive cable, while the pitching movement in the other direction is driven by the drive cable for driving the yaw of the end effector. Since the dedicated drive cable can provide greater force, it can meet the application scenario of providing greater force when the end effector pitches in one direction. Moreover, using the drive cable for driving the yaw of the end effector to drive the pitching movement of the end effector in the other direction saves drive cables and space, enabling the end effector to be made smaller. Description of the Drawings

[0030] Figure 1 It is a schematic structural diagram of the slave operating device of the surgical robot according to an embodiment of the present invention;

[0031] Figure 2 It is a schematic structural diagram of the main operation console of the surgical robot according to an embodiment of the present invention;

[0032] Figure 3 It is a schematic structural diagram of the robotic arm of the slave operating device according to an embodiment of the present invention;

[0033] Figure 4 It is a schematic structural diagram of the surgical instrument according to an embodiment of the present invention;

[0034] Figures 5A - 5H It is a schematic structural diagram of the end effector according to an embodiment of the present invention;

[0035] Figure 6A It is a perspective view of the first bracket of the end effector according to an embodiment of the present invention;

[0036] Figure 6B For the present inventionFigure 6A Top view of the first bracket of the end effector of the illustrated embodiment;

[0037] Figure 6C Top view of the first bracket of the end effector of an embodiment of the present invention;

[0038] Figure 7A Stereogram of the end effector of another embodiment of the present invention;

[0039] Figure 7B of the present invention Figure 7A Exploded view of the end effector of the illustrated embodiment;

[0040] Figure 8 is Figure 7A Top view of the first bracket of the end effector of the illustrated embodiment;

[0041] Figure 9A and Figure 9B is Figure 7A Schematic diagram of the pitching state of the end effector of the illustrated embodiment;

[0042] Figure 9C is Figure 7A Schematic diagram of the yaw device of the end effector of the illustrated embodiment;

[0043] Figure 10A Top view schematic diagram of the drive device of an embodiment of the present invention;

[0044] Figures 10B - 10C is Figure 10A Schematic diagram of the decoupling process of the drive device of the illustrated embodiment;

[0045] Figure 11A is Figure 10A Enlarged schematic diagram of the first guiding portion and the first guiding wheel portion in the illustrated embodiment;

[0046] Figure 11B is Figure 10A Enlarged schematic diagram of the first guiding portion and the third guiding wheel portion of the illustrated embodiment;

[0047] Figure 12 Schematic diagram of the drive device of an embodiment of the present invention;

[0048] Figure 13 Schematic diagram of the drive device of an embodiment of the present invention;

[0049] Figure 14A Perspective view of the drive device of an embodiment of the present invention;

[0050] Figure 14B is Figure 14A Top view of the illustrated embodiment;

[0051] Figure 14C For Figure 14A exploded view of the decoupling mechanism and installation of the illustrated embodiment;

[0052] Figure 14D For Figure 14A top view of the main decoupling member of the illustrated embodiment;

[0053] Figure 14E For Figure 14A schematic diagram of the decoupling process of the drive device of the illustrated embodiment;

[0054] Figure 15 schematic diagram of a drive device according to an embodiment of the present invention;

[0055] Figure 16A schematic diagram of a drive device according to an embodiment of the present invention;

[0056] Figure 16B For Figure 16A schematic diagram of the decoupling process of the drive device of the illustrated embodiment;

[0057] Figure 17 schematic diagram of a drive device according to an embodiment of the present invention;

[0058] Figure 18A schematic diagram of a drive device according to an embodiment of the present invention;

[0059] Figure 18B For Figure 18A elevation view of the main decoupling member of the drive device of the illustrated embodiment. Detailed Embodiments

[0060] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided so that the disclosure of the present invention can be understood more thoroughly and comprehensively.

[0061] It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments. The terms "distal end" and "proximal end" used herein are orientation terms, which are common terms in the field of interventional medical devices. The "distal end" represents the end far from the operator during the operation, and the "proximal end" represents the end close to the operator during the operation.

[0062] 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.

[0063] 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 2 The 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.

[0064] 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 .

[0065] likeFigure 4 As shown, the surgical instrument 120 includes a drive device 170 at the proximal end of the surgical instrument 120 and an end effector 150 at the distal end, as well as a long shaft 160 located between the drive device 170 and the end effector 150. The drive device 170 is used to connect with the instrument mounting bracket 132 of the instrument holding arm 130. There are multiple actuators (not shown in the figure) in the instrument mounting bracket 132. The multiple actuators engage with the drive device 170 to transmit the driving force of the actuators to the drive device 170. The long shaft 160 is used to connect the drive device 170 and the end instrument 150. The long shaft 160 is hollow for the drive cable to pass through. The drive device 170 manipulates the movement of the end effector 150 through the drive cable so that the end effector 150 performs relevant surgical operations.

[0066] Figures 5A - 5D As shown in the structural schematic diagram of the end effector 150 according to an embodiment of the present invention, Figure 5A and 5B As shown, the end effector 150 includes a first bracket 210 and a second bracket 310. The distal end of the first bracket 210 has a first support column 211 and a second support column 212. The proximal end of the first bracket 210 has a first base frame 213. One end of the base frame 213 is connected to the long shaft 160. The other end of the first base frame 213 extends towards the distal end of the end effector 150 to form the first support column 211 and the second support column 212. The first support column 211, the second support column 212, and the first base frame 213 form a structure similar to a U-shaped clip.

[0067] A first pin 214 and a second pin 215 are arranged between the first support column 211 and the second support column 212. One end of the first pin 214 is fixedly connected to the first support column 211, and the other end is fixedly connected to the second support column 212. Similarly, one end of the second pin 215 is fixedly connected to the first support column 314, and the other end is fixedly connected to the second support column 212. The first pin 214 and the second pin 215 are arranged side by side on the first support column 211 and the second support column 212, and the first pin 214 is closer to the base frame 213 of the first bracket 210 than the second pin 215.

[0068] A first pulley set is provided on the first pin 214. The first pulley set includes a first pulley 221, a second pulley 222, a third pulley 223, and a fourth pulley 224 that are sequentially arranged on the first pin 214 from left to right. A second pulley set is provided on the second pin 215. The second pulley set includes a fifth pulley 225, a sixth pulley 226, a seventh pulley 227, and an eighth pulley 228 that are sequentially arranged on the second pin 215 from left to right. The first pulley 211 to the eighth pulley 218 are all used to guide the drive cable. Since the pulleys for guiding the drive cable are all arranged on the first bracket 210 and there are no pulleys on the second bracket 310, the volume of the second bracket 310 can be made smaller, making the volume of the end effector 150 smaller, and there is no risk of pulley detachment.

[0069] A third support column 311, a fourth support column 312, and a pitching wheel 314 are provided on the second bracket 310. The third support column 311 and the fourth support column 312 extend from the pitching wheel 314 along the distal end of the end effector 150. The third support column 311, the fourth support column 312, and the pitching wheel 314 form a shape of a substantially U-shaped frame. The pitching wheel 314 of the second bracket 310 is installed on the first bracket 210 through the second pin 312. The second bracket 310 can rotate around the axis AA' passing through the second pin 215 to achieve the pitching motion of the end effector 150.

[0070] A third pin 313 is provided between the third support column 311 and the fourth support column 312 of the second bracket 310. One end of the third pin 313 is fixedly connected to the third support column 311 and the other end is fixedly connected to the fourth support column 312. The clamping part 410 of the end effector 150 includes a first clamping part 411 and a second clamping part 412. The first clamping part 411 and the second clamping part 412 are rotatably arranged on the second bracket 310 through the third pin 313. The first clamping part 411 and the second clamping part 412 can rotate around the axis BB' passing through the third pin 313 to achieve the opening and closing and / or yaw motion of the end effector 150. Among them, the first pin 214 is parallel to the second pin 215, and the third pin 313 is perpendicular to the first pin 214 and the second pin 215. The first clamping part 411 and the second clamping part 412 can be pliers for clamping tissue, or a stapler for suturing, or a cauterizer for electrocautery, etc.

[0071] Figure 5A The direction identifiers in are for facilitating the description of the winding method of the drive cable on the end effector 150. The distal end and the proximal end in the identifiers refer to the distal end and the proximal end directions of the end effector 150. The front, back, left, and right refer to the front direction, the back direction, the left direction, and the right direction of the end effector 150 from Figure 5A the perspective. Although there are no direction identifiers in other figures, it can be based on Figure 5AIt is relatively easy to deduce the direction of the end effector 150. The drive cables provided on the end effector 150 include a first drive cable, a second pair of cables, and a third pair of cables. Among them, the second pair of cables includes a second drive cable 152A and a third drive cable 152B. The second drive cable 152A and the third drive cable 152B cooperate to manipulate the first clamping portion 411 to rotate around the third pin 313. The first drive cable, the second drive cable 152A, and the third drive cable 152B cooperate together to manipulate the pitching motion of the end effector 150. The third pair of cables includes a fourth drive cable 153A and a fifth drive cable 153B. The fourth drive cable 153A and the fifth drive cable 153B cooperate to manipulate the second clamping portion 412 to rotate around the third pin 313. The second drive cable 152A, the third drive cable 152B, the fourth drive cable 153A, and the fifth drive cable 153B cooperate together to achieve the opening / closing and yawing motions of the end effector 150.

[0072] The distal end of the first drive cable 151 has a first mounting end 151A. On the second base 310 of the second bracket 310, there is a first mounting cavity for accommodating the first mounting end 151A. The first mounting end 151A is accommodated in the first mounting cavity to connect the first drive cable 151 to the second base 310. The distal ends of the second pair of cables and the third pair of cables respectively have a second mounting end 152C and a third mounting end 153C. The first clamping portion 411 and the second clamping portion 412 respectively have a second mounting cavity 411A and a third mounting cavity 412A. The second mounting cavity 411A and the third mounting cavity 412A are used to accommodate the first mounting end 151C and the second mounting end 152C to connect the first pair of cables and the second pair of cables to the first clamping portion 411 and the second clamping portion 412 respectively.

[0073] In order to enable the first drive cable 151, the second drive cable 152A, and the third drive cable 152B to cooperate together to manipulate the pitching motion of the end effector 150, on one side of the end effector 150, the winding manner of the second drive cable 152A on the first pulley set and the second pulley set is the same as that of the third drive cable 152B on the first pulley set and the second pulley set. The winding manner of the fourth drive cable 153A on the first pulley set and the second pulley set is the same as that of the fifth drive cable 153B on the first pulley set and the second pulley set. Specifically, as Figure 5CAs shown, the proximal end of the second drive cable 152A is connected to the drive unit within the drive device 170. The distal end of the second drive cable 151A is guided through the front of the first pulley 211 and then continues to extend towards the distal end of the end effector 150. After being guided through the rear of the fifth pulley 215, it continues to extend along the distal end of the end instrument 150 and finally is installed in the second installation cavity 411A of the first clamping portion 411 through the second installation end 151C. The third drive cable 151B is guided through the front of the fourth pulley 224 and then continues to extend towards the distal end of the end effector 150. After being guided through the rear of the eighth pulley 228, it continues to extend towards the distal end of the end effector 150 and finally is installed in the second installation cavity 411A of the second clamping portion 411 through the third installation end 152C. The distal end of the fourth drive cable 153A is guided through the rear of the second pulley 222 and then continues to extend towards the distal end of the end effector 150. After being guided through the front of the sixth pulley 226, it continues to extend towards the distal end of the end instrument 150 and finally is installed in the third safety cavity 412A of the second clamping portion 412 through the third installation end 153C. The distal end of the fifth drive cable 153B is guided through the rear of the third pulley 223 and then continues to extend towards the distal end of the end effector 150. After being guided through the front of the seventh pulley 217, it continues to extend towards the distal end of the end instrument 150 and finally is installed in the third installation cavity 412A of the second clamping portion 412 through the third installation end 153C.

[0074] The second drive cable 152A and the third drive cable 152B cooperate together to manipulate the first clamping portion 411 to rotate around the axis BB' of the third pin 313. The fourth drive cable 153A and the fifth drive cable 153B cooperate together to manipulate the second clamping portion 412 to rotate around the axis BB' of the third pin 313. Furthermore, the second drive cable 152A, the third drive cable 152B, the fourth drive cable 153A, and the fifth drive cable 153B cooperate together to manipulate the first clamping portion 411 and the second clamping portion 412 to achieve the opening and closing and / or yaw movement of the end effector 150.

[0075] In addition, the first drive cable 151A, the second drive cable 152A, and the third drive cable 152B cooperate together to manipulate the clamping portion 410 and the second bracket 310 to rotate around the axis AA' of the second pin 215 to achieve the pitching movement of the end effector 150.

[0076] Specifically, as Figures 5C - 5D shown, when the drive mechanism simultaneously retracts and pulls the second drive cable 152A and the third drive cable 152B and simultaneously releases the first drive cable 151, the fourth drive cable 153A, and the fifth drive cable 153B, the clamping portion 410 and the second bracket 310 rotate counterclockwise around the axis AA' of the second pin 215, and the end effector 150 performs Figure 5DThe pitching motion shown; when the driving mechanism pulls in the first driving cable 151A and / or simultaneously pulls in the fourth driving cable 153A and the fifth driving cable 153B, the clamping portion 410 and the second bracket 310 rotate clockwise about the axis AA' of the second pin 215, and the end effector 150 performs Figure 5E the pitching motion shown.

[0077] When the driving mechanism pulls in the third driving cable 152B and the fifth driving cable 153B and simultaneously releases the second driving cable 152A and the fourth driving cable 153A, the clamping portion 410 rotates clockwise about the axis BB' of the third pin 313, and the end effector 150 performs Figure 5F the yawing motion shown. When the driving device pulls in the third driving cable 152B and the fourth driving cable 153A and simultaneously releases the second driving cable 152A and the third and fifth driving cable 153BA, the first clamping portion 411 rotates counterclockwise about the axis BB' of the third pin 313, and the second clamping portion 412 rotates clockwise about the axis BB' of the third pin 313, and the end effector 150 performs Figure 5G the motion of the clamping portion 410 opening shown. The above pitching, yawing, and opening / closing motions of the end effector 150 can also be performed simultaneously, as Figure 5H shown by the first driving cable 151, the first pair of cables, and the second pair of cables cooperating to manipulate the end effector 150 to perform pitching, yawing, and opening / closing motions simultaneously. It can be understood that when the moving direction of the driving cable is opposite to the above direction, the pitching, yawing, and opening / closing directions of the end effector 150 are opposite to the above directions, which will not be elaborated here.

[0078] Compared with the existing end effector, the end effector 150 of the surgical instrument of the present invention is manipulated by the first driving cable 151 to rotate clockwise along the axis AA' of the second pin, while the end effector rotates counterclockwise along the axis AA' of the second pin is manipulated by the second driving cable 152A and the third driving cable 153A together. Since the torque exerted on the second bracket 310 by the driving mechanism 170 when pulling in the first driving cable 151 is greater than the torque exerted on the second bracket 310 by the driving mechanism 170 when pulling in the second driving cable 152A and the third driving cable 152B, therefore, the end effector 150 is more powerful when rotating clockwise than when rotating counterclockwise. This is mainly for scenarios where the end effector 150 requires greater force to pitch in one direction, while less force is required to pitch in the opposite direction. For example, in a surgical operation, when the surgical instrument needs to lift a part of human tissue or press down on a part of human tissue in one direction, the end effector of the surgical instrument needs to provide greater force to lift or press down the human tissue combination, and conversely, less force is required to release the human tissue lifted or pressed down by the end effector.

[0079] In one embodiment of the present invention, when the end effector 150 of the surgical instrument rotates clockwise along the axis AA' of the second pin, it is manipulated by the first drive cable 151, the fourth drive cable 153A, and the fifth drive cable 153B together. At this time, compared with the situation where the end effector 150 rotates clockwise only by the first drive cable 151, the end effector 150 rotates clockwise along the axis AA' of the second pin with greater force, enabling the end effector to adapt to scenarios where a greater force can be provided when pitching in a single direction.

[0080] In addition, since the present invention has only one first drive cable dedicated to manipulating the pitching movement of the end effector 150, there is one less drive cable dedicated to manipulating the pitching movement of the end effector compared to the existing end effector, enabling the volumes of the first bracket and the second bracket to be made smaller, thereby making the volume of the entire end effector correspondingly smaller, the structure simpler, and the assembly and installation more convenient.

[0081] It can be understood that in other embodiments, contrary to the above two embodiments, the first drive cable dedicated to manipulating the pitching of the end effector manipulates the end effector to rotate counterclockwise, while the second drive cable and the third drive cable for manipulating the opening / closing and yawing of the end effector manipulate the end effector to rotate clockwise.

[0082] To achieve the manipulation of the pitching movement of the end effector using the second drive cable and the third drive cable for manipulating the opening / closing and yawing of the end effector, as Figures 5C - 5G shown, regardless of how the end effector 150 moves, the part of the distal end of the first pair of cables to the second pulley group and the part of the distal end of the second pair of cables to the second pulley group are respectively located on both sides of the plane M (the first plane) passing through the axis AA' of the second pin 215 and perpendicular to the axis BB' of the third pin 313. The part of the distal end of the first pair of cables to the second pulley group includes the first partial cable 152A' and the second partial cable 152B', and the part of the distal end of the second pair of cables to the second pulley group includes the third partial cable 153A' and the fourth partial cable 153B'. That is, the first partial cable 152A' and the second partial cable 152B' are located on the same side of the plane M, and the first partial cable 152A' and the second partial cable 152B' are located on the other side of the plane M. Among them, the part of the distal end of the first pair of cables to the second pulley group and the part of the distal end of the second pair of cables to the second pulley group do not include the parts where the first pair of cables and the second pair of cables are wound around the second pulley group.

[0083] As Figure 5CAs shown, the portion of the first pair of cables between the second pulley set and the second mounting cavity 412A of the second clamping portion 412 includes a first portion of the second driving cable 152A between the sixth pulley 226 and the second mounting cavity 412A, i.e., cable 152A', and a second portion of the third driving cable 152B between the seventh pulley 227 and the second mounting cavity 412A, i.e., cable 151B'. The portion of the second pair of cables between the second pulley set and the first mounting cavity 411A of the first clamping portion 411 includes a third portion of the fourth driving cable 153A between the fifth pulley 225 and the first mounting cavity 411A, i.e., cable 152A', and a fourth portion of the fifth driving cable 153B between the eighth pulley 228 and the first mounting cavity 411A, i.e., cable 152B'.

[0084] Therefore, when the driving device 170 simultaneously pulls in the second driving cable 152A and the third driving cable 152B of the first pair of cables and releases the first driving cable 151 and the fourth driving cable 153A and the fifth driving cable 153B of the second pair of cables, the second clamping portion 412 is pushed by the moment of the first pair of cables to rotate counterclockwise around the axis AA' of the second pin 215, and the end effector 150 performs Figure 5D the pitching motion as shown. Conversely, when the driving device 170 pulls in the first driving cable 151 and releases the second pair of cables, the second bracket 310 rotates clockwise around the axis AA' of the second pin 215 under the tension of the first driving cable 151, and the pitching motion of the end effector 150 is opposite to that Figure 5E shown. In another embodiment, when the driving device 170 pulls in the first driving cable 151 and simultaneously pulls in the fourth driving cable 153A and the fifth driving cable 153B and releases the second pair of cables, while the second bracket 310 is under the tension of the first driving cable 151, the first clamping portion 411 is also pushed by the moment of the second pair of cables. As a result, the end effector 150 is driven to rotate clockwise by two moments (i.e., the moments of the first driving cable 151 and the second pair of cables). Therefore, when the end effector 150 performs a clockwise pitching motion, it can provide a greater force to adapt to more application scenarios.

[0085] As Figures 5D - 5HAs shown, regardless of how the end effector 150 pitches, the first part of the cable 152A' and the second part of the cable 152B' and the third part of the cable 153A' and the fourth part of the cable 153B' are always on both sides of the plane M. The first part of the cable 152A' and the second part of the cable 152B' are always on the same side of the plane M, and the third part of the cable 153A' and the fourth part of the cable 154 are always on the other same side of the plane M. Therefore, regardless of the position of the end effector 150, simultaneously pulling the second drive cable 152A and the third drive cable 152B can make the end effector 150 be driven by a moment that rotates it counterclockwise about the axis AA' and rotate clockwise about the axis AA'. Similarly, regardless of the position of the end effector 150, simultaneously pulling the fourth drive cable 153A and the fifth drive cable 153B can make the end effector 150 be driven by a moment that rotates it counterclockwise about the axis AA' and rotate counterclockwise about the axis AA'.

[0086] Similarly, the part of the first pair of cables between the first pulley set and the first chassis 213 of the second bracket 210 and the part of the second pair of cables between the first pulley set and the first chassis 213 are respectively on both sides of the plane P (the second plane) passing through the axis of the first pin 214 and the axis AA' of the second pin 215. That is, the plane P refers to the plane passing through the rotation axis AA' of the pitch movement of the end effector 150 and perpendicular to the distal end face of the first chassis 213. The part of the first pair of cables between the first pulley set and the first chassis 213 of the second bracket 210 and the part of the second pair of cables between the first pulley set and the first chassis 213 do not include the parts wound around the first pulley set.

[0087] As Figure 6A and 6B , through holes for the first drive cable, the first pair of cables, and the second pair of cables to pass through are provided on the first chassis 213. Specifically, the first chassis 213 has a first through hole 213A for the first drive cable 151 to pass through, a second through hole 213B for the second drive cable 152A to pass through, a third through hole 213C for the third drive cable 152B to pass through, a fourth through hole 213D for the fourth drive cable 153A to pass through, and a fifth through hole 213E for the fifth drive cable 153B to pass through. Among them, the first through hole 213A, the second through hole 213B, and the third through hole 213C are on the same side of the plane P, and the fourth through hole 213D and the fifth through hole 213E are on the other side of the plane P. In this way, the part of the first pair of cables between the first pulley set and the first chassis 213 and the part of the second pair of cables between the first pulley set and the first chassis 213 can be respectively on both sides of the plane P, and the first drive cable 151 for cooperatively controlling the pitch movement of the end effector 150 and the part of the first pair of cables between the first pulley set and the first chassis 213 are on the same side of the plane P.

[0088] To maximize the transmission efficiency of the drive cable, the straight line passing through the centers of the second through-hole 213B and the third through-hole 213C is parallel to the straight line passing through the centers of the fourth through-hole 213D and the fifth through-hole 213E. As shown in Figure 6A the connection lines of the centers of the second through-hole 213B, the third through-hole 213C, the fourth through-hole 213D, and the fifth through-hole 213E form a trapezoid. Another embodiment of the present invention is as shown in Figure 6C the connection lines of the centers of the second through-hole 223B, the third through-hole 223C, the fourth through-hole 223D, and the fifth through-hole 223E on the first bracket 220 form a parallelogram. The proximal ends of the first pair of cables and the second pair of cables pass through the through-holes on the first brackets 210 and 220 and then enter the long shaft 160 and are finally fixed in the drive device 170.

[0089] The end effector of another embodiment of the present invention is as shown in Figures 7A - 7B the end effector 250, the end effector 510 includes a first bracket 510 and a second bracket 610. The proximal end of the first bracket 510 has a first chassis 513. One end of the chassis 513 is connected to the long shaft 160, and the other end extends towards the distal end of the end effector 250 to form a first support column 511 and a second support column 512. The first support column 511, the second support column 512, and the first chassis 513 form a structure of a substantially U-shaped clamp.

[0090] A first pin 514 and a second pin 515 parallel to each other are arranged between the first support column 511 and the second support column 512. One end of the first pin 514 and the second pin 515 is fixedly connected to the first support column 511, and the other end is fixedly connected to the second support column 512. The first pin 214 and the second pin 215 are arranged side by side on the first support column 211 and the second support column 212, wherein the first pin 214 is closer to the chassis 213 of the first bracket 210 than the second pin 215.

[0091] A first pulley group is arranged on the first pin 514. The first pulley group includes a first pulley 521 and a second pulley 522 arranged on the first pin 514 from left to right. A second pulley group is arranged on the second pin 215. The second pulley group includes a third pulley 523 and a fourth pulley 524 arranged on the second pin 515 from left to right. The first pulley 521 to the fourth pulley 524 are all used to guide the drive cable. Since the pulleys for guiding the drive cable are all arranged on the first bracket 510 and there are no pulleys on the second bracket 610, the volume of the second bracket 310 can be made smaller, making the volume of the end effector 150 smaller and there being no risk of pulley detachment.

[0092] The proximal end of the second support 610 is provided with a pitching wheel 613. A third strut 611 and a fourth strut 612 extend from the pitching wheel 613 along the distal end of the end effector 250. The third strut 611, the fourth strut 612 and the pitching wheel 613 form a substantially U-shaped configuration. The pitching wheel 613 of the second support 610 is mounted on the first support 510 through a second pin 515. The second support 610 can rotate about an axis AA' passing through the second pin 515 to effect the pitching motion of the end effector 150.

[0093] A third pin 313 is disposed between the third strut 611 and the fourth strut 612 of the second support 610. The third pin 313 is perpendicular to the first pin 514 and the second pin 515, and the third pin 313 is fixed between the third strut 611 and the third strut 612. The actuating portion 620 of the end effector 250 is rotatably disposed on the second support 610 through a third pin 623. The actuating portion 620 can rotate about an axis BB' passing through the third pin 623 to effect the yaw motion of the end effector 250. In this embodiment, the actuating portion 620 is an electrocautery instrument. In other embodiments, the actuating portion 620 may also be a cutting knife, a needle puncture instrument, etc.

[0094] The drive cables disposed on the end effector 250 include a first drive cable 251 and a first pair of cables 252. Among them, the first pair of cables 252 includes a second drive cable 252A and a third drive cable 252B. The first drive cable 251 is located between the second drive cable 252A and the third drive cable 252B. The second drive cable 252A and the third drive cable 252B cooperate to effect the rotation of the actuating portion 620 about the third pin 623 to effect the yaw motion of the end effector 250. The first drive cable 251, the second drive cable 252A and the third drive cable 252B cooperate together to effect the pitching motion of the end effector 250.

[0095] The distal end of the first drive cable 251 has a first mounting end 251A. The pitching wheel 613 of the second support 310 has a first mounting cavity (not shown in the figure) for accommodating the first mounting end 251A. The first mounting end 251A is accommodated in the first mounting cavity to connect the first drive cable 251 to the pitching wheel 613. The pitching wheel 613 also has an annular groove for guiding and accommodating the first drive cable 251. The first drive cable 251 can form a wrap angle in the annular groove. The distal ends of the first pair of cables 252 respectively have second mounting ends 252. The second support 610 has a second mounting cavity (not shown in the figure). The second mounting cavity is used for accommodating the second mounting end 252C to connect the first pair of cables 252 to the actuating portion 620.

[0096] For the third pair of cables, the second drive cable 252A is wound around the first pulley 521 and the third pulley 523 in the same way as the third drive cable 253A is wound around the second pulley 522 and the fourth pulley 524. Specifically, the second drive cable 252A extends after being guided by the rear part of the first pulley 521 and then continues to extend after being guided by the front part of the third pulley 523 and then extends towards the distal end of the end effector 250 and finally passes through and is fixed on the actuator part 620. The third drive cable 252B extends after passing through the rear part of the second pulley 442 and then continues to extend after passing through the front part of the fourth pulley 444 and then extends towards the distal end of the end effector 250 and finally is fixed on the actuator part 620. After being wound in the above way, no matter how the end effector 250 moves, the part 252A' of the second drive cable 252A between the second mounting end 252C and the third pulley 523 and the part 252B' of the third drive cable 252B between the second mounting end 252C and the third pulley 524 are always on the same side of the first plane M, and the first plane M is a plane passing through the axis AA' of the first pin 515 and perpendicular to the axis BB' of the third pin 623.

[0097] As Figure 7B shown, the end effector 250 further includes a cable 253 for supplying power to the actuator part 620. The second pulley 552 includes a guide pulley 522A for guiding the second drive cable 252B and a first guide boss 422B for guiding the cable 253. The fourth pulley 424 includes a guide pulley 524A for guiding the second drive cable 252B and a second guide boss 524BA for guiding the cable 253. The cable 253 is connected to the actuator part 620 after being guided by the first guide boss 522B of the second pulley 522 and the second guide boss 524B of the fourth pulley 524.

[0098] The actuator part 430 includes an electric hook 624 and an insulating member for preventing the electric hook and the cable 253 from burning to an undesired part. The insulating member at least includes a first insulating member 621, a second insulating member 622, and a third insulating member 625. The proximal end of the electric hook 624 and the distal end of the cable 253 are connected within the first insulating member 621. The second insulating member 622 is connected to the distal end of the first insulating member 621. The end of the electric hook 624 is fixed within the second insulating member 622. The distal end of the cable 253 is received within the third insulating member 625 and extends into the first insulating member 621 to be connected to the proximal end of the electric hook 624.

[0099] As Figure 8As shown, the first bracket 510 has a plurality of through holes allowing the driving cable and the cable to pass through. The plurality of through holes include a first through hole 513a for the first driving cable 251 to pass through, a second through hole 523b for the second driving cable 252A to pass through, a third through hole 513c for the third driving cable 252B to pass through, and a fourth through hole 513d for the cable 253. Similar to the previous embodiment, the first through hole 513a, the second through hole 513b, and the third through hole 513c are located on the same side of the second plane P passing through the axis of the first pin 414 and parallel to the axis of the through holes, and the fourth through hole 513d is located on the opposite side of the second plane P from the first through hole 513a, the second through hole 513b, and the third through hole 513c. In other embodiments, the fourth through hole 513d may also be located on the same side of the second plane P as the first through hole 513a, the second through hole 513b, and the third through hole 513c. When the first through hole 513a, the second through hole 513b, and the third through hole 513c are located on the same side of the second plane P as opposed to on the opposite sides, the transmission efficiency of the first driving cable 251 and the first pair of cables 252 can be maximized, so that the winding method of the first pair of cables on the end effector 250 is simple and the assembly is easy.

[0100] As Figure 7A shown, when the driving device of the surgical instrument simultaneously retracts and pulls the second driving cable 252A and the third driving cable 252B and releases the first driving cable 251, the pitching wheel 613 of the second bracket 610 rotates along the first direction around the axis of the second pin 515, i.e., the first axis AA'. At this time, the end effector 250 performs a pitching motion as Figure 9A shown. Conversely, when the driving device retracts and pulls the first driving cable 251 and simultaneously releases the second driving cable 252A and the third driving cable 252B, the pitching wheel 613 of the second bracket 610 rotates along the second direction around the first axis AA'. At this time, the end effector 250 performs a pitching motion as Figure 9B shown. Due to the different winding and connection of the first driving cable 251 and the first pair of cables 252 on the end effector 250, when the driving device retracts and pulls the second driving cable 252A and releases the third driving cable 252B, the execution part 620 rotates along the third rotation around the axis BB' of the third pin 623, and the end effector 250 performs a yaw motion as Figure 9C shown. Conversely, when the driving device retracts and pulls the third driving cable 252B and releases the second driving cable 252A, the end effector performs a yaw motion in the direction opposite to Figure 9C the shown direction.

[0101] For Figure 5AIn the illustrated embodiment, since the proximal ends of the second drive cable 152A and the third drive cable 152B of the first pair of cables and the fourth drive cable 153A and the fifth drive cable 153B of the third pair of cables are all wound around the drive unit within the drive device, and the drive unit can only perform rotational motion to achieve the retraction or release of the first drive cable 151 to the fifth drive cable 153B. However, since the drive unit cannot translate, it cannot retract or release the second drive cable 152A and the third drive cable 152A simultaneously. Similarly, the drive unit cannot retract or release the fourth drive cable 153A and the fifth drive cable 153B simultaneously. As described in the above two embodiments, when the end effector 150 rotates clockwise about the axis AA' of the second pin 215, it is necessary to retract the first drive cable 151 and simultaneously release the second drive cable 152A and the third drive cable 152B of the first pair of cables. When the end effector 150 rotates counterclockwise about the axis AA' of the second pin 215, it is necessary to simultaneously retract the second drive cable 152A and the third drive cable 153A of the first pair of cables and simultaneously release the fourth drive cable 153A and the fifth drive cable 153B of the second pair of cables. In short, there is a coupling relationship among the first drive cable 151, the first pair of cables, and the second pair of cables. Therefore, the existing drive device cannot drive the end effector 150 of the present invention to perform pitching motion. Thus, the present invention also proposes a drive device that can drive the end effector 150 of the present invention, especially drive the end effector 150 of the present invention to perform pitching motion. It can be understood that the drive device of the present invention can not only be applied to the end effector 150 in the first embodiment of the present invention, but also be applied to other end effectors that have different structures from the end effectors 150 and 250 of the present invention but the same principle.

[0102] The following is a detailed description Figure 5A This coupling relationship among the first drive cable 151, the second pair of cables, and the third pair of cables in the illustrated embodiment. When the end effector 150 rotates from Figure 5C the straight zero state shown to Figure 5E the pitching state shown, during the drive device 170 retracting the first drive cable 151, if the target pitching angle that the end effector 150 needs to turn through is α, then the horizontal plane a passing through the axis of the second pin 215 needs to rotate clockwise by an angle of α from the position in Figure 5D to the position in Figure 5EThe position of plane b. Assuming that the radii of the first pulley group and the second pulley group are both r, in order for the end effector 150 to successfully rotate the target's pitch angle α, at this time, the wrap angles of the second driving cable 152A and the third driving cable 152B on the sixth pulley 226 and the seventh pulley 227 must increase by a length L at the same time, where L = α * r1, and the corresponding wrap angles of the fourth driving cable 153A and the fifth driving cable 153B on the fifth pulley 225 and the eighth pulley 228 decrease by a length L at the same time. Similarly, if we want to simultaneously retract and pull the second driving cable 152A and the third driving cable 152B so that the end effector 150 rotates counterclockwise by an angle α from the Figure 5D zero position in Figure 5D the position shown, then it must be possible to make the wrap angles of the second driving cable 152A and the third driving cable 152B on the sixth pulley 226 and the seventh pulley 227 decrease by a length L at the same time, and correspondingly, the wrap angles of the third driving cable 153A and the fifth driving cable 153B on the fifth pulley 225 and the eighth pulley 228 increase by a length L at the same time, where L = α * r1.

[0103] And as Figure 10A shown, inside the driving device 170, the proximal end of the first driving cable 151 is wound around the rotatable first driving unit 171, the second driving cable 152A and the third driving cable 152B are wound around the rotatable second driving unit 172 in opposite directions, the fourth driving cable 153A and the fifth driving cable 153B are wound around the rotatable second driving unit 173 in opposite directions, and the first driving unit 171, the second driving unit 172, and the third driving unit 173 are rotationally fixed on their rotation axes. Therefore, the second driving unit 172 and the third driving unit 173 cannot be translated. Thus, relying solely on rotating the second driving unit 172 cannot make the lengths of the second driving cable 152A and the third driving cable 152B increase or decrease at the same time. Similarly, rotating the third driving unit 173 cannot make the lengths of the fourth driving cable 153A and the fifth driving cable 153B increase or decrease at the same time. And as described above, if we want to achieve the pitching motion of the end effector 150, it is necessary to make the lengths of the second driving cable 152A and the third driving cable 152B increase or decrease at the same time, and the lengths of the fourth driving cable 153A and the fifth driving cable 153B must increase or decrease at the same time. Therefore, the movement of the first driving cable 151 is restricted by the first pair of cables, and the first pair of cables and the second pair of cables restrict each other when operating the pitching motion of the end effector.

[0104] 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 driving cable 151, the second pair of cables and the third pair of cables, this restricted relationship can be that the first driving cable is restricted by the first pair of cables, so that the third pair of cables cannot move at all, and the first pair of cables and the second pair of cables are restricted by each other, so that the first pair of cables and the second pair of cables cannot move, so that the end effector cannot achieve pitch movement. It can also be that the first driving cable is restricted by the first pair of cables, and the first pair of cables and the second pair of cables are restricted by each other, so that any movement of the first pair of cables, the second pair of cables and the third pair of cables will cause the other cables to move unexpectedly, thereby This causes the end effector to make unexpected movements and be unable to perform the desired operation. For example, when the first drive cable 151 is manipulating the pitch movement of the end effector, due to the coupling relationship between the first drive cable 151 and the first pair of cables, the movement of the third pair of cables will simultaneously cause the movement of the first pair of cables and / or the second pair of cables. As a result, the pitch movement of the end effector will cause the opening and closing and / or yaw movement of the end effector, resulting in the pitch movement and the opening and closing and / or offset movement of the end effector affecting each other, and the pitch movement and the opening and closing and / or offset movement of the end effector are not independent of each other, making it impossible for the end effector 150 to correctly perform surgical operations. Therefore, it is necessary to release the coupling relationship between the first driving cable 151, the first pair of cables and the second pair of cables, so that the movement of the first driving cable 151 is no longer restricted by the first pair of cables, and the first pair of cables and the second pair of cables are no longer restricted by each other when manipulating the pitch movement of the end effector, and the movement energies of each driving cable are independent of each other and do not interfere with or affect each other. The release of the coupling relationship between the first driving cable 151 and the first pair of cables, and between the first pair of cables and the second pair of cables when manipulating the pitch movement of the end effector is called decoupling.

[0105] How to release the coupling relationship between the driving cables in the above two embodiments? Figure 5ATaking the end effector in the illustrated embodiment as an example, an existing decoupling method is to use a software algorithm for decoupling. While the main operation console 200 controls the first drive unit to drive the first drive cable to move, it also controls the second drive unit and the third drive unit to drive the first pair of cables and the second pair of cables to move, so that the wrap angle lengths of the first pair of cables and the second pair of cables on the pulley increase or decrease by L along with the movement of the third pair of cables. However, for this decoupling method, the first part of the first pair of cables 152A' and the second part of the first pair of cables 152B' on the end effector need to be located on different sides of the plane M respectively, and the second part of the second pair of cables 153A' and the third part of the second pair of cables 153B' also need to be located on different sides of the plane M respectively, so that the second drive cable 152A and the third drive cable 152B of the first pair of cables form a loop spanning the plane M, and the fifth drive cable 153A and the sixth drive cable 153B of the second pair of cables also form a loop spanning the plane M, then it is possible to achieve decoupling by controlling the movement of the drive units through software. However, as described above, in the end effector of the embodiment shown in the present invention Figure 5A the first part of the first pair of cables 152A' and the second part of the first pair of cables 152B' on the end effector are located on the same side of the plane M, and the second part of the second pair of cables 153A' and the third part of the second pair of cables 153B' 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 in the present invention. In addition, the method of using a software algorithm for decoupling will make the control program of the surgical robot complex and prone to errors, and this method of software algorithm decoupling will also make each drive unit of the drive mechanism of the surgical instrument lose its independence. Specifically, there are drive units in the drive device that respectively drive the third pair of cables, the first drive unit, and the second drive unit. Ideally, the controls of the drive units are independent of each other. However, when using a software algorithm for decoupling, it is necessary to control the above three drive units to move together, resulting in the loss of independence of the three drive units and prone to control errors. And the software decoupling method cannot eliminate the coupling relationship between the first pair of cables and the second pair of cables when operating the end effector to perform a pitching operation.

[0106] The present invention proposes a mechanical decoupling solution, and a mechanical decoupling mechanism is provided in the drive device 170 of the surgical instrument 120 to avoid the disadvantages of the above software algorithm decoupling.

[0107] As Figure 10A shown is a schematic diagram of the drive device 170 according to an embodiment of the present invention. The drive device 170 is suitable for driving Figure 5AThe end effector shown. The drive device 170 includes a housing 178 and a first drive unit 171 located within the housing 178 for driving the end effector 150 to perform a pitching motion, a second drive unit 172 and a third drive unit 173 for driving the end effector 150 to perform opening / closing, yawing, and pitching motions, and a fourth drive unit 174 for driving the long shaft 160 to perform a self-rotation motion. The proximal end of the first drive cable 151 is wound around the first drive unit, and its distal end is mounted on the end effector 150. The second drive cable 152A and the third drive cable 152B of the first pair of cables are respectively wound around the second drive unit 172 in opposite winding manners. The fourth drive cable 153A and the fifth drive cable 153B of the second pair of cables are respectively wound around the third drive unit 173 in opposite winding manners. The sixth drive cable 154A and the seventh drive cable 154B of the third pair of cables are respectively wound around the fourth drive unit 174 in opposite winding manners.

[0108] When the actuator within the instrument mounting bracket 132 drives the first drive unit 171 to rotate about its axis 171A, the first drive unit 171 retracts or releases the first drive cable 151 to cause the second bracket 310 to rotate about the axis AA' of the second pin 215. When the actuator within the instrument mounting bracket 132 drives the second drive unit 172 to rotate about its axis 172A, the second drive unit 172 retracts or releases the second drive cable 152A or the third drive cable 152B to cause the second clamping portion 412 to rotate about the third pin 313. When the actuator drives the third drive unit 173 to rotate about its axis 173A, the third drive unit 173 retracts or releases the fourth drive cable 154A or the fifth drive cable 154B to cause the first clamping portion 411 to rotate about the third pin 313. The movement of the first clamping portion 411 and the second clamping portion 412 about the third pin 313 causes the end effector 150 to perform opening / closing and / or yawing motions. When the actuator within the instrument mounting bracket 132 drives the fourth drive unit 174 to rotate about its axis 174A, the fourth drive unit 174 retracts or releases the seventh drive cable 154A or the eighth drive cable 154B to achieve driving the self-rotation motion of the long shaft 160.

[0109] The drive device 170 further includes a decoupling mechanism 175 for decoupling the coupling relationships among the first drive cable 151, the first pair of cables, and the third pair of cables on the end effector 150 side. The decoupling mechanism 175 includes a main decoupling member 1751 and a slave decoupling member. The slave decoupling member includes a carriage 1752 and a first moving part 1753 and a second guiding part 1754 connected to both ends of the carriage. The main decoupling member 1761 is connected to both ends of the carriage 1752 through a first decoupling cable 1761 and a second decoupling cable 1762. The main decoupling member 1751 manipulates the movement of the slave decoupling member by operating the first decoupling cable 1761 and the second decoupling cable 1762. The first decoupling cable 1761 and the second decoupling cable 1762 are wound around the main decoupling member 1751 in opposite ways. The main decoupling member 1761 moves at the same angular velocity as the first drive unit 171. The main decoupling member 1751 and the first drive unit 171 can be arranged on the same axis 173A. Therefore, the main decoupling member 1751 rotates coaxially with the first drive unit 171 along the axis 171A. In some other embodiments, the main decoupling member 1751 and the first drive unit 171 can also be respectively arranged on different rotation axes. The main decoupling member 1751 and the first drive unit 171 have different radii. The radius of the main decoupling member 1751 is r2, and the radius of the first drive unit 171 is R2, where r2 < R2. The main decoupling member 1751 realizes the movement of the slave decoupling member by retracting or releasing the first decoupling cable 1761 or the second decoupling cable 1761. The main decoupling member 1751 and the first drive unit 171 can receive driving from the same power source, and the power source is the actuator in the above-mentioned slave operating device. In other embodiments, the main decoupling member and the first drive unit are arranged on different rotation axes, but the main decoupling member still receives the driving force homologous to the first drive unit, for example, they are respectively connected and driven in different ways by the same actuator to drive the main decoupling member and the first drive unit.

[0110] The following details how the decoupling mechanism 175 achieves decoupling. As Figures 10A - 10CAs shown, the second drive cable 152A and the third drive cable 152B are guided by the first guide wheel 176A, the first guide portion 1753 and the third guide wheel 176C, and then enter the long shaft and extend to connect to the end effector 150. The fourth drive cable 153A and the fifth drive cable 153B are guided by the second guide wheel 176B, the second guide portion 1764 and the fourth guide wheel 176D, and then enter the long shaft and extend to connect to the end effector 150. As for how the first drive cable 151 to the fifth drive cable 153B are connected to the end effector 150, it has been described in detail above and will not be repeated here. The first drive cable 151 is guided by the fifth guide wheel 176E, and then enters the long shaft and extends to connect to the end effector 150. The decoupling mechanism 175 can slide relative to the housing 178 of the drive device 170. Specifically, when the main decoupling component rotates, the first decoupling cable 1761 is pulled and the second decoupling cable 1762 is released at the same time, or the first decoupling cable 1761 is released and the second decoupling cable 1762 is released at the same time, thereby pulling the slave decoupling component to move in the drive device 170. Since the first pair of cables is wound around the first guide portion 1753 and the second pair of cables is wound around the second guide portion 1754, when the slave decoupling component is pulled and moved, the lengths of the first pair of cables and the second pair of cables in the drive device 170 will change, thereby releasing the coupling relationship between the first drive cable 151, the first pair of cables and the second pair of cables.

[0111] In order to accurately and controllably decouple the first drive cable 151, the first pair of cables, and the second pair of cables by the decoupling mechanism 175, the slave decoupling member driven by the main decoupling member 1751 always moves in a straight line, and the length changes of the second drive cable 152A, the third drive cable 152B, the fourth drive cable 153A, and the fifth drive cable 154B in the drive device 170 caused by the movement of the slave decoupling member are always linear. Specifically, as shown in FIGS. 7A-7C, after being redirected by the fifth guide pulley 176F, the first decoupling cable 1761 extends along the movement direction of the slave decoupling member and is fixed to one end of the slave decoupling member. Similarly, after being redirected by the seventh guide pulley 176G, the second decoupling cable 1762 extends along the movement direction of the decoupling mechanism 175 and is fixed to the other end of the slave decoupling member. In this way, the portion of the first decoupling cable 1761 between the fifth guide pulley 176F and the carriage 1752 is parallel to the movement direction of the slave decoupling member. Similarly, the portion of the second decoupling cable 1762 between the seventh guide pulley 176G and the carriage 1752 is also parallel to the movement direction of the slave decoupling member. Therefore, during the decoupling process, the movement speed of the carriage 1752 of the slave decoupling member pulled by the first decoupling cable 1761 and the second decoupling cable 1762 is in a proportional relationship with the rotational linear speed of the main decoupling member 1751 and the first drive unit 171. It can be understood that in some other embodiments, only a part of the portion of the first decoupling cable 1761 between the fifth guide pulley 176F and the carriage 1752 is parallel to the movement direction of the slave decoupling member, or only a part of the portion of the second decoupling cable 1762 between the seventh guide pulley 176G and the carriage 1752 is parallel to the movement direction of the slave decoupling member, and the non-parallel part does not change the movement direction of the carriage, so that the slave decoupling member still moves in a straight line.

[0112] In addition, the first guide pulley 176A to the fourth guide pulley 176D, the fifth guide pulley 176F, the seventh guide pulley 176G, the first guide portion 1752, and the second guide portion 1753 all have a structure with two side-by-side pulleys for guiding two drive cables. As Figure 11AAs shown, the two side-by-side pulleys of the first guide wheel 176A, the first guide portion 1753, and the third guide wheel 1762 are respectively used to guide the second drive cable 152A and the third drive cable 152B. After being guided by the first guide wheel 176A, a fifth part of the cable 152Aa is formed between the first guide wheel 176A and the first guide portion 1753 for the second drive cable 152A, and a sixth part of the cable 152Ba is formed between the first guide wheel 176A and the first guide portion 1753 for the third drive cable 152B. The fifth part of the cable 152Aa and the sixth part of the cable 152Ba do not include the parts wound around the pulleys. The fifth part of the cable 152Aa and the sixth part of the cable 152Ba are both parallel to the movement direction of the decoupling member. Therefore, when the decoupling member moves linearly under the drive of the main decoupling member 1751, the length changes of the first part of the cable 151Aa and the second part of the cable 151Ba are always linear.

[0113] As Figure 11B As shown, a seventh part of the cable 152Ab is formed between the first guide portion 1753 and the third guide wheel 176C for the second drive cable 152A, and an eighth part of the cable 152Bb is formed between the first guide portion 1753 and the third guide wheel 176C for the third drive cable 152B. The seventh part of the cable 152Ab and the eighth part of the cable 152Bb are symmetric with respect to the central plane H1 of the third guide wheel 176C. The central plane H1 of the third guide wheel 176C refers to the plane located at the center of the two side-by-side pulleys of the third guide wheel 176C and perpendicular to the axis c1 of the third guide wheel 176C. Similarly, the seventh part of the cable 152Ab and the eighth part of the cable 152Bb also do not include the parts wound around the pulleys. The angles between the seventh part of the cable 152Ab and the eighth part of the cable 152Bb and the central plane H1 are both θ, and the angle θ is small enough so that the lengths of the fifth part of the cable 152Ab and the seventh part of the cable 152Bb are almost equal to the shortest straight-line distance between the first guide portion 1753 and the third guide 176C on the central plane H1. Thus, the seventh part of the cable 152Ab and the eighth part of the cable 152Bb are also substantially parallel to the movement direction of the decoupling member. Therefore, when the decoupling member moves linearly under the drive of the main decoupling member 1751, the length changes of the seventh part of the cable 152Ab and the eighth part of the cable 152Bb are also basically linear.

[0114] Similarly, the portions of the fourth drive cable 153A and the fifth drive cable 153B of the second pair of cables between the second guide pulley 176B, the second guide portion 1754, and the fourth guide pulley 176D are also arranged in the same way as the first pair of cables described above, and will not be elaborated here. Therefore, during the decoupling process, the length change speed of any one of the drive cables from the second drive cable 152A to the fifth drive cable 153B is in a direct proportional relationship with the movement speed of the carriage 1752. As described above, the movement speed of the carriage 1752 is in a direct proportional relationship with the rotational linear speed of the main decoupling member 1751 and the first drive unit 171. Therefore, the length change speed of any one of the drive cables from the second drive cable 152A to the fifth drive cable 153B is in a direct proportional relationship with the rotational linear speed of the main decoupling member 1751 and the first drive unit 171, thus making the decoupling process precisely controllable.

[0115] The decoupling process of the drive device 170 is as Figure 10B and 10C shown. As Figure 10B shown, when the first drive unit 171 rotates clockwise, the first drive unit 171 pulls the first drive cable 151, causing the second bracket 220 of the end effector 150 to rotate clockwise around the second axis AA' as Figure 5E shown, and the entire end effector 150 performs a pitching motion in the clockwise direction. As described above, at this time, the wrap angles of the second drive cable 152A and the third drive cable 152B on the sixth pulley 226 and the seventh pulley 227 need to increase by L simultaneously. At the same time, the wrap angles of the fourth drive cable 153A and the fifth drive cable 153B on the fifth pulley 225 and the eighth pulley 228 need to decrease by L simultaneously to enable the end effector 150 to perform the pitching motion smoothly. Since the main decoupling member 1751 of the decoupling mechanism 175 rotates coaxially and at the same angular speed as the first drive unit 171, when the first drive unit 171 rotates clockwise along the shaft 171A, the main decoupling member 1751 also rotates clockwise along the shaft 171A. At this time, the main decoupling member 1751 pulls the second decoupling cable 1762 and simultaneously releases the first decoupling cable 1761. Assuming that the arc length turned by the main decoupling member 1751 is L / 2, the slave decoupling member moves a distance of L / 2 along the A direction under the pull of the second decoupling cable 1762, thereby causing the lengths of the portions of the second drive cable 152A and the third drive cable 153B between the first guide pulley 176A and the first guide portion 1753 and between the first guide portion 1753 and the third guide pulley 176C to be reduced by L / 2 respectively. Therefore, the lengths of the second drive cable 152A and the third drive cable 152B within the drive device 170 are both reduced by L respectively.

[0116] Conversely, the lengths of the fourth drive cable 153A and the fifth drive cable 153B between the second guide pulley 176B and the second guide portion 1754 and between the second guide portion 1754 and the fourth guide pulley 176D are each increased by L / 2, so that the lengths of the fourth drive cable 153A and the fifth drive cable 153B within the drive device 170 are increased by L.

[0117] Returning again to Figure 5E , if the radii of the second pulley sets in this embodiment are all r1, and the pitch pulley 314 of the second bracket 310 has an annular groove 314A with a bottom radius of R1 for accommodating and guiding the first drive cable 151, when the end effector 150 pitches, the first drive cable can form a wrap angle in the annular groove 314A. As Figure 5E shown, when the end effector 150 pitches clockwise by an angle of α, the wrap angle length of the first drive cable 151 on the pitch pulley 314 is reduced by L1, where L1 = α * R1. Since the clockwise pitching movement of the end effector 150 is driven by the first drive unit 171 within the drive device 170, as Figure 10B shown, at this time, assuming that the angle turned by the first drive unit 171 for the end effector 150 to pitch clockwise by an angle of α is β, the first drive unit 171 pulls in the first drive cable 151, so that the length of the first drive cable 151 wound around the first drive unit 171 is increased by L1, where L1 = β * R2. Since the main decoupling member 1751 and the first drive unit 1751 rotate coaxially, correspondingly, at this time, the main decoupling member 1751 releases the first decoupling cable 1761 and simultaneously pulls in the second decoupling cable 1763, thereby pulling the drive unit to move a distance of L / 2 in the A direction. Correspondingly, the length of the first decoupling cable 1761 wound around the main decoupling member 1761 is reduced by L / 2, that is, the first decoupling cable 1767 is released by L / 2, and the length of the second decoupling cable 1768 wound around the main decoupling member 1761 is increased by L / 2, where L / 2 = β * r2. As can be seen from the foregoing, L = α * r1. To sum up, through the following four equations: L1 = α * R1, L1 = β * R2, L / 2 = β * r2, L = α * r1, the following relationship can be obtained:

[0118]

[0119] The above relationship indicates that the ratio of the radius of the first driving unit 173 to the radius of the main decoupling member 1761 is twice the ratio of the radius of the pitching wheel 319 to the radius of the second pulley set. The reason for this 2-fold relationship is that the slave decoupling member has two guiding portions for guiding the first pair of cables and the second pair of cables, namely the first guiding portion 1753 and the second guiding portion 1754. In other embodiments, the number of guiding portions of the slave decoupling member can also be other quantities, and thus the relationship between the ratio of the radius of the first driving unit to the radius of the main decoupling member and the ratio of the radius of the pitching wheel to the radius of the second pulley set also changes accordingly. For example, the slave decoupling member can have N guiding portions for guiding the first pair of cables and the second pair of cables, so that the ratio of the radius of the first driving unit to the radius of the main decoupling member is N times the ratio of the radius of the pitching wheel to the radius of the second pulley set. However, with the increase in the number of guiding portions of the slave decoupling member, the volume of the slave decoupling member also increases accordingly. Preferably, two guiding wheels are used for the slave decoupling member in the above embodiment.

[0120] As a result, the reduction in the lengths of the second driving cable 152A and the third driving cable 152B within the driving device 170 is equal to the increase in the wrap lengths around the sixth pulley 226 and the seventh pulley 227 respectively for the second driving cable 152A and the third driving cable 152B. The increase in the lengths of the fourth driving cable 153A and the fifth driving cable 153B within the driving device 170 is equal to the reduction in the wrap lengths around the fifth pulley 225 and the eighth pulley 228 respectively for the fourth driving cable 153A and the fifth driving cable 153B. Therefore, the movement of pulling the first driving cable 151 is no longer restricted by the first pair of cables, and the movement of pulling the first driving cable 151 will not cause the second pair of cables to slack at the end effector 150. The decoupling mechanism 175 realizes the decoupling of the third pair of cables from the first pair of cables, and the end effector 150 performs Figure 5E the clockwise pitching motion shown.

[0121] As Figure 10CAs shown, when the first driving unit 171 rotates counterclockwise, since the main decoupling member 1751 of the decoupling mechanism 175 rotates coaxially and at the same angular velocity as the first driving unit 171, when the first driving unit 171 rotates counterclockwise along the shaft 171A, the main decoupling member 1751 also rotates counterclockwise along the shaft 171A. At this time, the main decoupling member 1751 pulls the first decoupling cable 1761 and simultaneously releases the second decoupling cable 1762. Suppose the arc length passed by the main decoupling member 1751 is L / 2, then the slave decoupling member moves a distance of L / 2 along the B direction under the pull of the first decoupling cable 1761, thereby causing the lengths of the parts of the second driving cable 152A and the third driving cable 153B between the first guide pulley 176A and the first guiding part 1753 and between the first guiding part 1753 and the third guide pulley 176C to increase by L / 2 respectively. Therefore, the lengths of the second driving cable 152A and the third driving cable 152B in the driving device 170 increase by L respectively. Conversely, the lengths of the parts of the fourth driving cable 153A and the fifth driving cable 153B between the second guide pulley 176B and the second guiding part 1754 and between the second guiding part 1754 and the fourth guide pulley 176D decrease by L / 2 respectively. Therefore, the lengths of the fourth driving cable 153A and the fifth driving cable 153B in the driving device 170 decrease by L.

[0122] At this time, the length changes of the second driving cable 152A, the third driving cable 152B, the fourth driving cable 153A, and the fifth driving cable 153B are reflected at the end effector as the driving device 170 simultaneously pulls the second driving cable 152A and the third driving cable 152B, and simultaneously releases the fourth driving cable 153A and the fifth driving cable 153B.

[0123] Thus, the increase in the lengths of the second driving cable 152A and the third driving cable 152B in the driving device 170 is equal to the decrease in the wrap angle lengths required by the second driving cable 152A and the third driving cable 152B on the sixth pulley 226 and the seventh pulley 227 respectively, and the decrease in the lengths of the fourth driving cable 153A and the fifth driving cable 153B in the driving device 170 is equal to the increase in the wrap angle lengths required by the fourth driving cable 153A and the fifth driving cable 153B on the fifth pulley 225 and the eighth pulley 228 respectively. Therefore, when the driving device simultaneously pulls the second driving cable 152A and the third driving cable 152B, it is no longer restricted by the fourth driving cable 153A and the fifth driving cable 153B. The decoupling mechanism 175 realizes the decoupling of the second pair of cables and the three cables, and the end effector 150 can smoothly execute Figure 5D the counterclockwise pitching motion shown.

[0124] The driving device according to another embodiment of the present invention is as Figure 12As shown, the drive device is mostly the same as the drive device 170 in the previous embodiment. The difference is that the drive device is provided with guide wheels for guiding the first pair of cables and the second pair of cables, that is, the drive device is provided with a seventh guide wheel 176H, an eighth guide wheel 176I, a ninth guide wheel 176J, and a tenth guide wheel 176K. The second drive cable 152A and the third drive cable 152B enter the long shaft 160 and extend to the end effector 150 after being guided by the first guide wheel 176A, the first guiding portion 1753, the third guide wheel 176C, the seventh guide wheel 176H, and the ninth guide wheel 176J in sequence. The fourth drive cable 153A and the fifth drive cable 153B enter the long shaft 160 and extend to the end effector 150 after being guided by the second guide wheel 176B, the second guiding portion 1754, the fourth guide wheel 176D, the eighth guide wheel 176I, and the tenth guide wheel 176K in sequence. Compared with the previous embodiment, the portions of the second drive cable 152A and the third drive cable 152B between the first guiding portion 1753 and the third guide wheel 176C, and the portions of the fourth drive cable 153A and the fifth drive cable 153B between the second guiding portion 1754 and the fourth guide 176D are parallel to the movement direction of the decoupling member, so that the error of the linear change in the lengths of the first pair of cables and the second pair of cables in the drive device caused by the movement of the decoupling member is smaller than that in the previous embodiment.

[0125] As shown in an embodiment of the present invention, the drive device Figure 13 shown, the main decoupling member 6741 of the decoupling mechanism 674 of the drive device is connected to the slave decoupling member by means of gear meshing. Specifically, the slave decoupling member has a carriage 6742. Both ends of the carriage 6742 are respectively connected to the first guiding portion 2753 and the second guiding portion 2754. The body of the carriage 6742 has a rack structure, and the main decoupling member 6741 has a gear structure meshing with the rack mechanism of the carriage 6742. When the main decoupling member 6741 rotates, the main decoupling member 6741 will drive the pitching mechanism to move linearly, thereby changing the lengths of the first pair of cables and the second pair of cables in the drive device, so as to realize the decoupling relationship between the first drive cable 151, the first pair of cables, and the second pair of cables. It can be understood that the main decoupling member 6741 of the decoupling mechanism and the slave decoupling member can not only be meshed by means of a gear and a rack, but also be meshed by means of two gears in some other embodiments between the main decoupling member and the carriage of the slave decoupling member.

[0126] Figures 14A - 14EThe driving device 570 is an embodiment of the present invention. The driving device 570 is provided with a first driving device 570 including a body 578, and a first driving unit 571, a second driving unit 572, a third driving unit 573, and a fourth driving unit 774 provided on the body 778. One end of a first driving cable 151 is wound around the first driving unit 571, and the other end of the first driving cable 151 passes through the long shaft 160 and is connected to the end effector. One end of a first pair of cables is wound around the second driving unit 572. The first pair of cables includes a second driving cable 152A and a third driving cable 152B wound around the second driving unit 572 in opposite ways. The other end of the first pair of cables passes through the long shaft 160 and is connected to the end effector. One end of a second pair of cables is wound around the third driving unit 573. The third pair of cables includes a fourth driving cable 153A and a fifth driving cable 153B wound around the third driving unit 573 in opposite ways. The other end of the second pair of cables passes through the long shaft 160 and is connected to the end effector. The first pair of cables cooperate with the second pair of cables to control the opening / closing and / or yaw movement of the end effector 150, and also cooperate with the first driving cable 151 to control the pitch movement of the end effector 150. The fifth driving cable 553A and the sixth driving cable 553B are used to drive the long shaft 160 to rotate self.

[0127] Such as Figure 14B And 14CAs shown, the driving device 570 further includes a mounting base 577 and a decoupling mechanism disposed on the mounting base 577. The decoupling mechanism includes a main decoupling member 5761 and a slave decoupling member 5762. The main decoupling member 5761 and the first driving unit 571 are disposed on the same rotating shaft 571A. The main decoupling member 5761 is a cam that rotates at the same angular velocity as the first driving unit 571. The slave decoupling member 5762 includes a carriage 5765 and a first guiding portion 5763 and a second guiding portion 5764 mounted on the carriage 5765. Similar to the previous embodiment, the driving device 570 further includes a first guiding wheel 576A, a second guiding wheel 576B, a third guiding wheel 576C, and a fourth guiding wheel 576D disposed on the mounting base 577. The rotation axis of the first guiding wheel 576A is parallel to the rotation axis of the first guiding portion 5763. The rotation axis of the fourth guiding wheel 576D is perpendicular to the rotation axis of the first guiding wheel 576A and the rotation axis of the first guiding portion 5763. The rotation axis of the second guiding wheel 576B is parallel to the rotation axis of the second guiding portion 5764. The rotation axis of the third guiding wheel 576C is perpendicular to the rotation axis of the second guiding wheel 576B and the rotation axis of the second guiding portion 5764. The second driving cable 152A and the third driving cable 152B are redirected by the first guiding wheel 576A, then guided by the first guiding portion 5763, and finally redirected by the third guiding wheel 576C and then leave the driving device 570 and enter the long shaft 160. The fourth driving cable 153A and the fifth driving cable 153B are redirected by the second guiding wheel 576B, then guided by the second guiding portion 5764, and finally redirected by the fourth guiding wheel 576D and then leave the driving device 570 and enter the long shaft 160. The first driving cable 151 is redirected by the fifth guiding wheel 576E and then enters the long shaft 160.

[0128] As Figure 14CAs shown, the mounting base 577 includes a first tabletop 5771 and a second tabletop 5772. The mounting base 577 is mounted on the main body 578 through the first tabletop 5771. The first guide wheel 576A, the second guide wheel 576B, the third guide wheel 576C, the fourth guide wheel 576D, and the fifth guide wheel 576E are all mounted on the second tabletop 5772. The decoupling member 5762 includes a carriage 5765 and a first guiding portion 5763 and a second guiding portion 5764 mounted on the carriage 5765. The first guiding portion 5763 is used to connect the second driving cable 152A and the third driving cable 152B to the decoupling member 5762, and the second guiding portion 5764 is used to connect the fourth driving cable 153A and the fifth driving cable 153B to the decoupling member 5762. The carriage 5765 includes a first opening 5766 and a second opening 5767. The first opening 5766 is used to accommodate the main decoupling member 5761, and the second opening 5767 is used to accommodate the second tabletop 5771 of the mounting base 577. When the carriage 5765 moves to the extreme position, the side wall of the second tabletop 5771 abuts against the side wall of the second opening 5767 to limit the movement of the carriage 5765 in the vertical sliding direction.

[0129] The carriage 5765 extends into the first opening 5766 with a first convex body 5768 and a second convex body 5769. The main decoupling member 5761 abuts against the first convex body 5768 and the second convex body 5769 in the first opening 5766. The first convex body 5768 and the second convex body 5769 can move on the outer contour of the main decoupling member 5761 when the main decoupling member 5761 rotates, so that the carriage 5765 slides on the mounting base 577. As Figure 14CAs shown, the main decoupling member 5761 includes a first cam 5761A and a second cam 5761B fixed on the rotating shaft 573A, the first cam 5761A and the second cam 5761B are both semi-heart-shaped cams, and the projections of the first cam 5761A and the second cam 4761B on the plane perpendicular to the axis 573A have the same outer contour, the outer contour of the first cam 5761A has a semi-heart-shaped involute S1 and a first arc S2 and a second arc S3 located at both ends of the involute S1, the first arc S2 and the second arc S3 have different radii, and the distance from the involute S1 to the axis center of the rotating shaft 473A is from the end connected to the first arc S2. It gradually increases in the direction from the involute S1 to the end connected to the second arc S3, and the involute S1 has the following contour line: that is, the change P of the distance from the involute S1 to the axis center of the rotating shaft 473A is linearly related to the angle θ1 of the first cam 5761A rotating around the axis 473A, P=K1*θ1+K2, wherein K1 and K2 are constants, so that when the main decoupling component 5761 rotates at a constant speed, the distance from the contact point of the first convex body 5768 with the involute S1 of the first cam 5761 to the rotating shaft 573A and the distance from the contact point of the second convex body 5768 with the involute S1' of the second cam to the rotating shaft 573A also change linearly at a uniform speed. The first cam 5761A and the second cam 5761B together form a heart-shaped cam-type main decoupling component 5761. The first cam 5761A and the second cam 5761B are staggered up and down in the axial direction of the cam shaft 573A. The first cam 5761A cooperates with the first protrusion 5768 of the slide 5761 for movement, and the second cam 5761B cooperates with the second protrusion 5768 of the slide 5761 for movement, so that the main decoupling component 5761 drives the movement of the slave decoupling component 5762, thereby releasing the coupling relationship between the first drive cable 151, the second pair of cables, and the third pair of cables.

[0130] The decoupling process of the drive device 570 is as follows: Figure 14E As shown, the first driving unit 571 ( Figure 14E Not shown) from Figure 14B The zero position of is driven by the actuator to rotate in the first direction (counterclockwise) to Figure 14EDuring the process of reaching the position shown, the first driving unit 571 pulls the first driving cable 553B. Since the main decoupling member 473A and the first driving unit 571 are arranged on the same rotating shaft 473A, the main decoupling member 4761 also moves counterclockwise. The first cam 4761A of the main decoupling member 4761 rotates counterclockwise, causing the first convex body 5768 to move along the involute S1 of the first cam 4761A in the direction where the distance from the involute S1 to the rotating shaft 473A increases. On the contrary, the second cam 4761B of the main decoupling member 4761 rotates counterclockwise, causing the first convex body 5768 to move along the involute S1 of the second cam 4761B in the direction where the distance from the involute S1 to the rotating shaft 473A decreases. Since the side wall of the second opening 5767 of the carriage 5765 cooperates with the inner wall of the second opening 5767 to restrict the movement of the carriage 5765 in the direction perpendicular to the A direction, the carriage 5765 is driven by the main decoupling member 4761 to move linearly in the A direction.

[0131] In order to make the length changes of the first pair of cables and the second pair of cables in the driving device caused by the movement of the carriage 5765 linear, and Figure 10A Similar to the embodiment shown, the part of the first pair of cables between the first guide pulley 576A and the first guide portion 5763 is parallel to the direction of the carriage 5765, and the part of the second pair of cables between the second guide pulley 576B and the second guide portion 5764 is parallel to the movement direction of the carriage 5765. The parts of the second driving cable 152A and the third driving cable 152B between the first guide portion 5763 and the fourth guide pulley 576D have equal angles with the straight line along the A direction. Similarly, the parts of the third driving cable 553A and the fourth driving cable 553B between the second guide portion 5764 and the third guide pulley 576C have equal angles with the straight line along the A direction. If at Figure 14EWhen the carriage 5765 moves a distance of L / 2 along the A direction under the drive of the main decoupling member 5761 at a certain position, the lengths of the second drive cable 152A and the third drive cable 152B between the first guide pulley 576A and the first guide portion 5763 are respectively reduced by L / 2, and the lengths between the first guide portion 5763 and the fourth guide pulley 576D are also respectively reduced by L / 2. As a result, the lengths of the second drive cable 152A and the second drive cable 551B within the drive device 570 are reduced by L. The lengths of the fourth drive cable 153A and the fifth drive cable 153B between the second guide pulley 576B and the second guide portion 5764 are increased by L / 2, and the lengths between the second guide portion 5764 and the third guide pulley 576C are also increased by L / 2. Thus, the lengths of the third drive cable 552A and the fourth drive cable 552B within the drive device 570 are increased by L. Thereby, the decoupling mechanism within the drive device 570 provides the change amounts of the lengths of the second drive cable 152A, the third drive cable 152B, the fourth drive cable 153A, and the fifth drive cable 153B on the side of the end effector 150 required for the pitching motion of the end effector 150, thereby releasing the coupling relationship between the first drive cable, the first pair of cables, and the second pair of cables. The movement of the first drive cable is no longer restricted by the first pair of cables, and the movement of the first pair of cables is no longer restricted by the second pair of cables, enabling the end effector 150 to smoothly perform the pitching operation.

[0132] If the main decoupling member 5761 continues to rotate such that the carriage 5765 moves to the limit position, at this time the first convex body 5798 leaves the involute S1 of the first cam 5761A and enters the second circular arc S3, and the second convex body 5769 leaves the involute S1' of the second cam 5761B and enters the first circular arc S2'. Since the distance from the contact point between the first convex body 5798 and the first cam 5761A to the rotation axis 573A does not change when the first convex body 5798 moves on the first circular arc S1 and the second circular arc S2 of the first cam 5761A, and similarly, the distance from the contact point between the first convex body 5798 and the first cam 5761A to the rotation axis 573A does not change when the second convex body 5798 moves on the first circular arc S1' and the second circular arc S2' of the second cam 5761B, the carriage 5765 no longer moves along the A direction. The carriage 5765 is at the limit position of the movement along the A direction at this time. Therefore, due to the existence of the main decoupling member 5761, the first circular arcs S1, S1' and the second circular arcs S2, S2' cause the main decoupling member 5761 to continue to rotate when it rotates to the limit position and make the carriage continue to move. On the contrary, when the main decoupling member 5761 rotates clockwise, the movements of the first cam 5761A, the second cam 5761B, and the carriage are opposite to those when the main decoupling member 5761 rotates counterclockwise, which will not be elaborated here.

[0133] Similarly, there is also a coupling relationship between the first drive cable 251 and the first pair of cables 252 of the end effector 250 in the second embodiment. Specifically, the proximal ends of the second drive cable 152A and the third drive cable 252B of the first pair of cables are wound around the drive unit within the drive device, so the drive unit cannot retract or release the second drive cable 252A and the third drive cable 252A simultaneously. As described in the above second embodiment, when the end effector 250 rotates clockwise about the first axis AA', it is necessary to retract the first drive cable 251 and simultaneously release the second drive cable 252A and the third drive cable 252B of the first pair of cables 252. When the end effector 250 rotates counterclockwise about the first axis AA', it is necessary to simultaneously retract the second drive cable 252A and the third drive cable 253A of the first pair of cables. It can be seen that there is also a coupling relationship between the first drive cable 251 and the first pair of cables 252 of the surgical instrument in the second embodiment, and the movement of the first drive cable 251 is restricted by the first pair of cables 252.

[0134] A drive device according to an embodiment of the present invention is as Figure 15 shown. The drive device 270 is suitable for driving the end effector 250 in the second embodiment described above. The drive device 270 includes a first drive unit 271 for driving the pitching motion of the end effector 250, a second drive unit 272 for driving the pitching and yawing motions of the end effector 250, and a third drive unit 273 for driving the rotational motion of the end effector 250. The proximal end of the first drive cable 251 for driving the pitching motion of the end effector 250 is wound around the first drive unit. The proximal ends of the second drive cable 252A and the third drive cable 252B of the first pair of cables 252 for manipulating the yawing and pitching motions of the end effector 250 are wound around the second drive unit 272 in opposite ways. Therefore, the second drive cable 252A and the third drive cable 252B are used to cooperate with each other to manipulate the yawing motion of the end effector 250 and also to cooperate with the first drive cable 251 to manipulate the pitching motion of the end effector 250. The fourth drive cable 253A and the fifth drive cable 253B for driving the rotation of the long shaft 160 are wound around the third drive unit 273. The drive device 870 further includes a decoupling mechanism 274 for releasing the coupling relationship between the first drive cable 251 and the first pair of cables 252.

[0135] The decoupling mechanism 274 includes a main decoupling member 2741 and a secondary decoupling member. The main decoupling member 2741 and the first driving unit 271 are arranged on the same rotating shaft 272A. The main decoupling member 2741 and the first driving unit 271 move with the same angular velocity along the rotating shaft 872A. The main decoupling member 2741 receives the same driving power as the second driving unit and drives the secondary decoupling member to move so as to release the above-mentioned coupling relationship. The secondary decoupling member includes a guiding portion 2743 and a carriage 2742. The main decoupling member 2741 is connected to both ends of the carriage 2742 through a first decoupling cable 2744 and a second decoupling cable 2745. The main decoupling member 2741 manipulates the movement of the secondary decoupling member through the first decoupling cable 2744 and the second decoupling cable 2745.

[0136] The driving device further includes a first guiding wheel 275A and a second guiding wheel 275B. The first pair of cables 252 are first guided by the first guiding wheel 275A, then guided by the guiding portion 2743, and finally guided by the second guiding wheel 275B and then enter the long shaft 160. The first decoupling cable 2744 is connected to the carriage 2742 after being guided by a third guiding wheel 275C. The second decoupling cable 2745 is redirected and then connected to the carriage 2742 through a fourth guiding wheel 275D. After the first decoupling cable 2744 and the second decoupling cable 2745 are respectively redirected by the third guiding wheel 275C and the fourth guiding wheel 275D, the portion of the first decoupling cable 2744 between the third guiding wheel 275C and the carriage 2742 is parallel to the moving direction of the carriage 2742, and the portion of the second decoupling cable 2745 between the fourth guiding wheel 275D and the carriage 2742 is in the same direction as the moving direction of the carriage 2742. Thus, during the decoupling process, the moving speed of the carriage 2742 is in a proportional relationship with the rotating speed of the main decoupling member 2741 and the first driving unit 271. It can be understood that in some other embodiments, the main decoupling member is also connected to the secondary decoupling member by means of gear meshing or a cam, as Figure 17 shown, the main decoupling member 6741 of the decoupling device 674 of the driving device 670 is connected to the carriage 6742 of the secondary decoupling member by means of gear meshing, as Figure 18A shown, the main decoupling member 4741 of the decoupling device 474 of the driving device 470 is connected to the carriage 4742 of the secondary decoupling member in the form of a cam.

[0137] After the second drive cable 252A and the third drive cable 252B are guided by the first guide pulley 275A, the guiding portion 2743, and the second guide pulley 275B, the portions of the second drive cable 252A and the third drive cable 252B between the first guide pulley 275A and the guiding portion 2743 are parallel to the movement direction of the decoupling member. The paths of the second drive cable 252A and the third drive cable 252B between the guiding portion 2743 and the second guide pulley 275B are substantially parallel to the movement direction of the decoupling member. Therefore, during the decoupling process, the rate of change of the length of the second drive cable 252A or the third drive cable 252B is directly proportional to the movement speed of the carriage 2742, and the second drive cable 252A and the third drive cable 252B are directly proportional to the rotational speeds of the main decoupling member 2741 and the first drive unit 271, thereby making the entire decoupling process precisely controllable. In other embodiments, the portions of the second drive cable 252A and the third drive cable 253B between the guiding portion and the second guide pulley are also parallel to the direction of movement of the carriage, as Figure 17 and Figure 18A In the illustrated embodiment, the portions of the second drive cable 252A and the third drive cable 253B on both sides of the guiding portion of the carriage are parallel to the direction of movement of the carriage, so that the changes in the second drive cable 252A and the third drive cable 252B caused by the movement of the carriage are completely linear.

[0138] The decoupling process of the decoupling mechanism is as shown in Figure 16B and 16C. When the first drive unit 271 rotates in the first direction, the first drive unit 271 releases the first drive cable 251. Since the main decoupling member 2741 and the first drive unit 271 rotate at the same angular speed, the main decoupling member 2741 simultaneously pulls in the first decoupling cable 2744 and releases the second decoupling cable 2745, causing the secondary decoupling member to move in the A direction, thereby causing the lengths of the second drive cable 252A and the third drive cable 252B to increase simultaneously within the drive device 270. As a result, the lengths of the second drive cable 252A and the third drive cable 252B on the end effector 250 decrease simultaneously. The drive device 270 simultaneously pulls in the second drive cable 252A and the third drive cable 252B and releases the first drive cable 251, and the end effector 250 performs Figure 9A the pitching motion shown. Moreover, the change in the length of the second drive cable 252A and the third drive cable 252B within the drive device is equal to the change in the length on the end effector 250. If the secondary decoupling member moves a distance of L / 2 in the A direction, the lengths of the second drive cable 252A and the third drive cable 252B increase by a length of L within the drive device 870. The specific derivation process is the same as that of the embodiment shown in Figure 10A and will not be elaborated here.

[0139] When the first driving unit 271 and the main decoupling member 2741 rotate in the second direction opposite to the first direction, the first driving unit 271 pulls and retracts the first driving cable 251. At this time, the main decoupling member 2741 releases the first decoupling cable 2744 and pulls and retracts the second decoupling cable 2745, so that the slave decoupling member moves along the B direction, and the lengths of the second driving cable 252A and the third driving cable 252B in the driving device 270 decrease simultaneously. Reflected on the end effector 250, the lengths of the second driving cable 252A and the third driving cable 252B in the driving device 270 increase simultaneously. The driving device 170 pulls and retracts the first driving cable 251 and simultaneously releases the second driving cable 252 and the third driving cable 253, and the end effector 250 performs Figure 9B the pitching motion shown.

[0140] Returning again to Figure 9B , if the radii of the second pulley sets in this embodiment are all r1, and the annular groove 613A with a bottom radius of R1 for accommodating and guiding the first driving cable 251 is provided on the pitching wheel 613 of the second bracket 610. When the end effector 150 performs a pitching motion, the first driving cable 251 can form a wrap angle in the annular groove 613A. When the end effector 250 rotates from Figure 7A the zero position shown to Figure 9B the position shown, during the process, the plane where the points where the second driving cable 252A and the third driving cable 252B leave the second pulley set rotates by an angle α from the horizontal plane a to the plane b, and the angle of clockwise pitching rotation of the end effector 250 around the first axis AA' is also α. Similar to the embodiment shown in Figure 7A , the wrap angle length of the first driving cable 251 in the annular groove 613A decreases by L1, where L1 = α * R1, as shown in Figure 10CAs shown, at this time, if the angle by which the first driving unit 271 causes the end effector 250 to pitch clockwise is α and the angle by which it rotates along the second direction is β, the first driving unit 271 pulls and retracts the first driving cable 251, such that the length of the first driving cable 151 wound around the first driving unit 171 increases by L1, where L1 = β * R2. Since the main decoupling member 2741 and the first driving unit 271 rotate coaxially, accordingly, at this time, the main decoupling member 2741 releases the first decoupling cable 2744 and simultaneously pulls and retracts the second decoupling cable 2745, thereby pulling the slave decoupling member to move a distance of L / 2 along the B direction. Correspondingly, the length of the first decoupling cable 2744 wound around the main decoupling member 2741 decreases by L / 2, that is, the first decoupling cable 2744 is released by L / 2, and the length of the second decoupling cable 2745 wound around the main decoupling member 2741 increases by L / 2, that is, the second decoupling cable is pulled and retracted by L / 2, where L / 2 = β * r2. The wrap angles of the second driving cable 252A and the third driving cable 252B around the third pulley 523 and the fourth pulley 524 respectively increase by L, where L = α * r1. In summary, from the following four equations: L1 = α * R1, L1 = β * R2, L / 2 = β * r2, L = α * r1, the following relationship can be obtained:

[0141]

[0142] In other embodiments, the number of guiding portions of the slave decoupling member for guiding the first pair of cables 252 can also be other numbers, so that the relationship between the ratio of the radius of the first driving unit to the radius of the main decoupling member and the ratio of the radius of the pitching wheel to the radius of the second pulley set also changes accordingly. For example, the slave decoupling member can have N guiding portions, and the ratio of the radius of the first driving unit to the radius of the main decoupling member is 2 * N times the ratio of the radius of the pitching wheel to the radius of the second pulley set. That is, as the number of decoupling wheels of the slave decoupling member increases, the volume of the slave decoupling member also increases accordingly. Preferably, in the above embodiment, the slave decoupling member uses one guiding portion, and the guiding portion is a pulley through which the first driving cable on the slave decoupling member passes.

[0143] Thus, the reduction in the lengths of the second driving cable 252A and the third driving cable 252B within the driving device 170 is equal to the increase in the wrap angles of the second driving cable 252A and the third driving cable 252B around the third pulley 523 and the fourth pulley 524 respectively. Therefore, the movement of pulling and retracting the first driving cable 251 is no longer restricted by the second driving cable 252A and the second driving cable 252B. The decoupling mechanism realizes the decoupling relationship between the first driving cable and the first pair of cables, and the end effector 250 can smoothly perform Figure 9B the pitching motion shown.

[0144] In Figure 18A the embodiment shown, and Figures 14A - 14ESimilar to the embodiment shown in the figure, the main decoupling member 4741 in the driving device 470 is coaxially arranged with the first driving unit, and the main decoupling member 4741 also drives the slide 4742 to move by respectively contacting the first convex body 4741A and the second convex body 4741B on the slide 4742 of the slave decoupling member 474 through the first cam 4741A and the second cam 4741B, thereby changing the length of the second driving cable 252A and the third driving cable 252B in the driving device 470. The cam structure of the main decoupling member 4741 and the above Figure 14D The main decoupling member 5761 in the drive device 570 in the embodiment shown is the same, so it can be referred to as Figure 14D The description is omitted here.

[0145] The decoupling process of the drive device 470 is also similar to Figure 14E The decoupling process shown in FIG. 1 is similar to that shown in FIG. 1 . When the main decoupling member 271 rotates coaxially with the first driving unit 271 in the first direction, the first driving unit 271 releases the first driving cable 251 and the main decoupling member 4741 pushes the carriage 4742 to move in the direction of adding the second driving cable 252A and the third driving cable 252B, so that the end effector 250 performs Figure 9A When the main decoupling member 271 rotates coaxially with the first driving unit 271 in the direction opposite to the first direction, the first driving unit 271 retracts the first driving cable 251 and the main decoupling member 4741 pushes the carriage 4742 to move in the direction of reducing the lengths of the second driving cable 252A and the third driving cable 252B, so that the lengths of the second driving cable 252A and the third driving cable 252B are reduced in the driving device by an amount that is just equal to the amount by which the end effector 250 is executed. Figure 9B When the second driving cable 252A and the third driving cable 252B are in pitch motion in the direction shown, the wrap angle length of the second driving cable 252A and the third driving cable 252B on the second pulley block increases, thereby releasing the coupling relationship between the first driving cable 251 and the second driving cable 252A and the third driving cable 252B, so that the end effector 250 can be smoothly executed. Figure 9B Pitch movement in the direction shown.

[0146] 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, the surgical instrument comprising an end effector, a drive device, and a cable, the drive device being configured to drive the end effector to move through the cable. Characterized in that the end effector includes a first bracket, a distal end of the first bracket having a first strut and a second strut, the cable including a first drive cable, a second drive cable, and a third drive cable, the first drive cable being used to cooperate with the second drive cable and the third drive cable to drive the end effector to perform a pitching motion, the second drive cable and the third drive cable further being used to drive the end effector to perform a yaw motion, the drive device including: a drive unit, a proximal end of the first drive cable being connected to the drive unit, the drive unit driving the end effector to perform a pitching motion through the first drive cable and in cooperation with the second drive cable and the third drive cable; a decoupling mechanism, the decoupling mechanism including a main decoupling member and a secondary decoupling member connected to the main decoupling member, the secondary decoupling member including a carriage and a guiding portion provided at one end of the carriage for guiding the second drive cable and the third drive cable, the main decoupling member being coaxially provided with the drive unit, the main decoupling member rotating coaxially with the drive unit and driving the carriage to move so as to simultaneously increase the lengths of the second drive cable and the third drive cable within the drive device and release the first drive cable, such that the drive unit drives the end effector to perform a pitching motion in a first direction, or simultaneously decrease the lengths of the second drive cable and the third drive cable within the drive device and retract the first drive cable, such that the drive unit drives the end effector to perform a pitching motion in a second direction, the secondary decoupling member further including a first decoupling cable and a second decoupling cable connected to both ends of the carriage, one ends of the first decoupling cable and the second decoupling cable being connected to the main decoupling member, the main decoupling member being configured to drive the carriage to move linearly through the first decoupling cable and the second decoupling cable to change the lengths of the second drive cable and the third drive cable within the drive device.

2. The surgical instrument according to claim 1, Characterized in that the drive device further includes a first guide pulley, the second drive cable and the third drive cable first passing through the guiding of the first guide pulley and then through the guiding of the guiding portion and extending to the end effector.

3. The surgical instrument according to claim 2, Characterized in that the moving direction of the secondary decoupling member is parallel to the portions of the second drive cable and the third drive cable between the first guide pulley and the carriage.

4. The surgical instrument according to claim 3, Characterized in that the drive device further includes a second guide pulley, the second drive cable and the third drive cable extending to the end effector after passing through the guiding of the guiding portion and then through the guiding of the second guide pulley.

5. The surgical instrument according to claim 4, Characterized in that The moving direction of the carriage is parallel to the portions of the second drive cable and the third drive cable between the guiding portion and the second guiding wheel.

6. The surgical instrument according to claim 1, wherein, when the driving unit and the main decoupling member rotate, the change amount of the length of the second drive cable or the third drive cable on the end effector is equal to twice the distance that the slave decoupling member moves within the driving device.

7. The surgical instrument according to claim 1, wherein, the main decoupling member is used to rotate in the second rotation direction so that the reduction amount of the length of the first drive cable on the end effector is equal to twice the distance that the main decoupling member moves within the driving device.

8. The surgical instrument according to claim 1, wherein, the main decoupling member is used to rotate in the first rotation direction to pull in the first decoupling cable and release the second decoupling cable, so that the carriage moves, thereby increasing the lengths of the second drive cable and the third drive cable within the driving device.

9. The surgical instrument according to claim 8, wherein, the main decoupling member is used to rotate in the second rotation direction opposite to the first rotation direction to release the first decoupling cable and pull in the second decoupling cable, so that the carriage moves, thereby reducing the lengths of the second drive cable and the third drive cable within the driving device.

10. A slave operating device, wherein, the slave operating device includes a robotic arm and the surgical instrument according to any one of claims 1-9, the surgical instrument is mounted on the robotic arm, and the robotic arm is used to manipulate the movement of the surgical instrument.

11. A surgical robot, wherein, the surgical robot includes a master operation console and the slave operating device according to claim 10, and the slave operating device performs corresponding operations according to the instructions of the master operation console.

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