Surgical instruments, operating equipment and surgical robots

Abstract

The present invention provides a surgical instrument, a slave operating device using the surgical instrument and a surgical robot having the slave operating device. The actuator of the surgical instrument is rotatably connected to the first bracket. The first bracket is provided with a first pulley group for guiding a driving cable. The first pulley group includes a first pulley and a second pulley arranged on a first pulley shaft. The first pulley and the second pulley include a pulley groove for accommodating the driving cable. A portion of a driving cable among a plurality of driving cables in the pulley groove of the first pulley and a portion of another driving cable among a plurality of driving cables in the pulley groove of the second pulley have different distances from the axis of the first pulley. The distance difference is roughly equal to the distance between two annular grooves of a clamp for the actuator. In the process of movement of the end instrument, the portion of the driving cable between the clamp and the first bracket is not easy to escape from the annular groove on the clamp, thereby improving the transmission efficiency of the driving cable and the safety of use.

Description

Technical Field

[0001] The present invention relates to the field of medical instruments, and in particular to a surgical instrument, a slave operating device using the surgical instrument, and a surgical robot having the slave operating device. Background Art

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

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

[0004] The slave operating device is connected to a surgical instrument that can be detached from the slave operating device. The surgical instrument includes a drive device and a terminal instrument for performing surgery. The drive 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 terminal instrument to move. The drive device is connected to the terminal instrument through a driving cable, and the drive device controls the movement of the terminal instrument through the driving cable. The terminal instrument generally includes three degrees of freedom, namely opening and closing, pitching and yaw. Some terminal instruments also have rotation. In current technology, the yaw and opening and closing movements of the terminal instrument are controlled by a group of driving cables, while the pitching movement of the terminal instrument is controlled by another group of driving cables.

[0005] Since the end device is far away from the driving device, the transmission efficiency of the driving cable in the process of manipulating the movement of the end device is particularly important. One of the factors affecting the transmission efficiency on the end device side is that the driving cable deviates from its guide groove. For example, the driving cable is separated from the guide groove of the guide pulley or other guide grooves used to guide the driving cable. Once the driving cable is separated from the guide groove, not only will the transmission efficiency of the driving cable be very low, but there is also a risk of the driving cable becoming loose. Summary of the invention

[0006] Based on this, in order to solve the above problems, the present invention provides a surgical instrument, a slave operating device using the surgical instrument, and a surgical robot having the slave operating device, wherein the surgical instrument includes an end instrument, a driving device, and a plurality of driving cables, the driving device is configured to drive the end instrument to move through the plurality of driving cables, and the end instrument includes:

[0007] A first bracket and an actuator;

[0008] The actuator is rotatably connected to the first bracket, and the first bracket is provided with a first pulley block for guiding the driving cable;

[0009] The first pulley block includes a first pulley and a second pulley disposed on a first pulley shaft, the first pulley and the second pulley including pulley grooves for accommodating drive cables, a portion of a drive cable among the plurality of drive cables in the pulley groove of the first pulley and a portion of another drive cable among the plurality of drive cables in the pulley groove of the second pulley having different distances from an axis of the first pulley.

[0010] Preferably, the groove bottom radius of the pulley grooves of the first pulley and the second pulley is the same, the first pulley shaft includes a first wheel shaft and a second wheel shaft that are not concentric, one end of the second wheel shaft is connected to the first bracket, and the other end of the second wheel shaft is connected to the first wheel shaft, and the first wheel shaft and the second wheel are used to install the first pulley and the second pulley respectively.

[0011] Preferably, the projection of the first axle on the first plane is inscribed inwardly with the projection of the second axle on the first plane, and the first plane is perpendicular to the axis of the second axle.

[0012] Preferably, the intangent point of the projections of the first axle and the second axle on the first plane is located on the second plane, and the second plane passes through the axis of the first axle and is parallel to the rotation axis of the actuator relative to the first bracket.

[0013] Preferably, the groove bottom radius of the first pulley is different from the groove bottom radius of the second pulley, and the pulley with the smaller groove bottom radius between the first pulley and the second pulley is installed at the bottom of the first pulley shaft.

[0014] Preferably, the groove bottom radius of the first pulley is different from the groove bottom radius of the second pulley, and the pulley with the larger groove bottom radius between the first pulley and the second pulley is installed at the bottom of the first pulley shaft.

[0015] Preferably, the above-mentioned end device also includes a second bracket, the first bracket is rotatably connected to the second bracket, the second bracket is provided with a second pulley group for guiding the driving cable, the first pulley group is located between the second pulley group and the actuator, and the multiple driving cables include a first pair of cables and a second pair of cables wound in the same manner on the first pulley group and the second pulley group, and the first pair of cables and the second pair of cables are used to cooperate with the yaw movement of the driving actuator.

[0016] Preferably, the actuator comprises a first clamping portion and a second clamping portion rotatably connected to a first bracket, the first pair of cables comprises a first driving cable and a second driving cable whose distal ends are respectively connected to both sides of the first clamping portion and whose winding modes on the first pulley set and the second pulley set are opposite, and the second pair of cables comprises a third driving cable and a fourth driving cable whose distal ends are respectively connected to both sides of the second clamping portion and whose winding modes on the first pulley set and the second pulley set are opposite.

[0017] Preferably, the first bracket is further provided with a second pulley shaft which does not coincide with the axis of the first pulley shaft, the first pulley shaft and the second pulley shaft are respectively located on both sides of the first bracket, and the first pulley block further includes a third pulley and a fourth pulley arranged on the second pulley shaft;

[0018] The first drive cable and the second drive cable are respectively guided through the front of the first pulley and the rear of the third pulley and then extend to the second pulley block;

[0019] The third driving cable and the fourth driving cable are respectively guided through the front of the second pulley and the rear of the fourth pulley and then extend to the second pulley block.

[0020] Preferably, the second pulley group includes a fifth pulley, a sixth pulley, a seventh pulley and an eighth pulley which are sequentially arranged on the same axis, the first drive cable and the third drive cable are respectively guided by the rear of the fifth pulley and the sixth pulley and extend to the proximal end of the second bracket, and the second drive cable and the fourth drive cable are respectively guided by the front of the seventh pulley and the eighth pulley and extend to the proximal end of the second bracket.

[0021] Preferably, a portion of the first drive cable between the fifth pulley and the second bracket and a portion of the second drive cable between the seventh pulley and the second bracket are located on different sides of the axis of the second pulley block.

[0022] Preferably, a portion of the third drive cable between the sixth pulley and the second bracket and a portion of the fourth drive cable between the eighth pulley and the second bracket are located on different sides of the axis of the second pulley block.

[0023] Preferably, the first clamping part and the second clamping part both include clamping members, the clamping member of the first clamping part and the clamping member of the second clamping part are in contact when the actuator is closed, and the side surface of the proximal end of the clamping member of the first clamping part or the clamping member of the second clamping part has a slope.

[0024] Preferably, the driving device comprises:

[0025] a first drive unit, to which the proximal ends of the first drive cable and the second drive cable are connected;

[0026] The second driving unit, the proximal ends of the third driving cable and the fourth driving cable are connected to the second driving unit, and the first driving cable and the second driving cable driven by the first driving unit cooperate with the third driving cable and the fourth driving cable driven by the second driving unit to drive the yaw movement of the end instrument;

[0027] 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 slide and a first guide portion and a second guide wheel respectively installed at two ends of the slide, the first moving wheel is configured to guide the first drive cable and the third drive cable, the second moving wheel is configured to guide the second drive cable and the fourth drive cable, the main decoupling member is configured to drive the slide to move when the end instrument performs a pitch movement to simultaneously increase the length of the first drive cable and the third drive cable in the drive device and simultaneously reduce the length of the second drive cable and the fourth drive cable in the drive device, or to reduce the length of the first drive cable and the third drive cable in the drive device and simultaneously increase the length of the second drive cable and the fourth drive cable in the drive device.

[0028] Preferably, the above-mentioned driving device also includes a third driving unit for driving the pitch movement of the end instrument, the proximal ends of the fifth driving cable and the sixth driving cable are wound around the third driving unit, and the third driving unit drives the end instrument to perform the pitch movement through the fifth driving cable and the sixth driving cable, and the main decoupling component is coaxially arranged with the third driving unit.

[0029] Preferably, the main decoupling member and the third drive unit are used to rotate in the first direction to release the fifth drive cable and pull the sixth drive cable, and make the slide move under the drive of the main decoupling member to reduce the length of the first drive cable and the third drive cable in the drive device.

[0030] Preferably, the third drive unit and the main decoupling member are used to rotate in a second direction opposite to the first direction to retract the fifth drive cable and release the sixth drive cable, and to make the slide move under the drive of the main decoupling member to increase the length of the first drive cable and the third drive cable in the drive device.

[0031] Preferably, the above-mentioned driving device also includes a first guide wheel, the first driving cable and the third driving cable are first guided by the first guide wheel and then by the first moving wheel, and the movement direction of the slide is parallel to the part of the first driving cable and the third driving cable between the first moving wheel and the slide.

[0032] Preferably, the above-mentioned driving device also includes a second guide wheel, the second driving cable and the fourth driving cable are first guided by the second guide wheel and then by the second moving wheel, and the movement direction of the slide is parallel to the part of the second driving cable and the fourth driving cable between the second guide wheel and the second moving wheel.

[0033] Preferably, the main decoupling member rotates to change the length of any one of the first drive cable, the second drive cable, the third drive cable and the fourth drive cable in the drive device by an amount equal to twice the distance the carriage moves in the drive device.

[0034] Preferably, the proximal end of the actuator has an annular groove for accommodating the proximal ends of the fifth drive cable and the sixth drive cable, and the groove bottom radius R1 of the annular groove, the radius r1 of the second pulley block, the radius R2 of the third drive unit and the radius r1 of the main decoupling member satisfy the following relationship:

[0035]

[0036] A slave operating device comprises a robotic arm and the above-mentioned surgical instrument, wherein the surgical instrument is mounted on the robotic arm and the robotic arm is used to manipulate the movement of the surgical instrument.

[0037] A surgical robot comprises a main operating console and the above-mentioned slave operating device, and the slave operating device performs corresponding operations according to the instructions of the main operating console.

[0038] The end instrument of the surgical instrument of the present invention is provided with a distance difference between the bottom grooves of different pulleys on the same pulley shaft on the first bracket in the radial direction of the pulley, and the distance difference is roughly equal to the distance between the two annular grooves of the clamp for guiding the drive cable, so that during the movement of the end instrument, the part of the drive cable between the clamp and the first bracket is not easy to escape from the annular groove on the clamp, thereby improving the transmission efficiency of the drive cable and the safety of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a structural schematic diagram of a slave operating device of a surgical robot according to an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram of the structure of a main operating console of a surgical robot according to an embodiment of the present invention;

[0041] Figure 3 A schematic diagram of the structure of a mechanical arm of a slave operating device according to an embodiment of the present invention;

[0042] Figure 4 It is a schematic structural diagram of a surgical instrument according to an embodiment of the present invention;

[0043] Figure 5A-5B This is a schematic diagram of the structure of an end device according to an embodiment of the present invention;

[0044] Figure 5C for Figure 5A A perspective view of the clamping member of the illustrated embodiment;

[0045] Figure 5D for Figure 5A a side view of the end instrument of the illustrated embodiment;

[0046] Figure 5E A schematic diagram of a driving cable according to an embodiment of the present invention;

[0047] Fig. 6A for Figure 5A A perspective view of the first bracket of the illustrated embodiment;

[0048] Figure 6B for Fig. 6A A cross-sectional view along the axis of the pulley shaft from the center of the first bracket;

[0049] Figure 6C is a cross-sectional view of a first bracket according to an embodiment of the present invention;

[0050] Fig.6D is a cross-sectional view of a first bracket according to another embodiment of the present invention;

[0051] Figures 7A-7C for Fig. 6A A schematic diagram of the pitch motion of the end instrument of the illustrated embodiment without decoupling;

[0052] Fig. 8A A schematic diagram of a driving device according to an embodiment of the present invention;

[0053] Figures 8B-8C for Fig. 8A Schematic diagram of the drive device decoupling process shown;

[0054] Figures 9A-9B FIG is a schematic diagram of the routing path of the driving cable between the guide wheels;

[0055] Fig.10 A schematic diagram of a driving device according to an embodiment of the present invention;

[0056] Fig.11 This is a schematic diagram of a driving device in which a main decoupling member and a slave decoupling member are driven by gears according to an embodiment of the present invention;

[0057] Fig. 12A It is a schematic diagram of a driving device in which a main decoupling member and a slave decoupling member are driven by a cam according to an embodiment of the present invention;

[0058] Fig. 12B for Fig. 12A An outline view of the main decoupling member in the form of a cam of the embodiment shown;

[0059] Fig. 12C for Fig. 12A A schematic diagram of the decoupling process of the drive device of the embodiment shown;

[0060] Fig.13 It is a schematic diagram of a driving device applicable to an end device without opening and closing function according to an embodiment of the present invention;

[0061] Fig.14A and Fig. 14B A schematic diagram of a driving device according to another embodiment of the present invention;

[0062] Fig.15 This is a schematic diagram of a driving device for an end device without an opening and closing function according to another embodiment of the present invention. DETAILED DESCRIPTION

[0063] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly understood.

[0064] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation methods. The terms "distal end" and "proximal end" used herein are directional terms, which are commonly used terms in the field of interventional medical devices, wherein the "distal end" refers to the end away from the operator during surgery, and the "proximal end" refers to the end close to the operator during surgery.

[0065] 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.

[0066] Minimally invasive surgical robots generally include slave operating equipment and a main operating console. Figure 1 FIG. 1 is a slave operating device 100 according to an embodiment of the present invention. Figure 2The main operation console 200 of an embodiment of the present invention is a main operation console 200. The surgeon performs relevant control operations on the slave operation device 100 on the main operation console 200, and the slave operation device 100 performs surgical operations on the human body according to the input instructions of the main operation console 200. The main operation console 200 and the slave operation device 100 can be placed in the same operating room, or in different rooms, and even the main operation console 200 and the slave operation device 100 can be far apart. For example, the main operation console 200 and the slave operation device 100 are respectively located in different cities. The main operation console 200 and the slave operation device 100 can transmit data by wire or by wireless. For example, the main operation console 200 and the slave operation device 100 are located in the same operating room, and data is transmitted between the two by wire. For example, the main operation console 200 and the slave operation device 100 are respectively located in different cities, and long-distance data transmission is performed between the two through 5G wireless signals.

[0067] 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 .

[0068] like Figure 4As shown, the surgical instrument 120 includes a driving device 170 and a distal instrument 150 respectively located at the proximal end of the surgical instrument 120, and a long shaft 160 located between the driving device 170 and the distal instrument 150. The driving device 170 is used to connect with the instrument mounting frame 132 of the robotic arm 130. The instrument mounting frame 132 has a plurality of actuators (not shown in the figure). The plurality of actuators are engaged with the driving device 170 to transmit the driving force of the actuators to the driving device 170. The long shaft 160 is used to connect the driving device 170 and the distal instrument 150. The long shaft 160 is hollow for the driving cable to pass through. The driving device 170 controls the movement of the distal instrument 150 through the driving cable so that the distal instrument 150 performs the relevant surgical operation.

[0069] Figure 5A-5D is a schematic structural diagram of an end device 150 according to an embodiment of the present invention. Figure 5A The direction mark in the figure is for the convenience of describing the winding method of the drive cable on the end instrument 150. The distal end and proximal end in the mark refer to the distal end and proximal end directions of the end instrument 150, and the front, rear, left, and right refer to the Figure 5A The front direction, rear direction, left direction and right direction of the end instrument 150 under the perspective of FIG. 1 , although there is no direction mark in the other figures, it can be based on Figure 5A It is relatively easy to deduce the direction of the end instrument 150. As shown in Figs. 5A and 5B, the end instrument 150 includes a second bracket 210, a first bracket 310, an actuator 410 and a driving cable, which are roughly U-shaped. The distal end of the second bracket 210 is used to connect the long shaft 160. The first bracket 310 is provided with a first set of pulleys for guiding the driving cable. A second pin 211 is provided between two pillars at the distal end of the second bracket 210. The second pin 211 is provided with a second pulley set for guiding the driving cable. The proximal end of the first bracket 310 has a pitch wheel 311, which is provided on the second pin 211. The first bracket 310 can rotate around the axis AA' of the first pin 211. A first pin 312 is provided between two pillars at the distal end of the first bracket 310, the second pin 211 and the first pin 312 are perpendicular to each other, the actuator 410 is mounted on the first bracket 310 via the first pin 312, and the drive cables include a first pair of cables and a second pair of cables for manipulating the opening and closing and yaw motion of the actuator 410, and a third pair of cables for manipulating the end instrument to perform pitch motion. It is understandable that in some other embodiments, the actuator 410 does not require opening and closing motion, such as a cauterization instrument, in which case the drive cables only have a first pair of cables for manipulating the yaw motion of the actuator, and a second pair of cables for manipulating the pitch of the end instrument. In some other embodiments, the first pin 312 may also be provided on the actuator 410, for example, the first pin 312 and the actuator 410 are integrally formed.

[0070] The distal end of the first pair of cables is mounted on the first clamping portion 411 of the actuator 410, and the proximal end thereof is connected to the first driving unit in the driving device 170. The proximal end of the second pair of cables is mounted on the second clamping portion 412 of the actuator, and the proximal end thereof is connected to the second driving unit in the driving device 170. The first pair of cables and the second pair of cables cooperate to manipulate the first clamping portion 411 and the second clamping portion 412 to rotate around the axis BB' of the first pin 312, thereby realizing the opening and closing and yaw motion of the end instrument 150. The distal end of the third pair of cables is mounted on the first bracket 310, and the proximal end is connected to the driving unit in the driving device 170. The first pair of cables includes a first driving cable 151A and a second driving cable 151B whose proximal ends are wound around the first driving unit in opposite ways, and the second pair of cables includes a third driving cable 152A and a third driving cable 152B whose proximal ends are wound around the second driving unit in opposite ways. The first driving cable 151A and the second driving cable 151B form a loop. After the first driving cable 151A and the second driving cable 151B form a loop, there is a relationship of increase and decrease between the two. This is because the proximal ends of the first driving cable 151A and the second driving cable 151B are wound around the winch in the driving device 170 in opposite ways. Therefore, when the winch rotates, the winch will retract the first driving cable 151A and release the second driving cable 151B, or release the first driving cable 151A and retract the second driving cable 151B. Similarly, the third driving cable 152A and the fourth driving cable 152B also form a loop. It is understood that the driving cable can be a complete strip, or can be composed of multiple strips of different structures, such as Figure 5E As described, the first driving cable 151A of the first pair of cables includes a first cable segment 151A1 for connecting to the driving device, and a second cable segment 151A2 for connecting to the end device. The first cable segment 151A1 and the second cable segment 151A2 are connected by a rigid strip 151A3. Compared with using a whole driving cable, such a structure has higher transmission efficiency and is also prone to causing multiple driving cables to be entangled in the long axis 160. It can be understood that in some other embodiments, the driving cable can also be a complete and unsegmented cable.

[0071] The first pair of cables and the second pair of cables are wound in the same manner on the first pulley block and the second pulley block, but the first driving cable 151A and the second driving cable 151B of the first pair of cables are wound in opposite manners on the first pulley block and the second pulley block, and the third driving cable 152A and the fourth driving cable 152B of the second pair of cables are wound in opposite manners on the first pulley block and the second pulley block. Specifically, the first driving cable 151A is guided by the front portion of the first pulley 221 of the first pulley block and then by the rear portion of the fifth pulley 225 of the second pulley block, and then passes through the second bracket 210 to extend into the long shaft 160, and the second driving cable 151B is guided by the rear portion of the third pulley 223 of the first pulley block and then by the front portion of the seventh pulley 227 of the second pulley block and then passes through the second bracket 210 to extend into the long shaft 160. The third driving cable 152A passes through the second bracket 210 and extends into the long axis 160 after being guided by the front of the second pulley 222 of the first pulley group and then by the rear of the sixth pulley 226 of the second pulley group. The fourth driving cable 152B passes through the second bracket 210 and extends into the long axis 160 after being guided by the rear of the fourth pulley of the first pulley group and then by the front of the eighth pulley 228 of the second pulley group. In some other embodiments, the end instrument 150 may also only have a pulley group on the first bracket 310, and no pulley group is provided on the second bracket 210, so that the first pair of cables and the second pair of cables only pass through the pulley group on the first bracket 310 and then directly pass through the second bracket to extend into the long axis 160. However, due to the lack of the pulley group on the second bracket, the driving cables will be subjected to a large friction force from the second bracket during the pitching process of the end instrument, thereby reducing the transmission efficiency of the driving cables and may also cause the driving cables to slacken.

[0072] The structure of the first clamping portion 411 of the actuator 410 is as follows: Figure 5C The first clamp 411 comprises a main body 4111, a clamp seat 4113 is provided at the distal end of the main body 4111, a rotating wheel 4112 is provided at the proximal end of the main body 4111, the rotating wheel 4112 is used to be mounted on the first pin 312, and a first annular groove 4114 for guiding the driving cable is provided on the side wall of the rotating wheel 4112. The clamp seat 4113 is provided with a clamping member 4115, the material of the clamping member 4115 and the clamp seat 4113 are made of different materials, generally the clamping member 4115 is made of tungsten steel with a greater hardness than the clamp seat 4113, and a proximal side of the clamping member 4115 has an inclined surface 4116, and the inclined surface 4116 can make the suture fall into the gap 4117 between the clamping member 4115 and the clamp seat 4113 during the operation, and can smoothly escape from the gap 4117 along the inclined surface 4116, so as to prevent the suture from being stuck in the gap 4117.

[0073] After being guided by the above-mentioned multiple pulleys, the first drive cable 151A to the fourth drive cable 152B are located at the opposite sides of the first plane M passing through the axis AA' of the second pin 211 and perpendicular to the axis BB' of the first pin 312 in the portions between the second pulley block and the second bracket 210. Similarly, the third drive cable 152A and the fourth drive cable 152B are located at the opposite sides of the first plane M in the portions between the second pulley block and the first bracket 210, while the first drive cable 151A and the third drive cable 152A are located at the same side of the first plane M between the second pulley block and the second bracket 210, and the second drive cable 151B and the fourth drive cable 152B are located at the same side of the first plane M in the portions between the second pulley block and the second bracket 210.

[0074] like Figure 5D As shown, the first annular groove 4114 for accommodating the first drive cable 151A and the second annular groove 4124 for accommodating the third drive cable 152A are at a distance H on the axis of the first pin 312, in order to enable the first drive cable 151A on the first clamping portion 411 to be partially located in the first annular groove 4114 on the first clamping portion 411, and the third drive cable 152A on the second clamping portion 412 to be partially located in the second annular groove 41244124 on the second clamping portion 412, so that the first drive cable 151A and the third drive cable 152A do not separate from the first annular groove 4114 and the second annular groove 4124 in the axial direction of the first pin 312. The subsequent description of the drive cable not separating from the first annular groove 4114 or the second annular groove 4124 refers to the drive cable not separating from the first annular groove 4114 or the second annular groove 4124 in the axial direction of the first pin 312. Correspondingly, the first pulley 221 and the second pulley 222 are also separated by a distance h in the radial direction, and the distance h is substantially equal to the distance H between the first annular groove 4114 and the second annular groove 4124. In some embodiments, the distance h is equal to H. Similarly, in order for the second driving cable 151B and the fourth driving cable 152B not to deviate from the first annular groove 4114 and the second annular groove 4124, there is also a corresponding distance between the third pulley 223 and the fourth pulley 224 on the pulley diameter.

[0075] Specifically, Fig. 6A , 6BAs shown, the first bracket 310 includes a bracket body 314, the proximal end of the bracket body 314 has a pitch wheel 311, the distal end of the bracket body 314 has a first pillar 315 and a second pillar 316, the actuator 410 is arranged between the first pillar 315 and the second pillar 316 through the first pin 312, the first pulley shaft 317 and the second pulley shaft 318 are respectively arranged on both sides of the bracket body 314, the first pulley shaft 317 and the second pulley shaft 318 are integrally formed with the bracket body 314, the first pulley 221 and the second pulley 222 are installed on the first pulley shaft 317, the third pulley 223 and the fourth pulley 224 are installed on the second pulley shaft 318, and the pulley grooves of the first pulley 221 to the fourth pulley 224 have the same groove bottom radius. The first pulley shaft 317 includes a first wheel shaft 317A and a second wheel shaft 317B, one end of the second wheel shaft 317B is connected to the bracket body 314, and the other end thereof is connected to the first wheel shaft 317A, the first pulley 221 is mounted on the first wheel shaft 317A, and the second pulley 222 is mounted on the second wheel shaft 317B, wherein the axis a of the first wheel shaft 317A and the axis b of the second pulley shaft are spaced h apart in the radial direction of the first pulley 221 or the second pulley 222, so that after the first pulley 221 and the second pulley 222 are respectively mounted on the first wheel shaft 317A and the second wheel shaft 317B, the groove bottoms of the first pulley 221 and the second pulley 222 are also spaced h apart in the radial direction of the pulleys, so that the first drive cable 151A After the third driving cable 152A is guided by the first pulley 221 and the second pulley 222 respectively, the distance between the portion of the first driving cable 151A in the pulley groove of the first pulley 221 and the portion of the third driving cable 152A in the pulley groove of the second pulley 222 and the axis b of the first pulley 317A differs by h. Therefore, the first driving cable 151A can maintain a state of not separating from the first annular groove 4114 and extend along the first annular groove 4114 to the first pulley 221, and the third driving cable 152A can maintain a state of not separating from the second annular groove 4124 and extend along the second annular groove 4124 to the second pulley 222. In particular, when the above-mentioned distance h is equal to H, the first driving cable 151A and the second driving cable 152A can extend to the first pulley 221 and the second pulley 222 along the direction of the central axis c of the first bracket 310, and the central axis c of the first bracket 310 refers to a straight line passing through the center of the first bracket 310 and perpendicular to the second pin 211 and the first pin 312 at the same time.

[0076] Since the first pulley shaft 317 and the bracket body 314 are integrally formed, in order to facilitate the processing and installation of the pulley, the side walls of the first wheel shaft 317A and the second pulley 317B are tangent, that is, the projection of the first wheel shaft 317A on the first plane is inscribed with the projection of the second wheel shaft 317B on the first plane, and the first plane is perpendicular to the axis of the second wheel shaft. Figure 6B As shown, the side wall of the first axle 317A is inscribed in the side wall of the second axle 317B, and the inscribed point P of the two is close to the center position of the first bracket 310, and the inscribed point P is located on the second plane passing through the axis of the first axle 317A and parallel to the axis BB' of the first pin 312. In this way, the distance between the first pulley 221 and the second pulley 222 on the second plane can be maximized, thereby making h and H equal to the greatest extent, and the first drive cable 151A and the second drive cable 152A can be extended to the first pulley 221 and the second pulley 222 along the direction of the central axis of the first bracket 310 to the greatest extent.

[0077] Similarly, the second pulley shaft 318 and the first pulley shaft 317 have the same configuration, and the second pulley shaft 318, the third pulley shaft 318A and the fourth pulley shaft 318B are also radially spaced apart by h, and the third pulley 223 and the fourth pulley 224 are respectively mounted on the third pulley shaft 318A and the fourth pulley shaft 318B, so that the second drive cable 151B can maintain a state of not being separated from the first annular groove 4114 and extend from the first annular groove 4114 to the third pulley 223, and the fourth drive cable 152B can maintain a state of not being separated from the second annular groove 4124 and extend along the second annular groove 4124 to the fourth pulley 224.

[0078] The second bracket of one embodiment of the present invention is as follows Figure 6C As shown, this embodiment uses a pulley combination with different groove bottom radii to achieve the state that the first pair of cables remain in the first annular groove 4114 and extend to the first pulley group, and the second pair of cables remain in the second annular groove 4124 and extend to the second pulley group. Specifically, the first bracket 510 has a first pulley shaft 517 and a second pulley shaft 518, the first pulley 321 and the second pulley 322 are concentrically mounted on the first pulley shaft 517, the second pulley 322 is located at the bottom of the first pulley shaft 517, the first pulley 321 is located at the upper part of the first shaft 517, and the groove bottom radii of the first pulley 321 and the second pulley 322 are r1 and r2 respectively, wherein r1 is greater than r2. Therefore, after the first pulley 321 and the second pulley 322 are mounted on the first pulley shaft 317, the bottom grooves of the two are radially spaced h apart from each other in the first pulley 321, wherein h=r1-r2, so that the first drive cable 151A can maintain the shape of not being separated from the first annular groove 4114 and extend to the first pulley 321 along the first annular groove 4114, and the third drive cable 152A can maintain the shape of not being separated from the second annular groove 4124 and extend to the second pulley 322 along the second annular groove 4124. The third pulley 323 and the fourth pulley 324 have the same configuration as the first pulley 321 and the second pulley 322 , and are not described in detail herein.

[0079] The first bracket of another embodiment of the present invention is as follows Fig.6D As shown, the first bracket 610 of this embodiment is different from the embodiment shown in FIG. 6C in that the pulley with a larger groove bottom radius is arranged on the inner side of the first bracket 610, and the pulley with a smaller groove bottom radius is arranged on the outer side of the first bracket 610. Specifically, the groove bottom radius of the first pulley 421 is r1, and the groove bottom radius of the second pulley 422 is r2, where r2>r1. After the first pulley 421 and the second pulley 422 are installed on the first pulley shaft 617, the pulley grooves of the two are spaced h apart in the radial direction of the first pulley 421, where h=r1-r2. At this time, the corresponding first The connection mode of the first pair of cables and the second pair of cables to the actuator 410 is opposite to that of the above two embodiments. Specifically, the first pair of cables is connected to the second clamping portion 412, and the second pair of cables is connected to the first clamping portion 411, so that the first driving cable 151 of the first pair of cables can extend to the first pulley 421 along the second annular groove 4124 without being separated from the second annular groove 4124, and the third driving cable 152A of the second pair of cables can extend to the second pulley 422 along the first annular groove 4114 without being separated from the first annular groove 4114. The third pulley 423 and the fourth pulley 424 have the same configuration as the first pulley 421 and the second pulley 422, and will not be described in detail here. Since the first pulley 421 with a smaller groove bottom radius is located at the upper part of the first pulley shaft 617, and the second pulley 422 with a larger groove bottom radius is located at the bottom of the first pulley shaft 421, after the first pulley block is installed on the first bracket, the outer contour cross-section of the entire end instrument 150 is closer to a circle, and the cross-section of the end instrument 150 is closer to the cross-section of the circular sheath 160A, so that the structure of the entire end instrument 150 is more compact than the previous two embodiments, and the two fit more closely after the sheath 160A is installed on the end instrument 150.

[0080] However, after the driving cables are wound around the first pulley block and the second pulley block in the above-mentioned winding method, a coupling relationship exists between the third pair of cables for manipulating the pitch motion of the end device and the first pair of cables and the second pair of cables for manipulating the yaw and opening and closing motion of the end device. Specifically, Figures 7A-7CAs shown, when the driving device 170 of the surgical instrument releases the fifth driving cable 153A of the third pair of cables and retracts the sixth driving cable 153B of the third pair of cables, the desired pitching movement of the end instrument 150 is that the first bracket 310 and the actuator 410 of the end instrument 150 rotate together around the axis AA' of the second pin 211 in a clockwise direction, and the actuator 410 does not move around the first pin 312 during the rotation process. However, since the driving cables are wound in the above-mentioned manner, the first bracket 310 and the actuator 410 rotate together around the axis AA' of the second pin 211 counterclockwise, so that the wrap angle lengths of the first driving cable 151A of the first pair of cables and the third driving cable 152B of the second pair of cables on the fifth pulley 225 and the sixth pulley 226 respectively will increase, and at the same time, the first bracket 310 and the actuator 410 rotate together around the axis AA' of the second pin 211 counterclockwise. The wrap angle lengths of the second drive cable 152B of one pair of cables and the fourth drive cable 152B of the second pair of cables on the seventh pulley 227 and the eighth pulley 228, respectively, will be reduced, so that the portion 151A' of the first drive cable 151A between the first clamping portion 411 and the fifth pulley 225 and the portion 152A' of the third drive cable 152A between the second clamping portion 412 and the sixth pulley 226 will be reduced, and the length of the portion 152B' of the second drive cable 152B between the first clamping portion 411 and the seventh pulley 227 and the portion 152B' of the fourth drive cable 152B between the second clamping portion 412 and the eighth pulley 228 will be increased, thereby causing the actuator 410 to rotate counterclockwise around the axis BB' of the first pin 312, which is not expected to happen.

[0081] Therefore, on one side of the end instrument, the movement of the third pair of cables that manipulate the pitch movement of the end instrument will cause the movement of the first pair of cables and the second pair of cables that manipulate the yaw movement of the end instrument. This relationship in which the change of one element affects another element is called a coupling relationship, that is, there is a coupling relationship between one element and another element, that is, there is a coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables. Due to the existence of this coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables, the end instrument 150 cannot correctly perform the pitch operation, and thus cannot correctly perform the surgical operation. Therefore, it is necessary to release this coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables, so that the movement of the third pair of cables no longer affects the movement of the first pair of cables and the second pair of cables, and the movements of the three can be independent of each other and do not interfere or affect each other. This release of the coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables is called decoupling.

[0082] As to how to release the coupling relationship between the driving cables in the above two embodiments, an existing decoupling method is to use software algorithm for decoupling. The main operation console 200 controls the movement of the third pair of cables while also controlling the movement of the first pair of cables and the second pair of cables. However, the decoupling method using software algorithm will make the control program of the surgical robot complicated and prone to errors. Moreover, this software algorithm decoupling method will cause each driving unit of the driving mechanism of the surgical instrument to lose its independence. Specifically, the driving device has a first driving unit for driving the first pair of cables, a second driving unit for driving the second pair of cables, and a third driving unit for driving the third pair of cables. Ideally, the control of each driving unit is independent of each other. However, when using software algorithm for decoupling, it is necessary to control the above three driving units to move together at the same time, which causes the three driving units to lose their independence and is prone to control errors.

[0083] Therefore, the present invention also provides a driving device for driving the above-mentioned end instrument. The driving device of the present invention uses a mechanical decoupling method to release the above-mentioned coupling relationship, such as Fig. 8A The figure shows a schematic diagram of a driving device 170 according to an embodiment of the present invention. The driving device 170 includes a shell 178 and a first driving unit 171 and a second driving unit 172 located in the shell 178 for driving the end device 150 to open and close and yaw, a first driving unit 173 for driving the end device 150 to perform pitch motion, and a fourth driving unit 174 for driving the long axis 160 to rotate. The proximal ends of the first driving cable 151A and the second driving cable 151B of the first pair of cables are wound around the first driving unit 171 in opposite winding manners, the proximal ends of the third driving cable 152A and the fourth driving cable 152B of the second pair of cables are wound around the second driving unit 172 in opposite winding manners, the fifth driving cable 153A and the sixth driving cable 153B of the third pair of cables are wound around the third driving unit 173 in opposite winding manners, and the sixth driving cable 154A and the seventh driving cable 154B of the fourth cable are wound around the fourth driving unit 174 in opposite winding manners.

[0084] When the actuator in the instrument mounting frame 132 drives the first driving unit 171 to rotate, the first driving unit 171 retracts / releases the first driving cable 151A, and releases / retracts the second driving cable 151B to rotate the first clamping portion 411 around the axis BB' of the first pin 312, and the second bracket 310 rotates around the axis AA' of the second pin 215. When the actuator in the instrument mounting frame 132 drives the second driving unit 172 to rotate, the second driving unit 172 retracts / releases the third driving cable 152A, and releases / retracts the fourth driving cable 152B to rotate the second clamping portion 412 around the axis BB' of the first pin 312. When the actuator drives the third driving unit 173 to rotate, the third driving unit 173 retracts / releases the fifth driving cable 153A, and releases / retracts the sixth driving cable 153B to rotate the axis AA' of the second pin 211 of the first bracket 310, thereby achieving the pitch movement of the end instrument 150. When the actuator in the instrument mounting frame 132 drives the fourth driving unit 174 to rotate along its shaft 174A, the fourth driving unit 174 retracts or releases the seventh driving cable 154A or the eighth driving cable 154B to realize the self-rotation movement of the driving long shaft 160 .

[0085] The driving device 170 also includes a decoupling mechanism for releasing the coupling relationship between the first pair of cables and the second pair of cables and the third pair of cables on one side of the end device 150. The decoupling mechanism includes a main decoupling component 175 and a slave decoupling component 176. The main decoupling component 175 is coaxially arranged with the third drive unit 173. The main decoupling component 1751 and the third drive unit 171 receive drive from the same power source, which is the actuator in the above-mentioned slave operating device. Therefore, the main decoupling component 175 and the third drive unit 173 rotate at the same angular speed. The slave decoupling member 176 includes a slide 171 and a first guide portion 1763 and a second guide portion 1764 respectively arranged at both ends of the slide. The first driving cable 151A of the first pair of cables and the third driving cable 152A of the second pair of cables are guided by the first guide portion 1763 and then enter the long shaft. The second driving cable 151B of the first pair of cables and the fourth driving cable 152B of the second pair of cables are guided by the second guide portion 1764 and then enter the long shaft. The main decoupling member 175 is used to drive the slave decoupling member 176 to move to change the length of the first pair of cables and the second pair of cables in the driving device, thereby releasing the coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables.

[0086] The driving device 170 also includes a plurality of guide wheels for guiding the driving cables. The first driving cable 151A and the third driving cable 152A are first guided by the first guide wheel 177A and then guided by the first guide portion 1763 and finally extended into the long axis 160 by the second guide wheel 177B. The second driving cable 151B and the fourth driving cable 152B are first guided by the third guide wheel 177C and then guided by the second guide portion 1764 and finally extended into the long axis 160 by the fourth guide wheel 177D. The fifth driving cable 153A and the sixth driving cable 153B are extended into the long axis 160 by the fifth guide wheel 177G and the sixth guide wheel 177H respectively.

[0087] The first guide wheel 176A to the sixth guide wheel 176F, the first guide portion 1763 and the second guide portion 1764 are all structures having two pulleys arranged side by side for guiding two driving cables. Fig.9A As shown, the first guide wheel 177A, the first guide wheel 177B, and the first guide portion 1753 all have two side-by-side pulley structures for guiding the first drive cable 151A and the third drive cable 152A, respectively, wherein the axis of the first guide wheel 177A is parallel to the axis of the first guide portion 1763, and the axis of the first guide portion 1763 is perpendicular to the axis of the second guide wheel 177B. After being guided by the first guide wheel 177A, the first guide part 1753 and the second guide wheel 177B, the first driving cable 151A forms a first portion of the cable 151Aa between the first guide wheel 177A and the first guide part 1763, and the third driving cable 152A forms a second portion of the cable 152Aa between the first guide wheel 177A and the first guide part 1763. The first portion of the cable 151Aa and the second portion of the cable 152Aa are parallel to the moving direction of the carriage 1761, and the first portion of the cable 151Aa and the second portion of the cable 152Aa do not include the portion wound around the pulley. Therefore, when the slave decoupling member 176 moves in a straight line under the drive of the main decoupling member 1751, the length changes of the first portion of the cable 151Aa and the second portion of the cable 152Aa are always linear.

[0088] like Fig. 9BAs shown, the first drive cable 151A and the third drive cable 152A are respectively formed with a third portion cable 151Ab and a fourth portion cable 152Ab between the first guide portion 1763 and the second guide wheel 177B. The third portion cable 151Ab and the fourth portion cable 152Ab are symmetrical with respect to the center plane H1 of the third guide wheel 176C. The center plane S1 of the third guide wheel 176C refers to a 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 third portion cable 151Ab and the fourth portion cable 152Ab do not include the portion wound around the pulley. The angles between the third cable 151Bb and the fourth cable 152Bb and the center plane S1 are both θ, and the angle θ is small enough to make the lengths of the third cable 152Ab and the fourth cable 152Bb almost equal to the distance h from the first guide 1753 to the third guide 176C, so that the third cable 152Ab and the fourth cable 152Bb are also roughly parallel to the movement direction of the slave decoupling member. Therefore, when the slave decoupling member 176 moves in a straight line under the drive of the main decoupling member 175, the length changes of the third cable 152Ab and the fourth cable 152Bb are also substantially linear.

[0089] Similarly, the second driving cable 151B of the first pair of cables and the fourth driving cable 152B of the second pair of cables between the third guide wheel 176C, the second guide portion 1754 and the fourth guide wheel 176D are also arranged the same as the first driving cable 151A and the third driving cable 152A on the first guide wheel, the first guide portion 1763 and the second guide wheel 177B, and will not be described in detail here. Therefore, during the decoupling process, the length change speed of any one of the first driving cable 151A to the fourth driving cable 152B in the driving device is directly proportional to the moving speed of the carriage 1761.

[0090] In this embodiment, the slave decoupling member 176 further includes a first decoupling cable 1765 and a second decoupling cable 1766. One end of the first decoupling cable 1761 and the second decoupling cable 1762 is connected to the main decoupling member 175, and the other ends are respectively connected to both ends of the carriage 1761. The main decoupling member 175 manipulates the movement of the carriage 1761 of the slave decoupling member 176 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 175 in opposite ways. The radius of the main decoupling member 175 is r3, and the radius of the third driving unit 173 is R3, where r3 < R3. The main decoupling member 175 realizes the manipulation of the movement of the carriage 1761 of the slave decoupling member 176 by retracting / pulling the first decoupling cable 1765 and simultaneously releasing / pulling the second decoupling cable 1766.

[0091] The following details how the decoupling mechanism achieves decoupling, as Figure 8B shown, when the third driving unit 173 rotates in the first direction (counterclockwise), the third driving unit 173 retracts the fifth driving cable 153B and simultaneously releases the fourth driving cable 153A, so that the first bracket 310 of the end effector 150 rotates along the axis AA' of the second pin 211 in the Fig. 7A direction shown. Since the main decoupling member 173 is coaxially arranged with the third driving unit 173, the main decoupling member 173 rotates in the first direction at the same angular velocity as the third driving unit 173. When the main decoupling member 175 rotates in the first direction, it releases the first decoupling cable 1765 and simultaneously retracts the second decoupling cable 1766, thereby pulling the carriage 1761 of the slave decoupling member 176 to move in the A direction within the driving device 170, so that the lengths of the first driving cable 151A and the third driving cable 152A within the driving device decrease simultaneously, and the lengths of the second driving cable 151B and the fourth driving cable 152B within the driving device increase simultaneously.

[0092] In order to enable the decoupling mechanism to accurately release the coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables, the slave decoupling member 176 driven by the main decoupling member 175 always moves in a straight line, and the length change of the first drive cable 151A to the fourth drive cable 152B caused by the movement of the slave decoupling member 176 in the drive device 170 is always linear. Specifically, as shown in 8A-8C, the first decoupling cable 1765 is redirected by the fifth guide wheel 176E of the multiple guide wheels and then extends along the movement direction of the slide 1761 and is fixed to one end of the slide 1761. Similarly, the second decoupling cable 1766 is redirected by the sixth guide wheel 176G and then extends along the movement direction of the slide 1761 and is fixed to the other end of the slide 1761. In this way, the portion of the first decoupling cable 1765 between the fifth guide wheel 177E and the slide 1761 is parallel to the movement direction of the slide 1761. Similarly, the portion of the second decoupling cable 1767 between the seventh guide wheel 177G and the slide 1761 is also parallel to the movement direction of the slide 1761. Therefore, during the decoupling process, the movement speed of the slide 1761 is directly proportional to the rotation linear speed of the main decoupling component 175 and the rotation linear speed of the third drive unit 173. As described above, the length change speed of any one of the first to fourth drive cables 151A to 152B in the drive device is directly proportional to the moving speed of the carriage 1761, so that the length change speed of any one of the first to fourth drive cables 151A to 152B in the drive device is directly proportional to the rotational linear speed of the main decoupling member 175 and the rotational linear speed of the third drive unit 173, so that the decoupling can be precisely controlled. In this embodiment, the length change speed of any one of the first to fourth drive cables 151A to 152B in the drive device is twice the rotational linear speed of the main decoupling member 175.

[0093] If the radius of the second group of pulleys in this embodiment is the groove bottom radius r1, the groove bottom radius of the annular grooves 4114 and 4124 of the pitch wheel 311 of the first bracket 310 is R1, and when the end device rotates through an angle α in the first direction, the wrap angle lengths of the first driving cable 151A of the first pair of cables and the third driving cable 152A of the second pair of cables on the fifth pulley 225 and the sixth pulley 226 will increase by L, where L=α*r1, and at the same time, the wrap angle lengths of the second driving cable 151B of the first pair of cables and the fourth driving cable 152B of the second pair of cables on the seventh pulley 227 and the eighth pulley 228 will decrease by L.

[0094] Back again Fig. 7A When the end instrument 150 pitches, the fifth driving cable 153A or the sixth driving cable 153B can form a wrap angle in the annular grooves 4114 and 4124. Figure 7B , 7C As shown in FIG. 1 , when the pitch angle of the end tool 150 is α, the wrap angle length of the fifth driving cable 153A in the annular groove on the pitch wheel 311 increases by L1, and the wrap angle length of the sixth driving cable 153B on the pitch wheel 311 decreases by L1, wherein L1=α*R1. Since the pitch motion of the end tool 150 is driven by the third driving unit 173 in the driving device 170, as shown in FIG. Figure 8B As shown, at this time, if the third driving unit 173 makes the end device 150 pitch and roll at an angle α and rotates along the first direction at an angle β, the third driving unit 173 releases the fifth driving cable 153A and simultaneously retracts the sixth driving cable 153B, so that the length of the fifth driving cable 153A wrapped around the third driving unit 173 is reduced by L1, and the length of the sixth driving cable 153B wrapped around the third driving unit 173 is increased by L1, wherein L1=β*R2. Since the main decoupling member 1761 and the third drive unit rotate at the same angular speed, the main decoupling member 175 releases the first decoupling cable 1765 and simultaneously retracts the second decoupling cable 1766, so that the length of the first decoupling cable 1767 wrapped around the main decoupling member 175 is reduced by L / 2, that is, the first decoupling cable 1767 is released by L / 2, and the length of the second decoupling cable 1768 wrapped around the main decoupling member 175 is increased by L / 2, wherein L / 2=β*r2, and the lengths of the first drive cable 151A and the third drive cable 152A in the drive device 170 are both reduced by L, and the lengths of the second drive cable 151B and the fourth drive cable 152B in the drive device 170 are both increased by L. As can be seen from the foregoing, L=α*r1. In summary, through the above four formulas: L1 = α * R1, L1 = β * R2, L / 2 = β * r2, L = α * r1, we can get the following relationship:

[0095]

[0096] The above relationship shows that the ratio of the radius of the third drive unit 173 to the radius of the main decoupling member 176 is twice the ratio of the radius of the pitch wheel 311 to the radius of the second group of pulleys. The reason for this 2-fold relationship is that the slave decoupling member 176 has two movable guide wheels, namely, the first movable guide wheel 1763 and the second movable guide wheel 1764. In other embodiments, the number of guide wheels of the slave decoupling member may also be other numbers, so that the relationship between the ratio of the radius of the third drive unit to the radius of the main decoupling member and the ratio of the radius of the pitch wheel to the radius of the second group of pulleys also changes accordingly. For example, the slave decoupling member may have N guide wheels, and the ratio of the radius of the third drive unit to the radius of the main decoupling member is N times the ratio of the radius of the pitch wheel to the radius of the second group of pulleys, that is: However, as the number of guide wheels of the slave decoupling component increases, the volume of the slave decoupling component also increases accordingly. It is more preferred that two guide wheels are used for the slave decoupling component in the above embodiment.

[0097] like Figure 8C As shown in FIG. 1 , when the third driving unit 173 and the main decoupling member 175 rotate together in a second direction opposite to the first direction, the entire decoupling process is opposite to the process of the third driving unit 173 and the main decoupling member 175 rotating in the first direction, so the changes in the driving cables and the decoupling cables caused are also opposite to the above-mentioned movement in the first direction. That is, the third driving unit 173 rotates in the second direction to retract the fifth driving cable 153A and release the sixth driving cable 153B, so that the first bracket of the end instrument 150 rotates around the axis AA' along the same axis as the axis. Fig. 7A The first drive cable 151A and the third drive cable 152A of the second pair of cables rotate in opposite directions, so that the wrap angle lengths of the first drive cable 151A and the third drive cable 152A on the fifth pulley 225 and the sixth pulley 226 are reduced, and the wrap angle lengths of the second drive cable 151B and the fourth drive cable 152B on the seventh pulley 227 and the eighth pulley 228 are increased. The decoupling element 175 rotates in the second direction at the same angular speed as the third drive unit 173 to retract the first decoupling cable 1765 and release the second decoupling cable 1766 at the same time, thereby driving the carriage 1761 of the decoupling element 176 to move in the direction B opposite to the direction A, thereby increasing the lengths of the first drive cable 151A and the third drive cable 152A in the drive device 170, and reducing the lengths of the second drive cable 151B and the fourth drive cable 152B in the drive device 170.

[0098] Therefore, the changes in the lengths of the wrap angles of the first driving cable 151A of the first pair of cables and the third driving cable 152A of the second pair of cables on the fifth pulley 225 and the sixth pulley 226 respectively, as well as the changes in the lengths of the second driving cable 151B and the fourth driving cable 152B on the seventh pulley 227 and the eighth pulley 228 respectively, required for the pitching movement of the end instrument 150, are all provided by the changes in the lengths of the first driving cable 151A and the third driving cable 152A in the driving device caused by the movement of the decoupling member 176 of the decoupling mechanism, as well as the changes in the lengths of the second driving cable 152B and the fourth driving cable 152B in the driving device, so that the movement of the third pair of cables is no longer restricted by the first pair of cables and the second pair of cables, thereby achieving precise decoupling between the third pair of cables and the first pair of cables and the second pair of cables. During the entire decoupling process, the lengths of the first path 151Aa, the second path 151Ba, the third path 152Aa and the fourth path 152Ba can be maintained constant, and the tension of the first pair of cables and the second pair of cables is also maintained constant. In addition, during the entire decoupling process, only the axis 173A of the third drive unit 173 moves, the first drive unit 171, the second drive unit 172 and the third drive unit 173 are completely independent, so that the pitch movement of the end device 150 during the decoupling process will not cause any opening and closing and / or yaw movement of the end device 150. In addition, since the main decoupling member 1761 rotates coaxially with the coupling source, i.e., the third driving unit 173, which causes the coupling relationship, the main decoupling member 1761 and the coupling source third driving unit 173 move at the same angular velocity, the length change of the first pair of cables and the second pair of cables on the end instrument 150 side caused by the coupling source third driving unit 173 can be completely and accurately mapped to the length change of the first pair of cables and the second pair of cables on the decoupling mechanism 176, so that the decoupling mechanism 176 can completely and accurately release the coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables. In addition, since the slave decoupling member is always driven by the main decoupling member 1761 to move to the corresponding position, the first pair of cables and the second pair of cables are always not subjected to force on the slave decoupling member, so the tension of the first pair of cables and the second pair of cables during the decoupling process remains basically unchanged, thereby increasing the service life of the first pair of cables and the second pair of cables.

[0099] An embodiment of the present invention Fig.10 As shown, the driving device 270 of this embodiment is compared Fig. 8AIn the embodiment, more guide wheels are added. Specifically, a sixth guide wheel 177I for guiding the first drive cable 151A and the third drive cable 152A is added between the first guide portion 1763 and the second guide wheel 177B, and a seventh guide wheel 177J for guiding the second drive cable 151B and the fourth drive cable 152B is added between the second guide portion 1764 and the fourth guide wheel 177D. After passing through the guide wheels of the sixth guide wheel 177I and the seventh guide wheel 177J, the first drive cable 151A and the third drive cable 152A are parallel to the movement direction of the slide 1761 on both sides of the first guide portion 1763, and the second drive cable 151B and the fourth drive cable 152B are parallel to the movement direction of the slide 1761 on both sides of the second guide portion 1764, so that the change in length of the first drive cables 151A to the fourth drive cables 152B in the drive device caused by the movement of the slide 1761 is completely linear.

[0100] The driving device of one embodiment of the present invention is as follows Fig.11 As shown, the main decoupling member 1751 of the decoupling mechanism 275 of the driving device 370 is connected to the slave decoupling member 1752 by gear meshing. Specifically, the slave decoupling member has a slide 2752, and the two ends of the slide 2752 are respectively connected to the first guide part 2753 and the second guide part 2754. The body of the slide 3751 has a rack structure, and the main decoupling member 2751 has a gear structure meshed with the rack mechanism of the slide 3751. The main decoupling member 2751 and the third driving unit 173 are arranged on the same axis. When the third driving unit 173 rotates together with the main decoupling member 2751, the main decoupling member 2751 will drive the pitch mechanism to move in a straight line, thereby changing the length of the first pair of cables and the second pair of cables in the driving device 370, thereby realizing the release of the first driving cable 151. It can be understood that the main decoupling component 2751 and the slave decoupling component of the decoupling mechanism 275 can not only be meshed with each other through a gear rack, but in some other embodiments, the main decoupling component 2751 and the slave decoupling component can also be meshed with each other through two gears.

[0101] The driving device of one embodiment of the present invention is as follows Figures 12A-12C As shown, the driving device 470 includes a main decoupling member 375 with a cam structure which is arranged on the same rotating shaft 173A as the third driving unit 173, and a slave decoupling member 376 connected to the main decoupling member 375. The main decoupling member 375 drives the slave decoupling member 376 to move linearly through a cam-shaped driving method.

[0102] Specifically, the slave decoupling member 376 includes a slide 3761 and a first movable pulley 3763 and a second decoupling member 3764 installed at both ends of the slide 3761 for guiding the first pair of cables and the second pair of cables. The first movable pulley 3763 and the second decoupling member 3764 guide the first pair of cables and the second pair of cables in the same manner as in the previous embodiment, which will not be described in detail. The main decoupling member 375 includes a first cam 375a and a second cam 375b arranged on the same. The slide 376 also includes a receiving frame 3762. The receiving frame 3762 is formed with a through hole for accommodating the main decoupling member 375. The slide 375 has a first protrusion 3762a and a second protrusion 3762b extending into the through hole. The first protrusion 3762a is used to abut against the first cam 375a, and the second protrusion 3762b abuts against the second cam 375b.

[0103] like Fig. 12B As shown, the first cam 375a and the second cam 375b of the main decoupling member 375 are both semi-heart-shaped cams, the second cam 375b and the first cam 375a have the same outer profile, the first cam 375a has a heart-shaped involute S1 and a first arc S2 and a second arc S3 located at both ends of the involute S1, the radii of the first arc S2 and the second arc S3 are different, the distance from the involute S1 to the axis of the rotating shaft 173A gradually increases from the first arc S2 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 of the rotating shaft 173A is linearly related to the angle θ1 of the first cam 375a rotating around the axis 173A, P=K1*θ1+K2, where K1 and K2 are constants, In this way, when the main decoupling member 375 rotates at a uniform speed, the distance from the contact point between the first boss 3762a and the involute S1 of the first cam 375a to the rotation axis 173A and the distance from the contact point between the second boss 3762b and the involute S1' of the second cam 375b to the rotation axis 173A also change linearly at a uniform speed.

[0104] The first cam 375a and the second cam 375b of the main decoupling member 315 are staggered in the axial direction of the cam. The first cam 375a moves in coordination with the first protrusion 3762a of the slide 376, and the second cam 375b moves in coordination with the second protrusion 3762b of the slide 376. Fig. 12B As shown, when the third driving unit 173 and the main decoupling member 375 are moved along the first direction ( Fig. 12BWhen the main decoupling member 375 rotates in the positive clockwise direction (as shown), the first cam 375a of the main decoupling member 375 rotates clockwise, causing the first boss 3762a to move along the involute S1 of the first cam 375a in the direction of increasing the distance from the involute S1 to the rotation axis 173A, and on the contrary, the second cam 375b of the main decoupling member 375 rotates counterclockwise, causing the first boss 3762a to move along the involute S1 of the second cam 375b in the direction of decreasing the distance from the involute S1 to the rotation axis 173A, so that the main decoupling member 375 pushes the slide to move in the A direction, thereby reducing the lengths of the first drive cable 151A and the third drive cable 152A in the drive device 170, and increasing the lengths of the second drive cable 151B and the fourth drive cable 152B in the drive device 470, so that the main decoupling member 375 drives the movement of the slave decoupling member 5762, thereby releasing the coupling relationship between the first pair of cables and the second pair of cables and the third pair of cables.

[0105] If the main decoupling member 375 continues to rotate in the first direction so that the carriage 375 moves to the limit position, the first protrusion 3762a leaves the involute S1 of the first cam 375a and enters the second arc S3, and the second protrusion 3762b The involute S1' leaving the second cam 375b enters the first arc S2', and since the distance from the contact point between the first boss 3762a and the first cam 375a to the rotation axis 573A no longer changes when the first boss 3762a moves on the first arc S1 and the second arc S2 of the first cam 375a, similarly, the distance from the contact point between the first boss 3762a and the first cam 375a to the rotation axis 573A no longer changes when the second boss 3762b moves on the first arc S1' and the second arc S2' of the second cam 375b, therefore the slide 375 no longer moves in the A direction, and the slide 375 is now in the extreme position of movement in the A direction. Therefore, due to the existence of the main decoupling member 375, the first arc S1, S1' and the second arc S2, S2' enable the main decoupling member 375 to continue rotating after rotating to the extreme position, thereby causing the slide to continue moving. On the contrary, when the main decoupling member 375 rotates clockwise, the movements of the first cam 375a, the second cam 375b and the slide are opposite to the counterclockwise movement of the main decoupling member 375, which will not be described again here.

[0106] like Fig.13 The driving device 150 of one embodiment of the present invention is suitable for an end device that has only yaw motion but no opening and closing motion, such as an electric hook end device for burning. Figure 5AThe end instrument shown lacks a pair of driving cables, that is, it only has a first pair of cables. The driving device 570 is suitable for driving this type of end instrument. Compared with the driving devices in the previous embodiments, the driving device 570 lacks a driving unit for cooperating with the first driving unit to drive the end instrument to open and close. The other structures are basically similar to the driving devices in the above-mentioned embodiments. Specifically, the driving device 570 includes a first driving unit 271 and a first driving cable 271A and a second driving cable 271B with one end wound around the first driving unit 271 in an opposite manner, the first driving unit is used to manipulate the yaw motion of the terminal device through the first driving cable 271A and the second driving cable 271B; a second driving unit 272 is used to drive the pitch motion of the terminal device, one end of the third driving cable 252A and the fourth driving cable 252B are wound around the second driving unit in an opposite manner, the second driving unit 272 manipulates the pitch motion of the terminal device through the third driving cable 252A and the fourth driving cable 252B; the third driving unit 273 manipulates the rotation of the long axis 160 through the fifth driving cable 153A and the sixth driving cable 153B.

[0107] The decoupling mechanism of the driving device includes a slave decoupling member 3761 and a main decoupling member 475 coaxially arranged with the second driving device. The main decoupling member 475 controls the linear movement of the slide 4761 of the slave decoupling member 476 through the first decoupling cable 2765 and the second decoupling 2766 of the slave decoupling member 476. With the length of the first driving cable 251A and the second driving cable 251B in the driving device 570, it can be understood that, similar to the above-mentioned embodiments, the main decoupling member 475 and the slave decoupling member 476 can also be connected by gear meshing or by cam connection. The above-mentioned embodiments have explained in great detail how to use gears and cams for connection, which will not be repeated here.

[0108] Similar to the above-mentioned examples, when the second drive unit 272 and the main decoupling member 475 rotate together in the first direction at the same angular speed, the second drive unit 272 releases the third drive cable 152A and retracts the fourth drive cable 252B, and at the same time the main decoupling member 475 releases the first decoupling cable 2765 and retracts the second decoupling cable 2766, so that the slide from the decoupling member 476 moves in the direction of reducing the length of the first drive cable 251 in the drive device 570 and increasing the length of the second drive cable 251B in the drive device 570. On the contrary, when the second drive unit 272 and the main decoupling member 475 rotate together at the same angular speed in a second direction opposite to the first direction, the second drive unit 272 retracts the third drive cable 152A and releases the fourth drive cable 252B, and at the same time the main decoupling member 475 retracts the first decoupling cable 2765 and releases the second decoupling cable 2766, so that the slide from the decoupling member 476 moves in the direction of increasing the length of the first drive cable 251 in the drive device 570 and reducing the length of the second drive cable 251B in the drive device 570, thereby decoupling the coupling relationship between the third drive cable, the fourth drive cable and the first drive cable, the second drive cable for controlling the pitch.

[0109] The functions of the multiple guide wheels 177A-177H in the driving device 570 are the same as those in the above-mentioned embodiments, which are to make the parts of the first driving cable 251A on both sides of the first guide part 4763 parallel to the movement direction of the slide, and the parts of the second driving cable 251B on both sides of the second guide part 4764 parallel to the movement direction of the slide, which will not be repeated here.

[0110] In some other embodiments, the main decoupling member may not be coaxially arranged with the third driving unit driving the pitching motion, and the main decoupling member and the third driving unit may be arranged on different rotation axes and driven by different power sources, and the main decoupling member detects the motion of the third driving unit through an encoder arranged on the third driving unit, thereby realizing synchronous operation with the third driving unit and driving the motion of the slave decoupling member. Alternatively, a tension sensor is arranged on the driving cable on the manipulator end device, and the main decoupling member drives the motion of the slave decoupling member according to the tension data detected by the tension sensor.

[0111] A driving device according to another embodiment of the present invention is as follows Fig.14A and Fig. 14B As shown, the drive device 670 and Fig. 8A The drive device 170 shown is mostly the same, except that the decoupling mechanism 576 of the drive device 670 in this embodiment only has Fig. 8AThe decoupling mechanism of the embodiment shown in the figure is a slave decoupling member, but there is no master decoupling member, that is, the decoupling mechanism 576 in this embodiment only includes a slide 1761 and a first guide portion 1763 and a second guide portion 1764 arranged at both ends of the slide, and the movement of the slide 1761 of the decoupling mechanism 576 of the device 670 is driven by the change of the tension of the first pair of cables and the second pair of cables, and the others are the same as Fig. 8A The driving device 170 in the illustrated embodiment is the same and will not be described again herein.

[0112] Specifically, Fig. 14B As shown, when the third driving unit 173 rotates in the first direction (counterclockwise), the third driving unit 173 retracts the sixth driving cable 153B and releases the fifth driving cable 153A to make the first bracket 310 of the end effector rotate around the axis AA' along Figure 7B 1764, so that the slide 1761 is driven by the force exerted by the first drive cable 151A and the third drive cable 152A on the first guide portion 1763, thereby achieving the desired effect. Figure 8B The decoupling effect of the embodiment shown in FIG. 1 is the same as that of the embodiment shown in FIG. 1 . The specific decoupling process of the slide 1761 moving along the direction A is referred to above. Figure 8B The description of the decoupling process of the illustrated embodiment will not be repeated here.

[0113] When the third driving unit 173 rotates in a second direction opposite to the first direction, the tension on the first driving cable 151A and the third driving cable 152A decreases, and conversely, the tension on the second driving cable 151B and the fourth driving cable 152B increases, so that the force applied by the second driving cable 151B and the fourth driving cable 152B on the second guide portion 1764 is greater than the force applied by the first driving cable 151A and the third driving cable 152A on the first guide portion 1763, so that the slide 1761 is driven by the force applied by the second driving cable 151B and the fourth driving cable 152B to the second guide portion 1764 to move in the direction opposite to the A direction, thereby achieving Figure 8CThe embodiment shown has the same decoupling effect. The specific decoupling process refers to the above Figure 8C The description of the decoupling process of the illustrated embodiment will not be repeated here.

[0114] Another embodiment of the present invention is a driving device for an end effector without an opening and closing function. Fig.15 As shown, the driving device 770 in this embodiment is Fig.13 The driving device 570 of the embodiment shown in the figure also has only a different decoupling mechanism, and the rest is the same, which will not be described in detail here. Fig.13 The slave decoupling member portion of the decoupling mechanism in the illustrated embodiment does not have a master decoupling member, and the decoupling structure 576 includes a slide 4761 and a first guide portion 4763 and a second guide portion 4764 provided at both ends of the slide 4761 .

[0115] and Fig.14A The decoupling mechanism 576 in the illustrated embodiment is driven in a similar manner. The decoupling mechanism 676 is driven by the tension change on the first driving cable 251A and the second driving cable 251B. Specifically, when the second driving unit 272 rotates, the end effector will guide the tension change on the first driving cable 251A and the second driving cable 251A during the pitch movement, resulting in the force applied by the first driving cable 251A to the first guide portion 4763 and the force applied by the second driving cable 251B to the second guide portion 5764 being different, thereby driving the slide 4761 to move, thereby releasing the coupling relationship between the first pair of cables and the second pair of cables. The movement of the slide 4761 causes the decoupling process and the above-mentioned Fig.13 The decoupling process shown is the same and will not be repeated here.

[0116] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A surgical instrument, comprising an end instrument, a driving device and a plurality of driving cables, wherein the driving device is configured to drive the end instrument to move through the plurality of driving cables, wherein: The end device comprises: A first bracket and an actuator, wherein the actuator is rotatably connected to the first bracket, and the first bracket is provided with a first pulley block for guiding the driving cable; The first pulley assembly includes a first pulley and a second pulley disposed on a first pulley shaft, the first pulley and the second pulley include pulley grooves for accommodating the drive cables, a portion of one of the plurality of drive cables in the pulley groove of the first pulley and a portion of another of the plurality of drive cables in the pulley groove of the second pulley have different distances from an axis of the first pulley; The driving device comprises a first driving unit, a second driving unit and a decoupling mechanism, the proximal ends of the first driving cable and the second driving cable of the plurality of driving cables are connected to the first driving unit, and the proximal ends of the third driving cable and the fourth driving cable of the plurality of driving cables are connected to the second driving unit; 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 slide and a first guide portion and a second guide portion respectively installed at two ends of the slide, the first guide portion is configured to guide the first drive cable and the third drive cable, the second guide portion is configured to guide the second drive cable and the fourth drive cable, and the main decoupling member is configured to drive the slide to move when the end instrument performs a pitch movement to simultaneously increase the length of the first drive cable and the third drive cable in the drive device and simultaneously reduce the length of the second drive cable and the fourth drive cable in the drive device, or to reduce the length of the first drive cable and the third drive cable in the drive device and simultaneously increase the length of the second drive cable and the fourth drive cable in the drive device.

2. The surgical instrument according to claim 1, characterized in that: The groove bottom radius of the pulley grooves of the first pulley and the second pulley is the same, the first pulley shaft includes a first wheel axle and a second wheel axle that are not concentric, one end of the second wheel axle is connected to the first bracket, and the other end of the second wheel axle is connected to the first wheel axle, and the first wheel axle and the second wheel axle are used to install the first pulley and the second pulley respectively.

3. The surgical instrument according to claim 2, characterized in that: The projection of the first axle on the first plane is inscribed in the projection of the second axle on the first plane, and the first plane is perpendicular to the axis of the second axle.

4. The surgical instrument according to claim 3, characterized in that: The intangent point of the projections of the first axle and the second axle on the first plane is located on a second plane, and the second plane passes through the axis of the first axle and is parallel to the rotation axis of the actuator relative to the first bracket.

5. The surgical instrument according to claim 1, characterized in that: The groove bottom radius of the first pulley is different from the groove bottom radius of the second pulley, and the pulley with the smaller groove bottom radius between the first pulley and the second pulley is installed at the bottom of the first pulley shaft.

6. The surgical instrument according to claim 1, characterized in that: The groove bottom radius of the first pulley is different from the groove bottom radius of the second pulley, and the pulley with the larger groove bottom radius between the first pulley and the second pulley is installed at the bottom of the first pulley shaft.

7. The surgical instrument according to claim 2, characterized in that: The end device also includes a second bracket, the first bracket is rotatably connected to the second bracket, the second bracket is provided with a second pulley group for guiding the driving cable, the first pulley group is located between the second pulley group and the actuator, the first driving cable, the second driving cable, the third driving cable, and the fourth driving cable are wound on the first pulley group and the second pulley group in the same manner, and the first driving cable, the second driving cable, the third driving cable, and the fourth driving cable are used to cooperate in driving the yaw motion of the actuator.

8. The surgical instrument according to claim 7, characterized in that: The actuator includes a first clamping portion and a second clamping portion rotatably connected to the first bracket, the distal ends of the first drive cable and the second drive cable are respectively connected to both sides of the first clamping portion and are wound in opposite ways on the first pulley set and the second pulley set, and the distal ends of the third drive cable and the fourth drive cable are respectively connected to both sides of the second clamping portion and are wound in opposite ways on the first pulley set and the second pulley set.

9. The surgical instrument according to claim 8, characterized in that: The first bracket is also provided with a second pulley shaft which does not coincide with the axis of the first pulley shaft, the first pulley shaft and the second pulley shaft are respectively located on both sides of the first bracket, and the first pulley group further includes a third pulley and a fourth pulley arranged on the second pulley shaft; The first driving cable and the second driving cable are respectively guided through the front of the first pulley and the rear of the third pulley and then extend to the second pulley set; The third driving cable and the fourth driving cable are respectively guided through the front of the second pulley and the rear of the fourth pulley and then extend to the second pulley set.

10. The surgical instrument according to claim 9, characterized in that: The second pulley group includes a fifth pulley, a sixth pulley, a seventh pulley and an eighth pulley sequentially arranged on the same axis, the first drive cable and the third drive cable are respectively guided by the rear parts of the fifth pulley and the sixth pulley and extend to the proximal end of the second bracket, and the second drive cable and the fourth drive cable are respectively guided by the front parts of the seventh pulley and the eighth pulley and extend to the proximal end of the second bracket.

11. The surgical instrument according to claim 10, characterized in that: A portion of the first driving cable between the fifth pulley and the second bracket and a portion of the second driving cable between the seventh pulley and the second bracket are respectively located on the opposite sides of the axis of the second pulley set.

12. The surgical instrument according to claim 10, characterized in that: A portion of the third drive cable between the sixth pulley and the second bracket is located on the opposite side of the axis of the second pulley block from a portion of the fourth drive cable between the eighth pulley and the second bracket.

13. The surgical instrument according to claim 8, characterized in that: The first clamping part and the second clamping part both include a clamping piece, the clamping piece of the first clamping part and the clamping piece of the second clamping part are in contact when the actuator is closed, and the side surface of the proximal end of the clamping piece of the first clamping part or the clamping piece of the second clamping part has an inclined surface.

14. The surgical instrument according to claim 11, characterized in that: The driving device also includes a third driving unit for driving the end instrument to perform pitch motion, the proximal ends of the fifth driving cable and the sixth driving cable are wound around the third driving unit, and the third driving unit drives the end instrument to perform pitch motion via the fifth driving cable and the sixth driving cable, and the main decoupling component is coaxially arranged with the third driving unit.

15. The surgical instrument according to claim 14, characterized in that: The main decoupling member and the third driving unit are used to rotate in a first direction to release the fifth driving cable and pull the sixth driving cable, and make the slide move under the drive of the main decoupling member to reduce the length of the first driving cable and the third driving cable in the driving device.

16. The surgical instrument according to claim 15, characterized in that: The third drive unit and the main decoupling member are used to rotate in a second direction opposite to the first direction to retract the fifth drive cable and release the sixth drive cable, and to move the slide under the drive of the main decoupling member to increase the length of the first drive cable and the third drive cable in the drive device.

17. The surgical instrument according to claim 16, characterized in that: The driving device also includes a first guide wheel, and the first driving cable and the third driving cable are first guided by the first guide wheel and then by the first guide part. The movement direction of the slide is parallel to the part of the first driving cable and the third driving cable between the first guide part and the slide.

18. The surgical instrument according to claim 17, characterized in that: The driving device also includes a second guide wheel, and the second driving cable and the fourth driving cable are first guided by the second guide wheel and then by the second guide part. The movement direction of the slide is parallel to the second driving cable and the fourth driving cable between the second guide wheel and the second guide part.

19. The surgical instrument according to claim 18, characterized in that: The main decoupling member rotates to change the length of any one of the first drive cable, the second drive cable, the third drive cable and the fourth drive cable in the drive device by an amount equal to twice the distance the carriage moves in the drive device.

20. The surgical instrument according to claim 14, characterized in that: The proximal end of the actuator has an annular groove for accommodating the proximal ends of the fifth drive cable and the sixth drive cable, and the groove bottom radius R1 of the annular groove, the radius r1 of the second pulley block, the radius R2 of the third drive unit, and the radius r1 of the main decoupling member satisfy the following relationship: 。 21. A slave operating device, characterized in that: The slave operating device includes a robotic arm and a surgical instrument as described in any one of claims 1-20, wherein the surgical instrument is mounted on the robotic arm, and the robotic arm is used to manipulate the movement of the surgical instrument.

22. A surgical robot, characterized in that: The surgical robot includes a main operating console and a slave operating device as described in claim 21, and the slave operating device performs corresponding operations according to instructions of the main operating console.

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