Surgical instruments, operating equipment and surgical robots

Abstract

The present invention provides a surgical instrument, a slave operating device using the surgical instrument, and a surgical robot with the slave operating device, wherein the surgical instrument comprises an end effector, a driving device and cables, the cables comprising a first driving cable, a first pair of cables and a second pair of cables; the driving device is used to drive the end effector to perform a pitch motion through the first pair of cables and the first driving cables, and to drive the end effector to perform a yaw motion through the first pair of cables and the second pair of cables. The end effector of the present invention is driven in two directions of pitch motion using different driving principles, that is, the pitch motion in a first direction is driven by a special pitch driving cable, while the pitch motion in another direction is driven by a driving cable that drives the end effector to yaw.

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 with a surgical instrument that can be detached from the slave operating device. The surgical instrument includes a drive device and an end effector 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 end effector to move. The drive device is connected to the end effector through a driving cable, and the drive device manipulates the movement of the end effector through the driving cable. The end effector generally includes three degrees of freedom, namely opening and closing, pitching and yaw. Some end effectors also have rotation. In current technology, the yaw and opening and closing movements of the end effector are controlled by a group of driving cables, while the pitch movement of the end effector is controlled by another group of driving cables.

[0005] Performing surgical operations inside the human body often involves facing many complex scenarios, one of which is that the end effector requires greater force when pitching in one direction, but not much force when pitching in the opposite direction. For example, during a surgical operation, a surgical instrument is required to lift a portion of human tissue, or to press a portion of human tissue in one direction. The end effector of the surgical instrument needs to provide greater force to lift or press the human tissue when pitching in the direction in which the end effector is lifting or pressing the human tissue. Conversely, greater force is not required to release the human tissue lifted or pressed by the end effector.

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

[0007] Based on this, in order to solve the above problems, the present invention provides a surgical instrument, a slave operating device using the surgical instrument, and a surgical robot having the slave operating device. The surgical instrument includes an end effector, a drive device and a cable, the drive device is configured to drive the end effector to move through the cable, the cable includes a first drive cable, a first pair of cables and a second pair of cables, the first pair of cables cooperates with the second pair of cables to drive the end effector to perform yaw motion, the first pair of cables cooperates with the first drive cable to drive the end effector to perform pitch motion, and the drive device includes:

[0008] A driving unit, one end of the first driving cable is connected to the driving unit, and the driving unit drives the pitching motion of the end effector through the first driving cable and the first pair of cables;

[0009] The decoupling mechanism includes a main decoupling member and a slave decoupling member, wherein the main decoupling member is coaxially arranged with the driving unit, and the main decoupling member is used to rotate coaxially with the driving unit and drive the slave decoupling member to move so as to increase the length of one pair of cables among the first pair of cables and the second pair of cables in the driving device and reduce the length of the other pair of cables in the driving device, so that the driving unit drives the end effector to perform a pitch motion.

[0010] Preferably, the master decoupling member is configured to rotate coaxially with the driving unit and drive the slave decoupling member to move in a straight line to change the lengths of the first pair of cables and the second pair of cables in the driving device.

[0011] Preferably, the above-mentioned slave decoupling component includes a slide and a first guide portion and a second guide portion respectively arranged at both ends of the slide, the first pair of cables are guided by the first guide portion and extend to the end effector, and the second pair of cables are guided by the second guide portion and extend to the end effector, and the main decoupling component drives the slide to move in a straight line to change the length of the first pair of cables and the second pair of cables in the driving device.

[0012] Preferably, the above-mentioned slave decoupling component also includes a first decoupling cable and a second decoupling cable connected at both ends of the slide, the main decoupling component is connected to the slide through the first decoupling cable and the second decoupling cable, and the main decoupling component is configured to drive the slide to move through the first decoupling cable and the second decoupling cable.

[0013] Preferably, the main decoupling member is connected to the slide by gear meshing.

[0014] Preferably, the main decoupling member has a cam structure, and the main decoupling member is used to rotate to drive the cam structure to contact the slide and drive the slide to move.

[0015] Preferably, the above-mentioned driving device also includes a first guide wheel and a second guide wheel, the first pair of cables are first guided by the first guide wheel and then extended to the end effector by the guidance of the first guide part, and the second pair of cables are first guided by the second guide wheel and then extended to the end effector by the guidance of the second guide part.

[0016] Preferably, the movement direction of the above-mentioned sliding bracket is parallel to the portion of the first pair of cables between the first guide portion and the first guide wheel.

[0017] Preferably, the movement direction of the sliding bracket is parallel to the portion of the second pair of cables between the second guide portion and the second guide wheel.

[0018] Preferably, the above-mentioned driving device also includes a third guide wheel and a fourth guide wheel, the first pair of cables are guided by the first guide part and then extend to the end effector after being guided by the third guide wheel, and the second pair of cables are guided by the second guide part and then extend to the end effector after being guided by the fourth guide wheel.

[0019] Preferably, the axis of the third guide wheel is parallel to the axis of the fourth guide wheel and is perpendicular to the axis of the first guide wheel or the axis of the second guide wheel.

[0020] Preferably, a portion of the first pair of cables between the first guide portion and the third guide wheel is parallel to the direction of movement of the slide, and a portion of the second pair of cables between the second guide portion and the fourth guide wheel is parallel to the direction of movement of the slide.

[0021] Preferably, the above-mentioned drive unit and the main decoupling member rotate along a first direction to increase the length of the first pair of cables on the end actuator and reduce the length of the second pair of cables on the end actuator, and the slave decoupling member moves under the drive of the main decoupling member to reduce the length of the first pair of cables in the drive device and increase the length of the second pair of cables in the drive device.

[0022] Preferably, the above-mentioned drive unit and the main decoupling member rotate in a second direction opposite to the first direction to reduce the length of the first pair of cables on the end actuator and increase the length of the second pair of cables on the end actuator, and at the same time, the slave decoupling member moves under the drive of the main decoupling member to increase the length of the first pair of cables in the drive device and reduce the length of the second pair of cables in the drive device.

[0023] Preferably, the drive unit and the main decoupling member rotate to change the length of the first pair of cables or the second pair of cables on the end effector by an amount equal to four times the distance moved by the slave decoupling member in the drive device.

[0024] Preferably, the main decoupling member rotates in a first direction to release the first decoupling cable and pull the second decoupling cable to move the carriage to reduce the length of the first pair of cables in the drive device and increase the length of the second pair of cables in the drive device.

[0025] Preferably, the main decoupling member rotates in a second direction opposite to the first direction to retract the first decoupling cable and release the second decoupling cable to move the carriage to increase the length of the first pair of cables in the drive device and decrease the length of the second pair of cables in the drive device.

[0026] Preferably, the main decoupling member rotates to change the length of the first pair of cables or the second pair of cables on the end effector by an amount equal to twice the distance the carriage moves in the drive device.

[0027] A slave operating device comprises a mechanical arm and the above-mentioned surgical instrument, wherein the surgical instrument is mounted on the mechanical arm and the mechanical arm is used to manipulate the movement of the surgical instrument.

[0028] 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.

[0029] The driving device of the surgical instrument of the present invention can drive the end effector to pitch in two directions using different driving principles, that is, the pitch movement in a first direction is driven by a special pitch driving cable, while the pitch movement in the other direction is driven by a driving cable that drives the end effector to yaw. Since the special driving cable can provide greater force, it can meet the application scenario of providing greater force when the end effector pitches in one direction. In addition, the driving cable that drives the end effector to yaw is used to drive the pitch movement of the end effector in another direction, which saves driving cables and space, and enables the end effector to be made smaller. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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;

[0031] 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;

[0032] 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;

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

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

[0035] Fig. 6A A three-dimensional diagram of a first bracket of an end effector according to an embodiment of the present invention;

[0036] Figure 6B For the present invention Fig. 6A A top view of a first bracket of an end effector of an embodiment;

[0037] Figure 6C A top view of a first bracket of an end effector according to another embodiment of the present invention;

[0038] Figures 7A-7C A pitch diagram of a driving device according to an embodiment of the present invention;

[0039] Fig. 8A for Fig. 7A An enlarged schematic diagram of the first guide portion and the first guide wheel portion in the embodiment shown;

[0040] Figure 8B for Fig. 7A An enlarged schematic diagram of the first guide portion and the third guide wheel portion of the embodiment shown;

[0041] Fig. 9 A schematic diagram of a driving device according to an embodiment of the present invention;

[0042] Fig.10 FIG. 1 is a schematic diagram of a driving device according to an embodiment of the present invention.

[0043] Fig.11A A perspective view of a driving device according to an embodiment of the present invention;

[0044] Fig. 11B for Fig.11A a top view of the illustrated embodiment;

[0045] Fig. 11C for Fig.11A An exploded view of the decoupling mechanism and mounting base of the illustrated embodiment;

[0046] Fig.11D for Fig.11A A top view of the main decoupling member of the illustrated embodiment;

[0047] Fig.11E for Fig.11A A schematic diagram of a decoupling process of a drive device of the embodiment shown; DETAILED DESCRIPTION

[0048] 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.

[0049] 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.

[0050] 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.

[0051] Minimally invasive surgical robots generally include slave operating equipment and a main operating console. Figure 1 FIG. 1 is a slave operating device 100 according to an embodiment of the present invention. Figure 2 The main operation console 200 of an embodiment of the present invention is a main operation console 200. The surgeon performs relevant control operations on the slave operation device 100 on the main operation console 200, and the slave operation device 100 performs surgical operations on the human body according to the input instructions of the main operation console 200. The main operation console 200 and the slave operation device 100 can be placed in the same operating room, or in different rooms, and even the main operation console 200 and the slave operation device 100 can be far apart. For example, the main operation console 200 and the slave operation device 100 are respectively located in different cities. The main operation console 200 and the slave operation device 100 can transmit data by wire or by wireless. For example, the main operation console 200 and the slave operation device 100 are located in the same operating room, and data is transmitted between the two by wire. For example, the main operation console 200 and the slave operation device 100 are respectively located in different cities, and long-distance data transmission is performed between the two through 5G wireless signals.

[0052] 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 .

[0053] like Figure 4 As shown, the surgical instrument 120 includes a driving device 170 and an end effector 150 respectively located at the proximal end of the surgical instrument 120, and a long shaft 160 located between the driving device 170 and the end effector 150. The driving device 170 is used to connect with the instrument mounting frame 132 of the robotic arm 130. The instrument mounting frame 132 has a plurality of actuators (not shown in the figure). The plurality of actuators are engaged with the driving device 170 to transmit the driving force of the actuators to the driving device 170. The long shaft 160 is used to connect the driving device 170 and the end instrument 150. The long shaft 160 is hollow for the driving cable to pass through. The driving device 170 controls the movement of the end effector 150 through the driving cable so that the end effector 150 performs the relevant surgical operation.

[0054] Figure 5A-5D FIG. 1 is a schematic diagram of the structure of an end effector 150 according to an embodiment of the present invention. Figure 5A and 5B As shown, the end effector 150 includes a first bracket 210 and a second bracket 310, the distal end of the first bracket 210 has a first pillar 211 and a second pillar 212, the proximal end of the first bracket 210 has a first base frame 213, one end of the base frame 213 is connected to the long axis 160, and the other end of the first base frame 213 extends toward the distal end of the end effector 150 to form the first pillar 211 and the second pillar 212, and the first pillar 211, the second pillar 212 and the first base frame 213 form a roughly U-shaped clamp structure.

[0055] A first pin 214 and a second pin 215 are provided between the first pillar 211 and the second pillar 212. One end of the first pin 214 is fixedly connected to the first pillar 211, and the other end thereof is fixedly connected to the second pillar 212. Similarly, one end of the second pin 215 is fixedly connected to the first pillar 314, and the other end thereof is fixedly connected to the second pillar 212. The first pin 214 and the second pin 215 are arranged side by side on the first pillar 211 and the second pillar 212, wherein the first pin 214 is closer to the base frame 213 of the first bracket 210 than the second pin 215.

[0056] A first pulley block is arranged on the first pin 214, and a second pulley block is arranged on the second pin 215. The first pulley block includes a first pulley 221, a second pulley 222, a third pulley 223 and a fourth pulley 224 which are sequentially arranged on the first pin 214. The second pulley block includes a fifth pulley 225, a sixth pulley 226, a seventh pulley 227 and an eighth pulley 228 which are sequentially arranged on the second pin 215. The first pulley 211 to the eighth pulley 218 are all used to guide the drive cable. Since the pulleys for guiding the drive cable are all arranged on the first bracket 210, and there is no pulley on the second bracket 310, the volume of the second bracket 310 can be made smaller, so that the volume of the end effector 150 is smaller, and there is no risk of the pulley falling off.

[0057] The second bracket 310 is provided with a third pillar 311, a fourth pillar 312 and a pitch wheel 314, and the third pillar 311 and the fourth pillar 312 are extended from the pitch wheel 314 along the distal end of the end effector 150. The third pillar 311, the fourth pillar 312 and the pitch wheel 314 form a roughly U-shaped frame shape. The pitch wheel 314 of the second bracket 310 is installed on the first bracket 210 through the second pin 312. The second bracket 310 can rotate around the axis AA' passing through the second pin 215 to realize the pitch movement of the end effector 150.

[0058] A third pin 313 is provided between the third pillar 311 and the fourth pillar 312 of the second bracket 310. The third pin 313 is perpendicular to the second pin 215. One end of the third pin 313 is fixedly connected to the third pillar 311 and the other end is fixedly connected to the fourth pillar 312. The end effector 150 further includes a clamping portion 410. The second pulley block is located between the first pulley block and the clamping portion 410. The clamping portion 410 includes a first clamping portion 411 and a second clamping portion 412. The first clamping portion 411 and the second clamping portion 412 are rotatably provided on the second bracket 310 through the third pin 313. The first clamping portion 411 and the second clamping portion 412 can rotate around the axis BB' passing through the third pin 313 to realize the opening and closing and / or yaw movement of the end effector 150. The first clamping portion 411 and the second clamping portion 412 can be clamps for clamping tissues, or staplers for suturing, or cauterizers for electric cauterization, etc.

[0059] Figure 5A The direction mark in the figure is for the convenience of describing the winding method of the drive cable on the end effector 150. The distal end and proximal end in the mark refer to the distal end and proximal end directions of the end effector 150, and the front, rear, left, and right refer to the directions of the end effector 150. Figure 5A The front direction, rear direction, left direction and right direction of the end effector 150 under the perspective of FIG. 1 , although there is no direction mark in the other figures, it can be Figure 5A The direction of the end instrument effector 150 can be easily derived. The driving cables arranged on the end effector 150 include a first driving cable, a first pair of cables and a second pair of cables, wherein the first pair of cables includes a second driving cable 152A and a third driving cable 152B, the second driving cable 152A and the third driving cable 152B cooperate to realize the manipulation of the second clamping part 412 to rotate around the third pin 313, the first driving cable 151 and the second driving cable 152A and the third driving cable 152B cooperate to realize the manipulation of the pitch motion of the end effector 150; the second pair of cables includes a fourth driving cable 153A and a fifth driving cable 153B, the fourth driving cable 153A and the fifth driving cable 153B cooperate to realize the manipulation of the first clamping part 411 to rotate around the third pin 313, the second driving cable 152A, the third driving cable 152B and the fourth driving cable 153A, the fifth driving cable 153B cooperate to realize the opening and closing and yaw motion of the end effector 150.

[0060] The first driving cable 151 has a first mounting end 151A at its distal end, and the second bracket 310 has a first mounting cavity for accommodating the first mounting end 151A. The first mounting end 151A is accommodated in the first mounting cavity to achieve connection between the first driving cable 151 and the second chassis 310. The first pair of cables and the second pair of cables have a second mounting end 152C and a third mounting end 153C at their distal ends, respectively. The first clamping portion 411 and the second clamping portion 412 have a second mounting cavity 411A and a third mounting cavity 412A, respectively. The second mounting cavity 411A and the third mounting cavity 412A are respectively used to accommodate the third mounting end 153C and the second mounting end 152C to achieve connection between the first pair of cables and the second pair of cables and the second clamping portion 412 and the first clamping portion 411, respectively.

[0061] In order to realize the pitching motion of the manipulator end effector 150 by the cooperation of the first driving cable 151, the second driving cable 152A and the third driving cable 152B, on one side of the end effector 150, the winding method of the first pair of cables on the first pulley group and the second pulley group is opposite to the winding method of the second pair of cables on the first pulley group and the second pulley group, the winding method of the second driving cable 152A on the first group of pulleys and the second group of pulleys is the same as the winding method of the third driving cable 152B on the first group of pulleys and the second group of pulleys, the winding method of the fourth driving cable 153A on the first group of pulleys and the second group of pulleys is the same as the winding method of the fifth driving cable 153B on the first group of pulleys and the second group of pulleys. Specifically, Figure 5C As shown, the proximal end of the second drive cable 152A is connected to the drive unit in the drive device 170, and the distal end of the second drive cable 152A is guided by the rear of the second pulley 222 and continues to extend toward the distal end of the end effector 150, and is guided by the front of the sixth pulley 226 and continues to extend along the distal end of the end instrument 150 and is finally installed in the third mounting cavity 412A on the second clamping portion 412 through the second mounting end 152C; the third drive cable 152B is guided by the rear of the third pulley 223 and continues to extend toward the distal end of the end effector 150, and is guided by the front of the seventh pulley 227 and continues to extend toward the distal end of the end effector 150 and is finally installed in the third mounting cavity 412A on the second clamping portion 412 through the second mounting end 152C.

[0062] The distal end of the fourth drive cable 153A is guided by the front of the first pulley 221 and then continues to extend toward the distal end of the end effector 150, and is guided by the rear of the fifth pulley 225 and then continues to extend toward the distal end of the end instrument 150 and is finally installed in the second installation cavity 411A of the first clamping portion 411 through the third installation end 153C. The distal end of the fifth drive cable 153B is guided by the front of the fourth pulley 224 and then continues to extend toward the distal end of the end effector 150, and is guided by the rear of the eighth pulley 218 and then continues to extend toward the distal end of the end instrument 150 and is finally installed in the second installation cavity 411A on the first clamping portion 411 through the third installation end 153C.

[0063] The second drive cable 152A and the third drive cable 152B cooperate together to manipulate the second clamping part 412 to rotate around the axis BB' of the third pin 313, and the fourth drive cable 153A and the fifth drive cable 153B cooperate together to manipulate the first clamping part 411 to rotate around the axis BB' of the third pin 313, and then the second drive cable 152A, the third drive cable 152B, the fourth drive cable 153A and the fifth drive cable 153B cooperate together to manipulate the first clamping part 411 and the second clamping part 412 to realize the opening and closing and / or yaw movement of the end actuator 150.

[0064] In addition, the first driving cable 151A, the second driving cable 152A and the third driving cable 152B cooperate to operate the clamping part 410 and the second bracket 310 to rotate around the axis AA' of the second pin 215 to realize the pitch motion of the end effector 150. Since the axis AA' of the second pin 215 is perpendicular to the third pin 313, the yaw motion and pitch motion of the end effector 150 are also orthogonal.

[0065] Specifically, Figure 5C-5D As shown in FIG. 1 , when the driving mechanism 170 simultaneously pulls the second driving cable 152A and the third driving cable 152B and simultaneously releases the first driving cable 151, the fourth driving cable 153A and the fifth driving cable 153B, the clamping portion 410 and the second bracket 310 rotate counterclockwise around the axis AA′ of the second pin 215, and the end effector 150 performs Figure 5D When the drive mechanism 170 retracts the first drive cable 151A and / or simultaneously retracts the fourth drive cable 153A and the fifth drive cable 153B, the clamping portion 410 and the second bracket 310 rotate clockwise around the axis AA 'of the second pin 215, the end effector 150 performs Figure 5E Pitch motion shown.

[0066] When the driving mechanism 170 retracts the third driving cable 152B and the fifth driving cable 153B and releases the second driving cable 152A and the fourth driving cable 153A at the same time, the clamping portion 410 rotates clockwise around the axis BB′ of the third pin 313, and the end effector 150 performs Fig. 5F When the driving device 170 retracts the third driving cable 152B and the fourth driving cable 153A and releases the second driving cable 152A and the fifth driving cable 153B at the same time, the first clamping portion 411 rotates counterclockwise around the axis BB' of the third pin 313, and the second clamping portion 412 rotates clockwise around the axis BB' of the third pin 313, and the end effector 150 performs Figure 5G The above-mentioned pitch, yaw and opening and closing movements of the end effector 150 can also be performed simultaneously, such as Figure 5H It is shown that the first driving cable 151, the first pair of cables and the second pair of cables cooperate to manipulate the end effector 150 to perform pitch, yaw and opening and closing movements simultaneously. It can be understood that when the movement direction of the driving cable is opposite to the above direction, the pitch, yaw and opening and closing directions of the end effector 150 are opposite to the above direction, which will not be repeated here.

[0067] Compared with the existing end effector, the end effector 150 of the surgical instrument of the present invention is controlled by the first driving cable 151 clockwise along the axis AA' of the second pin, and the end effector is controlled by the second driving cable 152A and the third driving cable 153A together when rotating counterclockwise along the axis AA' of the second pin. Since the torque applied to the second bracket 310 when the driving mechanism 170 retracts the first driving cable 151 is greater than the torque applied to the second bracket 310 when the driving mechanism 170 retracts the second driving cable 152A and the third driving cable 152B, the end effector 150 is more powerful when it pitches clockwise around the axis AA' than when it pitches counterclockwise around the axis AA'. This is mainly to make the end effector 150 suitable for scenarios where greater force is required when pitching in one direction, but no greater force is required when pitching in the opposite direction. For example, in surgical operations, a surgical instrument is required to lift a portion of human tissue, or to press a portion of human tissue in one direction. When the end effector of the surgical instrument pitches in the direction in which the human tissue is lifted or pressed, a greater force is required to lift or press the human body assembly. Conversely, no greater force is required to release the human tissue lifted or pressed by the end effector.

[0068] In one embodiment of the present invention, when the end effector 150 of the surgical instrument rotates clockwise along the axis AA' of the second pin, it is controlled by the first drive cable 151, the fourth drive cable 153A and the fifth drive cable 153B. At this time, compared with the case where the end effector 150 is controlled to rotate clockwise by only the first drive cable 151, the end effector 150 rotates clockwise along the axis AA' of the second pin with greater force, so that the end effector can adapt to the scenario where it can provide greater force when operating in a single direction.

[0069] In addition, since the present invention has only one first driving cable specifically used to manipulate the pitch motion of the end effector 150, compared with the existing end effector, there is one less driving cable specifically used to manipulate the pitch motion of the end effector, so the volume of the first bracket and the second bracket can be made smaller, thereby making the volume of the entire end effector correspondingly smaller, the structure is simpler, and the assembly is more convenient.

[0070] It can be understood that in other embodiments, contrary to the above two embodiments, the first drive cable specifically used to manipulate the pitch of the end effector manipulates the end effector to pitch counterclockwise around axis AA', while the second drive cable and the third drive cable that manipulate the opening and yaw of the end effector manipulate the end effector to pitch clockwise around axis AA'.

[0071] In order to realize the second driving cable for manipulating the opening and yaw of the end effector and the third driving cable for manipulating the pitch motion of the end effector, as shown in FIG. Figure 5C-5G As shown, no matter how the end effector 150 moves, the first portion of cables 152A' and the second portion of cables 152B' of the first pair of cables between the second pulley block and the third mounting cavity 412A of the second clamping portion 412 and the third portion of cables 153A' and the fourth portion of cables 153B' of the second pair of cables between the second group of pulley blocks and the second mounting cavity 411A of a clamping portion 411 are respectively located on both sides of a first plane M passing through the axis AA' of the second pin 215 and perpendicular to the axis BB' of the third pin 313, wherein the portion of the first pair of cables between the second pulley block and the third mounting cavity 412A and the portion of the third pair of cables between the second group of pulley blocks and the second mounting cavity 411A do not include the portions of the first cable and the third pair of cables wound around the second group of pulleys.

[0072] like Figure 5CAs shown, the portion of the first pair of cables between the second pulley set and the third mounting cavity 412A of the second clamping portion 412 includes the first portion of the cable 152A' of the second drive cable 152A between the sixth pulley 226 and the third mounting cavity 412A and the second portion of the cable 152B' of the third drive cable 152B between the seventh pulley 227 and the third mounting cavity 412A, and the portion of the third pair of cables between the second set of pulleys and the second mounting cavity 411A of the first clamping portion 411 includes the third portion of the cable 152A' of the fourth drive cable 153A between the fifth pulley 225 and the second mounting cavity 411A and the fourth portion of the cable 152B' of the fifth drive cable 153B between the eighth pulley 228 and the second mounting cavity 411A.

[0073] Therefore, when the driving device 170 simultaneously pulls the second driving cable 152A and the third driving cable 152B of the first pair of cables and releases the first driving cable 151 and the fourth driving cable 153A and the fifth driving cable 153B of the third pair of cables, the second clamping portion 412 is pushed by the torque of the first pair of cables to rotate counterclockwise around the axis AA' of the second pin 215, and the end effector 150 performs Figure 5D On the contrary, when the driving device 170 retracts the first driving cable 151 and releases the first pair of cables, the second bracket 310 is pulled by the first driving cable 151 and rotates clockwise around the axis AA' of the second pin 215, and the pitching motion of the end effector 150 is as shown in FIG. Figure 5E In another embodiment, the driving device 170 retracts the first driving cable 151 and simultaneously retracts the fourth driving cable 153A and the fifth driving cable 153B, and releases the first pair of cables. At this time, the second bracket 310 is pulled by the first driving cable 151, and the first clamping portion 411 is also pushed by the torque of the second pair of cables, so that the end effector 150 is driven by two torques (i.e., the torque of the first driving cable 151 and the second pair of cables) to rotate clockwise, so that the end effector 150 can provide greater force when pitching clockwise to adapt to more application scenarios.

[0074] like Figure 5D-5HAs shown, no matter how the end effector 150 pitches, the first cable 152A' and the second cable 152B' and the third cable 153A' and the fourth cable 153B' are always located on both sides of the first plane M, the first cable 152A' and the second cable 152B' are always located on the same side of the first plane M, and the third cable 153A' and the fourth cable 154 are always located on the other same side of the first plane M. Therefore, no matter what position the end effector 150 is in, pulling the second drive cable 152A and the third drive cable 152B at the same time can cause the end effector 150 to be subjected to a torque driving it to move counterclockwise around the axis AA' and move clockwise around the axis AA'. Similarly, no matter what position the end effector 150 is in, pulling the fourth drive cable 153A and the fifth drive cable 153B at the same time can cause the end effector 150 to be subjected to a torque driving it to move counterclockwise around the axis AA' and move counterclockwise around the axis AA'.

[0075] Similarly, the portion of the first pair of cables between the first pulley block and the first base frame 213 of the first bracket 210 and the portion of the third pair of cables between the first pulley block and the first base frame 213 are respectively located on both sides of the second plane P passing through the axis of the first pin 214 and the axis AA' of the second pin 215 (the second plane P passes through the rotation axis AA' of the pitch motion of the end effector 150 and is perpendicular to the end surface of the distal end of the first base frame 213), and the portion of the first pair of cables between the first pulley block and the first base frame 213 of the second bracket 210 and the portion of the second pair of cables between the first pulley block and the first base frame 213 do not include the portion wrapped around the first pulley block.

[0076] like Fig. 6A and 6BThe first chassis 213 is provided with through holes for the first driving cable, the first pair of cables and the second pair of cables to pass through. Specifically, the first chassis 213 has a first through hole 213A for the first driving cable 151 to pass through, a second through hole 213B for the second driving cable 152A to pass through, a third through hole 213C for the third driving cable 152B to pass through, a fourth through hole 213D for the fourth driving cable 153A to pass through, and a fifth through hole 213E for the fifth driving cable 153B to pass through. 213B and the third through hole 213C are located on the same side of the second plane P, and the fourth through hole 213D and the fifth through hole 213E are located on the other side of the second plane P, so that the portion of the first pair of cables between the first pulley block and the first base frame 213 and the portion of the second pair of cables between the first pulley block and the first base frame 213 are respectively located on both sides of the second plane P, and the first driving cable 151 used to cooperate with the pitch movement of the manipulator end effector 150 and the portion of the first pair of cables between the first pulley block and the first base frame 213 are located on the same side of the second plane P.

[0077] The straight line passing through the center of the second through hole 213B and the center of the third through hole 213C is parallel to the straight line passing through the center of the fourth through hole 213D and the center of the fifth through hole 213E. Fig. 6A The lines connecting the centers of the second through hole 213B, the third through hole 213C, the fourth through hole 213D and the fifth through hole 213E form a trapezoid. In this way, the driving cables can be extended straightly from the first base frame 213 to the first pulley block in parallel with each other, so that the transmission efficiency of the driving cables is the highest. Figure 6C As shown, the lines connecting the centers of the second through hole 223B, the third through hole 223C, the fourth through hole 223D and the fifth through hole 223E on the first bracket 220 form a parallelogram. The proximal ends of the first pair of cables and the second pair of cables pass through the through holes on the first brackets 210 and 220, enter the long shaft 160 and are finally fixed to the driving device 170.

[0078] Since the proximal ends of the second driving cable 152A and the third driving cable 152B of the first pair of cables and the fourth driving cable 153A and the fifth driving cable 153B of the third pair of cables are all wound around the driving unit in the driving device 170, and the driving unit can only rotate to achieve the retraction or release of the first driving cable 151 to the fifth driving cable 153B. However, since the driving unit cannot translate, it cannot simultaneously retract or release the second driving cable 152A and the third driving cable 152A. Similarly, the driving unit cannot simultaneously retract or release the fourth driving cable 153A and the fifth driving cable 153B. In the embodiment as shown in 5A, when the end effector 150 rotates clockwise around the axis AA' of the second pin 215, it is necessary to pull the first driving cable 151 and release the second driving cable 152A and the third driving cable 152B of the first pair of cables at the same time; when the end effector 150 rotates counterclockwise around the axis AA' of the second pin 215, it is necessary to pull the second driving cable 152A and the third driving cable 153A of the first pair of cables and release the fourth driving cable 153A and the fifth driving cable 153B of the second pair of cables at the same time. In short, there is a coupling relationship between the first driving cable 151, the first pair of cables and the second pair of cables, which is caused by the orthogonality of the pitch motion and the yaw motion of the end device. Therefore, the existing driving device cannot drive the pitch motion of the end effector 150 of the present invention. Therefore, the present invention also proposes a driving device, which can drive the end effector 150 of the present invention, and especially drive the end effector 150 of the present invention to perform pitch motion. It can be understood that the driving device of the present invention is not only applicable to the end effector 150 of the present invention, but also can be applied to other end effectors which have different structures from the end effector 150 of the present invention but have the same principle.

[0079] The coupling relationship between the first driving cable 151, the first pair of cables and the second pair of cables is described in detail below. Figure 5C The straight zero position shown rotates to Figure 5E During the pitch state shown in FIG. 1 , when the driving device 170 retracts the first driving cable 151, if the target pitch angle that the end effector 150 needs to rotate is α, the position where the first pair of cables and the second pair of cables leave the second pulley block from the horizontal plane a passing through the axis of the second pin 215 needs to be changed from Figure 5C The position in is also rotated clockwise by an angle α to Figure 5EThe position of the plane b, if the radius of each pulley of the second pulley group is r1, in order to successfully rotate the end effector 150 to the target pitch angle α, the wrap lengths of the second drive cable 152A and the third drive cable 152B on the sixth pulley 226 and the seventh pulley 227 must be increased by a length L at the same time, where L=α*r1, and the wrap lengths of the corresponding fourth drive cable 153A and the fifth drive cable 153B on the fifth pulley 225 and the eighth pulley 228 must be reduced by a length L at the same time. Similarly, if the second drive cable 152A and the third drive cable 152B are to be retracted at the same time so that the end effector 150 can be rotated from Figure 5C The zero position in the image is rotated counterclockwise by an angle α. Figure 5D The position shown must be able to reduce the length of the second drive cable 152A and the third drive cable 152B on the sixth pulley 226 and the seventh pulley 227 respectively by a length L, and correspondingly increase the length of the third drive cable 153A and the fifth drive cable 153B on the fifth pulley 225 and the eighth pulley 228 respectively by a length L, wherein L=α*r1.

[0080] And as Fig. 7A As shown, in the driving device 170, the proximal end of the first driving cable 151 is wound around the rotatable first driving unit 171, the second driving cable 152A and the third driving cable 152B are wound around the rotatable second driving unit 172 in opposite directions, and the fourth driving cable 153A and the fifth driving cable 153B are wound around the rotatable second driving unit 173 in opposite directions. The first driving unit 171, the second driving unit 172 and the third driving unit 173 are rotatably installed in the driving device, so the second driving unit 172 and the third driving unit 173 can only rotate with their axes and cannot translate. Therefore, the second driving cable 172 cannot be rotated by rotating the second driving unit 172 alone. 52A and the length of the third driving cable 152B increase or decrease at the same time. Similarly, rotating the third driving unit 173 cannot make the lengths of the fourth driving cable 153A and the fifth driving cable 153B increase or decrease at the same time. As mentioned above, in order to realize the pitch motion of the end effector 150, the lengths of the second driving cable 152A and the third driving cable 152B must be increased or decreased at the same time, and the lengths of the fourth driving cable 153A and the fifth driving cable 153B must be increased or decreased at the same time. Therefore, the movement of the first driving cable 151 is restricted by the first pair of cables, and the first pair of cables and the second pair of cables are restricted by each other when manipulating the pitch motion of the end effector.

[0081] The relationship in which the change of one element is restricted by another element is called a coupling relationship, that is, there is a coupling relationship between one element and another element. For the first driving cable 151, the first pair of cables and the second pair of cables, this restricted relationship can be that the first driving cable is restricted by the first pair of cables, so that the first driving cable cannot move at all, so that the end effector cannot achieve pitch movement. It can also be that the first driving cable is restricted by the first pair of cables, and the first pair of cables and the second pair of cables are restricted by each other, so that any movement of the first driving cable, the first pair of cables and the second pair of cables will cause the other cables to move unexpectedly, thereby causing the end effector to move unexpectedly and be unable to move. Perform the desired operation, for example, when the first drive cable 151 is manipulating the pitch movement of the end effector, due to the coupling relationship between the first drive cable 151 and the first pair of cables, the movement of the first drive cable will simultaneously cause the movement of the first pair of cables and / or the first pair of cables, so that the end effector will cause the opening and closing and / or yaw movement of the end effector while the pitch movement is simultaneously therewith, resulting in the pitch movement and the opening and closing and / or the offset movement of the end effector affecting each other, and the pitch movement and the opening and closing and / or the offset movement of the end effector are not independent of each other, so that the end effector 150 cannot correctly perform the surgical operation. Therefore, it is necessary to release the coupling relationship between the first driving cable 151, the first pair of cables and the second pair of cables, so that the movement of the first driving cable 151 is no longer restricted by the first pair of cables, and the first pair of cables and the second pair of cables are no longer restricted by each other when manipulating the pitch movement of the end effector, and the movement energies of each driving cable are independent of each other and do not interfere with or affect each other. The release of the coupling relationship between the first driving cable 151 and the first pair of cables, and between the first pair of cables and the second pair of cables when manipulating the pitch movement of the end effector is called decoupling.

[0082] How to release the coupling relationship between the above-mentioned driving cables? Figure 5ATaking the end effector in the illustrated embodiment as an example, an existing decoupling method is to use a software algorithm for decoupling. The main operation console 200 controls the first drive unit to drive the first drive cable to move, and also controls the second drive unit and the third drive unit to drive the first pair of cables and the second pair of cables to move, so that the wrap angle length of the first cable and the first pair of cables on the pulley increases by L or decreases by L as the third pair of cables moves. However, this decoupling method requires that the first part cable 152A' and the second part cable 152B' of the first pair of cables on the end effector are respectively located on the opposite sides of the first plane M, and the third part cable 153A' and the fourth part cable 153B' of the second pair of cables are also respectively located on the opposite sides of the first plane M, so that the second drive cable 152A and the third drive cable 152B of the first pair of cables form a loop across the first plane M, and the fourth drive cable 153A and the fifth drive cable 153B of the second pair of cables also form a loop across the first plane M. Only then can decoupling be achieved by controlling the movement of the drive unit through software. However, as mentioned above, the present invention Figure 5A The first cable 152A' and the second cable 152B' of the first pair of cables on the end effector of the illustrated embodiment are located on the same side of the first plane M, and the second cable 153A' and the third cable 153B' of the second pair of cables are also located on the same side of the first plane M. Therefore, the existing software decoupling method cannot decouple the end effector of this type of the present invention. In addition, the method of decoupling using software algorithms will make the control program of the surgical robot complicated and prone to errors, and this method of decoupling using software algorithms will cause each drive unit of the driving mechanism of the surgical instrument to lose its independence. Specifically, the driving device has a first drive unit that drives the first drive cable, a second drive unit that drives the first pair of cables, and a third drive unit that drives the second pair of drive cables. Ideally, the control of each drive unit is opposite to each other. However, when using software algorithm decoupling, it is necessary to control the above three drive units to move together at the same time, which causes the three drive units to lose their independence and is prone to control errors. Moreover, the software decoupling method cannot remove Figure 5A The coupling relationship between the drive cables in the illustrated embodiment.

[0083] The present invention proposes a mechanical decoupling solution, in which a mechanical decoupling mechanism is provided in the driving device 170 of the surgical instrument 120, thereby avoiding the disadvantages of the above-mentioned software algorithm decoupling.

[0084] like Fig. 7A FIG. 1 is a schematic diagram of a driving device 170 according to an embodiment of the present invention. The driving device 170 is suitable for driving Figure 5AThe end effector shown. The driving device 170 includes a housing 178 and a first driving unit 171 located in the housing 178 for driving the end effector 150 to perform pitch motion, a second driving unit 172 and a third driving unit 173 for driving the end effector 150 to perform opening and closing, yaw and pitch motions, and a fourth driving unit 174 for driving the long axis 160 to rotate. The proximal end of the first driving cable 151 is wound around the first driving unit, and the distal end thereof is mounted on the end effector 150, the second driving cable 152A and the third driving cable 152B of the first pair of cables are respectively wound around the second driving unit 172 in opposite winding ways, the fourth driving cable 153A and the fifth driving cable 153B of the second pair of cables are respectively wound around the third driving unit 173 in opposite winding ways, and the sixth driving cable 154A and the seventh driving cable 154B of the third pair of cables are respectively wound around the fourth driving unit 174 in opposite winding ways.

[0085] When the actuator drive shaft 171A in the instrument mounting frame 132 drives the first drive unit 171 to rotate, the first drive unit 171 retracts or releases the first drive cable 151 to rotate the second bracket 310 around the axis AA' of the second pin 215; when the actuator drive shaft 172A in the instrument mounting frame 132 drives the second drive unit 172 to rotate, the second drive unit 172 retracts or releases the second drive cable 152A or the third drive cable 152B to rotate the second clamping portion 412 around the third pin 313; when the actuator drives the third drive unit 173 to rotate along its shaft 173A, the third drive unit 173 retracts or releases the fourth drive cable 154A or the fifth drive cable 154B to rotate the first clamping portion 411 around the third pin 313; the first clamping portion 411 and the second clamping portion 412 move around the third pin 313 so that the end effector 150 performs opening and closing and / or yaw motions. When the actuator in the instrument mounting frame 132 drives the 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 .

[0086] The drive device 170 further includes a decoupling mechanism 175 for releasing the coupling relationship among the first drive cable 151, the first pair of cables, and the second pair of cables on the end effector 150 side. The decoupling mechanism 175 includes a main decoupling member 1751 and a slave decoupling member. The slave decoupling member includes a carriage 1752 and a first guiding portion 1753 and a second guiding portion 1754 connected to both ends of the carriage. The main decoupling member 1761 is connected to both ends of the carriage 1752 through a first decoupling cable 1761 and a second decoupling cable 1762. The main decoupling member 1751 drives the movement of the slave decoupling member through the first decoupling cable 1761 and the second decoupling cable 1762. The first decoupling cable 1761 and the second decoupling cable 1762 are wound around the main decoupling member 1751 in opposite ways. The main decoupling member 1761 moves at the same angular velocity as the first drive unit 171. In this embodiment, the main decoupling member 1751 and the first drive unit 171 are arranged on the same shaft 173A. Therefore, the main decoupling member 1751 rotates coaxially with the first drive unit 171 along the shaft 171A. In some other embodiments, the main decoupling member 1751 and the first drive unit 171 can also be respectively arranged on different rotating shafts. The main decoupling member 1751 and the first drive unit 171 have different radii. The radius of the main decoupling member 1751 is r2, and the radius of the first drive unit 171 is R2, where r2 < R2. The main decoupling member 1751 realizes the movement of the slave decoupling member by taking in or releasing the first decoupling cable 1761 or the second decoupling cable 1761. The main decoupling member 1751 and the first drive unit 171 can be driven by receiving power from the same power source. The power source is the actuator in the above-mentioned slave operating device. In other embodiments, the main decoupling member and the first drive unit are arranged on different rotating shafts, but the main decoupling member still receives the driving force homologous to the first drive unit, for example, they are respectively connected and driven in different ways by the same actuator to drive the main decoupling member and the first drive unit.

[0087] The following details how the decoupling mechanism 175 achieves decoupling. As Figures 7A-7CAs shown, the second driving cable 152A and the third driving cable 152B are guided by the first guide wheel 176A, the first guide part 1753 and the third guide wheel 176C, and then enter the long shaft 160 and extend to be connected to the end effector 150. The fourth driving cable 153A and the fifth driving cable 153B are guided by the second guide wheel 176B, the second guide part 1754 and the fourth guide wheel 176D, and then enter the long shaft and extend to be connected to the end effector 150. The first driving cable 151 is guided by the fifth guide wheel 176E, and then enters the long shaft and extends to be connected to the end effector 150. As for how the first driving cable 151 to the fifth driving cable 153B are connected to the end effector 150, it has been described in detail above and will not be repeated here. The slave decoupling member of the decoupling mechanism 175 can slide relative to the housing 178 of the driving device 170. Specifically, when the main decoupling member rotates, the first decoupling cable 1761 is pulled and the second decoupling cable 1762 is released at the same time, or the first decoupling cable 1761 is released and the second decoupling cable 1762 is released at the same time, thereby pulling the slave decoupling member to move in the driving device 170. Since the first pair of cables are wound around the first guide portion 1753 and the second pair of cables are wound around the second guide portion 1754, when the slave decoupling member is pulled and moved, the first guide portion 1753 and the second guide portion 1754 respectively drive the first pair of cables and the second pair of cables to change their lengths in the driving device 170, thereby releasing the coupling relationship between the first driving cable 151, the first pair of cables and the second pair of cables.

[0088] In order to enable the decoupling mechanism 175 to accurately release the coupling relationship between the first drive cable 151, the first pair of cables and the second pair of cables, the slave decoupling member driven by the main decoupling member 1751 always moves in a straight line, and the length change of the second drive cable 152A, the third drive cable 152B, the fourth drive cable 153A and the fifth drive cable 154B in the drive device 170 caused by the movement of the slave decoupling member is always linear. Specifically, as shown in 7A-7C, the first decoupling cable 1561 is redirected by the fifth guide wheel 176F, extends along the movement direction of the slide 1752 and is fixed to one end of the slave decoupling member. Similarly, the second decoupling cable 1762 is redirected by the seventh guide wheel 176G, extends along the movement direction of the slide 1752 and is fixed to the other end of the slave decoupling member. In this way, the portion of the first decoupling cable 1761 between the fifth guide wheel 176F and the slide 1752 is parallel to the movement direction of the slave decoupling member. Similarly, the portion of the second decoupling cable 1762 between the seventh guide wheel 176G and the slide 1752 is also parallel to the movement direction of the slave decoupling member. Therefore, during the decoupling process, the movement speed of the slide 1752 of the slave decoupling member pulled by the first decoupling cable 1761 and the second decoupling cable 1762 is directly proportional to the rotation linear speed of the main decoupling member 1751 and the first drive unit 171. It can be understood that in some other embodiments, the portion of the first decoupling cable 1761 between the fifth guide wheel 176F and the slide 1752 is only partially parallel to the movement direction of the slave decoupling member, or the portion of the second decoupling cable 1762 between the seventh guide wheel 176G and the slide 1752 is only partially parallel to the movement direction of the slave decoupling member, and the non-parallel portion does not change the movement direction of the slide, thereby still causing the slave decoupling member to move in a straight line.

[0089] In addition, the first guide wheel 176A to the fourth guide wheel 176D, the fifth guide wheel 176F, the seventh guide wheel 176G, the first guide portion 1753 and the second guide portion 1754 all have a structure with two pulleys arranged side by side for guiding two driving cables. Fig. 8AAs shown, the first guide wheel 176A, the first guide part 1753 and the two side-by-side pulleys of the third guide wheel 1762 are used to guide the second driving cable 152A and the third driving cable 152B respectively. After being guided by the first guide wheel 176A, the second driving cable 152A forms a fifth cable 152Aa between the first guide wheel 176A and the first guide part 1753, and the third driving cable 152B forms a sixth cable 152Ba between the first guide wheel 176A and the first guide part 1753. The fifth cable 152Aa and the sixth cable 152Ba do not include the part wound on the pulley, wherein the fifth cable 152Aa and the sixth cable 152Ba are parallel to the moving direction of the slave decoupling member. Therefore, when the slave decoupling member moves in a straight line under the drive of the main decoupling member 1751, the length changes of the first cable 151Aa and the second cable 151Ba are always linear.

[0090] like Figure 8B As shown, the second drive cable 152A forms a seventh cable 152Ab between the first guide portion 1753 and the third guide wheel 176C, and the third drive cable 152B forms an eighth cable 152Bb between the first guide portion 1753 and the third guide wheel 176C. The seventh cable 152Ab and the eighth cable 152Bb are symmetrical with respect to the center plane H1 of the third guide wheel 176C. The center plane H1 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 seventh cable 152Ab and the eighth cable 152Bb do not include the parts wound around the pulleys. The angles between the seventh portion of the cable 152Ab and the eighth portion of the cable 152Bb and the center plane H1 are both θ, and the angle θ is small enough, so that the lengths of the fifth portion of the cable 152Ab and the seventh portion of the cable 152Bb are almost equal to the shortest straight line distance between the first guide 1753 and the third guide 176C on the center plane H1, so that the seventh portion of the cable 152Ab and the eighth portion of the cable 152Bb are also roughly parallel to the movement direction of the slave decoupling member. Therefore, when the slave decoupling member moves in a straight line under the drive of the main decoupling member 1751, the length changes of the seventh portion of the cable 152Ab and the eighth portion of the cable 152Bb are also substantially linear.

[0091] The fourth driving cable 153A and the fifth driving cable 153B of the second pair of cables between the second guide wheel 176B, the second guide portion 1754 and the fourth guide wheel 176D also have the same configuration as the first pair of cables, which will not be described in detail here. Therefore, during the decoupling process, the length change speed of any one of the second driving cables 152A to the fifth driving cables 153B is in direct proportion to the movement speed of the carriage 1752, and as mentioned above, the movement speed of the carriage 1752 is in direct proportion to the rotational linear velocity of the main decoupling component 1751 and the first driving unit 171, so the length change speed of any one of the second driving cables 152A to the fifth driving cables 153B is in direct proportion to the rotational linear velocity of the main decoupling component 1751 and the first driving unit 171, thereby making the decoupling process precisely controllable.

[0092] The decoupling process of the drive device 170 is as follows: Figure 7B and 7C As shown, Figure 7B As shown in FIG. 1 , when the first driving unit 171 rotates clockwise (in the first direction), the first driving unit 171 retracts the first driving cable 151. If the second bracket 220 of the end effector 150 is to be moved as shown in FIG. Figure 5E Rotating clockwise around the second axis AA', the entire end effector 150 performs the following operation: Figure 5E As described above, at this time, the wrap angle lengths of the second driving cable 152A and the third driving cable 152B on the sixth pulley 226 and the seventh pulley 227 need to be increased by L at the same time, and at the same time, the wrap angle lengths of the fourth driving cable 153A and the fifth driving cable 153B on the fifth pulley 225 and the eighth pulley 228 need to be reduced by L at the same time so that the end effector 150 can smoothly perform the pitching motion. Since the main decoupling component 1751 of the decoupling mechanism 175 rotates coaxially with the first drive unit 171, the main decoupling component 1751 also rotates clockwise with the shaft 171A while the first drive unit 171 rotates clockwise with the shaft 171A. At this time, the main decoupling component 1751 retracts the second decoupling cable 1762 and releases the first decoupling cable 1761. If the arc length of the main decoupling component 1751 is L / 2, the decoupling component moves a distance of L / 2 in the A direction under the pull of the second decoupling cable 1762, thereby causing the length of the second drive cable 152A and the third drive cable 153B between the first guide wheel 176A and the first guide portion 1753 and the length of the third drive cable 153B between the first guide portion 1753 and the third guide wheel 176C to be reduced by L / 2, respectively. As a result, the length of the second drive cable 152A and the third drive cable 152B in the drive device 170 is reduced by L, respectively.

[0093] On the contrary, the lengths of the fourth drive cable 153A and the fifth drive cable 153B between the second guide wheel 176B and the second guide portion 1754 and between the second guide portion 1754 and the fourth guide wheel 176D are increased by L / 2, respectively, so that the lengths of the fourth drive cable 153A and the fifth drive cable 153B in the drive device 170 are increased by L. The length change of the first pair of cables and the second pair of cables in the drive device is 2L, so the rotation of the main decoupling component causes the length change of the first pair of cables or the second pair of cables on the end effector to be equal to four times the distance moved by the decoupling component in the drive device. The pitch wheel 314 of the second bracket 310 has an annular groove 314A for accommodating and guiding the first drive cable 151. When the end effector 150 pitches, the energy of the first drive cable can form a wrap angle in the annular groove. Figure 5E As shown in FIG. 1 , when the clockwise pitch angle of the end effector 150 is α, if the groove bottom radius of the annular groove 314A is R1, the wrap angle length of the first driving cable 151 on the annular groove 314 of the pitch wheel 314 is reduced by L1, where L1=α*R1. Since the clockwise pitch motion of the end effector 150 is driven by the first driving unit 171 in the driving device 170, as shown in FIG. Figure 7B As shown, at this time, if the first driving unit 171 rotates an angle β to make the end effector 150 pitch clockwise at an angle α, the first driving unit 171 retracts the first driving cable 151, so that the length of the first driving cable 151 wrapped around the first driving unit 171 increases by L1, wherein L1=β*R2. Since the main decoupling member 1751 and the first driving unit 1751 rotate coaxially, the main decoupling member 1751 releases the first decoupling cable 1761 and pulls the second decoupling cable 1763 at the same time, thereby pulling the decoupling member to move along the A direction by a distance of L / 2. Accordingly, the length of the first decoupling cable 1761 wound around the main decoupling member 1761 is reduced by L / 2, that is, the first decoupling cable 1767 is released by L / 2, and the length of the second decoupling cable 1768 wound around the main decoupling member 1761 is increased by L / 2, wherein L / 2=β*r2. As can be seen from the above, L=α*r1. In summary, through the above four formulas: L1=α*R1, L1=β*R2, L / 2=β*r2, L=α*r1, the following relationship can be obtained:

[0094]

[0095] The above relationship shows that the ratio of the radius of the first drive unit 173 to the radius of the main decoupling member 1761 is twice the ratio of the groove bottom radius of the annular groove 314A of the pitch wheel 314 to the radius of the second group of pulleys. The reason for this 2-fold relationship is that the slave decoupling member has two guide portions for guiding the first cable and the first pair of cables, namely, the first guide portion 1753 and the second guide portion 1754. In other embodiments, the number of guide portions of the slave decoupling member may also be other numbers, so that the relationship between the ratio of the radius of the first drive unit to the radius of the main decoupling member and the ratio of the radius of the annular groove 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 for guiding the first cable and the first pair of cables, so that the ratio of the radius of the first drive unit to the radius of the main decoupling member is N times the ratio of the groove bottom radius of the annular groove of the pitch wheel to the radius of the second group of pulleys, namely However, as the number of the guide parts of the slave decoupling member increases, the volume of the slave decoupling member also increases accordingly. It is more preferred that two guide parts are used for the slave decoupling member in the above embodiment.

[0096] Therefore, the length reduction of the second driving cable 152A and the third driving cable 152B in the driving device 170 is equal to the required increase in the length of the wrap angle of the second driving cable 152A and the third driving cable 152B on the sixth pulley 226 and the seventh pulley 227, respectively, and the length increase of the fourth driving cable 153A and the fifth driving cable 153B in the driving device 170 is equal to the required decrease in the length of the wrap angle of the fourth driving cable 153A and the fifth driving cable 153B on the fifth pulley 225 and the eighth pulley 228. Therefore, the movement of pulling and retracting the first driving cable 151 is no longer restricted by the first pair of cables, and the movement of pulling and retracting the first driving cable 151 will not cause the second pair of cables to become loose on the end effector 150. The decoupling mechanism 175 realizes the release of the coupling relationship between the second pair of cables and the first driving cable, and the end effector 150 executes Figure 5E Clockwise pitch action shown.

[0097] like Figure 7CAs shown, when the first driving unit 171 rotates counterclockwise (in the second direction), since the main decoupling member 1751 of the decoupling mechanism 175 rotates coaxially with the first driving unit 171 at the same angular speed, when the first driving unit 171 rotates counterclockwise with the shaft 171A, the main decoupling member 1751 also rotates counterclockwise with the shaft 171A. At this time, the main decoupling member 1751 retracts the first decoupling cable 1761 and releases the second decoupling cable 1762 at the same time. If the arc length of the main decoupling member 1751 is L / 2, the slave decoupling member moves L / 2 in the direction B under the pull of the first decoupling cable 1761, thereby causing the second driving cable 171A to rotate counterclockwise. The lengths of the portions of the second driving cable 152A and the third driving cable 153B between the first guide wheel 176A and the first guide portion 1753 and between the first guide portion 1753 and the third guide wheel 176C are increased by L / 2, respectively, so that the lengths of the second driving cable 152A and the third driving cable 152B in the driving device 170 are increased by L, respectively. On the contrary, the lengths of the portions of the fourth driving cable 153A and the fifth driving cable 153B between the second guide wheel 176B and the second guide portion 1754 and between the second guide portion 1754 and the fourth guide wheel 176D are reduced by L / 2, respectively. Therefore, the lengths of the fourth driving cable 153A and the fifth driving cable 153B in the driving device 170 are reduced by L.

[0098] At this time, the length changes of the second driving cable 152A, the third driving cable 152B, the fourth driving cable 153A and the fifth driving cable 153B are reflected on the guide end effector as the driving device 170 simultaneously retracts the second driving cable 152A and the third driving cable 152B, and simultaneously releases the fourth driving cable 153A and the fifth driving cable 153B.

[0099] Therefore, the increase in the length of the second driving cable 152A and the third driving cable 152B in the driving device 170 is equal to the required reduction in the length of the wrap angle of the second driving cable 152A and the third driving cable 152B on the sixth pulley 226 and the seventh pulley 227, respectively, and the decrease in the length of the fourth driving cable 153A and the fifth driving cable 153B in the driving device 170 is equal to the required increase in the length of the wrap angle of the fourth driving cable 153A and the fifth driving cable 153B on the fifth pulley 225 and the eighth pulley 228. Therefore, the simultaneous pulling of the second driving cable 152A and the third driving cable 152B by the driving device is no longer restricted by the fourth driving cable 153A and the fifth driving cable 153B, and the decoupling mechanism 175 realizes the release of the coupling relationship between the first pair of cables and the second pair of cables, so that the end effector 150 can be smoothly executed. Figure 5D Counterclockwise pitch motion shown.

[0100] A driving device according to another embodiment of the present invention is as follows Fig. 9 As shown, the driving device 270 is mostly the same as the driving device 170 of the previous embodiment, except that the driving device 270 adds guide wheels for guiding the first pair of cables and the second pair of cables, that is, the driving device 270 adds a seventh guide wheel 176H, an eighth guide wheel 176I, a ninth guide wheel 176J and a tenth guide wheel 176K. The second driving cable 152A and the third driving cable 152B are guided by the first guide wheel 176A, the first guide portion 1753, the third guide wheel 176C, the seventh guide wheel 176H and the ninth guide wheel 176J in sequence, and then enter the long axis 160 and extend to the end effector 150. The fourth driving cable 153A and the fifth driving cable 153B are guided by the second guide wheel 176B, the second guide portion 1754, the fourth guide wheel 176D, the eighth guide wheel 176I and the tenth guide wheel 176K in sequence, and then enter the long axis 160 and extend to the end effector 150. Compared with the previous embodiment, the portions of the second drive cable 152A and the third drive cable 152B between the first guide portion 1753 and the third guide wheel 176C and the portions of the fourth drive cable 153A and the fifth drive cable 153B between the second guide portion 1754 and the fourth guide 176D are parallel to the movement direction of the slave decoupling member, so that the error of the linear change of the length of the first cable and the first pair of cables in the drive device 270 caused by the movement of the slave decoupling member is smaller than that in the previous embodiment.

[0101] A driving device according to another embodiment of the present invention is as follows Fig.10 As shown, the main decoupling member 1751 of the decoupling mechanism 275 of the driving device 370 is connected to the slave decoupling member 1752 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. The main decoupling member 2751 has a gear structure meshed with the rack mechanism of the slide 3751. When the main decoupling member 2751 rotates, 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 member 2751 of the decoupling mechanism 275 and the slave decoupling member can not only be meshed by a gear rack, but in some other embodiments, the main decoupling member 2751 and the slave decoupling member can also be meshed by two gears. In some other embodiments, the main decoupling member and the slave decoupling member may also be connected via a cam, that is, the main decoupling member includes a cam structure, which abuts against the slide of the slave decoupling member. When the main decoupling member rotates, the cam structure abuts against the slide and pushes the slide of the slave decoupling member to move in a straight line.

[0102] Figures 11A-11EThe driving device 570 of one embodiment of the present invention is provided with a first driving device 570 including a body 578, and a first driving unit 571, a second driving unit 572, a third driving unit 573 and a fourth driving unit 774 provided on the body 578, one end of a first driving cable 151 is wound around the first driving unit 571, and the other end of the first driving cable 151 passes through the long shaft 160 and is connected to the end effector, and one end of a first pair of cables is wound around the second driving unit 572, and the first pair of cables includes a second driving cable 152A and a third driving cable 152A wound around the second driving unit 572 in an opposite manner. 2B, the other end of the first pair of cables passes through the long shaft 160 and is connected to the end effector, one end of the second pair of cables is wound around the third driving unit 573, the third pair of cables includes a fourth driving cable 153A and a fifth driving cable 153B which are wound around the third driving unit 573 in an opposite manner, the other end of the second pair of cables passes through the long shaft 160 and is connected to the end effector, the first pair of cables is used to cooperate with the second pair of cables to manipulate the opening and closing and / or yaw movement of the end effector 150, and cooperates with the first driving cable 151 to manipulate the pitch movement of the end effector 150, the fifth driving cable 553A and the sixth driving cable 553B are used to drive the long shaft 160 to rotate.

[0103] like Fig. 11B and 11CAs shown, the driving device 570 further includes a mounting seat 577 and a decoupling mechanism disposed on the mounting seat 577, the decoupling mechanism includes a main decoupling member 5761 and a slave decoupling member 5762, the main decoupling member 5761 and the first driving unit 571 are disposed on the same rotating shaft 571A, the main decoupling member 5761 is a cam that rotates at the same angular velocity as the first driving unit 571, the slave decoupling member 5762 includes a carriage 5765 and a first guide portion 5763 and a second guide portion 5764 mounted on the carriage 5765, and similar to the previous embodiment, the driving device 570 further includes a first guide wheel 576A, a second guide wheel 576B, a third guide wheel 576C and a fourth guide wheel 576D disposed on the mounting seat 577. The rotation axis of the first guide wheel 576A is parallel to the rotation axis of the first guide portion 5763, and the rotation axis of the fourth guide wheel 576D is perpendicular to the rotation axis of the first guide wheel 576A and the rotation axis of the first guide portion 5763. The rotation axis of the second guide wheel 576B is parallel to the rotation axis of the second guide portion 5764, and the rotation axis of the third guide wheel 576C is perpendicular to the rotation axis of the second guide wheel 576B and the rotation axis of the second guide portion 5764. The second drive cable 152A and the third drive cable 152B are redirected by the first guide wheel 576A, then guided by the first guide portion 5763, and finally redirected by the third guide 576C, and then leave the drive device 570 and enter the long shaft 160. The fourth drive cable 153A and the fifth drive cable 153B are redirected by the second guide wheel 576B, then guided by the second guide portion 5764, and finally redirected by the fourth guide 576D, and then leave the drive device 570 and enter the long shaft 160. The first drive cable 151 is redirected by the fifth guide wheel 576E and enters the long shaft 160.

[0104] like Fig. 11CAs shown, the mounting seat 577 includes a first table 5771 and a second table 5772. The mounting seat 577 is mounted on the main body 578 through the first table 5771. The first guide wheel 576A, the second guide wheel 576B, the third guide wheel 576C, the fourth guide wheel 576D and the fifth guide wheel 576E are all mounted on the second table 5772. The slave decoupling member 5762 includes a carriage 5765 and a first guide portion 5763 and a second guide portion 5764 mounted on the carriage 5765. The first guide portion 5763 is used to connect the second driving cable 152A and the third driving cable 152B to the slave decoupling member 5762, and the second guide portion 5764 is used to connect the fourth driving cable 153A and the fifth driving cable 153B to the slave decoupling member 5762. The slide 5765 includes a first opening 5766 and a second opening 5767. The first opening 5766 is used to accommodate the main decoupling member 5761, and the second opening 5767 is used to accommodate the second table 5771 of the mounting seat 577. When the slide 5765 moves to the extreme position, the side wall of the second table 5771 contacts the side wall of the second opening 5767 to limit the movement of the slide 5765 in the vertical sliding direction.

[0105] The slide 5765 has a first protrusion 5768 and a second protrusion 5769 extending into the first opening 5766. The main decoupling member 5761 abuts against the first protrusion 5768 and the second protrusion 5769 in the first opening 5766. The first protrusion 5768 and the second protrusion 5769 can move on the outer contour of the main decoupling member 5761 when the main decoupling member 5761 rotates, so that the slide 5765 slides on the mounting seat 577. Fig. 11CAs shown, the main decoupling member 5761 includes a first cam 5761A and a second cam 5761B fixed on the rotating shaft 573A, the first cam 5761A and the second cam 5761B are both semi-heart-shaped cams, and the projections of the first cam 5761A and the second cam 4761B on the plane perpendicular to the axis 573A have the same outer contour, the outer contour of the first cam 5761A has a semi-heart-shaped involute S1 and a first arc S2 and a second arc S3 located at both ends of the involute S1, the first arc S2 and the second arc S3 have different radii, and the distance from the involute S1 to the axis center of the rotating shaft 473A is from the end connected to the first arc S2. It gradually increases in the direction from the involute S1 to the end connected to the second arc S3, and the involute S1 has the following contour line: that is, the change P of the distance from the involute S1 to the axis center of the rotating shaft 473A is linearly related to the angle θ1 of the first cam 5761A rotating around the axis 473A, P=K1*θ1+K2, wherein K1 and K2 are constants, so that when the main decoupling component 5761 rotates at a constant speed, the distance from the contact point of the first convex body 5768 with the involute S1 of the first cam 5761 to the rotating shaft 573A and the distance from the contact point of the second convex body 5768 with the involute S1' of the second cam to the rotating shaft 573A also change linearly at a uniform speed. The first cam 5761A and the second cam 5761B together form a heart-shaped cam-type main decoupling component 5761. The first cam 5761A and the second cam 5761B are staggered up and down in the axial direction of the cam shaft 573A. The first cam 5761A cooperates with the first protrusion 5768 of the slide 5761 for movement, and the second cam 5761B cooperates with the second protrusion 5768 of the slide 5761 for movement, so that the main decoupling component 5761 drives the movement of the slave decoupling component 5762, thereby releasing the coupling relationship between the first drive cable 151, the second pair of cables, and the third pair of cables.

[0106] The decoupling process of the drive device 570 is as follows: Fig.11E As shown, the first driving unit 571 ( Fig.11E Not shown) from Fig. 11B The zero position of is driven by the actuator to rotate in the first direction (counterclockwise) to Fig.11EDuring the process of moving to the position shown in the figure, the first driving unit 571 retracts the first driving cable 553B. Since the main decoupling member 473A and the first driving unit 571 are arranged on the same rotating shaft 473A, the main decoupling member 4761 also moves counterclockwise. The first cam 4761A of the main decoupling member 4761 rotates counterclockwise so that the first convex body 5768 moves on the involute S1 of the first cam 4761A in the direction of increasing the distance from the involute S1 to the rotating shaft 473A, and On the contrary, the second cam 4761B of the main decoupling component 4761 rotates counterclockwise so that the first protrusion 5768 moves on the involute S1 of the second cam 4761B in the direction in which the distance from the involute S1 to the rotating axis 473A decreases. Since the side wall of the second opening 5767 of the slide 5765 cooperates with the inner wall of the second opening 5767 to limit the movement of the slide 5765 in a direction perpendicular to the direction A, the slide 5765 is driven by the main decoupling component 4761 to move linearly in the direction A.

[0107] In order to make the length change of the first pair of cables and the second pair of cables in the driving device caused by the movement of the slide 5765 linear, and Fig. 7A Similarly to the embodiment shown, the portion of the first pair of cables between the first guide wheel 576A and the first guide portion 5763 is parallel to the direction of the carriage 5765, and the portion of the second pair of cables between the second guide wheel 576B and the second guide portion 5764 is parallel to the moving direction of the carriage 5765. The portion of the second driving cable 152A and the third driving cable 152B between the first guide portion 5763 and the fourth guide wheel 576D has the same angle with the straight line along the A direction. Similarly, the portion of the third driving cable 553A and the fourth driving cable 553B between the second guide portion 5764 and the third guide wheel 576C has the same angle with the straight line along the A direction. If Fig.11EWhen the carriage 5765 is in the position, driven by the main decoupling member 5761, it moves a distance of L / 2 in the direction A, and the lengths of the second driving cable 152A and the third driving cable 152B between the first guide wheel 576A and the first guide portion 5763 are reduced by the above L / 2, and the lengths between the first guide portion 5763 and the fourth guide wheel 576D are also reduced by the above L / 2, so that the lengths of the second driving cable 152A and the second driving cable 551B in the driving device 570 are reduced by L. The lengths of the fourth driving cable 153A and the fifth driving cable 153B between the second guide wheel 576B and the second guide portion 5764 are increased by L / 2, and the lengths between the second guide portion 5764 and the third guide wheel 576C are also increased by L / 2, so that the lengths of the third driving cable 552A and the fourth driving cable 552B in the driving device 570 are increased by L. Thus, the decoupling mechanism within the drive device 570 provides the change in length of the second drive cable 152A, the third drive cable 152B, the fourth drive cable 153A and the fifth drive cable 153B on one side of the end effector 150 required for the pitch movement of the end effector 150, thereby releasing the coupling relationship between the first drive cable, the first pair of cables and the second pair of cables. The movement of the first drive cable is no longer restricted by the first pair of cables, and the movement of the first pair of cables is no longer restricted by the second pair of cables, so that the end effector 150 can smoothly perform the pitch operation.

[0108] If the main decoupling member 5761 continues to rotate so that the slide 5765 moves to the extreme position, the first convex body 5798 leaves the involute S1 of the first cam 5761A and enters the second arc S3, and the second convex body 5769 leaves the involute S1' of the second cam 5761B and enters the first arc S2'. Since the distance from the contact point between the first convex body 5798 and the first cam 5761A to the rotation axis 573A does not change when the first convex body 5798 moves on the first arc S1 and the second arc S2 of the first cam 5761A, similarly, the first convex body 5798 is When the two convex bodies 5798 move on the first arc S1' and the second arc S2' of the second cam 5761B, the distance between the contact point of the first convex body 5798 with the first cam 5761A and the rotation axis 573A no longer changes, so the slide 5765 no longer moves along the A direction, and the slide 5765 is at the limit position of movement along the A direction at this time. Therefore, due to the existence of the first arc S1, S1' and the second arc S2, S2' of the main decoupling member 5761, the main decoupling member 5761 continues to rotate when it rotates to the limit position, so that the slide continues to move. On the contrary, when the main decoupling member 5761 rotates clockwise, the movement of the first cam 5761A, the second cam 5761B and the slide is opposite to the counterclockwise movement of the main decoupling member 5761, which will not be described in detail here.

[0109] Similarly, there is a coupling relationship between the first driving cable 251 of the end effector 250 in the second embodiment and the first pair of cables 252. Specifically, the proximal ends of the second driving cable 152A and the third driving cable 252B of the first pair of cables are both wound around the driving unit in the driving device, so the driving unit cannot simultaneously retract or release the second driving cable 252A and the third driving cable 252A. As in the second embodiment mentioned above, clockwise rotation of the end effector 250 around the first axis AA' requires the retraction of the first driving cable 251 and the simultaneous release of the second driving cable 252A and the third driving cable 252B of the first pair of cables 252. Counterclockwise rotation of the end effector 250 around the first axis AA' requires the simultaneous retraction of the second driving cable 252A and the third driving cable 253A of the first pair of cables. It can be seen that the first driving cable 251 and the first pair of cables 252 of the surgical instrument in the second embodiment are also coupled, and the movement of the first driving cable 251 is restricted by the first pair of cables 252.

[0110] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A surgical instrument, comprising an end effector, a driving device and a cable, wherein the driving device is configured to drive the end effector to move through the cable, characterized in that: The cables include a first driving cable, a first pair of cables and a second pair of cables, the first pair of cables cooperates with the second pair of cables to drive the end effector to perform a yaw motion, the first pair of cables cooperates with the first driving cable to drive the end effector to perform a pitch motion, and the driving device includes: a driving unit, one end of the first driving cable being connected to the driving unit, and the driving unit driving the end effector to perform a pitch motion through the first driving cable and the first pair of cables; A decoupling mechanism, the decoupling mechanism includes a main decoupling member and a slave decoupling member, the main decoupling member is coaxially arranged with the driving unit, the main decoupling member is used to rotate coaxially with the driving unit and drive the slave decoupling member to move so as to increase the length of one pair of cables among the first pair of cables and the second pair of cables in the driving device and reduce the length of the other pair of cables in the driving device, so that the driving unit drives the end effector to perform a pitch motion, the slave decoupling member includes a slide, the main decoupling member drives the slide to move in a straight line to change the length of the first pair of cables and the second pair of cables in the driving device, and the main decoupling member is connected to the slide by gear meshing; the driving device also includes a first guide wheel and a second guide wheel.

2. The surgical instrument according to claim 1, characterized in that: The master decoupling member is configured to rotate coaxially with the drive unit and drive the slave decoupling member to move in a straight line to change the lengths of the first pair of cables and the second pair of cables within the drive device.

3. The surgical instrument according to claim 2, characterized in that: The slave decoupling member includes a first guide portion and a second guide portion respectively arranged at both ends of the slide, the first pair of cables are guided by the first guide portion and extend to the end effector, and the second pair of cables are guided by the second guide portion and extend to the end effector.

4. The surgical instrument according to claim 3, characterized in that: The driving device also includes a first guide wheel and a second guide wheel. The first pair of cables are first guided by the first guide wheel and then by the first guide part before extending to the end effector. The second pair of cables are first guided by the second guide wheel and then by the second guide part before extending to the end effector.

5. The surgical instrument according to claim 4, characterized in that: The movement direction of the carriage is parallel to a portion of the first pair of cables between the first guide portion and the first guide wheel.

6. The surgical instrument according to claim 5, characterized in that: The movement direction of the carriage is parallel to a portion of the second pair of cables between the second guide portion and the second guide wheel.

7. The surgical instrument according to claim 6, characterized in that: The driving device also includes a third guide wheel and a fourth guide wheel. The first pair of cables are guided by the first guide part and then by the third guide wheel to extend to the end effector. The second pair of cables are guided by the second guide part and then by the fourth guide wheel to extend to the end effector.

8. The surgical instrument according to claim 7, characterized in that: A portion of the first pair of cables between the first guide portion and the third guide wheel is parallel to the direction in which the slide moves, and a portion of the second pair of cables between the second guide portion and the fourth guide wheel is parallel to the direction in which the slide moves.

9. The surgical instrument according to claim 1, characterized in that: The drive unit and the main decoupling member rotate in a first direction to increase the length of the first pair of cables on the end actuator and reduce the length of the second pair of cables on the end actuator, and the slave decoupling member moves under the drive of the main decoupling member to reduce the length of the first pair of cables in the drive device and increase the length of the second pair of cables in the drive device.

10. The surgical instrument according to claim 9, characterized in that: The drive unit rotates with the main decoupling member in a second direction opposite to the first direction to reduce the length of the first pair of cables on the end effector and increase the length of the second pair of cables on the end effector, while the slave decoupling member moves under the drive of the main decoupling member to increase the length of the first pair of cables in the drive device and reduce the length of the second pair of cables in the drive device.

11. A slave operating device, characterized in that: The slave operating device comprises a robotic arm and a surgical instrument as described in any one of claims 1 to 9, wherein the surgical instrument is mounted on the robotic arm, and the robotic arm is used to manipulate the movement of the surgical instrument.

12. A surgical robot, characterized in that: The surgical robot comprises a main operating console and a slave operating device as claimed in claim 11, wherein the slave operating device performs corresponding operations according to instructions of the main operating console.

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