Surgical instruments, operating devices, and surgical robots

Abstract

The present invention provides a surgical instrument, a slave operating device using the surgical instrument, and a surgical robot with the slave operating device, wherein the surgical instrument includes an end effector, a driving device and a cable, the driving device is configured to drive the end effector to move through the cable, the cables include a first pair of cables and a second pair of cables for driving the end effector to perform a yaw motion and a third pair of cables for driving the end effector to perform a pitch motion, since the yaw motion is orthogonal to the pitch motion, there is a coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables on the end effector, the driving device has a decoupling mechanism for releasing the coupling relationship, the decoupling mechanism includes a main decoupling component, a slave decoupling component and a decoupling cable, the main decoupling component and the slave decoupling component are connected through the decoupling cable, the main decoupling component is used to rotate coaxially with the driving unit and drive the slave decoupling component to slide relative to the body through the decoupling cable.

Description

Technical Field

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

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

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

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

[0005] Based on this, to solve the above problems, the present invention provides a surgical instrument, a slave operating device using the surgical instrument, and a surgical robot having the slave operating device. The surgical instrument includes an end effector, a driving device, and a cable. The driving device is configured to drive the end effector to move through the cable. The cable includes a first pair of cables and a second pair of cables for driving the end effector to perform yaw movement, and a third pair of cables for driving the end effector to perform pitch movement. It is characterized in that the driving device includes:

[0006] A driving unit, one end of the third pair of cables is connected to the driving unit, and the driving unit manipulates the pitch movement of the end effector through the third pair of cables;

[0007] 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 slave decoupling member includes a carriage and a decoupling cable. The main decoupling member is connected to the carriage through the decoupling cable. First guiding portions and second guiding portions for guiding the first pair of cables and the second pair of cables are respectively arranged at both ends of the carriage. The main decoupling member is used to rotate coaxially with the driving unit and manipulate the movement of the carriage through the decoupling cable to increase the length of one of the first pair of cables and the second pair of cables in the driving device and decrease the length of the other of the first pair of cables and the second pair of cables in the driving device, so that the driving unit drives the end effector to perform pitch movement.

[0008] Preferably, the above-mentioned decoupling cable includes a first decoupling cable and a second decoupling cable. One ends of the first decoupling cable and the second decoupling cable are fixed on the carriage, and the other ends of the first decoupling cable and the second decoupling cable are fixed on the main decoupling member. The main decoupling member is used to manipulate the carriage to move linearly through the first decoupling cable and the second decoupling cable.

[0009] Preferably, when the driving unit and the main decoupling member rotate in the first direction, the length of the first pair of cables on the end effector is increased and the length of the second pair of cables on the end effector is decreased. At the same time, the main decoupling member releases the first decoupling cable and pulls the second decoupling cable to make the carriage move, thereby reducing the length of the first pair of cables in the driving device and increasing the length of the second pair of cables in the driving device.

[0010] Preferably, when the driving unit and the main decoupling member rotate in the second direction opposite to the first direction, the length of the first pair of cables on the end effector is decreased and the length of the second pair of cables on the end effector is increased. At the same time, the main decoupling member pulls the first decoupling cable and pulls the second decoupling cable to make the carriage move, thereby increasing the length of the first pair of cables in the driving device and decreasing the length of the second pair of cables in the driving device.

[0011] Preferably, when the driving unit and the main decoupling member rotate in the first direction or the second direction, the change amount of the length of the first pair of cables or the second pair of cables on the end effector is equal to four times the moving distance of the carriage in the driving device.

[0012] Preferably, the above-mentioned driving device further includes a mounting seat, and the carriage is slidably arranged on the mounting seat.

[0013] Preferably, a first guide wheel is further arranged on the mounting seat. After being guided by the first guide wheel, the first pair of cables are then guided by the first guiding portion, and the moving direction of the carriage is parallel to the portion of the first pair of cables between the first guide wheel and the first guiding portion.

[0014] Preferably, a second guide wheel is further arranged on the mounting seat. After being guided by the second guide wheel, the second pair of cables are then guided by the second guiding portion, and the moving direction of the carriage is parallel to the portion of the second pair of cables between the second guide wheel and the second guiding portion.

[0015] Preferably, a third guide wheel and a fourth guide wheel are further arranged on the mounting seat. The axes of the third guide wheel and the fourth guide wheel are perpendicular to the axis of the first guide wheel. The portion of the first pair of cables between the first guiding portion and the end effector extends to the end effector after being guided by the third guide wheel, and the portion of the second pair of cables between the second guiding portion and the end effector extends to the end effector after being guided by the fourth guide wheel.

[0016] Preferably, a first guide wheel, a second guide wheel, a third guide wheel and a fourth guide wheel are arranged on the mounting seat. The carriage includes a main body portion and a first slide rail and a second slide rail located on both sides of the main body portion. The first guide wheel and the second guide wheel are aligned, and the first slide rail is slidably mounted on the first guide wheel and the second guide wheel. The third guide wheel and the fourth guide wheel are aligned, and the second slide rail is slidably mounted on the third guide wheel and the fourth guide wheel.

[0017] Preferably, the mounting seat further includes a first boss and a second boss arranged on the first boss. The second boss has a first mounting hole and a second mounting hole. The axle of the third guide wheel is mounted in the first mounting hole, and the axle of the second guide wheel is mounted in the second mounting hole.

[0018] Preferably, the mounting seat further includes a third boss. The third boss is arranged on the first boss. The third platform has a third mounting hole and a fourth mounting hole for the axles of the first guide wheel and the second guide wheel to be respectively mounted in the third mounting hole and the fourth mounting hole.

[0019] Preferably, the mounting seat further includes a fourth boss. The fourth boss is arranged on the first boss. The fourth boss has a fifth mounting hole, and the axle of the first guide wheel is mounted in the fifth mounting hole.

[0020] Preferably, the above-mentioned mounting seat also has a first mounting column and a second mounting column, and the first mounting column and the second mounting column are provided with a sixth mounting hole and a seventh mounting hole, and the axle of the fifth guide wheel for guiding the third pair of cables is installed in the sixth mounting hole, and the seventh mounting hole is used to install the limit pin hole for preventing the third pair of cables from detaching from the fifth guide wheel on the first mounting column and the second mounting column.

[0021] Preferably, a mounting groove is provided between the first mounting column, the second mounting column and the third boss, and the mounting groove is used to mount the third guide wheel and the fourth guide wheel in the mounting groove.

[0022] Preferably, the slide bracket has a central opening, and the central opening is used to accommodate the first mounting column, the second mounting column and the third boss.

[0023] Preferably, the above-mentioned slide has a first fixing hole and a first guide groove on one end, and the first guide groove is used to guide the first decoupling cable to be fixed in the first fixing hole; the other end of the slide has a second fixing hole and a second guide groove, and the second guide groove is used to guide the first decoupling cable to be fixed in the second fixing hole.

[0024] Preferably, the first fixing hole and the second fixing hole are staggered with each other in the axial direction of the first guide wheel, and the first guide groove and the second guide groove are staggered with each other in the axial direction of the first guide wheel.

[0025] Preferably, the speed of change of the length of the first pair of cables or the second pair of cables caused by the movement of the carriage is proportional to the linear speed of rotation of the main decoupling component.

[0026] 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.

[0027] A surgical robot comprises a main operating device and the above-mentioned slave operating device, and the slave operating device performs corresponding operations according to the instructions of the main operating device.

[0028] The surgical instrument of the present invention uses a mechanical structure to decouple the driving cable for manipulating the pitch motion of the end effector and the driving cable for manipulating the yaw motion of the end effector, and can very accurately and controllably decouple the two. The use of mechanical decoupling can reduce the program algorithm of the entire surgical robot, making the operation of the surgical robot more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] 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;

[0030] 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;

[0031] Figure 3 Schematic structural diagram of the robotic arm of the slave operating device according to an embodiment of the present invention;

[0032] Figure 4 Schematic structural diagram of the surgical instrument according to an embodiment of the present invention;

[0033] Figures 5A - 5D Schematic structural diagram of the end effector according to an embodiment of the present invention;

[0034] Figure 5E Schematic structural diagram of the drive cable within the long axis according to an embodiment of the invention

[0035] Figure 6A Stereogram of the first support frame of the end effector according to an embodiment of the present invention;

[0036] Figure 6B Top view of the first support frame of the end effector according to an embodiment of the present invention;

[0037] Figure 6C Top view of the first support frame of the end effector according to another embodiment of the present invention;

[0038] Figures 7A - 7B Schematic diagram of the end effector in the pitching state according to an embodiment of the present invention;

[0039] Figure 7C Figure 7A Schematic diagram of the end effector of the illustrated embodiment in the pitching-yaw-opening / closing state;

[0040] Figure 8A Schematic diagram of the drive device according to an embodiment of the present invention;

[0041] Figure 8B and 8C is Figure 8A Partial schematic diagram of the first drive cable and the second drive cable of the illustrated drive device winding around the guide pulley;

[0042] Figures 8D - 8E is Figure 8A Schematic diagram of the decoupling process of the drive device;

[0043] Figure 9A Schematic diagram of the drive device according to an embodiment of the present invention;

[0044] Figure 9B is Figure 9A Schematic diagram of the decoupling process of the illustrated drive device;

[0045] Figure 10A Schematic diagram of the drive device according to an embodiment of the present invention;

[0046] Figure 10B for Figure 10A Schematic diagram of the decoupling process of the drive device shown;

[0047] Figure 11A A three-dimensional diagram of a driving device according to an embodiment of the present invention;

[0048] Figure 11B for Figure 11A A top view of a driving device;

[0049] Figure 11C for Figure 11A A stereoscopic view of a decoupling member and a mounting seat of the drive device shown;

[0050] Figure 11D for Figure 11C An exploded view of the decoupling member and the mounting base is shown;

[0051] Figure 11E for Figure 11A A perspective view of the carriage of the drive device shown;

[0052] Figure 11F for Figure 11A Schematic diagram of the decoupling process of the drive device shown. DETAILED DESCRIPTION

[0053] 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.

[0054] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be a centered element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centered element at the same time. When an element is considered to be "coupled" to another element, it indicates that the change of at least one element will be restricted by another element. "Decoupling" means releasing the coupling relationship, indicating that two elements with a coupling relationship no longer have a coupling relationship, and the change of one element is no longer restricted by another element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method. The terms "distal end" and "proximal end" used herein are used as directional words, which are commonly used terms in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery.

[0055] 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.

[0056] 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.

[0057] 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 .

[0058] like Figure 4As shown, the surgical instrument 120 includes a drive device 170 at the proximal end of the surgical instrument 120 and an end effector 150 at the distal end, as well as a long shaft 160 located between the drive device 170 and the end effector 150. The drive device 170 is used to connect to the instrument mounting bracket 132 of the instrument holding arm 130. There are multiple actuators (not shown in the figure) in the instrument mounting bracket 132. The multiple actuators engage with the drive device 170 to transmit the driving force of the actuators to the drive device 170. The long shaft 160 is used to connect the drive device 170 and the end instrument 150. The long shaft 160 is hollow for the drive cable to pass through. The drive device 170 manipulates the movement of the end effector 150 through the drive cable so that the end effector 150 performs relevant surgical operations.

[0059] Figures 5A - 5D The following is a schematic structural view of the end effector 150 according to an embodiment of the present invention. As Figure 5A shown, the end effector 150 includes a first bracket 210 and a second bracket 220. The distal end of the first bracket 210 includes a first strut 314 and a second strut 315. The proximal end of the first bracket 210 includes a base frame 316. One end of the base frame 316 is connected to the long shaft 160. The first strut 314 and the second strut 315 are formed by extending from the other end of the base frame 316 toward the distal end of the end effector 150. The first strut 314, the second strut 315, and the base frame 316 form a structure similar to a U-shaped clip.

[0060] A first pin 311 and a second pin 312 are arranged between the first strut 314 and the second strut 315. One end of the first pin 311 is fixedly connected to the first strut 314, and the other end is fixedly connected to the second strut 315. Similarly, one end of the second pin 312 is fixedly connected to the first strut 314, and the other end is fixedly connected to the second strut 315. The second pin 312 and the first pin 311 are arranged side by side on the first strut 314 and the second strut 315, and the first pin 311 is closer to the base frame 316 of the first bracket 210 than the second pin 312.

[0061] To better show the structure of the proximal end of the end effector 150, in Figure 5B and Figure 5C the first bracket 210 is not shown. As Figure 5B and Figure 5CAs shown, a first pulley set is provided on the first pin 311. The first pulley set includes a first pulley 211, a second pulley 212, a third pulley 213, and a fourth pulley 214 that are sequentially arranged on the first pin 311. A second pulley set is provided on the second pin 312. The second pulley set includes a fifth pulley 215, a sixth pulley 216, a seventh pulley 217, and an eighth pulley 218 that are sequentially arranged on the second pin 312. The first pulley 211 to the eighth pulley 218 are all used to guide the drive cable. Since the pulleys for guiding the drive cable are all arranged on the first bracket 210 and there are no pulleys on the second bracket 220, the volume of the second bracket 220 can be made smaller, making the volume of the end effector 150 smaller and there being no risk of pulley detachment.

[0062] A third strut 317, a fourth strut 318, and a pitching wheel 319 are provided on the second bracket 210. The third strut 317 and the fourth strut 318 extend from the pitching wheel 319 along the distal end of the end effector 150. The third strut 317, the fourth strut 318, and the pitching wheel 319 form a shape of a substantially U-shaped frame. The pitching wheel 319 of the second bracket 220 is mounted on the second pin 312. The second bracket 220 can rotate around the axis AA' passing through the second pin 312 to achieve the pitching motion of the end effector 150.

[0063] A third pin 313 is provided between the third strut 317 and the fourth strut 318 of the second bracket 220. One end of the third pin 313 is fixedly connected to the third strut 317 and the other end is fixedly connected to the fourth strut 318. The third pin 313 is perpendicular to the first pin 311 and the second pin 312. The clamping portion of the end effector 150 includes a first clamping portion 230 and a second clamping portion 240. The first clamping portion 230 and the second clamping portion 240 are rotatably arranged on the second bracket 220 through the third pin 313. The first clamping portion 230 and the second clamping portion 240 can rotate around the axis BB' passing through the third pin 313 to achieve the opening and closing and / or yaw motion of the end effector 150. The first clamping portion 230 and the second clamping portion 240 can be forceps for clamping tissue, or a stapler for suturing, or a cautery for electrocautery, etc.

[0064] As Figures 5A - 5D shown, Figure 5A and 5B shown, the direction markings are for more convenient description of the winding method of the drive cable on the end effector 150. The distal end and the proximal end in the markings refer to the distal end and the proximal end directions of the end effector 150. The front, back, left, and right refer to the front direction, the back direction, the left direction, and the right direction of the end effector 150 in the Figure 5A and 5B viewing angle. Although there are no direction markings in other figures, it can be based onFigure 5A and 5B It is relatively easy to derive the direction of the end effector 150. The drive cables provided on the end effector 150 include a first pair of cables and a second pair of cables for manipulating the opening / closing and / or yaw movement of the end effector 150, and a third pair of cables for manipulating the pitch movement of the end effector 150. The first pair of cables includes a first drive cable 151A and a second drive cable 151B, where one end of the first drive cable 151A and the second drive cable 151B can be connected together or separately, and the same applies to the second pair of cables and the third pair of cables. The second pair of cables includes a third drive cable 152A and a fourth drive cable 152B, and the third pair of cables includes a fifth drive cable 153A and a sixth drive cable 153B. As Figure 5E shown, each drive cable includes three segments. Taking the first drive cable 151A as an example, the first drive cable 151A includes a first segment of cable 151A1 for connecting to the drive device, a second segment of cable 151A2 for connecting to the end effector, and a rigid bar 151A3 is used to connect between the first segment of cable 151A1 and the second segment of cable 151A2. Such a structure has a higher transmission efficiency compared to using an entire drive cable, and it is also easy to cause the situation where multiple drive cables are intertwined within the long axis 160. It can be understood that in some other embodiments, the drive cable can also be an integral and undivided cable.

[0065] On one side of the end effector 150, the first pair of cables are wound around the first and second pulley sets in a manner opposite to that of the second pair of cables around the first and second pulley sets. The first drive cable 151A of the first pair of cables is wound around the first and second pulley sets in the same manner as the second drive cable 151B around the first and second pulley sets. The third drive cable 152A of the second pair of cables is wound around the first and second pulley sets in the same manner as the fourth drive cable 152B around the first and second pulley sets. Specifically, the proximal end of the first drive cable 151A is connected to a drive unit within the drive device 170. The distal end of the first drive cable 151A extends towards the distal end of the end effector 150 after being guided by the front of the first pulley 211, and continues to extend along the distal end of the end instrument 150 after being guided by the rear of the fifth pulley 215 and is finally fixed to the first clamping portion 230. The second drive cable 151B extends towards the distal end of the end effector 150 after being guided by the front of the fourth pulley 214, and continues to extend towards the distal end of the end effector 150 after being guided by the rear of the eighth pulley 218 and is finally fixed to the first clamping portion 230. The distal end of the third drive cable 152A extends towards the distal end of the end effector 150 after being guided by the rear of the second pulley 212, and continues to extend towards the distal end of the end instrument 150 after being guided by the front of the sixth pulley 216 and is fixed to the second clamping portion 240. The distal end of the fourth drive cable 152B extends towards the distal end of the end effector 150 after being guided by the rear of the third pulley 213, and continues to extend towards the distal end of the end instrument 150 after being guided by the front of the seventh pulley 217 and is transitioned to the second clamping portion 240.

[0066] The first drive cable 151A and the second drive cable 151B together drive the first clamping portion 230 to rotate about the axis BB'. The third drive cable 152A and the fourth drive cable 152B together drive the second clamping portion 240 to rotate about the axis BB'. Thus, the first drive cable 151A, the second drive cable 151B, the third drive cable 152A, and the fourth drive cable 152B together drive the first clamping portion 230 and the second clamping portion 240 to perform opening / closing and / or yawing movements.

[0067] The proximal ends of the fifth drive cable 153A and the sixth drive cable 153B of the third pair of cables are connected to the drive device 170. The distal ends of both are received in the annular groove of the pitch wheel 319, and the ends of both are respectively fixed within the second bracket 220. The fifth drive cable 153A and the sixth drive cable 153B together drive the second bracket 220 to rotate about the axis AA'. Thus, the second bracket 220 drives the first clamping portion 230 and the second clamping portion 240 to perform a pitching movement together about the axis AA'.

[0068] The structure of the end effector 150 of the present invention and the winding method of the driving cable are different from those of the existing end effectors. In the existing end effector, the first pulley group is arranged on the first bracket of the end effector, and the second pulley group is arranged on the second bracket. The second pulley group follows the second bracket to perform pitching motion. In addition, the winding method of the driving cable of the present invention is also different from the prior art. After the driving cable of the present invention passes through the above winding method, as Figures 5A - 5D shown, there is a first partial cable 151Aa between the first driving cable 151A of the first pair of cables and the first clamping portion 230 between the fifth pulley 215 and the first clamping portion 230. There is a second partial cable 151Ba between the second driving cable 151B of the first pair of cables and the first clamping portion 230 between the eighth pulley 218 and the first clamping portion 230. There is a third partial cable 152Aa between the third driving cable 152A of the second pair of cables and the second clamping portion 240 between the sixth pulley 216 and the second clamping portion 240. There is a fourth partial cable 152Ba between the fourth driving cable 152B of the second pair of cables and the first clamping portion 240 between the seventh pulley 217 and the first clamping portion 240. Among them, no matter how the end effector 150 pitches, the first partial cable 151Aa and the second partial cable 151Ba are always on the same side of the plane M, and the third partial cable 152Aa and the fourth partial cable 152Ba are always on the same side of the other side of the plane M. The plane M is a plane passing through the axis AA' of the second pin 312 and perpendicular to the axis BB' of the third pin 313. The first partial cable 151Aa and the second partial cable 151Ba are always on the same side of the plane M, and the third partial cable 152Aa and the fourth partial cable 152Ba are always on the same side of the other side of the plane M, so that the winding of the first pair of cables and the second pair of cables on the end effector 150 is relatively simple and neat, and it is also easier to assemble.

[0069] As Figure 5C 、 5D shown, the first driving cable 151A and the second driving cable 151B have a fifth partial cable 151Ab and a sixth partial cable 151Bb between the first bracket 210 ( Figure 5C and Figure 5D the first bracket 210 is not shown in order to facilitate the display of the driving cable) and the first pulley 211 and the fourth pulley 214 respectively. The third driving cable 152A and the fourth driving cable 151B have a seventh partial cable 152Ab and an eighth partial cable 152Bb between the first bracket 210 and the second pulley 212 and the third pulley 213 respectively. The fifth partial cable 151Ab and the sixth partial cable 151Bb are both on the same side of the plane P. The plane P refers to the plane passing through the axis of the first pin 311 and the axis of the second pin 312 at the same time. The seventh partial cable 152Ab and the eighth partial cable 152Bb are both on the same side of the other side of the plane P.

[0070] As Figure 6A and6B As described above, the chassis 316 of the first bracket 210 has a plurality of through holes for the driving cable to pass through. The plurality of through holes include a first through hole 219a for the fifth part of the first driving cable 151A, i.e., the cable 151Ab, a second through hole 219b for the sixth part of the second driving cable 151B, i.e., the cable 151Bb, a third through hole 219c for the seventh part of the third driving cable 152A, i.e., the cable 152Ab, a fourth through hole 219d for the eighth part of the fourth driving cable 152B, i.e., the cable 152Bb, a fifth through hole 219e for the fifth driving cable 153A, and a sixth through hole 219f for the sixth driving cable 153B. In order to enable the first driving cable 151A and the second driving cable 151B, and the third driving cable 152A and the fourth driving cable 152B to change simultaneously in the same way (e.g., the lengths increase or decrease simultaneously) when the end effector 150 pitches, the first through hole 219a and the second through hole 219b are on the same side of the plane P, the third through hole 219c and the fourth through hole are on the other side of the plane P, and the line passing through the centers of both the first through hole 219a and the second through hole 219b is parallel to the line passing through the centers of both the third through hole 219c and the fourth through hole 219d. Due to this parallel relationship, the driving cable can pass through the through holes on the chassis 316 of the first bracket 210 and extend straight to the first pulley set, thereby making the driving efficiency of the driving cable relatively high.

[0071] As Figure 6B As shown, the first through hole 219a, the second through hole 219b, the third through hole 219c, and the fourth through hole 219d are respectively located at the four vertices of a trapezoid, such that the first driving cable 151A and the second driving cable 151B respectively pass through the first pulley 211 and the fourth pulley 214 on the outside, and the third driving cable 152A and the fourth driving cable 152B respectively pass through the second pulley 212 and the third pulley 213 on the inside. In order to minimize the driving force loss of the fifth driving cable 153A and the sixth driving cable 153B when driving the end effector 150 to pitch, both the fifth through hole 219e and the sixth through hole 219f are located outside the trapezoid formed by the first through hole 219a, the second through hole 219b, the third through hole 219c, and the fourth through hole 219d.

[0072] Another embodiment, as Figure 6C shown, the first through hole 319a, the second through hole 319b, the third through hole 319c, and the fourth through hole 319d in the first bracket 310 are respectively located at the four vertices of a parallelogram, and both the fifth through hole 319e and the sixth through hole 319f are located outside the parallelogram formed by the first through hole 319a, the second through hole 319b, the third through hole 319c, and the fourth through hole 319d.

[0073] The fifth part of the first drive cable and the sixth part of the second drive cable of the prior art are respectively on the opposite sides of the plane P, and the seventh part of the third drive cable and the eighth part of the fourth drive cable are also respectively on the opposite sides of the plane P. Reflected in the through-hole distribution on the first bracket for the drive cable to pass through, the two through-holes for the first drive cable and the second drive cable of the first pair of cables are respectively on the opposite sides of the plane P, and the two through-holes for the third drive cable and the fourth drive cable of the second pair of cables are also respectively on the opposite sides of the plane P. Due to the differences in the overall structure and winding method between the end effector of the present invention and the existing end effector, the end effector of the present invention is safer than the prior art, the drive cable and the pulley are not easily detached compared to the prior art, the assembly of the end instrument is easier, and the volume of the entire end instrument is smaller. Although the end instrument of the present invention has the above advantages compared to the prior art, the end instrument of the present invention also brings new challenges, that is, the drive device of the existing end effector cannot drive the end effector of the present invention. More specifically, the method used by the drive device of the existing end effector to decouple the coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables is no longer applicable to the end effector of the present invention.

[0074] The coupling relationship between the third pair of cables and the first pair of cables and / or the second pair of cables of the end instrument 150 is described in detail below. As shown in FIG. 5, the tangent points where the first part of the cable 151Aa, the second part of the cable 151Ba, the third part of the cable 152Aa, and the fourth part of the cable 152Ba leave the fifth pulley 215, the eighth pulley 218, the sixth pulley 216, and the seventh pulley 217 are all located on the plane a, and the plane a is a plane passing through the first axis AA' and perpendicular to the above-mentioned plane P.

[0075] When the end effector 150 is to perform a pitching motion, the drive device 170 needs to retract the fifth drive cable 153A or the sixth drive cable 153B of the third pair of cables, so that the second bracket 220 drives the first clamping portion 230 and the second clamping portion 240 to pitch together around the first axis AA', as Figure 7A and 7B shown, the drive device 170 retracts the sixth drive cable 153B, so that the second bracket 220 and the first clamping portion 230 and the second clamping portion 240 pitch around the first axis AA'. If the end effector 150 only performs a pitching motion, it is necessary to keep the lengths of the first part of the cable 151Aa, the second part of the cable 151Ba, the third part of the cable 152Aa, and the fourth part of the cable 153Ba constant, otherwise it will cause the yaw or opening / closing motion of the end effector 150.

[0076] When the end effector 150 rotates from Figures 5A - 5D the straight state shown toFigures 7A - 7B During the pitching state shown, when the driving device 170 retracts and pulls the sixth driving cable 153B, if the target pitching angle that the end effector 150 needs to turn is α, then the plane a needs to rotate by an angle of α from the Figure 5D position in to the Figure 7A position of the plane b. If the radii of the first pulley group and the second pulley group are both r1, in order to enable the end effector 150 to successfully rotate the target pitching angle α, at this time, it must be ensured that the wrap lengths of the first driving cable 151A and the second driving cable 151B on the fifth pulley 215 and the eighth pulley 218 increase by a length L at the same time, where L = α * r1, and the wrap lengths of the corresponding third driving cable 152A and the fourth driving cable 152B on the sixth pulley 216 and the seventh pulley 217 decrease by the length L at the same time. As shown in Figure 8A , inside the driving device 170, the first driving cable 151A and the second driving cable 151B are wound around the rotatable first driving unit 171 in opposite directions, the third driving cable 152A and the fourth driving cable 152B are wound around the rotatable second driving unit 172 in opposite directions, and the first driving unit 171 and the second driving unit 172 are rotationally fixed on their rotation axes, so the first driving unit 171 and the second driving unit 172 cannot be translated. Therefore, only by rotating the first driving unit 171, the lengths of the first driving cable 151A and the second driving cable 151B cannot be increased or decreased at the same time. Similarly, rotating the second driving unit 172 cannot make the lengths of the third driving cable 152A and the fourth driving cable 152B increase or decrease at the same time. As described above, if the end effector 150 is to successfully perform a pitching motion, it is necessary to make the lengths of the first driving cable 151A and the second driving cable 151B on the end effector 150 increase or decrease at the same time, and the lengths of the third driving cable 152A and the fourth driving cable 152B on the end effector must decrease or increase at the same time. Therefore, the movement of the third pair of cables is restricted by the first pair of cables and the second pair of cables.

[0077] The relationship in which the change of one element is restricted by another element is called a coupling relationship, that is, there is a coupling relationship between one element and another element. For the first pair of cables, the second pair of cables and the third pair of cables, this restricted relationship can be that the third pair of cables is restricted by the first pair of cables and / or the second pair of cables, so that the third pair of cables cannot move at all, making it impossible for the end effector to achieve pitch movement. It can also be that the third pair of cables is restricted by the first pair of cables and / or the second pair of cables, so that the movement of any cable among the first pair of cables, the second pair of cables and the third pair of cables will cause the other cables to move unexpectedly, causing the end effector to move unexpectedly and fail to perform the desired operation. For example, when the third pair of cables is manipulating the pitching movement of the end effector, due to the coupling relationship between the third pair of cables and the first pair of cables and / or the second pair of cables, the movement of the third pair of cables will simultaneously cause the movement of the first pair of cables and / or the second pair of cables, so that the end effector will cause the opening and closing and / or yaw movement of the end effector while the pitching movement is in progress, resulting in the pitching movement of the end effector and the opening and closing and / or offset movement affecting each other, and the pitching movement of the end effector and the opening and closing and / or offset movement are not independent of each other, so that the end effector 150 cannot correctly perform the surgical operation. Therefore, it is necessary to release the coupling relationship between the third pair of cables and the first pair of cables and / or the second pair of cables, so that the movement of the third pair of cables is no longer restricted by the first pair of cables and / or the second pair of cables, and the movements between the two can be independent of each other, without interfering or affecting each other. This release of the coupling relationship between the third pair of cables and the first pair of cables and / or the second pair of cables is called decoupling.

[0078] As to how to release the above coupling relationship, an existing decoupling method is to use software algorithm for decoupling. When the main operation console 200 controls the third driving unit to drive the third pair of cables to move, it also controls the first driving unit and the second driving unit to drive the first pair of cables and the second pair of cables to move, so that the wrap angle length of the first pair of cables and the second pair of cables on the pulley increases or decreases with the movement of the third pair of cables. However, this decoupling method requires that the first part of the cables 151Aa and the second part of the cables 151Ba of the first pair of cables on the end effector are respectively located on the opposite sides of the plane M, and the third part of the cables 152Aa and the fourth part of the cables 152Ba of the second pair of cables are also respectively located on the opposite sides of the plane M, so that the first driving cables 151A and the second driving cables 151B of the first pair of cables form a loop across the plane M, and the third driving cables 152A and the fourth driving cables 152B of the second pair of cables also form a loop across the plane M. Only then can decoupling be achieved by controlling the movement of the driving units through software. However, the present invention Figure 5AThe first part of the first pair of cables, cable 151Aa, and the second part of the first pair of cables, cable 151Ba, on the end effector of the illustrated embodiment are on the same side of plane M. The third part of the second pair of cables, cable 153Aa, and the fourth part of the second pair of cables, cable 153Ba, are also on the same side of plane M. Therefore, the existing software decoupling method cannot decouple an end effector of this type of the present invention. Additionally, using the software algorithm decoupling method will result in a complex control program for the surgical robot, prone to errors. Moreover, this software algorithm decoupling method will cause each drive unit of the drive mechanism of the surgical instrument to lose its independence. Specifically, there are three drive units in the drive device that respectively drive three pairs of cables. Ideally, the control of each drive unit is independent of each other. However, when using the software algorithm decoupling, it is necessary to control the above three drive units to move together, resulting in the loss of independence of the three drive units and prone to control errors.

[0079] The present invention proposes a mechanical decoupling solution, and a mechanical decoupling mechanism is provided in the drive device 170 of the surgical instrument 120 to avoid the disadvantages of the above software algorithm decoupling.

[0080] As Figure 8A shown is a schematic diagram of the drive device 170 of an embodiment of the present invention. The drive device 170 is applicable to drive Figure 5A the illustrated end effector. The drive device 170 includes a first drive unit 171 and a second drive unit 172 for driving the end effector 150 to perform opening / closing and / or yaw movements, a third drive unit 173 for driving the end effector 150 to perform pitching movement, and a fourth drive unit 174 for driving the long shaft 160 to perform self-rotation movement. The first drive cable 151A and the second drive cable 151B of the first pair of cables are respectively wound around the first drive unit 171 in opposite winding manners. The third drive cable 152A and the fourth drive cable 152B of the second pair of cables are respectively wound around the second drive unit 172 in opposite winding manners. The fifth drive cable 153A and the sixth drive cable 153B of the third pair of cables are respectively wound around the third drive unit 173 in opposite winding manners. The seventh drive cable 154A and the eighth drive cable 154B are respectively wound around the fourth drive unit 174 in opposite winding manners.

[0081] When the actuator drive shaft 171A within the instrument mounting bracket 132 rotates to drive the first drive unit 171 to rotate about its axis, the first drive unit 171 winds or releases the first drive cable 151A or the second drive cable 151B to cause the first clamping portion 230 to rotate about its third pin 313. When the actuator within the instrument mounting bracket 132 drives the second drive unit 172 to rotate about its shaft 172A, the second drive unit 172 winds or releases the second drive cable 152A or the third drive cable 152B to cause the second clamping portion 240 to rotate about the third pin 313. The movement of the first clamping portion 230 and the second clamping portion 240 about the third pin 313 causes the end effector 150 to perform opening / closing and / or yawing movements. When the actuator drive shaft 173A within the instrument mounting bracket 132 rotates to drive the third drive unit 173 to rotate, the third drive unit 173 winds or releases the fifth drive cable 153A or the sixth drive cable 153B to cause the second bracket 220 to rotate about the axis AA' of the second pin 312, thereby enabling the end effector 150 to perform pitching movements. When the actuator within the instrument mounting bracket 132 drives the fourth drive unit 174 to rotate about its shaft 174A, the fourth drive unit 174 winds or releases the seventh drive cable 154A or the eighth drive cable 154B to achieve the self-rotation movement of the long shaft 160.

[0082] The drive device 170 further includes a decoupling mechanism for releasing the coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables on the side of the end effector 150. The decoupling mechanism includes a main decoupling member 1761 and a slave decoupling member 176. The slave decoupling member 176 includes a carriage 1762 and a first guiding portion 1763 and a second guiding portion 1764 connected to both ends of the carriage 1762. The main decoupling member 1761 is connected to the carriage 1762 through a first decoupling cable 1767 and a second decoupling cable 1768. The main decoupling member 1761 manipulates the movement of the slave decoupling member by driving the first decoupling cable 1767 and the second decoupling cable 1768. The first decoupling cable 1767 and the second decoupling cable 1768 are wound around the main decoupling member 1761 in opposite ways. The main decoupling member 1761 and the third driving unit 173 move at the same angular velocity. The main decoupling member 1761 and the third driving unit 173 can be arranged on the same axis 173A. Therefore, the main decoupling member 1761 rotates coaxially with the third driving unit 173 along the axis 173A. In some other embodiments, the main decoupling member 1761 and the third driving unit 173 can also be respectively arranged on different rotating axes. The main decoupling member 1761 and the third driving unit 173 have different radii. The radius of the main decoupling member 1761 is r2, and the radius of the third driving unit 173 is R2, where r2 < R2. The main decoupling member 1761 realizes the movement of the slave decoupling member by retracting or releasing the first decoupling cable 1767 or the second decoupling cable 1768. The main decoupling member 1761 and the third driving unit 173 can receive driving from the same power source. The power source is the actuator in the above-mentioned slave operating device. In other embodiments, the main decoupling member and the third driving unit are arranged on different rotating axes, but the main decoupling member still receives the driving force homologous to the third driving unit. For example, the main decoupling member and the third driving unit are respectively connected and driven in different ways on the same actuator. Using the same power source to drive the third driving unit and the main decoupling member simultaneously can make the control of decoupling simpler. The decoupling mechanism does not need to separately detect the coupling state. The main decoupling member and the coupling source (i.e., the third driving unit) receive the same control information, but the structures on the transmission side are different.

[0083] As Figure 8A, the first driving cable 151A and the second driving cable 151B successively pass through the guiding of the third guiding pulley 177A, the first guiding part 1763 and the third guiding pulley 177C and then enter the long shaft and extend all the way to be connected to the end effector 150. The third driving cable 152A and the fourth driving cable 152B successively pass through the guiding of the second guiding pulley 177B, the second guiding part 1764 and the fourth guiding pulley 177D and then enter the long shaft and extend all the way to be connected to the end effector 150. The fifth driving cable 153A and the sixth driving cable 153B respectively pass through the guiding of the fifth guiding pulley 177E and the sixth guiding pulley 177F and then enter the long shaft and extend all the way to be connected to the end effector 150. As for how the first driving cable 151A to the sixth driving cable 153B are connected to the end effector 150, it has been described in detail before and will not be elaborated here.

[0084] The decoupling process is as Figure 8D shown. When the third driving unit 173 rotates counterclockwise (the first direction) along its shaft 173A, the third driving unit 173 pulls in the sixth driving cable 153B and simultaneously releases the fifth driving cable 153A, so that the second bracket 220 of the end effector 150 rotates around the axis AA' of the second pin 312 as Figure 7A and 7B shown, and the entire end effector 150 performs a pitching motion. As described above, at this time, the wrap angles of the first driving cable 151A and the second driving cable 151B on the fifth pulley 215 and the eighth pulley 218 need to increase by L simultaneously. At the same time, the wrap angles of the third driving cable 152A and the fourth driving cable 152B on the sixth pulley 216 and the seventh pulley 217 need to decrease by L simultaneously so that the end effector 150 can smoothly perform the pitching motion. Since the main decoupling member 1761 of the decoupling mechanism rotates coaxially with the third driving unit 173, when the third driving unit 173 rotates counterclockwise along the shaft 173A, the main decoupling member 1761 also rotates counterclockwise along the shaft 173A. At this time, the main decoupling member 1761 pulls in the first decoupling cable 1767 and simultaneously releases the second decoupling cable 1768. Suppose the arc length turned by the main decoupling member 1761 is L / 2, then the slave decoupling member moves a distance of L / 2 along the A direction under the pulling of the first decoupling cable 1767. At this time, due to the movement of the slave decoupling member, the lengths of the first driving cable 151A and the second driving cable 151B in the driving device 170 will decrease by L simultaneously, that is, the lengths of the first pair of cables in the driving device 170 decrease by 2L. Correspondingly, the lengths of the third driving cable 152A and the fourth driving cable 152B in the driving device 170 will increase by L simultaneously, that is, the lengths of the second pair of cables in the driving device 170 increase by 2L.

[0085] Thus, the reduction in the lengths of the first drive cable 151A and the second drive cable 151B within the drive device 170 is equal to the increase in the wrap lengths around the fifth pulley 215 and the eighth pulley 218 by the first drive cable 151A and the second drive cable 151B respectively. The increase in the lengths of the third drive cable 152A and the fourth drive cable 152B within the drive device 170 is equal to the decrease in the wrap lengths around the sixth pulley 216 and the seventh pulley 217 by the third drive cable 152A and the fourth drive cable 152B respectively. Conversely, as Figure 8E shown, when the third drive unit 173 and the main decoupling member 1761 rotate clockwise (second direction) together, the increase in the lengths of the first drive cable 151A and the second drive cable 151B within the drive device 170 is equal to the decrease in the wrap lengths around the fifth pulley 215 and the eighth pulley 218 by the first drive cable 151A and the second drive cable 151B respectively. The decrease in the lengths of the third drive cable 152A and the fourth drive cable 152B within the drive device 170 is equal to the increase in the wrap lengths around the sixth pulley 216 and the seventh pulley 217 by the third drive cable 152A and the fourth drive cable 152B respectively. Thus, all the changes in the lengths of the first pair of cables and the second pair of cables on the end effector side due to the pitching motion of the end effector are provided by the changes in the lengths of the first pair of cables and the second pair of cables within the drive device. Therefore, the motion of the third pair of cables will no longer be restricted by the first pair of cables and the second pair of cables, and the decoupling mechanism realizes the decoupling relationship between the third pair of cables and the first pair of cables and the second pair of cables.

[0086] In order to accurately and controllably decouple the first pair of cables from the second and third pairs of cables by the decoupling mechanism, the main decoupling member 1761 of the decoupling mechanism drives the slave decoupling member 176 to always move in a straight line, and the length changes of the first drive cable 151A, the second drive cable 151B, the third drive cable 152A, and the fourth cable 152B caused by the movement of the slave decoupling member 176 are always linear. As shown in FIGS. 9A-9C, after being redirected by the seventh guide pulley 1765, the first decoupling cable 1767 is fixed to one end of the slave decoupling member 176 along the movement direction of the slave decoupling member 176. Similarly, after being redirected by the eighth guide pulley 1766, the second decoupling cable 1768 is fixed to the other end of the slave decoupling member 176 along the movement direction of the slave decoupling member 176. Therefore, the movement of the main decoupling member 1761 will cause the slave decoupling member 176 to move in a straight line. And the portion of the first decoupling cable 1767 between the seventh guide pulley 1765 and the slave decoupling member 176 and the portion of the second decoupling cable 1768 between the eighth guide pulley 1766 and the slave decoupling member 176 are both parallel to the movement direction of the slave decoupling member 176. During the decoupling process, the speed of change of the lengths of the first decoupling cable 1767 and the second decoupling cable 1768 is in a proportional relationship with the linear speed of rotation of the main decoupling member 1761. Therefore, the movement speed of the slave decoupling member 176 is also in a proportional relationship with the linear speeds of rotation of the main decoupling member 1761 and the third drive unit 173, thereby making the decoupling process accurately controllable.

[0087] As Figures 8B - 8C shown, the first guide pulley 177A, the first guide portion 1763, and the third guide pulley 177C are all structures having two pulleys arranged side by side. The two pulleys are respectively used to guide the first drive cable 151A and the second drive cable 151B. The first drive cable 151A forms a first decoupling partial cable 151Ac between the third guide pulley 177C and the first guide portion 1763, and forms a third decoupling partial cable 151Ad between the first guide portion 1763 and the first guide pulley 177A. The second drive cable 151B forms a second decoupling partial cable 151Bc between the third guide pulley 177C and the first guide portion 1763, and forms a fourth decoupling partial cable 151Bd between the first guide portion 1763 and the first guide pulley 177A. Similarly, the second guide portion 1764, the second guide pulley 177B, and the fourth guide pulley 177D are also structures having two pulleys arranged side by side. The third drive cable 152A and the fourth drive cable 152B respectively have a fifth decoupling partial cable 152Ac and a sixth decoupling partial cable 152Bc between the fourth guide pulley 177D and the second guide portion 1764, and have a seventh decoupling partial cable 152Ad and an eighth decoupling partial cable ( Figure 8A(which is blocked from view by the seventh decoupling partial cable 152Ad). To enable more precise decoupling, during the decoupling process, the change in the length of the first decoupling partial cable 151Ac needs to be equal to the change in the length of the second decoupling partial cable 151Bc. Therefore, the first decoupling partial cable 151Ac and the second decoupling partial cable 151Bc respectively form equal angles θ with the plane passing through the center of the third guide pulley 177C and perpendicular to the axis c1 of the third guide pulley 177C. The fifth decoupling partial cable 152Ac and the seventh decoupling partial cable 152Bc have the same setting with the seventh guide pulley 177D. This can ensure that during the decoupling process, the change in the length of the first decoupling partial cable 151Ac is the same as that of the second decoupling partial cable 151Bc, and the change in the length of the fifth decoupling partial cable 152Ac is the same as that of the seventh decoupling partial cable 152Bc. Additionally, since θ is relatively small, the axial distances H1 between the first decoupling partial cable 151Ac and the second decoupling partial cable 151Bc and the first guide pulley 1764 and the fourth guide pulley 177B are approximately equal. During the decoupling process, the first decoupling partial cable 151Ac and the second decoupling partial cable 151Bc are approximately parallel to the movement direction of the decoupling member, so that the non-linear change of the first decoupling partial cable 151Ac and the second decoupling partial cable 151Bc during the decoupling process caused by the first decoupling partial cable 151Ac and the second decoupling partial cable 151Bc is relatively small, achieving more precise decoupling.

[0088] As Figure 8C shown, the third decoupling partial cable 151Ad, the fourth decoupling partial cable 151Bd, the seventh decoupling partial cable 152Ad, and the eighth decoupling partial cable are parallel to the movement direction of the decoupling member 176. This can ensure that during the decoupling process, the change speed of the lengths of the third decoupling partial cable 151Ad, the fourth decoupling partial cable 151Bd, the seventh decoupling partial cable 152Ad, and the eighth decoupling partial cable caused by the movement of the decoupling member is proportional to the movement speed of the decoupling member 176. Therefore, during the decoupling process, the change speed of the length of any one of the first driving cable 151A to the fourth driving cable 152B in the driving device 170 is proportional to the movement speed of the decoupling member 176. As described above, the movement speed of the decoupling member 176 is proportional to the rotational linear speed of the main decoupling member 1761 and the third driving unit 173. Therefore, during the decoupling process, the change speed of the length of any one of the first driving cable 151A to the fourth driving cable 152B in the driving device 170 is also proportional to the rotational linear speed of the main decoupling member 1761 and the third driving unit 173. Thus, the change in the length of the first pair of cables and the second pair of cables on the end effector 150 can be precisely controlled by the main decoupling member 173 and the third driving unit 173, achieving precisely controllable decoupling.

[0089] As shown Figure 8D in the decoupling process of this embodiment, relative to the state shown in 9A, the main decoupling member 1761 rotates counterclockwise by an arc length of L / 2. Accordingly, the decoupling member 176 moves a distance of L / 2 along the A direction. The lengths of the first decoupling partial cable 151Ac, the third decoupling partial cable 151Ad, the second decoupling partial cable 151Bc, and the fourth decoupling partial cable 151Bd are simultaneously reduced by L / 2. Thus, the first drive cable 151A and the second drive cable 151B are simultaneously reduced by a length of L within the drive device 170, that is, the length of the first pair of cables is reduced by 2L within the drive device. Similarly, the lengths of the fifth decoupling partial cable 152Ac, the sixth decoupling partial cable 152Ad, the seventh decoupling partial cable 152Bc, and the eighth decoupling partial cable are simultaneously increased by L / 2. Thus, the third drive cable 152A and the fourth drive cable 152B are simultaneously increased by a length of L within the drive device 170, that is, the length of the second pair of cables is increased by 2L within the drive device.

[0090] Returning again to Figure 7A , if the radii of the second pulley sets in this embodiment are all r1, and the bottom radius of the annular groove 319A on the pitching wheel 319 of the second bracket 220 for accommodating and guiding the fifth drive cable 153A and the sixth drive cable 153B is R1, when the end effector 150 makes a pitching motion, the fifth drive cable 153A or the sixth drive cable 153B can form a wrap angle in this annular groove. When the end effector 150 rotates from the zero position state shown in Figure 5D to the state shown in Figure 7A , during the process, if the pitching angle of the end effector 150 is α, the wrap angle length of the fifth drive cable 153A in the annular groove 319A on the pitching wheel 319 is increased by L1, and the wrap angle length of the sixth drive cable 153B in the annular groove 319A on the pitching wheel 319 is simultaneously reduced by L1, where L1 = α * R1. Since the pitching motion of the end effector 150 is driven by the third drive unit 173 within the drive device 170, as shown in Figure 8DAs shown, at this time, if the angle of rotation of the third drive unit 173 for the pitching motion of the end effector 150 is α and the angle of rotation in the counterclockwise (first direction) is β, the third drive unit 173 releases the fifth drive cable 153A and simultaneously pulls in the sixth drive cable 153B, such that the length of the fifth drive cable 153A wound around the third drive unit 173 is reduced by L1, and the length of the sixth drive cable 153B wound around the third drive unit 173 is increased by L1, where L1 = β * R2. Since the main decoupling member 1761 and the third drive unit 173 rotate coaxially, correspondingly, the main decoupling member 1761 releases the first decoupling cable 1767 and simultaneously pulls in the second decoupling cable 1768, such that the length of the first decoupling cable 1767 wound around the main decoupling member 1761 is reduced by L / 2, that is, the first decoupling cable 1767 is released by L / 2, and the length of the second decoupling cable 1768 wound around the main decoupling member 1761 is increased by L / 2, where L / 2 = β * r2, thereby the carriage 1762 moves a distance of L / 2 in the A direction, causing the lengths of the first drive cable 151A and the second drive cable 151B in the drive device 170 to be reduced by L respectively, and the lengths of the third drive cable 152A and the fourth drive cable 152B in the drive device 170 to be increased by L respectively. As described above, L = α * r1. To sum up, from the following four equations: L1 = α * R1, L1 = β * R2, L / 2 = β * r2, L = α * r1, the following relationship can be obtained:

[0091]

[0092] The above relationship shows that the ratio of the radius of the third drive unit 173 to the radius of the main decoupling member 1761 is twice the ratio of the bottom radius of the annular groove 319A of the pitching wheel 319 to the radius of the second pulley set. The reason for this 2-fold relationship is that the decoupling member has 2 guiding portions, namely the first guiding portion 1763 and the second guiding portion 1764. In other embodiments, the number of guiding portions of the decoupling member 176 can also be other numbers, and thus the relationship between the ratio of the radius of the third drive unit to the radius of the main decoupling member and the ratio of the radius of the pitching wheel to the radius of the second pulley set also changes accordingly. For example, the decoupling member can have N guiding portions, and the ratio of the radius of the third drive unit to the radius of the main decoupling member is N times the ratio of the bottom radius of the annular groove of the pitching wheel to the radius of the second pulley set, that is: However, with the increase in the number of guiding portions of the decoupling member, the volume of the decoupling member also increases accordingly. Preferably, two guiding portions are used for the decoupling member in the above embodiments. It can be understood that the radii of the above driving unit and the main decoupling member both refer to the radii of the portions around which the driving cable or the decoupling cable is wound, such as the radius of a winch. The radius of a pulley refers to the radius of the bottom of the pulley groove, so as to calculate the wrap angle length of the driving cable wound around the pulley. Although there are different interpretations of the radius of a pulley in different literatures (such as the bottom groove radius, the radius of the bottom of the groove), the pulley radius in the invention is a parameter used to measure the wrap angle length of the driving cable wound around the pulley.

[0093] Therefore, the length changes of the first pair of cables and the second pair of cables on one side of the end effector 150 required for the pitching movement of the end effector 150 are all accurately provided by the decoupling mechanism 176, so that the movement of the third pair of cables is no longer restricted by the first pair of cables and the second pair of cables, and the precise decoupling between the third pair of cables and the first pair of cables and the second pair of cables is achieved. During the entire decoupling process, the lengths of the first part of the cables 151Aa, the second part of the cables 151Ba, the third part of the cables 152Aa and the fourth part of the cables 153Ba can be kept constant, and the tension of the entire first pair of cables and the second pair of cables is also kept constant. In addition, since only the shaft 173A of the third drive unit 173 moves during the entire decoupling process, the first drive unit 171, the second drive unit 172 and the third drive unit 173 are completely independent. In addition, since the main decoupling member 1761 rotates coaxially with the coupling source, i.e., the third drive unit 173, which causes the coupling relationship, the main decoupling member 1761 and the coupling source third drive unit 173 move at the same angular velocity, and the two physically move completely synchronously. There is no need for the main operation setting to give a signal to control the decoupling mechanism. The movement of the decoupling mechanism is synchronized with the movement of the coupling source. The decoupling mechanism synchronizes with the third drive unit to decouple without any delay, and the length change of the first pair of cables and the second pair of cables on the side of the end effector 150 caused by the coupling source third drive unit 173 can be completely and accurately mapped to the length change of the first pair of cables and the second pair of cables on the decoupling mechanism 176, so that the decoupling mechanism 176 can completely and accurately release the coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables. The so-called precise decoupling means that the third drive unit rotates a certain degree and the slave decoupling member moves a certain distance. The relationship between the two is determined, and the above-mentioned radius ratio equations have been given. In addition, since the slave decoupling component 176 is always driven by the main decoupling component 1761 to move to the corresponding position instead of being driven by the first pair of cables or the second pair of cables, the first pair of cables and the second pair of cables are basically not subjected to force on the slave decoupling component during the entire decoupling process. Therefore, the tension of the first pair of cables and the second pair of cables remains basically unchanged during the decoupling process, thereby increasing the service life of the first pair of cables and the second pair of cables and the accuracy of control over the end actuator 150.

[0094] Figure 9A and 10BThe driving device 270 showing another embodiment of the present invention, the driving device 270B includes a first driving unit 271, a second driving unit 272, a third driving unit 273, a third driving unit 274 and a decoupling mechanism 276. When the first driving unit 271 rotates with its shaft 271A, the first driving unit 271 winds or unwinds the first driving cable 151A or the second driving cable 151B to cause the first clamping portion 230 to rotate around the third pin 313. When the actuator in the instrument mounting bracket 132 drives the second driving unit 272 to rotate with its shaft 272A, the second driving unit 272 winds or unwinds the second driving cable 152A or the third driving cable 152B to cause the second clamping portion 240 to rotate around the third pin 313. The movement of the first clamping portion 230 and the second clamping portion 240 around the third pin 313 causes the end effector 150 to perform opening / closing and / or yawing movements. When the actuator in the instrument mounting bracket 132 drives the third driving unit 273 to rotate with its shaft 273A, the third driving unit 173 winds or unwinds the fifth driving cable 153A or the sixth driving cable 153B to cause the second bracket 220 to rotate around the axis AA' of the second pin, thereby enabling the end effector 150 to perform pitching movements.

[0095] The decoupling mechanism 276 includes a main decoupling member 2761 and a slave decoupling member. The main decoupling member 2761 is a gear that rotates coaxially with the third driving unit 273. The slave decoupling member includes a rack 2762 and a first guiding portion 2763 and a second guiding portion 2764 connected to both ends of the rack 2762. The first driving cable 151A and the second driving cable 151B enter the long shaft 160 after passing through the first guiding portion 2763 of the slave decoupling member, and the second driving cable 152A and the second driving cable 152B enter the long shaft 160 after passing through the second guiding portion 2764 of the slave decoupling member.

[0096] As Figure 9B shown, when the third driving unit 273 and the main decoupling member 273 rotate counterclockwise together with the shaft 273A, the third driving unit 273 winds the sixth driving cable 153B and simultaneously releases the fifth driving cable 153A, and the end effector 150 as Figure 7A 、 7BAs shown, a pitch motion is performed. At the same time, if the arc length of the main decoupling member 2761 rotating counterclockwise is L / 2, the length of the slave decoupling member moving along the A direction under the drive of the main decoupling member 2761 is also L / 2, the lengths of the first driving cable 151A and the second driving cable 151B between the first guide portion 2763 and the first guide wheel 277A, and the lengths between the first guide portion 2763 and the third guide wheel 277C are both reduced by L / 2, and the lengths of the third driving cable 152A and the fourth driving cable 152B between the second guide portion 2764 and the second guide wheel 277B, and the lengths between the second guide portion 2764 and the fourth guide wheel 277D are both increased by L / 2, so that the lengths of the first driving cable 151A and the second driving cable 151B in the driving device 270 are reduced by L as a whole, and the lengths of the third driving cable 152A and the fourth driving cable 152B in the driving device 270 are increased by L as a whole. Thus, the decoupling mechanism 276 in the drive device 270 provides the change in length of the first drive cable 151A to the fourth drive cable 152B on one side of the end effector 150 required for the pitch movement of the end effector 150, thereby releasing the coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables, and the movement of the third pair of cables is no longer restricted by the first pair of cables and / or the second pair of cables.

[0097] Figure 10A , 11B The driving device 370 of another embodiment of the present invention is shown. The driving device 270B includes a first driving unit 371, a second driving unit 372, a third driving unit 373, a fourth driving unit 374 and a decoupling mechanism 376. Except that the structure of the decoupling mechanism 376 is different from that of the two embodiments, the other components are basically the same as those of the above two embodiments, and will not be repeated here. The decoupling mechanism 376 includes a main decoupling member 3761 that rotates coaxially with the third driving unit 373, a decoupling cam 3762 that is fixedly connected to or integrally formed with the main decoupling member 3761, and the two ends of the decoupling cam 3762 are respectively connected by a first guide portion 3763 and a second guide portion 3764.

[0098] like Figure 10B As shown, when the main decoupling member 3761 and the third driving unit 373 rotate counterclockwise with the shaft 373A, the third driving unit 373 retracts the sixth driving cable 153B and releases the fifth driving cable 153A at the same time, and the end effector 150 is as shown in FIG. Figures 7A - 7CThe execution performs a pitching motion. Meanwhile, the decoupling cam 3762 rotates counterclockwise along with the shaft 373A under the driving of the main decoupling member 3761. As a result, the length between the first driving cable 151A and the second driving cable 151B between the first guide pulley 377A and the third guide pulley 377C is reduced by L, and at the same time, the length between the third driving cable 152A and the fourth driving cable 152B between the second guide pulley 377B and the fourth guide pulley 377D is increased by L. Therefore, the decoupling mechanism 376 in the driving device 370 can provide the length change amount of the first driving cable 151A to the fourth driving cable 152B on the side of the end effector 150 required due to the pitching motion of the end effector 150, thereby releasing the coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables. The movement of the third pair of cables is no longer restricted by the first pair of cables and / or the second pair of cables.

[0099] Figures 11A - 11F The figure shows a driving device according to another embodiment of the present invention. The driving device 470 includes a body 478. A first driving unit 471, a second driving unit 472, a third driving unit 473, and a fourth driving unit 474 are provided on the body 478. The long shaft 160 is connected to the body 478 through a bearing. The decoupling mechanism 476 includes a main decoupling member 4761 and a slave decoupling member 4762. The main decoupling member 4761 and the third driving unit 473 are both connected to the shaft 476A. The main decoupling member 4761 rotates coaxially with the shaft 473A together with the third driving unit 473. The main decoupling member 4761 is provided below the third driving unit 473, that is, the main decoupling member 4761 is closer to the distal end of the driving device than the third driving unit 473. The slave decoupling member 4762 includes a carriage 4765 and a first guiding portion 4763 and a second guiding portion 4764 provided at both ends of the carriage 4765. The carriage 4765 is slidably connected to the mounting seat 477. The mounting seat 477 is fixedly installed on the body 478. The mounting seat 477 is provided with a first guide wheel 476A, a second guide wheel 476B, a third guide wheel 476C, and a fourth guide wheel 476D that cooperate with the carriage 4765. The first guide wheel 476A, the second guide wheel 476B, the third guide wheel 476C, and the fourth guide wheel 476D form a sliding area in which the carriage 4765 can slide. Thus, the carriage 4765 can be restricted to slide within the sliding area on the mounting seat 477.

[0100] The first drive cable 151A and the second drive cable 151B are wound around the first drive unit 471 in opposite winding manners. The first drive cable 151A and the second drive cable 151B are guided by the first guide pulley 477A provided on the mounting base 477, then guided by the first guiding portion 4763 provided on the carriage 4765, and then guided by the third guide pulley 477C provided on the mounting base 477, and then enter the long shaft 160, and extend along the distal end of the long shaft 160 all the time and are finally fixed to the first clamping portion 230 on the end effector 150. The third drive cable 152A and the fourth drive cable 152B are wound around the second drive unit 472 in opposite winding manners. The third drive cable 152A and the fourth drive cable 152B are guided by the second guide pulley 477B provided on the mounting base, then guided by the second guiding portion 4764 provided on the carriage 4765, and then guided by the fourth guide pulley 477D provided on the mounting base 477, and then enter the long shaft 160, and extend along the distal end of the long shaft 160 all the time and are finally fixed to the second clamping portion 240 of the end effector 150. The fifth drive cable 153A and the sixth drive cable 153B enter the long shaft 160 after being guided by the fifth guide pulley 477E, and extend along the distal end of the long shaft 160 all the time and are finally fixed to the second bracket 220. The other ends of the seventh drive cable 154A and the eighth drive cable 154B wound around the fourth drive unit 474 are wound around the proximal end of the long shaft 160. Similar to the above several embodiments, there is also a coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables on the end effector side.

[0101] The mounting base 477 includes a first boss 4771. The mounting base 477 is fixed to the body 478 through the first boss 4771. A second boss 4772, a third boss 4773, and a fourth boss 4774 are provided on the first boss 4771. The second boss 4772 has a first mounting hole 4791 and a second mounting hole 4792. The second guide wheel 476B and the third guide wheel 476C are respectively mounted on the second boss 4772 through the second mounting hole 4792 and the first mounting hole 4791. The third boss 4773 has a third mounting hole 4793 and a fourth mounting hole 4794. The first guide wheel 477A and the second guide wheel 477B are respectively mounted on the third boss 4773 through the third mounting hole 4793 and the fourth mounting hole 4794. The fourth boss 4774 has a fifth mounting hole 4795. The first guide wheel 476A and the sixth guide wheel 4769 located below the first guide wheel 4796A are mounted in the sixth mounting hole 4796 through the same shaft. The sixth guide wheel 4796 is used to guide the first decoupling cable 4767 and the second decoupling cable 4768. The fifth boss 4775 has a seventh mounting hole 4797. The fourth guide wheel 476D is mounted on the fifth boss 4775 through the ninth mounting hole 4799. In order to keep the first guide wheel 476A and the fourth guide wheel 476D at the same height after being mounted on the mounting base 477, there is a certain height difference between the fourth boss 4774 and the fifth boss 4775, and this height difference is approximately equal to the height of the sixth guide wheel 4769.

[0102] The mounting base 477 also has a first mounting post 4776 and a second mounting post 4777. The first mounting post 4776 and the second mounting post 4777 are arranged obliquely opposite to each other. The first mounting post 4776 and the second mounting post 4777 are provided with a sixth mounting hole 4796 and a seventh mounting hole 4797. The fifth guide wheel 477E is mounted on the first mounting post 4776 and the second mounting post 4777 through the sixth mounting hole 4796. The limit pin 477F for preventing the fifth drive cable 153A and the sixth drive cable 153B from disengaging from the fifth guide wheel 477E is mounted on the first mounting post 4776 and the second mounting post 4777 through the seventh mounting hole 4797. The oblique arrangement of the first mounting post 4776 and the second mounting post 4777 can enable the fifth guide wheel 477E to guide the drive cable coming from the oblique direction.

[0103] There are an installation groove 4798 and a wire passing hole 4775 between the first installation post 4776 and the second installation post 4777 and the third boss 4773. The third guide wheel 477C and the fourth guide wheel 477D are installed on the installation seat 477 through the installation groove 4795. The wire passing hole 4775 is located between the third guide wheel 477C and the fourth guide wheel 477D installed on the installation seat 477. The wire passing hole 4775 communicates with the long shaft 160 for guiding the drive cable into the long shaft 160.

[0104] As Figure 11C and Figure 11E shown, a first slide rail 4766A and a second slide rail 4766B are provided on both sides of the carriage 4765 of the decoupling member 4762. After the carriage 4765 is connected to the installation seat 477, the first slide rail 4766A and the second slide rail 4766B can slide within the sliding area formed by the first guide wheel 476A, the second guide wheel 476B, the third guide wheel 476C, and the fourth guide wheel 476D. The first slide rail 4766A is slidably arranged on the aligned second guide wheel 476B and third guide wheel 476C, and the second slide rail is slidably arranged on the aligned first guide wheel 476A and fourth guide wheel 476D. Both ends of the carriage 4765 respectively have a first installation space 4767 and a second installation space 4768, and the first guide portion 4763 and the second guide portion 4764 are respectively installed into the first installation space 4767 and the second installation space 4768. The carriage 4765 also has a central opening 4781, which is used to accommodate the first installation post 4776, the second installation post 4777, and the third boss 4773, and cooperate with the first installation post 4776, the second installation post 4777, and the third boss 4773 to limit the sliding stroke of the carriage 4765 within the sliding area on the installation seat 477.

[0105] One end of the carriage 4765 has a first guide groove 4684 and a first fixing hole 4782, and the other end has a second guide groove 4685 and a second fixing hole 4783. The first guide groove 4784 is used to guide the first decoupling cable 4767 to be fixed into the first fixing hole 4782, and the second guide groove 4785 is used to guide the second decoupling cable 4768 to be fixed into the second fixing hole 4783. The first guide groove 4684 and the second guide groove 4685 are staggered from each other in the height direction of the carriage 4765, so that the first decoupling cable 4767 and the second decoupling cable 4768 can be fixed to the carriage 4765 without interfering with each other.

[0106] The decoupling process of this embodiment is as Figure 11FAs shown, when the third drive unit 473 rotates counterclockwise (in the first direction) along with the shaft 473A driven by the actuator, since the main decoupling member 4761 and the third drive unit 473 are connected to the actuator via the same shaft 473A, the main decoupling member 4761 and the third drive unit 473 rotate counterclockwise along with the shaft 473A at the same angular velocity, and the third drive unit 473 retracts the sixth drive cable 153B and releases the fifth drive cable 153A at the same time, so that the end effector 150 performs the following operation: Figure 7A and 7B The pitching movement shown in the figure, at the same time, the main decoupling member 4761 pulls the second decoupling cable 4768 and releases the first decoupling cable 4767 at the same time, so that the slave decoupling member 4762 moves along Figure 11F If the movement is in direction A, Figure 11F The decoupling element 4762 is relative to Figure 10B In the embodiment, the decoupling member 4762 moves a distance L / 2 in the A direction from the zero position state where the decoupling member 4762 is located, and the lengths of the first driving cable 151A and the second driving cable 151B between the first guide portion 4763 and the first guide wheel 477A, ​​and the lengths between the first guide portion 4763 and the third guide wheel 477C are both reduced by L / 2, so that the lengths of the first driving cable 151A and the second driving cable in the driving device 470 are reduced by L, and the length of the first pair of cables in the driving device is reduced by 2L. Correspondingly, the lengths of the third driving cable 152A and the fourth driving cable 152B between the second guide portion 4764 and the second guide wheel 477B, and the lengths between the second guide portion 4764 and the fourth guide wheel 477D are both increased by L / 2, so that the lengths of the third driving cable 152A and the fourth driving cable 152B in the driving device are increased by L, and the length of the first pair of cables in the driving device is increased by 2L. Thus, the decoupling mechanism 276 in the drive device 370 provides the change in length of the first drive cable 151A, the second drive cable 151B, the third drive cable 152A and the fourth drive cable 152B on one side of the end effector 150 required for the pitch movement of the end effector 150, thereby releasing the coupling relationship between the third pair of cables and the first pair of cables and the second pair of cables. The movement of the third pair of cables is no longer restricted by the first pair of cables and the second pair of cables, so that the end effector 150 can smoothly perform pitch operations.

[0107] When the third drive unit 473 and the main decoupling member 4761 rotate in a second direction (clockwise) opposite to the first direction, the lengths of the first drive cable 151A and the second drive cable in the drive device 470 increase by L, and the lengths of the third drive cable 152A and the fourth drive cable 152B in the drive device decrease by L, respectively. The specific process is exactly the opposite of the above-mentioned rotation in the first direction and will not be repeated here.

[0108] The above-described embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A surgical instrument, the surgical instrument comprising an end effector, a drive device, and a cable, the drive device being configured to drive the end effector to move through the cable, the cable including a first pair of cables and a second pair of cables for driving the end effector to perform a yaw movement, and a third pair of cables for driving the end effector to perform a pitch movement, characterized in that, the drive device includes: a drive unit, one end of the third pair of cables is connected to the drive unit, and the drive unit manipulates the pitch movement of the end effector through the third 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 drive unit, the radius of the drive unit is greater than the radius of the main decoupling member, the slave decoupling member includes a carriage and decoupling cables, the decoupling cables include a first decoupling cable and a second decoupling cable, the main decoupling member is connected to the carriage through the decoupling cables, one ends of the first decoupling cable and the second decoupling cable are fixed on the main decoupling member, a first guiding portion and a second guiding portion for guiding the first pair of cables and the second pair of cables are respectively arranged at both ends of the carriage, the main decoupling member is used to rotate coaxially with the drive unit and manipulate the carriage to move linearly through the decoupling cables to increase the length of one of the first pair of cables and the second pair of cables in the drive device and decrease the length of the other pair of cables in the drive device, so that the drive unit drives the end effector to perform a pitch movement, a first fixing hole and a first guiding groove are provided at one end of the carriage, and the first guiding groove is used to guide the first decoupling cable to be fixed into the first fixing hole; a second fixing hole and a second guiding groove are provided at the other end of the carriage, and the second guiding groove is used to guide the second decoupling cable to be fixed into the second fixing hole.

2. The surgical instrument according to claim 1, characterized in that, when the drive unit and the main decoupling member rotate in a first direction, the length of the first pair of cables on the end effector is increased and the length of the second pair of cables on the end effector is decreased, and at the same time, the main decoupling member releases the first decoupling cable and retracts and pulls the second decoupling cable to move the carriage, so as to reduce the length of the first pair of cables in the drive device and increase the length of the second pair of cables in the drive device.

3. The surgical instrument according to claim 2, characterized in that, when the drive unit and the main decoupling member rotate in a second direction opposite to the first direction, the length of the first pair of cables on the end effector is decreased and the length of the second pair of cables on the end effector is increased, and at the same time, the main decoupling member retracts and pulls the first decoupling cable and releases the second decoupling cable to move the carriage, so as 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.

4. The surgical instrument according to claim 3, characterized in that, The driving unit and the main decoupling member rotate along the first direction or the second direction, such that the change in the length of the first pair of cables or the second pair of cables on the end effector is equal to four times the moving distance of the carriage within the driving device.

5. The surgical instrument according to claim 4, wherein, the driving device further includes a mounting seat, and the carriage is slidably disposed on the mounting seat.

6. The surgical instrument according to claim 5, wherein, a first guide pulley is further provided on the mounting seat, the first pair of cables are guided by the first guide pulley and then guided by the first guiding portion, and the moving direction of the carriage is parallel to the portion of the first pair of cables between the first guide pulley and the first guiding portion.

7. The surgical instrument according to claim 6, wherein, a second guide pulley is further provided on the mounting seat, the second pair of cables are guided by the second guide pulley and then guided by the second guiding portion, and the moving direction of the carriage is parallel to the portion of the second pair of cables between the second guide pulley and the second guiding portion.

8. The surgical instrument according to claim 7, wherein, a third guide pulley and a fourth guide pulley are further provided on the mounting seat, the axes of the third guide pulley and the fourth guide pulley are both perpendicular to the axis of the first guide pulley, the portion of the first pair of cables between the first guiding portion and the end effector is guided by the third guide pulley and then extends to the end effector, and the portion of the second pair of cables between the second guiding portion and the end effector is guided by the fourth guide pulley and then extends to the end effector.

9. The surgical instrument according to claim 8, wherein, a first guiding wheel, a second guiding wheel, a third guiding wheel and a fourth guiding wheel are provided on the mounting seat, the carriage includes a main body portion and a first sliding rail and a second sliding rail on both sides of the main body portion, the first guiding wheel and the second guiding wheel are aligned and the first sliding rail is slidably mounted on the first guiding wheel and the second guiding wheel, the third guiding wheel and the fourth guiding wheel are aligned and the second sliding rail is slidably mounted on the third guiding wheel and the fourth guiding wheel.

10. The surgical instrument according to claim 9, wherein, the mounting seat further includes a first boss and a second boss provided on the first boss, the second boss has a first mounting hole and a second mounting hole, the axle of the third guide pulley is mounted in the first mounting hole, and the axle of the second guide pulley is mounted in the second mounting hole.

11. The surgical instrument according to claim 10, wherein, the mounting seat further includes a third boss, the third boss is provided on the first boss, the third boss has a third mounting hole and a fourth mounting hole, and the axles of the first guide pulley and the second guide pulley are respectively mounted in the third mounting hole and the fourth mounting hole.

12. The surgical instrument according to claim 11, wherein, The mounting base further includes a fourth boss provided on the first boss. The fourth boss has a fifth mounting hole, and the axle of the first guide wheel is mounted in the fifth mounting hole.

13. The surgical instrument according to claim 12, wherein, the mounting base further has a first mounting post and a second mounting post. The first mounting post and the second mounting post are provided with a sixth mounting hole and a seventh mounting hole. The axle of the fifth guide wheel for guiding the third pair of cables is mounted in the sixth mounting hole, and the seventh mounting hole is used to mount a limit pin for preventing the third pair of cables from disengaging from the fifth guide wheel onto the first mounting post and the second mounting post.

14. The surgical instrument according to claim 13, wherein, there is a mounting groove between the first mounting post, the second mounting post and the third boss. The mounting groove is used to mount the third guide wheel and the fourth guide wheel therein.

15. The surgical instrument according to claim 14, wherein, the carriage has a central opening for accommodating the first mounting post, the second mounting post and the third boss.

16. The surgical instrument according to claim 15, wherein, the first fixing hole and the second fixing hole are axially offset from each other in the axial direction of the first guide wheel, and the first guiding groove and the second guiding groove are axially offset from each other in the axial direction of the first guide wheel.

17. The surgical instrument according to claim 7, wherein, the changing speed of the length of the first pair of cables or the second pair of cables caused by the movement of the carriage is proportional to the linear speed of the rotation of the main decoupling member.

18. The surgical instrument according to claim 7, wherein, the moving speed of the slave decoupling member is proportional to the linear speed of the rotation of the main decoupling member and / or the driving unit.

19. A slave operating device, wherein, the slave operating device includes a robotic arm and the surgical instrument according to any one of claims 1-18. The surgical instrument is mounted on the robotic arm, and the robotic arm is used to manipulate the movement of the surgical instrument.

20. A surgical robot, wherein, the surgical robot includes a master operating device and the slave operating device according to claim 19. The slave operating device performs corresponding operations according to the instructions of the master operating device.

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