A surgical robot end effector

Abstract

The present application relates to the field of minimally invasive surgical instruments, in particular to a surgical robot end. It comprises: an execution unit, comprising two articulated execution fingers; a pitch seat, which is articulatedly assembled, and drives the execution unit to pitch; a transmission unit, comprising a pitch transmission unit and an opening and closing transmission unit, the pitch transmission unit drives the pitch seat to pitch; the opening and closing transmission unit comprises a screw nut assembly and an opening and closing shaft, the opening and closing shaft is connected with the screw through a flexible arm, the screw passes through the pitch seat and cooperates with the nut, the opening and closing shaft drives the screw to rotate, the nut moves linearly along the screw to drive the two execution fingers to open and close, and the flexible arm passes through the pitch movement axis. The technical problem of short service life and poor precision caused by the steel wire rope driving mode of the existing surgical robot end is solved.

Description

Technical Field

[0001] This invention relates to the field of minimally invasive surgical instruments, specifically to a surgical robot end effector. Background Technology

[0002] Minimally invasive surgery, with its advantages of less trauma, less bleeding, and faster recovery, has been increasingly widely used in clinical surgery. Therefore, developing a simple, practical surgical instrument with high precision and low operational difficulty is of great significance for minimally invasive surgery.

[0003] Currently, surgical robots in minimally invasive surgical instruments use steel cable traction to achieve opening, closing, and pitching movements at the end effector. While this method significantly reduces size, it also has significant drawbacks. Steel cables, being flexible connections, inevitably slip during the rotation of the wire pulleys, and are prone to deformation. Furthermore, when the end effector is used for pitching, the steel cable controlling the opening and closing movements is inevitably bent and stretched. This repeated bending and stretching ultimately affects control accuracy. Summary of the Invention

[0004] To address the technical problem of short lifespan and poor accuracy caused by the wire rope drive mechanism in existing surgical robot end effectors, where the wire rope is constantly stretched and pulled during pitching movements, this invention provides a surgical robot end effector that solves the aforementioned problems. The technical solution of this invention is as follows:

[0005] An end effector for a surgical robot includes: an execution unit comprising two hinged execution fingers; a pitch mount, which is hinged and drives the execution unit to perform pitch movements; a transmission unit comprising a pitch transmission unit and an opening / closing transmission unit, the pitch transmission unit driving the pitch mount to perform pitch movements; the opening / closing transmission unit comprising a lead screw and nut assembly and an opening / closing shaft, the opening / closing shaft being connected to the lead screw via a flexible arm, the lead screw passing through the pitch mount and engaging with the nut, the opening / closing shaft driving the lead screw to rotate, the nut moving linearly along the lead screw to drive the two execution fingers to perform opening / closing movements, and the flexible arm passing through the pitch movement axis.

[0006] The surgical robot end effector of this invention can perform pitching and opening / closing movements. The opening / closing transmission unit includes a lead screw and nut assembly and an opening / closing shaft. The opening / closing shaft is connected to the lead screw via a flexible arm. The flexible arm passes through the pitching motion axis. Because the flexible arm can adapt to various bending shapes and can transmit rotation, when the pitching seat performs a pitching movement, the flexible arm can perform a corresponding pitching movement. It can also transmit the rotational motion of the opening / closing shaft to the lead screw. When the lead screw rotates, the nut moves up and down along the lead screw, which can drive the actuator to perform opening / closing movements. This avoids the technical problems of short lifespan and poor accuracy caused by the steel wire rope being stretched and pulled for a long time due to pitching movements when using a steel wire rope to drive the actuator to perform opening / closing movements in the prior art.

[0007] According to one embodiment of the present invention, the flexible arm is a universal flexible arm.

[0008] According to one embodiment of the present invention, one of the actuating fingers is a fixed actuating finger that is fixedly assembled, and the other actuating finger is a movable actuating finger that is hinged to the fixed actuating finger. The movable actuating finger extends with a driving part, and the driving part and the nut are fitted with a guide groove and a protrusion. The protrusion extends into the guide groove. When the nut moves up and down along the lead screw, it can drive the movable actuating finger to deflect.

[0009] According to one embodiment of the present invention, the pitch seat extends two lugs at one end away from the execution unit, and the pitch seat is hinged to the loading seat via the two lugs.

[0010] According to one embodiment of the present invention, the pitch transmission unit includes two transmission cables, which pass through the loading seat and are connected to two lugs. The two transmission cables are wound and released under the drive of the pitch drive unit to drive the pitch seat and the execution unit to perform pitch movement.

[0011] According to one embodiment of the present invention, the lug is a circular lug, and a cable groove is formed on the outer periphery of the lug. Two transmission cables enter the cable groove from two directions and connect with the lug.

[0012] According to one embodiment of the present invention, it further includes a rotary seat, the execution unit is connected to the pitch seat through the rotary seat, the execution unit is mounted on the rotary seat, the rotary seat is rotatably mounted on the pitch seat, and a limiting protrusion is formed on the rotary seat to limit the rotation of the nut.

[0013] According to one embodiment of the present invention, the transmission unit includes a self-rotating transmission unit, and under the drive of the self-rotating transmission unit, the rotating seat drives the execution unit thereon to perform a self-rotating motion.

[0014] According to one embodiment of the present invention, the rotation transmission unit includes a rotation shaft and a transmission wheel assembly. The transmission wheel assembly includes a rotation drive wheel, a rotation transition wheel, and a rotation driven wheel. The rotation drive wheel is fixed on the rotation shaft. The rotation transition wheel is rotatably mounted on the inner side of the lug. The rotation driven wheel is fixedly connected to the rotating seat. The rotation transition wheel transmits the rotation of the rotation drive wheel to the rotation driven wheel.

[0015] According to one embodiment of the present invention, the pitch transmission unit, the rotation transmission unit and the opening / closing transmission unit are arranged sequentially from the outside to the inside.

[0016] Based on the above technical solution, the technical effects that the present invention can achieve are as follows:

[0017] 1. The surgical robot end effector of the present invention can perform pitching and opening / closing movements. The opening / closing transmission unit includes a lead screw and nut assembly and an opening / closing shaft. The opening / closing shaft is connected to the lead screw via a flexible arm. The flexible arm passes through the pitching motion axis. Because the flexible arm can adapt to various bending shapes and can transmit rotation, when the pitching seat performs a pitching movement, the flexible arm can perform a corresponding pitching movement. It can also transmit the rotational motion of the opening / closing shaft to the lead screw. When the lead screw rotates, the nut moves up and down along the lead screw, which can drive the execution unit to perform opening / closing movements. This avoids the technical problems of short life and poor accuracy caused by the steel wire rope being stretched for a long time due to pitching movements when using a steel wire rope to drive the execution unit to perform opening / closing movements in the prior art.

[0018] 2. The surgical robot end effector of the present invention drives the driven execution finger to deflect relative to the fixed execution finger through the lead screw and nut assembly to achieve opening and closing, avoiding the problem of deviation in rotation angle or movement displacement during end effector control by the cooperation of steel wire wheel and steel wire rope. The lead screw and nut transmission method has high control precision and good stability.

[0019] 3. The end effector of the surgical robot of the present invention includes a pitch transmission unit comprising two transmission cables. These cables pass through the loading seat and connect to two lugs on the pitch seat. The two transmission cables alternately extend and retract to drive the pitch seat in pitch motion. Compared to a single transmission cable acting on the pitch seat, the connection method of the transmission cables in this invention makes the movement of the pitch seat more stable. Furthermore, the lugs are circular with locking grooves distributed on their outer periphery, which can control the position of the transmission cables and prevent them from detaching from the lugs and failing to perform their transmission function.

[0020] 4. The surgical robot end effector of the present invention is further provided with a rotating seat. The pitching seat can drive the rotating seat and the execution unit to perform pitching motion, the rotating seat can drive the execution unit to perform rotational motion, and the execution unit can perform opening and closing motion under the drive of the opening and closing transmission unit. That is, the execution unit can realize three degrees of freedom of movement. The rotational transmission unit uses a transmission wheel assembly for transmission, which makes the operation more stable and the control precision higher.

[0021] 5. The surgical robot end effector of the present invention is provided with a pitch transmission unit, a rotation transmission unit and an opening and closing transmission unit arranged in sequence from the outside to the inside. While ensuring that the execution unit can realize three degrees of freedom of movement, the volume of the transmission unit can also be effectively reduced, thereby enabling the surgical robot to be used for minimally invasive surgery. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the end effector structure of the surgical robot of the present invention;

[0023] Figure 2 A schematic diagram of the end effector of a surgical robot from another angle;

[0024] Figure 3 This is a cross-sectional view of the end effector of the surgical robot.

[0025] Figure 4 This is a schematic diagram of the structure of the opening and closing transmission unit and the execution unit working together;

[0026] In the diagram: 1-Actuation unit; 11-Fixed actuator finger; 12-Moving actuator finger; 121-Guide groove; 2-Pitch seat; 21-Lug; 211-Cable groove; 3-Rotating seat; 31-Limiting protrusion; 4-Pitch transmission unit; 41-Transmission cable; 5-Opening and closing transmission unit; 51-Screw and nut assembly; 511-Screw; 512-Nut; 5121-Protrusion; 52-Opening and closing shaft; 53-Flexible arm; 6-Rotation transmission unit; 61-Rotation shaft; 62-Transmission wheel assembly; 621-Rotation drive wheel; 622-Rotation transition wheel; 623-Rotation driven wheel; 7-Loading seat; 71-Support lug; 72-Guide wheel; 8-Hollow shaft. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0029] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0030] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0031] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0032] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0033] like Figure 1-4 As shown, this embodiment provides a surgical robot end effector, including an execution unit 1 and a transmission unit. The transmission unit includes a pitch transmission unit 4, an opening and closing transmission unit 5, and a rotation transmission unit 6. Under the driving action of the drive unit, the pitch transmission unit 4 drives the execution unit 1 to perform pitch movements; the opening and closing transmission unit 5 drives the execution unit 1 to perform opening and closing movements; and the rotation transmission unit 6 drives the execution unit 1 to perform rotation movements.

[0034] The execution unit 1 is used to perform surgical operations. The execution unit 1 includes two hinged execution fingers. Specifically, one execution finger is a fixed execution finger 11, and the other execution finger is a movable execution finger 12 hinged to the fixed execution finger 11. The movable execution finger 12 is deflected relative to the fixed execution finger 11 under the drive of the opening and closing transmission unit 5 to realize the opening and closing action. The execution unit 1 may be, but is not limited to, surgical forceps.

[0035] The execution unit 1 is mounted on the rotating base 3. Specifically, the fixed execution finger 11 can be fixed on the rotating base 3, or the fixed execution finger 11 can be integrally formed with the rotating base 3, and the movable execution finger 12 can be hinged to the fixed execution finger 11. The self-rotation transmission unit 6 can drive the execution unit 1 to rotate by driving the rotating base 3 to rotate.

[0036] The rotary seat 3 is rotatably mounted on the pitch seat 2, which is located on the side of the rotary seat 3 furthest from the actuator 1. The rotary seat 3 is rotatably mounted on the pitch seat 2 via bearings. The pitch transmission unit 4 can drive the rotary seat 3 and the actuator 1 to pitch by driving the pitch seat 2 to pitch.

[0037] As a preferred technical solution in this embodiment, both the rotating seat 3 and the pitch seat 2 are hollow annular shapes, so that the opening and closing transmission unit 5 can pass through the pitch seat 2 and the rotating seat 3 to act on the moving execution finger 12 and drive the execution unit 1 to perform opening and closing actions.

[0038] The pitch seat 2 is hingedly mounted on the loading seat 7. Specifically, two lugs 21 extend from the side of the pitch seat 2 away from the rotary seat 3, and the two lugs 21 are evenly distributed along the circumference of the pitch seat 2. Two support lugs 71 extend from the end of the loading seat 7 facing the pitch seat 2, and the two lugs 21 are hinged to the two support lugs 71 respectively. The pitch seat 2 can perform pitching motion along the pitch axis. Preferably, the lugs 21 are circular lugs, and the outer peripheral surface of the lugs 21 forms a cable groove 211.

[0039] The pitch transmission unit 4, the rotation transmission unit 6, and the opening / closing transmission unit 5 are arranged sequentially from the outside to the inside, each serving a transmission function. The pitch transmission unit 4 drives the pitch seat 2 and its rotating seat 3, as well as the execution unit 1, to perform pitch movements along the pitch motion axis. In this embodiment, the pitch transmission unit 4 includes two transmission cables 41. The two transmission cables 41 pass through the clearance holes on the loading seat 7 and enter the locking grooves 211 on the two lugs 21 respectively. The two transmission cables 41 are fixedly connected to the two lugs 21.

[0040] As a preferred embodiment, two transmission cables 41 enter the locking grooves 211 on the two lugs 21 from two directions. The two transmission cables 41 are wound and released under the drive of the drive unit to drive the pitch seat 2 to perform a pitching motion. The transmission cables 41 can be, but are not limited to, steel wire ropes.

[0041] As a preferred embodiment, two symmetrical notches are formed on the outer wall of the loading seat 7, and guide wheels 72 are installed in the notches. After passing through the guide wheels 72, the transmission cable 41 enters the cable groove 211 of the lug 21. By setting the guide wheels 72, the movement of the transmission cable 41 is guided.

[0042] The rotation transmission unit 6 drives the rotating seat 3 and its actuator 1 to rotate along the rotation axis. The rotation transmission unit 6 includes a rotation shaft 61 and a transmission wheel assembly 62. The rotation shaft 61 is located between two transmission cables 41. The transmission wheel assembly 62 includes a rotation drive wheel 621, a rotation transition wheel 622, and a rotation driven wheel 623. The rotation drive wheel 621 is fixedly mounted at one end of the rotation shaft 61 near the rotating seat 3. The rotation transition wheel 622 is rotatably mounted inside the lug 21. The rotation driven wheel 623 is fixedly mounted on the rotating seat 3. The rotation transition wheel 622 can transmit the rotational motion of the rotation drive wheel 622 to the rotation driven wheel 623. In this embodiment, the rotation drive wheel 621, the rotation transition wheel 622, and the rotation driven wheel 623 are all gears, and the rotation transition wheel 622 meshes with both the rotation drive wheel 621 and the rotation driven wheel 623. In addition, the rotation drive wheel 621, rotation transition wheel 622, and rotation driven wheel 623 can also be other usable mechanisms such as friction wheels, as long as they can transmit the rotational motion of the rotation drive wheel 621 to the rotation driven wheel 623. Preferably, the axis of the rotation transition wheel 622 is collinear with the pitch motion axis.

[0043] As a preferred technical solution in this embodiment, the self-rotating shaft 61 is a hollow shaft to facilitate the accommodation of the opening and closing transmission unit 5.

[0044] The opening and closing transmission unit 5 drives the actuator finger 12 to deflect relative to the fixed actuator finger 11, thereby enabling the actuator unit 1 to perform opening and closing actions. The opening and closing transmission unit 5 includes a lead screw and nut assembly 51 and an opening and closing shaft 52. The lead screw and nut assembly 51 passes through the pitch seat 2 and the rotary seat 3 to drive the actuator unit 1 to perform opening and closing actions. The lead screw and nut assembly 51 includes a lead screw 511 and a nut 512. The lead screw 511 is rotatably mounted inside the rotary seat 3. The opening and closing shaft 52 is located inside the rotation shaft 61 and can rotate relative to the rotation shaft 61. One end of the lead screw 511 near the opening and closing shaft is connected to the opening and closing shaft 52 through a flexible arm 53, and the other end of the lead screw 511 is engaged with the nut 512. When the opening and closing shaft 52 rotates under the drive of the drive unit, the rotation of the opening and closing shaft 52 can be transmitted to the lead screw 511 through the flexible arm 53. The rotation of the lead screw 511 drives the nut 512 on it to move linearly along the lead screw 511. The linear movement of the nut 512 drives the actuator finger 12 to deflect relative to the fixed actuator finger 11, thereby realizing opening and closing.

[0045] As a preferred embodiment, the flexible arm 53 is a universal flexible arm, comprising two connectors and a connecting block. One end of each connector is formed as a sleeve that can be fitted onto the lead screw 511 and the opening / closing shaft 52. The other ends of the connectors extend into a pair of connecting arms hinged to the connecting block. A pin is formed on the side wall of the connecting block for the connecting arms to hinge. The shape of the connecting block can be arbitrary, as long as it can effectively hinge the two connectors at both ends. In this embodiment, the connecting block is square-shaped. Preferably, the flexible arm 53 passes through the pitch motion axis; more preferably, the connecting block of the flexible arm 53 passes through the pitch motion axis.

[0046] In a preferred embodiment, the nut 512 and the movable actuator finger 12 are engaged by a guide groove and a protrusion. Specifically, the movable actuator finger 12 has two drive portions extending symmetrically at intervals, each with a guide groove 121. The nut 512 is located between the two drive portions, and protrusions 5121 are formed on both sides of the nut 512. The protrusions 5121 extend into the guide grooves 121. When the nut 512 moves up and down along the lead screw 511, the protrusions 5121 slide along the guide grooves 121 and drive the movable actuator finger 12 to deflect. Preferably, the guide groove 121 is an elongated groove with one open end, and the length of the guide groove 121 can be controlled to prevent the protrusions 5121 from completely dislodging from the guide groove 121. In addition to the above configuration, the guide groove 121 can be set on the nut 512, and the protrusions 5121 can be set on the movable actuator finger 12, as long as the linear movement of the nut 512 drives the movable actuator finger 12 to deflect and achieve the opening and closing action.

[0047] As a preferred technical solution in this embodiment, in order to prevent the nut 512 from rotating with the lead screw 511, the outer peripheral surface of the nut 512 is provided with an anti-rotation plane, and a limiting protrusion 31 extends correspondingly on the rotating seat 3. The inner surface of the limiting protrusion 31 can be connected with the anti-rotation plane of the nut 512 to prevent the nut 512 from rotating with the lead screw 511. Preferably, the nut 512 is a square nut.

[0048] As a preferred technical solution in this embodiment, a hollow shaft 8 is connected to the end of the loading seat 7 away from the pitch seat 2, and the hollow shaft 8 is sleeved on the outer periphery of the transmission cable 41 of the pitch transmission unit 4.

[0049] The drive unit is used to drive the transmission unit to drive the execution unit 1 to perform various actions. Corresponding to the transmission unit, the drive unit includes a pitch drive unit, an opening and closing drive unit, and a rotation drive unit. The pitch drive unit drives two transmission cables 41 to roll and unroll to drive the pitch seat 2 and its rotating seat 3 and the execution unit 1 to perform pitch movements. The opening and closing drive unit drives the opening and closing shaft 52 to rotate. The opening and closing shaft 52 drives the lead screw 511 to rotate. The nut 512 moves linearly with the lead screw 511 to drive the execution unit 1 to perform opening and closing movements. The rotation drive unit drives the rotation shaft 61 to rotate. The rotation shaft 61 drives the rotating seat 3 to rotate through the transmission wheel assembly 62, thereby driving the execution unit 1 to perform rotation movements.

[0050] Based on the above structure, the working principle of the surgical robot end effector in this embodiment is as follows:

[0051] When the execution unit 1 needs to perform a pitching action, the pitch drive unit drives the two transmission cables 41 to pull in and out, and the two transmission cables 41 pull the pitch seat 2 and the rotating seat 3 on it, and the execution unit 1 performs a pitching action.

[0052] When the execution unit 1 needs to perform a rotation action, the rotation drive unit drives the rotation shaft 61 to rotate. The rotation shaft 61 drives the rotating seat 3 to rotate through the transmission wheel assembly 62. The rotating seat 3 drives the execution unit 1 on it to perform a rotation action. During this process, the opening and closing drive unit needs to drive the opening and closing shaft 52 to rotate synchronously. In this way, the lead screw 511 and the nut 512 rotate synchronously. The nut 512 will not move linearly relative to the lead screw 511, so the rotation action of the execution unit 1 will not affect the opening and closing action of the execution unit 1.

[0053] When the execution unit 1 needs to perform the opening and closing action, the opening and closing drive unit drives the opening and closing shaft 52 to rotate. The opening and closing shaft 52 drives the lead screw 511 to rotate through the flexible arm 53. The lead screw 512 drives the nut 512 on it to make linear motion. The nut 512 drives the execution finger 12 to deflect, so that the execution unit 1 can perform the opening and closing action.

[0054] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A surgical robot end effector, characterized in that, include: The execution unit (1) includes two hinged execution fingers (11, 12). Pitch mount (2), the pitch mount (2) is hinged and assembled, the pitch mount (2) drives the execution unit (1) to perform pitching action; The transmission unit includes a pitch transmission unit (4) and an opening and closing transmission unit (5). The pitch transmission unit (4) drives the pitch seat (2) to perform pitch motion. The opening and closing transmission unit (5) includes a lead screw and nut assembly (51) and an opening and closing shaft (52). The opening and closing shaft (52) is connected to the lead screw (511) through a flexible arm (53). The lead screw (511) passes through the pitch seat (2) and engages with the nut (512). The opening and closing shaft (52) drives the lead screw (511) to rotate. The nut (512) moves linearly along the lead screw (511) to drive the two actuator fingers (11, 12) to perform opening and closing actions. The flexible arm (53) passes through the pitch motion axis. The flexible arm (53) is a universal flexible arm; One of the execution fingers is a fixed execution finger (11) that is fixedly assembled, and the other execution finger is a movable execution finger (12) that is hinged to the fixed execution finger (11). The movable execution finger (12) extends with a driving part. The driving part and the nut (512) are fitted with a guide groove (121) and a protrusion (5121). The protrusion (5121) extends into the guide groove (121). When the nut (512) moves up and down along the lead screw (511), it can drive the movable execution finger (12) to deflect. The pitch seat (2) has two lugs (21) extending from the end away from the execution unit (1), and the pitch seat (2) is hinged to the loading seat (7) through the two lugs (21); The pitch transmission unit (4) includes two transmission cables (41). The two transmission cables (41) pass through the loading seat (7) and are connected to two lugs (21). The two transmission cables (41) are wound and released under the drive of the pitch drive unit to drive the pitch seat (2) and the execution unit (1) to perform pitch movement. The lug (21) is a circular lug, and a cable groove (211) is formed on the outer periphery of the lug (21). Two transmission cables (41) enter the cable groove (211) from two directions and connect with the lug (21). It also includes a rotating seat (3), the execution unit (1) is connected to the pitch seat (2) through the rotating seat (3), the execution unit (1) is mounted on the rotating seat (3), the rotating seat (3) is rotatably mounted on the pitch seat (2), and a limiting protrusion (31) is formed on the rotating seat (3) to limit the rotation of the nut (512).

2. The surgical robot end effector according to claim 1, characterized in that, The transmission unit also includes a self-rotating transmission unit (6). Driven by the self-rotating transmission unit (6), the rotating seat (3) drives the execution unit (1) on it to rotate.

3. The surgical robot end effector according to claim 2, characterized in that, The rotation transmission unit (6) includes a rotation shaft (61) and a transmission wheel assembly (62). The transmission wheel assembly (62) includes a rotation drive wheel (621), a rotation transition wheel (622), and a rotation driven wheel (623). The rotation drive wheel (621) is fixed on the rotation shaft (61). The rotation transition wheel (622) is rotatably mounted on the inner side of the lug (21). The rotation driven wheel (623) is fixedly connected to the rotating seat (3). The rotation transition wheel (622) transmits the rotation of the rotation drive wheel (621) to the rotation driven wheel (623).

4. A surgical robot end effector according to claim 2 or 3, characterized in that, The pitch transmission unit (4), the rotation transmission unit (6), and the opening and closing transmission unit (5) are arranged sequentially from the outside to the inside.

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