Tensioning mechanism, surgical instrument, slave operating device and surgical robot

Abstract

The present invention provides a tensioning mechanism, a surgical instrument having the tensioning mechanism, an operating device, and a surgical robot. The tensioning mechanism includes a first tensioning member and a resisting portion. The first tensioning member includes a first tensioning block and a first push rod. The first push rod is threadedly connected to the first tensioning block. The end of the first push rod abuts against the resisting portion. The resisting portion is configured to prevent the first push rod from moving in the direction close to the resisting portion when the first push rod drives the tensioning block to move, so that the first push rod drives the first tensioning block to move in a first direction away from the resisting portion to tension the cable guided by the first tensioning block, whereby the cable can be tensioned from the bottom of the surgical instrument. Through the structure of the first tensioning member, a second tensioning member arranged opposite to the first tensioning member can be provided in the tensioning mechanism to tension different cables from both sides of the tensioning mechanism.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and particularly to a tensioning mechanism, a surgical instrument having the tensioning mechanism, 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 the traditional surgical method, minimally invasive surgery has the advantages of small trauma, light pain, and quick recovery.

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

[0004] A surgical instrument detachably connected to the slave operating device includes a driving device, a distal instrument for performing surgery, and a long shaft for connecting the distal instrument and the driving device. The driving device is used to connect the surgical instrument to the slave operating device and receive the driving force from the slave operating device to drive the distal instrument to move. The driving device is connected to the distal instrument through a cable, and the driving device manipulates the movement of the distal instrument through the cable. The driving device includes a plurality of driving units, and the plurality of driving units are engaged with a plurality of actuators on the slave operating device. The proximal end of the cable is wound around the driving unit, and the distal end of the cable is connected to the distal instrument. The driving unit drives the distal instrument to move through the cable. During the assembly or use of the surgical instrument, the cable may become loose and needs to be tensioned. The existing tensioning device has a problem of large volume, which increases the volume of the entire surgical instrument and makes it inconvenient to operate and use the surgical instrument. Summary of the Invention

[0005] Based on this, to solve the above problems, the present invention provides a tensioning mechanism for tensioning a cable for driving the movement of a surgical instrument, the tensioning mechanism comprising:

[0006] A first tensioning member, the first tensioning member comprising a first tensioning block and a first push rod, the first push rod being threadedly connected to the first tensioning block;

[0007] A resisting part, the end of the first push rod abuts against the resisting part. The first tensioning block is provided with a first guiding part for guiding the cable. The first guiding part is located between the cable and the resisting part. The resisting part is used to prevent the first push rod from moving towards the direction close to the resisting part when the first push rod drives the tensioning block to move, so that the first push rod drives the first tensioning block to move along a first direction away from the resisting part, thereby tensioning the cable guided by the first guiding part.

[0008] Preferably, the tensioning mechanism further includes:

[0009] A second tensioning member. The second tensioning member of the tensioning member includes a second tensioning block and a second push rod. The second push rod is used to drive the second tensioning block to move along the first direction to tension the cable guided by the second tensioning block. The first push rod and the second push rod are located on opposite sides of the second tensioning block. The resisting part is arranged between the first push rod and the second push rod.

[0010] Preferably, the second tensioning block has a first end far from the first tensioning block and a second end close to the first tensioning block opposite to the first end. The resisting part is the second end of the second tensioning block. The end of the first push rod abuts against the second end, and the end of the second push rod abuts against the first end of the second tensioning block.

[0011] Preferably, the resisting part is a baffle arranged between the first tensioning member and the second tensioning member. The baffle is fixed on the housing of the tensioning mechanism. The end of the second push rod abuts against the baffle.

[0012] Preferably, the second tensioning member further includes a sleeve. The sleeve is fixed on the housing of the tensioning mechanism. The first push rod is threadedly connected with the sleeve. The end of the second push rod passes through the sleeve and abuts against the first end of the second tensioning block.

[0013] Preferably, the tensioning mechanism further includes a third tensioning member. The third tensioning member includes a third tensioning block and a third push rod. The third push rod is threadedly connected with the third tensioning block. The third push rod is used to drive the third tensioning block to move along the first direction to tension the cable guided by the third tensioning block. The end of the third push rod abuts against the resisting part, so that the resisting part prevents the third push rod from moving along a second direction opposite to the first direction when the third tensioning block is driven to move along the first direction.

[0014] Preferably, the third tensioning block includes a first hole, the first tensioning block includes a second hole with internal threads, the first push rod sequentially passes through the first hole and the second hole and then abuts against the resisting portion, and the first push rod is threadedly connected to the second hole.

[0015] Preferably, the third tensioning block further includes a third hole with internal threads, the first tensioning block further includes a fourth hole, the third push rod sequentially passes through the third hole and the fourth hole and then abuts against the resisting portion, and the third push rod is threadedly connected to the third hole.

[0016] Preferably, the second tensioning block further includes a second guiding portion and a third guiding portion for guiding the cable, the second guiding portion and the third guiding portion are respectively located on both sides of the first tensioning block, and the second tensioning member is used for tensioning the cable guided by the second guiding portion and the third guiding portion.

[0017] Preferably, the third tensioning block includes a fourth guiding portion for guiding the cable, the fourth guiding portion is located on the side of the third tensioning block opposite to the first guiding portion, so that the third tensioning member tensions the cable guided by the fourth guiding portion.

[0018] Preferably, the tensioning mechanism includes a first guiding mechanism, the first guiding mechanism is used for guiding the movement of the first tensioning block, and / or the second tensioning block, and / or the third tensioning block. The first guiding mechanism includes a protrusion located on the first tensioning block, and / or the second tensioning block, and / or the third tensioning block, and a groove located on the housing of the tensioning mechanism, and the protrusion is received in the groove.

[0019] Preferably, the tensioning mechanism further includes a guiding rod. The tensioning mechanism is provided with a through hole penetrating through the first tensioning block, the second tensioning block and the third tensioning block. The guiding rod passes through the through hole, and the guiding rod cooperates with the through hole to guide the first tensioning block, and / or the second tensioning block, and / or the third tensioning block to move along the guiding rod.

[0020] A surgical instrument, the surgical instrument includes a driving device and an end effector, a plurality of cables are connected between the driving device and the end effector, and the driving device drives the end effector to move through the plurality of cables. It is characterized in that the driving device includes a plurality of driving units and the tensioning mechanism, one ends of the plurality of cables are connected to the plurality of driving units, and the tensioning mechanism is used for tensioning the plurality of cables.

[0021] A slave operating device, the slave operating device includes a robotic arm and the surgical instrument, the surgical instrument is mounted on the robotic arm, and the robotic arm is used to manipulate the surgical instrument to move.

[0022] A surgical robot, which includes a master operating device and the slave operating device described above, and the slave operating device performs corresponding operations according to the instructions of the master operating device.

[0023] The first tensioning member of the tensioning mechanism provided by the present invention tensions the cable from the bottom of the surgical instrument. Through the structure of the first tensioning member, the tensioning mechanism can be arranged with a second tensioning member disposed opposite to the first tensioning member to tension different cables from the vertical ends of the tensioning mechanism, reducing the lateral volume of the tensioning mechanism, facilitating the setting of multiple tensioning mechanisms inside the driving device of the surgical instrument, and also facilitating the execution of the tensioning operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the structure of the master operation console of the surgical robot according to an embodiment of the present invention;

[0025] Figure 2 Schematic diagram of the structure of the slave operating device of the surgical robot according to an embodiment of the present invention;

[0026] Figure 3 Schematic diagram of the structure of the surgical instrument according to an embodiment of the present invention;

[0027] Figure 4 Schematic diagram of the surgical instrument according to an embodiment of the present invention;

[0028] Figure 5 Top view of the driving device according to an embodiment of the present invention;

[0029] Figure 6 Schematic diagram of the state where the long axes of multiple surgical instruments are close together according to an embodiment of the present invention;

[0030] Figure 7 Schematic diagram of the structure of the surgical instrument according to another embodiment of the present invention;

[0031] Figure 8 Top view of the cable routing of the driving device according to an embodiment of the present invention;

[0032] Figure 9 Top view of the cable routing of the driving device according to an embodiment of the present invention;

[0033] Figure 10 Schematic diagram of the structure of the first guiding mechanism and the second guiding mechanism of the driving device according to an embodiment of the present invention;

[0034] Figure 11 and Figure 12 for the present invention Figure 3 Schematic diagram of the cable routing of the surgical instrument according to the embodiment shown;

[0035] Figure 13A For Figure 11 The top view of the cable routing of the illustrated embodiment;

[0036] Figure 13B The schematic diagram of the distribution of multiple contact points where the cable of the embodiment shown in FIG. 13A of the present invention contacts the second guiding mechanism;

[0037] Figures 14A to 14D The schematic diagram of other distribution situations of multiple contact points where the cable of an embodiment of the present invention contacts the second guiding mechanism;

[0038] Figure 15 The side view of the cable routing of an embodiment of the present invention;

[0039] Figure 16 For Figure 15 The schematic diagram of the cable routing at the fourth guiding mechanism of the illustrated embodiment;

[0040] Figure 17 For Figure 15 The perspective view of the fourth guiding mechanism in the illustrated embodiment;

[0041] Figure 18 For Figure 15 The schematic diagram of the cable passing through the fourth guiding mechanism in the illustrated embodiment;

[0042] Figures 19A - 19D The schematic diagram of the fourth guiding mechanism in some other embodiments of the present invention;

[0043] Figure 20 The schematic diagram of the state where the first tensioning mechanism is connected to the cable in an embodiment of the present invention;

[0044] Figure 21 The perspective view of the first tensioning mechanism in an embodiment of the present invention;

[0045] Figure 22 For Figure 21 The exploded view of the first tensioning mechanism in the illustrated embodiment;

[0046] Figure 23 The schematic diagram of the first tensioning mechanism in another embodiment of the present invention;

[0047] Figures 24A - 24C The schematic diagram of the process of straightening the wrist by the first tensioning mechanism in an embodiment of the present invention;

[0048] Figure 25 The schematic diagram of the second tensioning mechanism in an embodiment of the present invention;

[0049] Figure 26 The installation schematic diagram of the drive device base and the guiding assembly in an embodiment of the present invention;

[0050] Figure 27 Exploded view of the guiding assembly according to an embodiment of the present invention;

[0051] Figure 28 is Figure 26 Bottom view of the first housing of the guiding assembly of the embodiment shown;

[0052] Figure 29 is Figure 26 Bottom view of the machine base of the embodiment shown. Detailed implementation manners

[0053] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. The preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present invention more thorough and comprehensive.

[0054] It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or there may also be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be a middle element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only embodiment. The terms "distal end" and "proximal end" used herein are orientation terms, which are commonly used terms in the field of interventional medical devices. Among them, the "distal end" represents the end far from the operator during the operation, and the "proximal end" represents the end close to the operator during the operation.

[0055] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the specification of the present invention herein 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 of the related listed items. The term "cable harness" in the text refers to each cable in a bundle of cables being relatively close to each other and having substantially the same extension direction. If not otherwise specified, the direction of the cable harness or the cable referred to in this application refers to the direction along the length of the cable harness or the cable.

[0056] A minimally invasive surgical robot generally includes a slave operating device and a master operating console. Figure 1 Shown is the master operating console 100 according to an embodiment of the present invention. Figure 2Shown is a slave operating device 200 according to an embodiment of the present invention. A surgeon performs relevant control operations on the slave operating device 200 on the master operating console 100. The slave operating device 200 performs a surgical operation on a human body according to the input instructions of the master operating console 100. The master operating console 100 and the slave operating device 200 can be placed in one operating room, or in different rooms. Even the master operating console 100 and the slave operating device 200 can be far apart. For example, the master operating console 100 and the slave operating device 200 are located in different cities respectively. The master operating console 100 and the slave operating device 200 can transmit data in a wired manner or in a wireless manner. For example, when the master operating console 100 and the slave operating device 200 are located in one operating room, data is transmitted between them in a wired manner. Another example is that the master operating console 100 and the slave operating device 200 are in different cities respectively, and long-distance data transmission is carried out between them through 5G wireless signals.

[0057] The slave operating device 200 includes a robotic arm 210 and an actuating device 220 provided at the distal end of the robotic arm 210. A surgical instrument 300 for performing a surgical operation is connected to the actuating device 220. The actuating device 220 drives the surgical instrument to move through a plurality of actuators inside it. Multiple surgical instruments 300 can be connected to one actuating device 220. The distal ends of the multiple surgical instruments 300 enter the human body through one incision, so that the number of surgical incisions can be reduced and the postoperative recovery can be faster.

[0058] A surgical instrument according to an embodiment of the present invention is as Figure 3 shown. The surgical instrument 300 includes a driving device 310, a long shaft 320, and an end instrument located at the distal end of the long shaft 320. The end instrument includes a wrist 330 and / or an end effector instrument 340. The driving device 310 is engaged with the actuating device 220 through an engagement portion 390. Multiple driving units inside the driving device 310 are connected to the wrist 330 and the end effector 340 through multiple cables. The driving units drive the wrist 330 and / or the end effector 340 to act by manipulating the multiple cables. The cables can be flexible or can include a flexible section and a rigid segmented strip. The end effector 340 can be an electrocautery device, scissors, forceps, an imaging device, etc. In some other embodiments, only the wrist is connected to the distal end of the long shaft, and the action of pressing or picking up tissues is performed through the movement of the wrist.

[0059] A surgical instrument according to an embodiment of the present invention is as Figure 4As shown, the driving device 410 of the surgical instrument 400 has a plurality of driving units 411, 421, 431, 441, 451, 461. The plurality of driving units 411, 421, 431, 441, 451, 461 surround to form a polygon, and each of the plurality of driving units 411, 421, 431, 441, 451, 461 is located at the vertex of the polygon. In this embodiment, the number of the plurality of driving units is six, so that the plurality of driving units 411, 421, 431, 441, 451 are respectively located at the vertices of the hexagon. In some other embodiments, the number of the driving units can also be other numbers, such as five, seven, etc.

[0060] The proximal ends of the plurality of cables 412, 422, 432, 442, 452 are respectively wound around the plurality of driving units 411, 421, 431, 441, 451. The distal ends of the plurality of cables 412, 422, 432, 442, 452 pass through the long axis 420 and are connected to the wrist 430 and the end effector 440 of the end instrument. The plurality of driving units 411, 421, 431, 441, 451 rotate around their axes to pull in or release the plurality of cables 412, 422, 432, 442, 452 so as to drive the movement of the wrist 430 and the end effector 440.

[0061] The plurality of cables 412, 422, 432, 442, 452 extend into the long axis 420 after being guided by a plurality of guiding mechanisms in the driving device 410. The plurality of guiding mechanisms include a first guiding mechanism 471, a second guiding mechanism 472 and a third guiding mechanism 473. The first guiding mechanism 471 is located in the middle area of the polygon formed by the plurality of driving units 411, 421, 431, 441, 451. The second guiding mechanism 472 is located at a position closer to the proximal end of the driving device 410 than the first guiding mechanism 471. The third guiding mechanism 473 is located at the proximal end of the long axis 420. One end of the cable 462 is wound around the driving unit 461, and the other end of the cable 462 is wound around the proximal end of the long axis 420. The driving unit 461 rotates around its rotation axis to pull in or release the cable 462, thereby driving the long axis 420 to rotate around the long axis 420. In other embodiments, the second guiding mechanism 472 can be located at a position closer to the distal end of the driving device 410 than the first guiding mechanism 471.

[0062] A plurality of cables 412, 422, 432, 442, 452 are guided by a first guiding mechanism 471 and then converge into a cable bundle and extend to the distal instrument in the form of the cable bundle. The cable bundle includes a first-stage cable bundle Z1, a second-stage cable bundle Z2, and a third-stage cable bundle Z3. The first-stage cable bundle Z1 extends in a first direction to a second guiding mechanism 472 and forms the second-stage cable bundle Z2 after being guided by the second guiding mechanism 472. The second-stage cable bundle Z2 extends in a second direction substantially non-parallel to the first direction to a third guiding mechanism 473 and forms the third-stage cable bundle Z3 after being guided by the third guiding mechanism 473. The third-stage cable bundle Z3 passes through the long axis 420 and extends all the way to the wrist 430 and the end effector 440.

[0063] The first guiding mechanism 471 is located at the middle position of the polygon of the plurality of drive units 411, 421, 431, 441, 451. The plurality of cables 412, 422, 432, 442, 452 extend to the first guiding mechanism 471 in a manner of converging from the periphery of the polygon to the middle, and then converge to form the first-stage cable bundle Z1 after being guided by the first guiding mechanism 471. Specifically, a plurality of first cable segments 4121, 4221, 4321, 4421, 4521 are formed between the plurality of drive units 411, 421, 431, 441, 451 and the first guiding mechanism 471. The projection line segments of the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 projected onto a projection plane S1 perpendicular to the rotation axis of any one of the plurality of drive units 411, 421, 431, 441, 451 do not intersect.

[0064] As Figure 5As shown, the projected line segments 4121a, 4221a, 4321a, 4421a, 4521a of the multiple first cable segments 4121, 4221, 4321, 4421, 4521 on the projection plane S1 do not intersect. There are multiple first included angles x1, x2, x3, x4, x5 between the multiple first cable segments 4121, 4221, 4321, 4421, 4521. The multiple first included angles x1, x2, x3, x4, x5 have the center of the first guiding mechanism 471 as the vertex, and the sides of the multiple first included angles x1, x2, x3, x4, x5 pass through the multiple projected line segments 4121a, 4221a, 4321a, 4421a, 4521a. The multiple first included angles x1, x2, x3, x4, x5 refer to the smaller included angles formed by two adjacent projected line segments among the projected line segments 4121a, 4221a, 4321a, 4421a, 4521a, that is, the multiple first included angles x1, x2, x3, x4, x5 are all less than or equal to 180°. Since the first guiding mechanism 471 is located at the middle position among the multiple driving units 411, 421, 431, 441, 451, the sum of the multiple first included angles x1, x2, x3, x4, x5 is equal to 360°. This makes each of the multiple first included angles x1, x2, x3, x4, x5 as large as possible, so as to provide a larger space for cabling between the multiple cables 412, 422, 432, 442, 452 and avoid interference between the multiple cables 412, 422, 432, 442, 452.

[0065] Returning again to Figure 4 , the first cable bundle Z1 is located between the first guiding mechanism 471 and the second guiding mechanism 472. The first cable bundle Z1 includes multiple second cable segments 4122, 4222, 4322, 4422, 4522 of the multiple cables 412, 422, 432, 442, 452 with substantially the same length direction. The multiple second cable segments 4122, 4222, 4322, 4422, 4522 are substantially parallel to each other and are relatively close to each other, so that the space occupied by the second cable bundle Z1 is as small as possible, in order to make full use of the space in the driving device 410 to arrange other mechanisms, such as a cable tensioning mechanism. In other embodiments, the multiple second cable segments in the second cable bundle Z1 may not all be parallel, but the directions of the multiple second cable segments need to be substantially the same.

[0066] A plurality of first cable segments 4121, 4221, 4321, 4421, 4521 are in a state of diverging from the first guiding mechanism 471 to the plurality of driving units 411, 421, 431, 441, 451. Therefore, the space occupied by the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 is the first horizontal space at the distal end of the driving device 470. The direction of the first cable harness Z1 is perpendicular to the direction of any one of the plurality of first cable segments 4121, 4221, 4321, 4421, 4521. The second guiding mechanism 472 is located at the proximal end of the first guiding mechanism 471. Therefore, the space occupied by the first cable harness Z1 between the first guiding mechanism 471 and the second guiding mechanism 472 is the second vertical space in the middle region of the driving device 470. The first space and the second space are substantially perpendicular and intersect only at the first guiding mechanism 471, but the first space and the second space do not overlap. Therefore, the first cable harness Z1 does not affect the wiring of the plurality of first cable segments 4121, 4221, 4321, 4421, 4521, nor does it interfere with the plurality of first cable segments 4121, 4221, 4321, 4421, 4521. In some other embodiments, the first cable harness Z1 may not be perpendicular to the plurality of first cable segments 4121, 4221, 4321, 4421, 4521, or the cable segments in the first cable harness Z1 are perpendicular to the plurality of first cable segments 4121, 4221, 4321, 4421, 4521. Thus, the second space where the first cable harness Z1 is located has a certain angle with the first space where the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 are located. However, since the two spaces do not overlap, the first cable harness Z1 still does not affect the wiring of the plurality of first cable segments 4121, 4221, 4321, 4421, 4521, nor does it interfere with the plurality of first cable segments 4121, 4221, 4321, 4421, 4521.

[0067] The second cable harness Z2 is located between the second guiding mechanism 472 and the third guiding mechanism 473. The second cable harness Z2 includes a plurality of third cable segments 4123, 4223, 4323, 4423, 4523 of a plurality of cables 412, 422, 432, 442, 452. The directions of the plurality of third cable segments 4123, 4223, 4323, 4423, 4523 are substantially the same and are relatively close to each other, so that the third space occupied by the second cable harness Z2 is also minimized. In some other embodiments, at least two or more cable segments among the plurality of third cable segments of the second cable harness Z2 are parallel to each other, so that the third space occupied by the second cable harness Z2 is even less.

[0068] The second cable harness bundle Z2 extends towards the position where the proximal end of the long axis 420 is located. The direction of the first cable harness bundle Z1 (the first direction) is substantially perpendicular to the direction of the second cable harness bundle Z2 (the second direction). Since the second guiding mechanism 472 separates the second cable harness bundle Z2 from the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 on different horizontal planes within the driving device 410 respectively, that is, the second cable harness bundle Z2 is located at the proximal end of the driving device 410, while the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 are located at the distal end of the driving device 410. Therefore, the third space where the second cable harness bundle Z2 is located will not overlap with the first space where the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 are located, so that the second cable harness Z2 will not affect the wiring of the plurality of first cable segments 4121, 4221, 4321, 4421, 4521, and the second cable harness bundle Z2 will not interfere with the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 either. Moreover, the third space where the second cable harness bundle Z2 is located will not overlap with the second space where the first cable harness bundle Z1 is located. Therefore, the second cable harness bundle Z2 will not affect the wiring of the first cable harness bundle Z1 either. In some other embodiments, the second cable harness bundle Z2 may not be perpendicular to the first cable harness bundle Z1. Since the third guiding mechanism 473 is not located within the first space where the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 are located, even if the second cable harness bundle Z2 is not perpendicular to the first cable harness bundle Z1, the third space where the second cable harness bundle Z2 is located still will not overlap with the first space of the plurality of first cable segments 4121, 4221, 4321, 4421, 4521. The second cable harness Z2 will not affect the wiring of the plurality of first cable segments 4121, 4221, 4321, 4421, 4521, and the third space where the second cable harness bundle Z2 is located will not overlap with the second space where the first cable harness bundle Z1 is located either. Therefore, the second cable harness bundle Z2 will not affect the wiring of the first cable harness bundle Z1 either.

[0069] The first guiding mechanism 471 includes a plurality of first pulleys 413, 423, 433, 443, 453. The second guiding mechanism 472 includes a plurality of second pulleys 414, 424, 234, 444, 454. Each pulley among the plurality of first pulleys 413, 423, 433, 443, 453 and the plurality of second pulleys 414, 424, 234, 444, 454 includes a wheel axle and a guiding portion for guiding the plurality of cables 412, 422, 432, 442, 452. The guiding portion is rotatably mounted on the wheel axle. In some other embodiments, the guiding portion and the wheel axle of the pulley may also be fixedly connected, so that the guiding portion and the wheel axle of the pulley rotate together.

[0070] The axles of multiple first pulleys 413, 423, 433, 443, 453 are substantially perpendicular to the rotation axis of any one of the multiple drive units 411, 421, 431, 441, 451. The length direction of the first cable harness section Z1 is the same as or substantially the same as the rotation axis of the multiple drive units 411, 421, 431, 441, 451. Adjusting the height of the first guiding mechanism 471 and the tensioning mechanism (not shown in the figure) in the driving device 410, that is, adjusting the position of the first guiding mechanism 471 in the driving device 410 along the proximal or distal direction of the driving device 410, will not affect the wiring of the multiple first cable segments 4121, 4221, 4321, 4421, 4521 and the direction of the first cable harness section Z1, nor will it affect the efficiency of the transmission driving force of the first cable harness section Z1. Therefore, the height of the first guiding mechanism 471 can be adjusted according to different cable wiring requirements or the layout requirements of the components of the driving device 410.

[0071] Taking the wiring of the first cable 412 as an example, after being guided by the first pulley 413 of the first guiding mechanism 471, the first cable 412 extends to the second guiding mechanism 472. The axle of the first pulley 413 is perpendicular to the rotation axis D1 of the drive unit 411. The first cable 412 enters the groove for accommodating the first cable 412 on the guiding part of the pulley 413 along the tangent direction of the groove. Thus, no matter how the height of the first pulley 413 in the driving device 410 is adjusted, the first cable 412 can enter or leave the groove of the first pulley 413 along the tangent of the groove of the first pulley 413, so that adjusting the height of the first pulley 413 will not affect the direction of the first cable 412 entering the groove of the first pulley 413, nor will it affect the efficiency of the transmission driving force of the first cable 412, making the height of the first pulley 413 adjustable, that is, the height of the first guiding mechanism 471 is adjustable.

[0072] The axles of multiple second pulleys 414, 424, 234, 444, 454 are also substantially perpendicular to the rotation axis of any one of the multiple drive units 411, 421, 431, 441, 451. Therefore, adjusting the height of the second guiding mechanism 472 and / or the tensioning mechanism will not affect the efficiency of the transmission driving force of the first cable harness section Z1 and the second cable harness section Z3. Taking the first cable 412 as an example, after being guided by the second pulley 414 of the second guiding mechanism 472, the first cable 412 extends to the third guiding mechanism 473. Since the axle of the second pulley 414 is perpendicular to the rotation axis D1 of the drive unit 411, no matter how the height of the pulley 414 in the driving device 410 is adjusted, the second cable segment 4122 and the third cable segment 4123 of the first cable 412 can enter or leave the groove of the second pulley 414 along the tangent direction of the groove on the guiding part of the second pulley 412, making the height of the second guiding mechanism 472 adjustable in the driving device 410 like the first guiding mechanism 471.

[0073] The proximal end of the long axis 420 is located at the edge of the housing 410a of the drive device 410 (the so-called edge refers to the vicinity along the periphery of the housing, that is, near the intersection of two or three sides of the housing), which enables the long axes 420 of multiple surgical instruments to be brought closer together, so that the distal ends of multiple long axes 420 can converge and enter the human body through one incision, reducing the number of surgical incisions. As Figure 6 Shown is a top view of multiple surgical instruments 300. The long axis 320 of the surgical instrument 300 is located at the edge of the surgical instrument 300. Therefore, the surgical long axes 320 of multiple surgical instruments 300 can be brought closer together, enabling the end instruments at the distal ends of multiple long axes 320 to enter the human body through one incision.

[0074] Returning again to Figure 4 , the third cable bundle Z3 includes multiple third cable segments 4124, 4224, 4324, 4424, 4524 of multiple cables 412, 422, 432, 442, 452. The third cable segments 4124, 4224, 4324, 4424, 4524 are substantially parallel to each other. The third guiding mechanism 473 is located at the edge of the surgical instrument 400 and is located near the proximal end of the long axis 420.

[0075] The third guiding mechanism 473 includes multiple third pulleys for guiding multiple cables 412, 422, 432, 442, 452. Each pulley among the multiple third pulleys of the third guiding mechanism 473 is relatively close to each other, making each cable segment among the multiple third cable segments 4124, 4224, 4324, 4424, 4524 of the third cable bundle Z3 closer to each other, so that the third cable bundle Z3 can extend to the wrist 430 and the end effector 440 through the long axis 420 with a smaller space.

[0076] In one embodiment, the axles of the multiple third pulleys, the axles of the multiple first pulleys, and the axles of the multiple second pulleys are the same and are also perpendicular to the rotation axis of any one of the multiple drive units 411, 421, 431, 441, 451. Therefore, the height of the third guiding mechanism 473 in the drive device 410 can also be adjusted like the first guiding mechanism 471 and the second guiding mechanism 472.

[0077] The above-mentioned first guiding mechanism 471, second guiding mechanism 472 and third guiding mechanism 473 are height-adjustable within the driving device 410. Not only can the first guiding mechanism 471 or the second guiding mechanism 472 or the third guiding mechanism 473 be adjusted as a whole, but also some components in one guiding mechanism among the first guiding mechanism 471, the second guiding mechanism 472 and the third guiding mechanism 473 can be adjusted in height within the driving device 410. For example, the first guiding mechanism 471 can be adjusted in height as a whole within the driving device 410, or one pulley or multiple pulleys among the multiple first pulleys 413, 423, 433, 443, 453 of the first guiding mechanism 471 can be adjusted in height within the driving device 410.

[0078] By adjusting the height of the guiding mechanisms of the first guiding mechanism 471 and / or the second guiding mechanism 472 and / or the third guiding mechanism 473 within the driving device 410, the tension of the multiple cables 412, 422, 432, 442, 452 and the routing of the multiple cables 412, 422, 432, 442, 452 at the horizontal height within the driving device 410 can be adjusted.

[0079] The first cable 412 of the multiple cables 412, 422, 432, 442, 452 extends to the third guiding mechanism 473 after being guided by the first pulley 413 of the first guiding mechanism 471 and then by the second pulley 414 of the second guiding mechanism 472. The first cable 412 has a first cable segment 4121 between the driving unit 411 and the first pulley 413, a second cable segment 4122 between the first pulley 413 and the second pulley 423, and a third cable segment 4223 between the second pulley 423 and the third guiding mechanism 473. The first cable segment 4121 and the second cable segment 4122 are located on a first plane, the second cable segment 4122 and the third cable segment 4123 are located on a second plane, and the included angle between the axle of the first pulley 413 and the axle of the second pulley 414 is an acute angle, that is, the axle of the pulley 413 and the axle of the pulley 414 are neither perpendicular nor parallel to the first plane, so that the first plane and the second plane intersect and do not overlap.

[0080] In an embodiment of the present invention, the first cable segment 4221 of the second cable 422 of the multiple cables 412, 422, 432, 442, 452 and the second cable segment 4222 of the second cable 422 are located on a third plane, the second cable segment 4222 and the third cable segment 4223 of the second cable 422 are located on a fourth plane, and the axle of the first pulley 423 guiding the second cable 422 is substantially perpendicular to the axle of the second pulley 424 guiding the second cable 422, so that the third plane is substantially perpendicular to the fourth plane.

[0081] In one embodiment of the present invention, the first cable segment 4321 of the third cable 432 among the plurality of cables 412, 422, 432, 442, 452 and the second cable segment 4322 of the third cable 422 are located on the fifth plane, and the second cable segment 4322 and the third cable segment 4323 of the second cable 432 are located on the sixth plane. The axle of the first pulley 433 guiding the third cable 432 is substantially parallel to the axle of the second pulley 434 guiding the third cable 432, so that the fifth plane is substantially parallel to the sixth plane.

[0082] It can be understood that all of the plurality of cables 412, 422, 432, 442, 452 in the driving device 400 can be routed in the same way as the first cable 412; or some of the plurality of cables 412, 422, 432, 442, 452 are routed in the same way as the first cable 412, while the other part of the cables are routed in the same way as the second cable 422 or the third cable 432; or some of the plurality of cables 412, 422, 432, 442, 452 are routed in the same way as the second cable 422, and the other part are routed in the same way as the third cable 432.

[0083] After the plurality of cables 412, 422, 432, 442, 452 in the driving device 400 are routed in the above-mentioned routing manner, at least one cable among the plurality of cables 412, 422, 432, 442, 452 is re-oriented after being guided by the second guiding mechanism 472, that is, the planes where the cable segments on both sides of the first guiding mechanism 471 of at least one cable among the plurality of cables 412, 422, 432, 442, 452 intersect with the planes where the cable segments on both sides of the second guiding mechanism 472 of this cable do not overlap. Thus, the second cable harness Z2 formed after the plurality of cables 412, 422, 432, 442, 452 are guided by the second guiding mechanism 472 extends along the edge of the driving device 410, and the plurality of cables 412, 422, 432, 442, 452 can enter the long shaft 472 from the edge of the driving device 472 after being guided by the second guiding mechanism 472, so that the long shaft 420 can be arranged at the edge of the driving device 410.

[0084] As Figure 4 In the embodiment shown, the second cable harness Z2 enters the long shaft 420 located at the edge of the driving device 410 after being guided by the third guiding mechanism 473. The axis of the long shaft 420 is perpendicular to the joint portion 490, so that the proximal end of the actuating device 220 is engaged with the joint portion 490 of the driving device 410. In some other embodiments, the joint portion 490 of the driving device 410 is located at the proximal end of the driving device 470, so that the distal end of the actuating device 220 is engaged with the joint portion 490 of the driving device 140.

[0085] As shown in the figure of an embodiment of the surgical instrument of the present invention Figure 7 As shown, the proximal ends of multiple cables 512, 522, 532, 542, 552 are fixed to multiple driving units 511, 521, 531, 541, 551. The distal ends of the multiple cables 512, 522, 532, 542, 552 are guided by a first guiding mechanism 571 and a second guiding mechanism 572 and then extend to the edge of the driving device 410 in the form of a cable bundle, and then directly enter the long axis 520 and finally extend to the wrist part 530 and the terminal instrument 540. Compared with Figure 4 the embodiment shown in the figure, which uses three guiding mechanisms to guide multiple cables, this embodiment only uses two guiding mechanisms for guiding. Using a smaller number of guiding mechanisms can reduce the friction between the cables and the guiding mechanisms, consume less driving force transmitted by the cables, and make the transmission efficiency of the driving force by the cables higher. However, since the joint part 590 of the driving device 510 is parallel to the axis of the long axis 520, the side surface of the actuating device 220 is engaged with the joint part 590 of the driving device 510, making the process of installing the surgical instrument 510 onto the actuating device 220 inconvenient.

[0086] As shown in the figure of the driving device of the surgical instrument of an embodiment of the present invention Figure 8 As shown, Figure 8 is a top view of the driving device 610. The multiple driving units 611, 621, 631, 641, 651 of the driving device 610 are arranged in a row. The first guiding mechanism 671 is located on one side of the multiple driving units 611, 621, 631, 641, 651. The multiple cables 612, 622, 632, 642, 652 are led out from the multiple driving units 611, 621, 631, 641, 651 and then converge into a first cable bundle Z1 after being guided by the first guiding mechanism 671. The first cable bundle Z1 converges into a second cable bundle Z2 after being guided by a second guiding mechanism (not shown in the figure). The second cable bundle Z2 extends to the edge of the driving device 610 and then directly enters or enters the long axis after being guided by a third guiding mechanism. Although the first guiding mechanism 671 in this embodiment is not located in the middle of the multiple driving units 611, 621, 631, 641, 651, and the angle between the respective cable segments of the multiple cables 612, 622, 632, 642, 652 between the multiple driving units 611, 621, 631, 641, 651 and the first guiding mechanism 671 is not Figure 5 as large as the angle shown in the figure, it is still larger than the similar angle in the prior art.

[0087] As shown in the figure of the driving device of the surgical instrument of an embodiment of the present invention Figure 9 As shown, as Figure 9Fig. 0 is a top view of the driving device 710. The driving device 710 includes a plurality of driving units 701, 711, 721, 731, 741, 751, 761, 771, 781, 791. Inside the polygon formed by the plurality of driving units 701, 711, 721, 731, 741, 751, 761, 771, 781, 791, there are two first guiding mechanisms and two second guiding mechanisms (not shown in the figure). After a plurality of cables 702, 712, 722, 732, 742 are led out from the plurality of driving units 701, 711, 721, 731, 741 and guided by the first guiding mechanism, they converge into the first cable bundle Z1. After Z1 is guided by the second guiding mechanism, it converges into the second cable bundle Z2. After a plurality of cables 752, 762, 772, 782, 792 are led out from the plurality of driving units 751, 761, 771, 781, 791 and guided by another first guiding mechanism, they converge into the first cable bundle Z1'. After Z1' passes through another second guiding mechanism, it converges into the second cable bundle Z2'. The second cable bundles Z2 and Z2' extend to the edge of the driving device 710 and then directly enter or enter the long axis of the surgical instrument after being guided by the third guiding mechanism. Since the driving device 710 has a larger number of driving units, it can drive the wrist of the surgical instrument and the end effector to move with more degrees of freedom.

[0088] The guiding mechanism of the driving device according to an embodiment of the present invention is as Figure 10 shown. Both the first guiding mechanism 871 and the second guiding mechanism 872 are in the form of pipes. The first guiding mechanism 871 includes a plurality of guiding tubes 871a, 871b, 871c, 871d, 871e in a dispersed state. After a plurality of cables 812, 822, 832, 842, 852 are guided by the plurality of guiding tubes 871a, 871b, 871c, 871d, 871e, they converge into the first cable bundle Z1. After Z1 is guided by the second guiding mechanism 3872, the second guiding bundle Z2 is formed. The plurality of guiding tubes 871a, 871b, 871c, 871d, 871e of the first guiding mechanism 871 can be located at different heights to receive the cables from the driving units at different heights. The guiding mechanism in the form of pipes does not have a complex pulley layout for guiding the cables, and the structure is simpler. In some other embodiments, the first guiding mechanism can be Figure 10 the pipe-form structure shown in Figure 4 while the second guiding mechanism is the multi-pulley form structure shown in Figure 4 or the first guiding mechanism is the multi-pulley form structure shown in Figure 10 and the second guiding mechanism is the pipe form shown in

[0089] Figure 3 The internal structure of the driving device 310 of the surgical instrument 300 in the embodiment shown in Figure 11As shown, the driving device 310 includes multiple driving units, a first guiding mechanism 371, a second guiding mechanism 372, and a third guiding mechanism 373. The multiple driving units include multiple first driving units 311, 321 and multiple second driving units 331, 341, 351. The first guiding mechanism 371 is located in the central area of the multiple driving units. The second guiding mechanism 372 is located at the proximal end of the first guiding mechanism 371. The third guiding mechanism 373 is located at the edge of the housing 310a.

[0090] One ends of multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d are wound around the first driving units 311, 321. One ends of multiple cables 332a, 332b, 342a, 342b, 351a, 351b are wound around the second driving units 331, 341, 351. The multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b extend in the form of a cable bundle after being guided by the first guiding mechanism 371. The cable bundle has multiple layers of sub-cable bundles, and the sub-cable bundles of each layer are substantially parallel to each other.

[0091] The cable bundle includes a first-stage cable bundle Z1, a second-stage cable bundle Z2, and a third-stage cable bundle Z3. Among them, the cables in the first-stage cable bundle Z1 are substantially parallel to each other. The first cable bundle Z1 extends along the ( Figure 12 direction B1 shown) to the second guiding mechanism 372 and forms the second-stage cable bundle Z2 after being guided by the second guiding mechanism 372. At least two or more cables in the second-stage cable bundle Z2 are parallel to each other. The second-stage cable bundle Z2 extends along the second direction ( Figure 12 direction B2 shown) to the third guiding mechanism 373 and forms the third-stage cable bundle Z3 along the third direction ( Figure 12 direction B3 shown) after being guided by the third guiding mechanism 373. The cables in the third-stage cable bundle Z3 are also substantially parallel to each other. The third-stage cable bundle Z3 passes through the long axis 320 and is connected to the wrist 330 and the end effector 340. In some other embodiments, the driving device 310 is only provided with the first guiding mechanism 371 and the second guiding mechanism 372, so that, similar to the Figure 7 embodiment shown, the second-stage cable bundle Z2 directly enters the long axis 320.

[0092] The first drive unit 311 includes an integrally formed main shaft 311a, a first winch 316a, a second winch 316b, a first fixing block 317a, a second fixing block 317b, and a third fixing block 317c. The second fixing block 317b is disposed at the proximal end of the main shaft 311a, and the third fixing block 317c is disposed at the distal end of the main shaft 311a. The diameters of the first winch 316a and the second winch 316b are different. The first winch 316a is disposed between the first fixing block 317a and the second fixing block 317b, and the second winch 316b is disposed between the second fixing block 317b and the third fixing block 317c. The first drive unit 311 is integrally formed, making the manufacturing and assembly of the first drive unit 311 relatively convenient. In some other embodiments, the first drive unit may not be integrally formed, that is, the first winch and the second winch of the first drive unit are independently mounted on the main shaft and can rotate relative to the main shaft respectively.

[0093] The first end of the cable 312a is fixed to the first fixing 317a, and the cable 312a is wound around the first winch 316a in a first winding manner (such as counterclockwise). The first end of the cable 312b is fixed to the second fixing block 317b, and the cable 312b is wound around the first winch 316a in a second winding manner opposite to the first winding manner (such as clockwise). The first ends of the cables 312c and 312d are respectively fixed to the third fixing block 317c, and are respectively wound around the second winch 316b in the first winding manner and the second winding manner. The cables 312a, 312b, 312c, 312d extend from the first drive unit 311 to the first pulley set 313 of the first guiding mechanism 371 in a substantially parallel manner to each other, and still extend to the second guiding mechanism 372 in a substantially parallel manner to each other after being guided by the first pulley set 313.

[0094] When the main shaft 311a of the first drive unit 311 rotates about the rotation axis D1, the first drive unit 311 can drive the movement of two joints on the wrist 330 at different distances from the end effector 340 by manipulating the cables 312a, 312b, 312c, 312d. The first drive unit 321 has substantially the same structure as the first drive unit 311. Similarly, the cables 322a, 322b, 322c, 322d also extend from the first drive unit 311 to the first pulley 323 of the first guiding mechanism 370 in a substantially parallel manner to each other, and still extend to the second guiding mechanism 372 in a substantially parallel manner to each other after being guided by the first pulley 323.

[0095] The second drive unit 341 is also integrally formed. The second drive unit 341 includes a first fixing block 347a and a second fixing block 347b respectively arranged at the distal end and the proximal end of the main shaft 341a. The first winch 346 is arranged between the first fixing block 347a and the second fixing block 347b. One end of the cable 342a is fixed on the first fixing block 347a, and one end of the cable 342b is fixed on the second fixing block 347b. The cables 342a and 342b extend from the second drive unit 341 to the first pulley block 343 of the first guiding mechanism 371 in a substantially parallel manner to each other, and still extend to the second guiding mechanism 372 in a substantially parallel manner after being guided by the first pulley block 343. The second drive unit 341 drives the movement of the joints of the wrist 330 or the end effector 340 by manipulating the cables 342a and 342b. The structures of the second drive units 331, 351 and the second drive unit 341 are substantially the same. The cables 332a and 332b extend from the second drive unit 331 to the second guiding mechanism 372 through the first pulley 333 in a substantially parallel manner to each other, and the cables 352a and 352b extend from the second drive unit 351 to the second guiding mechanism 372 through the first pulley 333 in a substantially parallel manner to each other. In some other embodiments, multiple drive units of the driving device may also all be the first drive unit or all be the second drive unit.

[0096] and Figure 4 Similar to the embodiment shown, the sum of multiple first included angles between adjacent two cables among the multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b led out from different drive units is 360°, so as to obtain a larger wiring space for the multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b. Figure 13A is Figure 11 the top view of Figure 13A The second guiding mechanism 372 is hidden to more clearly show the cable wiring. As Figure 13AAs shown, the cable segments between the drive unit and the first guiding mechanism 371 for the multiple cables led out from the same drive unit are substantially parallel to each other. Therefore, the multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b will not interfere with each other in the first space between the drive units 311, 321, 331, 341, 351 and the first guiding mechanism 371. The second cable harness Z2 gradually converges from the second guiding mechanism 372 to the third guiding mechanism 373 to adapt to the third cable harness Z3 entering the long shaft 320 with a smaller inner diameter.

[0097] The multiple first pulley sets 313, 323, 333, 343, 353 of the first guiding mechanism 371 are located on three different horizontal planes. Among them, two adjacent first pulleys in the multiple first pulley sets 313, 323, 333, 343, 353 are located on different horizontal planes, so that the entire first guiding mechanism 371 occupies a smaller volume in the horizontal direction on the premise that the cables in the first cable harness Z1 do not interfere with each other. Specifically, the first pulley set 313 and the first pulley set 323 are located on the same horizontal plane at the proximal end of the driving device 310, the first pulley set 333 and the first pulley set 353 are located on the same horizontal plane at the distal end of the driving device 310, and the first pulley set 343 is located on the horizontal plane between the first pulley set 313 and the first pulley set 333.

[0098] The second guiding mechanism 372 includes multiple second pulley sets 372a, 372b, 372c, 372d for guiding the first cable harness Z1. Each pulley in each of the multiple second pulley sets 372a, 372b, 372c, 372d shares a wheel axle. The wheel axles of the multiple second pulley sets 372a, 372b, 372c, 372d are substantially parallel to each other. The multiple second pulley sets 372a, 372b, 372c, 372d are respectively located on multiple first planes C1, C2, C3, C4. Each second pulley set can guide multiple cables. One second pulley set can guide multiple cables from the same drive unit or multiple cables from different drive units.

[0099] As Figure 12 shown, the second pulley set 372a of the second guiding mechanism 372 includes a wheel axle 3721 and multiple pulley guiding parts 3722, 3723, 3724 arranged on the wheel axle 3721. The guiding part 3722, the guiding part 3723 and the guiding part 3724 guide the cable 322c from the second drive unit 321, the cable 342a from the first drive unit 341 and the cable 312d from the second drive unit 311 respectively.

[0100] As Figure 15 shown, multiple third pulley sets 373a, 373b, 373c, 373d of the third guiding mechanism 373 are also respectively located on multiple first planes C1, C2, C3, C4 where multiple second pulley sets 372a, 372b, 372c, 372d are located, such that the third pulley sets 373a, 373b, 373c, 373d and the multiple second pulley sets 372a, 372b, 372c, 372d are arranged in pairs on the multiple first planes C1, C2, C3, C4. That is, the second pulley set 372a and the third pulley set 373a are basically located on the first plane C1, the second pulley set 372b and the third pulley set 373b are basically located on the first plane C2, the second pulley set 372c and the third pulley set 373c are basically located on the first plane C3, the second pulley set 372d and the third pulley set 373d are basically located on the first plane C4, and the planes of the multiple first planes C1, C2, C3, C4 are basically parallel to each other.

[0101] After the multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b are routed in the above - mentioned manner, the number of guiding parts of each pulley set in the multiple second pulley sets 372a, 372b, 372c, 372d of the second guiding mechanism 372 is basically the same as the number of guiding parts of the third pulley set on the same first plane, and there is at least one second pulley set whose number of guiding parts is exactly the same as the number of guiding parts of the third pulley set on the same first plane. Thus, the cables of the second cable bundle Z2 are distributed in layers. As Figure 12 and Figure 15 shown, the second cable bundle Z2 is divided into multiple sub - cable bundles Z2a, Z2b, Z2c, Z2d. The sub - cable bundles Z2a, Z2b, Z2c, Z2d in different layers are basically parallel to each other, so that the sub - cable bundles Z2a, Z2b, Z2c, Z2d in different layers will not interfere with each other.

[0102] The distance between the second pulley set and the third pulley set on the same first plane decreases successively from the distal end to the proximal end of the driving device, such that the first cable bundle Z1 and the third cable bundle Z3 are located outside the second guiding mechanism 372 and the third guiding mechanism 373. The first cable bundle Z1 and the third cable bundle Z3 are substantially parallel to each other. The second cable bundle Z2 is located between the second guiding mechanism 372 and the third guiding mechanism 372. The second cable bundle Z2 is substantially perpendicular to the first cable bundle Z1 and the third cable bundle Z3. Thus, the first cable bundle Z1 and the third cable bundle Z3 will not cross the sub-cable bundles Z2a, Z2b, Z2c, Z2d of different layers of the second cable bundle Z2, so that the first cable bundle Z1 and the third cable bundle Z3 will not affect the routing of the second cable bundle Z2.

[0103] and Figure 4 Similar to the embodiment shown, after the guiding of the second guiding mechanism, the routing of multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b is re-oriented. For example, the cable segment of the first cable 312a between the first pulley 313 and the driving unit 311 and the cable segment of the first cable 312a between the first pulley 313 and the second pulley 372d are located on the second plane. The cable segment of the first cable 312a between the first pulley 313 and the second pulley 372d and the cable segment of the first cable 312a between the second pulley 372d and the third pulley 373c are located on the third plane. The second plane and the third plane intersect without overlapping. Thus, the second cable bundle Z2 formed after the guiding of the multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b by the second guiding mechanism 372 extends along the edge of the driving device 310, so that the long axis 320 can be arranged at the edge of the driving device 310.

[0104] The multiple first pulley sets 313, 323, 333, 343, 353 include multiple first coaxial pulleys 313, 323, 343 and multiple first split-axis pulleys 353, 333. Each pulley among the multiple first coaxial pulleys 313, 323, 343 shares a wheel axle, that is, there are multiple guiding parts on one wheel axle. Each pulley among the multiple first split-axis pulleys 353, 333 includes a wheel axle and a guiding part, that is, each guiding part is separately installed on one wheel axle.

[0105] When the axle of the first coaxial pulley is not parallel to the axles of the multiple second pulley sets 372a, 372b, 372c, 372d of the second guiding mechanism 372, the cables guided by the same first coaxial pulley are guided by different second pulleys. As Figure 12 shown, the axles of the multiple first coaxial pulleys 313, 323, 343 are not parallel to the axles of the multiple second pulleys 372a, 372b, 372c, 372d. Among them, the axle of the first coaxial pulley 343 forms an acute angle with the axles of the multiple second pulleys 372a, 372b, 372c, 372d, and the axles of the first coaxial pulleys 313 and 323 are substantially perpendicular to the axles of the multiple second pulleys 372a, 372b, 372c, 372d. Guide portions 3132, 3133, 3134, 3135 are provided on the axle 3131 of the first coaxial pulley 313. The cables 312d, 312b, 312a, 312c guided by the guide portions 3132, 3133, 3134, 3135 are respectively guided by the second pulleys 372a, 372b, 372c, 372d of the second guiding mechanism 372 and then extend to the third pulleys 373a, 373b, 373c, 373d of the third guiding mechanism 373.

[0106] As Figure 12 and Figure 13A shown, when the first cable bundle Z1 enters the grooves of the multiple guide portions 3722, 3723, 3724 on the second pulley set 372a of the second guiding mechanism 372, it contacts the grooves of the multiple guide portions 3722, 3723, 3724. The multiple contact points where the first cable bundle Z1 contacts the multiple guide portions 3722, 3723, 3724 are located on the straight line r1. Similarly, when the first cable bundle Z1 starts to contact the second pulley sets 372b, 372c, 372d, there are also multiple contact points. The contact points are Figure 13A shown as the black dots in. Among them, the multiple square black dots represent the fixed contact points P1. The fixed contact points P1 are the contact points between the cables guided by the first coaxial pulleys 313, 323, 343 and the second pulley set. The multiple circular black dots represent the adjustable contact points P2. The adjustable contact points P2 are the contact points between the cables guided by the first sub-axle pulleys 333, 353 and the second pulley set. The multiple contact points P1, P2 are respectively located on the straight lines r2, r3, r4 that are substantially parallel to each other.

[0107] The positions of multiple second pulley sets 372a, 372b, 372c, 372d are fixed. Therefore, the distances between the lines among the lines r1, r2, r3, r4 are basically fixed. As a result, the positions of the axles of the first coaxial pulleys 313, 323, 343 relative to the lines r1, r2, r3, r4 are also fixed. If the positions of the first coaxial pulleys 313, 323, 343 relative to the lines r1, r2, r3, r4 change, it may occur that some cable segments in the first cable bundle Z1 are not parallel to each other. For example, the angle between the axle of the first coaxial pulley 343 and the line r1 is approximately 45°. The cable 342a extends to the second pulley 372a after being guided by a guiding portion of the first coaxial pulley 343, and the contact point of the cable 342a and the second pulley 372a is located on the line r1. The cable 342b extends to the second pulley 372b after being guided by another guiding portion of the first coaxial pulley 343, and the contact point of the cable 342b and the second pulley 372b is located on the line r2. If the position of the first coaxial pulley 343 shifts, the following two situations may occur: the contact point of the cable 342a and the second pulley 372a shifts out of the line r1, or the contact point of the cable 342b and the second pulley 372b shifts out of the line r2. If either of the above two situations occurs, it will make the cable 342a or the cable 342a and other cables in the first cable bundle Z1 not parallel, thus affecting the cable transmission driving force efficiency.

[0108] By adjusting the relative positions of the sub-pulleys of multiple first split-axis pulleys 333, 353, the above rigid wiring method can be changed. By adjusting the sub-pulleys of multiple first split-axis pulleys 333, 353, the cable can be flexibly selected to be guided by which second pulley set in the second guiding mechanism 372. In other words, by adjusting the relative positions of the sub-pulleys of multiple first split-axis pulleys 333, 353, the cable can be adapted to the second pulley set with different numbers of guiding portions, so that the number of cables guided by each pulley on the second pulleys 372a, 372b, 372c, 372d can be flexibly configured. For example, the first split-axis pulley 353 includes sub-pulleys 353a, 353b. The sub-pulleys 353a and 353b do not share the same axle, so that the sub-pulleys 353a and 353b can move relative to each other on the horizontal plane. Thus, the cables 352a, 352b guided by the first split-axis pulley 353 can both be guided by the second pulley set 372b of the second guiding mechanism 372, rather than requiring multiple cables guided by the coaxial pulley to be guided by different second pulley sets like the first coaxial pulley.

[0109] The first sub-axis pulleys 333, 353 are arranged at the outermost ends of the first guiding mechanism 371, so that when adjusting the sub-pulleys of the first sub-axis pulleys 333, 353, the sub-pulleys of the first sub-axis pulleys 333, 353 will not interfere with the cables in the first section of cable harness Z1.

[0110] Figure 13B For Figure 13A an enlarged schematic diagram at the contact point, as Figure 13B shown, the cables 322c, 342a, 352a extend to the second pulley 372a of the second guiding mechanism 372 after being guided by the first guiding mechanism 371 and then extend to the third pulley group 373a of the third guiding mechanism after being guided by the second pulley 372a, so that there are three fixed contact points P1 on the straight line r1.

[0111] The cables 322a, 342b, 352b, 352a, 312b extend to the second pulley group 372b of the second guiding mechanism 372 after being guided by the first guiding mechanism 371 and then extend to the third pulley group 373b of the third guiding mechanism 373 after being guided by the second pulley 372b, so that there are five contact points on the straight line r2, and the five contact points include three fixed contact points P1 and two adjustable contact points P2.

[0112] The cables 322b, 332a, 332b, 312a extend to the second pulley 372c of the second guiding mechanism 372 after passing through the first guiding mechanism 371 and then extend to the third pulley group 373c of the third guiding mechanism 373 after being guided by the second pulley group 372c, so that there are four contact points on the straight line r3, and the four contact points include two fixed contact points P1 and two adjustable contact points P2.

[0113] The cables 322d, 312c extend to the second pulley group 372d of the second guiding mechanism 372 after being guided by the first guiding mechanism 371 and then extend to the third pulley group 373d of the third guiding mechanism 373 after being guided by the second pulley group 372d, so that there are two fixed contact points P1 on the straight line r4. By adjusting the first sub-axis pulleys 333, 353, multiple adjustable contact points P2 can be located at any position on the straight lines r1 to r4.

[0114] By adjusting the first sub-axis pulleys 333, 353, the contact point distributions of some other cable routing methods can be obtained. As Figure 14A shown, by adjusting the sub-pulleys of the first sub-axis pulley 333 to adapt to the situation where the second pulley group 372c and the second pulley group 372d have three guiding parts, that is, the situation where there are 3 contact points on the straight lines r3 and r4.

[0115] As Figure 14BAs shown, by adjusting the sub-pulleys of the first split-axis pulley 353 to adapt to the case where the second pulley set 372a has five guiding parts and the second pulley set 372b has three guiding parts, that is, there are five contact points on the straight line r1 and three contact points on the straight line r2.

[0116] As Figure 14C shown, by adjusting the sub-pulleys of the first split-axis pulley 333 to adapt to the case where the second pulley set 372c has two guiding parts and the second pulley set 372d has four guiding parts, that is, there are two contact points on r3 and four contact points on r4.

[0117] As Figure 14D shown, by adjusting the sub-pulleys of the first split-axis pulley 333 and the first split-axis pulley 353 to adapt to the case where the second pulley set 372b has four guiding parts and the second pulley set 372d has three guiding parts, that is, there are four contact points on the straight line r2 and three contact points on the straight line r4.

[0118] In some other embodiments, the driving device 310 may be the same as the embodiment shown in Figure 7 and only includes the first guiding mechanism 371 and the second guiding mechanism 372, without including the third guiding mechanism 373, so that the long shaft 320 extends in a direction perpendicular to the rotation direction of the driving unit.

[0119] Figure 15 For Figure 12 the side view, in order to more clearly show the cable routing of the driving device 310, Figure 15 part of the driving unit is hidden and Figure 12 some components that are not present in Figure 15 are shown. As shown, after the first cable bundle Z1 is routed through the guiding of the first guiding mechanism 371, the cables in the first cable bundle Z1 are substantially parallel to each other, and the first cable bundle Z1 forms a multi-layer cable bundle structure, that is, the first cable bundle Z1 includes multi-layer sub-cable bundles Z1a, Z1b, Z1c, Z1d. The multi-layer sub-cable bundles Z1a, Z1b, Z1c, Z1d form multi-layer sub-cable bundles Z2a, Z2b, Z2c, Z2d after being guided by the multiple second pulleys 372a, 372b, 372c, 372d of the second guiding mechanism 372.

[0120] As Figure 16 and Figure 17As shown, the second cable bundle Z2 forms the third cable bundle Z3 after being guided by the third guiding mechanism 373, and the third cable bundle Z3 forms the fourth cable bundle Z4 after passing through the fourth guiding mechanism 374. The fourth cable bundle Z4 passes through the long shaft 320 and extends to the wrist 330 and the end effector 340. The fourth guiding mechanism 374 includes a main body 3741. Two fixing seats 3742 extend from the main body 3741 towards the inner side of the housing 310a. The fixing seats are used to fix the main body 3741 on the outer housing 310a. The main body 3741 also has a plurality of guiding holes 312a’, 312b’, 312c’, 312d’, 322a’, 322b’, 322c’, 322d’, 332a’, 332b’, 342a’, 342b’, 351a’, 351b’ for a plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b to pass through.

[0121] After being guided by the plurality of third pulley sets 372a, 372b, 372c, 372d of the third guiding mechanism 373, the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b leave the plurality of contact points of the plurality of third pulley sets 373a, 373b, 373c, 373d and are respectively located on the plurality of second straight lines r5, r6, r7, r8. The plurality of second straight lines r5, r6, r7, r8 are projected onto the fourth guiding mechanism 3741 to form a plurality of third straight lines j1, j2, j3, j4. The plurality of third straight lines j1, j2, j3, j4 are substantially parallel to the axles of the plurality of second pulleys 372a, 372b, 372c, 372d. The plurality of guiding holes 312a’, 312b’, 312c’, 312d’, 322a’, 322b’, 322c’, 322d’, 332a’, 332b’, 342a’, 342b’, 351a’, 351b’ are respectively arranged on the plurality of third straight lines j1, j2, j3, j4, that is, the number of rows of the plurality of guiding holes is the same as the number of the third pulley sets.

[0122] The sorting method of the guiding holes on each of the multiple third straight lines j1, j2, j3, j4 is basically the same as the arrangement method of the guiding parts on each of the multiple second straight lines r5, r6, r7, r8, that is, the number of guiding holes on each of the multiple third straight lines j1, j2, j3, j4 is the same as the number of guiding parts on each of the multiple second straight lines r5, r6, r7, r8, and the distance between the guiding holes on each of the multiple third straight lines j1, j2, j3, j4 is also basically the same as the distance between the guiding parts on each of the multiple second straight lines r5, r6, r7, r8, so that the third cable harness Z3 still has a layered wiring structure, and the number of layers of the third cable harness Z3 is the same as the number of layers of the second cable harness Z2, and the number of cables on the corresponding layers of the third cable harness Z3 and the second cable harness Z2 is the same.

[0123] Specifically, as Figure 15 shown, the third cable harness Z3 includes multiple sub-cable harnesses Z3a, Z3b, Z3c, Z3d, and the multiple sub-cable harnesses Z3a, Z3b, Z3c, Z3d are basically parallel to each other. As Figure 16 and Figure 18 shown, three cables 322d, 342b, 312c in the sub-cable harness Z3a pass through the guiding holes 322d’, 342b’, 312c’ arranged on the third straight line J1 after being guided by the three guiding parts on the third pulley 373a of the third guiding mechanism 373. Four cables 322b, 332a, 332b, 312a in the sub-cable harness Z3b pass through the guiding holes 322b’, 332a’, 332b’, 312a’ arranged on the third straight line J2 after being guided by the four guiding parts on the third pulley 373b. Four cables 322a, 352b, 352a, 312b in the sub-cable harness Z3c pass through the guiding holes 322a’, 352b’, 352a’, 312b’ arranged on the third straight line J3 after being guided by the four guiding parts on the third pulley 373c. Three cables 322c, 342a, 312d in the sub-cable harness Z3d pass through the guiding holes 322c’, 342a’, 312d’ arranged on the third straight line J4 after being guided by the four guiding parts on the third pulley 373c. Multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b pass through multiple guiding holes 312a’, 312b’, 312c’, 312d’, 322a’, 322b’, 322c’, 322d’, 332a’, 332b’, 342a’, 342b’, 351a’, 351b’ and then enter the long axis 320, and finally extend to the wrist 330 and the end effector 340.

[0124] Since the number of guide holes on each of the multiple third straight lines j1, j2, j3, j4 is the same as the number of guide parts on each of the multiple second straight lines r5, r6, r7, r8, the cables passing through the multiple guide holes on one of the multiple third straight lines j1, j2, j3, j4 can be correspondingly arranged on the third pulley one by one. Thus, it is relatively convenient to guide the multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b from the fourth guiding mechanism 374 through the third guiding mechanism 373, the second guiding mechanism 372, and the first guiding mechanism 371 in sequence and then assemble them to the multiple driving units 311, 321, 331, 341, 351.

[0125] Specifically, when assembling the cables 322c, 342a, 312d, the proximal ends of the cables 322c, 342a, 312d pass through the guide holes 322c’, 342a’, 312d’ on the third straight line j1 at the edge of the main body 374 away from the mounting seat 3742 and extend to the third pulley group 373a of the third guiding mechanism 373. Since the positions of the guide holes 322c’, 342a’, 312d’ on the main body 374 are significantly different from those of other guide holes, the cables 322c, 342a, 312d passing through the guide holes 322c’, 342a’, 312d’ will not be confused with other cables during assembly. When assembling the cables 322c, 342a, 312d to the third pulley group 373a of the corresponding third guiding mechanism 373, since the position of the third pulley 373a and the number of its guide parts are uniquely corresponding to the guide holes 322c’, 342a’, 312d’, the cables 322c, 342a, 312d can be accurately assembled to the third pulley group 373a, avoiding the error of assembling the cables 332d, 342b, 312c to other pulleys.

[0126] Since the second pulley group 372a on the second guiding mechanism 372 and the third pulley group 373a are located on the same first plane and have the same number of guide wheels, and their corresponding relationship is unique, it is very convenient and accurate to assemble the cables 322c, 342a, 312d from the third pulley 373a to the second pulley 372a. During this process, the error of assembling a certain cable among the cables 322c, 342a, 312d to other second pulley groups can be avoided.

[0127] During the process of assembling the cables 322c, 342a, 312d from the second pulley 372a to the first guiding mechanism 371, as Figure 13AAs shown, since 322c, 342a, and 312d are located in the outermost layer of the first cable harness, only the cables 322c, 342a, and 312d need to be assembled to the guiding parts of the first pulley sets 323, 343, and 313 of the first guiding mechanism 371 that are farthest from the third guiding mechanism 373, and the sub-cable harness Z1a can be formed, thus also avoiding the error of assembling the cables 322c, 342a, and 312d to other first pulley sets. The assembly methods of the cables in other layers are the same and will not be repeated here. This cable harness structure with hierarchical wiring and the method of installing cables layer by layer can improve the accuracy and efficiency of cable assembly.

[0128] On the main body 3741 of the fourth guiding mechanism 374, there are also a plurality of through holes 374a with diameters different from the diameter of the guiding holes. The plurality of through holes 374a are used for other forms of wires other than cables to pass through. For example, the plurality of through holes 374a are for power wires to pass through, or for wires transmitting image data to pass through. The plurality of through holes 374a and the plurality of guiding holes 312a’, 312b’, 312c’, 312d’, 322a’, 322b’, 322c’, 322d’, 332a’, 332b’, 342a’, 342b’, 351a’, 351b’ are arranged side by side in multiple rows on a circular area 320a of the main body 3741. The area of the circular area 320a is basically equal to the area of the proximal opening of the long axis 320, so that the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b are concentrated in the circular area 320a and pass straight through the plurality of guiding holes into the long axis 320.

[0129] As Figure 18 shown, the plurality of through holes 374a are arranged at the edge of the main body 3741 on the side away from the mounting base 3742. Generally, the diameter of the through hole 374a is larger than the radius of the guiding hole, and the space occupied by one through hole 374a in the main body 3741 is larger than the space occupied by one guiding hole. Arranging the through holes 374a at the edge of the main body 3741 can reduce the positions required by the through holes 374a for the guiding holes. The space in the middle area of the circular area 320a, that is, near the third straight line j2, is larger, and the space near the edges of the circular area 320a, that is, the third straight lines j1 and j4, is smaller. Therefore, 4 guiding holes are arranged on both the third straight line j2 and the third straight line j3, and 3 guiding holes are arranged on both the third straight line j1 and the third straight line j4, so that more space on the main body 3741 can be provided for the two through holes 374a.

[0130] The distribution of the through holes 374a and the guiding holes of the fourth guiding mechanism 374 in an embodiment of the present invention is as Figure 19AAs shown, four guiding holes are distributed on each of the third straight lines j1, j2, and j3, while only two guiding holes are distributed on the third straight line j4 at the main body edge of the fourth guiding mechanism 374, so that the guiding holes on j4 can be offset more towards the main body edge of the fourth guiding mechanism, thereby providing more space at the edge on the other side of the main body for the two through holes 374a, enabling the through holes 374a to have a larger diameter, and thus allowing wires or data lines with a larger diameter to pass through.

[0131] The distribution of the through holes 374a and guiding holes of the fourth guiding mechanism 374 in an embodiment of the present invention is as Figure 19B shown. The number of guiding holes arranged on the third straight lines j1, j2, j3, and j4 is 3, 5, 4, and 2 respectively. Compared with Figure 19A the embodiment shown, in this embodiment, in the circular area 320a, the number of guiding holes on the third straight line j1 is less, so that the two through holes 374a can have a larger diameter.

[0132] In some other embodiments of the present invention, the distribution of the through holes 374b and guiding holes of the fourth guiding mechanism 374 is as Figure 19C and Figure 19D shown. Figure 19C and Figure 19D There is only one through hole 374b in the figures. Generally, the through hole 374b is used for passing data lines or optical cables for transmitting video data. The through hole 374b has a larger cross-sectional area than the through hole 374a in the above embodiments. As Figure 19C shown, the number of guiding holes arranged on the third straight lines j1, j2, j3, and j4 is 4, 5, 4, and 1 respectively. Since there is only one guiding hole distributed on the third straight line j4, more space can be provided at the edge of the main body of the fourth guiding mechanism on the side away from the third straight line j74 for the through hole 374b, enabling the through hole 374b to have a larger cross-sectional area. As Figure 19D shown, the number of guiding holes arranged on the third straight lines j1, j2, j3, and j4 is 2, 5, 4, and 3 respectively. The through hole 374b is located between the two guiding holes on the third straight line j1, enabling the through hole 374b to have a larger cross-sectional area.

[0133] A tensioning device is provided between multiple driving units 311, 321, 331, 341, 351 and the first guiding mechanism 317. The tensioning device is used to tension multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b. The tensioning device includes a housing and multiple first tensioning mechanisms 380 and / or multiple second tensioning mechanisms 390 installed in the housing. The multiple first tensioning mechanisms 380 are arranged between the first driving units 311, 321 and the first guiding mechanism 317, and the multiple second tensioning mechanisms are arranged between the second driving units 331, 341, 351 and the first guiding mechanism 317.

[0134] The first tensioning mechanism of an embodiment of the present invention is as Figures 20 - 22 shown. The first tensioning mechanism 380 is arranged between the first driving unit 311 and the first pulley group 313 of the first guiding mechanism 317. The first tensioning mechanism 380 is used to tension the first cables 312a, 312b and the second cable 312c and the third cable 312d. The first tensioning mechanism 380 includes a first tensioning member 3821, a second tensioning member 3811, a third tensioning member 3831 and a resisting portion. The second tensioning member 3811 is used to simultaneously tension the first cable 312a and the first cable 312b. The first tensioning member 3821 and the third tensioning member 3831 are used to respectively tension the second cable 312c and the third cable 312d. In other embodiments, when there is no need to tension more cables, the first tensioning mechanism 380 may also only include the first tensioning member 3821 and the second tensioning member 3811, or only include the first tensioning member 3821.

[0135] The first tensioning member 3821 includes a first tensioning block 3822 and a first push rod 3823. A first guiding portion 3824 is provided on the first side surface of the first tensioning block 3822. The second cable 312c extends to the first pulley group 313 after being guided by the holding mechanism 314 and then guided by the first guiding portion 3824. The first guiding portion 3824 is located between the cable segment of the second cable 312c between the holding mechanism 314 and the first pulley group 313 and the resisting portion. The first push rod 3823 is in threaded cooperation with the first tensioning block 3822 and passes through the first tensioning block 3822 to abut against the resisting portion. Rotating the first push rod 3823 can drive the first tensioning block 3822 to move along the first direction ( Figure 20 the Z direction shown) or along the second direction opposite to the first direction, so that the first guiding portion 3824 on the first tensioning block 3822 drives the cable segment of the cable 312c between the holding mechanism 314 and the first pulley group 313 to move between the distal end and the proximal end of the driving device 310, thereby tensioning or slackening the cable 312c.

[0136] The second tensioning member 3811 includes a second tensioning block 3812 and a second push rod 3813. The first push rod 3823 is disposed opposite to the second push rod 3813, and a resisting portion is disposed between the first push rod 3823 and the second push rod 3813. A second guiding portion 3814 and a third guiding portion 3815 are respectively disposed on two first side surfaces of the second tensioning block 3812. After being guided by the holding mechanism 314, the first cable 312a and the first cable 312b are respectively guided by the second guiding portion 3814 and the third guiding portion 3815, and then are guided by the first pulley set 313 of the first guiding mechanism 317. In some other embodiments, the second tensioning member may also include only one guiding portion for guiding one cable. In this case, the second tensioning member is used to tension one cable.

[0137] A sleeve 3813b is installed on the housing of the first tensioning mechanism 380. The sleeve 3813b is in threaded cooperation with the second push rod 3813. The second tensioning block 3812 has a first end 3812a away from the first tensioning block 3822 and a second end 3812b opposite to the first end 3812a and close to the first tensioning block 3822. The end of the second push rod 3813 abuts against the first end 3812a of the second tensioning block 3812. Rotating the adjusting end 3813a of the second push rod 3813 opposite to its end along the tensioning direction causes the second push rod 3813 to push the second tensioning block 3812 to move in the first direction. Thus, the second guiding portion 3814 and the third guiding portion 3815 on the second tensioning block 3812 respectively drive the cable segments of the first cable 312a and the first cable 312b between the holding mechanism 314 and the first pulley set 313 to move in the first direction to tension the first cable 312a and the first cable 312b. The above-mentioned tensioning direction refers to the direction in which rotating the push rod along this direction causes the tensioning block driven by the push rod to tension the cable. In some other embodiments, the second push rod may also be in threaded cooperation with the second tensioning block.

[0138] When rotating the adjusting end 3813a in the direction opposite to the tensioning direction, the second push rod 3813 moves in a second direction opposite to the first direction, thereby releasing the second tensioning block 3812. Since the first cable 312a and the first cable 312b themselves have a certain tension, the second tensioning block 3812 is driven by the tension of the first cables 312a and 312b themselves to move in the second direction, so that the first cables 312a and 312b are relaxed.

[0139] The third tensioning member 3831 includes a third tensioning block 3832 and a third push rod 3833. A fourth guiding portion 3834 is provided on the first side surface of the third tensioning block 3832. The fourth guiding portion 3834 is disposed between the resisting portion on the opposite side of the first guiding portion 3824 and the third cable 312d. After being guided by the holding mechanism 314, the third cable 312d extends to the first pulley set 313 after being guided by the fourth guiding portion 3834. The third push rod 3833 is in threaded engagement with the third tensioning block 3832 and passes through the third tensioning block 3823 to abut against the resisting portion. Rotating the third push rod 3833 can drive the third tensioning block 3832 to move in the first direction or the second direction. Thus, the first guiding portion 3834 on the third tensioning block 3832 drives the cable segment of the third cable 312d between the holding mechanism 314 and the first pulley set 313 to move between the distal end and the proximal end of the driving device 310, thereby tensioning or slackening the cable 312d.

[0140] The first tensioning mechanism 380 further includes a guiding protrusion 386 and a guiding column 3841 for guiding the movement of the first tensioning block 3822, the second tensioning block 3812, and the third tensioning block 3833. The guiding protrusion 386 includes a second protrusion 3816, a first protrusion 3826, and a third protrusion 3836 respectively provided on the second side surfaces of the second tensioning block 3812, the first tensioning block 3822, and the third tensioning block 3833, and a groove provided in the housing of the first tensioning mechanism 380 and cooperating with the second protrusion 3816, the first protrusion 3826, and the third protrusion 3836. When the second tensioning block 3812, the first tensioning block 3822, and the third tensioning block 3833 move in the first direction or the second direction, the second protrusion 3816, the first protrusion 3826, and the third protrusion 3836 slide in the groove to guide the movement of the second tensioning block 3812, the first tensioning block 3822, and the third tensioning block 3833.

[0141] The guiding column 3841 passes through the through holes in the first tensioning block 3822, the second tensioning block 3812, and the third tensioning block 3833. During the movement of the second tensioning block 3812, the first tensioning block 3822, and the third tensioning block 3833 between the proximal end and the distal end of the tensioning device, the second tensioning block 3812, the first tensioning block 3822, and the third tensioning block 3833 slide up and down along the guiding column 3841.

[0142] As Figure 22 shown, the first tensioning block 3822, the second tensioning block 3812, and the third tensioning block 3833 have a plurality of holes. In this embodiment, the resisting portion is the second end 3812b of the second tensioning block 3812. Using the second end 3812b of the second tensioning block 3812 as the resisting portion makes the mechanism of the first tensioning mechanism 380 more compact. The second end 3812b is an ear-shaped mechanism, which can also fix the second guiding portion 3814 while serving as the resisting portion.

[0143] The end of the first push rod 3823 passes through the first hole 382a in the third tensioning block 3823 and the second hole 382b in the first tensioning block 3822 and then abuts against the second end 3812b of the second tensioning block 3811. The proximal end of the third push rod 3833 passes through the third hole 383a in the third tensioning block 3823 and the fourth hole 383b in the first tensioning block 3822 and then abuts against the second end 3812b of the second tensioning block 3811. The guiding column 3841 passes through the fifth hole 381a in the second tensioning block 3811, the sixth hole 381b in the first tensioning block 3822, and the seventh hole 381c in the third tensioning block 3832, so that the second tensioning block 3811, the first tensioning block 3822, and the third tensioning block 3832 can slide up and down along the guiding column 3841.

[0144] The second hole 382b of the first tensioning member 3821 has an internal thread to cooperate with the external thread on the first push rod 3823. When tensioning the cable 312c, when rotating the adjusting end 3823a at the distal end of the first push rod 3823 along the tensioning direction, since the end of the first push rod 3823 abuts against the second end 3812b of the second tensioning block 3811, at this time, the first push rod 3823 cannot move along the second direction because it is blocked by the second end 3812a, thereby forcing the first tensioning block to move along the first direction to tension the cable 312c.

[0145] Since the second cable 312c itself has a certain tension, when rotating the adjusting end 3823a at the distal end of the first push rod 3823 in the direction opposite to the tensioning direction, the first tensioning block 3822 moves along the second direction under the drive of the tension of the second cable 312c, so that the second cable 312c is relaxed.

[0146] During the process of the first tensioning block 3822 moving along the first direction or the second direction, the first tensioning block 3822 is double-guided, that is, the first protrusion 3826 of the first tensioning block 3822 moves in the groove in the housing, and the first tensioning block 3822 moves up and down along the guiding column 3841, so that the first tensioning block 3822 will not deviate from the movement track during the process of moving along the first direction or the second direction.

[0147] The third hole 383a of the third tensioning member 3833 has an internal thread for mating with the external thread on the third push rod 3833. The end of the third push rod 3833 abuts against the second end 3812b of the second tensioning block 3811. When it is necessary to tension or slacken the cable 312d, rotating the adjustment end 3833a at the distal end of the third push rod 3833 can cause the third protrusion 3836 of the third tensioning block 3833 to move within the groove in the housing. The third tensioning block 3832 moves up and down along the guide post 3841, thereby tensioning or slackening the third cable 312d. The method by which the third tensioning member 3833 tensions or slackens the third cable 312d is the same as the method by which the first tensioning member 3823 tensions or slackens the second cable 312c described above, and will not be repeated here.

[0148] Since the adjustment ends of the second tensioning member 3811 and the first tensioning member 3821 and the third tensioning member 3823 are arranged oppositely, that is, the adjustment end 3813a of the second tensioning member 3811 is located on one side of the first end 3812a of the second tensioning block 3812, and the adjustment ends 3823a of the first tensioning member 3821 and the adjustment end 3833a of the third tensioning member 3831 are located on one side of the second end 3812b of the second tensioning block 3812. The second push rod 3813 is staggered from the first push rod 3823 and the third push rod 3833, so that the entire first tensioning mechanism 380 is arranged along the axial direction of the push rod. The space occupied by the first tensioning mechanism 380 in the longitudinal direction (the axial direction of the push rod) is larger than the space occupied in the transverse direction, which can make the transverse volume of the entire driving device 380 smaller. Thus, when multiple surgical instruments 300 are gathered together as Figure 6 shown, the overall volume in the transverse direction is smaller.

[0149] The first tensioning mechanism of another embodiment of the present invention is as Figure 23 shown. The difference between the first tensioning mechanism 480 in this embodiment and the first tensioning mechanism 380 as Figure 21 shown is that the resisting portion in this embodiment is a baffle 485 provided between the first tensioning member 3821 and the second tensioning member 3811, and the baffle 485 is fixedly connected to the housing of the first tensioning mechanism 480. The ends of the first push rod 3823 and the third push rod 3833 abut against the baffle 485. When tensioning the second cable 312c and the third cable 312d, since the baffle 485 prevents the first push rod 3823 and the third push rod 3833 from moving in the second direction, the first tensioning block 3822 and the third tensioning block 3832 will move in the first direction to tension the second cable 312c and the third cable 312d. Since the ends of the first push rod 3823 and the third push rod 3833 do not abut against the second tensioning block 3812, adjusting the movement of the second tensioning block 3812 will not affect the first tensioning block 3822 and the third tensioning block 3823. The movements of the three tensioning members are independent of each other, so that the cables tensioned by the three tensioning members are also independently tensioned.

[0150] The tensioning device further includes a plurality of second tensioning mechanisms. The second tensioning mechanism 390 is used to tension two cables simultaneously. The second tensioning mechanism 390 is equivalent to the second tensioning member 3811 of the first tensioning mechanism 380. As Figure 25 shown, the second tensioning mechanism 390 includes a fourth tensioning block 3911 and a fourth push rod 3912. The end of the fourth push rod 3912 abuts against the fourth tensioning block 3911. The second tensioning block 3911 is guided by the cooperation of the guiding protrusion 396 and the inner groove of the housing of the tensioning device, and the guiding column 3914 to realize the movement of the fourth tensioning block 3911.

[0151] On both sides of the fourth tensioning block 3911, there are provided a fifth guiding portion 3913 and a sixth guiding portion 3914 for guiding the cables 352a and 352b respectively. By rotating the adjusting end 3912a of the fourth push rod 3912, the tensioning or loosening of the cables 352a and 352b is realized. The specific tensioning process is the same as that of the second tensioning member 3811 of the first tensioning mechanism 380 above, and will not be repeated here.

[0152] As Figure 24A shown, the distal ends of the first cables 312a and 312b are connected to the first joint 330a of the wrist 330. The first driving unit 311 controls the rotation of the first joint 330a through the first cables 312a and 312b. The distal ends of the second cable 312c and the third cable 312d are respectively connected to both sides of the second joint 330b. The first driving unit 311 controls the rotation of the second joint 330b through the second cable 312c and the third cable 312d.

[0153] During the assembly of the surgical instrument 300, it is possible that after adjusting the tension of the first cables 312a, 312b, the second cable 312c and the third cable 312d, the first joint 330a and the second joint 330b are not in a straight posture (i.e., the zero posture).

[0154] As Figure 24A shown, the third joint 330c of the wrist 330 is in a straight posture. The first joint 330a and the second joint 330b are in a yaw posture after rotating a certain angle relative to the straight posture. Therefore, it is necessary to adjust the first joint 330a and the second joint 330b back to the straight posture after tensioning the cables, so that before operating the surgical instrument 300, the wrist 330 and the end effector 340 of the surgical instrument 300 are both in the zero position, making the control of the surgical instrument 300 more accurate.

[0155] Therefore, the present invention also provides a tensioning method, which is applicable to the first tensioning mechanism 380 to tension the four cables 321a, 312b, 312c, 312d from the first driving unit 311. The tensioning method is as follows:

[0156] First, adjust the second push rod 3813, the first push rod 3823, and the third push rod 3833 so that the second tensioning block 3811 simultaneously tensions the first cable 312a and the first cable 312b, and the first tensioning block 3821 and the third tensioning block 3831 respectively tension the second cable 312c and the third cable 312d.

[0157] Then, rotate and adjust the first driving unit 311 so that the first driving unit 311 adjusts the first joint 330a to a straight posture through the first cables 312a and 312b. Finally, by separately adjusting the first push rod 3823, the first tensioning block 3821 tensions or relaxes the second cable 312c, and / or by separately adjusting the third push rod 3833, the first tensioning block 3821 tensions or relaxes the third cable 312c, so that the second joint 330b is adjusted to a straight posture.

[0158] Specifically, first, by rotating and adjusting the first driving unit 311, the first driving unit 311 pulls in the first cable 312a and simultaneously releases the first cable 312b, so that the first joint 330a rotates Figure 24A from the position shown to the left to the position Figure 24B shown and aligned with the third joint 330c, that is, the first joint 330a is adjusted to a straight posture.

[0159] Although the first joint 330a has been adjusted to a straight posture in the previous step, the second joint 330b has not been adjusted to a straight posture at this time. Since the first winch 316a and the second winch 316b are integrally formed, the posture of the joint 330b cannot be adjusted by rotating and adjusting the first driving unit 311 anymore. Because if the first driving unit 311 is rotated again, while the second cable 312c and the third cable 312d are being pulled in or released, the first cables 312a and 312b will also be pulled in or released again, so that the first joint 330a that has been adjusted to a straight posture will rotate to a non-straight posture again.

[0160] To solve this problem, after adjusting the first joint 330a to a straight posture by adjusting the first driving unit 311, the second joint 330b is adjusted to a straight posture by adjusting the first tensioning member 3821 and / or the third tensioning member 3831. Specifically, the second joint 330b can be adjusted to a straight posture through the following three adjustment methods:

[0161] (1) Separately rotate and adjust the first push rod 3823 so that the first tensioning block 3822 moves in the first direction, and the first tensioning block further tensions the second cable 312c, making the tension of the second cable 312c greater than the tension of the third cable 312d. Thus, the second cable 312c pulls the second joint 330b to rotate to the left, so that the second joint 330b rotates fromFigure 24B The yaw attitude shown rotates leftward to Figure 24C the straight attitude shown.

[0162] (2) Rotate and adjust the third push rod 3833 alone to make the third tensioning block 3832 move in the second direction opposite to the first direction, so that the third tensioning block 3832 relaxes the third cable 312d. Since the third cable 312d is relaxed, the tension of the second cable 312c is greater than that of the third cable 312d. The second cable 312c will pull the second joint 330b to rotate leftward, so that the second joint 330b rotates from Figure 24B the yaw attitude shown rotates leftward to Figure 24C the straight attitude shown.

[0163] (3) Rotate and adjust the first push rod 3823 to make the first tensioning block 3822 move in the first direction, so that the first tensioning block 3822 further tensions the second cable 312c, and rotate and adjust the third push rod 3833 to make the third tensioning block 3832 move in the second direction. The third tensioning block 3832 relaxes the third cable 312d, so that the tension of the second cable 312c is greater than that of the third cable 312d. Thus, the second cable 312c pulls the second joint 330b to rotate leftward, so that the second joint 330b rotates from Figure 24B the yaw attitude shown rotates leftward to Figure 24C the straight attitude shown.

[0164] The driving device according to an embodiment of the present invention is as Figure 26 shown. The driving device 310 includes a machine base 3110 and a guiding assembly 3120. The machine base 3110 includes a machine base body 3111 and a mounting portion 3112 extending from the machine base body 3111. A plurality of driving units 311, 321, 331, 341, 351 are installed in the mounting portion 3112. A receiving cavity 3114 is formed in the middle area of the mounting portion 3112. The guiding assembly 3120 is installed in the receiving cavity 3114.

[0165] The guiding assembly 3120 includes a housing and a first guiding mechanism 370, a holding mechanism 314, and the plurality of tensioning mechanisms as described above, which are installed inside the housing. A plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b first pass through the guiding of the holding mechanism 314, then through the guiding of the tensioning device, and finally through the guiding of the first guiding mechanism 371 and converge into the first wire harness Z1. Since the first guiding mechanism 370, the holding mechanism 314, and the plurality of tensioning mechanisms are integrated in a guiding assembly 3120, the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b can be tensioned and guided into a cable harness after passing through the guiding assembly 3120, saving the space of the driving device 310 and making the structure of the entire driving device 310 more compact.

[0166] To facilitate the display of the internal structure of the guiding assembly 3120, Figure 26 some components of the first guiding mechanism 370, the tensioning mechanism, and the holding mechanism 314 are not shown in the figure. As Figure 26 shown, the housing of the guiding assembly 3120 includes a first housing 3150 and a second housing 3140. The second housing 3140 is embedded and installed inside the first housing 3130. The first housing 3150 includes a first main body 3151, side walls 3152, and a top 3153. The side walls 3152 extend proximally from the first main body 3151, and the proximal ends of the side walls 3152 are connected by the top 3153. The plurality of side walls 3152 are arranged at intervals, and there are gaps 3158 between the intervals of the plurality of side walls 3152. The tensioning mechanism is installed on the housing of the guiding assembly 3120 through the gaps 3158. In some other embodiments, the first housing 3150 and the second housing 3140 are integrally formed.

[0167] The second housing 3140 includes a second main body 3140 and a central column 3142 extending proximally from the second main body 3140. The central column 3142 is embedded and installed in the cavity formed by the side walls 3132 and the top 3133 of the first housing 3130, and the edge of the second main body 3140 abuts against the first main body 3131.

[0168] The first pulley sets 323, 313 at the distal end of the first guiding mechanism 370 are installed in the top 3153 of the first housing 3150, the first pulley sets 333, 353 at the proximal end of the first guiding mechanism 370 are installed in the central column 3142 of the second housing 3140, and the first pulley set 343 at the middle position of the first guiding mechanism 370 is installed at the middle position between the first pulley set 323 on the central column 3142 and the first sub-axis pulley set 333, so that multiple first pulley sets 313, 323, 333, 343, 353 are located on three different horizontal planes, wherein two adjacent first pulley sets among the multiple first pulleys 313, 323, 333, 343, 353 are located on different horizontal planes.

[0169] The holding mechanism 314 is installed on the side wall 3132 of the first housing 3150. The holding mechanism 314 is used to keep the cable located between the driving unit and the holding mechanism in a state of constant length during the process of the tensioning device tensioning the cable, that is, the direction of the cable located between the driving unit and the holding mechanism remains unchanged during the process of tensioning the cable. In this embodiment, the holding mechanism 314 is multiple pulley sets 314. In other embodiments, the holding mechanism 314 can also be other holding elements, such as multiple shafts. In some other embodiments, the guiding assembly 3120 can also only include the first guiding mechanism 371 and the tensioning device. At this time, the push rod of the tensioning device is perpendicular to the axis of the driving unit, and the holding mechanism can be not provided at this time.

[0170] The tensioning device is installed between the side wall 3132 of the first housing 3150 and the central column 3142 of the second housing 3140. The inner part of the side wall 3152 of the first housing 3150 has a first groove 3156 and a second groove 3157. The outer side wall of the central column 3142 of the second housing 3140 has a plurality of central grooves 3146 matching the first groove 3156 and the second groove 3157. The guiding protrusion 386 of the first tensioning mechanism 380 of the tensioning device is received in the central groove 3146 and the first groove 3156. When the first tensioning mechanism 380 tensions the cable, the guiding protrusion 386 of the first tensioning mechanism 380 slides in the first groove 3156 and the central groove 3146.

[0171] The guiding protrusion 396 of the second tensioning mechanism 390 is received in the second groove 3157 and the central groove 3146. When the second tensioning mechanism 390 tensions the cable, the guiding protrusion 396 of the second tensioning mechanism 390 slides in the second groove 3157 and the central groove 3146.

[0172] The top 3153 of the first housing 3150 is provided with a plurality of tension holes 3154 and a plurality of wire holes 3155. The top of the proximal end of the central column 3142 is provided with a plurality of wire holes 3144. After being guided by the first guiding mechanism 371, the cable passes through the plurality of wire holes 3144 and 3155 and converges into the first cable harness Z1.

[0173] On both sides of the central groove 3146 of the guiding assembly 3120, there are grooves 3147 for guiding the cable to extend from the first pulley group to the second guiding mechanism 372. The bottom of the groove 3147 has a certain slope from the distal end to the top of the central column 3142, that is, the bottom of the groove near the top of the central column 3120 has a certain angle with the central axis of the central column 3142, so that the cable approaches the central axis of the central column 3142 after passing through the groove 3147, thereby making the cable segments in the first cable harness Z1 closer to each other.

[0174] In one embodiment, the resisting part of the above-mentioned first tensioning mechanism is a baffle extending from the side wall and / or the side surface of the central column. The baffle is arranged between the second tensioning member and the first tensioning member, and the end of the first push rod abuts against the baffle to prevent the second push rod and the first push rod from moving in the second direction when tensioning the cable.

[0175] As Figure 28 shown, the bottom of the machine base main body 311 has a tensioning opening 3113. The first groove 3156 and the central groove 3146 of the guiding assembly 3120 pass through the tensioning opening 3113 and extend towards the distal end of the machine base main body 311, so that the first tensioning block 3822 and the third tensioning block 3823 of the first tensioning mechanism 380 can move a greater distance along the first groove 3156 and the central groove 3146 towards the distal end of the guiding assembly 3120. The first push rod 3823 and the third push rod 3833 pass through the tensioning hole 3113 and are respectively connected to the first tensioning block 3822 and the third tensioning block 3823, and the second adjusting end 3823a and the third adjusting end 3833a are located at the bottom of the machine base main body 3111.

[0176] Contrary to the first push rod 3823 and the third push rod 3833, the second push rod 3813 of the first tensioning mechanism 380 and the second tensioning mechanism 390 passes through the tensioning hole 3154 and abuts against the second tensioning block 3812. The adjustment end 3813a of the second push rod 3813 is located on the top 3153 of the first housing 3150. Thus, the first tensioning mechanism 380 is arranged oppositely, that is, the adjustment end 3813a of the second push rod 3813 is arranged on the top of the guiding component 3120, while the adjustment ends 3823a, 3833a of the first push rod 3823 and the third push rod 3833 are arranged at the bottom of the guiding component 3120, making the first tensioning mechanism 380 and the second tensioning mechanism 390 in a strip shape, reducing the lateral volume of the whole guiding component 3120. At the same time, the tensioning mechanism can be adjusted from the bottom of the machine base, avoiding adjusting three tensioning parts from one side, and increasing the convenience of tensioning adjustment.

[0177] The above embodiments only represent several implementation manners of the present invention. The description 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 deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the invention patent should be subject to the appended claims.

Claims

1. A tensioning mechanism, the tensioning mechanism being used for tensioning a cable, the cable being used for driving the movement of a surgical instrument, characterized in that, The tensioning mechanism includes: A first tensioning member, which includes a first tensioning block and a first push rod. The first push rod is threadedly connected to the first tensioning block, and the first push rod includes an adjustment end; A resisting portion, the end of the first push rod abuts against the resisting portion. The first tensioning block has a first guiding portion for guiding the cable. The first guiding portion is located between the cable and the resisting portion. The resisting portion is used to prevent the first push rod from moving in the direction close to the resisting portion when the adjustment end is rotated to drive the first push rod to move the first tensioning block, so that the first push rod drives the first tensioning block to move in a first direction away from the resisting portion to tension the cable guided by the first guiding portion; A second tensioning member, which includes a second tensioning block and a second push rod. The second push rod is used to drive the second tensioning block to move in the first direction to tension the cable guided by the second tensioning block. The first push rod and the second push rod are located on opposite sides of the second tensioning block, and the resisting portion is arranged between the first push rod and the second push rod.

2. The tensioning mechanism according to claim 1, characterized in that, The second tensioning block has a first end far from the first tensioning block and a second end close to the first tensioning block opposite to the first end. The resisting portion is the second end of the second tensioning block. The end of the first push rod abuts against the second end, and the end of the second push rod abuts against the first end of the second tensioning block.

3. The tensioning mechanism according to claim 1, wherein The resisting portion is a baffle arranged between the first tensioning member and the second tensioning member. The baffle is fixed on the housing of the tensioning mechanism, and the end of the first push rod abuts against the baffle.

4. The tensioning mechanism according to claim 1, wherein The second tensioning member further includes a sleeve. The sleeve is fixed on the housing of the tensioning mechanism. The second push rod is threadedly connected to the sleeve. The end of the second push rod passes through the sleeve and abuts against the first end of the second tensioning block.

5. The tensioning mechanism according to claim 1, characterized in that The tensioning mechanism further includes a third tensioning member, which includes a third tensioning block and a third push rod. The third push rod is threadedly connected to the third tensioning block. The third push rod is used to drive the third tensioning block to move in the first direction to tension the cable guided by the third tensioning block. The end of the third push rod abuts against the resisting portion, so that the resisting portion prevents the third push rod from moving in a second direction opposite to the first direction when the third tensioning block is driven to move in the first direction.

6. The tensioning mechanism according to claim 5, characterized in that, The third tensioning block includes a first hole, and the first tensioning block includes a second hole with an internal thread. The first push rod passes through the first hole and the second hole in sequence and then abuts against the resisting portion. The first push rod is threadedly connected to the second hole.

7. The tensioning mechanism according to claim 6, wherein The third tensioning block further includes a third hole with an internal thread, and the first tensioning block further includes a fourth hole. The third push rod passes through the third hole and the fourth hole in sequence and then abuts against the resisting portion. The third push rod is threadedly connected to the third hole.

8. The tensioning mechanism according to claim 5, characterized in that, The second tensioning block further includes a second guiding portion and a third guiding portion for guiding the cable. The second guiding portion and the third guiding portion are respectively located on both sides of the first tensioning block. The second tensioning member is used to tension the cable guided by the second guiding portion and the third guiding portion.

9. The tensioning mechanism according to claim 8, characterized in that The third tensioning block includes a fourth guiding portion for guiding the cable. The fourth guiding portion is located on the side of the third tensioning block opposite to the first guiding portion, so that the third tensioning member tensions the cable guided by the fourth guiding portion.

10. The tensioning mechanism according to claim 5, wherein, The tensioning mechanism includes a first guiding mechanism. The first guiding mechanism is used to guide the movement of the first tensioning block, and / or the second tensioning block, and / or the third tensioning block. The first guiding mechanism includes a protrusion located on the first tensioning block, and / or the second tensioning block, and / or the third tensioning block, and a groove located on the housing of the tensioning mechanism. The protrusion is received in the groove.

11. The tensioning mechanism according to claim 5, characterized in that, The tensioning mechanism further includes a guiding rod. The tensioning mechanism is provided with a through hole penetrating through the first tensioning block, the second tensioning block and the third tensioning block. The guiding rod passes through the through hole. The guiding rod cooperates with the through hole to guide the first tensioning block, and / or the second tensioning block, and / or the third tensioning block to move along the guiding rod.

12. A surgical instrument, the surgical instrument comprising a driving device and an end effector, a plurality of cables being connected between the driving device and the end effector, the driving device driving the end effector to move through the plurality of cables, characterized in that, The driving device includes a plurality of first driving units and the tensioning mechanism according to any one of claims 1-11. One ends of the plurality of cables are connected to the plurality of first driving units. The tensioning mechanism is used to tension the plurality of cables.

13. An operating device, characterized in that, The slave operating device includes a robotic arm and the surgical instrument according to claim 12. The surgical instrument is mounted on the robotic arm. The robotic arm is used to manipulate the movement of the surgical instrument.

14. A surgical robot, characterized in that, The surgical robot includes a master operating device and the slave operating device according to claim 13. The slave operating device performs corresponding operations according to the instructions of the master operating device.

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