Surgical instruments, operating equipment and surgical robots

Abstract

The present invention provides a surgical instrument, a slave operating device using the surgical instrument, and a surgical robot having the slave operating device. The surgical instrument includes a driving device including multiple guide mechanisms for guiding multiple cables. The multiple cables are in a divergent state before being guided. After being guided by the multiple guide mechanisms, they are distributed in the driving device in the form of a harness device and finally led out from the edge of the driving device and extended to the wrist and end effector of the surgical instrument. Through the wiring method of the divergent state and the harness state, the multiple cables have a larger wiring space in the driving device, and there is no mutual interference between the multiple cables.

Description

Technical Field

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

[0002] Minimally invasive surgery is a surgical procedure performed inside the human body using modern medical devices such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery.

[0003] With technological advancements, minimally invasive surgical robotics have matured and are now widely used. These robots typically consist of a master control console and slave devices. The master console sends commands to the slave devices based on the surgeon's actions, controlling the slave devices. The slave devices respond to these commands and perform the corresponding surgical procedures.

[0004] A surgical instrument is detachably connected to the slave operating device. The surgical instrument includes a drive unit and an end effector for performing surgery, and a long shaft for connecting the end effector and the drive unit. The drive unit is used to connect the surgical instrument to the slave operating device and receives driving force from the slave operating device to drive the end effector. The drive unit is connected to the end effector via a cable, and the drive unit controls the movement of the end effector via the cable. The drive unit includes multiple drive units, which are engaged with multiple actuators on the slave operating device. The proximal ends of the cables are wound around the drive units, and the distal ends of the cables are connected to the end effector. The drive units drive the end effector via the cables. The greater the number of drive units and cables, the greater the degree of freedom of movement of the end effector, i.e., the more flexible the end effector. However, due to limited space within the drive unit, the more cables there are, the more complex the cable routing within the drive unit. This complex routing not only makes the assembly process of the drive unit difficult and the overall structure of the drive unit more complex, but also increases the risk of interference between the cables. Summary of the Invention

[0005] Based on this, in order to solve the above problems, the present invention provides a surgical instrument, which includes a driving device, a plurality of cables, a long shaft, and an end instrument located at the distal end of the long shaft, wherein the plurality of cables are connected between the driving device and the end instrument, and the driving device includes:

[0006] a plurality of drive units, one ends of the plurality of cables being connected to the plurality of drive units;

[0007] A first guide mechanism and a second guide mechanism, wherein the plurality of cables form a cable bundle after being guided by the first guide mechanism, the cable bundle comprising a first section of the cable bundle located between the first guide mechanism and the second guide mechanism, and a second section of the cable bundle located between the second guide mechanism and the proximal end of the long axis, the first section of the cable bundle extending along a first direction to the second guide mechanism, and the second section of the cable bundle extending toward the proximal end of the long axis along a second direction different from the first direction.

[0008] Preferably, the second guiding mechanism is located at the proximal end or the distal end of the first guiding mechanism.

[0009] Preferably, the first section of the cable bundle is substantially perpendicular to a section of the cables between the plurality of drive units and the first guide mechanism.

[0010] Preferably, the proximal end of the elongated shaft is located at the edge of the drive device.

[0011] Preferably, the first direction is non-parallel to the second direction.

[0012] Preferably, the driving device further comprises a third guide mechanism located near the proximal end of the long shaft, the second section of the cable harness is located between the second guide mechanism and the third guide mechanism, the cable harness has a third section of the cable harness between the third guide mechanism and the proximal end of the long shaft, and the third section of the cable harness extends toward the inside of the long shaft along a third direction opposite to the first direction.

[0013] Preferably, the first guide mechanism includes a plurality of first pulleys, the first pulleys including a first axle and a first guide portion for guiding one of the plurality of cables, the first guide portion being rotatably disposed on the first axle, and the first axles of the plurality of first pulleys being substantially perpendicular to the rotation axes of the plurality of drive units.

[0014] Preferably, the second guide mechanism includes a plurality of second pulleys, the second pulleys including a second axle and a second guide portion for guiding one cable segment in the first cable bundle, the second guide portion being rotatably disposed on the second axle, and the second axles of the plurality of second pulleys being substantially perpendicular to the rotation axes of the plurality of drive units.

[0015] Preferably, the third guide mechanism includes a plurality of third pulleys, the third pulleys including a third axle and a third guide portion for guiding one cable segment in the second cable bundle, the third guide portion being rotatably disposed on the third axle, and the third axles of the plurality of third pulleys being substantially perpendicular to the rotation axes of the plurality of drive units.

[0016] Preferably, the plurality of cables include a first cable, and an angle between a first axle of a pulley of the plurality of first pulleys that guides the first cable and a second axle of a pulley of the plurality of second pulleys that guides the first cable is acute.

[0017] Preferably, the plurality of cables further comprises a second cable, and a first axle of a pulley of the plurality of first pulleys for guiding the second cable is substantially perpendicular to a second axle of a pulley of the plurality of second pulleys for guiding the second cable.

[0018] Preferably, the plurality of cables further comprises a third cable, and a first axle of a pulley of the plurality of first pulleys guiding the third cable is substantially parallel to a second axle of a pulley of the plurality of second pulleys guiding the third cable.

[0019] Preferably, the cable segments of the first cable between the plurality of drive units and the first guide mechanism and the cable segment in the first cable bundle are located on a first plane, the cable segment of the first cable in the first cable bundle and the cable segment in the second cable bundle are located on a second plane, and the first plane intersects the second plane.

[0020] Preferably, the cable segments of the second cable between the plurality of drive units and the first guide mechanism and the cable segments in the first cable bundle are located on a third plane, and the cable segments of the first cable in the first cable bundle and the cable segments in the second cable bundle are located on a fourth plane, and the third plane is substantially perpendicular to the fourth plane.

[0021] Preferably, the cable segments of the third cable between the plurality of drive units and the first guide mechanism and the cable segment in the first cable bundle are located on a fifth plane, the cable segment of the third cable in the first cable bundle and the cable segment in the second cable bundle are located on a sixth plane, and the fifth plane is substantially parallel to the sixth plane.

[0022] Preferably, the plurality of cables form a plurality of first cable segments between the plurality of driving units and the first guide mechanism, and a length direction of any cable segment among the plurality of first cable segments is substantially perpendicular to a length direction of the first cable bundle.

[0023] Preferably, the cable segments of the plurality of cables in the first cable bundle are substantially parallel to each other.

[0024] Preferably, the length direction of the second section of the cable harness is substantially perpendicular to the length direction of the first section of the cable harness.

[0025] Preferably, cable segments of at least two cables among the plurality of cables in the second cable harness section are substantially parallel to each other.

[0026] Preferably, the length direction of the third section of the cable harness is substantially parallel to the length direction of the first section of the cable harness.

[0027] Preferably, the length direction of the third section of the cable harness is substantially perpendicular to the length direction of the second section of the cable harness.

[0028] Preferably, the cable segments of the plurality of cables in the third cable bundle are substantially parallel to each other.

[0029] Preferably, at least one of the plurality of first pulleys of the first guide mechanism is adjustable to be located at different levels within the drive device.

[0030] Preferably, at least one of the plurality of second pulleys of the second guide mechanism is adjustable to be located at different levels within the apparatus.

[0031] Preferably, the plurality of driving units are located at vertices of a polygon.

[0032] Preferably, the first guiding mechanism is located in a middle area of ​​the plurality of driving units.

[0033] Preferably, the first guiding mechanism and / or the second guiding mechanism comprises a guide tube for guiding the plurality of cables.

[0034] A slave operating device comprises 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 movement of the surgical instrument.

[0035] A surgical robot comprises a master operating device and a slave operating device, wherein the slave operating device performs corresponding operations according to instructions of the master operating device.

[0036] The multiple drive units in the drive device of the surgical instrument of the present invention can be flexibly arranged. The multiple cables of the surgical instrument are guided by guide mechanisms located at different spatial positions so that the multiple cables are extended and arranged in the drive device in the form of a harness. The cable wiring is neat and takes up little space, which simplifies the assembly process of the drive device and eliminates the risk of mutual interference between the cables. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic structural diagram of a main operating console of a surgical robot according to an embodiment of the present invention;

[0038] Figure 2This is a schematic structural diagram of a slave operating device of a surgical robot according to an embodiment of the present invention;

[0039] Figure 3 This is a schematic structural diagram of a surgical instrument according to an embodiment of the present invention;

[0040] Figure 4 is a schematic diagram of a surgical instrument according to an embodiment of the present invention;

[0041] Figure 5 A top view of a driving device according to an embodiment of the present invention;

[0042] Figure 6 A schematic diagram of a state in which the long axes of multiple surgical instruments are brought together according to an embodiment of the present invention;

[0043] Figure 7 is a schematic structural diagram of a surgical instrument according to another embodiment of the present invention;

[0044] Figure 8 A top view of the cable routing of a drive device according to an embodiment of the present invention;

[0045] Figure 9 A top view of the cable routing of a drive device according to an embodiment of the present invention;

[0046] Figure 10 A schematic structural diagram of a first guide mechanism and a second guide mechanism of a driving device according to an embodiment of the present invention;

[0047] Figure 11 and Figure 12 For the present invention Figure 3 A schematic diagram of cable routing for a surgical instrument according to the illustrated embodiment;

[0048] Figure 13A for Figure 11 a top view of the cable routing of the illustrated embodiment;

[0049] Figure 13B 13A is a schematic diagram showing the distribution of multiple contact points between the cable and the second guide mechanism according to the embodiment of the present invention;

[0050] 14A to 14D Schematic diagram of other distribution of multiple contact points between the cable and the second guide mechanism according to one embodiment of the present invention;

[0051] Figure 15 A side view of cable routing according to an embodiment of the present invention;

[0052] Figure 16 for Figure 15 A schematic diagram of the wiring of the cables at the fourth guide mechanism of the embodiment shown;

[0053] Figure 17 for Figure 15 A perspective view of the fourth guide mechanism in the illustrated embodiment;

[0054] Figure 18 for Figure 15 A schematic diagram of the cable passing through the fourth guide mechanism in the illustrated embodiment;

[0055] Figures 19A-19D is a schematic diagram of a fourth guide mechanism in some other embodiments of the present invention;

[0056] Figure 20 This is a schematic diagram of a state where a first tensioning mechanism is connected to a cable according to an embodiment of the present invention;

[0057] Figure 21 is a three-dimensional diagram of a first tensioning mechanism according to an embodiment of the present invention;

[0058] Figure 22 for Figure 21 An exploded view of the first tensioning mechanism of the illustrated embodiment;

[0059] Figure 23 is a schematic diagram of a first tensioning mechanism according to another embodiment of the present invention;

[0060] Figures 24A-24C A schematic diagram of a wrist being straightened by a first tensioning mechanism according to an embodiment of the present invention;

[0061] Figure 25 This is a schematic diagram of a second tensioning mechanism according to an embodiment of the present invention;

[0062] Figure 26 This is a schematic diagram of the installation of a drive device base and a guide assembly according to an embodiment of the present invention;

[0063] Figure 27 An exploded view of a guide assembly according to an embodiment of the present invention;

[0064] Figure 28 for Figure 26 A bottom view of the first housing of the guide assembly of the illustrated embodiment;

[0065] Figure 29 for Figure 26 Bottom view of the base of the illustrated embodiment. DETAILED DESCRIPTION

[0066] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0067] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be an element centered thereon. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may also be an element centered thereon. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods. The terms "distal end" and "proximal end" used herein are directional terms, which are commonly used terms in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery.

[0068] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification of the present invention herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items, and "cable bundle" in the text means that each cable in a bundle of cables is relatively close to each other and extends in substantially the same direction. Unless otherwise specified, the cable bundle direction or cable direction referred to in this application refers to the direction of the cable bundle or cable along the length direction.

[0069] Minimally invasive surgical robots generally include slave operating equipment and a main operating console. Figure 1 FIG. 1 shows a main operation console 100 according to an embodiment of the present invention. Figure 2 FIG2 shows 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 located in the same operating room or in different rooms. The master operating console 100 and the slave operating device 200 can even be far apart. For example, the master operating console 100 and the slave operating device 200 are located in different cities. The master operating console 100 and the slave operating device 200 can transmit data via a wired manner or wirelessly. For example, if the master operating console 100 and the slave operating device 200 are located in the same operating room, data can be transmitted between them via a wired manner. Alternatively, if the master operating console 100 and the slave operating device 200 are located in different cities, long-distance data transmission can be performed between them via 5G wireless signals.

[0070] The slave manipulation device 200 includes a robotic arm 210 and an actuator 220 at the distal end of the robotic arm 210. The surgical instrument 300 used to perform the surgical procedure is connected to the actuator 220, which drives the surgical instrument through multiple actuators within the actuator 220. Multiple surgical instruments 300 can be connected to a single actuator 220, and the distal ends of multiple surgical instruments 300 enter the human body through a single incision, thereby reducing the number of surgical incisions and facilitating faster postoperative recovery.

[0071] The surgical instrument according to one embodiment of the present invention is as follows Figure 3 As shown, surgical instrument 300 includes a drive unit 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 drive unit 310 is coupled to the actuator 220 via a joint 390. Multiple drive units within the drive unit 310 are connected to the wrist 330 and the end effector 340 via multiple cables. The drive units operate the multiple cables to drive the wrist 330 and / or the end effector 340. The cables can be flexible or include flexible segments and rigid segmented strips. The end effector 340 can be an electric cauterizer, scissors, clamps, an imaging device, etc. In other embodiments, the distal end of the long shaft is connected only to the wrist, and the movement of the wrist is used to press or lift tissue.

[0072] The surgical instrument according to one embodiment of the present invention is as follows Figure 4 As shown, the driving device 410 of the surgical instrument 400 has multiple driving units 411, 421, 431, 441, 451, 461, and the multiple driving units 411, 421, 431, 441, 451, 461 are surrounded by a polygon, and each of the multiple driving units 411, 421, 431, 441, 451, 461 is respectively located at a vertex of the polygon. In this embodiment, the multiple driving units are six, so the multiple driving units 411, 421, 431, 441, 451 are respectively located at the vertices of the hexagon. In some other embodiments, the number of driving units can also be other numbers, such as five, seven, etc.

[0073] The proximal ends of the plurality of cables 412, 422, 432, 442, 452 are respectively wound around the plurality of drive units 411, 421, 431, 441, 451, and the distal ends of the plurality of cables 412, 422, 432, 442, 452 pass through the long shaft 420 and are connected to the wrist 430 and the end effector 440 of the end instrument. The plurality of drive units 411, 421, 431, 441, 451 rotate around their axes to retract or release the plurality of cables 412, 422, 432, 442, 452 to drive the movement of the wrist 430 and the end effector 440.

[0074] Multiple cables 412, 422, 432, 442, and 452 extend into the long shaft 420 after being guided by multiple guide mechanisms within the drive unit 410. The multiple guide mechanisms include a first guide mechanism 471, a second guide mechanism 472, and a third guide mechanism 473. The first guide mechanism 471 is located in the middle of the polygonal area enclosed by the multiple drive units 411, 421, 431, 441, and 451. The second guide mechanism 472 is located closer to the proximal end of the drive unit 410 than the first guide mechanism 471. The third guide mechanism 473 is located at the proximal end of the long shaft 420. One end of a cable 462 is wound around the drive unit 461, and the other end of the cable 462 is wound around the proximal end of the long shaft 420. The drive unit 461 rotates about its rotation axis to retract or release the cable 462, thereby driving the long shaft 420 to rotate about the long shaft 420. In other embodiments, the second guide mechanism 472 may be located closer to the distal end of the driving device 410 than the first guide mechanism 471 .

[0075] After being guided by the first guide mechanism 471, multiple cables 412, 422, 432, 442, and 452 are gathered into a cable bundle and extended to the end effector in the form of a cable bundle. The cable bundle includes a first cable bundle section Z1, a second cable bundle section Z2, and a third cable bundle section Z3. The first cable bundle section Z1 extends along a first direction to the second guide mechanism 472 and is guided by the second guide mechanism 472 to form the second cable bundle section Z2. The second cable bundle section Z2 extends along a second direction substantially non-parallel to the first direction to the third guide mechanism 473 and is guided by the third guide mechanism 473 to form the third cable bundle section Z3. The third cable bundle section Z3 passes through the long axis 420 and extends all the way to the wrist 430 and the end effector 440.

[0076] The first guide mechanism 471 is located in the middle of the polygon of the multiple drive units 411, 421, 431, 441, 451. The multiple cables 412, 422, 432, 442, 452 extend from the periphery of the polygon to the middle to the first guide mechanism 471, and then converge to form the first cable bundle Z1 after being guided by the first guide mechanism 471. Specifically, the multiple cables 412, 422, 432, 442, 452 form a multiple first cable segments 4121, 4221, 4321, 4421, 4521 between the multiple drive units 411, 421, 431, 441, 451 and the first guide mechanism 471. The projected line segments of the multiple first cable segments 4121, 4221, 4321, 4421, 4521 projected onto a projection plane S1 perpendicular to the rotation axis of any drive unit among the multiple drive units 411, 421, 431, 441, 451 do not intersect.

[0077] like Figure 5 As shown, multiple projection 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 with each other, and multiple first angles x1, x2, x3, x4, x5 exist between the multiple first cable segments 4121, 4221, 4321, 4421, 4521. The multiple first angles x1, x2, x3, x4, x5 have the center of the first guide mechanism 471 as a vertex, and the edges of the multiple first angles x1, x2, x3, x4, x5 pass through the multiple projection line segments 4121a, 4221a. 4321a, 4421a, 4521a, multiple first angles x1, x2, x3, x4, x5 refer to the smaller angles formed by two adjacent projection line segments in the projection line segments 4121a, 4221a, 4321a, 4421a, 4521a, that is, the multiple first angles x1, x2, x3, x4, x5 are all less than or equal to 180°. Since the first guide mechanism 471 is located in the middle of the multiple drive units 411, 421, 431, 441, 451, the sum of the multiple first angles x1, x2, x3, x4, x5 is equal to 360°. In this way, each of the multiple first angles x1, x2, x3, x4, x5 is as large as possible, so that there is more space for wiring between the multiple cables 412, 422, 432, 442, 452, thereby avoiding mutual interference between the multiple cables 412, 422, 432, 442, 452.

[0078] Back again Figure 4The first cable harness Z1 is located between the first guide mechanism 471 and the second guide mechanism 472. The first cable harness Z1 includes multiple second cable segments 4122, 4222, 4322, 4422, 4522, with substantially the same length. These second cable segments 4122, 4222, 4322, 4422, 4522 are substantially parallel to each other and closely spaced. This minimizes the space occupied by the second cable harness Z1, allowing full utilization of the space within the drive device 410 for other mechanisms, such as a cable tensioning mechanism. In other embodiments, the multiple second cable segments in the second cable harness Z1 may not all be parallel, but they must all be oriented in substantially the same direction.

[0079] The plurality of first cable segments 4121 , 4221 , 4321 , 4421 , 4521 diverge from the first guide mechanism 471 toward the plurality of drive units 411 , 421 , 431 , 441 , 451 . Therefore, the plurality of first cable segments 4121 , 4221 , 4321 , 4421 , 4521 occupy a first horizontal space at the far end of the drive device 470 . The direction of the first cable bundle Z1 is perpendicular to the direction of any cable segment among the multiple first cable segments 4121, 4221, 4321, 4421, and 4521, and the second guide mechanism 472 is located at the proximal end of the first guide mechanism 471. Therefore, the first cable bundle Z1 located between the first guide mechanism 471 and the second guide mechanism 472 occupies the second space in the vertical direction located in the middle area of ​​the drive device 470. The first space and the second space are basically perpendicular and intersect only at the first guide mechanism 471, but the first space and the second space do not overlap. Therefore, the first cable bundle Z1 will not affect the wiring of the multiple first cable segments 4121, 4221, 4321, 4421, and 4521, nor will it interfere with the multiple first cable segments 4121, 4221, 4321, 4421, and 4521. In some other embodiments, the first cable bundle Z1 may not be perpendicular to the multiple first cable segments 4121, 4221, 4321, 4421, 4521, or the cable segments in the first cable bundle Z1 may be perpendicular to the multiple first cable segments 4121, 4221, 4321, 4421, 4521, so that the second space where the first cable bundle Z1 is located and the first space where the multiple first cable segments 4121, 4221, 4321, 4421, 4521 are located have a certain angle. However, since the two spaces do not overlap, the first cable bundle Z1 still does not affect the wiring of the multiple first cable segments 4121, 4221, 4321, 4421, 4521, nor does it interfere with the multiple first cable segments 4121, 4221, 4321, 4421, 4521.

[0080] The second section of the cable harness Z2 is located between the second guide mechanism 472 and the third guide mechanism 473. The second section of the cable harness Z2 includes multiple third cable segments 4123, 4223, 4323, 4423, 4523 of the multiple cables 412, 422, 432, 442, 452. The directions of the multiple third cable segments 4123, 4223, 4323, 4423, 4523 are roughly the same and are closely spaced, so that the third space occupied by the second section of the cable harness Z2 is minimized. In some other embodiments, there are at least two or more cable segments parallel to each other among the multiple third cable segments of the second section of the cable harness Z2, so that the third space occupied by the second section of the cable harness Z2 is even smaller.

[0081] The second cable bundle Z2 extends toward the proximal end of the long axis 420. The direction of the first cable bundle Z1 (the first direction) is substantially perpendicular to the direction of the second cable bundle Z2 (the second direction). Since the second guide mechanism 472 isolates the second cable bundle Z2 and the plurality of first cable segments 4121, 4221, 4321, 4421, and 4521 on different horizontal planes within the drive device 410, that is, the second cable bundle Z2 is located at the proximal end of the drive device 410, while the plurality of first cable segments 4121, 4221, 4321, 4421, and 4521 are located at the distal end of the drive device 410, the third space where the second cable bundle Z2 is located will not overlap with the plurality of first cable segments 4121. The first spaces where the cables 4221, 4321, 4421, and 4521 are located overlap, so that the second cable harness Z2 will not affect the routing of the plurality of first cable segments 4121, 4221, 4321, 4421, and 4521. The second cable harness Z2 will not interfere with the plurality of first cable segments 4121, 4221, 4321, 4421, and 4521. Furthermore, the third space where the second cable harness Z2 is located will not overlap with the second space where the first cable harness Z1 is located. Therefore, the second cable harness Z2 will not affect the routing of the first cable harness Z1. In some other embodiments, the second cable bundle Z2 may not be perpendicular to the first cable bundle Z1. Since the third guide mechanism 473 is not located in the first space where the multiple first cable segments 4121, 4221, 4321, 4421, and 4521 are located, even if the second cable bundle Z2 is not perpendicular to the first cable bundle Z1, the third space where the second cable bundle Z2 is located will not overlap with the first spaces where the multiple first cable segments 4121, 4221, 4321, 4421, and 4521 are located. The second cable bundle Z2 will not affect the routing of the multiple first cable segments 4121, 4221, 4321, 4421, and 4521. In addition, the third space where the second cable bundle Z2 is located will not overlap with the second space where the first cable bundle Z1 is located. Therefore, the second cable bundle Z2 will not affect the routing of the first cable bundle Z1.

[0082] The first guide mechanism 471 includes a plurality of first pulleys 413, 423, 433, 443, 453, and the second guide mechanism 472 includes a plurality of second pulleys 414, 424, 234, 444, 454. Each of the plurality of first pulleys 413, 423, 433, 443, 453 and the plurality of second pulleys 414, 424, 234, 444, 454 includes an axle and a guide portion for guiding the plurality of cables 412, 422, 432, 442, 452. The guide portion is rotatably mounted on the axle. In some other embodiments, the guide portion of the pulley and the axle may also be fixedly connected so that the guide portion of the pulley and the axle rotate together.

[0083] The axles of the multiple first pulleys 413, 423, 433, 443, 453 are substantially perpendicular to the rotation axis of any of the multiple drive units 411, 421, 431, 441, 451. The length direction of the first cable harness section Z1 is the same or approximately the same as the rotation axis of the multiple drive units 411, 421, 431, 441, 451. Adjusting the height of the first guide mechanism 471 and the tensioning mechanism (not shown) in the drive device 410, i.e., adjusting the position of the first guide mechanism 471 in the drive device 410 in the proximal or distal direction of the drive device 410, will not affect the routing of the multiple first cable sections 4121, 4221, 4321, 4421, 4521 and the direction of the first cable harness section Z1, nor will it affect the efficiency of the first cable harness section Z1 in transmitting the driving force. Therefore, the height of the first guide mechanism 471 can be adjusted according to different cable routing requirements or the layout requirements of the various components of the drive device 410.

[0084] Taking the wiring of the first cable 412 as an example, the first cable 412 extends to the second guide mechanism 472 after being guided by the first pulley 413 of the first guide mechanism 471. 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 on the guide portion of the pulley 413 along the tangential direction of the groove for accommodating the first cable 412. No matter how the height of the first pulley 413 in the drive device 410 is adjusted, the first cable 412 can enter or leave the groove 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 in which the first cable 412 enters the groove of the first pulley 413, and will not affect the efficiency of the first cable 412 in transmitting the driving force, so that the height of the first pulley 413 is adjustable, that is, the height of the first guide mechanism 471 is adjustable.

[0085] The axles of the multiple second pulleys 414, 424, 234, 444, 454 are also basically perpendicular to the rotation axis of any drive unit among the multiple drive units 411, 421, 431, 441, 451. Therefore, adjusting the height of the second guide mechanism 472 and / or the tensioning mechanism will not affect the efficiency of transmitting driving force between the first cable bundle Z1 and the second cable bundle Z3. Taking the first cable 412 as an example, the first cable 412 extends to the third guide mechanism 473 after being guided by the second pulley 414 of the second guide mechanism 472. 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 drive device 410 is adjusted, the second cable segment 4122 and the third cable segment 4123 of the first cable 412 can enter or exit the groove of the second pulley 414 along the tangential direction of the groove on the guide portion of the second pulley 412, so that the height of the second guide mechanism 472 in the drive device 410 can be adjusted like the first guide mechanism 471.

[0086] The proximal end of the long shaft 420 is located at the edge of the housing 410a of the driving device 410 (the so-called edge refers to the periphery of the housing, that is, near the intersection of two or three sides of the housing). This allows the long shafts 420 of multiple surgical instruments to be close together, so that the distal ends of the multiple long shafts 420 can be gathered together and enter the human body through a single incision, thereby reducing the number of surgical incisions. Figure 6 The figure shows a top view of multiple surgical instruments 300. The long axes 320 of the surgical instruments 300 are located at the edges of the surgical instruments 300. Therefore, the surgical long axes 320 of the multiple surgical instruments 300 can be brought together, so that the distal end instruments of the multiple long axes 320 enter the human body through one incision.

[0087] Back again Figure 4 The third cable harness 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 basically parallel to each other. The third guide mechanism 473 is located at the edge of the surgical instrument 400, and the third guide mechanism 473 is located near the proximal end of the long axis 420.

[0088] The third guide mechanism 473 includes a plurality of third pulleys for guiding the plurality of cables 412, 422, 432, 442, and 452. The plurality of third pulleys of the third guide mechanism 473 are relatively close to each other, so that the plurality of third cable segments 4124, 4224, 4324, 4424, and 4524 of the third cable bundle Z3 are 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.

[0089] In one embodiment, the axles of the multiple third pulleys are perpendicular to the rotation axis of any drive unit among the multiple drive units 411, 421, 431, 441, and 451, just like the axles of the multiple first pulleys and the axles of the multiple second pulleys. Therefore, the height of the third guide mechanism 473 in the drive device 410 can be adjusted just like the first guide mechanism 471 and the second guide mechanism 472.

[0090] The above-mentioned first guide mechanism 471, second guide mechanism 472 and third guide mechanism 473 are height-adjustable in the driving device 410. Not only can the first guide mechanism 471 or the second guide mechanism 472 or the third guide mechanism 473 be adjusted as a whole, but also the height of a certain component of one of the first guide mechanism 471 or the second guide mechanism 472 or the third guide mechanism 473 in the driving device 410 can be adjusted. For example, the height of the first guide mechanism 471 as a whole in the driving device 410 can be adjusted, and the height of one pulley or multiple pulleys among the multiple first pulleys 413, 423, 433, 443, 453 of the first guide mechanism 471 in the driving device 410 can be adjusted.

[0091] By adjusting the height of the first guide mechanism 471 and / or the second guide mechanism 472 and / or the third guide mechanism 473 in the driving device 410 , the tension of the multiple cables 412 , 422 , 432 , 442 , 452 and the horizontal height of the multiple cables 412 , 422 , 432 , 442 , 452 in the driving device 410 can be adjusted.

[0092] A first cable 412 of the plurality of cables 412, 422, 432, 442, and 452 is guided by the first pulley 413 of the first guide mechanism 471 and then by the second pulley 414 of the second guide mechanism 472 before extending to the third guide mechanism 473. The first cable 412 has a first cable segment 4121 between the drive 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 guide mechanism 473. The first cable segment 4121 and the second cable segment 4122 are located on a first plane, and the second cable segment 4122 and the third cable segment 4123 are located on a second plane. The 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 not perpendicular to and parallel to the first plane, so that the first plane and the second plane intersect and do not overlap.

[0093] In one embodiment of the present invention, the first cable segment 4221 of the second cable 422 and the second cable segment 4222 of the second cable 422 of the plurality of cables 412, 422, 432, 442, 452 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.

[0094] In one embodiment of the present invention, the first cable segment 4321 of the third cable 432 and the second cable segment 4322 of the third cable 422 of the plurality of cables 412, 422, 432, 442, 452 are located on a fifth plane, the second cable segment 4322 and the third cable segment 4323 of the second cable 432 are located on a sixth plane, and 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.

[0095] It is understandable that the plurality of cables 412, 422, 432, 442, 452 in the drive device 400 may all be routed in the same manner as the first cable 412; or some of the plurality of cables 412, 422, 432, 442, 452 may be routed in the same manner as the first cable 412, while the other portions may be routed in the same manner as the second cable 422 or in the same manner as the third cable 432; or some of the plurality of cables 412, 422, 432, 442, 452 may be routed in the same manner as the second cable 422, while the other portions may be routed in the same manner as the third cable 432.

[0096] After the multiple cables 412, 422, 432, 442, 452 in the drive device 400 are wired using the above wiring method, at least one of the multiple cables 412, 422, 432, 442, 452 is rerouted after being guided by the second guide mechanism 472, that is, the plane where the cable segments of at least one of the multiple cables 412, 422, 432, 442, 452 on both sides of the first guide mechanism 471 are located intersects and does not overlap with the plane where the cable segments of the cable on both sides of the second guide mechanism 472 are located. Thus, the second cable bundle Z2 formed by the plurality of cables 412, 422, 432, 442, 452 after being guided by the second guide mechanism 472 extends along the edge of the driving device 410. After being guided by the second guide mechanism 472, the plurality of cables 412, 422, 432, 442, 452 can enter the long axis 472 from the edge of the driving device 472, so that the long axis 420 can be set at the edge of the driving device 410.

[0097] like Figure 4 In the illustrated embodiment, the second cable harness Z2, after being guided by the third guide mechanism 473, enters the long shaft 420 located at the edge of the drive device 410. The axis of the long shaft 420 is perpendicular to the engagement portion 490, thereby engaging the proximal end of the actuator 220 with the engagement portion 490 of the actuator 410. In other embodiments, the engagement portion 490 of the actuator 410 is located at the proximal end of the actuator 470, thereby engaging the distal end of the actuator 220 with the engagement portion 490 of the actuator 140.

[0098] The surgical instrument according to one embodiment of the present invention is as follows Figure 7 As shown, the proximal ends of the plurality of cables 512, 522, 532, 542, 552 are fixed to the plurality of drive units 511, 521, 531, 541, 551, and the distal ends of the plurality of cables 512, 522, 532, 542, 552 are guided by the first guide mechanism 571 and the second guide mechanism 572 and then extend to the edge of the drive device 410 in the form of a cable bundle, then directly enter the long shaft 520 and finally extend to the wrist 530 and the end instrument 540. Figure 4 While the previously illustrated embodiment used three guide mechanisms to guide multiple cables, this embodiment utilizes only two guide mechanisms. Using fewer guide mechanisms reduces friction between the cables and the guide mechanisms, resulting in less drive force consumption during cable transmission and higher efficiency in cable-to-drive force transmission. However, because the coupling portion 590 of the drive device 510 is parallel to the axis of the long shaft 520, the side of the actuator 220 engages the coupling portion 590 of the drive device 510, making the installation of the surgical instrument 510 onto the actuator 220 inconvenient.

[0099] The driving device of the surgical instrument according to one embodiment of the present invention is as follows Figure 8 As shown, Figure 8 6 is a top view of the drive device 610. The drive units 611, 621, 631, 641, and 651 of the drive device 610 are arranged in a row. The first guide mechanism 671 is located on one side of the drive units 611, 621, 631, 641, and 651. The cables 612, 622, 632, 642, and 652 are guided by the first guide mechanism 671 and then converge into a first cable bundle Z1. Z1 is guided by a second guide mechanism (not shown) and then converges into a second cable bundle Z2. The second cable bundle Z2 extends to the edge of the drive device 610 and then enters the long axis directly or after being guided by a third guide mechanism. Although the first guide mechanism 671 in this embodiment is not located on the drive units 611, 621, 631, and 641, 651, the included angles between the cable segments of the plurality of cables 612, 622, 632, 642, 652 between the plurality of drive units 611, 621, 631, 641, 651 and the first guide mechanism 671 are not Figure 5 The angle shown is large, but still larger than similar angles in the prior art.

[0100] The driving device of the surgical instrument according to one embodiment of the present invention is as follows Figure 9 As shown, Figure 9FIG. 7 is a top view of a drive device 710. The drive device 710 includes a plurality of drive units 701, 711, 721, 731, 741, 751, 761, 771, 781, 791. Two first guide mechanisms and two second guide mechanisms (not shown) are provided within a polygonal area enclosed by the plurality of drive units 701, 711, 721, 731, 741, 751, 761, 771, 781, 791. A plurality of cables 702, 712, 722, 732, 742 are led out from the plurality of drive units 701, 711, 721, 731, 741, and then guided by the first guide mechanism and converged into a first cable bundle Z1. Z1 is guided by the second guide mechanism and then converged into a second cable bundle Z2. After being led out from multiple drive units 751, 761, 771, 781, and 791, they are guided by another first guide mechanism and then converged into a first cable bundle Z1'. Z1' passes through another second guide mechanism and converges into a second cable bundle Z2'. The second cable bundles Z2 and Z2' extend to the edge of the drive device 710 and then directly enter the long axis of the surgical instrument or enter the long axis of the surgical instrument after being guided by a third guide mechanism. Since the drive device 710 has a larger number of drive units, it can drive the wrist of the surgical instrument and the end instrument to move with more degrees of freedom.

[0101] The guide mechanism of the driving device according to one embodiment of the present invention is as follows Figure 10 As shown, the first guide mechanism 871 and the second guide mechanism 872 are both in the form of pipes. The first guide mechanism 871 includes a plurality of guide tubes 871a, 871b, 871c, 871d, and 871e in a dispersed state. A plurality of cables 812, 822, 832, 842, and 852 are guided by the plurality of guide tubes 871a, 871b, 871c, 871d, and 871e to converge into a first cable bundle Z1. Z1 is guided by the second guide mechanism 872 to form a second guide bundle Z2. The plurality of guide tubes 871a, 871b, 871c, 871d, and 871e of the first guide mechanism 871 can be located at different heights to receive cables from drive units at different heights. The guide mechanism in the form of a pipe does not have a complicated pulley layout for cable guidance, and has a simpler structure. In some other embodiments, the first guide mechanism can be Figure 10 The pipeline structure shown is the second guide mechanism Figure 4 The multi-pulley structure shown, or the first guide mechanism is Figure 4 The multi-pulley structure shown in the figure has a second guide mechanism. Figure 10 Pipeline form shown.

[0102] Figure 3The internal structure of the driving device 310 of the surgical instrument 300 in the embodiment shown is as follows: Figure 11 As shown, the driving device 310 includes multiple driving units, a first guide mechanism 371, a second guide mechanism 372 and a third guide mechanism 373. The multiple driving units include multiple first driving units 311, 321 and multiple second driving units 331, 341, 351. The first guide mechanism 371 is located in the central area of ​​the multiple driving units, the second guide mechanism 372 is located at the proximal end of the first guide mechanism 371, and the third guide mechanism 373 is located at the edge of the shell 310a.

[0103] One end of multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d is wound around the first drive units 311, 321, and one end of multiple cables 332a, 332b, 342a, 342b, 351a, 351b is wound around the second drive units 331, 341, 351. After being guided by the first guide mechanism 371, the multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b are extended in the form of a cable bundle. The cable bundle has multiple layers of sub-cable bundles, and the sub-cable bundles of each layer are basically parallel to each other.

[0104] The cable harness includes a first cable harness Z1, a second cable harness Z2 and a third cable harness Z3, wherein the cables in the first cable harness Z1 are substantially parallel to each other. Figure 12 The second cable bundle Z2 is formed after being guided by the second guide mechanism 372. At least two cables in the second cable bundle Z2 are parallel to each other. The second cable bundle Z2 is extended along the second direction ( Figure 12 B2 direction shown) extends to the third guide mechanism 373, and after being guided by the third guide mechanism 373, it extends along the third direction ( Figure 12 The third cable harness Z3 is formed in the direction B3 shown in the figure. The cables in the third cable harness Z3 are also substantially parallel to each other. The third cable harness Z3 passes through the long axis 320 and is connected to the wrist 330 and the end effector 340. In some other embodiments, the drive device 310 is provided with only the first guide mechanism 371 and the second guide mechanism 372, so as to Figure 7 As in the illustrated embodiment, the second cable harness section Z2 enters directly into the longitudinal axis 320 .

[0105] The first drive unit 311 includes an integrally formed main shaft 311a, a first capstan 316a, a second capstan 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 first capstan 316a and the second capstan 316b have different diameters. The first capstan 316a is disposed between the first and second fixing blocks 317a, 317b, and the second capstan 316b is disposed between the second and third fixing blocks 317b, 317c. The integrally formed first drive unit 311 facilitates manufacture and assembly of the first drive unit 311. In other embodiments, the first drive unit may not be integrally formed, i.e., the first capstan and the second capstan of the first drive unit may be independently mounted on the main shaft and capable of rotating independently relative to the main shaft.

[0106] A first end of cable 312a is fixed to the first fixing block 317a, and cable 312a is wound around the first capstan 316a in a first winding manner (e.g., counterclockwise). A first end of cable 312b is fixed to the second fixing block 317b, and cable 312b is wound around the first capstan 316a in a second winding manner (e.g., clockwise) opposite to the first winding manner. First ends of cables 312c and 312d are respectively fixed to the third fixing block 317c, and are wound around the second capstan 316b in the first winding manner and the second winding manner, respectively. Cables 312a, 312b, 312c, and 312d extend from the first drive unit 311 to the first pulley set 313 of the first guide mechanism 371 in a manner substantially parallel to each other, and after being guided by the first pulley set 313, they continue to extend to the second guide mechanism 372 in a manner substantially parallel to each other.

[0107] 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, and 312d. The first drive unit 321 has a substantially identical structure to the first drive unit 311. The same cables 322a, 322b, 322c, and 322d also extend substantially parallel to each other from the first drive unit 311 to the first pulley 323 of the first guide mechanism 370. After being guided by the first pulley 323, they continue to extend substantially parallel to each other to the second guide mechanism 372.

[0108] The second drive unit 341 is also integrally formed. The second drive unit 341 includes a first fixed block 347a and a second fixed block 347b respectively arranged at the distal end and proximal end of the main shaft 341a, and the first capstan 346 is arranged between the first fixed block 347a and the second fixed block 347b. One end of the cable 342a is fixed to the first fixed block 347a, and one end of the cable 342b is fixed to the second fixed block 347b. The cables 342a and 342b extend from the second drive unit 341 to the first pulley set 343 of the first guide mechanism 371 in a manner that is basically parallel to each other, and after being guided by the first pulley set 343, they still extend to the second guide mechanism 372 in a manner that is basically parallel. 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 second drive units 331, 351 and the second drive unit 341 have substantially the same structure. Cables 332a and 332b extend substantially parallel to each other from the second drive unit 331 through the first pulley 333 to the second guide mechanism 372. Cables 352a and 352b extend substantially parallel to each other from the second drive unit 351 through the first pulley 333 to the second guide mechanism 372. In other embodiments, the plurality of drive units of the drive device may all be first drive units or all be second drive units.

[0109] and Figure 4 Similar to the illustrated embodiment, the sum of the first angles between two adjacent cables extending from different drive units among the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b is 360°, thereby providing a larger wiring space for the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b. Figure 13A for Figure 11 A top view of Figure 13A The second guide mechanism 372 is hidden to more clearly show the routing of the cables. Figure 13AAs shown, the cable segments between the drive unit and the first guide mechanism 371 of the plurality of cables extending from the same drive unit are substantially parallel to one another. Therefore, the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b do not interfere with one another in the first space between the drive units 311, 321, 331, 341, 351 and the first guide mechanism 371. The second cable segment Z2 gradually converges from the second guide mechanism 372 to the third guide mechanism 373 to accommodate the third cable segment Z3 in the longitudinal shaft 320 having a smaller inner diameter.

[0110] The multiple first pulley groups 313, 323, 333, 343, and 353 of the first guide mechanism 371 are located on three different horizontal planes. Adjacent first pulleys within the multiple first pulley groups 313, 323, 333, 343, and 353 are located on different horizontal planes. This reduces the horizontal volume occupied by the entire first guide mechanism 371 while preventing interference between the cables in the first cable bundle Z1. Specifically, the first pulley group 313 and the first pulley group 323 are located on the same horizontal plane at the proximal end of the drive device 310, the first pulley group 333 and the first pulley group 353 are located on the same horizontal plane at the distal end of the drive device 310, and the first pulley group 343 is located on the horizontal plane between the first pulley group 313 and the first pulley group 333.

[0111] The second guiding mechanism 372 includes multiple second pulley groups 372a, 372b, 372c, and 372d for guiding the first wire harness Z1. The pulleys in each of the multiple second pulley groups 372a, 372b, 372c, and 372d share a wheel axle. The wheel axles of the multiple second pulley groups 372a, 372b, 372c, and 372d are basically parallel to each other. The multiple second pulley groups 372a, 372b, 372c, and 372d are respectively located on multiple first planes C1, C2, C3, and C4. Each second pulley group can be a guide for multiple cables, and one of the second pulley groups can be a guide for multiple cables from the same drive unit or from different drive units.

[0112] like Figure 12As shown, the second pulley group 372a of the second guide mechanism 372 includes a wheel axle 3721 and a plurality of pulley guide parts 3722, 3723, 3724 arranged on the wheel axle 3721, and the guide part 3722, the guide part 3723 and the guide part 3724 respectively 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.

[0113] like Figure 15 As shown, the third guide mechanism 373 has a plurality of third pulley sets 373a, 373b, 373c, 373d. They are also respectively located on the multiple first planes C1, C2, C3, C4 where the multiple second pulley groups 372a, 372b, 372c, 372d are located, so that the third pulley group 373a, 373b, 373c, 373d and the multiple second pulley groups 372a, 372b, 372c, 372d are arranged in pairs on the multiple first planes C1, C2, C3, C4, that is, the second pulley group 372a and the third pulley group 373a are basically located on the first plane C1, the second pulley group 372b and the third pulley group 373b are basically located on the first plane C2, the second pulley group 372c and the third pulley group 373c are basically located on the first plane C3, the second pulley group 372d and the third pulley group 373d are basically located on the first plane C4, and the multiple first planes C1, C2, C3, C4 are basically parallel to each other.

[0114] After the multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b are wired in the above manner, the number of guide portions of each of the multiple second pulley groups 372a, 372b, 372c, 372d of the second guide mechanism 372 is substantially the same as the number of guide portions of the third pulley group on the same first plane, and at least one of the second pulley groups has the same number of guide portions as the third pulley group on the same first plane, thereby making the cables of the second cable bundle Z2 distributed in layers, as shown in FIG. Figure 12 and Figure 15 As shown, the second cable bundle Z2 is divided into multiple layers of sub-cable bundles Z2a, Z2b, Z2c, and Z2d. The sub-cable bundles Z2a, Z2b, Z2c, and Z2d of different layers are substantially parallel to each other, so that the sub-cable bundles Z2a, Z2b, Z2c, and Z2d of different layers do not interfere with each other.

[0115] The distance between the second pulley group and the third pulley group on the same first plane decreases successively from the distal end to the proximal end of the driving device, so that the first cable bundle Z1 and the third cable bundle Z3 are located outside the second guide mechanism 372 and the third guide mechanism 373, the first cable bundle Z1 and the third cable bundle Z3 are basically parallel to each other, the second cable bundle Z2 is located between the second guide mechanism 372 and the third guide mechanism 372, and the second cable bundle Z2 is basically perpendicular to the first cable bundle Z1 and the third cable bundle Z3, so that the first cable bundle Z1 and the third cable bundle Z3 will not cross with the sub-cable bundles Z2a, Z2b, Z2c, and 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 wiring of the second cable bundle Z2.

[0116] and Figure 4 As in the illustrated embodiment, after the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, and 351b are guided by the second guide mechanism, each cable is rerouted. For example, the cable segment of the first cable 312a between the first pulley 313 and the drive 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, and 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 intersects with the third plane but does not overlap. Thus, a second cable bundle Z2 formed by the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b after being guided by the second guide mechanism 372 extends along the edge of the driving device 310 so that the long axis 320 can be set at the edge of the driving device 310.

[0117] The plurality of first pulley groups 313, 323, 333, 343, 353 include a plurality of first coaxial pulleys 313, 323, 343 and a plurality of first split-axis pulleys 353, 333. Each of the plurality of first coaxial pulleys 313, 323, 343 shares a common axle, i.e., a plurality of guide portions are provided on a single axle. Each of the plurality of first split-axis pulleys 353, 333 includes a single axle and a single guide portion, i.e., each guide portion is separately mounted on a single axle.

[0118] When the axle of the first coaxial pulley is not parallel to the axles of the plurality of second pulley sets 372a, 372b, 372c, 372d of the second guide mechanism 372, the cables guided by the same first coaxial pulley are guided by different second pulleys, such as Figure 12 As shown, the axles of the multiple first coaxial pulleys 313, 323, and 343 are not parallel to the axles of the multiple second pulleys 372a, 372b, 372c, and 372d, wherein the axle of the first coaxial pulley 343 forms an acute angle with the axles of the multiple second pulleys 372a, 372b, 372c, and 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, and 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 guide mechanism 372 and then extend to the third pulleys 373a, 373b, 373c, 373d of the third guide mechanism 373.

[0119] like Figure 12 and Figure 13A As shown, the first cable harness Z1 contacts the grooves of the plurality of guide portions 3722, 3723, 3724 on the second pulley set 372a of the second guide mechanism 372. The plurality of contact points between the first cable harness Z1 and the plurality of guide portions 3722, 3723, 3724 are located on the straight line r1. Similarly, the first cable harness Z1 also has a plurality of contact points with the second pulley sets 372b, 372c, 372d when it first contacts them. The contact points are Figure 13A As shown in the figure, multiple square black dots represent fixed contact points P1, which are the contact points between the cable guided by the first coaxial pulleys 313, 323, and 343 and the second pulley group. Multiple circular black dots represent adjustable contact points P2, which are the contact points between the cable guided by the first split-axis pulleys 333 and 353 and the second pulley group. The multiple contact points P1 and P2 are respectively located on substantially parallel straight lines r2, r3, and r4.

[0120] The positions of the multiple second pulley sets 372a, 372b, 372c, and 372d remain fixed, so the distances between the lines r1, r2, r3, and r4 remain substantially fixed. Consequently, the positions of the axles of the first coaxial pulleys 313, 323, and 343 relative to the lines r1, r2, r3, and r4 are also fixed. If the positions of the first coaxial pulleys 313, 323, and 343 relative to the lines r1, r2, r3, and r4 change, some cable segments in the first cable bundle Z1 may become non-parallel to one another. For example, the angle between the axle of the first coaxial pulley 343 and the straight line r1 is approximately 45°. The cable 342a is guided by a guide portion of the first coaxial pulley 343 and extends to the second pulley 372a. The contact point between the cable 342a and the second pulley 372a is located on the straight line r1. The cable 342b is guided by another guide portion of the first coaxial pulley 343 and extends to the second pulley 372b. The contact point between the cable 342b and the second pulley 372b is located on the straight line r2. If the position of the first coaxial pulley 343 is offset, the following two situations may occur: the contact point between the cable 342a and the second pulley 372a is offset from the straight line r1, or the contact point between the cable 342b and the second pulley 372b is offset from the straight line r2. In either of the above two situations, the cable 342a or the cable 342a will be non-parallel to other cables in the first section of the cable bundle Z1, thereby affecting the efficiency of the cable in transmitting driving force.

[0121] By adjusting the relative positions of the sub-pulleys of the plurality of first split-axis pulleys 333, 353, the above-mentioned rigid wiring method can be changed. By adjusting the sub-pulleys of the plurality of first split-axis pulleys 333, 353, the cables can be flexibly selected to be guided by which second pulley group in the second guide mechanism 372. In other words, by adjusting the relative positions of the sub-pulleys of the plurality of first split-axis pulleys 333, 353, the cables can be adapted to second pulley groups having different numbers of guide portions, thereby flexibly configuring the number of cables guided by each pulley on the second pulleys 372a, 372b, 372c, 372d. For example, the first split-axis pulley 353 includes sub-pulleys 353a and 353b, and the sub-pulley 353a and the sub-pulley 353b do not share a common axle, so that the sub-pulley 353a and the sub-pulley 353b can move relative to each other in the horizontal plane, so that the cables 352a and 352b guided through the first split-axis pulley 353 can all be guided by the second pulley group 372b of the second guide mechanism 372, instead of requiring the multiple cables guided through the coaxial pulley to be guided through different second pulley groups as in the first coaxial pulley.

[0122] The first split pulleys 333, 353 are arranged at the farthest end of the first guide mechanism 371, so that when the sub-pulleys of the first split pulleys 333, 353 are adjusted, the sub-pulleys of the first split pulleys 333, 353 will not interfere with the cables in the first cable bundle Z1.

[0123] Figure 13B for Figure 13A An enlarged schematic diagram of the contact point, such as Figure 13B As shown, the cables 322c, 342a, 352a are guided by the first guide mechanism 371 and then extend to the second pulley 372a of the second guide mechanism 372 and then extend to the third pulley set 373a of the third guide mechanism, so that there are three fixed contact points P1 on the straight line r1.

[0124] The cables 322a, 342b, 352b, 352a, 312b are guided by the first guide mechanism 371 and extend to the second pulley set 372b of the second guide mechanism 372 and then are guided by the second pulley 372b and extend to the third pulley set 373b of the third guide mechanism 373, 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.

[0125] The cables 322b, 332a, 332b, 312a extend through the first guide mechanism 371 to the second pulley 372c of the second guide mechanism 372 and then extend to the third pulley group 373c of the third guide mechanism 373 after being guided by the second pulley group 372c, so that there are four contact points on the straight line r3, which include two fixed contact points P1 and two adjustable contact points P2.

[0126] Cables 322d and 312c are guided by first guide mechanism 371 and then extend to second pulley set 372d of second guide mechanism 372. Further guided by second pulley set 372d, cables 322d and 312c extend to third pulley set 373d of third guide mechanism 373, thereby creating two fixed contact points P1 on line r4. By adjusting first split-shaft pulleys 333 and 353, multiple adjustable contact points P2 can be positioned anywhere along lines r1 through r4.

[0127] By adjusting the first split-shaft pulleys 333, 353, the contact point distribution of some other cable routing methods can be obtained. Figure 14A As shown, by adjusting each sub-pulley of the first split-shaft pulley 333, it adapts to the situation that the second pulley group 372c and the second pulley group 372d have three guide parts, that is, there are three contact points on the straight line r3 and the straight line r4.

[0128] like Figure 14B As shown, by adjusting the sub-pulleys of the first split-shaft pulley 353 to adapt to the situation where the second pulley group 372a has five guide parts and the second pulley group 372b has three guide parts, that is, there are five contact points on the straight line r1 and three contact points on the straight line r2.

[0129] like Figure 14C As shown, by adjusting each sub-pulley of the first split-shaft pulley 333 to adapt to the situation where the second pulley group 372c has two guide parts and the second pulley group 372d has four guide parts, there are 2 contact points on r3 and 4 contact points on r4.

[0130] like Figure 14D As shown, by adjusting the first split pulley 333 and the sub-pulleys of the first split pulley 353, they are adapted to the situation where the second pulley group 372b has four guide parts and the second pulley group 372d has three guide parts, that is, there are four contact points on the straight line r2 and three contact points on the straight line r4.

[0131] In some other embodiments, the driving device 310 can be as follows: Figure 7 As in the embodiment shown, only the first guide mechanism 371 and the second guide mechanism 372 are included, but the third guide mechanism 373 is not included, so that the long axis 320 extends in a direction perpendicular to the rotation direction of the driving unit.

[0132] Figure 15 for Figure 12 In order to more clearly show the cable wiring of the drive device 310, Figure 15 Some drive units are hidden and the Figure 12 Some components are not available in the Figure 15 As shown, after the first cable bundle Z1 is guided and routed by the first guide 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, and Z1d. After being guided by the multiple second pulleys 372a, 372b, 372c, and 372d of the second guide mechanism 372, the multi-layer sub-cable bundles Z1a, Z1b, Z1c, and Z1d form multi-layer sub-cable bundles Z2a, Z2b, Z2c, and Z2d.

[0133] like Figure 16 and Figure 17As shown, the second cable harness Z2 is guided by the third guide mechanism 373 to form the third cable harness Z3, and the third cable harness Z3 is formed by passing through the fourth guide mechanism 374 to form the fourth cable harness Z4. The fourth cable harness Z4 passes through the long axis 320 and extends to the wrist 330 and the end effector 340. The fourth guide mechanism 374 includes a body 3741. The body 3741 extends two fixing seats 3742 toward the inside of the shell 310a. The fixing seats are used to fix the body 3741 on the shell 310a. The body 3741 also has a plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, Multiple guide holes 312a', 312b', 312c', 312d', 322a', 322b', 322c', 322d', 332a', 332b', 342a', 342b', 351a', 351b' through which 342b, 351a, 351b pass.

[0134] The cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b, after being guided by the third pulley sets 372a, 372b, 372c, 372d of the third guide mechanism 373, have their contact points on the second straight lines r5, r6, r7, and r8, respectively. The second straight lines r5, r6, r7, and r8 are projected onto the fourth guide mechanism 3741 to form the third straight lines j1, j2, j3, and j4. The third straight lines j1, j2, j3, and j4 are projected onto the fourth guide mechanism 3741 to form the third straight lines j1, j2, j3, and j4. j2, j3, j4 are basically parallel to the axles of the multiple second pulleys 372a, 372b, 372c, 372d, and the multiple guide holes 312a', 312b', 312c', 312d', 322a', 322b', 322c', 322d', 332a', 332b', 342a', 342b', 351a', 351b' are respectively arranged on the multiple third straight lines j1, j2, j3, j4, that is, the number of rows of the multiple guide holes is the same as the number of the third pulley group.

[0135] The arrangement of the guide holes on each of the plurality of third straight lines j1, j2, j3, j4 is substantially the same as the arrangement of the guide portions on each of the plurality of second straight lines r5, r6, r7, r8, that is, the number of guide holes on each of the plurality of third straight lines j1, j2, j3, j4 is the same as the number of guide portions on each of the plurality of second straight lines r5, r6, r7, r8, and the distance between the guide holes on each of the plurality of third straight lines j1, j2, j3, j4 is substantially the same as the distance between the guide portions on each of the plurality of second straight lines r5, r6, r7, r8, so that the third segment cable bundle Z3 still has a layered wiring structure, and the number of layers of the third segment cable bundle Z3 is the same as the number of layers of the second segment cable bundle Z2, and the number of cables on the corresponding layers of the third segment cable bundle Z3 and the second segment cable bundle Z2 is the same.

[0136] Specifically, if Figure 15 As shown, the third section cable bundle Z3 includes multiple layers of sub-cable bundles Z3a, Z3b, Z3c, and Z3d, and the multiple layers of sub-cable bundles Z3a, Z3b, Z3c, and Z3d are substantially parallel to each other. Figure 16 and Figure 18 As shown, the three cables 322d, 342b, and 312c in the sub-cable bundle Z3a are guided by the three guide parts on the third pulley 373a of the third guide mechanism 373 and then pass through the guide holes 322d', 342b', and 312c' arranged on the third straight line J1. The four cables 322b, 332a, 332b, and 312a in the sub-cable bundle Z3b are guided by the four guide parts on the third pulley 373b and then pass through the guide hole 322b' arranged on the third straight line J2. 332a', 332b', 312a', the four cables 322a, 352b, 352a, 312b in the sub-cable bundle Z3c are guided by the four guide parts on the third pulley 373c and then pass through the guide holes 322a', 352b', 352a', 312b' arranged in the third straight line J3. The three cables 322c, 342a, 312d in the sub-cable bundle Z3d are guided by the four guide parts on the third pulley 373c and then pass through the guide holes 322c', 342a', 312d' arranged in the third straight line J4. The multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b pass through a plurality of guide holes 312a', 312b', 312c', 312d', 322a', 322b', 322c', 322d', 332a', 332b', 342a', 342b', 351a', 351b' and enter the long shaft 320, and finally extend to the wrist 330 and the end effector 340.

[0137] 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 correspond one-to-one to the third pulley, so that the multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b can be guided from the fourth guide mechanism 374 through the third guide mechanism 373, the second guide mechanism 372 and the first guide mechanism 371 in sequence and then assembled to the multiple drive units 311, 321, 331, 341, 351.

[0138] Specifically, when assembling cables 322c, 342a, 312d, the proximal ends of cables 322c, 342a, 312d extend through guide holes 322c', 342a', 312d' on the edge of the main body 374 away from the mounting seat 3742 and located on the third straight line j1 to extend to the third pulley group 373a of the third guide mechanism 373. Since the positions of the guide holes 322c', 342a', 312d' on the main body 374 are obviously different from the positions 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 the cables 322c, 342a, 312d are assembled to the corresponding third pulley group 373a of the third guide mechanism 373, since the position of the third pulley 373a and the number of its guide portions are consistent with the guide holes 322c', 342a' and 312d' are uniquely matched, so the cables 322c, 342a, and 312d can be accurately assembled on the third pulley set 373a, avoiding the error of assembling the cables 332d, 342b, and 312c on other pulleys.

[0139] Since the second pulley group 372a and the third pulley group 373a on the second guide mechanism 372 are located on the same first plane and have the same number of guide wheels, the corresponding relationship between the two is unique. Therefore, 322c, 342a, and 312d can be assembled from the third pulley 373a to the second pulley 372a very conveniently and accurately. In this process, the error of assembling one of the cables 322c, 342a, and 312d to other second pulley groups can be avoided.

[0140] In the process of assembling the cables 322c, 342a, 312d from the second pulley 372a to the first guide mechanism 371, as shown in FIG. Figure 13AAs shown, since cables 322c, 342a, and 312d are located in the outermost layer of the first cable bundle, cables 322c, 342a, and 312d only need to be assembled onto the guide portion of the first pulley blocks 323, 343, and 313 of the first guide mechanism 371, which is farthest from the third guide mechanism 373, to form a sub-cable bundle Z1a. This avoids the error of assembling cables 322c, 342a, and 312d onto other first pulley blocks. The assembly method for other layers of cables is similar and will not be repeated here. This layered cable bundle structure and layer-by-layer cable installation method can improve the accuracy and efficiency of cable assembly.

[0141] The main body 3741 of the fourth guide mechanism 374 further has a plurality of through holes 374a having a diameter different from that of the guide holes. The plurality of through holes 374a are used for passing wires other than cables, for example, power wires or wires for transmitting image data. The plurality of through holes 374a and the plurality of guide holes 312a', 312b', 312c', 312d', 322a', 322b', 322c', 322d', 332a', 332b', 342a', 342b', 351a', 351b' are arranged in multiple rows in a circular area 320a on the main body 3741. The area of ​​the circular area 320a is substantially equal to the area of ​​the proximal opening of the long shaft 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 straightly pass through the plurality of guide holes into the long shaft 320.

[0142] like Figure 18 As shown, multiple through holes 374a are arranged on the edge of the main body 3741 away from the mounting seat 3742. Generally, the diameter of a through hole 374a is larger than the radius of the guide hole. Therefore, one through hole 374a occupies more space in the main body 3741 than one guide hole. Arranging the through holes 374a at the edge of the main body 3741 reduces the space occupied by the through holes 374a. There is more space in the center of the circular area 320a, i.e., near the third straight line j2, while there is less space at the edge of the circular area 320a, i.e., near the third straight lines j1 and j4. Therefore, four guide holes are arranged on both the third straight lines j2 and j3, while three guide holes are arranged on both the third straight lines j1 and j4. This allows more space on the main body 3741 for the two through holes 374a.

[0143] The through holes 374a and the guide holes of the fourth guide mechanism 374 of one embodiment of the present invention are distributed as follows: Figure 19AAs shown, four guide holes are distributed on the third straight lines j1, j2, and j3, while only two guide holes are distributed on the third straight line j4 at the edge of the main body of the fourth guide mechanism 374, so that the guide holes on j4 can be offset more toward the edge of the main body of the fourth guide mechanism, so that there is more space at the edge of the other side of the main body to provide for the two through holes 374a, so that the diameter of the through hole 374a is larger, thereby allowing wires or data lines with larger diameters to pass through.

[0144] The through holes 374a and the guide holes of the fourth guide mechanism 374 of one embodiment of the present invention are distributed as follows: Figure 19B As shown, the number of guide holes arranged on the third straight lines j1, j2, j3, and j4 are 3, 5, 4, and 2, respectively. Compared with the embodiment shown in FIG19A , in this embodiment, in the circular area 320a, the number of guide holes on the third straight line j1 is smaller, so that the two through holes 374a can have a larger diameter.

[0145] In some other embodiments of the present invention, the through holes 374b and the guide holes of the fourth guide mechanism 374 are distributed as shown in FIG. 19C and FIG. Figure 19D As shown, Figure 19C and Figure 19D There is only one through hole 374b in the embodiment. Generally, the through hole 374b is used to pass a data line or optical cable for transmitting image data. The through hole 374b has a larger cross-sectional area than the through hole 374a in the above embodiment. Figure 19C As shown, the number of guide holes arranged on the third straight lines j1, j2, j3, and j4 are 4, 5, 4, and 1 respectively. Since there is only one guide hole distributed on the third straight line j4, the main body of the fourth guide mechanism can have more space to provide a through hole 374b at the edge on the side away from the third straight line j74, so that the through hole 374b can have a larger cross-sectional area. Figure 19D As shown, the numbers of guide holes arranged on the third straight lines j1, j2, j3, and j4 are 2, 5, 4, and 3 respectively, and the through hole 374b is located between the two guide holes on the third straight line j1, so that the through hole 374b can have a larger cross-sectional area.

[0146] A tensioning device is provided between the multiple drive units 311, 321, 331, 341, 351 and the first guide mechanism 317. The tensioning device is used to tension the multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b. The tensioning device includes a shell and multiple first tensioning mechanisms 380 and / or multiple second tensioning mechanisms 390 installed in the shell. The multiple first tensioning mechanisms 380 are arranged between the first drive units 311, 321 and the first guide mechanism 317, and the multiple second tensioning mechanisms are arranged between the second drive units 331, 341, 351 and the first guide mechanism 317.

[0147] The first tensioning mechanism of one embodiment of the present invention is as follows Figure 20-22 As shown, the first tensioning mechanism 380 is disposed between the first drive unit 311 and the first pulley assembly 313 of the first guide mechanism 317. The first tensioning mechanism 380 is used to tension the first cables 312a and 312b, as well as the second and third cables 312c and 312d. The first tensioning mechanism 380 includes a first tensioning member 3821, a second tensioning member 3811, a third tensioning member 3831, and a stopper. The second tensioning member 3811 is used to simultaneously tension the first and second cables 312a and 312b, while the first and third tensioning members 3821 and 3831 are used to tension the second and third cables 312c and 312d, respectively. In other embodiments, if tensioning more cables is not required, the first tensioning mechanism 380 may include only the first and second tensioning members 3821, or only the first tensioning member 3821.

[0148] The first tensioning member 3821 includes a first tensioning block 3822 and a first push rod 3823. A first guide portion 3824 is provided on the first side surface of the first tensioning block 3822. The second cable 312c is guided by the holding mechanism 314 and then by the first guide portion 3824 and then extends to the first pulley set 313. The first guide portion 3824 is located between the cable section of the second cable 312c between the holding mechanism 314 and the first pulley set 313 and the stop portion. The first push rod 3823 is threadedly engaged with the first tensioning block 3822 and passes through the first tensioning block 3822 to abut against the stop portion. Rotating the first push rod 3823 can drive the first tensioning block 3822 along the first direction ( Figure 20 The first guide portion 3824 on the first tensioning block 3822 drives the cable 312c to move between the distal end and the proximal end of the driving device 310, thereby tightening or loosening the cable 312c.

[0149] The second tensioning member 3811 includes a second tensioning block 3812 and a second push rod 3813. The first push rod 3823 and the second push rod 3813 are disposed opposite each other, with a stopper disposed between the first push rod 3823 and the second push rod 3813. Second guide portions 3814 and third guide portions 3815 are respectively disposed on the two first side surfaces of the second tensioning block 3812. The first cables 312a and 312b are guided by the retaining mechanism 314, then by the second guide portions 3814 and the third guide portions 3815, respectively, before being guided by the first pulley assembly 313 of the first guide mechanism 317. In other embodiments, the second tensioning member may include only one guide portion for a single cable guide, in which case the second tensioning member is used to tension a single cable.

[0150] A sleeve 3813b is mounted on the housing of the first tensioning mechanism 380. The sleeve 3813b is threadedly engaged 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. The second push rod 3813 is rotated in the tensioning direction. The adjustment end 3813a opposite to its distal end causes the second push rod 3813 to push the second tensioning block 3812 to move in the first direction, thereby causing the second guide portion 3814 and the third guide portion 3815 on the second tensioning block 3812 to respectively drive the cable segments of the first cable 312a and the first cable 312b between the retaining mechanism 314 and the first pulley assembly 313 to move in the first direction, thereby tensioning the first cables 312a and 312b. The tensioning direction refers to the direction in which the push rod is rotated to cause the tensioning block driven by the push rod to tension the cables. In other embodiments, the second push rod may also be threadedly engaged with the second tensioning block.

[0151] When the adjusting end 3813a is rotated in a 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 tensioning force, the second tensioning block 3812 is driven by the tensioning force of the first cables 312a and 312b themselves to move in the second direction, thereby relaxing the first cables 312a and 312b.

[0152] The third tensioning member 3831 includes a third tensioning block 3832 and a third push rod 3833. A fourth guide portion 3834 is provided on a first side surface of the third tensioning block 3832. The fourth guide portion 3834 is provided between a stop portion on the opposite side of the first guide portion 3824 and the third cable 312d. The third cable 312d is guided by the retaining mechanism 314 and then by the fourth guide portion 3834 before extending to the first pulley assembly 313. The third push rod 3833 is provided on a first side surface of the third tensioning block 3832. The third push rod 3833 is threadedly engaged with the third tensioning block 3832 and passes through the third tensioning block 3823 to abut the blocking portion. Rotating the third push rod 3833 can drive the third tensioning block 3832 to move in the first direction or the second direction, so that the first guide portion 3834 on the third tensioning block 3832 drives the third cable 312d to move between the distal end and the proximal end of the driving device 310 in the cable segment between the retaining mechanism 314 and the first pulley group 313, thereby tightening or loosening the cable 312d.

[0153] The first tensioning mechanism 380 also includes a guide protrusion 386 and a guide column 3841 for guiding the movement of the first tensioning block 3822, the second tensioning block 3812 and the third tensioning block 3833. The guide protrusion 386 includes a second protrusion 3816, a first protrusion 3826 and a third protrusion 3836 respectively arranged 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 cooperating with the second protrusion 3816, the first protrusion 3826 and the third protrusion 3836 arranged in the shell of the first tensioning mechanism 380. When the second tensioning block 3812, the first tensioning block 3822 and the third tensioning block 3833 move along 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.

[0154] The guide column 3841 passes through the through holes on 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 at the proximal and distal ends 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 guide column 3841.

[0155] like Figure 22As shown, the first tensioning block 3822, the second tensioning block 3812 and the third tensioning block 3833 have multiple holes. The blocking portion in this embodiment is the second end 3812b of the second tensioning block 3812. The second end 3812b of the second tensioning block 3812 is used as a blocking portion to make the structure of the first tensioning mechanism 380 more compact. The second end 3812b is an ear-shaped mechanism, which can fix the second guide portion 3814 while serving as a blocking portion.

[0156] The end of the first push rod 3823 passes through the first hole 382a on the third tensioning block 3823 and the second hole 382b on 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 on the third tensioning block 3823 and the fourth hole 383b on the first tensioning block 3822, and then abuts against the second end 3812b of the second tensioning block 3811. The guide column 3841 passes through the fifth hole 381a on the second tensioning block 3811, the sixth hole 381b on the first tensioning block 3822 and the seventh hole 381c on 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 guide column 3841.

[0157] 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 the cable 312c is tensioned, when the adjusting end 3823a at the distal end of the first push rod 3823 is rotated along the tensioning direction, the distal 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 is blocked by the second end 3812a and cannot move in the second direction, thereby forcing the first tensioning block to move in the first direction to tension the cable 312c.

[0158] Since the second cable 312c itself has a certain tension, when the adjustment end 3823a at the distal end of the first push rod 3823 is rotated in the direction opposite to the tensioning direction, the first tensioning block 3822 moves in the second direction under the tension of the second cable 312c, thereby loosening the second cable 312c.

[0159] During the movement of the first tensioning block 3822 along the first direction or the second direction, the first tensioning block 3822 is doubly guided, that is, the first protrusion 3826 of the first tensioning block 3822 moves in the groove in the shell, and the first tensioning block 3822 moves up and down along the guide column 3841, so that the first tensioning block 3822 will not deviate from the movement trajectory during the movement of the first direction or the second direction.

[0160] The third hole 383a of the third tensioning member 3833 has an internal thread to cooperate with the external thread on the third push rod 3833. The end of the third push rod 3833 abuts the second end 3812b of the second tensioning block 3811. When it is necessary to tighten or loosen the cable 312d, rotating the adjustment end 3833a at the far end of the third push rod 3833 can make the third protrusion 3836 of the third tensioning block 3833 move in the groove in the shell, and the third tensioning block 3832 moves up and down along the guide column 3841, thereby tightening or loosening the third cable 312d. The method of tightening or loosening the third cable 312d by the third tensioning member 3833 is the same as the method of tightening or loosening the second cable 312c by the first tensioning member 3823 mentioned above, and will not be repeated here.

[0161] Since the second tensioning member 3811 is arranged opposite to the adjusting ends of the first tensioning member 3821 and the third tensioning member 3823, that is, the adjusting end 3813a of the second tensioning member 3811 is located on the side of the first end 3812a of the second tensioning block 3812, the adjusting end 3823a of the first tensioning member 3821 and the adjusting end 3833a of the third tensioning member 3831 are located on the side of the second end 3812b of the second tensioning block 3812, the second push rod 3813 is staggered with 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, and 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 lateral direction, which can make the lateral volume of the entire driving device 380 smaller, so that multiple surgical instruments 300 can be used. Figure 6 When brought together as shown, the overall volume in the lateral direction is smaller.

[0162] The first tensioning mechanism of another embodiment of the present invention is as follows Figure 23 As shown, the first tensioning mechanism 480 and Figure 21The first tensioning mechanism 380 shown differs in that the blocking portion in this embodiment is a baffle 485 disposed between the first tensioning member 3821 and the second tensioning member 3811. The baffle 485 is fixedly connected to the housing of the first tensioning mechanism 480. The distal 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, the baffle 485 prevents the first push rod 3823 and the third push rod 3833 from moving in the second direction. As a result, the first tensioning block 3822 and the third tensioning block 3832 move in the first direction, thereby tensioning 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 tensioned independently of each other.

[0163] The tensioning device further comprises a plurality of second tensioning mechanisms, wherein the second tensioning mechanism 390 is used to tension two cables simultaneously, and the second tensioning mechanism 390 is equivalent to the second tensioning member 3811 of the first tensioning mechanism 380. Figure 25 As 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 guides the movement of the fourth tensioning block 3911 through the cooperation of the guide protrusion 396 and the groove in the shell of the tensioning device, as well as the guide column 3914.

[0164] A fifth guide portion 3913 and a sixth guide portion 3914 are provided on both sides of the fourth tensioning block 3911 for guiding the cables 352a and 352b respectively. The cables 352a and 352b can be tensioned or relaxed by rotating the adjusting end 3912a of the fourth push rod 3912. The specific tensioning process is the same as the tensioning process of the second tensioning member 3811 of the above-mentioned first tensioning mechanism 380, and will not be repeated here.

[0165] like Figure 24A As shown, the distal ends of the first cables 312a, 312b are connected to the first joint 330a of the wrist 330, and the first driving unit 311 controls the rotation of the first joint 330a through the first cables 312a, 312b. The distal ends of the second cable 312c and the third cable 312d are respectively connected to the two sides of the second joint 330b, and the first driving unit 311 controls the rotation of the second joint 330b through the second cable 312c and the third cable 312d.

[0166] During assembly of the surgical instrument 300 , the first joint 330 a and the second joint 330 b may not be in a straight position (ie, zero position) after adjusting the tension of the first cables 312 a and 312 b , the second cable 312 c , and the third cable 312 d .

[0167] like Figure 24A As shown, the third joint 330c of the wrist 330 is in a straight posture, and the first joint 330a and the second joint 330b are in a yaw posture after being rotated 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 tightening the cable, so that before operating the surgical instrument 300, the wrist 330 and the end effector 340 of the surgical instrument 300 are in a zero position state, so that the control of the surgical instrument 300 is more precise.

[0168] 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, and 312d from the first drive unit 311. The tensioning method is as follows:

[0169] 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 tensions the first cable 312a and the first cable 312b at the same time, and the first tensioning block 3821 and the third tensioning block 3831 tension the second cable 312c and the third cable 312d respectively.

[0170] The first drive unit 311 is then rotated and adjusted to adjust the first joint 330a to a straight position via the first cables 312a and 312b. Finally, the second joint 330b is adjusted to a straight position by individually adjusting the first push rod 3823 to tighten or loosen the second cable 312c with the first tensioning block 3821, and / or individually adjusting the third push rod 3833 to tighten or loosen the third cable 312c with the first tensioning block 3821.

[0171] Specifically, the first driving unit 311 is rotated and adjusted to retract the first cable 312a and release the first cable 312b at the same time, so that the first joint 330a moves from Figure 24A Turn the position shown to the left to Figure 24B The position shown is aligned with the third joint 330c, ie, the first joint 330a is adjusted to a straight posture.

[0172] 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 capstan 316a and the second capstan 316b are integrally formed, the posture of the joint 330b can no longer be adjusted by rotating the first drive unit 311. This is because if the first drive unit 311 is rotated again, while the second cable 312c and the third cable 312d are retracted or released, the first cables 312a and 312b will also be retracted or released again, thereby causing the first joint 330a, which has been adjusted to a straight posture, to rotate to a non-straight posture again.

[0173] To solve this problem, after adjusting the first joint 330a to a straight position by adjusting the first drive unit 311, the second joint 330b is adjusted to a straight position 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 position by the following three methods:

[0174] (1) The first push rod 3823 is rotated and adjusted separately to move the first tensioning block 3822 in the first direction. The first tensioning block further tensions the second cable 312c, so that the tensioning force of the second cable 312c is greater than the tensioning force of the third cable 312d, so that the second cable 312c pulls the second joint 330b to rotate leftward, so that the second joint 330b moves from left to right. Figure 24B The yaw attitude shown is rotated left to Figure 24C Straight posture shown.

[0175] (2) The third push rod 3833 is rotated and adjusted separately to move the third tensioning block 3832 in a 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 the tension of the third cable 312d. The second cable 312c pulls the second joint 330b to rotate leftward, so that the second joint 330b moves from Figure 24B The yaw attitude shown is rotated left to Figure 24C Straight posture shown.

[0176] (3) Rotate and adjust the first push rod 3823 to move the first tensioning block 3822 in the first direction, so that the first tensioning block 3822 further tightens the second cable 312c, and rotate and adjust the third push rod 3833 to move the third tensioning block 3832 in the second direction, so that the third tensioning block 3832 relaxes the third cable 312d, so that the tensioning force of the second cable 312c is greater than the tensioning force of the third cable 312d, so that the second cable 312c pulls the second joint 330b to rotate leftward, so that the second joint 330b moves from Figure 24BThe yaw attitude shown is rotated left to Figure 24C Straight posture shown.

[0177] The driving device of one embodiment of the present invention is as follows Figure 26 As shown, the driving device 310 includes a base 3110 and a guide assembly 3120. The base 3110 includes a base body 3111 and a mounting portion 3112 extending from the base body 3111. Multiple driving units 311, 321, 331, 341, 351 are installed in the mounting portion 3112. An accommodating cavity 3114 is formed in the middle area of ​​the mounting portion 3112, and the guide assembly 3120 is installed in the accommodating cavity 3114.

[0178] The guide assembly 3120 includes a shell and a first guide mechanism 370 installed inside the shell, a retaining mechanism 314 and the above-mentioned multiple tensioning mechanisms. Multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b are first guided by the retaining mechanism 314, then by the tensioning device, and finally by the first guide mechanism 371 before converging into the first section of the wiring harness Z1. Since the first guide mechanism 370, the retaining mechanism 314 and the above-mentioned multiple tensioning mechanisms are integrated into a guide assembly 3120, multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b can be tensioned and guided into a cable bundle after passing through the guide assembly 3120, thereby saving space in the drive device 310 and making the structure of the entire drive device 310 more compact.

[0179] In order to conveniently display the internal structure of the guide assembly 3120, Figure 26 Part of the first guide mechanism 370, the tensioning mechanism and the retaining mechanism 314 are not shown. Figure 26 As shown, the housing of the guide assembly 3120 includes a first housing 3150 and a second housing 3140. The second housing 3140 is embedded in the first housing 3130. The first housing 3150 includes a first body 3151, sidewalls 3152, and a top 3153. The sidewalls 3152 extend proximally from the first body 3151. The proximal ends of the sidewalls 3152 are connected by the top 3153. The sidewalls 3152 are spaced apart, and there are notches 3158 between the sidewalls 3152. The tensioning mechanism is mounted on the housing of the guide assembly 3120 through the notches 3158. In other embodiments, the first housing 3150 and the second housing 3140 are integrally formed.

[0180] The second shell 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 in a cavity formed by the side wall 3132 and the top 3133 of the first shell 3130 , and the edge of the second main body 3140 abuts against the first main body 3131 .

[0181] The first pulley groups 323, 313 at the far end of the first guide mechanism 370 are installed in the top 3153 of the first shell 3150, the first pulley groups 333, 353 at the proximal end of the first guide mechanism 370 are installed in the central column 3142 of the second shell 3140, and the first pulley group 343 at the middle position of the first guide mechanism 370 is installed in the middle position between the first pulley group 323 and the first split-axis pulley group 333 on the central column 3142, so that the multiple first pulley groups 313, 323, 333, 343, 353 are located on three different horizontal planes, wherein two adjacent first pulley groups among the multiple first pulleys 313, 323, 333, 343, 353 are located on different horizontal planes.

[0182] The retaining mechanism 314 is mounted on the side wall 3132 of the first housing 3150. The retaining mechanism 314 is used to maintain the length of the cable between the drive unit and the retaining mechanism at a constant level during cable tensioning. That is, the direction of the cable between the drive unit and the retaining mechanism remains unchanged during cable tensioning. In this embodiment, the retaining mechanism 314 is a plurality of pulley sets 314. In other embodiments, the retaining mechanism 314 may also be other retaining elements, such as a plurality of shafts. In some other embodiments, the guide assembly 3120 may also include only the first guide mechanism 371 and the tensioning device. In this case, the push rod of the tensioning device is perpendicular to the axis of the drive unit, and the retaining mechanism may not be provided.

[0183] The tensioning device is installed between the side wall 3132 of the first shell 3150 and the center column 3142 of the second shell 3140. The inner side of the side wall 3152 of the first shell 3150 has a first groove 3156 and a second groove 3157. The outer side wall of the center column 3142 of the second shell 3140 has a plurality of center grooves 3146 matching the first groove 3156 and the second groove 3157. The guide protrusion 386 of the first tensioning mechanism 380 of the tensioning device is accommodated in the center groove 3146 and the first groove 3156. When the first tensioning mechanism 380 tensions the cable, the guide protrusion 386 of the first tensioning mechanism 380 slides in the first groove 3156 and the center groove 3146.

[0184] The guide 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 guide protrusion 396 of the second tensioning mechanism 390 slides in the second groove 3157 and the central groove 3146 .

[0185] The top 3153 of the first shell 3150 has a plurality of tensioning holes 3154 and a plurality of wire holes 3155, and the top of the proximal end of the center column 3142 has a plurality of wire holes 3144. The cables guided by the first guide mechanism 371 pass through the plurality of wire holes 3144 and 3155 and then converge into the first cable bundle Z1.

[0186] There are grooves 3147 on both sides of the central groove 3146 of the guide assembly 3120. The grooves 3147 are used to guide the cable to extend from the first pulley group to the second guide mechanism 372. The bottom of the groove 3147 has a certain slope from the far end to the top of the center column 3142, that is, the bottom of the groove near the top of the center column 3120 has a certain angle with the central axis of the center column 3142, so that the cable is close to the central axis of the center column 3142 after passing through the groove 3147, so that the cable segments in the first cable bundle Z1 are closer to each other.

[0187] In one embodiment, a baffle extends from the side wall and / or the side of the center column of the above-mentioned supporting portion of the first tensioning mechanism, and the baffle is arranged between the second tensioning member and the first tensioning member. The end of the first push rod abuts against the baffle, preventing the second push rod and the first push rod from moving along the second direction when the tensioning cable is stretched.

[0188] like Figure 28 As shown, the bottom of the base body 311 has a tensioning opening 3113. The first groove 3156 and the center groove 3146 of the guide assembly 3120 extend through the tensioning opening 3113 toward the distal end of the base body 311, allowing the first tensioning block 3822 and the third tensioning block 3823 of the first tensioning mechanism 380 to move a greater distance along the first groove 3156 and the center groove 3146 toward the distal end of the guide assembly 3120. The first push rod 3823 and the third push rod 3833 pass through the tensioning hole 3113 and connect to the first tensioning block 3822 and the third tensioning block 3823, respectively. The second adjustment end 3823a and the third adjustment end 3833a are located at the bottom of the base body 3111.

[0189] In contrast 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, and the adjusting end 3813a of the second push rod 3813 is located on the top 3153 of the first shell 3150, so that the first tensioning mechanism 380 is arranged in opposition, that is, the adjusting end 3813a of the second push rod 3813 is arranged at the top of the guide assembly 3120, and the adjusting ends 3823a and 8833a of the first push rod 3823 and the third push rod 3833 are arranged at the bottom of the guide assembly 3120, so that the first tensioning mechanism 380 and the second tensioning mechanism 390 are long strips, reducing the lateral volume of the entire guide assembly 3120, and the tensioning mechanism can be adjusted from the bottom of the machine base, avoiding adjusting three tensioning parts from one side, thereby increasing the convenience of tensioning adjustment.

[0190] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that variations and improvements are possible within the scope of the present invention, as would be apparent to one skilled in the art. These variations and improvements fall within the scope of the present invention. Therefore, the scope of the present invention is governed by the appended claims.

Claims

1. A surgical instrument comprising a drive device, a plurality of cables, a long shaft, and an end instrument located at the distal end of the long shaft, wherein the plurality of cables are connected between the drive device and the end instrument, wherein: The driving device comprises: a plurality of drive units, one ends of the plurality of cables being connected to the plurality of drive units; a first guide mechanism and a second guide mechanism, wherein the plurality of cables form a cable bundle after being guided by the first guide mechanism, the cable bundle comprising a first section of the cable bundle located between the first guide mechanism and the second guide mechanism, and a second section of the cable bundle located between the second guide mechanism and the proximal end of the long axis, the first section of the cable bundle extending along a first direction to the second guide mechanism, and the second section of the cable bundle extending toward the proximal end of the long axis along a second direction different from the first direction, and the height of the first guide mechanism within the drive device can be adjusted to adjust the tension of the plurality of cables; The proximal end of the long shaft is located at the edge of the housing of the driving device; The driving device also includes a third guide mechanism located at the edge of the shell, the cable bundle has a third section of cable bundle between the third guide mechanism and the proximal end of the long axis, and the third section of cable bundle extends toward the long axis along a third direction different from the first direction. The third guide mechanism includes a plurality of pulley groups for guiding the plurality of cables, and the plurality of pulley groups are respectively located on a plurality of mutually parallel first planes.

2. The surgical instrument according to claim 1, wherein: The second guiding mechanism is located at the proximal end or the distal end of the first guiding mechanism.

3. The surgical instrument according to claim 2, wherein: The first cable bundle section is substantially perpendicular to a cable section of the plurality of cables between the plurality of drive units and the first guide mechanism.

4. The surgical instrument according to claim 2, wherein: The first direction is non-parallel to the second direction.

5. The surgical instrument according to claim 1, wherein: The first guide mechanism includes a plurality of first pulleys, each of the first pulleys including a first axle and a first guide portion for guiding one of the plurality of cables, the first guide portion being rotatably disposed on the first axle, and the first axles of the plurality of first pulleys being substantially perpendicular to the rotation axes of the plurality of drive units.

6. The surgical instrument according to claim 5, wherein: The second guide mechanism includes a plurality of second pulleys, each of the second pulleys including a second axle and a second guide portion for guiding one of the cable segments in the first cable bundle, the second guide portion being rotatably disposed on the second axle, and the second axles of the plurality of second pulleys being substantially perpendicular to the rotation axes of the plurality of drive units.

7. The surgical instrument according to claim 6, wherein: The third guide mechanism includes a plurality of third pulleys, each of the third pulleys including a third axle and a third guide portion for guiding one cable segment of the second cable bundle, the third guide portion being rotatably disposed on the third axle, and the third axles of the plurality of third pulleys being substantially perpendicular to the rotation axes of the plurality of drive units.

8. The surgical instrument according to claim 6, wherein: The plurality of cables include a first cable, and an angle between a first axle of a pulley of the plurality of first pulleys, which is a pulley guiding the first cable, and a second axle of a pulley of the plurality of second pulleys, which is a pulley guiding the first cable, is an acute angle.

9. The surgical instrument according to claim 8, wherein: The plurality of cables further includes a second cable, and a first axle of a pulley of the plurality of first pulleys to which the second cable is guided is substantially perpendicular to a second axle of a pulley of the plurality of second pulleys to which the second cable is guided.

10. The surgical instrument according to claim 9, wherein: The plurality of cables further includes a third cable, and a first axle of a pulley of the plurality of first pulleys to which the third cable is guided is substantially parallel to a second axle of a pulley of the plurality of second pulleys to which the third cable is guided.

11. The surgical instrument according to claim 10, wherein: The cable segments of the first cable between the plurality of drive units and the first guide mechanism and the cable segment in the first cable bundle are located on a first plane, the cable segment of the first cable in the first cable bundle and the cable segment in the second cable bundle are located on a second plane, and the first plane intersects the second plane.

12. The surgical instrument according to claim 10, wherein: The cable segments of the second cable between the plurality of drive units and the first guide mechanism and the cable segment in the first cable bundle are located on a third plane, the cable segment of the first cable in the first cable bundle and the cable segment in the second cable bundle are located on a fourth plane, and the third plane is substantially perpendicular to the fourth plane.

13. The surgical instrument according to claim 10, wherein: The cable segments of the third cable between the plurality of drive units and the first guide mechanism and the cable segment in the first cable bundle are located on a fifth plane, the cable segment of the third cable in the first cable bundle and the cable segment in the second cable bundle are located on a sixth plane, and the fifth plane is substantially parallel to the sixth plane.

14. The surgical instrument according to claim 1, wherein: The plurality of cables form a plurality of first cable segments between the plurality of driving units and the first guide mechanism. The length direction of any cable segment in the plurality of first cable segments is substantially perpendicular to the length direction of the first cable bundle.

15. The surgical instrument according to claim 14, wherein: The cable segments of the plurality of cables in the first cable bundle are substantially parallel to each other.

16. The surgical instrument according to claim 1, wherein: The length direction of the second cable harness section is substantially perpendicular to the length direction of the first cable harness section.

17. The surgical instrument according to claim 16, wherein: The cable segments of at least two cables of the plurality of cables in the second cable bundle are substantially parallel to each other.

18. The surgical instrument according to claim 1, wherein: The length direction of the third section of the cable harness is substantially parallel to the length direction of the first section of the cable harness.

19. The surgical instrument according to claim 18, wherein: The length direction of the third section of the cable harness is substantially perpendicular to the length direction of the second section of the cable harness.

20. The surgical instrument according to claim 19, wherein: The cable segments of the plurality of cables in the third cable bundle are substantially parallel to each other.

21. The surgical instrument according to claim 5, wherein: At least one of the plurality of first pulleys of the first guide mechanism is adjustable to be located at a different level within the drive device.

22. The surgical instrument according to claim 6, wherein: At least one of the plurality of second pulleys of the second guide mechanism is adjustable to be located at a different level within the apparatus.

23. The surgical instrument according to claim 1, wherein: The plurality of driving units are located on vertices of a polygon.

24. The surgical instrument according to claim 1, wherein: The first guiding mechanism is located in a middle area of ​​the plurality of driving units.

25. The surgical instrument according to claim 1, wherein: The first guiding mechanism and / or the second guiding mechanism include a guide tube for guiding the plurality of cables.

26. A slave operating device, characterized in that: The slave operating device includes a robotic arm and a surgical instrument according to any one of claims 1 to 25, wherein the surgical instrument is mounted on the robotic arm, and the robotic arm is used to manipulate the movement of the surgical instrument.

27. A surgical robot, characterized in that: The surgical robot includes a master operating device and a slave operating device as claimed in claim 26, and the slave operating device performs corresponding operations according to instructions of the master operating device.

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