Surgical instrument, slave device and surgical robot

Abstract

The application provides a surgical instrument, a slave operating device using the surgical instrument and a surgical robot having the slave operating device. The surgical instrument comprises an end effector, a driving device and a cable. The cable comprises a first driving cable and a first pair of cables. The driving device is used to drive the end effector to perform a pitching motion through the first pair of cables and the first driving cable, and to drive the end effector to perform a yawing motion through the first pair of cables. The end effector of the application is driven by different driving principles in two directions of the pitching motion. The pitching motion in the first direction is driven by a special pitching driving cable, and the pitching motion in the other direction is driven by the driving cable for driving the yawing of the end effector.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical devices, in particular to a surgical instrument, a slave operating device using the surgical instrument and a surgical robot having the slave operating device. BACKGROUND

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the body cavity using a laparoscope, a thoracoscope and other modern medical devices and related equipment. Compared with the traditional surgical method, minimally invasive surgery has the advantages of less trauma, less pain and faster recovery.

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

[0004] The slave operating device is connected with a surgical instrument which can be detached from the slave operating device. The surgical instrument includes a driving device and an end effector for performing surgery. The driving device is used to connect the surgical instrument to the slave operating device and receive driving force from the slave operating device to drive the end effector to move. The driving device is connected to the end effector through a driving cable, and the driving device manipulates the movement of the end effector through the driving cable. The end effector generally includes three degrees of freedom of movement, i.e. opening and closing, pitching and yawing. Some end effectors also have a self-rotating motion. In the current technology, the yawing and opening and closing movements of the end effector are controlled by one group of driving cables, while the pitching movement of the end effector is controlled by another group of driving cables.

[0005] During surgical operations in the human body, many complex scenarios often need to be faced, one of which is that more force is needed when the end effector pitches in one direction, while less force is needed when the end effector pitches in the opposite direction. For example, in a surgical operation, the surgical instrument needs to lift a part of the human tissue or press a part of the human tissue in one direction. When the end effector of the surgical instrument lifts or presses the human tissue, more force is needed to lift or press the human tissue in the direction of pitching. Conversely, less force is needed to release the human tissue lifted or pressed by the end effector.

[0006] However, the existing end effector has the same pitching force in both directions, which either makes the end effector unable to provide the required large force when pitching in one direction, or makes the end effector have a large pitching force in both directions. Because a larger pitching force requires larger driving cables or thicker cables, unnecessary waste is caused. SUMMARY

[0007] Based on this, in order to solve the above problems, the present application provides a surgical instrument, the end effector of the present application provides different pitch forces when pitching in two directions respectively, the present application also provides a slave operating device using the surgical instrument and a surgical robot having the slave operating device, wherein the surgical instrument comprises:

[0008] An end effector, the end effector comprising a first support, a second support and an execution part, the second support being rotationally connected to the first support, and the execution part being rotationally connected to the second support;

[0009] A driving cable, the driving cable comprising a first driving cable, a second driving cable and a third driving cable, the distal end of the first driving cable being mounted on the second support, the distal ends of the second driving cable and the third driving cable being mounted on the execution part, the first support being provided with a first pulley block and a second pulley block for guiding the second driving cable and the third driving cable, the second pulley block being located between the execution part and the first pulley block;

[0010] A driving device, the driving device being used to drive the end effector to perform a yaw motion through the second driving cable and the third driving cable, and to drive the end effector to perform a pitch motion through the first driving cable, the second driving cable and the third driving cable.

[0011] Preferably, the portions of the second driving cable and the third driving cable between the execution part and the second pulley block are located on the same side of a first plane, the first plane passing through the axis of the first pulley block and being perpendicular to the axis of the rotation of the rotation part relative to the second support.

[0012] Preferably, the winding manner of the second driving cable on the first pulley block and the second pulley block is the same as the winding manner of the third driving cable on the first pulley block and the second pulley block.

[0013] Preferably, the first pulley block comprises a first pulley and a second pulley which are sequentially arranged on the same shaft and located on both sides of the first driving cable, the second driving cable extends to the second pulley block through the guide at the rear of the first pulley, and the third driving cable extends to the second pulley block through the guide at the rear of the second pulley.

[0014] Preferably, the second pulley block comprises a third pulley and a fourth pulley which are sequentially arranged on the same shaft and located on both sides of the first driving cable, the second driving cable extends to the execution part through the guide of the first pulley and the guide at the front of the third pulley, and the third driving cable extends to the execution part through the guide of the second pulley and the guide at the front of the fourth pulley.

[0015] Preferably, the proximal end of the second support has a pitch wheel for mounting the first driving cable, the proximal end of the first support comprises a base frame for the driving cable to pass through, the part of the first driving cable between the pitch wheel and the base frame is on the same side of the axis of the second pulley set as the parts of the second driving cable and the third driving cable between the first pulley set and the base frame.

[0016] Preferably, the first support has a plurality of through holes, the plurality of through holes comprises at least a first through hole for the first driving cable to pass through, a second through hole for the second driving cable to pass through, and a third through hole for the third driving cable to pass through, the first through hole, the second through hole and the third through hole are on the same side of the plane passing through the axis of the first pulley set and the axis of the second pulley set.

[0017] Preferably, the execution part is an electric cauterization tool, and the end effector further comprises an electric cable for providing power to the execution part, the distal end of the electric cable is electrically connected to the proximal end of the execution part.

[0018] Preferably, the execution part further comprises a first insulation part, a second insulation part and a third insulation part, the proximal end of the execution part and the distal end of the electric cable are connected in the first insulation part, the second insulation part is connected to the distal end of the first insulation part, the end of the execution part is fixed in the second insulation part, and the distal end of the electric cable is accommodated in the third insulation part and extends into the first insulation part to be connected to the proximal end of the execution part.

[0019] Preferably, the second pulley and the fourth pulley have bosses for guiding the electric cable.

[0020] Preferably, the driving device comprises a driving unit, the driving unit drives the end effector to pitch by the first driving cable and cooperates with the second driving cable and the third driving cable.

[0021] A decoupling mechanism, the decoupling mechanism comprises a main decoupling part and a slave decoupling part connected to the main decoupling part, the slave decoupling part comprises a sliding carriage and a guide part arranged at one end of the sliding carriage for guiding the second driving cable and the third driving cable, the main decoupling part is coaxially arranged with the driving unit, the main decoupling part is used to rotate with the driving device and drive the sliding carriage to move to simultaneously increase or simultaneously decrease the lengths of the second driving cable and the third driving cable in the driving device, so that the driving unit drives the end effector to pitch.

[0022] Preferably, the main decoupling part drives the sliding carriage to move linearly to change the lengths of the second driving cable and the third driving cable in the driving device.

[0023] Preferably, the slave decoupling member further comprises a first decoupling cable and a second decoupling cable connected to the two ends of the slide, one end of the first decoupling cable and the second decoupling cable being connected to the main decoupling member, the main decoupling member being configured to drive the slide to change the length of the second driving cable and the third driving cable in the driving device through the first decoupling cable and the second decoupling cable.

[0024] Preferably, the main decoupling member and the slide are connected through a gear meshing mode.

[0025] Preferably, the main decoupling member has a cam structure, and the main decoupling member is used to rotate to drive the cam structure to abut against the slide to drive the slide to move.

[0026] The surgical instrument, the slide has a first convex body and a second convex body, the cam structure comprises a first cam and a second cam arranged in an up-down staggered manner in the axial direction of the main decoupling member, and the rotation of the main decoupling member makes the first cam abut against the first convex body and the second cam abut against the second convex body to push the slide to move.

[0027] Preferably, the projection of the first cam and / or the second cam in the plane perpendicular to the rotation axis of the main decoupling member has an involute, and the change amount of the distance from the involute to the rotation axis of the main decoupling member to the angle through which the main decoupling member rotates around the rotation axis has a linear change relationship.

[0028] Preferably, the outer contour further comprises a first circular arc and a second circular arc located at both ends of the involute, and the distance from the involute to the rotation axis of the main decoupling member gradually increases from one end of the involute connected with the first circular arc to the other end of the involute connected with the second circular arc.

[0029] Preferably, the driving device further comprises a first guide wheel, and the second driving cable and the third driving cable extend to the execution part through the guidance of the first guide wheel and then through the guidance of the guide part.

[0030] Preferably, the movement direction of the slave decoupling member is parallel to the part of the second driving cable and the third driving cable between the first guide part and the slide.

[0031] Preferably, the first driving unit and the main decoupling member rotate in the first direction to reduce the length of the second driving cable and the third driving cable on the second pulley set and make the slave decoupling member move under the drive of the main decoupling member to increase the length of the second driving cable and the third driving cable in the driving device.

[0032] Preferably, the first driving unit and the main decoupling member rotate in the second direction to increase the length of the second driving cable and the third driving cable on the second pulley set and make the slave decoupling member move under the drive of the main decoupling member to reduce the length of the second driving cable and the third driving cable in the driving device.

[0033] Preferably, the rotation of the first driving unit and the main decoupler causes the second driving cable or the third driving cable to change in length on the second pulley block by an amount equal to twice the distance moved by the decoupler within the driving device.

[0034] Preferably, the rotation of the main decoupler in the second direction causes the second driving cable or the third driving cable to decrease in length on the second pulley block by an amount equal to twice the distance moved by the main decoupler unit within the driving device.

[0035] Preferably, the rotation of the main decoupler in the first direction retracts the first decoupling cable and releases the second decoupling cable, causing the carriage to move so as to increase the length of the second driving cable and the third driving cable within the driving device.

[0036] Preferably, the rotation of the main decoupler in the second direction opposite to the first direction releases the first decoupling cable and retracts the second decoupling cable, causing the carriage to move so as to decrease the length of the second driving cable and the third driving cable within the driving device.

[0037] The surgical instrument, the proximal end of the second bracket has a pitch wheel, the pitch wheel is used to rotatably mount the second bracket on the first bracket, and the pitch wheel has an annular groove for accommodating and guiding the first driving cable.

[0038] Preferably, the radii of the pulleys of the second pulley block are all r1, the radius of the bottom of the annular groove is R1, the radius of the main decoupler is r2, and the radius of the driving unit is R2, and the radius of the bottom of the annular groove R1, the radius of the second pulley block r1, the radius of the main decoupler r2, and the radius of the driving unit R2 satisfy the following relationship:

[0039]

[0040] Wherein, N is the number of guide portions.

[0041] Preferably, N is 1.

[0042] A slave operating device from the operating device includes a mechanical arm and the above-mentioned surgical instrument, the surgical instrument is mounted on the mechanical arm, and the mechanical arm is used to manipulate the movement of the surgical instrument.

[0043] A surgical robot includes a master operating console and the above-mentioned slave operating device, and the slave operating device performs corresponding operations according to the instructions of the master operating console.

[0044] The end effector of the surgical instrument of the present invention uses different driving principles to drive the pitch motion in two directions. That is, the pitch motion in the first direction is driven by a dedicated pitch drive cable, while the pitch motion in the other direction is driven by a drive cable that drives the yaw motion of the end effector. Since the dedicated drive cable can provide greater force, it can meet the application scenario of providing greater force when the end effector pitches in one direction. Moreover, using the drive cable that drives the yaw motion of the end effector to drive the pitch motion in the other direction saves drive cables and space, making the end effector smaller to manufacture. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the operating device of a surgical robot according to an embodiment of the present invention;

[0046] Figure 2 This is a schematic diagram of the main control console of a surgical robot according to an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram of the structure of a robotic arm operating a device according to an embodiment of the present invention;

[0048] Figure 4 This is a schematic diagram of the structure of a surgical instrument according to an embodiment of the present invention;

[0049] Figures 5A-5H This is a schematic diagram of the structure of an end effector according to an embodiment of the present invention;

[0050] Figure 6A This is a perspective view of the first support of an end effector according to an embodiment of the present invention;

[0051] Figure 6B For the present invention Figure 6A A top view of the first support of the end effector in the illustrated embodiment;

[0052] Figure 6C This is a top view of the first support of an end effector according to an embodiment of the present invention;

[0053] Figure 7A This is a perspective view of an end effector according to another embodiment of the present invention;

[0054] Figure 7B For the present invention Figure 7A An exploded view of the end effector of the embodiment shown;

[0055] Figure 8 for Figure 7A Top view of the first bracket of the end effector in the illustrated embodiment;

[0056] Figure 9A and Figure 9Bfor Figure 7A A schematic diagram of the pitch state of the end effector in the embodiment shown;

[0057] Figure 9C for Figure 7A A schematic diagram of the yaw mechanism of the end effector in the embodiment shown;

[0058] Figure 10A This is a top view schematic diagram of a driving device according to an embodiment of the present invention;

[0059] Figures 10B-10C for Figure 10A The diagram shows the decoupling process of the drive device in the embodiment shown.

[0060] Figure 11A for Figure 10A An enlarged schematic diagram of the first guide portion and the first guide wheel portion in the illustrated embodiment;

[0061] Figure 11B for Figure 10A An enlarged schematic diagram of the first guide portion and the third guide wheel portion of the embodiment shown;

[0062] Figure 12 This is a schematic diagram of a driving device according to an embodiment of the present invention;

[0063] Figure 13 This is a schematic diagram of a driving device according to an embodiment of the present invention;

[0064] Figure 14A This is a perspective view of a driving device according to an embodiment of the present invention;

[0065] Figure 14B for Figure 14A Top view of the embodiment shown;

[0066] Figure 14C for Figure 14A Exploded view of the decoupling mechanism and mounting base of the embodiment shown;

[0067] Figure 14D for Figure 14A Top view of the main decoupling component in the embodiment shown;

[0068] Figure 14E for Figure 14A A schematic diagram of the decoupling process of the drive device in the embodiment shown;

[0069] Figure 15 This is a schematic diagram of a driving device according to an embodiment of the present invention;

[0070] Figure 16A This is a schematic diagram of a driving device according to an embodiment of the present invention;

[0071] Figure 16B forFigure 16A Decoupling process of the drive device of the embodiment shown;

[0072] Figure 17 Drive device of an embodiment of the present application;

[0073] Figure 18A Drive device of an embodiment of the present application;

[0074] Figure 18B Figure 18A Elevation view of the main decoupler of the drive device of the embodiment shown. DETAILED DESCRIPTION

[0075] For the purpose of promoting an understanding of the principles of the application, reference will now be made to the embodiment illustrated in the drawings and specific language will be used to describe the same. It will, nevertheless, be understood that no limitation of the scope of the application is thereby intended, such alterations and further modifications in the illustrated device being contemplated as falling within the scope of the application. It is to be understood that the application is not limited to the embodiments described above and illustrated in the drawings; rather, the application is capable of numerous rearrangements, modifications and substitutions of parts and elements without departing from the scope of the claims.

[0076] It is to be understood that the terminology used herein is for the purpose of describing the particular embodiments only and is not intended to be limiting. It is also possible in the present disclosure that

[0077] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this description of the application, the following terms are defined with the following meanings:

[0078] A minimally invasive surgical robotic system generally includes a slave operating device and a master operating console, Figure 1 The slave operating device 100 of an embodiment of the present application is shown. Figure 2 ​For the master operating console 200 of an embodiment of the present application, the surgeon performs relevant control operations on the master operating console 200 to control the slave operating device 100, and the slave operating device 100 performs surgical operations on the human body according to the input instructions of the master operating console 200. The master operating console 200 and the slave operating device 100 can be placed in one operating room, or can be placed in different rooms, or even the master operating console 200 and the slave operating device 100 can be far apart, for example, the master operating console 200 and the slave operating device 100 are located in different cities, and the master operating console 200 and the slave operating device 100 can transmit data in a wired manner or in a wireless manner, for example, the master operating console 200 and the slave operating device 100 are located in one operating room, and data transmission is performed in a wired manner between the two, and for example, the master operating console 200 and the slave operating device 100 are located in different cities, and long-distance data transmission is performed between the two through 5G wireless signals.

[0079] As shown in Figure 1 , the slave operating device 100 includes a plurality of mechanical arms 110, each of which includes a plurality of joints and a tool holding arm 130, the plurality of joints are linked to realize the movement of a plurality of degrees of freedom of the tool holding arm 130, and a surgical instrument 120 for performing a surgical operation is installed on the tool holding arm 130. The surgical instrument 120 enters the human body through a trocar 140 fixed at the distal end of the tool holding arm 130, and the mechanical arm 110 is used to manipulate the movement of the surgical instrument 120 to perform the operation. The surgical instrument 120 is detachably installed on the tool holding arm 130, so that different types of surgical instruments 120 can be replaced at any time or the surgical instrument 120 can be removed for washing or disinfection of the surgical instrument 120. As shown in Figure 3 , the tool holding arm 130 includes a tool holding arm body 131 and an instrument mounting rack 132, the instrument mounting rack 132 is used to mount the surgical instrument 120, and the instrument mounting rack 132 can slide on the tool holding arm body 131, thereby driving the surgical instrument 120 to advance or withdraw along the tool holding arm body 131.

[0080] As shown in Figure 4As shown, the surgical instrument 120 includes a driving device 170 at the proximal end of the surgical instrument 120 and an end effector 150 at the distal end of the surgical instrument 120, and a long shaft 160 between the driving device 170 and the end effector 150, the driving device 170 is used to connect with the instrument mounting frame 132 of the holding arm 130, the instrument mounting frame 132 has a plurality of actuators (not shown in the figure) therein, the plurality of actuators are engaged with the driving device 170 to transmit the driving force of the actuators to the driving device 170. The long shaft 160 is used to connect the driving device 170 and the end effector 150, the long shaft 160 is hollow for the driving cable to pass through, the driving device 170 drives the movement of the end effector 150 through the driving cable to make the end effector 150 perform the relevant surgical operation.

[0081] Figures 5A-5D The structural schematic diagram of the end effector 150 of an embodiment of the present application is shown in Figure 5A and 5B As shown, the end effector 150 includes a first support 210 and a second support 310, the distal end of the first support 210 has a first support column 211 and a second support column 212, the proximal end of the first support 210 has a first base 213, one end of the base 213 is connected with the long shaft 160, the other end of the first base 213 extends towards the distal end of the end effector 150 to form the first support column 211 and the second support column 212, the first support column 211, the second support column 212 and the first base 213 form a substantially U-shaped clamp structure.

[0082] The first pin 214 and the second pin 215 are arranged between the first support column 211 and the second support column 212, one end of the first pin 214 is fixedly connected to the first support column 211, and the other end of the first pin 214 is fixedly connected to the second support column 212, similarly, one end of the second pin 215 is fixedly connected to the first support column 314, and the other end of the second pin 215 is fixedly connected to the second support column 212, the first pin 214 and the second pin 215 are arranged side by side on the first support column 211 and the second support column 212, wherein the first pin 214 is closer to the base 213 of the first support 210 than the second pin 215.

[0083] The first pin 214 is provided with a first pulley set, which includes the first pulley 221, the second pulley 222, the third pulley 223 and the fourth pulley 224 arranged in sequence from left to right on the first pin 214. The second pin 215 is provided with a second pulley set, which includes the fifth pulley 225, the sixth pulley 226, the seventh pulley 227 and the eighth pulley 228 arranged in sequence from left to right on the second pin 215. The first pulley 211 to the eighth pulley 218 are all used for guiding the driving cable. Since the pulleys for guiding the driving cable are all arranged on the first support 210, the second support 310 has no pulleys, so that the volume of the second support 310 can be made smaller, so that the volume of the end effector 150 is smaller, and there is no risk of the pulleys falling off.

[0084] The second support 310 is provided with the third support column 311, the fourth support column 312 and the pitch wheel 314. The third support column 311 and the fourth support column 312 extend from the pitch wheel 314 along the distal end of the end effector 150. The third support column 311, the fourth support column 312 and the pitch wheel 314 form a substantially U-shaped bracket shape. The pitch wheel 314 of the second support 310 is mounted on the first support 210 through the second pin 312. The second support 310 can rotate around the axis AA' passing through the second pin 215 to realize the pitch movement of the end effector 150.

[0085] The third pin 313 is arranged between the third support column 311 and the fourth support column 312 of the second support 310. One end of the third pin 313 is fixedly connected to the third support column 311, and the other end is fixedly connected to the fourth support column 312. The clamping part 410 of the end effector 150 includes the first clamping part 411 and the second clamping part 412. The first clamping part 411 and the second clamping part 412 are rotatably arranged on the second support 310 through the third pin 313. The first clamping part 411 and the second clamping part 412 can rotate around the axis BB' passing through the third pin 313 to realize the opening and closing and / or yawing movement of the end effector 150. The first pin 214 is parallel to the second pin 215, and the third pin 313 is perpendicular to the first pin 214 and the second pin 215. The first clamping part 411 and the second clamping part 412 can be a forceps for clamping tissue, a stapler for suturing, or a cauter for electric cauterization, etc.

[0086] Figure 5A The direction marks in the figure are for the convenience of describing the winding mode of the driving cable on the end effector 150. The distal end and the proximal end in the marks refer to the distal end and the proximal end direction of the end effector 150. The front, the back, the left and the right refer to the front direction, the back direction, the left direction and the right direction of the end effector 150 in the perspective of the figure. Figure 5A The front, the back, the left and the right in the figure are not marked with directions, but can be understood according to the perspective of the figure. Figure 5AThe direction of the end effector 150 can be derived more easily. The driving cables arranged on the end effector 150 include a first driving cable, a second pair of cables and a third pair of cables, wherein the second pair of cables includes a second driving cable 152A and a third driving cable 152B, the second driving cable 152A and the third driving cable 152B cooperate to realize the rotation of the first clamping part 411 around the third pin 313, and the first driving cable, the second driving cable 152A and the third driving cable 152B cooperate to realize the pitch movement of the end effector 150; the third pair of cables includes a fourth driving cable 153A and a fifth driving cable 153B, the fourth driving cable 153A and the fifth driving cable 153B cooperate to realize the rotation of the second clamping part 412 around the third pin 313, and the second driving cable 152A, the third driving cable 152B, the fourth driving cable 153A and the fifth driving cable 153B cooperate to realize the opening and closing and yaw movement of the end effector 150.

[0087] The distal end of the first driving cable 151 has a first mounting end 151A, and the second bracket 310 has a first mounting cavity for accommodating the first mounting end 151A. The first mounting end 151A is accommodated in the first mounting cavity to realize the connection between the first driving cable 151 and the second bracket 310. The distal ends of the second pair of cables and the third pair of cables have a second mounting end 152C and a third mounting end 153C respectively, and the first clamping part 411 and the second clamping part 412 have a second mounting cavity 411A and a third mounting cavity 412A respectively, which are used to accommodate the first mounting end 151C and the second mounting end 152C to realize the connection between the first pair of cables and the second pair of cables and the first clamping part 411 and the second clamping part 412 respectively.

[0088] In order to realize the cooperation between the first driving cable 151 and the second driving cable 152A and the third driving cable 152B to realize the pitch movement of the end effector 150, on one side of the end effector 150, the second driving cable 152A and the third driving cable 152B are wound on the first pulley set and the second pulley set in the same way, and the fourth driving cable 153A and the fifth driving cable 153B are wound on the first pulley set and the second pulley set in the same way. Specifically, as shown in FIG. 6, the second driving cable 152A and the third driving cable 152B are wound on the first pulley set and the second pulley set in the same way, and the fourth driving cable 153A and the fifth driving cable 153B are wound on the first pulley set and the second pulley set in the same way. Figure 5CAs shown, the proximal end of the second driving cable 152A is connected to the driving unit within the driving device 170, the distal end of the second driving cable 151A is guided through the front of the first pulley 211 and then continues to extend towards the distal end of the end effector 150, and is guided through the rear of the fifth pulley 215 and then continues to extend along the distal end of the end effector 150 and finally is installed in the second mounting cavity 411A on the first clamping part 411 through the second mounting end 151C; the third driving cable 151B is guided through the front of the fourth pulley 224 and then continues to extend towards the distal end of the end effector 150, and is guided through the rear of the eighth pulley 228 and then continues to extend towards the distal end of the end effector 150 and finally is installed in the second mounting cavity 411A on the second clamping part 411 through the third mounting end 152C. The distal end of the fourth driving cable 153A is guided through the rear of the second pulley 222 and then continues to extend towards the distal end of the end effector 150, and is guided through the front of the sixth pulley 226 and then continues to extend towards the distal end of the end effector 150 and finally is installed in the third safety cavity 412A of the second clamping part 412 through the third mounting end 153C, and the distal end of the fifth driving cable 153B is guided through the rear of the third pulley 223 and then continues to extend towards the distal end of the end effector 150, and is guided through the front of the seventh pulley 217 and then continues to extend towards the distal end of the end effector 150 and finally is installed in the third mounting cavity 412A on the second clamping part 412 through the third mounting end 153C.

[0089] The second driving cable 152A and the third driving cable 152B together cooperate to manipulate the first clamping part 411 to rotate around the axis BB’ of the third pin 313, the fourth driving cable 153A and the fifth driving cable 153B together cooperate to manipulate the second clamping part 412 to rotate around the axis BB’ of the third pin 313, and then the second driving cable 152A, the third driving cable 152B, the fourth driving cable 153A and the fifth driving cable 153B together cooperate to manipulate the first clamping part 411 and the second clamping part 412 to achieve the opening and closing and / or yawing movement of the end effector 150.

[0090] In addition, the first driving cable 151A and the second driving cable 152A, the third driving cable 152B together cooperate to manipulate the clamping part 410 and the second bracket 310 to rotate around the axis AA’ of the second pin 215 to achieve the pitch movement of the end effector 150.

[0091] Specifically, as shown, Figures 5C-5D when the driving mechanism simultaneously pulls the second driving cable 152A and the third driving cable 152B and simultaneously releases the first driving cable 151, the fourth driving cable 153A and the fifth driving cable 153B, the clamping part 410 and the second bracket 310 rotate counterclockwise around the axis AA’ of the second pin 215, and the end effector 150 performs Figure 5Dthe pitch motion shown; when the drive mechanism retracts the first drive cable 151 A and / or simultaneously retracts the fourth drive cable 153 A and the fifth drive cable 153B, the clamp 410 and the second bracket 310 rotate clockwise around the axis AA' of the second pin 215, the end effector 150 performs Figure 5E the pitch motion shown.

[0092] the yaw motion shown; when the drive mechanism retracts the third drive cable 152B and the fifth drive cable 153B and simultaneously releases the second drive cable 152A and the fourth drive cable 153 A, the first clamp 411 rotates counterclockwise around the axis BB' of the third pin 313, the second clamp 412 rotates clockwise around the axis BB' of the third pin 313, the end effector 150 performs Figure 5F the yaw motion shown; when the drive mechanism retracts the third drive cable 152B and the fifth drive cable 153B and simultaneously releases the second drive cable 152A and the fourth drive cable 153 A, the first clamp 411 rotates counterclockwise around the axis BB' of the third pin 313, the second clamp 412 rotates clockwise around the axis BB' of the third pin 313, the end effector 150 performs Figure 5G the opening motion of the clamp 410 shown. The above pitch, yaw and opening and closing motions of the end effector 150 can also be performed simultaneously, as shown in Figure 5H the first drive cable 151, the first pair of cables and the second pair of cables cooperate to manipulate the end effector 150 to perform the pitch, yaw and opening and closing motions simultaneously. It can be understood that when the drive cables are manipulated in the opposite direction, the pitch, yaw and opening and closing directions of the end effector 150 are opposite to the above directions, which will not be described here.

[0093] Compared with the prior art end effector, the end effector 150 of the surgical instrument of the present application is manipulated clockwise around the axis AA' of the second pin by the first drive cable 151, and the end effector is manipulated counterclockwise around the axis AA' of the second pin by the second drive cable 152A and the third drive cable 152B. Since the torque that the second bracket 310 receives when the drive mechanism 170 retracts the first drive cable 151 is greater than the torque that the second bracket 310 receives when the drive mechanism 170 retracts the second drive cable 152A and the third drive cable 152B, the end effector 150 rotates more powerfully when it rotates clockwise than when it rotates counterclockwise, which is mainly for the scenario that more power is needed when the end effector 150 pitches in one direction, and less power is needed when the end effector 150 pitches in the opposite direction, for example, in a surgical operation, a part of human tissue needs to be lifted by the surgical instrument, or a part of human tissue needs to be pressed by the surgical instrument, more power is needed to lift or press the human tissue by the end effector 150 when the end effector 150 pitches in the direction of lifting or pressing the human tissue, and less power is needed to release the human tissue lifted or pressed by the end effector 150.

[0094] In one embodiment of the present application, when the end effector 150 of the surgical instrument is rotated clockwise along the axis AA' of the second pin by the first driving cable 151 and the fourth driving cable 153A and the fifth driving cable 153B together, the end effector 150 has a greater force to rotate clockwise along the axis AA' of the second pin than when the end effector 150 is rotated clockwise along the axis AA' of the second pin by the first driving cable 151 alone, so that the end effector can provide greater force in the scenario that the end effector is adapted to operate in a single direction of pitch.

[0095] In addition, since the present application has only one first driving cable specially used to manipulate the pitch movement of the end effector 150, one driving cable specially used to manipulate the pitch movement of the end effector is less than the prior art, so that the volume of the first bracket and the second bracket can be made smaller, thereby making the volume of the entire end effector correspondingly smaller, and the structure simpler and the assembly easier.

[0096] It can be understood that, in other embodiments, contrary to the above two embodiments, the first driving cable specially used to manipulate the pitch of the end effector manipulates the end effector to rotate counterclockwise, and the second driving cable and the third driving cable that manipulate the opening and closing and the yaw of the end effector manipulate the end effector to rotate clockwise.

[0097] In order to achieve the manipulation of the pitch movement of the end effector by the second driving cable and the third driving cable that manipulate the opening and closing and the yaw of the end effector, as shown in Figures 5C-5G No matter how the end effector 150 moves, the portions of the first pair of cables to the second pulley block and the portions of the second pair of cables to the second pulley block are located on two sides of a plane M (the first plane) passing through the axis AA' of the second pin 215 and perpendicular to the axis BB' of the third pin 313, the portions of the first pair of cables to the second pulley block include the first partial cable 152A' and the second partial cable 152B', and the portions of the second pair of cables to the second pulley block include the third partial cable 153A' and the fourth partial cable 153B', i.e., the first partial cable 152A' and the second partial cable 152B' are located on the same side of the plane M, and the first partial cable 152A' and the second partial cable 152B' are located on the other side of the plane M, wherein the portions of the first pair of cables to the second pulley block and the portions of the second pair of cables to the second pulley block do not include the portions of the first pair of cables and the second pair of cables wound on the second pulley block.

[0098] As shown in Figure 5CAs shown, the portion of the first pair of cables between the second pulley set and the second mounting cavity 412A of the second clamp portion 412 includes a first portion of the second drive cable 152A 152A' between the sixth pulley 226 and the second mounting cavity 412A and a second portion of the third drive cable 152B 151B' between the seventh pulley 227 and the second mounting cavity 412A, and the portion of the second pair of cables between the second pulley set and the first mounting cavity 411A of the first clamp portion 411 includes a third portion of the fourth drive cable 153A 152A' between the fifth pulley 225 and the first mounting cavity 411A and a fourth portion of the fifth drive cable 153B 152B' between the eighth pulley 228 and the first mounting cavity 411A.

[0099] Therefore, when the driving device 170 simultaneously pulls the second drive cable 152A and the third drive cable 152B of the first pair of cables and releases the first drive cable 151 and the fourth drive cable 153A and the fifth drive cable 153B of the second pair of cables, the second clamp portion 412 is pushed by the moment of the first pair of cables to rotate counterclockwise around the axis AA' of the second pin 215, and the end effector 150 performs Figure 5D the pitch motion as shown. Conversely, when the driving device 170 pulls the first drive cable 151 and releases the second pair of cables, the second bracket 310 is rotated clockwise around the axis AA' of the second pin 215 by the pulling force of the first drive cable 151, and the pitch motion of the end effector 150 is opposite to Figure 5E that shown. In another embodiment, the driving device 170 pulls the first drive cable 151 and simultaneously pulls the fourth drive cable 153A and the fifth drive cable 153B and releases the second pair of cables, at this time, the second bracket 310 is pushed by the pulling force of the first drive cable 151, and the first clamp portion 411 is also pushed by the moment of the second pair of cables, so that the end effector 150 is driven to rotate clockwise by the two moments (i.e. the moment of the first drive cable 151 and the second pair of cables), and thus the end effector 150 can provide more force when it pitches clockwise to adapt to more application scenarios.

[0100] As Figures 5D-5HAs shown, no matter how the end effector 150 pitches, the first and second partial cables 152A' and 152B' are always on the two sides of the plane M, the first and second partial cables 152A' are always on the same side of the plane M, the third and fourth partial cables 153A' and 153B' are always on the other side of the plane M, thus, no matter where the end effector 150 is, simultaneously pulling the second and third driving cables 152A and 152B can make the end effector 150 rotate clockwise around the axis AA' under the moment which drives it to rotate counterclockwise around the axis AA', similarly, no matter where the end effector 150 is, simultaneously pulling the fourth and fifth driving cables 153A and 153B can make the end effector 150 rotate counterclockwise around the axis AA' under the moment which drives it to rotate clockwise around the axis AA'.

[0101] Similarly, the portions of the first and second pairs of cables between the first pulley block and the first chassis 213 of the second bracket 210 are respectively on the two sides of a plane P (second plane) which passes through the axes of the first and second pins 214 and 215, i.e. the plane P refers to an end surface which passes through the rotation axis AA' of the pitching of the end effector 150 and is perpendicular to the distal end of the first chassis 213, the portions of the first and second pairs of cables between the first pulley block and the first chassis 213 of the second bracket 210 do not include the portions wound on the first pulley block.

[0102] As Figure 6A and 6B The first chassis 213 is provided with through holes for the first driving cable, the first pair of cables and the second pair of cables to pass through, specifically, the first chassis 213 has a first through hole 213A for the first driving cable 151 to pass through, a second through hole 213B for the second driving cable 152A to pass through, a third through hole 213C for the third driving cable 152B to pass through, a fourth through hole 213D for the fourth driving cable 153A to pass through and a fifth through hole 213E for the fifth driving cable 153B to pass through, wherein the first, second and third through holes 213A, 213B and 213C are on the same side of the plane P, the fourth and fifth through holes 213D and 213E are on the other side of the plane P, thus the portions of the first and second pairs of cables between the first pulley block and the first chassis 213 are respectively on the two sides of the plane P, and the portions of the first driving cable 151 and the first pair of cables between the first pulley block and the first chassis 213 for a cooperative operation to pitch the end effector 150 are on the same side of the plane P.

[0103] In order to make the transmission efficiency of the driving cable highest, the straight line passing through the center of the second through hole 213B and the center of the third through hole 213C is parallel to the straight line passing through the center of the fourth through hole 213D and the center of the fifth through hole 213E, as shown in the figure. Figure 6A The connecting line of the centers of the second through hole 213B, the third through hole 213C, the fourth through hole 213D and the fifth through hole 213E forms a trapezoid. Another embodiment of the present application is shown in the figure. Figure 6C The connecting line of the centers of the second through hole 223B, the third through hole 223C, the fourth through hole 223D and the fifth through hole 223E on the first bracket 220 forms a parallelogram. The proximal ends of the first pair of cables and the second pair of cables pass through the through holes on the first bracket 210, 220, then enter the long shaft 160 and are finally fixed in the driving device 170.

[0104] The end effector of another embodiment of the present application is shown in the figure. Figures 7A-7B The end effector 250 end effector 510 includes a first bracket 510 and a second bracket 610, the proximal end of the first bracket 510 has a first base 513, one end of the base 513 is connected to the long shaft 160, and the other end extends towards the distal end of the end effector 250 to form a first support 511 and a second support 512, the first support 511, the second support 512 and the first base 513 form a substantially U-shaped clamp structure.

[0105] A first pin 514 and a second pin 515 are arranged parallel to each other between the first support 511 and the second support 512, one end of the first pin 514 is fixedly connected to the first support 511, and the other end is fixedly connected to the second support 512, the first pin 214 and the second pin 215 are arranged side by side on the first support 211 and the second support 212, and the first pin 214 is closer to the base 213 of the first bracket 210 than the second pin 215.

[0106] A first pulley set is arranged on the first pin 514, the first pulley set includes a first pulley 521 and a second pulley 522 arranged in sequence from left to right on the first pin 514, a second pulley set is arranged on the second pin 515, the second pulley set includes a third pulley 523 and a fourth pulley 524 arranged in sequence from left to right on the second pin 515, the first pulley 521 to the fourth pulley 524 are used to guide the driving cable, since the pulleys used to guide the driving cable are all arranged on the first bracket 510, there is no pulley on the second bracket 610, therefore the volume of the second bracket 310 can be made smaller, so that the volume of the end effector 150 is smaller, and there is no risk of pulley falling off.

[0107] The proximal end of the second support 610 has a pitch wheel 613, from which a third strut 611 and a fourth strut 612 extend along the distal end of the end effector 250, the third strut 611, the fourth strut 612 and the pitch wheel 613 form a substantially U-shaped shape, the pitch wheel 613 of the second support 610 is mounted on the first support 510 through the second pin 515, and the second support 610 can rotate around the axis AA' passing through the second pin 515 to realize the pitch movement of the end effector 150.

[0108] The third strut 611 and the fourth strut 612 of the second support 610 are provided with a third pin 313 perpendicular to the first pin 514 and the second pin 515, and the third pin 313 is fixed between the third strut 611 and the fourth strut 612. The execution part 620 of the end effector 250 is rotatably arranged on the second support 610 through the third pin 623, and the execution part 620 can rotate around the axis BB' passing through the third pin 623 to realize the yaw movement of the end effector 250. The execution part 620 in the embodiment is an electric cauterization instrument, and in other embodiments, the execution part 620 is also a cutting knife, a needle and the like.

[0109] The driving cable arranged on the end effector 250 includes a first driving cable 251 and a first pair of cables 252, wherein the first pair of cables 252 includes a second driving cable 252A and a third driving cable 252B, the first driving cable 251 is located between the second driving cable 252A and the third driving cable 252B, the second driving cable 252A and the third driving cable 252B cooperate to realize the rotation of the execution part 620 around the third pin 623 to realize the yaw movement of the end effector 250, and the first driving cable 251 and the second driving cable 252A and the third driving cable 252B cooperate to realize the pitch movement of the end effector 250.

[0110] The distal end of the first drive cable 251 has a first mounting end 251A. The pitch wheel 613 of the second bracket 310 has a first mounting cavity (not shown) for accommodating the first mounting end 251A. The first mounting end 251A is accommodated in the first mounting cavity to connect the first drive cable 251 to the pitch wheel 613. The pitch wheel 613 also has an annular groove for guiding and receiving the first drive cable 251, so that the first drive cable 251 forms a wrap angle within the annular groove. The distal ends of the first pair of cables 252 have a second mounting end 252C. The second drive cable 252A and the third drive cable 252B of the first pair of cables 252 form a single cable with their distal ends connected as one piece. In some other embodiments, the distal ends of the second drive cable 252A and the third drive cable 252B may also be separate, so that the second drive cable 252A and the third drive cable 252B are two independent drive cables. The second bracket 610 has a second mounting cavity (not shown in the figure) for accommodating the second mounting end 252C to connect the first pair of cables 252 to the actuator 620.

[0111] The second drive cable 252A of the first pair of cables 252 is wound in the same way on the first pulley 521 and the third pulley 523 as the third drive cable 253A is wound on the second pulley 522 and the fourth pulley 524. Specifically, the second drive cable 252A extends after being guided by the rear of the first pulley 521, then extends after being guided by the front of the third pulley 523 to the distal end of the end effector 250, and is finally fixed to the actuator 620 through the second mounting end 252C. The third drive cable 252B extends after being guided by the rear of the second pulley 522, then extends after being guided by the front of the fourth pulley 524 to the distal end of the end effector 250, and is finally fixed to the actuator 620 through the second mounting end 252C. After the winding process described above, regardless of how the end effector 250 moves, the portion 252A' of the second drive cable 252A between the second mounting end 252C and the third pulley 523, and the portion 252B' of the third drive cable 252B between the second mounting end 252C and the third pulley 524 are always located on the same side of the first plane M. The first plane M is a plane that passes through the axis AA' of the first pin 515 and is perpendicular to the axis BB' of the third pin 623.

[0112] like Figure 7B As shown, the end effector 250 also includes a cable 253 that provides power to the actuator 620 and a guide mechanism for guiding the cable 253. In one embodiment, the guide mechanism includes a first guide boss 522B extending from the side of the second pulley 552 and a second guide boss 524B extending from the side of the fourth pulley 524. The cable 253 is connected to the actuator 620 after being guided by the first guide boss 522B and the second guide boss 524B.

[0113] In one embodiment, the cable 253 is routed through the first guide boss 522B and the second guide boss 524B in the same way as the third drive cable 252B is routed through the second pulley 522 and the fourth pulley 524, i.e. the cable 253 is routed through the back of the first guide boss 522B and then through the front of the second guide boss 524B before being connected to the execution part 430. Inside the long shaft 160, the cable 253 is bundled with the third drive cable 252B, so that when the end effector 250 is in action, the cable 253 can be retracted and extended by the power of the third drive cable 252B and synchronously with the third drive cable 252B. For example, when the end effector 250 performs a pitch action, the angular length of the cable 253 on the second guide boss 524B and the angular length of the third drive cable 252B on the fourth pulley 524 change synchronously in the same way, i.e. if the angular length of the third drive cable 252B on the fourth pulley 524 increases, the angular length of the cable 253 on the second guide boss 524B also increases synchronously, and vice versa, so as to avoid the cable 253 being undesirably tensioned or relaxed during the action of the end effector 250.

[0114] In one embodiment, the guide mechanism for guiding the cable 253 is a guide pulley independently provided with the second pulley 522 and the fourth pulley 524. In this embodiment, the guide mechanism includes a fifth pulley (not shown in the figure) coaxially provided with the second pulley 422 and a sixth pulley (not shown in the figure) coaxially provided with the fourth pulley 524. The cable 253 is routed through the fifth pulley and the sixth pulley in the same way as the third drive cable 252B is routed through the second pulley 522 and the fourth pulley 524, i.e. the cable 253 is routed through the back of the fifth pulley and then through the front of the sixth pulley before being connected to the execution part 430, so as to achieve the synchronous retraction and extension of the cable 253 and the third drive cable 252B.

[0115] The execution part 430 includes an electric hook 624 and an insulating member for preventing the electric hook and the cable 253 from being burned to an undesired part. The insulating member at least includes a first insulating member 621, a second insulating member 622 and a third insulating member 625. The proximal end of the electric hook 624 and the distal end of the cable 253 are connected in the first insulating member 621. The second insulating member 622 is connected to the distal end of the first insulating member 621. The end of the electric hook 624 is fixed in the second insulating member 622. The distal end of the cable 253 is accommodated in the third insulating member 625 and extends into the first insulating member 621 to be connected to the proximal end of the electric hook 624.

[0116] As Figure 8As shown, the first bracket 510 has multiple through holes that allow drive cables and cables to pass through. The multiple through holes include a first through hole 513a for the first drive cable 251 to pass through, a second through hole 523b for the second drive cable 252A to pass through, a third through hole 513c for the third drive cable 252B to pass through, and a fourth through hole 513d for the cable 253. Similar to the previous embodiment, the first through hole 513a, the second through hole 513b, and the third through hole 513c are located on the same side of a second plane P that passes through the axis of the first pin 414 and is parallel to the axis of the aforementioned through holes. The fourth through hole 513d is located on the opposite side of the second plane P to the first through hole 513a, the second through hole 513b, and the third through hole 513c. In other embodiments, the fourth through hole 513d may also be located on the same side of the second plane P to the first through hole 513a, the second through hole 513b, and the third through hole 513c. The first through hole 513a, the second through hole 513b, and the third through hole 513c are located on opposite sides of the second plane P, which makes the transmission efficiency of the first drive cable 251 and the first pair of cables 252 the highest. This makes the winding method of the first pair of cables on the end effector 250 simple and easy to assemble.

[0117] like Figure 7A As shown, when the drive mechanism of the surgical instrument simultaneously pulls the second drive cable 252A and the third drive cable 252B and releases the first drive cable 251, the pitch wheel 613 of the second support 610 rotates in the first direction around the axis of the second pin 515, i.e., the first axis AA'. At this time, the end effector 250 performs the following actions: Figure 9A The pitch motion is shown. Conversely, when the drive unit pulls the first drive cable 251 and simultaneously releases the second drive cable 252A and the third drive cable 252B, the pitch wheel 613 of the second support 610 rotates around the first axis AA' in the second direction, at which time the end effector 250 performs the following action: Figure 9B The pitch motion is shown. Because the winding and connection of the first drive cable 251 and the first pair of cables 252 on the end effector 250 are different, when the drive unit pulls the second drive cable 252A and releases the third drive cable 252B, the actuator 620 rotates about the axis BB' of the third pin 623 along the third rotation, and the end effector 250 performs the following action: Figure 9C The yaw motion shown is conversely, when the drive unit retracts the third drive cable 252B and releases the second drive cable 252A, the end effector performs the same action as... Figure 9C Yaw motion in the opposite direction.

[0118] for Figure 5AThe embodiment shown, because the proximal ends of the second driving cable 152A and the third driving cable 152B of the first pair of cables and the fourth driving cable 153A and the fifth driving cable 153B of the third pair of cables are all wound on the driving unit in the driving device, and the driving unit can only rotate to realize the winding or releasing of the first driving cable 151 to the fifth driving cable 153B. But because the driving unit cannot translate, it cannot simultaneously wind or simultaneously release the second driving cable 152A and the third driving cable 152A, and similarly, the driving unit cannot simultaneously wind or simultaneously release the fourth driving cable 153A and the fifth driving cable 153B. And as mentioned above, the clockwise rotation of the end effector 150 around the axis AA' of the second pin 215 requires winding the first driving cable 151 and simultaneously releasing the second driving cable 152A and the third driving cable 152B of the first pair of cables, and the counterclockwise rotation of the end effector 150 around the axis AA' of the second pin 215 requires simultaneously winding the second driving cable 152A and the third driving cable 153A of the first pair of cables and simultaneously releasing the fourth driving cable 153A and the fifth driving cable 153B of the second pair of cables, in short, there is a coupling relationship between the first driving cable 151, the first pair of cables and the second pair of cables, so the existing driving device cannot realize the driving of the pitch movement of the end effector 150 of the present application. Therefore, the present application also proposes a driving device which can drive the end effector 150 of the present application, especially drive the end effector 150 of the present application to perform pitch movement. It can be understood that the driving device of the present application can not only be applied to the end effector 150 in the first embodiment of the present application, but also be applied to other end effectors which have the same principle although the structure is different from the end effectors 150, 250 of the present application.

[0119] The following detailed description Figure 5A This coupling relationship between the first driving cable 151, the second pair of cables and the third pair of cables in the embodiment shown. In the process of rotating the end effector 150 from the Figure 5C the straight zero state shown to the Figure 5E pitch state shown, when the driving device 170 winds the first driving cable 151, if the end effector 150 needs to turn through a target pitch angle of α, then the horizontal plane a passing through the axis of the second pin 215 needs to rotate clockwise by an angle of α from the position of Figure 5D to the position of Figure 5EIf the radius of the first and second pulley systems is both r, in order for the end effector 150 to successfully rotate the target's pitch angle α, the wrap angle lengths of the second drive cable 152A and the third drive cable 152B on the sixth pulley 226 and the seventh pulley 227 must be increased by a length L, where L = α * r1. Correspondingly, the wrap angle lengths of the fourth drive cable 153A and the fifth drive cable 153B on the fifth pulley 225 and the eighth pulley 228 must be decreased by a length L. Similarly, to simultaneously pull the second drive cable 152A and the third drive cable 152B so that the end effector 150 moves from... Figure 5D The zero point position is rotated counterclockwise by an angle α. Figure 5D The positions shown must be such that the wrap angle lengths of the second drive cable 152A and the third drive cable 152B on the sixth pulley 226 and the seventh pulley 227 are simultaneously reduced by length L, while the wrap angle lengths of the third drive cable 153A and the fifth drive cable 153B on the fifth pulley 225 and the eighth pulley 228 are simultaneously increased by length L, where L=α*r1.

[0120] And such Figure 10A As shown, within the drive unit 170, the proximal end of the first drive cable 151 is wound around the rotatable first drive unit 171. The second drive cable 152A and the third drive cable 152B are wound around the rotatable second drive unit 172 in opposite directions. The fourth drive cable 153A and the fifth drive cable 153B are wound around the rotatable second drive unit 173 in opposite directions. Since the first drive unit 171, the second drive unit 172, and the third drive unit 173 are rotatably fixed on their rotation axes, the second drive unit 172 and the third drive unit 173 cannot be translated. Therefore, rotating the second drive unit 172 alone cannot cause the second drive cable 152A to move. The lengths of A and the third drive cable 152B can be increased or decreased simultaneously. Similarly, rotating the third drive unit 173 cannot cause the lengths of the fourth drive cable 153A and the fifth drive cable 153B to increase or decrease simultaneously. As mentioned above, in order to enable the end effector 150 to perform pitch motion, the lengths of the second drive cable 152A and the third drive cable 152B must be increased or decreased simultaneously, and the lengths of the fourth drive cable 153A and the fifth drive cable 153B must be increased or decreased simultaneously. Therefore, the movement of the first drive cable 151 is restricted by the first pair of cables, and the first pair of cables and the second pair of cables are mutually restricted when manipulating the pitch motion of the end effector.

[0121] This kind of one element change limited by another element relationship is called coupling relationship, that is, there is a coupling relationship between one element and another element. For the first driving cable 151, the second pair of cables and the third pair of cables, this limited relationship can be that the first driving cable is limited by the first pair of cables, so that the third pair of cables cannot move at all, the first pair of cables and the second pair of cables are limited by each other, so that the first pair of cables and the second pair of cables cannot move, so that the end effector cannot realize the pitch movement, or the first driving cable is limited by the first pair of cables, the first pair of cables and the second pair of cables are limited by each other, so that any cable movement between the first pair of cables, the second pair of cables and the third pair of cables will cause other cables to move unexpectedly, so that the end effector also moves unexpectedly and cannot perform the expected operation, for example, when the first driving cable 151 operates the end effector to pitch, due to the coupling relationship between the first driving cable 151 and the first pair of cables, the movement of the third pair of cables will cause the movement of the first pair of cables and / or the second pair of cables, so that the end effector will cause the opening and / or yawing movement of the end effector while pitching, causing the pitch movement of the end effector to affect the opening and / or yawing movement of the end effector, and the pitch movement of the end effector to be independent of the opening and / or yawing movement of the end effector, so that the end effector 150 cannot correctly perform the surgical operation. Therefore, it is necessary to eliminate the coupling relationship between the first driving cable 151, the first pair of cables and the second pair of cables, so that the movement of the first driving cable 151 is no longer limited by the first pair of cables, and the first pair of cables and the second pair of cables are no longer limited by each other when operating the end effector to pitch, and the movement of each driving cable can be independent of each other, without interference or influence. This decoupling of the coupling relationship between the first driving cable 151 and the first pair of cables, and the coupling relationship between the first pair of cables and the second pair of cables when operating the end effector to pitch is called decoupling.

[0122] For how to eliminate the coupling relationship between the driving cables in the above two embodiments, Figure 5AThe end effector in the embodiment shown is taken as an example. A conventional decoupling method is to use a software algorithm to decouple. The main operation console 200 controls the first driving unit to drive the first driving cable to move, while also controlling the second driving unit and the third driving unit to drive the first pair of cables and the second pair of cables to move, so that the first pair of cables and the second pair of cables increase or decrease the wrap angle length L on the pulley with the movement of the third pair of cables. However, this decoupling method requires that the first part cable 152A' and the second part cable 152B' of the first pair of cables on the end effector be located on the opposite sides of the plane M respectively, and the second part cable 153A' and the third part cable 153B' of the second pair of cables also be located on the opposite sides of the plane M respectively, so that the second driving cable 152A and the third driving cable 152B of the first pair of cables form a loop across the plane M, and the fifth driving cable 153A and the sixth driving cable 153B of the second pair of cables also form a loop across the plane M, so that decoupling can be achieved by controlling the movement of the driving units through software. However, as described above, the first part cable 152A' and the second part cable 152B' of the first pair of cables on the end effector of the embodiment shown are located on the same side of the plane M, and the second part cable 153A' and the third part cable 153B' of the second pair of cables are also located on the same side of the plane M. Therefore, the conventional software decoupling method cannot decouple the end effector of this type of the present application. In addition, the method of using a software algorithm to decouple will result in a complex control program of the surgical robot, which is prone to errors. Moreover, this software algorithm decoupling method will make each driving unit of the driving mechanism of the surgical instrument lose independence. Specifically, the driving device has driving units that drive the third pair of cables and drive the first driving unit and the second driving unit respectively. Ideally, the control of each driving unit is opposite to each other. However, when using the software algorithm to decouple, the above three driving units need to be controlled to move together, thereby causing the three driving units to lose independence and prone to control errors. Furthermore, the software decoupling method cannot eliminate the coupling relationship between the first pair of cables and the second pair of cables when manipulating the end effector to pitch. Figure 5A The first part cable 152A' and the second part cable 152B' of the first pair of cables on the end effector of the embodiment shown are located on the same side of the plane M, and the second part cable 153A' and the third part cable 153B' of the second pair of cables are also located on the same side of the plane M. Therefore, the conventional software decoupling method cannot decouple the end effector of this type of the present application. In addition, the method of using a software algorithm to decouple will result in a complex control program of the surgical robot, which is prone to errors. Moreover, this software algorithm decoupling method will make each driving unit of the driving mechanism of the surgical instrument lose independence. Specifically, the driving device has driving units that drive the third pair of cables and drive the first driving unit and the second driving unit respectively. Ideally, the control of each driving unit is opposite to each other. However, when using the software algorithm to decouple, the above three driving units need to be controlled to move together, thereby causing the three driving units to lose independence and prone to control errors. Furthermore, the software decoupling method cannot eliminate the coupling relationship between the first pair of cables and the second pair of cables when manipulating the end effector to pitch.

[0123] The present application proposes a mechanical decoupling scheme. A mechanical decoupling mechanism is provided in the driving device 170 of the surgical instrument 120, thereby avoiding the drawbacks of the above-mentioned software algorithm decoupling.

[0124] As Figure 10A Fig. 1 shows a schematic diagram of a driving device 170 according to an embodiment of the present application. The driving device 170 is suitable for driving Figure 5AThe end effector is shown. The drive device 170 includes a housing 178 and a first drive unit 171 within the housing 178 for driving the end effector 150 to perform the pitch movement, a second drive unit 172 and a third drive unit 173 for driving the end effector 150 to perform the opening and closing, yawing and pitching movements, and a fourth drive unit 174 for driving the long shaft 160 to perform the self-rotation movement. The proximal end of the first drive cable 151 is wound around the first drive unit, and the distal end thereof is installed on the end effector 150, the second drive cable 152A and the third drive cable 152B of the first pair of cables are wound around the second drive unit 172 in opposite winding manners respectively, the fourth drive cable 153A and the fifth drive cable 153B of the second pair of cables are wound around the third drive unit 173 in opposite winding manners respectively, and the sixth drive cable 154A and the seventh drive cable 154B of the third pair of cables are wound around the fourth drive unit 174 in opposite winding manners respectively.

[0125] When the actuator in the instrument mounting frame 132 drives the first drive unit 171 to rotate with the shaft 171A thereof, the first drive unit 171 winds up or releases the first drive cable 151 to rotate the second bracket 310 around the axis AA' of the second pin 215, when the actuator in the instrument mounting frame 132 drives the second drive unit 172 to rotate with the shaft 172A thereof, the second drive unit 172 winds up or releases the second drive cable 152A or the third drive cable 152B to rotate the second clamping part 412 around the third pin 313, when the actuator drives the third drive unit 173 to rotate with the shaft 173A thereof, the third drive unit 173 winds up or releases the fourth drive cable 154A or the fifth drive cable 154B to rotate the first clamping part 411 around the third pin 313, the movement of the first clamping part 411 and the second clamping part 412 around the third pin 313 makes the end effector 150 perform the opening and closing and / or yawing movement. When the actuator in the instrument mounting frame 132 drives the fourth drive unit 174 to rotate with the shaft 174A thereof, the fourth drive unit 174 winds up or releases the seventh drive cable 154A or the eighth drive cable 154B to realize the self-rotation movement of the long shaft 160.

[0126] The driving device 170 further comprises a decoupling mechanism 175 for decoupling the coupling relationship between the first driving cable 151, the first pair of cables and the third pair of cables on the side of the end effector 150, the decoupling mechanism 175 comprises a main decoupling piece 1751 and a slave decoupling piece, the slave decoupling piece comprises a sliding carriage 1752 and a first moving part 1753 and a second guiding part 1754 connected at both ends of the sliding carriage, the main decoupling piece 1751 is connected to both ends of the sliding carriage 1752 through a first decoupling cable 1761 and a second decoupling cable 1762, the main decoupling piece 1751 controls the movement of the slave decoupling piece by operating the first decoupling cable 1761 and the second decoupling cable 1762. The first decoupling cable 1761 and the second decoupling cable 1762 are wound on the main decoupling piece 1751 in opposite directions, the main decoupling piece 1751 moves at the same angular velocity as the first driving unit 171, the main decoupling piece 1751 and the first driving unit 171 can be arranged on the same shaft 173A, so that the main decoupling piece 1751 rotates coaxially with the shaft 173A together with the first driving unit 171, in other embodiments, the main decoupling piece 1751 and the first driving unit 171 can also be arranged on different rotating shafts respectively. The main decoupling piece 1751 and the first driving unit 171 have different radii, the radius of the main decoupling piece 1751 is r2, the radius of the first driving unit 171 is R2, where r2

[0127] The following detailed description explains how the decoupling mechanism 175 decouples, as follows Figures 10A-10CAs shown, the second driving cable 152A and the third driving cable 152B are guided by the first guide wheel 176A, the first guide portion 1753 and the third guide wheel 176C, and then enter the long shaft and extend to the end effector 150. The fourth driving cable 153A and the fifth driving cable 153B are guided by the second guide wheel 176B, the second guide portion 1764 and the fourth guide wheel 176D, and then enter the long shaft and extend to the end effector 150. As to how the first driving cable 151 to the fifth driving cable 153B are connected to the end effector 150, it has been described in detail before and will not be repeated here. The first driving cable 151 is guided by the fifth guide wheel 176E, and then enters the long shaft and extends to the end effector 150. The decoupling mechanism 175 can slide relative to the housing 178 of the driving device 170. Specifically, when the main decoupling member rotates, the first decoupling cable 1761 is pulled and the second decoupling cable 1762 is released at the same time, or the first decoupling cable 1761 is released and the second decoupling cable 1762 is released at the same time, thereby pulling the decoupling member to move in the driving device 170. Since the first pair of cables are wound on the part of the first guide portion 1753, and the second pair of cables are wound on the part of the second guide portion 1754, when the decoupling member is pulled to move, the first pair of cables and the second pair of cables will change in length in the driving device 170, thereby decoupling the first driving cable 151, the first pair of cables and the second pair of cables.

[0128] To enable the decoupling mechanism 175 to precisely and controllably decouple the coupling relationship between the first driving cable 151, the first pair of cables and the second pair of cables, the slave decoupling member driven by the master decoupling member 1751 always moves in a straight line, and the length change of the second driving cable 152A, the third driving cable 152B, the fourth driving cable 153A and the fifth driving cable 154B caused by the movement of the slave decoupling member is always linear. Specifically, as shown in FIGS. 7A-7C, the first decoupling cable 1761 is reoriented by the fifth guide wheel 176F and extends along the direction of movement of the slave decoupling member and is fixed to one end of the slave decoupling member, and similarly, the second decoupling cable 1762 is reoriented by the seventh guide wheel 176G and extends along the direction of movement of the decoupling mechanism 175 and is fixed to the other end of the slave decoupling member, so that the portion of the first decoupling cable 1761 between the fifth guide wheel 176F and the carriage 1752 is parallel to the direction of movement of the slave decoupling member, and similarly, the portion of the second decoupling cable 1762 between the seventh guide wheel 176G and the carriage 1752 is also parallel to the direction of movement of the slave decoupling member. Therefore, during the decoupling process, the movement speed of the carriage 1752 of the slave decoupling member pulled by the first decoupling cable 1761 and the second decoupling cable 1762 is directly proportional to the linear speed of rotation of the master decoupling member 1751 and the first driving unit 171. It can be understood that in other embodiments, the portion of the first decoupling cable 1761 between the fifth guide wheel 176F and the carriage 1752 is only partially parallel to the direction of movement of the slave decoupling member, or the portion of the second decoupling cable 1762 between the seventh guide wheel 176G and the carriage 1752 is only partially parallel to the direction of movement of the slave decoupling member, and the portion that is not parallel does not change the direction of movement of the carriage, so that the slave decoupling member still moves in a straight line.

[0129] In addition, the first guide wheel 176A to the fourth guide wheel 176D, the fifth guide wheel 176F, the seventh guide wheel 176G, the first guide portion 1752 and the second guide portion 1753 are all structures with two pulleys side by side for guiding two driving cables. As shown in FIGS. 7A-7C, the first guide portion 1752 is a structure with two pulleys side by side for guiding the first driving cable 151 and the second driving cable 152, and the second guide portion 1753 is a structure with two pulleys side by side for guiding the third driving cable 153 and the fourth driving cable 154. Figure 11AAs shown, the first guide wheel 176A, the first guide portion 1753 and the two side-by-side pulleys of the third guide wheel 1762 are respectively used to guide the second driving cable 152A and the third driving cable 152B, the second driving cable 152A forms a fifth cable portion 152Aa between the first guide wheel 176A and the first guide portion 1753 after being guided by the first guide wheel 176A, and the third driving cable 152B forms a sixth cable portion 152Ba between the first guide wheel 176A and the first guide portion 1753, the fifth cable portion 152Aa and the sixth cable portion 152Ba do not include the portion wound on the pulley, wherein the fifth cable portion 152Aa and the sixth cable portion 152Ba are both parallel to the movement direction of the slave decoupler. Therefore, the length change of the first cable portion 151Aa and the second cable portion 151Ba caused during the linear movement of the slave decoupler driven by the master decoupler 1751 is always linear.

[0130] As shown, Figure 11B the second driving cable 152A forms a seventh cable portion 152Ab between the first guide portion 1753 and the third guide wheel 176C, the third driving cable 152B forms an eighth cable portion 152Bb between the first guide portion 1753 and the third guide wheel 176C, the seventh cable portion 152Ab and the eighth cable portion 152Bb are symmetrical with respect to the center plane H1 of the third guide wheel 176C, the center plane H1 of the third guide wheel 176C refers to the plane located at the center of the two side-by-side pulleys of the third guide wheel 176C and perpendicular to the axis c1 of the third guide wheel 176C, similarly, the seventh cable portion 152Ab and the eighth cable portion 152Bb also do not include the portion wound on the pulley. The included angle of the seventh cable portion 152Ab and the eighth cable portion 152Bb with the center plane H1 is θ, and the included angle θ is small enough, so that the length of the seventh cable portion 152Ab and the eighth cable portion 152Bb is almost equal to the shortest straight line distance of the first guide portion 1753 and the third guide 176C on the center plane H1, so that the seventh cable portion 152Ab and the eighth cable portion 152Bb are also approximately parallel to the movement direction of the slave decoupler. Therefore, the length change of the seventh cable portion 152Ab and the eighth cable portion 152Bb caused during the linear movement of the slave decoupler driven by the master decoupler 1751 is also basically linear.

[0131] Similarly, the fourth driving cable 153A and the fifth driving cable 153B of the second pair of cables also have the same arrangement as the first pair of cables in the portion between the second guide wheel 176B, the second guide portion 1754 and the fourth guide wheel 176D, which will not be described here again. Therefore, during the decoupling process, the length change speed of any one of the second driving cable 152A to the fifth driving cable 153B is proportional to the movement speed of the carriage 1752, and as described above, the movement speed of the carriage 1752 is proportional to the linear speed of rotation of the main decoupling member 1751 and the first driving unit 171, so the length change speed of any one of the second driving cable 152A to the fifth driving cable 153B is proportional to the linear speed of rotation of the main decoupling member 1751 and the first driving unit 171, thereby making the decoupling process precisely controllable.

[0132] The decoupling process of the driving device 170 is as shown in Figure 10B and 10C When the first driving unit 171 rotates clockwise as shown in Figure 10B , the first driving unit 171 retracts the first driving cable 151, so that the second bracket 220 of the end effector 150 rotates clockwise around the second axis AA' as shown in Figure 5E , and the entire end effector 150 performs a clockwise pitching movement. As described above, at this time, the wrapped angle length of the second driving cable 152A and the third driving cable 152B on the sixth pulley 226 and the seventh pulley 227 needs to be increased by L at the same time, and at the same time, the wrapped angle length of the fourth driving cable 153A and the fifth driving cable 153B on the fifth pulley 225 and the eighth pulley 228 needs to be decreased by L at the same time to make the end effector 150 smoothly perform the pitching movement. Since the main decoupling member 1751 of the decoupling mechanism 175 rotates coaxially and angularly with the first driving unit 171, when the first driving unit 171 rotates clockwise with the shaft 171A, the main decoupling member 1751 also rotates clockwise with the shaft 171A at the same time, at this time, the main decoupling member 1751 retracts the second decoupling cable 1762 and simultaneously releases the first decoupling cable 1761, assuming that the main decoupling member 1751 rotates through an arc length of L / 2, the slave decoupling member moves L / 2 distance in the A direction under the pulling of the second decoupling cable 1762, thereby causing the lengths of the portions of the second driving cable 152A and the third driving cable 152B between the first guide wheel 176A and the first guide portion 1753 and between the first guide portion 1753 and the third guide wheel 176C to be decreased by L / 2 respectively, so that the lengths of the second driving cable 152A and the third driving cable 152B in the driving device 170 are decreased by L respectively.

[0133] On the contrary, the lengths of the fourth driving cable 153A and the fifth driving cable 153B in the portions between the second guide wheel 176B and the second guide portion 1754 and between the second guide portion 1754 and the fourth guide wheel 176D are each increased by L / 2, thus increasing the lengths of the fourth driving cable 153A and the fifth driving cable 153B in the driving device 170 by L.

[0134] Again, referring back to Figure 5E , if the radii of the second pulley sets in the present embodiment are all r1, the second support 310 has a pitch wheel 314 with an annular groove 314A having a groove bottom radius of R1 for accommodating and guiding the first driving cable 151, when the end effector 150 is in a pitch motion, the first driving cable can form an included angle in the annular groove 314A. As Figure 5E shown, when the end effector 150 is pitched clockwise by an angle of a, the included angle length of the first driving cable 151 on the pitch wheel 314 is reduced by L1, where L1 = a * R1, since the clockwise pitch motion of the end effector 150 is driven by the first driving unit 171 in the driving device 170, as Figure 10B shown, at this time, if the first driving unit 171 is rotated by an angle of β for making the end effector 150 pitch clockwise by an angle of a, the first driving unit 171 retracts the first driving cable 151, so that the length of the first driving cable 151 wound on the first driving unit 171 is increased by L1, where L1 = β * R2. Since the main decoupler 1751 and the first driving unit 1751 rotate coaxially, at this time, correspondingly, the main decoupler 1751 releases the first decoupling cable 1761 and simultaneously retracts the second decoupling cable 1763, so that the driving unit is moved in the A direction by a distance of L / 2, correspondingly, the length of the first decoupling cable 1761 wound on the main decoupler 1761 is reduced by L / 2, i.e. the first decoupling cable 1767 is released by L / 2, and the length of the second decoupling cable 1768 wound on the main decoupler 1761 is increased by L / 2, where L / 2 = β * r2, as described above, L = a * r1. From the above four equations: L1 = a * R1, L1 = β * R2, L / 2 = β * r2, L = a * r1, the following relationship can be obtained:

[0135]

[0136] The above relationship shows that the ratio of the radius of the first driving unit 173 to the radius of the main decoupling member 1761 is twice the ratio of the radius of the pitch wheel 319 to the radius of the second pulley set, and the relationship of twice is caused because the slave decoupling member has two guide portions for guiding the first pair of cables and the second pair of cables, i.e. the first guide portion 1753 and the second guide portion 1754. In other embodiments, the number of guide portions of the slave decoupling member can also be other numbers, so that the relationship of the ratio of the radius of the first driving unit to the radius of the main decoupling member and the ratio of the radius of the pitch wheel to the radius of the second pulley set also changes, for example, the slave decoupling member can have N guide portions for guiding the first pair of cables and the second pair of cables, so that the ratio of the radius of the first driving unit to the radius of the main decoupling member is N times the ratio of the radius of the pitch wheel to the radius of the second pulley set However, the increase in the number of guide portions of the slave decoupling member also corresponds to the increase in the volume of the slave decoupling member. It is more preferable to use two guide wheels in the slave decoupling member in the above embodiment.

[0137] Therefore, the length of the second driving cable 152A and the third driving cable 152B in the driving device 170 is reduced by an amount equal to the increase in the wrap angle length of the second driving cable 152A and the third driving cable 152B on the sixth pulley 226 and the seventh pulley 227 respectively, and the length of the fourth driving cable 153A and the fifth driving cable 153B in the driving device 170 is increased by an amount equal to the decrease in the wrap angle length of the fourth driving cable 153A and the fifth driving cable 153B on the fifth pulley 225 and the eighth pulley 228. Therefore, the movement of the first driving cable 151 is no longer limited by the first pair of cables, and the movement of the first driving cable 151 will not cause the second pair of cables to slacken on the end effector 150. The decoupling mechanism 175 achieves decoupling between the third pair of cables and the first pair of cables, and the end effector 150 performs Figure 5E the clockwise pitch action shown.

[0138] As Figure 10CAs shown, when the first driving unit 171 rotates counterclockwise, since the main decoupling piece 1751 of the decoupling mechanism 175 rotates coaxially and at the same angular speed as the first driving unit 171, the main decoupling piece 1751 also rotates counterclockwise along the shaft 171A at the same time as the first driving unit 171 rotates counterclockwise along the shaft 171A, at this time the main decoupling piece 1751 pulls the first decoupling cable 1761 and simultaneously releases the second decoupling cable 1762, assuming that the main decoupling piece 1751 turns an arc length of L / 2, the slave decoupling piece moves a distance of L / 2 along the B direction under the pull of the first decoupling cable 1761, thereby causing the lengths of the portions of the second driving cable 152A and the third driving cable 153B between the first guide wheel 176A and the first guide part 1753 and between the first guide part 1753 and the third guide wheel 176C to each increase by L / 2, thus causing the lengths of the second driving cable 152A and the third driving cable 152B in the driving device 170 to each increase by L, conversely, the lengths of the portions of the fourth driving cable 153A and the fifth driving cable 153B between the second guide wheel 176B and the second guide part 1754 and between the second guide part 1754 and the fourth guide wheel 176D each decrease by L / 2. Thus the lengths of the fourth driving cable 153A and the fifth driving cable 153B in the driving device 170 decrease by L.

[0139] At this time the length changes of the second driving cable 152A, the third driving cable 152B, the fourth driving cable 153A and the fifth driving cable 153B reflect the performance on the end effector that the driving device 170 simultaneously pulls the second driving cable 152A and the third driving cable 152B and simultaneously releases the fourth driving cable 153A and the fifth driving cable 153B.

[0140] Thus the increase in the lengths of the second driving cable 152A and the third driving cable 152B in the driving device 170 is equal to the decrease in the wrap angle length required by the second driving cable 152A and the third driving cable 152B on the sixth pulley 226 and the seventh pulley 227 respectively, and the decrease in the lengths of the fourth driving cable 153A and the fifth driving cable 153B in the driving device 170 is equal to the increase in the wrap angle length required by the fourth driving cable 153A and the fifth driving cable 153B on the fifth pulley 225 and the eighth pulley 228. Thus the simultaneous pulling of the second driving cable 152A and the third driving cable 152B by the driving device is no longer restricted by the fourth driving cable 153A and the fifth driving cable 153B, the decoupling mechanism 175 achieves decoupling of the coupling relationship between the second pair of cables and the three cables, and the end effector 150 can smoothly perform Figure 5D the counterclockwise pitching motion as shown.

[0141] The driving device of another embodiment of the present application is as shown in Figure 12As shown, the driving device is mostly the same as the driving device 170 of the previous embodiment, except that the driving device adds a guide wheel for guiding the first pair of cables and the second pair of cables, i.e., the driving device adds a seventh guide wheel 176H, an eighth guide wheel 176I, a ninth guide wheel 176J, and a tenth guide wheel 176K, the second driving cable 152A and the third driving cable 152B enter the long shaft 160 and extend to the end effector 150 after being guided by the first guide wheel 176A, the first guide part 1753, the third guide wheel 176C, the seventh guide wheel 176H, and the ninth guide wheel 176J in sequence, and the fourth driving cable 153A and the fifth driving cable 153B enter the long shaft 160 and extend to the end effector 150 after being guided by the second guide wheel 176B, the second guide part 1754, the fourth guide wheel 176D, the eighth guide wheel 176I, and the tenth guide wheel 176K in sequence. Compared with the previous embodiment, the portions of the second driving cable 152A and the third driving cable 152B between the first guide part 1753 and the third guide wheel 176C and the portions of the fourth driving cable 153A and the fifth driving cable 153B between the second guide part 1754 and the fourth guide wheel 176D are parallel to the movement direction of the slave decoupling piece, so that the error of the linear change of the lengths of the first pair of cables and the second pair of cables in the driving device caused by the movement of the slave decoupling piece is smaller than that of the previous embodiment.

[0142] The driving device of an embodiment of the present application is as shown in Figure 13 As shown, the main decoupling piece 6741 of the decoupling mechanism 674 of the driving device is connected to the slave decoupling piece through gear meshing, specifically, the slave decoupling piece has a sliding carriage 6742, the sliding carriage 6742 is connected to the first guide part 2753 and the second guide part 2754 at both ends respectively, the body of the sliding carriage 6742 has a rack structure, the main decoupling piece 6741 has a gear structure meshing with the rack structure of the sliding carriage 6742, when the main decoupling piece 6741 rotates, the main decoupling piece 6741 will drive the pitch mechanism to move linearly, thereby changing the lengths of the first pair of cables and the second pair of cables in the driving device, thereby realizing the decoupling relationship between the first driving cable 151, the first pair of cables, and the second pair of cables. It can be understood that the main decoupling piece 6741 of the decoupling mechanism and the slave decoupling piece can not only be meshed through the gear and rack structure, but in some other embodiments, the sliding carriage of the main decoupling piece and the slave decoupling piece can also be meshed through two gears.

[0143] Figures 14A-14EThe driving device 570 is an embodiment of the present application, the driving device 570 is provided with a first driving device 570 including a body 578, and a first driving unit 571, a second driving unit 572, a third driving unit 573 and a fourth driving unit 774 arranged on the body 778, the first driving unit 571 is wound with one end of the first driving cable 151, the other end of the first driving cable 151 is connected to the end effector through the long shaft 160, the second driving unit 572 is wound with one end of the first pair of cables, the first pair of cables includes the second driving cable 152A and the third driving cable 152B wound in opposite ways on the second driving unit 572, the other end of the first pair of cables is connected to the end effector through the long shaft 160, the third driving unit 573 is wound with one end of the second pair of cables, the third pair of cables includes the fourth driving cable 153A and the fifth driving cable 153B wound in opposite ways on the third driving unit 573, the other end of the second pair of cables is connected to the end effector through the long shaft 160, the first pair of cables cooperates with the second pair of cables for manipulating the opening and closing and / or yawing movement of the end effector 150, and cooperates with the first driving cable 151 for manipulating the pitching movement of the end effector 150, the fifth driving cable 553A and the sixth driving cable 553B are used for driving the rotation of the long shaft 160.

[0144] As Figure 14B And 14CAs shown, the driving device 570 further comprises a mounting base 577 and a decoupling mechanism arranged on the mounting base 577, the decoupling mechanism comprises a main decoupling piece 5761 and a slave decoupling piece 5762, the main decoupling piece 5761 and the first driving unit 571 are arranged on the same rotation axis 571A, the main decoupling piece 5761 is a cam rotating at the same angular velocity as the first driving unit 571, the slave decoupling piece 5762 comprises a sliding carriage 5765 and a first guide part 5763 and a second guide part 5764 mounted on the sliding carriage 5765, and similar to the previous embodiment, the driving device 570 further comprises a first guide wheel 576A, a second guide wheel 576B, a third guide wheel 576C and a fourth guide wheel 576D arranged on the mounting base 577. The rotation axis of the first guide wheel 576A is parallel to the rotation axis of the first guide part 5763, and the rotation axis of the fourth guide wheel 576D is perpendicular to the rotation axis of the first guide wheel 576A and the rotation axis of the first guide part 5763. The rotation axis of the second guide wheel 576B is parallel to the rotation axis of the second guide part 5764, and the rotation axis of the third guide wheel 576C is perpendicular to the rotation axis of the second guide wheel 576B and the rotation axis of the second guide part 5764. The second driving cable 152A and the third driving cable 152B are reoriented through the first guide wheel 576A and then guided through the first guide part 5763 and finally reoriented through the third guide 576C and then exit the driving device 570 into the long shaft 160. The fourth driving cable 153A and the fifth driving cable 153B are reoriented through the second guide wheel 576B and then guided through the second guide part 5764 and finally reoriented through the fourth guide 576D and then exit the driving device 570 into the long shaft 160, and the first driving cable 151 is reoriented through the fifth guide wheel 576E and then enters the long shaft 160.

[0145] As Figure 14CAs shown, the mount 577 includes a first table 5771 and a second table 5772, the mount 577 is mounted to the main body 578 by the first table 5771, the first guide wheel 576A, the second guide wheel 576B, the third guide wheel 576C, the fourth guide wheel 576D and the fifth guide wheel 576E are all mounted on the second table 5772. The decoupler 5762 includes a carriage 5765 and a first guide portion 5763 and a second guide portion 5764 mounted on the carriage 5765, the first guide portion 5763 is used to connect the second drive cable 152A and the third drive cable 152B to the decoupler 5762, the second guide portion 5764 is used to connect the fourth drive cable 153A and the fifth drive cable 153B to the decoupler 5762. The carriage 5765 includes a first opening 5766 for accommodating the main decoupler 5761 and a second opening 5767 for accommodating the second table 5771 of the mount 577, when the carriage 5765 moves to the limit position, the side wall of the second table 5771 abuts against the side wall of the second opening 5767 to limit the movement of the carriage 5765 in the vertical sliding direction.

[0146] The carriage 5765 extends into the first opening 5766 with a first protrusion 5768 and a second protrusion 5769, the main decoupler 5761 abuts against the first protrusion 5768 and the second protrusion 5769 in the first opening 5766, the first protrusion 5768 and the second protrusion 5769 can move on the outer contour of the main decoupler 5761 when the main decoupler 5761 rotates, so that the carriage 5765 slides on the mount 577. As Figure 14CAs shown, the main decoupling component 5761 includes a first cam 5761A and a second cam 5761B fixed on the rotating shaft 573A. Both the first cam 5761A and the second cam 5761B are semi-heart-shaped cams. The projections of the first cam 5761A and the second cam 5761B onto the plane perpendicular to the shaft 573A have the same outer contour. The outer contour of the first cam 5761A has a semi-heart-shaped involute S1 and a first arc S2 and a second arc S3 located at both ends of the involute S1. The radii of the first arc S2 and the second arc S3 are different. The distance from the involute S1 to the axis of the rotating shaft 473A has a distance from the end connected to the first arc S2. The distance gradually increases towards the end connected to the second arc S3, and the involute S1 has the following profile: the change in distance P from the involute S1 to the axis of rotation 473A is linearly related to the angle θ1 of the first cam 5761A rotating around the axis 473A, P = K1*θ1 + K2, where K1 and K2 are constants. This ensures that when the main decoupling member 5761 rotates at a constant speed, the distance from the contact point of the first cam 5768 and the involute S1 of the first cam 5761 to the rotation axis 573A, and the distance from the contact point of the second cam 5768 and the involute S1' of the second cam to the rotation axis 573A, also change linearly at a constant speed. The first cam 5761A and the second cam 5761B together form a heart-shaped cam-type main decoupling member 5761. The first cam 5761A and the second cam 5761B are offset vertically along the axial direction of the cam shaft 573A. The first cam 5761A moves in conjunction with the first protrusion 5768 of the slide 5761, and the second cam 5761B moves in conjunction with the second protrusion 5768 of the slide 5761, so as to realize that the main decoupling member 5761 drives the movement of the slave decoupling member 5762, thereby decoupling the coupling relationship between the first drive cable 151, the second pair of cables, and the third pair of cables.

[0147] The decoupling process of drive unit 570 is as follows Figure 14E As shown, the first drive unit 571 ( Figure 14E (Not displayed) from Figure 14B The zero position is driven by the actuator to rotate along the first direction (counterclockwise) to Figure 14EIn the process of the shown position, the first driving unit 571 pulls the first driving cable 553B, since the main decoupler 473A and the first driving unit 571 are arranged on the same rotating shaft 473A, the main decoupler 4761 is also moved counterclockwise, the first cam 4761A of the main decoupler 4761 is counterclockwise rotated, which makes the first protrusion 5768 move on the involute S1 of the first cam 4761A in the direction that the distance from the rotating shaft 473A increases, on the contrary, the second cam 4761B of the main decoupler 4761 is counterclockwise rotated, which makes the first protrusion 5768 move on the involute S1 of the second cam 4761B in the direction that the distance from the rotating shaft 473A decreases, since the second opening 5767 side wall of the carriage 5765 cooperates with the inner wall of the second opening 5767 to limit the movement of the carriage 5765 in the direction of the vertical A direction, therefore, the carriage 5765 is driven by the main decoupler 4761 to move linearly in the direction of A.

[0148] In order to make the length change of the first pair of cables and the second pair of cables in the driving device caused by the movement of the carriage 5765 linear, and Figure 10A Similarly to the shown embodiment, the part of the first pair of cables between the first guide wheel 576A and the first guide part 5763 is parallel to the direction of the carriage 5765, the part of the second pair of cables between the second guide wheel 576B and the second guide part 5764 is parallel to the movement direction of the carriage 5765. The part of the second driving cable 152A and the third driving cable 152B between the first guide part 5763 and the fourth guide wheel 576D is equal to the included angle of the straight line in the direction of A, similarly, the part of the third driving cable 553A and the fourth driving cable 553B between the second guide part 5764 and the third guide wheel 576C is equal to the included angle of the straight line in the direction of A, if the Figure 14EWhen the position-time slide carriage 5765 moves a distance of L / 2 in the A direction under the drive of the main decoupling member 5761, the lengths of the second drive cable 152A and the third drive cable 152B between the first guide wheel 576A and the first guide portion 5763 are reduced by L / 2, and the lengths of the second drive cable 152A and the third drive cable 152B between the first guide portion 5763 and the fourth guide wheel 576D are also reduced by L / 2, so that the lengths of the second drive cable 152A and the second drive cable 551B in the drive device 570 are reduced by L. The lengths of the fourth drive cable 153A and the fifth drive cable 153B between the second guide wheel 576B and the second guide portion 5764 are increased by L / 2, and the lengths of the fourth drive cable 153A and the fifth drive cable 153B between the second guide portion 5764 and the third guide wheel 576C are also increased by L / 2, so that the lengths of the third drive cable 552A and the fourth drive cable 552B in the drive device 570 are increased by L. Thus, the decoupling mechanism in the drive device 570 provides the change in the lengths of the second drive cable 152A, the third drive cable 152B, the fourth drive cable 153A, and the fifth drive cable 153B on one side of the end effector 150 required for the pitch movement of the end effector 150, thereby decoupling the coupling relationship between the first drive cable, the first pair of cables, and the second pair of cables, so that the movement of the first drive cable is no longer restricted by the first pair of cables, and the movement of the first pair of cables is no longer restricted by the second pair of cables, so that the end effector 150 can smoothly perform the pitch operation.

[0149] If the main decoupling member 5761 continues to rotate so that the slide carriage 5765 moves to the limit position, at this time the first protrusion 5798 exits the involute S1 of the first cam 5761A and enters the second circular arc S3, and the second protrusion 5769 exits the involute S1' of the second cam 5761B and enters the first circular arc S2', and since the distance from the contact point of the first protrusion 5798 with the first cam 5761A to the rotation axis 573A does not change when the first protrusion 5798 moves on the first circular arc S1 and the second circular arc S2 of the first cam 5761A, similarly, the distance from the contact point of the second protrusion 5798 with the first cam 5761A to the rotation axis 573A does not change when the second protrusion 5798 moves on the first circular arc S1' and the second circular arc S2' of the second cam 5761B, so the slide carriage 5765 no longer moves in the A direction, and the slide carriage 5765 is at the limit position of movement in the A direction at this time, so the first circular arc S1, S1' and the second circular arc S2, S2' of the main decoupling member 5761 make the main decoupling member 5761 continue to rotate to the limit position so that the slide carriage continues to move. Conversely, when the main decoupling member 5761 rotates clockwise, the movement of the first cam 5761A, the second cam 5761B, and the slide carriage is opposite to that when the main decoupling member 5761 rotates counterclockwise, which will not be described here.

[0150] Similarly, there is a coupling relationship between the first driving cable 251 of the end effector 250 and the first pair of cables 252 in the second embodiment. Specifically, the proximal ends of the second driving cable 152A and the third driving cable 252B of the first pair of cables are wound on the driving units in the driving device, so that the driving units cannot simultaneously pull or release the second driving cable 252A and the third driving cable 252A. As described above, the clockwise rotation of the end effector 250 around the first axis AA' requires pulling the first driving cable 251 and simultaneously releasing the second driving cable 252A and the third driving cable 252B of the first pair of cables 252, and the counterclockwise rotation of the end effector 250 around the first axis AA' requires simultaneously pulling the second driving cable 252A and the third driving cable 253A of the first pair of cables, so it can be seen that the first driving cable 251 and the first pair of cables 252 in the second embodiment also have a coupling relationship, and the movement of the first driving cable 251 is limited by the first pair of cables 252.

[0151] The driving device of an embodiment of the present application is shown in Figure 15 The driving device 270 is suitable for driving the end effector 250 in the second embodiment described above, and the driving device 270 includes a first driving unit 271 for driving the pitch movement of the end effector 250, a second driving unit 272 for driving the pitch and yaw movements of the end effector 250, and a third driving unit 273 for driving the rotation movement of the end effector 250. The proximal end of the first driving cable 251 for driving the pitch movement of the end effector 250 is wound on the first driving unit, and the proximal ends of the second driving cable 252A and the third driving cable 252B of the first pair of cables 252 for manipulating the yaw and pitch movements of the end effector 250 are wound on the second driving unit 272 in opposite directions, so that the second driving cable 252A and the third driving cable 252B are used to cooperatively manipulate the yaw movement of the end effector 250 and to cooperatively manipulate the pitch movement of the end effector 250 with the first driving cable 251. The fourth driving cable 253A and the fifth driving cable 253B for driving the rotation of the long shaft 160 are wound on the third driving unit 273, and the driving device 870 further includes a decoupling mechanism 274 for decoupling the coupling relationship between the first driving cable 251 and the first pair of cables 252.

[0152] The decoupling mechanism 274 includes a main decoupling member 2741 and a slave decoupling member. The main decoupling member 2741 is disposed on the same rotation shaft 272A as the first driving unit 271, and moves at the same angular velocity as the first driving unit 271. The main decoupling member 2741 receives the same driving force as the second driving unit and drives the slave decoupling member to achieve decoupling of the above-mentioned coupling relationship. The slave decoupling member includes a guide portion 2743 and a carriage 2742. The main decoupling member 2741 is connected to both ends of the carriage 2742 through a first decoupling cable 2744 and a second decoupling cable 2745. The main decoupling member 2741 drives the movement of the slave decoupling member through the first decoupling cable 2744 and the second decoupling cable 2745.

[0153] The driving device further includes a first guide wheel 275A and a second guide wheel 275B. The first pair of cables 252 first pass through the guide of the first guide wheel 275A, then pass through the guide of the guide portion 2743, and finally pass through the guide of the second guide wheel 275B into the long shaft 160. The first decoupling cable 2744 is connected to the carriage 2742 after passing through the guide of a third guide wheel 275C. The second decoupling cable 2745 is connected to the carriage 2742 after being redirected by a fourth guide wheel 275D. After being redirected by the third guide wheel 275C and the fourth guide wheel 275D respectively, the first decoupling cable 2744 is parallel to the direction of movement of the carriage 2742 between the third guide wheel 275C and the carriage 2742, and the second decoupling cable 2745 is parallel to the direction of movement of the carriage 2742 between the fourth guide wheel 275D and the carriage 2742. Thus, during decoupling, the movement speed of the carriage 2742 is directly proportional to the rotation speed of the main decoupling member 2741 and the first driving unit 271. It can be understood that in other embodiments, the main decoupling member is connected to the slave decoupling member by gear engagement or cam, as in the previous embodiments, as shown in Figure 17 The main decoupling member 6741 of the decoupling device 674 of the driving device 670 is connected to the carriage 6742 of the slave decoupling member by gear engagement, as shown in Figure 18A The main decoupling member 4741 of the decoupling device 474 of the driving device 470 is connected to the carriage 4742 of the slave decoupling member by a cam, as shown in

[0154] The second driving cable 252A and the third driving cable 252B are guided by the first guide wheel 275A, the guide part 2743 and the second guide wheel 275B, the portions of the second driving cable 252A and the third driving cable 252B between the first guide wheel 275A and the guide part 2743 are parallel to the moving direction of the slave decoupler, the portions of the second driving cable 252A and the third driving cable 252B between the guide part 2743 and the second guide wheel 275B are also parallel to the moving direction of the slave decoupler, so that the length change speed of the second driving cable 252A or the third driving cable 252B is proportional to the moving speed of the carriage 2742 during the decoupling process, and the length change of the second driving cable 252A and the third driving cable 252B is proportional to the rotating speed of the main decoupler 2741 and the first driving unit 271, so that the whole decoupling process is accurately controllable. In other embodiments, the portions of the second driving cable 252A and the third driving cable 253B between the guide part and the second guide wheel are also parallel to the moving direction of the carriage, as shown in the embodiments of Figure 17 and Figure 18A the portions of the second driving cable 252A and the third driving cable 253B on both sides of the guide part of the carriage are parallel to the moving direction of the carriage, so that the length change of the second driving cable 252A and the third driving cable 252B caused by the carriage movement is completely linear.

[0155] The decoupling process of the decoupling mechanism is shown in Figure 16B and 16C, when the first driving unit 271 rotates in the first direction, the first driving unit 271 releases the first driving cable 251, because the main decoupler 2741 and the first driving unit 271 rotate at the same angular speed, the main decoupler 2741 simultaneously releases the second decoupling cable 2745 and pulls the first decoupling cable 2744, so that the slave decoupler moves in the A direction, so that the lengths of the second driving cable 252A and the third driving cable 252B in the driving device 270 simultaneously increase, which is reflected in the lengths of the second driving cable 252A and the third driving cable 252B in the end effector 250 simultaneously decreasing, the driving device 270 simultaneously pulls the second driving cable 252A and the third driving cable 252B and releases the first driving cable 251, and the end effector 250 performs the pitch movement shown in Figure 9A , and the length change of the second driving cable 252A and the third driving cable 252B in the driving device is equal to the length change in the end effector 250. If the slave decoupler moves in the A direction by a distance of L / 2, the lengths of the second driving cable 252A and the third driving cable 252B in the driving device 870 increase by a length L, and the specific derivation process is the same as the embodiment shown in Figure 10A , which will not be described here.

[0156] When the first drive unit 271 and the main decoupling member 2741 rotate in a second direction opposite to the first direction, the first drive unit 271 pulls the first drive cable 251. At this time, the main decoupling member 2741 releases the first decoupling cable 2744 and pulls the second decoupling cable 2745, causing the decoupling member to move along direction B. The length of the second drive cable 252A and the third drive cable 252B in the drive device 270 decreases simultaneously. This is reflected in the end effector 250, where the length of the second drive cable 252A and the third drive cable 252B in the drive device 270 increases simultaneously. The drive device 170 pulls the first drive cable 251 and simultaneously releases the second drive cable 252A and the third drive cable 253, and the end effector 250 performs the operation. Figure 9B The pitch motion shown.

[0157] Back to Figure 9B In this embodiment, if the radius of the second pulley group is r1, the pitch wheel 613 of the second bracket 610 has an annular groove 613A with a bottom radius of R1 to accommodate and guide the first drive cable 251. When the end effector 150 pitches, the first drive cable 251 can form a wrap angle in the annular groove 613A. When the end effector 250 moves from... Figure 7A The zero point position shown is rotated to Figure 9B During the process shown, the plane where the second drive cable 252A and the third drive cable 252B leave the second pulley group rotates by an angle α from horizontal plane a to plane b. The end effector 250 also rotates clockwise around the first axis AA' by an angle α. Figure 7A Similar to the embodiment shown, the wrap angle length of the first drive cable 251 within the annular groove 613A is reduced by L1, where L1 = α * R1, as... Figure 10CAs shown, if the first driving unit 271 is to rotate the end effector 250 in the clockwise direction by an angle of α along the second direction, the first driving unit 271 releases the first driving cable 251, so that the length of the first driving cable 151 wound on the first driving unit 171 increases by L1, where L1=β*R2. Since the main decoupling unit 2741 and the first driving unit 271 rotate coaxially, at this time, the main decoupling unit 2741 releases the first decoupling cable 2744 and simultaneously pulls the second decoupling cable 2745, so that the first decoupling cable 2744 is released by a length of L / 2 wound on the main decoupling unit 2741, and the second decoupling cable 2745 is pulled by a length of L / 2 wound on the main decoupling unit 2741, where L / 2=β*r2. The wrapped angle length of the second driving cable 252A and the third driving cable 252B on the third pulley 523 and the fourth pulley 524 respectively increases by L, where L=α*r1. In summary, the following relationships can be obtained by the above four equations: L1=α*R1, L1=β*R2, L / 2=β*r2, L=α*r1.

[0158]

[0159] In other embodiments, the number of guide portions of the decoupling unit for guiding the first pair of cables 252 can also be other numbers, so that the relationship between the ratio of the radius of the first driving unit to the radius of the main decoupling unit and the ratio of the radius of the pitch wheel to the radius of the second pulley set also changes, for example, the decoupling unit can have N guide portions, and the ratio of the radius of the first driving unit to the radius of the main decoupling unit is 2*N times the ratio of the radius of the pitch wheel to the radius of the second pulley set, that is, the increase in the number of decoupling wheels of the decoupling unit corresponds to the increase in the volume of the decoupling unit. It is more preferred that the decoupling unit in the above-mentioned embodiment uses one guide portion, and the guide portion is a pulley through which the first driving cable passes on the decoupling unit.

[0160] Therefore, the length of the second driving cable 252A and the third driving cable 252B in the driving device 170 decreases by an amount equal to the increase in the wrapped angle length of the second driving cable 252A and the third driving cable 252B on the third pulley 523 and the fourth pulley 524 respectively, so that the movement of pulling the first driving cable 251 is no longer limited by the second driving cable 252A and the second driving cable 252B. The decoupling mechanism achieves decoupling between the first driving cable and the first pair of cables, and the end effector 250 can smoothly perform Figure 9B the pitch action as shown.

[0161] In Figure 18A the embodiment shown, and Figures 14A-14EThe implementation is similar, the main decoupling piece 4741 in the driving device 470 is coaxially arranged with the first driving unit, the main decoupling piece 4741 also drives the carriage 4742 to move by abutting against the first convex body 4741A and the second convex body 4741B on the carriage 4742 of the slave decoupling piece 474 through the first cam 4741A and the second cam 4741B respectively, thereby changing the length of the second driving cable 252A and the third driving cable 252B in the driving device 470, the cam structure of the main decoupling piece 4741 and the above Figure 14D The main decoupling piece 5761 in the driving device 570 in the embodiment shown is the same, so reference can be made to the description above. Figure 14D Here, no further description is given.

[0162] The decoupling process of the driving device 470 is also similar to the decoupling process shown in Figure 14E When the main decoupling piece 271 rotates coaxially with the first driving unit 271 in the first direction, the first driving unit 271 releases the first driving cable 251 and the main decoupling piece 4741 pushes the carriage 4742 to move in the direction of increasing the second driving cable 252A and the third driving cable 252B, so that the end effector 250 performs the pitch movement in the direction shown in Figure 9A When the main decoupling piece 271 rotates coaxially with the first driving unit 271 in the direction opposite to the first direction, the first driving unit 271 pulls the first driving cable 251 and the main decoupling piece 4741 pushes the carriage 4742 to move in the direction of reducing the second driving cable 252A and the third driving cable 252B, so that the length of the second driving cable 252A and the third driving cable 252B in the driving device is reduced by an amount just equal to the increase of the wrap angle length of the second driving cable 252A and the third driving cable 252B on the second pulley set when the end effector 250 performs the pitch movement in the direction shown in Figure 9B When the main decoupling piece 271 rotates coaxially with the first driving unit 271 in the direction opposite to the first direction, the first driving unit 271 pulls the first driving cable 251 and the main decoupling piece 4741 pushes the carriage 4742 to move in the direction of reducing the second driving cable 252A and the third driving cable 252B, so that the length of the second driving cable 252A and the third driving cable 252B in the driving device is reduced by an amount just equal to the increase of the wrap angle length of the second driving cable 252A and the third driving cable 252B on the second pulley set when the end effector 250 performs the pitch movement in the direction shown in Figure 9B When the main decoupling piece 271 rotates coaxially with the first driving unit 271 in the direction opposite to the first direction, the first driving unit 271 pulls the first driving cable 251 and the main decoupling piece 4741 pushes the carriage 4742 to move in the direction of reducing the second driving cable 252A and the third driving cable 252B, so that the length of the second driving cable 252A and the third driving cable 252B in the driving device is reduced by an amount just equal to the increase of the wrap angle length of the second driving cable 252A and the third driving cable 252B on the second pulley set when the end effector 250 performs the pitch movement in the direction shown in

[0163] The above-described embodiments only express several implementation manners of the present application, the description is relatively specific and detailed, but it cannot be understood as the limitation of the patent scope of the present application. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A surgical instrument, characterized by The surgical instrument comprises: an end effector, the end effector comprising a first support, a second support pivotally connected to the first support, and an execution portion pivotally connected to the second support, a proximal end of the first support having a base frame, one end of the base frame extending towards a distal end of the end effector to form a first support column and a second support column, the first and second support columns and the base frame forming a U-shaped structure; drive cables, the drive cables comprising a first drive cable, a second drive cable and a third drive cable, a distal end of the first drive cable being mounted on the second support, distal ends of the second and third drive cables being mounted on the execution portion, the first support being provided with a first pulley block and a second pulley block for guiding the second and third drive cables, the second pulley block being located between the execution portion and the first pulley block; a drive device, the drive device being configured to drive the end effector to perform yawing motion through the second and third drive cables, and to drive the end effector to perform pitching motion through the first, second and third drive cables, the drive device comprising: a drive unit, the drive unit being configured to drive the end effector to perform pitching motion through the first drive cable and in cooperation with the second and third drive cables; a decoupling mechanism, the decoupling mechanism comprising a main decoupling member and a slave decoupling member connected to the main decoupling member, the slave decoupling member comprising a sliding frame and a guide portion provided at one end of the sliding frame for guiding the second and third drive cables, the main decoupling member being coaxially arranged with the drive unit, the main decoupling member being configured to rotate with the drive device and drive the sliding frame to simultaneously increase or decrease the lengths of the second and third drive cables in the drive device, so that the drive unit drives the end effector to perform pitching motion.

2. The surgical instrument of claim 1, wherein, The second and third drive cables are located on the same side of a first plane, the first plane passing through an axis of the first pulley block and being perpendicular to an axis of rotation of the execution portion relative to the second support.

3. The surgical instrument of claim 1, wherein, The second drive cable and the third drive cable have the same winding manner on the first pulley block and the second pulley block.

4. The surgical instrument of claim 3, wherein, The first pulley block comprises a first pulley and a second pulley arranged in sequence on the same shaft and located on both sides of the first drive cable, the second drive cable extending to the second pulley block through a guide at a rear portion of the first pulley, and the third drive cable extending to the second pulley block through a guide at a rear portion of the second pulley.

5. The surgical instrument of claim 4, wherein, The second pulley set includes a third pulley and a fourth pulley arranged in sequence on the same shaft and located on both sides of the first driving cable, the second driving cable extends through the guide of the first pulley and then through the guide of the front part of the third pulley and then extends to the execution part, and the third driving cable extends through the guide of the second pulley and then through the guide of the front part of the fourth pulley and then extends to the execution part.

6. The surgical instrument of claim 5, wherein, The proximal end of the second support has a pitch wheel for mounting the first driving cable, the proximal end of the first support includes a chassis for the driving cable to pass through, and the part of the first driving cable between the pitch wheel and the chassis is located on the same side of the axis of the second pulley set as the parts of the second driving cable and the third driving cable between the first pulley set and the chassis.

7. The surgical instrument of claim 6, wherein, The first support has a plurality of through holes, including at least a first through hole for the first driving cable to pass through, a second through hole for the second driving cable to pass through, and a third through hole for the third driving cable to pass through, the first, second, and third through holes are located on the same side of the plane passing through the axes of the first pulley set and the second pulley set.

8. The surgical instrument of claim 7, wherein, The execution part is an electric cauterization tool, and the end effector further includes an electric cable for providing power to the execution part, and the distal end of the electric cable is electrically connected to the proximal end of the execution part.

9. The surgical instrument of claim 8, wherein, The execution part further includes a first insulating member, a second insulating member, and a third insulating member, the proximal end of the execution part is connected to the distal end of the electric cable in the first insulating member, the second insulating member is connected to the distal end of the first insulating member, the end of the execution part is fixed in the second insulating member, and the distal end of the electric cable is accommodated in the third insulating member and extends into the first insulating member to be connected to the proximal end of the execution part.

10. The surgical instrument of claim 9, wherein, The second pulley and the fourth pulley have bosses for guiding the electric cable.

11. The surgical instrument of claim 1, wherein, The main decoupling member drives the linear motion of the carriage to change the lengths of the second driving cable and the third driving cable in the driving device.

12. The surgical instrument of claim 11, wherein, The slave decoupling member further includes a first decoupling cable and a second decoupling cable connected to the two ends of the carriage, one end of the first decoupling cable and the second decoupling cable is connected to the main decoupling member, and the main decoupling member is configured to drive the motion of the carriage through the first decoupling cable and the second decoupling cable to change the lengths of the second driving cable and the third driving cable in the driving device.

13. The surgical instrument of claim 11, wherein, The main decoupling member is connected to the carriage by gear meshing.

14. The surgical instrument of claim 11, wherein, The main decoupling member has a cam structure, and the main decoupling member is used to rotate to drive the motion of the carriage by the cam structure abutting against the carriage.

15. The surgical instrument of claim 14, the carriage has a first protrusion and a second protrusion, the cam structure includes a first cam and a second cam arranged axially above and below each other on the main decoupling member, and the rotation of the main decoupling member makes the first cam abut against the first protrusion and the second cam abut against the second protrusion to push the carriage to move.

16. The surgical instrument of claim 15, wherein, The outer contour of the projection of the first cam and / or the second cam on a plane perpendicular to the rotation axis of the main decoupler has an involute, and the variation of the distance of the involute to the rotation axis of the main decoupler with respect to the angle of rotation of the main decoupler around the rotation axis has a linear variation relationship.

17. The surgical instrument of claim 16, wherein, The outer contour further comprises a first circular arc and a second circular arc at both ends of the involute, and the distance of the involute to the rotation axis of the main decoupler gradually increases from one end of the involute connected with the first circular arc to the other end of the involute connected with the second circular arc.

18. The surgical instrument of claim 11, wherein, The driving device further comprises a first guide wheel, and the second driving cable and the third driving cable are guided by the first guide wheel and then guided by the guide part before being extended to the execution part.

19. The surgical instrument of claim 18, wherein, The movement direction of the slave decoupler is parallel to the part of the second driving cable and the third driving cable between the first guide wheel and the sliding carriage.

20. The surgical instrument of claim 1, wherein, The driving unit and the main decoupler rotate in a first direction to reduce the length of the second driving cable and the third driving cable on the second pulley set and to make the slave decoupler move under the driving of the main decoupler to increase the length of the second driving cable and the third driving cable in the driving device.

21. The surgical instrument of claim 20, wherein, The driving unit and the main decoupler rotate in a second direction to increase the length of the second driving cable and the third driving cable on the second pulley set and to make the slave decoupler move under the driving of the main decoupler to reduce the length of the second driving cable and the third driving cable in the driving device.

22. The surgical instrument of claim 21, wherein, The rotation of the driving unit and the main decoupler makes the variation of the length of the second driving cable or the third driving cable on the second pulley set equal to twice the distance of the movement of the slave decoupler in the driving device.

23. The surgical instrument of claim 22, wherein, The rotation of the main decoupler in the first direction makes the reduction of the length of the second driving cable or the third driving cable on the second pulley set equal to twice the distance of the movement of the main decoupler in the driving device.

24. The surgical instrument of claim 12, wherein, The rotation of the main decoupler in the first direction retracts the first decoupling cable and releases the second decoupling cable, and makes the sliding carriage move to increase the length of the second driving cable and the third driving cable in the driving device.

25. The surgical instrument of claim 24, wherein, The rotation of the main decoupler in the second direction opposite to the first direction releases the first decoupling cable and retracts the second decoupling cable, and makes the sliding carriage move to reduce the length of the second driving cable and the third driving cable in the driving device.

26. The surgical instrument of claim 25, wherein, The proximal end of the second support has a pitch wheel for pivotally mounting the second support on the first support, and the pitch wheel has an annular groove for accommodating and guiding the first driving cable.

27. The surgical instrument of claim 26, wherein, The radius of each pulley of the second pulley set is r1, the radius of the bottom of the annular groove is R1, the radius of the main decoupling element is r2, and the radius of the driving unit is R2, and the radius of the bottom of the annular groove R1, the radius of the second pulley set r1, the radius of the main decoupling element r2, and the radius of the driving unit R2 satisfy the following relationship: ， Wherein, N is the number of the guide parts.

28. The surgical instrument of claim 27, wherein, The N is 1.

29. The surgical instrument of claim 8, wherein, The surgical instrument further comprises a first guide mechanism and a second guide mechanism for guiding the cable, and the winding mode of the cable on the first guide mechanism and the second guide mechanism is the same as the winding mode of the third driving cable on the second pulley and the fourth pulley.

30. An operating device from which, The slave operating device comprises a mechanical arm and the surgical instrument as claimed in any one of claims 1-29, the surgical instrument is installed on the mechanical arm, and the mechanical arm is used for manipulating the movement of the surgical instrument.

31. A surgical robot, characterised in that, The surgical robot comprises a master operating console and the slave operating device as claimed in claim 30, and the slave operating device performs corresponding operations according to the instructions of the master operating console.

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