Surgical instruments and surgical robots

Abstract

The present application provides a surgical instrument and a surgical robot, wherein the surgical instrument includes a mounting assembly, a drilling actuator, and a first drive mechanism, wherein the actuator assembly includes an end actuator disposed at its distal end, and the proximal end of the actuator assembly is rotatably connected to the mounting assembly; the first drive mechanism includes a first drive assembly and a flexible transmission member, wherein the first drive assembly is disposed on the mounting assembly, the flexible transmission member is in transmission connection with the first drive assembly, and the proximal end of the actuator assembly is in transmission connection with the flexible transmission member, and the first drive assembly is capable of rotating and driving the actuator assembly to rotate about its own longitudinal axis. The surgical instrument provided by the present application simplifies the transmission structure by adopting a flexible transmission member, and the transmission is simple and reliable. The structure of the mounting assembly is more compact, the volume of the transmission structure and the mounting assembly is reduced, and the weight is reduced, thereby meeting the requirements of minimally invasive surgery for the degree of freedom, flexibility, and accuracy of surgical instruments and ensuring the quality of surgery.

Description

Technical Field

[0001] The present application belongs to the field of medical device technology, and more specifically, relates to a surgical instrument and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical procedure performed within the human body using modern medical devices such as laparoscopes and thoracoscopes and related equipment. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery. With technological advancements, minimally invasive surgical techniques and robotic technology have matured and are being widely used. Robot-assisted minimally invasive surgery has become a trend in minimally invasive surgery and has been gradually applied in clinical practice.

[0003] Minimally invasive surgical procedures often require tissue cutting, dissection, and suturing. Ultrasonic surgical devices generate high-frequency electrical energy through a generator. A transducer utilizes piezoelectric or electromagnetically compressible materials to convert this high-frequency electrical energy into high-frequency mechanical vibrations (e.g., 55,500 times per second). These vibrations are amplified and transmitted to an actuator at the end of the ultrasonic surgical instrument. The actuator then transmits the ultrasonic energy into biological tissue, producing physiological effects, particularly using the generated heat to cauterize or cut tissue. Ultrasonic surgical devices can essentially simultaneously cut tissue and stop bleeding through coagulation, and at temperatures lower than those used in traditional electrosurgery, advantageously minimizing patient trauma. Consequently, ultrasonic surgical devices have been adopted in a variety of surgical applications.

[0004] In robot-assisted minimally invasive surgery, ultrasonic surgical instruments are used in conjunction with surgical robots. Existing ultrasonic surgical instruments are complex and expensive, especially due to their complex transmission mechanisms. This results in large and heavy instruments, which constrict the robot's range of motion and prevent it from moving freely. This makes it impossible to meet the minimally invasive surgical requirements for surgical instruments, which require a high degree of freedom, flexibility, and accuracy, thus affecting surgical quality. Furthermore, when multiple surgical instruments are used, they are prone to interference, limiting the range of their use. Summary of the Invention

[0005] The purpose of the embodiments of the present application is to provide a surgical instrument and a surgical robot to solve the technical problems of the surgical instruments in the prior art, such as complex structure, large size and heavy weight.

[0006] To achieve the above objectives, the technical solution adopted in this application is to provide a surgical instrument, comprising:

[0007] A mounting assembly for connecting to a surgical robot;

[0008] an actuator assembly comprising an end actuator disposed at a distal end thereof, wherein a proximal end of the actuator assembly is rotatably connected to the mounting assembly; and

[0009] The first drive mechanism includes a first drive component and a flexible transmission member. The first drive component is arranged on the mounting component. The flexible transmission member is in transmission connection with the first drive component. The flexible transmission member is in transmission connection with the proximal end of the actuator component. The first drive component can rotate and drive the flexible transmission member to move. The flexible transmission member drives the actuator component to rotate around its own longitudinal axis.

[0010] In one embodiment, the mounting assembly includes a bracket and a sleeve, the sleeve is arranged on the bracket, and the sleeve can rotate around its own longitudinal axis; the proximal end of the actuator is inserted into the sleeve, and the proximal end of the actuator is connected to the sleeve.

[0011] In one embodiment, the first driving assembly includes a driving wheel, which is rotatably disposed on the bracket, one end of the flexible transmission member is fixedly connected to the driving wheel, and the other end of the flexible transmission member is fixedly connected to the sleeve.

[0012] In one embodiment, the first driving mechanism includes a plurality of flexible transmission members.

[0013] In one embodiment, a limiting groove is provided on the outer periphery of the driving wheel and / or the outer periphery of the sleeve, and the flexible transmission member is connected to the limiting groove.

[0014] In one embodiment, the first driving assembly has a zero position corresponding to an initial rotation position of the actuator assembly;

[0015] The first driving mechanism also includes a return part, one end of which is connected to the bracket, and the other end of which is connected to the first driving assembly. The return part is elastic and can generate a torque for the first driving assembly to rotate toward the zero position.

[0016] In one embodiment, the actuator further comprises a core shaft and an outer tube, wherein the core shaft extends along the longitudinal axis of the actuator, the end effector is connected to the distal end of the core shaft, the proximal end of the core shaft is used to connect to the ultrasonic transducer, and the outer tube is sleeved on the outside of the core shaft;

[0017] A sleeve positioning hole is formed on the proximal outer periphery of the sleeve, an outer tube positioning hole is formed on the proximal outer periphery of the outer tube, and a core shaft positioning hole is formed on the proximal outer periphery of the core shaft;

[0018] The mounting assembly also includes a positioning piece, the proximal end of the core shaft and the proximal end of the outer tube are both inserted into the sleeve, and the positioning piece is simultaneously inserted into the sleeve positioning hole, the outer tube positioning hole and the core shaft positioning hole to connect the sleeve, the core shaft and the outer tube.

[0019] In one embodiment, the actuator assembly further includes a jaw member and an opening and closing drive member, wherein the jaw member is disposed at the distal end of the actuator assembly and is adjacent to the end actuator, the opening and closing drive member extends longitudinally of the actuator assembly, and the distal end of the opening and closing drive member is connected to the jaw member;

[0020] The opening and closing driving component can reciprocate relative to the core shaft along the longitudinal translation of the implementation assembly to drive the jaw member to open and close relative to the end effector.

[0021] In one embodiment, the surgical instrument further comprises a second drive mechanism, the second drive mechanism comprising a second drive assembly and an actuator, the second drive assembly being disposed on the bracket, the second drive assembly being in transmission connection with the actuator, and the actuator being connected to the proximal end of the opening and closing drive member;

[0022] The second driving assembly is capable of rotating and driving the actuating member to perform a reciprocating translation along the longitudinal direction of the execution assembly, and the actuating member drives the opening and closing driving member to move.

[0023] In one embodiment, the opening and closing drive member is tubular, and the opening and closing drive member is sleeved between the core shaft and the outer tube. A long hole is opened on the proximal periphery of the opening and closing drive member, and the long hole extends along the axial direction of the opening and closing drive member; the positioning member is simultaneously passed through the long hole, the sleeve positioning hole, the outer tube positioning hole and the core shaft positioning hole, and the positioning member can translate relative to the opening and closing drive member along the long hole.

[0024] In one embodiment, the proximal end of the opening and closing drive member is fixedly provided with a connecting structure, and the connecting structure includes an annular groove; the actuator is provided with a mounting ring, and the inner ring of the mounting ring protrudes inward and is provided with an annular rib, and the mounting ring is sleeved on the proximal end of the actuator component, and the annular rib is matched and connected with the annular groove to connect the proximal end of the opening and closing drive member with the actuator.

[0025] In one embodiment, the actuator is further provided with a limit tube, which is coaxial with the mounting ring and connected to one axial end of the mounting ring. The limit tube is sleeved on the proximal outside of the sleeve and at least partially covers the sleeve positioning hole.

[0026] In one embodiment, the second driving mechanism further includes a guide assembly, which includes a guide member and a sliding member, wherein the guide member is fixedly arranged on the bracket, and the guide member is parallel to the longitudinal axis of the actuator assembly; the sliding member is slidably arranged on the guide member, and the actuator is fixedly connected to the sliding member.

[0027] In one embodiment, the distal end of the sleeve extends out of the bracket, and an operating portion is further provided on the outer periphery of the distal end of the sleeve. The operating portion has a shape compatible with the disassembly and assembly tool, and operating the operating portion can drive the sleeve to rotate around its own axis.

[0028] In one embodiment, the mounting assembly further includes a sleeve bearing and a locking piece, the outer ring of the sleeve bearing is fixedly connected to the bracket, the sleeve is supported on the inner ring of the sleeve bearing, the locking piece is fixedly connected to the sleeve, and the locking piece abuts against the inner ring of the sleeve bearing to fixedly connect the sleeve to the inner ring of the sleeve bearing; and the outer diameter of the locking piece is less than or equal to the outer diameter of the inner ring of the sleeve bearing.

[0029] The present application also provides a surgical robot, the surgical robot comprising a slave operating device, a master operating device and the surgical instrument as described in any one of the above items;

[0030] The slave operating device includes at least one robotic arm, and the surgical instrument can be detachably mounted on the robotic arm; the master operating device is used to send control commands to the slave operating device according to the operator's operation, and the slave operating device is used to respond to the control commands and control the robotic arm and the surgical instrument to perform corresponding operations.

[0031] The beneficial effects of the surgical instrument provided by this application are:

[0032] Compared with the existing technology, the surgical instrument of the present application adopts a flexible transmission part and a first drive component as the driving element to drive the entire execution component to rotate on its own, thereby simplifying the transmission structure. The flexible transmission is simple and reliable, and the structure of the installation component is more compact. It can reduce the volume of the transmission structure and the installation component, reduce the weight, and effectively solve the technical problems of the existing ultrasonic knife surgical instruments such as complex structure, large volume and heavy weight, meet the requirements of minimally invasive surgery for the freedom, flexibility and accuracy of surgical instruments, ensure the quality of surgery, and have strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0034] Figure 1 A schematic diagram of the three-dimensional structure of a slave operating device provided in an embodiment of the present application;

[0035] Figure 2 A schematic diagram of the three-dimensional structure of a slave operating device provided in another embodiment of the present application;

[0036] Figure 3 A schematic diagram of the three-dimensional structure of the main operating device provided in an embodiment of the present application;

[0037] Figure 4 A schematic diagram of the three-dimensional structure of a surgical instrument provided in an embodiment of the present application;

[0038] Figure 5 A cross-sectional view of a surgical instrument provided in an embodiment of the present application;

[0039] Figure 6 A cross-sectional view of the assembly of the actuator, sleeve, and actuator provided in an embodiment of the present application;

[0040] Figure 7 for Figure 5 A schematic diagram of the enlarged structure of the middle part A;

[0041] Figure 8 A schematic diagram of the assembly of a surgical instrument and an ultrasonic transducer provided in an embodiment of the present application;

[0042] Figure 9 An exploded view of the assembly of the actuator, sleeve, and actuator provided in an embodiment of the present application;

[0043] Figure 10 A schematic diagram of the three-dimensional structure of the fixed force wrench provided in an embodiment of the present application.

[0044] Among them, the reference numerals in the figures are:

[0045] 1. Install components;

[0046] 11. Bracket; 111. Top plate; 112. Base;

[0047] 12. Casing; 121. Limiting groove; 122. Casing positioning hole; 123. Operating part;

[0048] 13. Positioning parts;

[0049] 14. Shell; 141. Open round mouth;

[0050] 15. Locking piece;

[0051] 16. Sleeve bearing;

[0052] 2. Execution component;

[0053] 21. End effector;

[0054] 22, core shaft; 221, core shaft positioning hole; 222, threaded hole;

[0055] 23. Outer tube; 231. Outer tube positioning hole;

[0056] 24. Jaw member;

[0057] 25. Opening and closing drive member; 251. Long hole;

[0058] 26. Connecting structure; 261. Ring groove; 262. Claw plate; 263. Disc hoop; 264. Ring frame;

[0059] 31. First drive assembly; 311. Driving wheel; 312. Drive shaft; 313. First bearing; 314. Second bearing; 315. First drive capstan; 316. Clamping ring;

[0060] 32. Flexible transmission parts;

[0061] 33. Return parts;

[0062] 41. Second drive assembly; 411. Coupling; 412. Third bearing; 413. Fourth bearing; 414. Bearing fixing nut; 415. Drive screw; 416. Second drive capstan; 417. Drive nut;

[0063] 42. Actuating member; 421. Mounting ring; 422. Ring rib; 423. Position limiting tube; 424. Driving fork; 425. Clamping sleeve;

[0064] 100. Surgical instruments;

[0065] 201, slave operating device; 202, master operating device; 203, robotic arm; 204, actuator; 205, main control console; 206, input device;

[0066] 300, ultrasonic transducer; 301, cable; 302, energy output interface;

[0067] 400. Fixed wrench; 401. Square hole feature. DETAILED DESCRIPTION

[0068] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0069] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0070] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0071] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0072] The surgical instruments and surgical robots provided in the embodiments of the present application are now described.

[0073] In this application, "distal" and "proximal" are used as directional words, which are commonly used terms in the field of interventional medical devices, where "distal" refers to the end away from the operator during the operation, and "proximal" refers to the end close to the operator during the operation.

[0074] See also Figure 1 and Figure 2The surgical robot provided in this application includes a slave operating device 201 and a surgical instrument 100. The slave operating device 201 is located on the patient's side and is used to perform surgical operations, wherein the slave operating device 201 includes a robotic arm 203 and an actuator 204 provided at the distal end of the robotic arm 203. The surgical instrument 100 used to perform surgical operations is detachably connected to the actuator 204. The actuator 204 drives the surgical instrument 100 to move. The surgical instrument 100 can be an ultrasonic surgical instrument. The robotic arm 203 can also be connected to other surgical instruments such as electric cauterizers, clamps, staplers, shears, etc. for performing surgical operations, and can also be a camera or other surgical instrument for acquiring images. Multiple surgical instruments can be connected to one actuator 204, and the distal ends of multiple surgical instruments enter the human body through one incision to reduce the number of surgical incisions and make postoperative recovery faster. The slave operating device 201 can also be provided with multiple robotic arms 203, each of which is connected to a surgical instrument, and the multiple surgical instruments are inserted into the patient's body from different incisions. The robotic arm 203 is configured to be supported by a plurality of large arms. In other embodiments, the robotic arm 203 of the operating device 201 may also be mounted on a wall or a ceiling.

[0075] The robotic arm 203 further includes a parallelogram linkage mechanism, and the actuator 204 is mounted on the distal end of the parallelogram linkage mechanism. The parallelogram linkage mechanism can allow the surgical instrument 100 to move or multiple mechanical degrees of freedom (for example, all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). The parallelogram linkage mechanism is used to constrain the surgical instrument 100 to move near the remote center of motion (RCM) on the surgical instrument that remains stationary relative to the patient. The remote center of motion is usually located at the position where the surgical instrument enters the patient's body. In some other embodiments, another type of slave operating device 201 has a different upper arm structure. The multiple surgical instruments of this type of slave operating device 201 are detachably mounted on a power mechanism at the distal end of the upper arm. The multiple surgical instruments enter the human body from one incision, and the multiple upper arms control the movement of the surgical instruments near the remote center of motion.

[0076] During use of the surgical robot, the surgical instrument 100 as a whole is sterile, and the robotic arm 203 and the actuator 204 of the operating device 201 are sterile. These sterile structures are isolated from the sterile environment by a sterile finder (not shown).

[0077] The surgical robot typically also includes an imaging system portion (not shown) that enables the operator to observe the surgical site from outside the patient's body. The imaging system portion typically includes a device with a video image acquisition function (e.g., an instrument with an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the instrument with an image acquisition function includes an optical device with one or more imaging sensors (e.g., a CCD or CMOS sensor) that will acquire images inside the patient's body. The one or more imaging sensors can be placed at the distal end of the instrument with image acquisition function, and the signals generated by the one or more sensors can be transmitted along a cable or wirelessly for processing and display on a video display device.

[0078] See also Figure 3 The surgical robot also includes a main operating device 202. The main operating device 202 is located on the operator's side. The main operating device 202 is used to send control commands to the slave operating device 201 and display the images obtained by the slave operating device 201 according to the operator's operation. The operator can observe the three-dimensional stereoscopic imaging of the patient's body provided by the imaging system through the main operating device 202. By observing the three-dimensional images of the patient's body, the operator can control the slave operating device 201 to perform related operations (such as performing surgery or obtaining images of the patient's body) in an immersive way. The main operating device 202 includes a main console 205 and an input device 206. The main console 205 includes a display device, armrests, a control signal processing system, and an observation device. The display device is used to display the images obtained by the above-mentioned imaging system. The armrests are used to place the operator's arms and / or hands so that the operator can operate the input device 206 more comfortably. The observation device is used to observe the images displayed by the display device. Depending on actual needs, the armrests can be omitted; or the observation device can be omitted, in which case direct observation can be performed. The operator controls the slave operating device 201 to perform relevant operations through the operation input device 206. The control signal processing system of the main console 205 processes the input signal of the input device 206 and sends a control command to the slave operating device 201. The slave operating device 201 is used to respond to the control command sent by the main console 205 and perform corresponding operations.

[0079] The surgeon performs relevant control operations on the slave operating device 201 on the master operating device 202, and the slave operating device 201 performs surgical operations on the human body according to the input instructions of the master operating device 202. The master operating device 202 and the slave operating device 201 can be located in the same operating room, or in different rooms. The master operating device 202 and the slave operating device 201 can even be located far away from each other. For example, the master operating device 202 and the slave operating device 201 are located in different cities. The master operating device 202 and the slave operating device 201 can transmit data via a wired method or wirelessly. For example, if the master operating device 202 and the slave operating device 201 are located in the same operating room, data can be transmitted between them via a wired method. Alternatively, if the master operating device 202 and the slave operating device 201 are located in different cities, long-distance data transmission can be performed between them via 5G wireless signals.

[0080] See also Figure 4 、 Figure 5 and Figure 6 The surgical instrument 100 provided in the present application includes a mounting assembly 1, an execution assembly 2 and a first drive mechanism; the mounting assembly 1 is used to connect to the surgical robot of the above-mentioned embodiment to install the surgical instrument 100 on the surgical robot for use; the execution assembly 2 includes an end actuator 21 arranged at its distal end, for example, the end actuator 21 includes an ultrasonic knife; the proximal end of the execution assembly 2 can be rotatably connected to the mounting assembly 1, and the rotation axis is the longitudinal axis of the execution assembly 2, so that the execution assembly 2 is rotatably installed on the mounting assembly 1; the first drive mechanism includes a first drive assembly 31 and a flexible transmission member 32, the first drive assembly 31 is arranged on the mounting assembly 1, the flexible transmission member 32 is transmission-connected to the first drive assembly 31, the proximal end of the execution assembly 2 is transmission-connected to the flexible transmission member 32, the first drive assembly 31 can rotate relative to the mounting assembly 1, and drive the flexible transmission member 32 to move, and the flexible transmission member 32 drives the execution assembly 2 to rotate around its own longitudinal axis.

[0081] The surgical instrument 100 in the above embodiment adopts the flexible transmission member 32 and the first drive component 31 as driving elements to drive the entire actuator component 2 to rotate, thereby simplifying the transmission structure, making the flexible transmission simple and reliable, and making the structure of the mounting component 1 more compact. It can reduce the volume of the transmission structure and the mounting component 1, reduce the weight, and effectively solve the technical problems of the existing ultrasonic knife surgical instruments such as complex structure, large volume and heavy weight.

[0082] By adopting the above-mentioned surgical instrument 100, the activity space of the surgical robot can be effectively guaranteed, the surgical robot can move freely, and the requirements of minimally invasive surgery for the freedom, flexibility and accuracy of the surgical instrument 100 can be met, thereby ensuring the quality of the surgery; when multiple surgical instruments 100 are used, they are less likely to interfere with each other, thereby increasing the scope of use of the surgical instrument 100.

[0083] In one of the embodiments of this application, please refer to Figure 4 and Figure 5 Mounting assembly 1 includes a bracket 11 and a sleeve 12. Sleeve 12 is mounted on bracket 11 and is rotatable about its longitudinal axis. The proximal end of actuator 2 is inserted into and connected to sleeve 12. Sleeve 12 and actuator 2 are capable of synchronous rotation, thereby rotatably connecting actuator 2 to mounting assembly 1. Sleeve 12 is a hollow tubular component that allows for the detachable mounting of actuator 2. It has a simple structure, is easy to install and remove, and is highly practical.

[0084] In a specific embodiment, the bracket 11 includes a top plate 111 and a base 112. The top plate 111 and the base 112 are fixedly connected in parallel to form an instrument box with a more compact structure. The sleeve 12 is installed at the center of the bracket 11. The two ends of the sleeve 12 are rotatably connected to the top plate 111 and the base 112 respectively, and the central axis of the sleeve 12 is parallel to the central axis of the first drive assembly 31, thereby rotating the execution assembly 2 to the center of the instrument box.

[0085] In one of the embodiments of this application, please refer to Figure 5 The first drive assembly 31 includes a driving wheel 311, which is rotatably mounted on the bracket 11. One end of a flexible transmission member 32 is fixedly connected to and wrapped around the driving wheel 311, while the other end of the flexible transmission member 32 is fixedly connected to and wrapped around the sleeve 12. When the driving wheel 311 is driven to rotate, the driving wheel 311 wraps around and pulls one end of the flexible transmission member 32, while the other end of the flexible transmission member 32 synchronously pulls the sleeve 12 to rotate. The flexible transmission member 32 is fixedly connected to the driving wheel 311 and the sleeve 12, making it less likely to slip. The transmission is stable and reliable, and the rotation angle of the actuator 2 can be precisely controlled, ensuring surgical quality and strong practicality.

[0086] Optionally, the first drive mechanism includes multiple flexible transmission members 32, for example, two. Multiple flexible transmission members 32 have a higher load-bearing capacity and a stronger transmission capability. Thus, for the same transmission force requirement, the material and size requirements for the flexible transmission members 32 can be reduced, which helps reduce costs. Furthermore, an even number of flexible transmission members 32 can drive the actuator 2 in both forward and reverse rotation, eliminating the need for a separate rotation reset mechanism for the actuator 2. This simplifies the transmission structure, reduces costs, and enhances practicality.

[0087] Optionally, a limiting groove 121 is provided on the outer periphery of the driving wheel 311 and / or the outer periphery of the sleeve 12, and the flexible transmission member 32 is wound and connected in the limiting groove 121. By providing the limiting groove 121, the winding position of the flexible transmission member 32 on the driving wheel 311 and / or the sleeve 12 can be limited, thereby preventing the flexible transmission member 32 from slipping axially on the outer periphery of the driving wheel 311 and / or the sleeve 12. The distance between the driving wheel 311 driving the flexible transmission member 32 to move and the distance between the flexible transmission member 32 driving the sleeve 12 to rotate are kept consistent, and the transmission of the flexible transmission member 32 is accurate and reliable, ensuring the quality of the surgery and strong practicality.

[0088] In a specific embodiment, the flexible transmission member 32 is a steel wire or a belt, the driving wheel 311 is a wire wheel or a pulley, and the outer surfaces of the driving wire wheel and the sleeve 12 are provided with wire grooves. One end of the first steel wire and the second steel wire is fixed and wound on the wire groove of the driving wire wheel, and the other end of the first steel wire and the second steel wire is fixed and wound on the wire groove of the sleeve 12 to realize the transmission and speed change of the rotational power.

[0089] Optionally, the first drive assembly 31 has a zero position corresponding to the initial rotational position of the actuator 2. The initial rotational position of the actuator 2 refers to the zero angle position specified when the end effector 21 is in use, and this zero angle position can be set by the operator. The zero position then refers to the position of the first drive assembly 31 when the end effector 21 is in this zero angle position. The first drive mechanism also includes a return part 33, one end of which is connected to the bracket 11 and the other end of which is connected to the first drive assembly 31. The return part 33 is elastic and can generate a torque to rotate the first drive assembly 31 toward the zero position. By providing the return part 33, the rotational angle of the first drive assembly 31 can be maintained at the zero position relative to the surgical instrument 100 before the surgical instrument 100 is installed on the surgical robot, eliminating the steps and time required to adjust and calibrate the rotational angle position of the actuator 2, facilitating the installation and use of the surgical instrument 100, saving time and effort, and enhancing practicality.

[0090] In a specific embodiment, the first drive assembly 31 also includes a drive shaft 312, a first bearing 313, a second bearing 314, a first drive capstan 315 and a clamping ring 316. The two ends of the drive shaft 312 are rotatably supported on the top plate 111 and the base 112 of the bracket 11 through the first bearing 313 and the second bearing 314, respectively, and constrain the first drive assembly 31 to move axially along the drive shaft 312; the drive shaft 312 is parallel to the central axis of the sleeve 12, so that the first drive assembly 31 is arranged parallel to one side of the actuator 2. A first drive capstan 315 is disposed outside the base 112 and fixedly connected to the drive shaft 312. The first drive capstan 315 serves as an input port for connecting to the surgical robot's robotic arm 203 and inputting rotational motion. The driving wheel 311 is coaxially sleeved on the drive shaft 312 and secured to the drive shaft 312 via a clamping ring 316, which is fixedly connected to the drive shaft 312. The return element 33 is a return-to-zero spring sleeved on the drive shaft 312, with one end secured within a hole in the clamping ring 316 and the other end secured to the top plate 111. External power input via the first drive capstan 315 causes the drive shaft 312 to rotate, pulling the first and second steel wires on the driving wheel 311, ultimately rotating the cannula 12.

[0091] In one of the embodiments of this application, please refer to Figure 6 and Figure 7 The actuator 2 also includes a core shaft 22 and an outer tube 23. The core shaft 22 extends along the longitudinal axis of the actuator 2. The core shaft 22 is a slender solid shaft. The end actuator 21 is connected to the distal end of the core shaft 22. The proximal end of the core shaft 22 is used to connect the ultrasonic transducer 300; the outer tube 23 is sleeved on the outside of the core shaft 22, and the outer tube 23 extends from the proximal end of the core shaft 22 to the distal end of the core shaft 22. The outer tube 23 can protect the core shaft 22. A sleeve positioning hole 122 is provided on the proximal outer periphery of the sleeve 12, an outer tube positioning hole 231 is provided on the proximal outer periphery of the outer tube 23, and a core shaft positioning hole 221 is provided on the proximal outer periphery of the core shaft 22; the mounting assembly 1 also includes a positioning member 13, the proximal ends of the core shaft 22 and the proximal ends of the outer tube 23 are both inserted into the sleeve 12, and the positioning member 13 is simultaneously inserted into the sleeve positioning hole 122, the outer tube positioning hole 231 and the core shaft positioning hole 221 to connect the sleeve 12, the core shaft 22 and the outer tube 23, and the circumferential relative positions and axial relative positions among the sleeve 12, the core shaft 22 and the outer tube 23 are limited.

[0092] See also Figure 8As a new type of surgical energy instrument, the surgical instrument 100 must be connected to the ultrasonic transducer 300 when performing a cutting action. The electrical energy input from the outside through the tail cable 301 of the ultrasonic transducer 300 will be converted into high-frequency vibrations through structures such as piezoelectric ceramics inside the ultrasonic transducer 300; the high-frequency vibrations output from the ultrasonic transducer 300 are transmitted to the distal end effector 21 through the entire core shaft 22, thereby realizing the cutting and coagulation energy supply of the surgical instrument 100.

[0093] By providing the sleeve positioning hole 122, the outer tube positioning hole 231, the core shaft positioning hole 221 and the positioning member 13, the sleeve 12, the core shaft 22 and the outer tube 23 are connected together, and the axial relative movement of the sleeve 12, the core shaft 22 and the outer tube 23 is constrained; when the sleeve 12 is driven to rotate by the first driving mechanism, the rotational power is transmitted to the positioning member 13, driving the core shaft 22 and the outer tube 23 connected to the positioning member 13 to rotate synchronously; the matching structure of the positioning member 13 and the sleeve positioning hole 122, the outer tube positioning hole 231 and the core shaft positioning hole 221 is simple, the transmission is reliable, and it is easy to disassemble and assemble, simple and convenient to use, and highly practical.

[0094] In a specific embodiment, the outer tube 23 is a thin-walled long tubular part; the sleeve positioning hole 122, the outer tube positioning hole 231 and the core shaft positioning hole 221 are all circular holes, which radially penetrate the core shaft 22, the outer tube 23 and the sleeve 12; the positioning member 13 is a cylindrical pin shaft.

[0095] Optionally, see Figure 6 The actuator 2 further includes a jaw member 24 and an opening and closing drive 25. The jaw member 24 is disposed at the distal end of the actuator 2 and is adjacent to the end effector 21. The opening and closing drive 25 extends longitudinally of the actuator 2, and the distal end of the opening and closing drive 25 is connected to the jaw member 24. The core shaft 22, outer tube 23, and opening and closing drive 25 constitute the blade rod of the ultrasonic scalpel. The opening and closing drive 25 can translate and reciprocate relative to the core shaft 22 and outer tube 23 along the longitudinal direction of the actuator 2 to drive the jaw member 24 to open and close relative to the end effector 21. The jaw member 24 cooperates with the end effector 21 to clamp biological tissue, enhancing the functionality of the surgical instrument 100 and improving its practicality.

[0096] In one of the embodiments of this application, please refer to Figure 5The surgical instrument 100 also includes a second drive mechanism, which includes a second drive assembly 41 and an actuator 42. The second drive assembly 41 is disposed on the bracket 11 and is in transmission connection with the actuator 42. The actuator 42 is connected to the proximal end of the opening and closing drive member 25. The second drive assembly 41 is rotatable relative to the bracket 11, driving the actuator 42 to move back and forth along the longitudinal translation of the actuator 2. The actuator 42 drives the opening and closing drive member 25 to move back and forth along the longitudinal translation of the actuator 2. The second drive assembly 41 converts the rotational motion into linear motion of the actuator 42, driving the opening and closing drive member 25 to move relative to the core shaft 22 and the outer tube 23, thereby driving the jaw member 24 at the distal end of the actuator 2 to open and close. The transmission structure is compact, which is conducive to reducing the volume and weight of the mounting assembly 1 and is highly practical.

[0097] In a specific embodiment, the second drive assembly 41 includes a coupling 411, a third bearing 412, a fourth bearing 413, a bearing fixing nut 414, a drive screw 415, a second drive capstan 416 and a drive nut 417. The coupling 411 is rotatably set on the base 112 of the bracket 11 through the third bearing 412, and the fourth bearing 413 is fixedly set on the top plate 111 through the bearing fixing nut 414. One end of the drive screw 415 is fixedly connected to the coupling 411, and the other end is rotatably supported on the top plate 111 of the bracket 11 through the fourth bearing 413. The third bearing 412 and the fourth bearing 413 cooperate to constrain the second drive assembly 41 to move axially along the drive screw 415; the drive screw 415 is parallel to the central axis of the sleeve 12, thereby setting the second drive assembly 41 parallel to one side of the actuator 2. A second drive capstan 416 is disposed outside the base 112 and fixedly connected to the coupling 411. The second drive capstan 416 serves as an input port for connecting to the surgical robot's robotic arm 203, receiving rotational motion. The coupling 411 transmits the rotational motion inputted by the second drive capstan 416 to the drive screw 415. The drive screw 415 has an external thread or helical feature on its outer surface. A drive nut 417 is attached to the drive screw 415, and its inner surface has an internal thread or helical feature. Together, the drive screw 415 and the drive nut 417 form a threaded or helical transmission pair, converting the rotational motion of the drive screw 415 into linear motion of the drive nut 417 along the axial direction of the drive screw 415. The actuator 42 is fixedly connected to the drive nut 417. When the drive nut 417 moves axially along the drive screw 415, the actuator 42 follows the axial motion of the drive nut 417 along the drive screw 415. The second driving assembly 41 uses a screw thread or a helical pair transmission structure to convert the rotational motion of the external motor into the linear motion of the actuator 42 .

[0098] In a specific embodiment not shown, the second driving assembly 41 may also use a connecting rod mechanism, a cam and a cam groove mechanism to convert the rotational motion of the external motor into the linear motion of the actuator 42 .

[0099] Optionally, see Figure 5 、 Figure 6 and Figure 7 The opening and closing drive member 25 is tubular, and the opening and closing drive member 25 of the thin-walled long tubular part has higher rigidity and drives the jaw member 24 to move more stably and reliably; the opening and closing drive member 25 is sleeved between the core shaft 22 and the outer tube 23, and a long hole 251 is opened on the proximal periphery of the opening and closing drive member 25, and the long hole 251 extends along the axial direction of the opening and closing drive member 25; the positioning member 13 is simultaneously passed through the long hole 251, the sleeve positioning hole 122, the outer tube positioning hole 231 and the core shaft positioning hole 221, and the positioning member 13 can move translationally along the long hole 251 relative to the opening and closing drive member 25. Since the axial movement of the sleeve 12 relative to the bracket 11 has been constrained, the axial movement of the core shaft 22, the outer tube 23 and the positioning member 13 is also constrained. The positioning member 13 can move translationally along the elongated hole 251 relative to the opening and closing drive member 25, that is, the opening and closing drive member 25 can make axial movement along the elongated hole 251 relative to the core shaft 22 and the outer tube 23, thereby avoiding interference of the positioning member 13 with the translational movement of the opening and closing drive member 25; at the same time, the circumferential movement of the opening and closing drive member 25 is constrained by the positioning member 13, and the positioning member 13 can drive the opening and closing drive member 25 to rotate synchronously with the core shaft 22 and the outer tube 23, that is, the positioning member 13 limits the overall rotation of the actuator 2; so that the ultrasonic knife self-rotation movement and the jaw opening and closing movement of the surgical instrument 100 can operate independently of each other, thereby enhancing the use function, meeting the requirements of minimally invasive surgery for the freedom, flexibility and accuracy of the surgical instrument 100, ensuring the quality of the surgery, and being highly practical.

[0100] In a specific embodiment, the elongated hole 251 radially penetrates the tubular opening and closing driving member 25 .

[0101] Optionally, see Figure 6 and Figure 9The proximal end of the opening / closing driver 25 is fixedly provided with a connecting structure 26, which includes an annular groove 261. The actuator 42 is provided with a mounting ring 421, the inner ring of which is provided with an annular rib 422 protruding inwardly. The mounting ring 421 is mounted on the proximal end of the actuator 2. The annular rib 422 engages with the annular groove 261 to connect the proximal end of the opening / closing driver 25 to the actuator 42. When the actuator 42 is driven to perform reciprocating translation along the longitudinal direction of the actuator 2, the annular rib 422 pushes the annular groove 261 to move synchronously, which in turn drives the connected opening / closing driver 25 to reciprocate translation along its own axial direction. Since the axial movement of the core shaft 22 and outer tube 23 is now constrained, the opening / closing driver 25 will generate axial relative motion with the core shaft 22 and outer tube 23, thereby driving the jaw member 24 at the distal end of the actuator 2 to open and close. When the actuator 2 is driven by the first driving mechanism to rotate, the annular groove 261 rotates relative to the annular rib 422 around the core shaft 22. The rotation movement of the actuator 2 and the opening and closing movement of the jaw member 24 are independent of each other and do not affect each other, ensuring the stable and reliable use of the surgical instrument 100, ensuring the quality of the operation, and strong practicality.

[0102] Optionally, see Figure 7 and Figure 9 The actuator 42 is further provided with a limiting tube 423, which is coaxial with the mounting ring 421 and connected to one axial end of the mounting ring 421. The limiting tube 423 is sleeved and mounted on the proximal end of the sleeve 12, and the limiting tube 423 at least partially covers the sleeve positioning hole 122. The inner wall of the limiting tube 423 constrains the positioning member 13, preventing the positioning member 13 from slipping out of the sleeve positioning hole 122, which would cause the positioning member 13 to lose its connection function. This ensures stable and reliable use of the surgical instrument 100, and enhances its practicality.

[0103] In one specific embodiment, see Figure 9 The connecting structure 26 includes a claw plate 262, a hoop 263, and a ring frame 264. The claw plate 262, hoop 263, and ring frame 264 are all fixedly connected to the proximal end of the opening and closing drive member 25 and are in a fully constrained state. The circular features on the ring frame 264 and hoop 263 form an annular groove 261. The actuator 42 includes a drive fork 424 and a clamping sleeve 425. One end of the drive fork 424 is connected to the clamping sleeve 425 to form a mounting ring 421. When the drive fork 424 and the clamping sleeve 425 are connected to the opening and closing drive tube, the annular groove 261 accommodates the annular rib 422 of the mounting ring 421. The distal end of the drive fork 424, after being connected to the clamping sleeve 425, forms a limiting tube 423. The limiting tube 423 is a circular tube. The inner diameter of the limiting tube 423 is compatible with the outer diameter of the sleeve 12.

[0104] Optionally, the second drive mechanism further includes a guide assembly (not shown), which includes a guide member and a sliding member. The guide member is fixedly mounted on the bracket 11 and parallel to the longitudinal axis of the actuator 2. The sliding member is slidably mounted on the guide member, and the actuator 42 is fixedly connected to the sliding member. The sliding member slides along the guide member, which can limit and guide the reciprocating translational motion of the actuator 42, helping to maintain the stability of the linear motion of the actuator 42. The actuator 42 drives the opening and closing drive member 25 to achieve stable linear motion, thereby driving the jaw member 24 to achieve stable opening and closing motion, thereby ensuring the quality of the surgery.

[0105] In a specific embodiment, the guide member is a slide rail or a guide rail, the sliding member is a slider, the slide rail is fixed on the base 112 , and the slider is fixed on the driving fork 424 .

[0106] Optionally, see Figure 5 、 Figure 6 and Figure 8 The distal end of the sleeve 12 extends out of the bracket 11. An operating portion 123 is also provided on the outer periphery of the distal end of the sleeve 12. The operating portion 123 has a shape suitable for connecting with a disassembly and assembly tool. The operating portion 123 is used to connect with the disassembly and assembly tool. By operating the operating portion 123 with the disassembly and assembly tool, the sleeve 12 can be driven to rotate around its own axis. When using the surgical instrument 100, the internal ultrasonic knife rod (i.e., the core shaft 22) needs to be connected to the energy output interface 302 of the ultrasonic transducer 300. The common ultrasonic transducer 300 and the ultrasonic knife rod are connected by threads. To ensure a stable connection, a disassembly and assembly tool needs to be used each time it is installed. For example, Figure 10 The fixed force wrench 400 shown is used to assist in ensuring that the locking force of the threaded connection remains consistent; by setting the operating part 123, the sleeve 12 can be operated to rotate in conjunction with the disassembly and assembly tool, and the sleeve 12 synchronously drives the actuator 2 to rotate relative to the ultrasonic transducer 300, so as to conveniently and firmly fix the actuator 2 to the energy output interface 302 of the ultrasonic transducer 300, thereby improving the disassembly and assembly efficiency, being convenient and labor-saving to use, and having strong practicality.

[0107] In one embodiment, the mounting assembly 1 further comprises a housing 14, the proximal end of which is provided with an open circular opening 141. The proximal end of the mandrel 22 is provided with a threaded hole 222, which is used to screw together the energy output interface 302 of the ultrasonic transducer 300. The distal end of the mandrel 22 is fixedly connected to the ultrasonic blade. The operating portion 123 is a square feature that matches the square hole feature 401 at the end of the fixed wrench 400. Connecting the surgical instrument 100 to the ultrasonic transducer 300 includes the following steps:

[0108] Insert the ultrasonic transducer 300 through the open circular opening 141 on the housing 14, and rotate the ultrasonic transducer 300 to preliminarily connect the threaded features of the energy output interface 302 with the threaded features at the proximal end of the core shaft 22. Insert the fixed wrench 400 from the distal end of the core shaft 22, so that the square hole feature 401 at the end of the fixed wrench 400 connects with the square feature of the operating portion 123 on the sleeve 12; fix the ultrasonic transducer 300, and rotate the fixed wrench 400 circumferentially along the sleeve 12. The torque is transmitted from the fixed wrench 400 through the sleeve 12 and the positioning member 13 to the core shaft 22, causing the core shaft 22 to rotate relative to the ultrasonic transducer 300, and further tightening the threaded connection between the core shaft 22 and the energy output interface 302 until the torque set by the fixed wrench 400 is reached. At this time, the connection between the surgical instrument 100 and the energy output interface 302 of the ultrasonic transducer 300 is completed. The fixed force wrench 400 cooperates with the square feature of the operating portion 123 to conveniently and firmly fix the core shaft 22 to the energy output interface 302 of the ultrasonic transducer 300 .

[0109] Optionally, the mounting assembly 1 further includes a locking member 15 and a sleeve bearing 16, the outer ring of the sleeve bearing 16 is fixedly connected to the bracket 11, the sleeve 12 is supported on the inner ring of the sleeve bearing 16, the locking member 15 is fixedly connected to the sleeve 12, and the locking member 15 abuts against the inner ring of the sleeve bearing 16 to fixedly connect the sleeve 12 to the inner ring of the sleeve bearing 16, which can constrain the axial displacement between the sleeve 12 and the bracket 11 so that the sleeve 12 can only rotate around its own central axis; and the outer diameter of the locking member 15 is less than or equal to the outer diameter of the inner ring of the sleeve bearing 16, which can effectively prevent the locking member 15 from interfering with the rotation of the sleeve 12, thereby ensuring the stable and reliable rotation of the actuator 2, ensuring the quality of the surgery, and strong practicality.

[0110] In a specific embodiment, the locking member 15 is a shaft end nut, and the outer surface of the distal end of the sleeve 12 is provided with an external thread, which forms a thread pair with the inner thread of the inner surface of the shaft end lock nut. A pair of sleeve bearings 16 are installed on the outside of the sleeve 12, and the sleeve bearings 16 are installed in the annular groove 261 of the base 112; when the shaft end lock nut is screwed in from the distal end of the sleeve 12 and is located at the bottom position of the base 112, it can constrain the axial displacement between the sleeve 12, the sleeve bearing 16, and the base 112.

[0111] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A surgical instrument, characterized in that: include: A mounting assembly for connecting to a surgical robot; an actuator assembly, comprising an end actuator disposed at its distal end, wherein the proximal end of the actuator assembly is rotatably connected to the mounting assembly; as well as a first drive mechanism comprising a first drive assembly and a flexible transmission member, wherein the first drive assembly is disposed on the mounting assembly, the flexible transmission member being in driving connection with the first drive assembly, the flexible transmission member being in driving connection with the proximal end of the actuator assembly, the first drive assembly being capable of rotating and driving the flexible transmission member to move, and the flexible transmission member driving the actuator assembly to rotate about its longitudinal axis; The mounting assembly includes a bracket and a sleeve, wherein the sleeve is arranged on the bracket and can rotate around its longitudinal axis; the proximal end of the actuator is inserted into the sleeve; The actuator assembly further includes a core shaft and an outer tube, wherein the core shaft extends along the longitudinal axis of the actuator assembly, the end actuator is connected to the distal end of the core shaft, the proximal end of the core shaft is used to connect to the ultrasonic transducer, and the outer tube is sleeved on the outside of the core shaft; A sleeve positioning hole is formed on the proximal outer periphery of the sleeve, an outer tube positioning hole is formed on the proximal outer periphery of the outer tube, and a core shaft positioning hole is formed on the proximal outer periphery of the core shaft; The mounting assembly further includes a positioning member, wherein the proximal end of the core shaft and the proximal end of the outer tube are both inserted into the sleeve, and the positioning member is simultaneously inserted into the sleeve positioning hole, the outer tube positioning hole, and the core shaft positioning hole to connect the sleeve, the core shaft, and the outer tube; The distal end of the sleeve extends out of the bracket, and an operating portion is further provided on the outer periphery of the distal end of the sleeve. The operating portion has a shape adapted to the disassembly and assembly tool, and operating the operating portion can drive the sleeve to rotate around its own axis; The mounting assembly further includes a sleeve bearing and a locking piece. The outer ring of the sleeve bearing is fixedly connected to the bracket, the sleeve is supported on the inner ring of the sleeve bearing, the locking piece is fixedly connected to the sleeve, and the locking piece abuts against the inner ring of the sleeve bearing to fixedly connect the sleeve to the inner ring of the sleeve bearing; and the outer diameter of the locking piece is less than or equal to the outer diameter of the inner ring of the sleeve bearing.

2. The surgical instrument according to claim 1, wherein: The first driving assembly includes a driving wheel, which is rotatably arranged on the bracket. One end of the flexible transmission member is fixedly connected to the driving wheel, and the other end of the flexible transmission member is fixedly connected to the sleeve.

3. The surgical instrument according to claim 2, wherein: The first driving mechanism includes a plurality of flexible transmission members.

4. The surgical instrument according to claim 2, wherein: A limiting groove is provided on the outer periphery of the driving wheel and / or the outer periphery of the sleeve, and the flexible transmission member is connected in the limiting groove.

5. The surgical instrument according to claim 2, wherein: The first driving assembly has a zero position corresponding to an initial rotation position of the actuator assembly; The first driving mechanism also includes a return part, one end of which is connected to the bracket, and the other end of which is connected to the first driving assembly. The return part is elastic and can generate a torque for the first driving assembly to rotate toward the zero position.

6. The surgical instrument according to claim 1, wherein: The actuator assembly further includes a jaw member and an opening and closing drive member, wherein the jaw member is disposed at a distal end of the actuator assembly and is adjacent to the end actuator, the opening and closing drive member extends longitudinally of the actuator assembly, and the distal end of the opening and closing drive member is connected to the jaw member; The opening and closing driving component can reciprocate relative to the core shaft along the longitudinal translation of the implementation assembly to drive the jaw member to open and close relative to the end effector.

7. The surgical instrument according to claim 6, wherein: The surgical instrument further includes a second drive mechanism, the second drive mechanism including a second drive assembly and an actuator, the second drive assembly being disposed on the bracket, the second drive assembly being in transmission connection with the actuator, and the actuator being connected to the proximal end of the opening and closing drive member; The second driving assembly is capable of rotating and driving the actuating member to perform a reciprocating translation along the longitudinal direction of the execution assembly, and the actuating member drives the opening and closing driving member to move.

8. The surgical instrument according to claim 7, wherein: The opening and closing drive member is tubular and is sleeved between the core shaft and the outer tube. A long hole is provided on the proximal outer periphery of the opening and closing drive member, and the long hole extends along the axial direction of the opening and closing drive member; the positioning member is simultaneously passed through the long hole, the sleeve positioning hole, the outer tube positioning hole and the core shaft positioning hole, and the positioning member can translate relative to the opening and closing drive member along the long hole.

9. The surgical instrument according to claim 7, wherein: The proximal end of the opening and closing drive member is fixedly provided with a connecting structure, and the connecting structure includes an annular groove; the actuator is provided with a mounting ring, and the inner ring of the mounting ring protrudes inward and is provided with an annular rib, and the mounting ring is sleeved on the proximal end of the actuator component, and the annular rib is matched and connected with the annular groove to connect the proximal end of the opening and closing drive member with the actuator.

10. The surgical instrument according to claim 9, wherein: The actuator is also provided with a limiting tube, which is coaxial with the mounting ring and connected to one axial end of the mounting ring. The limiting tube is sleeved on the proximal end of the sleeve and at least partially covers the sleeve positioning hole.

11. The surgical instrument according to claim 7, wherein: The second driving mechanism also includes a guide assembly, which includes a guide member and a sliding member. The guide member is fixedly arranged on the bracket, and the guide member is parallel to the longitudinal axis of the actuator assembly; the sliding member is slidably arranged on the guide member, and the actuator is fixedly connected to the sliding member.

12. A surgical robot, characterized in that: The surgical robot comprises a slave operating device, a master operating device and a surgical instrument according to any one of claims 1 to 11; The slave operating device includes at least one robotic arm, and the surgical instrument can be detachably mounted on the robotic arm; the master operating device is used to send control commands to the slave operating device according to the operator's operation, and the slave operating device is used to respond to the control commands and control the robotic arm and the surgical instrument to perform corresponding operations.

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