Front end actuator and method thereof, manipulator device and surgical instrument

Abstract

A front end actuator and method thereof, a manipulator device and a surgical instrument. The present disclosure provides a front end actuator, comprising: a cross axis, the cross axis comprising a first cross axis and a second cross axis that intersect each other perpendicularly, and used to rotate around the first cross axis and / or the second cross axis under the drive of a driving device to achieve the driving of the front end actuator in two degrees of freedom of pitch and yaw, wherein the two degrees of freedom include a first degree of freedom and a second degree of freedom; and a front end actuator, the front end actuator being fixed at both ends of the first cross axis or the second cross axis of the cross axis.

Description

[0001] This application is a divisional application of the invention patent application with application number 202011368299.8 and application date November 30, 2020. The invention name of the original invention patent application is a front end actuator and method thereof, a manipulator device and a surgical instrument. Technical Field

[0002] The present disclosure relates to the field of manipulators, and in particular to a front end actuator and method thereof, a manipulator device and a surgical instrument. Background Art

[0003] At present, the application of manipulator structures with front-end actuators in surgical operations or processing and manufacturing industries is becoming more and more widespread. For fields such as robot-assisted minimally invasive surgical systems or precision manufacturing, there are more stringent requirements on the size and response speed of the front-end actuator. In addition, the front-end actuator needs to perform multi-degree-of-freedom movements. Usually, the drive wires are distributed circumferentially in the outer tube. When the front-end actuator rotates, the circumferentially distributed drive wires will be entangled with each other. The entangled drive wires will not only couple the various movements on the front-end actuator, but also the friction between the drive wires is much greater than the friction between the drive wires on the guide wheel and the wire wheel, resulting in a serious decrease in the movement accuracy and load capacity of the front-end actuator. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] The present disclosure provides a front end actuator and method thereof, a manipulator device and a surgical instrument to at least partially solve the above-mentioned technical problems.

[0006] (II) Technical solution

[0007] According to one aspect of the present disclosure, there is provided a front-end execution device, comprising:

[0008] a first slide rail, the first slide rail being rotatable about a first axis;

[0009] a second slide rail, the second slide rail being rotatable about a second axis, the second axis intersecting the first axis at a point; and

[0010] A slider is slidably connected between the first slide rail and the second slide rail, and is connected to an actuator assembly of the front end actuator.

[0011] According to another aspect of the present disclosure, a front-end execution device is provided, characterized in that it includes:

[0012] a dual axis steering arm rotatable about a first axis; and

[0013] A single-axis steering arm, wherein the first end of the single-axis steering arm and the double-axis steering arm are hinged to the second axis, and the second end is connected to the execution component of the front-end execution device, wherein the first axis and the second axis intersect at one point.

[0014] According to another aspect of the present disclosure, a front-end execution device is provided, characterized in that it includes:

[0015] an arc-shaped slide rail, the arc-shaped slide rail being rotatable about a first axis; and

[0016] A slider is slidably connected to the arc-shaped slide rail, can rotate around a second axis, and is connected to an execution component of a front-end execution device, wherein the first axis and the second axis intersect at a point.

[0017] According to another aspect of the present disclosure, a front-end execution device is provided, characterized in that it includes:

[0018] a first drive arm, the first drive arm being rotatable about a first axis; and

[0019] A second driving arm, the second driving arm is capable of rotating about a second axis and connected to the actuator;

[0020] The first axis and the second axis are perpendicular to each other and intersect at one point, so as to realize the movement of the front-end actuator in two directions of freedom.

[0021] According to another aspect of the present disclosure, a front-end execution device is provided, characterized in that it includes:

[0022] A cross axis, the cross axis includes a first cross axis and a second cross axis that intersect each other perpendicularly, and is used to rotate around the first cross axis and / or the second cross axis under the drive of the driving device to achieve the driving of the front end actuator in two degrees of freedom of pitch and yaw, wherein the two degrees of freedom include a first degree of freedom and a second degree of freedom;

[0023] a front end actuator, the front end actuator being fixed to two ends of one of the first cross axis and the second cross axis of the cross axis; and

[0024] A guide wheel is arranged at both ends of the other one of the first cross axis and the second cross axis to switch the driving wire used to drive the first degree of freedom to rotate to the same side as the driving wire driving the second degree of freedom to rotate, so that the wire threading holes of the driving wire located on the connecting seat are arranged in a straight line, and the direction of the straight line is parallel to the rotation axis of the second degree of freedom.

[0025] According to another aspect of the present disclosure, a front-end execution device is provided, characterized in that it includes:

[0026] A cross axis, the cross axis includes a first cross axis and a second cross axis that intersect each other perpendicularly, and is used to rotate around the first cross axis and / or the second cross axis under the drive of the driving device to achieve the driving of the front end actuator in two degrees of freedom of pitch and yaw, wherein the two degrees of freedom include a first degree of freedom and a second degree of freedom;

[0027] A front end actuator, the front end actuator being fixed at two ends of one of the first cross axis and the second cross axis of the cross axis;

[0028] Double-row guide wheels, the double-row guide wheels are arranged at both ends of the other one of the first cross axis and the second cross axis; and

[0029] Four guide wheels are evenly arranged on the side wall above the cross axis to switch the driving wire used to drive the first degree of freedom to rotate to the same side as the driving wire driving the second degree of freedom, so that the wire threading holes of the driving wire located on the connecting seat are arranged in a straight line, and the direction of the straight line is parallel to the rotation axis of the second degree of freedom.

[0030] According to another aspect of the present disclosure, a front-end execution device is provided, characterized in that it includes:

[0031] A cross axis, the cross axis includes a first cross axis and a second cross axis that intersect each other perpendicularly, and is used to rotate around the first cross axis and / or the second cross axis under the drive of the driving device to achieve the driving of the front end actuator in two degrees of freedom of pitch and yaw, wherein the two degrees of freedom include a first degree of freedom and a second degree of freedom;

[0032] A front end actuator, the front end actuator being fixed at two ends of one of the first cross axis and the second cross axis of the cross axis;

[0033] Double-row guide wheels, the double-row guide wheels are arranged at both ends of the other one of the first cross axis and the second cross axis; and

[0034] Two guide wheels are symmetrically arranged on the side wall above the cross axis to switch the driving wire used to drive the first degree of freedom to rotate to the same side as the driving wire driving the second degree of freedom, so that the wire threading holes of the driving wire located on the connecting seat are arranged in a straight line, and the direction of the straight line is parallel to the rotation axis of the second degree of freedom.

[0035] According to another aspect of the present disclosure, a front-end execution device is provided, characterized in that it includes:

[0036] A cross axis, wherein the cross axis includes a first cross axis and a second cross axis that intersect each other perpendicularly;

[0037] A U-shaped frame, wherein the U-shaped frame is opened upward, and two front ends of the U-shaped frame are connected to two ends of the first cross axis, and an arc-shaped wire guide groove for arranging a second driving wire is provided at the bottom of the outer surface of the U-shaped frame, and is used for rotating around the second cross axis under the drive of the second driving wire to realize the driving of the second degree of freedom of the front end actuator;

[0038] A front end actuator, which is fixed at both ends of the first cross axis and coaxially connected to the U-shaped frame, and is used to rotate around the first cross axis under the drive of the first driving wire to achieve the driving of the first degree of freedom of the front end actuator; and

[0039] Guide wheels are arranged at both ends of the first cross axis and are used to guide the second drive wire so that the wire threading holes of the first drive wire and the second drive wire on the connecting seat are arranged in a straight line, and the direction of the straight line is parallel to the first cross axis or the second cross axis.

[0040] According to another aspect of the present disclosure, a front-end execution device is provided, characterized in that it includes:

[0041] A cross axis, the cross axis comprising a first cross axis and a second cross axis perpendicular to each other, and double rows of guide wheels are respectively arranged at both ends of the second cross axis;

[0042] A U-shaped frame, wherein the U-shaped frame is opened upward, and two front ends of the U-shaped frame are connected to two ends of the first cross axis, and an arc-shaped wire guide groove for arranging a second driving wire is provided at the bottom of the outer surface of the U-shaped frame, and is used for rotating around the second cross axis under the drive of the second driving wire to realize the driving of the second degree of freedom of the front end actuator;

[0043] A front end actuator, which is fixed at both ends of the first cross axis and coaxially connected to the U-shaped frame, and is used to rotate around the first cross axis under the drive of the first driving wire to achieve the driving of the first degree of freedom of the front end actuator; and

[0044] Two guide wheels are symmetrically arranged on the side wall above the cross axis, so that the wire holes of the first drive wire and the second drive wire on the connecting seat are arranged in a straight line, and the direction of the straight line is parallel to the first cross axis or the second cross axis.

[0045] According to another aspect of the present disclosure, a front-end execution device is provided, characterized in that it includes:

[0046] A cross axis, the cross axis includes a first cross axis and a second cross axis that intersect each other perpendicularly, a first wire wheel is provided at both ends of the first cross axis, and a second wire wheel is provided at both ends of the second cross axis, which is used to rotate around the first cross axis and / or the second cross axis under the drive of the driving device to realize the driving of the front end actuator in two degrees of freedom of pitch and yaw, wherein the two degrees of freedom include the first degree of freedom and the second degree of freedom; and

[0047] A guide wheel, wherein the guide wheel is arranged on the cross axis and is coaxially arranged with the first wire wheel or the second wire wheel to switch the driving wire used to drive the first degree of freedom to rotate to the same side as the driving wire driving the second degree of freedom to rotate, so that the wire threading holes of the driving wire located on the connecting seat are arranged in a straight line, and the direction of the straight line is parallel to the rotation axis of the second degree of freedom.

[0048] According to another aspect of the present disclosure, a front-end execution device is provided, characterized in that it includes:

[0049] A cross axis, the cross axis includes a first cross axis and a second cross axis that intersect each other perpendicularly, and is used to rotate around the first cross axis and / or the second cross axis under the drive of the driving device to achieve the driving of the front end actuator in two degrees of freedom of pitch and yaw, wherein the two degrees of freedom include the first degree of freedom and the second degree of freedom; and

[0050] A front end actuator is fixed at two ends of a first cross axis or a second cross axis of the cross axis.

[0051] According to another aspect of the present disclosure, a front-end execution device is provided, characterized in that it includes:

[0052] A cross axis, wherein the cross axis includes a first cross axis and a second cross axis that intersect each other perpendicularly;

[0053] A U-shaped frame, the U-shaped frame opening is upward, two front ends of the U-shaped frame are connected to two ends of the first cross axis, and are connected to the connecting seat of the front end actuator, and are used to rotate around the second cross axis under the drive of the driving assembly to realize the driving of the second degree of freedom of the front end actuator; and

[0054] The front end actuator is fixed at both ends of the first cross axis and is coaxially connected to the U-shaped frame, and is used to rotate around the first cross axis under the drive of the driving component to realize the driving of the first degree of freedom of the front end actuator.

[0055] According to another aspect of the present disclosure, a surgical instrument is provided, comprising the front end effector as described above.

[0056] According to another aspect of the present disclosure, a manipulator device is provided, characterized in that it comprises:

[0057] A joint assembly, wherein the joint assembly comprises the front end actuator as described above.

[0058] According to an embodiment of the present disclosure, the front-end execution device is arranged in the joint assembly of a slave manipulator in a manipulator device, wherein the operation instruction of the slave manipulator is sent by the master manipulator.

[0059] (III) Beneficial effects

[0060] It can be seen from the above technical solutions that the front end effector and method thereof, the manipulator device and the surgical instrument disclosed in the present invention have at least one of the following beneficial effects:

[0061] (1) The yaw axis, pitch axis and rotation axis of the front end effector disclosed in the present invention intersect at one point, that is, it has the characteristic of three axes intersecting at one center. Compared with the structure where the three axes do not intersect at one center, when achieving the same motion angle, the motion rotation radius of the structure at this scale is smaller, and it has higher motion flexibility;

[0062] (2) The three-axis intersecting structure of the front-end effector disclosed in the present invention is easy to realize the posture separation calculation in kinematics, especially for the instrument arm with multiple degrees of freedom (six degrees of freedom or seven degrees of freedom), the kinematic inverse solution process of the instrument arm is easier, and the analytical solution can be obtained, thereby reducing the amount of calculation of the robot controller and improving the robot motion control response speed;

[0063] (3) The threading holes of the driving wires of the front-end actuator disclosed in the present invention are distributed in a straight line, which can prevent the driving wires in the outer tube from being entangled with each other during rotation and reduce the coupling degree of each movement;

[0064] (4) The front-end actuator of the wire-wheel transmission in the embodiment of the present disclosure has two interlaced arc-shaped slide rails, and the two slide rails with orthogonal axes jointly support a slider, which can make the structure have a large support stiffness, ensuring that the front-end actuator 301 does not deform or reverse drive when maintaining a certain posture under load; in addition, the pressure angle of the slide rail on the slider during the driving process is always 90°, and the theoretical value of the motion transmission efficiency of this part is 100%. Considering the influence of the friction between the slider and the slide rail, the slider can still maintain a very high transmission efficiency during the movement of the slider;

[0065] (5) In the front-end actuator structure of the embodiment of the present disclosure, the guide rail slider structure is used to replace part of the drive wire guide wheels. Under the premise of meeting all motion characteristics, the number of guide wheels on the drive wire transmission path is reduced, which can increase the driving force transmitted by the drive wire; the use of the guide rail slider structure to replace part of the drive wire guide wheels can reduce the wrap angle of the drive wire by more than 50%. The wrap angle of the drive wire in the front-end actuator is only 3π / 2 (at each initial position), and the deflection and pitch motion loads of the front-end actuator in the initial position can reach 28N;

[0066] (6) The sliders and rails of the disclosed embodiments are usually made of medical metal materials, and the friction coefficient between the sliders and rails is further reduced by coating the surfaces of the sliders and rails with a fluorine-containing film. The coated parts are also easier to clean after surgery.

[0067] (7) During the movement of each part of the front-end driving device of the embodiment of the present disclosure, the position of the wire wheel remains fixed, that is, the length of the driving wire between the driving wire wheels remains unchanged, and the driving wire can be accurately driven after being installed and pre-tensioned;

[0068] (8) In the embodiment of the present disclosure, the dual-axis steering arm and the single-axis steering arm are arranged in series to form a set of serial mechanical arm mechanisms, which makes it easy to obtain a kinematic correct solution; in addition, since the dual-axis steering arm and the upper end surface of the connecting seat are arranged at an angle of 30°, the deflection angle of the dual-axis steering arm in one direction can reach 150°, which can greatly improve the operational flexibility of the surgical tool;

[0069] (9) The front-end actuator of the embodiment of the present disclosure is provided with an arc-shaped double-slide rail structure, and the slider can only slide on the slide rail. The arc-shaped slide rail adopts the virtual constraint form of the double-slide rail structure, which can improve the rigidity of the front-end actuator under load and reduce the influence of the sliding gap on the motion error. In addition, under the restriction of the limit groove, the pulling direction of the driving wire on the slider is always the same as the tangential direction of the slider movement. Ignoring the influence of friction, the pulling force of the driving wire is all applied to the slider. The driving force of this driving method is much greater than that of the wire wheel driving method.

[0070] (10) The parts used in the front-end actuator of the embodiment of the present disclosure are usually small parts or thin-walled parts. Since the load direction of the front-end actuator is different from the elastic deformation sensitive direction, its structure has good rigidity under load;

[0071] (11) The rotation axis of the opening and closing action of the jaws of the front-end actuator of the embodiment of the present disclosure is arranged to coincide with the axis of the deflection movement, which can further reduce the size of the wrist of the front-end actuator, making its structure compact, and at the same time shorten the rotation radius of the deflection movement and the pitch movement, thereby improving the load capacity; at the same time, in terms of kinematics, after the above two axes are arranged to coincide, the kinematic model of the front-end actuator can be simplified, the kinematic calculation amount of the control program can be reduced, the control accuracy and the real-time operation of the system can be improved, and the quality of the surgical operation can be ensured; in addition, the outer diameter of the surgical tool is usually 8-10mm, and a part with a length of 8mm below this outer diameter will occupy a large part of the image area. Through the above arrangement, the axial size of the front-end actuator can be reduced by 8mm, which can greatly reduce the occlusion of the field of view by the surgical tool;

[0072] (12) Four guide wheels are evenly distributed on the side wall above the cross axis of the front end actuator of the embodiment of the present disclosure. The guide wheels are arranged above the cross axis to reduce the space occupied below the cross axis and increase the pitch motion rotation angle.

[0073] (13) The front-end actuator of the embodiment of the present disclosure has a "Z"-shaped structure, so there are no parts that can interfere with the movement of the clamp in the direction of rotation of the clamp, and the deflection angle of the deflection movement can reach ±125°. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Figure 1 Schematic diagram of the structure of the main hand end of the robot-assisted minimally invasive surgery system according to the embodiment of the present disclosure.

[0075] Figure 2 It is a schematic diagram of the structure of the robot-assisted minimally invasive surgery system from the hand end according to an embodiment of the present disclosure.

[0076] Figure 3a It is a schematic diagram of the structure of the instrument arm according to an embodiment of the present disclosure.

[0077] Figure 3b It is a schematic diagram of the movement of the instrument arm according to the embodiment of the present disclosure.

[0078] Figure 4 It is a schematic diagram of the structure of the surgical tool according to the embodiment of the present disclosure.

[0079] Figure 5a It is a schematic diagram of the structure of the rear-end driving device of the embodiment of the present disclosure.

[0080] Figure 5b It is a schematic diagram of the arrangement of the driving wire wheel according to the embodiment of the present disclosure.

[0081] Figure 6 It is a schematic diagram of the structure of the outer tube of an embodiment of the present disclosure.

[0082] Figure 7Schematic diagram of the relationship between the drive wire and the outer tube according to an embodiment of the present disclosure.

[0083] Figure 8 It is a schematic diagram of the structure of the flexible outer tube according to an embodiment of the present disclosure.

[0084] Fig. 9 It is a partially enlarged schematic diagram of the flexible outer tube of the embodiment of the present disclosure.

[0085] Fig.10 It is a cross-sectional view of the flexible outer tube along the axis of the embodiment of the present disclosure.

[0086] Fig.11 It is a schematic diagram of length compensation of the driving wire in the flexible outer tube according to an embodiment of the present disclosure.

[0087] Fig.12 It is a schematic diagram of the structure of the transition ring of the device capable of adjusting the position of the cavity in the multi-lumen tube according to the embodiment of the present disclosure.

[0088] Fig.13 It is a schematic diagram of the change in the relative position of the driving wire in the flexible outer tube in the bending direction according to the embodiment of the present disclosure.

[0089] Fig.14 It is a schematic structural diagram of a flexible outer tube according to another embodiment of the present disclosure.

[0090] Fig.15 A schematic diagram of the movement of a front-end execution device according to an embodiment.

[0091] Fig.16 A schematic diagram of the internal structure of a front-end execution device according to an embodiment.

[0092] Fig.17 Schematic diagram of the arrangement of drive wires of a front-end actuator according to an embodiment.

[0093] Fig.18 A schematic diagram of the movement of a front-end execution device according to an embodiment.

[0094] Fig.19 It is a structural diagram of a front-end execution device of yet another embodiment.

[0095] Fig. 20 It is a schematic diagram of the deflection seat structure of the front-end execution device in another embodiment.

[0096] Fig.21 A schematic diagram of the clamp structure of a front-end execution device in yet another embodiment.

[0097] Fig. 22 It is a schematic diagram of the pitch motion of the front-end actuator according to another embodiment.

[0098] Fig.23 It is a schematic diagram of the deflection and opening and closing movement of the front end actuator of another embodiment.

[0099] Fig.24 Schematic diagram of the arrangement of drive wires for the pitch motion of a front-end actuator in yet another embodiment.

[0100] Fig.25 It is a schematic diagram of the arrangement of drive wires for the deflection and opening and closing movements of a front-end actuator in yet another embodiment.

[0101] Fig.26 It is a schematic diagram of the arrangement of the drive wires on the pitch wire wheel of the front-end actuator in another embodiment.

[0102] Fig. 27 It is a structural diagram of a front-end execution device of yet another embodiment.

[0103] Fig.28 A schematic diagram of the internal structure of a front-end execution device according to yet another embodiment.

[0104] Fig.29 It is a schematic diagram of the deflection seat structure of the front-end execution device in yet another embodiment.

[0105] Fig.30 A schematic diagram of the clamp structure of a front-end execution device in yet another embodiment.

[0106] Fig.31 It is a schematic diagram of the pitch motion of the front-end actuator according to yet another embodiment.

[0107] Fig.32 It is a schematic diagram of the deflection and opening and closing movement of the front end actuator according to yet another embodiment.

[0108] Fig.33 Schematic diagram of the arrangement of drive wires for the pitch motion of a front-end actuator according to yet another embodiment.

[0109] Fig.34 This is a schematic diagram of the arrangement of drive wires for the deflection and opening and closing movements of a front end actuator in yet another embodiment.

[0110] Fig.35 This is a schematic diagram of the arrangement of the drive wires on the pitch wire wheel of the front-end actuator in yet another embodiment.

[0111] Fig.36 It is a structural diagram of a front-end execution device of yet another embodiment.

[0112] Fig.37 An exploded view of a front-end execution device according to yet another embodiment.

[0113] Fig.38 It is a schematic diagram of the connecting seat structure of the front-end execution device in yet another embodiment.

[0114] Fig.39A schematic diagram of the clamp structure of a front-end execution device in yet another embodiment.

[0115] Fig.40 It is a schematic diagram of the pitch motion of the front-end actuator according to yet another embodiment.

[0116] Fig.41 It is a schematic diagram of the deflection and opening and closing movement of the front end actuator according to yet another embodiment.

[0117] Fig.42 Schematic diagram of the arrangement of drive wires for the pitch motion of a front-end actuator according to yet another embodiment.

[0118] Fig.43 This is a schematic diagram of the arrangement of drive wires for the deflection and opening and closing movements of a front end actuator in yet another embodiment.

[0119] Fig.44 This is a schematic diagram of the arrangement of the drive wires on the pitch wire wheel of the front-end actuator in yet another embodiment.

[0120] Fig.45 It is a structural diagram of a front-end execution device of yet another embodiment.

[0121] Fig.46 An exploded view of a front-end execution device according to yet another embodiment.

[0122] Fig.47 FIG. 4 is a schematic diagram of the deflection motion of a front-end actuator according to yet another embodiment.

[0123] Fig.48 A schematic diagram of the clamp structure of a front-end execution device in yet another embodiment.

[0124] Fig.49 It is a schematic diagram of the pitch and opening and closing motions of the front-end actuator according to yet another embodiment.

[0125] Fig.50 It is a structural diagram of a front-end execution device of yet another embodiment.

[0126] Fig.51 A schematic diagram of the three-degree-of-freedom motion of a front-end actuator according to yet another embodiment.

[0127] Fig.52 The curves showing the variation of the deflection angle displacements of the various rotating shafts when the front-end execution device 231 simulates the "needle-holding suturing" action.

[0128] Fig.53 The curves showing the changes in the deflection angle displacements of the various rotating shafts when the front-end execution device 232 simulates the "needle-holding suturing" action.

[0129] Fig.54 Schematic diagram of the arrangement of drive wires for the deflection movement of a front-end actuator according to yet another embodiment.

[0130] Fig.55 Schematic diagram of the arrangement of drive wires for the rotational motion of a front-end actuator according to yet another embodiment.

[0131] Fig.56 It is a structural diagram of a front-end execution device of yet another embodiment.

[0132] Fig.57 A schematic diagram of the three-degree-of-freedom motion of a front-end actuator according to yet another embodiment.

[0133] Fig.58 An exploded view of a front-end execution device according to yet another embodiment.

[0134] Fig.59 This is a structural schematic diagram of the installation of the deflection seat of the front-end execution device in yet another embodiment.

[0135] Fig.60 This is a structural schematic diagram of the installation of a front-end execution device on a rotating seat in yet another embodiment.

[0136] Fig.61 This is a structural diagram of the clamp installation of the front-end execution device in yet another embodiment.

[0137] Fig.62 It is a structural schematic diagram of the clamp installation of the front-end execution device from another perspective of another embodiment.

[0138] Fig.63 It is a structural diagram of a front-end execution device of yet another embodiment.

[0139] Fig.64 An exploded view of a front-end execution device according to yet another embodiment.

[0140] Fig.65 It is a schematic structural diagram of the cross axis of the front-end execution device in yet another embodiment.

[0141] Fig.66 This is a schematic diagram of the arrangement of driving wires of a front-end actuator according to yet another embodiment.

[0142] Fig.67 The figure is a schematic diagram of the arrangement of the driving wires of the front-end actuator from another perspective of yet another embodiment.

[0143] Fig.68 This is a schematic diagram of the length change of the driving wire of the front-end actuator in yet another embodiment.

[0144] Fig.69 It is a schematic diagram of the structure of the front-end execution device of the embodiment of the present disclosure.

[0145] Fig.70 It is a partially enlarged view of the front-end execution device of the embodiment of the present disclosure.

[0146] Fig.71 It is a schematic diagram of the structure of the arc-shaped slide rail of the front-end execution device of the embodiment of the present disclosure.

[0147] Fig.72 It is a structural schematic diagram of the slider of the front-end execution device of the embodiment of the present disclosure.

[0148] Fig.73 Schematic diagram of the arrangement of the drive wires of the front-end actuator of the embodiment of the present disclosure.

[0149] Fig.74 It is a schematic diagram of the driving wire of the front-end actuator driving the slide rail to rotate in the embodiment of the present disclosure.

[0150] Fig.75 It is a structural diagram of another front-end execution device according to an embodiment of the present disclosure.

[0151] Fig.76 Shown is a schematic diagram of a serial robot arm mechanism structure of a front-end execution device according to another embodiment of the present disclosure.

[0152] Fig.77 Shown is a schematic structural diagram of a double-axis steering arm of a front-end execution device according to another embodiment of the present disclosure.

[0153] Fig.78 Shown is a schematic structural diagram of a single-axis steering arm of a front-end execution device according to another embodiment of the present disclosure.

[0154] Fig.79 This is a schematic diagram of the arrangement of driving wires of a front-end actuator according to another embodiment of the present disclosure.

[0155] Fig.80 It is a schematic diagram of the arrangement of the drive wires on a dual-axis steering arm according to another embodiment of the present disclosure.

[0156] Fig.81 It is a schematic diagram of the arrangement of the drive wires on a single-axis steering arm according to another embodiment of the present disclosure.

[0157] Fig.82 This is a schematic diagram of a driving wire of a front end actuator driving a slide rail to rotate according to another embodiment of the present disclosure.

[0158] Fig.83 This is a diagram showing the relationship between the rotation angles of the slide rail driven by the driving wire of the front end actuator according to another embodiment of the present disclosure.

[0159] Fig.84 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure.

[0160] Fig.85 This is a structural schematic diagram of a double slide rail structure of a front-end execution device according to yet another embodiment of the present disclosure.

[0161] Fig.86It is a schematic diagram of a slider connection structure of a front-end actuator according to another embodiment of the present disclosure.

[0162] Fig.87 This is a schematic diagram of the arrangement of driving wires of a front-end actuator according to yet another embodiment of the present disclosure.

[0163] Fig.88 This is a schematic diagram of the arrangement of the drive wires of the double slide rails according to another embodiment of the present disclosure.

[0164] Fig.89 This is a schematic diagram of a front-end actuator driven by a driving wire according to yet another embodiment of the present disclosure.

[0165] Fig.90 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure.

[0166] Fig.91 This is a schematic diagram of the structure of two driving arms of a front-end actuator according to yet another embodiment of the present disclosure.

[0167] Fig.92 This is a schematic diagram of the structure of the lower driving arm of the front-end execution device according to another embodiment of the present disclosure.

[0168] Fig.93 This is a schematic diagram of the structure of an upper driving arm of a front-end execution device according to yet another embodiment of the present disclosure.

[0169] Fig.94 A schematic diagram of a coordinate system of a front-end execution device according to yet another embodiment of the present disclosure.

[0170] Fig.95 This is a schematic diagram of the arrangement of driving wires of a front-end actuator according to yet another embodiment of the present disclosure.

[0171] Fig.96 This is a schematic diagram of the arrangement of the driving wire of the front-end actuator on the wire wheel according to another embodiment of the present disclosure.

[0172] Fig.97 This is a schematic diagram of a driving ribbon of a front-end actuator driving a driving arm to rotate according to another embodiment of the present disclosure.

[0173] Fig.98 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure.

[0174] Fig.99 It is an exploded diagram of the front-end execution device structure of yet another embodiment of the present disclosure.

[0175] Fig.100 It is a schematic structural diagram of a cross axis of a front-end execution device according to another embodiment of the present disclosure.

[0176] Fig.101 This is a schematic diagram of the arrangement of drive wires of a front-end actuator according to yet another embodiment of the present disclosure.

[0177] Fig.102 This is a schematic diagram of the arrangement of the drive wire of the front end actuator on the cross axis according to another embodiment of the present disclosure.

[0178] Fig.103 This is a schematic diagram of the arrangement of the driving wire cross axis of the front-end actuator from another perspective of another embodiment of the present disclosure.

[0179] Fig.104 This is a schematic diagram of a front-end actuator performing pitch motion according to yet another embodiment of the present disclosure.

[0180] Fig.105 This is a schematic diagram of the arrangement of the drive wire of the front-end actuator on the deflection wire wheel according to another embodiment of the present disclosure.

[0181] Fig.106 This is a schematic diagram of the arrangement of the driving wire of the front-end actuator on the deflection wire wheel from another perspective of yet another embodiment of the present disclosure.

[0182] Fig.107 It is a schematic diagram of a front-end actuator performing deflection motion according to yet another embodiment of the present disclosure.

[0183] Fig.108 This is a schematic diagram of the distribution of wire threading holes of a front-end execution device according to another embodiment of the present disclosure.

[0184] Fig.109 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure.

[0185] Fig.110 It is an exploded diagram of the front-end execution device structure of yet another embodiment of the present disclosure.

[0186] Fig.111 It is a structural schematic diagram of an electric hook seat of a front-end execution device according to yet another embodiment of the present disclosure.

[0187] Fig.112 FIG. 2 is a schematic diagram of an arrangement of drive wires of a front-end actuator 310 according to another embodiment of the present disclosure.

[0188] Fig.113 This is a schematic diagram of the arrangement of the drive wire of the front-end actuator on the pitch wire wheel according to another embodiment of the present disclosure.

[0189] Fig.114 This is a schematic diagram of a front-end actuator performing pitch motion according to yet another embodiment of the present disclosure.

[0190] Fig.115 This is a schematic diagram of the arrangement of the drive wire of the front-end actuator on the deflection wire wheel according to another embodiment of the present disclosure.

[0191] Fig.116This is a schematic diagram of the arrangement of the driving wire of the front-end actuator on the deflection wire wheel from another perspective of yet another embodiment of the present disclosure.

[0192] Fig.117 It is a schematic diagram of a front-end actuator performing deflection motion according to yet another embodiment of the present disclosure.

[0193] Fig.118 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure.

[0194] Fig.119 It is an exploded diagram of the front-end execution device structure of yet another embodiment of the present disclosure.

[0195] Fig.120 It is a structural diagram of a clamp page of a front-end execution device according to yet another embodiment of the present disclosure.

[0196] Fig.121 It is a schematic diagram of the pitch angle of the front-end execution device according to another embodiment of the present disclosure.

[0197] Fig.122 This is a schematic diagram of the arrangement of drive wires of a front-end actuator according to yet another embodiment of the present disclosure.

[0198] Fig.123 This is a schematic diagram of the arrangement of the driving wires for the pitch motion of the front end actuator on the cross axis according to yet another embodiment of the present disclosure.

[0199] Fig.124 This is a schematic diagram of a front-end actuator performing pitch motion according to yet another embodiment of the present disclosure.

[0200] Fig.125 This is a schematic diagram of the arrangement of the drive wires for the deflection movement and opening and closing movement of the front end actuator on the cross axis according to another embodiment of the present disclosure.

[0201] Fig.126 This is a schematic diagram of the arrangement of the drive wires for the deflection movement and opening and closing movement of the front-end actuator on the clamp leaf according to yet another embodiment of the present disclosure.

[0202] Fig.127 This is a schematic diagram of the front-end actuator performing deflection and opening and closing movements according to yet another embodiment of the present disclosure.

[0203] Fig.128 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure.

[0204] Fig.129 It is an exploded diagram of the front-end execution device structure of yet another embodiment of the present disclosure.

[0205] Fig.130 It is a schematic structural diagram of a front-end execution device structure clamp page according to yet another embodiment of the present disclosure.

[0206] Fig.131 This is a schematic diagram of the arrangement of drive wires of a front-end actuator according to yet another embodiment of the present disclosure.

[0207] Fig.132 This is a schematic diagram of the arrangement of the drive wire of the front-end actuator on the pitch wire wheel according to another embodiment of the present disclosure.

[0208] Fig.133 This is a schematic diagram of a front-end actuator performing pitch motion according to yet another embodiment of the present disclosure.

[0209] Fig.134 This is a schematic diagram of the arrangement of the drive wires for the deflection movement and opening and closing movement of the front end actuator on the cross axis according to another embodiment of the present disclosure.

[0210] Fig.135 This is a schematic diagram of the arrangement of the drive wires for the deflection movement and opening and closing movement of the front-end actuator on the cross axis from another perspective of yet another embodiment of the present disclosure.

[0211] Fig.136 This is a schematic diagram of the arrangement of the drive wires for the deflection movement and opening and closing movement of the front-end actuator on the clamp leaf according to yet another embodiment of the present disclosure.

[0212] Fig.137 This is a schematic diagram of the front-end actuator performing deflection and opening and closing movements according to yet another embodiment of the present disclosure.

[0213] Fig.138 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure.

[0214] Fig.139 It is an exploded diagram of the front-end execution device structure of yet another embodiment of the present disclosure.

[0215] Fig.140 It is a schematic structural diagram of a cross axis of a front-end execution device according to another embodiment of the present disclosure.

[0216] Fig.141 This is a schematic diagram of the arrangement of driving wires of a front-end actuator according to yet another embodiment of the present disclosure.

[0217] Fig.142 This is a schematic diagram of the arrangement of the driving wire of the front-end actuator on the cross axis according to another embodiment of the present disclosure.

[0218] Fig.143 This is a schematic diagram of a front-end actuator performing pitch motion according to yet another embodiment of the present disclosure.

[0219] Fig.144 This is a schematic diagram of the arrangement of the drive wires for the deflection movement and opening and closing movement of the front-end actuator on the guide wheel in yet another embodiment of the present disclosure.

[0220] Fig.145This is a schematic diagram of the arrangement of the drive wires for the deflection movement and opening and closing movement of the front-end actuator on the clamp leaf according to yet another embodiment of the present disclosure.

[0221] Fig.146 This is a schematic diagram of the front-end actuator performing deflection and opening and closing movements according to yet another embodiment of the present disclosure.

[0222] Fig.147 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure.

[0223] Fig.148 It is an exploded diagram of the front-end execution device structure of yet another embodiment of the present disclosure.

[0224] Fig.149 It is a schematic structural diagram of a cross axis of a front-end execution device according to another embodiment of the present disclosure.

[0225] Fig.150 It is a structural diagram of a clamp page of a front-end execution device according to yet another embodiment of the present disclosure.

[0226] Fig.151 This is a schematic diagram of the arrangement of driving wires of a front-end actuator according to yet another embodiment of the present disclosure.

[0227] Fig.152 This is a schematic diagram of the arrangement of the driving wire of the front-end actuator on the cross axis according to another embodiment of the present disclosure.

[0228] Fig.153 This is a schematic diagram of a front-end actuator performing pitch motion according to yet another embodiment of the present disclosure.

[0229] Fig.154 This is a schematic diagram of the arrangement of drive wires for the deflection movement and opening and closing movement of a front-end actuator according to yet another embodiment of the present disclosure.

[0230] Fig.155 This is a schematic diagram of the arrangement of drive wires for the deflection movement and opening and closing movement of a front-end actuator from another perspective of yet another embodiment of the present disclosure.

[0231] Fig.156 This is a schematic diagram of the arrangement of the drive wires for the deflection movement and opening and closing movement of the front-end actuator on the clamp leaf according to yet another embodiment of the present disclosure.

[0232] Fig.157 This is a schematic diagram of the front-end actuator performing deflection and opening and closing movements according to yet another embodiment of the present disclosure.

[0233] Fig.158 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure.

[0234] Fig.159 It is an exploded diagram of the front-end execution device structure of yet another embodiment of the present disclosure.

[0235] Fig.160 It is a schematic diagram of the clamp structure of a front-end execution device according to another embodiment of the present disclosure.

[0236] Fig.161 This is a schematic diagram of the arrangement of drive wires of a front-end actuator according to yet another embodiment of the present disclosure.

[0237] Fig.162 Schematic diagram of the arrangement of drive wires for the pitch motion of a front-end actuator according to yet another embodiment of the present disclosure.

[0238] Fig.163 This is a schematic diagram of the arrangement of drive wires for the deflection and opening and closing movements of a front end actuator according to yet another embodiment of the present disclosure.

[0239] Fig.164 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure.

[0240] Fig.165 It is an exploded diagram of the front-end execution device structure of yet another embodiment of the present disclosure.

[0241] Fig.166 It is a schematic diagram of the clamp structure of a front-end execution device according to another embodiment of the present disclosure.

[0242] Fig.167 This is a schematic diagram of the arrangement of drive wires of a front-end actuator according to yet another embodiment of the present disclosure.

[0243] Fig.168 Schematic diagram of the arrangement of drive wires for the pitch motion of a front-end actuator according to yet another embodiment of the present disclosure.

[0244] Fig.169 This is a schematic diagram of the arrangement of drive wires for the deflection and opening and closing movements of a front end actuator according to yet another embodiment of the present disclosure.

[0245] Fig.170 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure.

[0246] Fig.171 It is an exploded diagram of the front-end execution device structure of yet another embodiment of the present disclosure.

[0247] Fig.172 It is a schematic diagram of the clamp structure of a front-end execution device according to another embodiment of the present disclosure.

[0248] Fig.173 This is a schematic diagram of the arrangement of drive wires of a front-end actuator according to yet another embodiment of the present disclosure.

[0249] Fig.174 Schematic diagram of the arrangement of drive wires for the pitch motion of a front-end actuator according to yet another embodiment of the present disclosure.

[0250] Fig.175 This is a schematic diagram of the arrangement of drive wires for the deflection and opening and closing movements of a front end actuator according to yet another embodiment of the present disclosure.

[0251] Fig.176 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure.

[0252] Fig.177 It is an exploded diagram of the front-end execution device structure of yet another embodiment of the present disclosure.

[0253] Fig.178 It is a schematic diagram of the clamp structure of a front-end execution device according to another embodiment of the present disclosure.

[0254] Fig.179 This is a schematic diagram of the deflection drive wheel structure of a front-end execution device according to yet another embodiment of the present disclosure.

[0255] Fig.180 This is a schematic diagram of the arrangement of drive wires of a front-end actuator according to yet another embodiment of the present disclosure.

[0256] Fig.181 Schematic diagram of the arrangement of drive wires for the pitch motion of a front-end actuator according to yet another embodiment of the present disclosure.

[0257] Fig.182 This is a schematic diagram of the arrangement of drive wires for the deflection and opening and closing movements of a front end actuator according to yet another embodiment of the present disclosure.

[0258] Fig.183 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure.

[0259] Fig.184 It is an exploded diagram of the front-end execution device structure of yet another embodiment of the present disclosure.

[0260] Fig.185 It is a schematic diagram of the clamp structure of a front-end execution device according to another embodiment of the present disclosure.

[0261] Fig.186 It is a schematic diagram of the deflection drive rack structure of a front-end execution device according to another embodiment of the present disclosure.

[0262] Fig.187 This is a schematic diagram of the arrangement of drive wires of a front-end actuator according to yet another embodiment of the present disclosure.

[0263] Fig.188 Schematic diagram of the arrangement of drive wires for the pitch motion of a front-end actuator according to yet another embodiment of the present disclosure.

[0264] Fig.189 This is a schematic diagram of the arrangement of drive wires for the deflection and opening and closing movements of a front end actuator according to yet another embodiment of the present disclosure.

[0265] Fig.190 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure.

[0266] Fig.191 It is an exploded diagram of the front-end execution device structure of yet another embodiment of the present disclosure.

[0267] Fig.192 This is a schematic diagram of the cross-axis structure of a front-end execution device according to yet another embodiment of the present disclosure.

[0268] Fig.193 It is a schematic diagram of the clamp structure of a front-end execution device according to another embodiment of the present disclosure.

[0269] Fig.194 This is a schematic diagram of the arrangement of drive wires of a front-end actuator according to yet another embodiment of the present disclosure.

[0270] Fig.195 Schematic diagram of the arrangement of drive wires for the pitch motion of a front-end actuator according to yet another embodiment of the present disclosure.

[0271] Fig.196 This is a schematic diagram of the arrangement of drive wires for the deflection and opening and closing movements of a front end actuator according to yet another embodiment of the present disclosure.

[0272] Fig.197 It is a schematic diagram of the structure of the flexible front-end execution device of the embodiment of the present disclosure.

[0273] Fig.198 It is a schematic diagram of the joint of the flexible front-end actuator according to the embodiment of the present disclosure performing deflection motion in a V-shaped groove.

[0274] Fig.199 It is a structural diagram of a flexible front-end execution device according to another embodiment of the present disclosure.

[0275] Fig.200 This is a schematic diagram of the joint structure of a flexible front-end actuator according to another embodiment of the present disclosure.

[0276] Fig.201 This is a cross-sectional view of the joint structure of a flexible front-end actuator according to another embodiment of the present disclosure.

[0277] Fig.202 It is a structural diagram of a flexible front-end execution device according to another embodiment of the present disclosure.

[0278] Fig.203 It is a schematic diagram of the bending angle of a flexible front-end actuator according to another embodiment of the present disclosure.

[0279] Fig.204 A schematic diagram of the structure of a flexible front-end actuator with variable stiffness according to an embodiment of the present disclosure.

[0280] Fig.205Schematic diagram of the internal structure of a flexible front-end actuator with variable stiffness performance according to an embodiment of the present disclosure.

[0281] Fig.206 It is a structural diagram of a flexible front-end execution device according to another embodiment of the present disclosure.

[0282] Fig.207 This is a schematic diagram of the flexible hinge connection structure of a flexible front-end actuator according to another embodiment of the present disclosure.

[0283] Fig.208 It is a structural diagram of a flexible front-end execution device according to another embodiment of the present disclosure.

[0284] Fig.209 This is a schematic diagram of the joint connection structure of a flexible front-end actuator according to another embodiment of the present disclosure.

[0285] Fig.210 This is a schematic diagram of discrete joint processing of a flexible front-end actuator according to yet another embodiment of the present disclosure.

[0286] Fig.211 for Fig.208 Section view with the cutting direction shown.

[0287] Fig.212 This is a schematic diagram of thickened discrete joints of a flexible front-end actuator according to yet another embodiment of the present disclosure.

[0288] Fig.213 It is a structural diagram of a flexible front-end execution device according to another embodiment of the present disclosure.

[0289] Fig.214 This is a schematic diagram of the main structure of a flexible front-end execution device according to another embodiment of the present disclosure.

[0290] Fig.215 This is a schematic diagram of the structure of a driving unit of a flexible front-end actuator according to yet another embodiment of the present disclosure.

[0291] Fig.216 This is a side view of a driving unit of a flexible front-end actuator according to yet another embodiment of the present disclosure.

[0292] Fig.217 This is a schematic diagram of torque generated when an outer tube of a driving unit of a flexible front-end actuator according to another embodiment of the present disclosure is bent.

[0293] Fig.218 This is a schematic diagram of the cutting direction of the outer tube and the inner tube of a flexible front-end actuator according to another embodiment of the present disclosure.

[0294] Fig.219 It is a schematic diagram of the structure of the front-end execution device of the embodiment of the present disclosure.

[0295] Fig.220It is a schematic diagram of the internal structure of the rotary joint of the front-end execution device of the embodiment of the present disclosure.

[0296] Fig.221 It is a schematic diagram of the deflection motion of the front-end execution device of the embodiment of the present disclosure.

[0297] Fig.222 It is a schematic diagram of the driving mode of each rotary joint of the front-end execution device of the embodiment of the present disclosure. DETAILED DESCRIPTION

[0298] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0299] Certain embodiments of the present disclosure will be described more fully below with reference to the accompanying drawings, some but not all of which will be shown. In fact, the various embodiments of the present disclosure may be implemented in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present disclosure satisfies applicable legal requirements.

[0300] In an exemplary embodiment of the present disclosure, a front-end actuator is provided. The front-end actuator is used in a surgical instrument structure of a robot-assisted minimally invasive surgery system, and the surgical instrument structure can be configured for a multi-hole minimally invasive surgery robot and a single-hole minimally invasive surgery robot, and can also be used as a common multi-degree-of-freedom minimally invasive surgical instrument or a handheld electrically driven minimally invasive surgical instrument by adjusting the driving mode and control method of the instrument.

[0301] It should be noted that the application of the front-end execution device disclosed in the present invention is not limited to this, and the front-end execution device disclosed in the present invention can also be used in other technical fields such as processing and manufacturing or warehousing and logistics.

[0302] Figure 1 Schematic diagram of the structure of the main hand end of the robot-assisted minimally invasive surgery system according to the embodiment of the present disclosure. Figure 2 FIG. 1 is a schematic diagram of the structure of the robot-assisted minimally invasive surgery system from the hand end according to an embodiment of the present disclosure. Figure 1 , 2 As shown, the robot-assisted minimally invasive surgery system includes a master hand end 01, a slave hand end 02, and a three-dimensional image display system 03. The master hand end 01 is provided with a master operator 11 and a three-dimensional image system 03, and the master operator 11 is used to control the instrument arm 12 and surgical tools 13 provided on the slave hand end 02. The slave hand end 02 is provided with multiple instrument arms 12, and each instrument arm 12 will be installed with surgical tools 13 with different functions during surgery, such as tissue forceps, needle holders, energy tools, ultrasonic scalpels, etc., to meet the needs of different surgical procedures. One of the multiple instrument arms 12 is installed with an endoscope 14 for image transmission during surgery.

[0303] During the operation, the instrument arm 12 equipped with the endoscope 14 adjusts its posture to position and orient the endoscope 14. The endoscope 14 enters the human body after passing through a minimally invasive incision (poking card), and can collect a three-dimensional image of the operation site, and synchronously transmit the three-dimensional image of the lesion site to the three-dimensional image system 03 set on the master hand end 01. The doctor performs the operation by viewing the three-dimensional image, that is, the doctor views the synchronous image of the lesion site on the three-dimensional image system 03 at the master hand end 01, and operates the master operating hand 11 at the same time, and controls the posture and movement of multiple instrument arms 12 and surgical tools 13 on the slave hand end 02 by adjusting the posture of the master operating hand 11 to complete the operation. Figure 3a It is a schematic diagram of the structure of the instrument arm according to an embodiment of the present disclosure. Figure 3b FIG. 1 is a schematic diagram of the movement of the instrument arm according to the embodiment of the present disclosure. Figure 3a and Figure 3b As shown, driven by the instrument arm 12 , the surgical tool 13 completes three-degree-of-freedom motion P1, P1, P2 in space, wherein P1 is a linear motion through a fixed point O, and P1 and P2 are deflection motions around the fixed point O.

[0304] The master hand terminal 01 and the slave hand terminal 02 can be placed in the same operating room to perform robot-assisted minimally invasive surgery, or the master hand terminal 01 and the slave hand terminal 02 can be placed in different areas respectively to complete robot-assisted remote minimally invasive surgery through signal transmission of commercial broadband or 5G mobile network.

[0305] Figure 4 FIG. 1 is a schematic diagram of the structure of the surgical tool according to an embodiment of the present disclosure. Figure 4 As shown, the surgical tool 13 includes a rear drive device 21, an outer tube 22, and a front actuator 23. The surgical tool 13 is usually driven by a wire drive to achieve long-distance driving force transmission in a narrow channel, thereby meeting the operation requirements of various minimally invasive surgeries.

[0306] Figure 5a FIG. 1 is a schematic diagram of the structure of the rear end drive device of the embodiment of the present disclosure. Figure 5a As shown, its main structure includes a driving wire wheel 21a and a guide wheel 21b. The number of driving wire wheels 21a is determined by the number of degrees of freedom of the actual structure of the front-end actuator 23, and is not limited to a specific number. One end of the driving wire is wound around the driving wire wheel 21a, and the other end bypasses the guide wheel and extends from the inside of the outer tube 22 to the front-end actuator 23. The rotation of the driving wire wheel 21a can pull the movement of the driving wire, thereby driving the movement of various components of the front-end actuator 23.

[0307] The arrangement of the driving wire wheel 21a on the rear-end driving device 21 is generally such that the rotation axis of the driving wire wheel 21a is arranged parallel to the axis of the outer tube 22. Such an arrangement makes it easy to install the surgical tool 13 on the instrument arm 12. During robot-assisted minimally invasive surgery, surgical tools 13 with different functions are often replaced on the instrument arm 12. The replacement time of the surgical tools 13 using the above arrangement is shorter, which is beneficial to reduce the risk of surgical infection. In addition, for surgical tools 13 with this arrangement, the lengths of the driving wires between different driving wire wheels 21a and the front-end actuator 23 are basically the same. Since the driving wire will creep and elongate during the entire service life after installation and tensioning, the slack of the driving wire inside the surgical tool 13 with this arrangement is basically the same during use, which is beneficial to the precise driving of the surgical tool 13.

[0308] For surgical tools 13 with a large number of degrees of freedom, such as single-port robotic surgical tools and natural cavity robotic surgical tools, the rear end driving device 21 thereof will adopt a structure in which the rotation axis of the driving wire wheel 21a is arranged perpendicular to the axis of the outer tube 22. Figure 5b FIG. 1 is a schematic diagram of the arrangement of the driving wire wheel in the embodiment of the present disclosure. Figure 5b As shown, since there are a large number of driving wire wheels 21a, this arrangement can reduce the tangential size of the surgical tool 13, thereby reducing the size of the robot's hand end 02, and is more conducive to increasing the activity space of the driving arm 12.

[0309] During the robot-assisted minimally invasive surgery, the surgical tool 13 will be installed at the surgical tool interface on the instrument arm 12, and a driving motor is provided at the interface, which can drive the rotation of the driving wire wheel 21a in the rear-end driving device 21 to realize the control of the movement of the front-end actuator 23. That is, during the operation, the doctor controls the instrument arm 12 and the front-end actuator 23 of the surgical tool 13 by operating the main manipulator 11 to perform precise movement control to complete the operation.

[0310] Figure 4 The outer tube 22 shown is a slender tube structure, and its two ends are respectively connected to the rear end driving device 21 and the front end execution device 21. For surgical tools 13 with different functions, the outer diameter of the outer tube 22 is usually set to 10mm, 9.5mm, 8mm, 5mm and other specifications. Its appearance is not limited to the straight rod form. In some specific procedures, an outer tube 22 with an "S" shape or an "L" shape will be used.

[0311] Figure 6 Schematic diagram of the structure of the outer tube of the embodiment of the present disclosure. Figure 6As shown, the outer tube 22 is not limited to a rigid structure. For example, in endoscopic surgery and natural cavity surgery, a surgical tool 13 with a flexible outer tube 22 is required. In order to achieve precise driving of the front-end actuator 23, a certain amount of pre-tightening force must be applied to the drive wire during the production and assembly process of the surgical tool 13. When the outer tube 22 is a flexible tubular structure, the bending of the flexible outer tube 22 will loosen the drive wire, making it impossible to accurately drive the front-end actuator 23. Figure 7 Schematic diagram of the relationship between the drive wire and the outer tube in the embodiment of the present disclosure. Figure 7 As shown, after the flexible outer tube 22 is bent, a driving force is applied to the driving wire, and the driving wire will find the shortest path in the outer tube 22 to be re-tensioned, and the movement of the front end actuator 23 will be uncontrollable. Therefore, for the surgical tool 13 using the flexible outer tube 22, the driving mode is the wire sheath transmission.

[0312] Figure 8 FIG. 1 is a schematic diagram of the structure of the flexible outer tube according to an embodiment of the present disclosure. Figure 8 As shown, the outer tube 22 is a multi-lumen tube structure, and its material is a flexible material with a low friction coefficient, such as LDPE, HDPE, etc. A plurality of cavities with circular cross-sections for the driving wire 22a to pass through are distributed in the outer tube 22, and the axis of each cavity is parallel to the axis of the outer tube 22, and the cavity runs through the entire outer tube 22. The inner diameter of the cavity is slightly larger than the outer diameter of the driving wire 22a, which can limit the radial movement of the driving wire, so that the driving wire always moves along its axis when pulled by the driving force, and the driving wire 22a and the cavity constitute a wire sheath transmission system.

[0313] The cavity and the outer tube 22 are formed in one step. Fig. 9 FIG. 1 is a partially enlarged schematic diagram of the flexible outer tube of the embodiment of the present disclosure. Fig. 9 , multiple cavities may be provided in the outer tube 22, wherein the number of the wire-threading cavities 22b for the drive wire 22a to pass through is the same as the number of the drive wire 22a. According to the different uses of the surgical tool 13, one or more functional cavities 22c may be provided in the outer tube 22 for passing other components besides the drive wire, which may be a wire for power supply, an optical fiber for data transmission, a catheter for negative pressure suction, or a hypotube, a wire bundle tube, a spring, etc. for improving the bending resilience and axial compression resistance of the outer tube 22. The cross-sectional size and shape of the functional cavity 22c may be set according to the type of components passing through it, and are not limited to specific specifications.

[0314] The surgical tool 13 with the flexible outer tube 22 is mostly used for internal diameter surgery or natural cavity surgery. During the operation, the surgical tool 13 will pass through natural cavities of the human body such as the esophagus, intestines, and urethra. Fig.10When the surgical tool 13 passes through the natural cavity, the flexible outer tube 22 will bend, and the theoretical lengths of the two inner and outer drive wires 22a in the bending direction will change, and the length difference between the two drive wires 22a is aθπ / 180. Fig.11 The diagram is a schematic diagram of length compensation of the drive wire in the flexible outer tube according to the embodiment of the present disclosure. If the drive wire length compensation measure is not taken, the initial posture of the front end actuator 23 will be affected, thereby affecting the operation of the surgical tool 13.

[0315] The flexible outer tube 22 of the multi-lumen tube structure is manufactured by extrusion molding, and the radial position of each cavity in the entire pipeline remains fixed, so the drive wire length compensation cannot be achieved by changing the position or shape of the cavity.

[0316] Fig.12 The schematic diagram of the structure of the device transition ring that can adjust the position of the cavity in the multi-lumen tube according to the embodiment of the present disclosure. The device transition ring 22g is provided with a spiral threading cavity 22b inside, and the number of threading cavities is the same as that of the flexible outer tube 22. The outlet positions of each threading cavity 22b on the two end faces of the transition ring 22g differ by 180 degrees in the axial direction. The transition ring 22g can be processed by injection molding or 3D printing, and the two ends are bonded or welded to the flexible outer tube 22.

[0317] Fig.13 Schematic diagram of the change in relative position of the driving wire in the flexible outer tube in the bending direction according to the embodiment of the present disclosure. Fig.13 As shown, after the driving wire 22a in the flexible outer tube 22 passes through the transition ring 22g, the relative position of the driving wire 22a in the bending direction changes, the positions of the two driving wires 22a inside and outside the bending direction are swapped, and the lengths of the driving wires at both ends of the transition ring 22g compensate each other, which no longer affects the initial posture of the front end driving device 23. According to the different lengths of the surgical tool 13, multiple transition rings 22g can be set on the flexible outer tube 22, and the number of transition rings is 2n-1, where n=1, 2, 3...

[0318] Fig.14 Schematic diagram of the structure of a flexible outer tube of another embodiment of the present disclosure. The main structure of the flexible outer tube 22 is a flexible metal tube 22d coated with an insulating film 22e. The flexible metal tube 22d can be a steel wire (belt) braided tube, a hypo tube, a spring tube, etc., and this structure can provide a higher torsional stiffness for the outer tube 22. A plurality of wire bundle tubes 22f are fixed to the inner wall of the flexible metal tube 22d, and the axis of the wire bundle tube 22f is parallel to the axis of the flexible metal tube 22. The wire bundle tube 22f and the drive wire 22a constitute a wire sheath transmission system.

[0319] Fig.15The front-end actuator 231 is a motion diagram of an embodiment. The front-end actuator 231 is fixedly connected to the outer tube 22, and can complete multi-degree-of-freedom motion under the drive of the rear-end drive device 21, including rotation motion R1 around the axis of the outer tube 22, yaw motion R2, and pitch motion R3. The front-end actuator 231 with different functions can also complete other types of motions, such as the opening and closing motion K that can be completed by the clamping type front-end actuator.

[0320] Fig.16 Schematic diagram of the internal structure of the front-end actuator of an embodiment. The front-end actuator includes a connecting seat 231a, a deflection seat 231b, and a support seat 231c. The connecting seat 231a is used to connect the outer tube 22 and the front-end actuator 231. The connecting seat 231a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connecting seat 231a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front-end actuator 231 to realize the self-rotation motion R1.

[0321] The deflection seat 231b is installed on the shaft seat 231d of the connecting seat 231a, and the deflection seat 231b can rotate around the axis R3. A support seat 231c is installed at the other end of the deflection seat 231b. The support seat 231c is used to install a device for implementing a specific surgical action, which can be a clamp, scissors, energy tools, negative pressure suction tools, etc. All kinds of tools are universal structures and will not be described in detail. The support seat 231c can rotate around the axis R2.

[0322] Fig.17 The diagram is a schematic diagram of the arrangement of the drive wire of the front-end actuator of an embodiment. For the pitch motion R3, the drive wire 231e is fixedly mounted on the pitch wire wheel 231f inside the deflection seat 231b, and the two ends of the drive wire 231e pass around the pitch wire wheel 231f, pass through the wire threading holes set on the connecting seat 231a, pass through the outer tube 22, and are fixedly mounted on the drive wire wheel 21a in the rear-end drive device 21. Pulling the two ends of the drive wire 231e can realize the rotation of the deflection seat 231b around the axis R3.

[0323] For the deflection movement R2, the driving wire 231e is fixedly mounted on the deflection wire wheel 231g inside the support seat 231c, and the two ends of the driving wire 231e pass around the deflection wire wheel 231g, pass through the wire threading holes set on the connecting seat 231a, pass through the outer tube 22, and are fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. By pulling the two ends of the driving wire 231e, the support seat 231c can be rotated around the axis R2.

[0324] Fig.18 FIG. 1 is a schematic diagram of the movement of the front-end execution device according to an embodiment. Fig.18As shown, the front end actuator 241 is fixedly connected to the outer tube 22 , and can complete multi-degree-of-freedom motion under the drive of the rear end drive device 21 , including rotation motion R1 around the axis of the outer tube 22 , yaw motion R2 , and pitch motion R3 .

[0325] Fig.19 FIG. 1 is a schematic diagram of the structure of a front-end execution device according to an embodiment. Fig.19 As shown, the front end actuator 241 includes a connection seat 241a, a deflection seat 241b, a clamp leaf 241c, etc. The connection seat 241a is used to connect the outer tube 22 and the front end actuator 241. The connection seat 241a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connection seat 241a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front end actuator 241 to realize the self-rotation motion R1.

[0326] Fig. 20 FIG. 1 is a schematic diagram of the deflection seat structure of the front end actuator of an embodiment. Fig.19 , Fig. 20 The deflection seat 241b is installed at the rotating shaft 241f provided on the deflection shaft seat 241d of the connecting seat 241a, and the deflection seat 241b can rotate around the axis R2 on the rotating shaft 241f. Fig.18 A clamp leaf 241c is mounted on the pitch axis seat 241e disposed at the other end of the deflection seat 241b, and the clamp leaf 241c can rotate around the axis R3.

[0327] Fig.21 FIG. 1 is a schematic diagram of the clamp structure of the front-end execution device according to an embodiment. Fig.21 A pitching wheel 241g is fixedly mounted on the clamping page 241, and the rotation axis of the pitching wheel 241g coincides with the rotation axis of the clamping page 241c. The rotation of the pitching wheel 241g can drive the clamping page 241c to rotate around the axis R3. Fig. 22 A pitch guide wire groove 2411 is provided on the cylindrical surface of the deflection seat 241b.

[0328] See also Fig.19 The two clamping leaves 241c arranged on the deflection seat 241b are driven by their respective pitching wire wheels 241g, and the rotational motions of the two clamping leaves 241c are independent of each other. The rotational motion of the clamping leaves 241c around the axis can simultaneously realize the pitching motion R3 and the opening and closing motion K, such as Fig.23 shown.

[0329] Fig.24 Schematic diagram of the arrangement of drive wires for the pitch motion of a front-end actuator in yet another embodiment. Fig.25The schematic diagram of the arrangement of the drive wires for the deflection and opening and closing movement of the front-end actuator of another embodiment. For the deflection movement R2, a deflection wire guide groove 241i is provided on the deflection seat 241b, one end of the drive wire 241h is fixed in the wire hole at the upper part of the deflection wire guide groove 241g, and the other end of the drive wire 241h passes through the wire threading hole provided on the connecting seat 241a along the deflection wire guide groove 241g, passes through the outer tube 22, and is fixedly installed on the drive wire wheel 21a in the rear-end drive device 21. Another drive wire 241h is symmetrically arranged in the same way. By pulling the two drive wires 241h, the support seat 241c can be rotated around the axis R2.

[0330] For the pitching motion R3 and the opening and closing motion K, the driving wire 241h is installed on the pitching wire wheel 241g through the thread 241k fixed thereon. Fig.26 FIG. 1 is a schematic diagram of the arrangement of the drive wires on the pitch wire wheel of the front end actuator according to another embodiment. Fig.26 As shown, both ends of the driving wire 241h pass around the pitch wire wheel 241g, along the pitch wire guide groove 241l and the double-row guide wheel 241m, through the wire threading hole set on the connecting seat 241a, through the outer tube 22, and then fixedly installed on the driving wire wheel 21a in the rear end driving device 21. The other driving wire 241h is symmetrically arranged in the same way. By pulling the driving wire 241h, the support seat 241c can realize the rotation and opening and closing movement K around the axis R3.

[0331] Fig. 27 The front end actuator 242 is fixedly connected to the outer tube 22 and can complete multi-degree-of-freedom motion under the drive of the rear end drive device 21, including rotation motion R1 around the axis of the outer tube 22, yaw motion R2, and pitch motion R3.

[0332] Fig.28 Schematic diagram of the internal structure of the front end actuator of another embodiment. The front end actuator 242 includes a connection seat 242a, a deflection seat 242b, a clamp 242c, etc. The connection seat 242a is used to connect the outer tube 22 and the front end actuator 242. The connection seat 242a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connection seat 242a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front end actuator 242 to realize the self-rotation motion R1.

[0333] Fig.29 FIG. 2 is a schematic diagram of the structure of the deflection seat of the front end execution device of another embodiment. Fig.28 , Fig.29 The deflection seat 242b is installed at the rotating shaft 242f provided on the deflection shaft seat 242d of the connecting seat 242a, and the deflection seat 242b can rotate around the axis R2 on the rotating shaft 242f. Fig.31A clamp leaf 242c is mounted on the pitch axis seat 242e disposed at the other end of the deflection seat 242b, and the clamp leaf 242c can rotate around the axis R3. Fig.30 FIG. 1 is a schematic diagram of the clamp structure of the front-end execution device of another embodiment. Fig.30 A pitching wheel 242g is fixedly mounted on the clamp page 242c, and the rotation axis of the pitching wheel 242g coincides with the rotation axis of the clamp page 242c. The rotation of the pitching wheel 242g can drive the clamp page 242c to rotate around the axis R3. Fig.32 A pitch guide wheel 2421 is mounted on the cylindrical surface of the deflection seat 242b.

[0334] See also Fig.28 The two clamping leaves 242c arranged on the deflection seat 242b are driven by their respective pitching wire wheels 242g, and the rotational motions of the two clamping leaves 242c are independent of each other. The rotational motion of the clamping leaves 242c around the axis can simultaneously realize the pitching motion R3 and the opening and closing motion K. Fig.28 shown.

[0335] Fig.33 Schematic diagram of the arrangement of drive wires for the pitch motion of a front-end actuator according to yet another embodiment. Fig.34 The schematic diagram of the arrangement of the drive wires for the deflection and opening and closing motions of the front-end actuator of another embodiment. For the deflection motion R2, a deflection guide wire groove 242i is provided on the deflection seat 242b, one end of the drive wire 242h is fixed in the wire hole at the upper part of the deflection guide wire groove 242g, and the other end of the drive wire 242h passes through the wire threading hole provided on the connecting seat 242a along the deflection guide wire groove 242g, passes through the outer tube 22, and is fixedly mounted on the drive wire wheel 21a in the rear-end drive device 21. Another drive wire 242h is symmetrically arranged in the same manner, and the two drive wires 242h are pulled to realize the rotation of the support seat 242c around the axis R2.

[0336] Fig.35 Schematic diagram of the arrangement of the drive wire on the pitching wire wheel of the front end actuator of another embodiment. For the pitching motion R3 and the opening and closing motion K, the drive wire 242h is installed on the pitching wire wheel 242g through the thread 242k fixed thereon, such as Fig.35 As shown, both ends of the driving wire 242h pass around the pitch wire wheel 242g, along the pitch guide wheel 242l and the double-row guide wheel 242m, through the wire threading hole set on the connecting seat 242a, through the outer tube 22, and then fixedly installed on the driving wire wheel 21a in the rear end driving device 21. The other driving wire 241h is symmetrically arranged in the same way. By pulling the driving wire 242h, the support seat 242c can realize the rotation and opening and closing movement K around the axis R3.

[0337] Fig.36The front end actuator 245 is fixedly connected to the outer tube 22 and can perform multi-degree-of-freedom motion under the drive of the rear end drive device 21, including rotation motion R1 around the axis of the outer tube 22, yaw motion R2, and pitch motion R3.

[0338] Fig.37 The front end actuator 245 includes a connection seat 245a, a deflection seat 245b, a clamp 245c, etc. The connection seat 245a is used to connect the outer tube 22 and the front end actuator 245. The connection seat 245a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connection seat 245a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front end actuator 245 to realize the self-rotation motion R1.

[0339] Fig.38 FIG. 1 is a schematic diagram of the connection seat structure of the front end execution device of another embodiment. Fig.37 , Fig.38 The deflection seat 245b is installed at the deflection shaft 245f set on the deflection shaft seat 245d of the connecting seat 245a. The deflection seat 241b can rotate around the axis R2 on the rotating shaft 241f. A deflection wheel 245g for driving the deflection seat 245b to rotate is installed inside the deflection seat 245b. The rotation axis of the deflection wheel 245g is coincident with the axis of the deflection shaft 245f. The rotation of the deflection wheel 245g can drive the deflection seat 245b to rotate around the axis to realize the deflection movement R2. Fig.40 shown.

[0340] A clamp leaf 245c is installed on the pitch axis seat 245e arranged at the other end of the deflection seat 245b, and the clamp leaf 245c can rotate around the axis R3. Fig.39 FIG. 1 is a schematic diagram of the clamp structure of the front-end execution device of another embodiment. Fig.39 A pitching wheel 245h is fixedly mounted on the clamp page 245c, and the rotation axis of the pitching wheel 245h coincides with the rotation axis of the clamp page 245c. The rotation of the pitching wheel 245h can drive the clamp page 245c to rotate around the axis R3.

[0341] See also Fig.36 The two clamping leaves 245c arranged on the deflection seat 245b are driven by their own pitching wire wheels 245h respectively. The rotational motions of the two clamping leaves 245c are independent of each other. The rotational motion of the clamping leaves 245c around the axis can simultaneously realize the pitching motion R3 and the opening and closing motion K. Fig.41 shown.

[0342] Fig.42 Schematic diagram of the arrangement of drive wires for the pitch motion of a front-end actuator according to yet another embodiment. Fig.43The schematic diagram of the arrangement of the drive wires for the deflection and opening and closing motions of the front-end actuator of another embodiment is shown. For the deflection motion R2, the deflection seat drive wire 245i is fixed to the deflection wheel 245g by a thread, and both ends of the drive wire 245i pass around the deflection wheel 245g, pass through the threading holes set on the connecting seat 245a, pass through the outer tube 22, and are fixedly installed on the drive wire wheel 21a in the rear-end drive device 21. Pulling the drive wire 245i can realize the rotation of the deflection seat 245b around the axis R2.

[0343] For the pitching motion R3 and the opening and closing motion K, the driving wire 245i is installed on the pitching wire wheel 245h through a thread. Fig.44 This is a schematic diagram of the arrangement of the drive wires on the pitch wire wheel of the front end actuator according to another embodiment. Fig.44 As shown, both ends of the driving wire 245i pass around the pitch wire wheel 245h, along the pitch wire guide groove 245k, through the wire threading hole set on the connecting seat 245a, through the outer tube 22, and then fixedly installed on the driving wire wheel 21a in the rear end driving device 21. The other driving wire 245i is symmetrically arranged in the same way. By pulling the driving wire 245i, the rotation and opening and closing movement K of the clamp leaf 245c around the axis R3 can be realized.

[0344] Fig.45 FIG. 1 is a schematic diagram of the structure of a front-end execution device according to another embodiment. Fig.45 As shown, the front end actuator 246 is fixedly connected to the outer tube 22 , and can complete multi-degree-of-freedom motion under the drive of the rear end drive device 21 , including rotation motion R1 around the axis of the outer tube 22 , yaw motion R2 , and pitch motion R3 .

[0345] The deflection movement R2 of the front end actuator 246 is driven by a rigid rod. The driving method of the rigid rod can provide the front end actuator 246 with a larger deflection movement R2 load capacity. Fig.42 The figure shows the internal structure of the front-end actuator 246, including a connection seat 245a, a deflection seat 245b, a clamp leaf 245c, etc. The connection seat 246a is used to connect the outer tube 22 and the front-end actuator 246. The connection seat 246a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connection seat 246a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front-end actuator 246 to realize the self-rotation motion R1.

[0346] Fig.46 FIG. 1 is an exploded view of a front-end execution device according to another embodiment. Fig.46The deflection seat 246b is fixedly mounted on the guide wheel shaft 246e at one end of the deflection frame 246d. The guide wheel shaft 246e is mounted with a guide wheel 246f for driving the wire guide. The guide wheels 246f are arranged on both sides of the deflection frame 246d. A deflection driving frame 246g is mounted on the other end of the deflection frame 246d. The deflection driving frame 246g can rotate on the deflection frame 246d. A push rod 246h is fixedly mounted on the deflection driving frame 246g. The deflection frame 246d is mounted in the middle of the deflection shaft 246i. The deflection shaft 246i is mounted on the shaft seat 246k on the connecting seat 246a. The movement of the push rod 246h along its axis can enable the deflection driving frame 246g to push the deflection frame 246d to rotate on the deflection shaft 246i, thereby driving the deflection movement R2 of the deflection seat 246b, as shown in FIG. Fig.47 shown.

[0347] The clamp leaf 246c is installed on the opening and closing shaft 246l, and the opening and closing shaft 246l is installed on the shaft seat of the deflection seat 246b. Fig.48 FIG. 1 is a schematic diagram of the clamp structure of the front-end execution device of another embodiment. Fig.48 As shown, a pitching wheel 246m is fixedly mounted on the clamp page 246c, and the rotation axis of the pitching wheel 246m coincides with the rotation axis of the clamp page 246c. The rotation of the pitching wheel 246m can drive the clamp page 246c to rotate around the axis R3.

[0348] See also Fig.45 The two clamping pages 246c arranged on the deflection seat 246b are driven by their respective pitching wire wheels 246m, and the rotational motions of the two clamping pages 246c are independent of each other. The rotational motion of the clamping pages 246c around the axis can simultaneously realize the pitching motion R3 and the opening and closing motion K. Fig.49 shown.

[0349] Fig.50 This is a schematic diagram of the structure of the front-end actuator of another embodiment. The front-end actuator 232 is fixedly connected to the outer tube 22, and can complete multi-degree-of-freedom motion under the drive of the rear-end drive device 21, including rotation motion R1 around the axis of the outer tube 22, deflection motion R2, and front-end rotation motion R3. The front-end actuator 232 with different functions can also complete other types of actions, such as the opening and closing action K that can be completed by the clamping type front-end actuator. The motion arrangement adopted by the front-end actuator 232 has two rotation motions around the axis, namely, rotation motion R1 and front-end rotation motion R2. Fig.51 FIG. 1 is a schematic diagram of the three-degree-of-freedom motion of the front-end actuator of another embodiment, as shown in FIG. Fig.51 In various minimally invasive surgical operations, suturing and knotting are the two most difficult operations. The surgical tool 13 using the structure of the front end actuator 232 can reduce the difficulty of suturing and knotting operations.

[0350] The front end actuator 232 includes a connection seat 232a, a deflection seat 232b, a support seat 232c, etc. The connection seat 232a is used to connect the outer tube 22 and the front end actuator 232. The connection seat 232a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connection seat 232a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front end actuator 232 to realize the self-rotation motion R1.

[0351] The deflection seat 232b is installed on the shaft seat 231d of the connecting seat 232a. The deflection seat 232b can rotate around the axis R2. A deflection wire wheel 232e is arranged in the deflection seat 232b. The axis of the deflection wire wheel 232e is arranged to coincide with R2. The rotation of the deflection wire wheel 232e can drive the deflection seat 232b to rotate around the axis R2. A support seat 232c is installed at the other end of the deflection seat 232b. The support seat 232c is used to install a device for implementing a specific surgical action, which can be a clamp, scissors, energy tools, negative pressure suction tools, etc. All kinds of tools are universal structures and will not be described in detail. The support seat 232c can rotate around the axis R3. A self-rotating wire wheel 232f is fixedly installed on the rotating shaft below it. The axis of the self-rotating wire wheel 232f is arranged to coincide with R3. The rotation of the self-rotating wire wheel 232f can drive the support seat 232c to rotate around the axis R3.

[0352] Fig.52 The curves showing the variation of the deflection angle displacements of the various rotating shafts when the front-end execution device 231 simulates the "needle-holding suturing" action. Fig.53 The curves showing the changes in the deflection angle displacements of the various rotating shafts when the front-end execution device 232 simulates the "needle-holding suturing" action. Fig.52 , Fig.53 The curves are smooth, indicating that the motion is continuous and smooth. Both front-end actuators can meet the motion requirements of the suturing operation. Fig.52 It can be seen that the front-end actuator 231 has a high degree of motion coupling, and needs to be linked by a wide range of rotating shafts to complete the suturing action. Fig.53 It can be seen that during the process of the front-end execution device 232 completing the suturing action, the rotation movement R1 and the deflection movement R2 have very small movement amplitudes, indicating that the suturing action can be completed by relying on the front-end rotation movement R3, which effectively reduces the difficulty of the surgical operation.

[0353] Fig.54 Schematic diagram of the arrangement of drive wires for the deflection movement of a front-end actuator according to yet another embodiment. Fig.55 FIG. 1 is a schematic diagram of the arrangement of the drive wires for the self-rotation of the front end actuator according to another embodiment. Fig.54 , 55As shown, for the deflection movement R2, the driving wire 232g is fixedly mounted on the deflection wire wheel 232e inside the deflection seat 232b, and the two ends of the driving wire 232g pass around the deflection wire wheel 231e, pass through the wire threading holes set on the connecting seat 232a, pass through the outer tube 22, and are fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. By pulling the two ends of the driving wire 232g, the deflection seat 232b can be rotated around the axis R2.

[0354] For the front end self-rotation movement R3, one end of the driving wire 232g is fixedly installed in the large wheel groove of the self-rotating wire wheel 232f, and the other end bypasses the self-rotating wire wheel 232f, along the large wheel groove of the guide wheel 232h set on the inner side of the deflection seat 232b, passes through the threading hole set on the connecting seat 232a, passes through the outer tube 22, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21; another driving wire 232g is fixedly installed in the small wheel groove of the self-rotating wire wheel 232f, and the other end bypasses the self-rotating wire wheel 232f, along the small wheel groove of the guide wheel 232h set on the inner side of the deflection seat 232b, passes through the threading hole set on the connecting seat 232a, passes through the outer tube 22, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. The winding directions of the two driving wires 232g on the self-rotating wire wheel 232f are opposite, and the two driving wires 232e are pulled to realize the rotation of the support seat 232c around the axis R3.

[0355] Fig.56 The front end actuator 244 is a structural diagram of another embodiment. The front end actuator 244 is driven by a rigid conduit and a gear transmission. Fig.57 FIG. 1 is a schematic diagram of the three-degree-of-freedom motion of the front-end actuator of another embodiment. Fig.56 , Fig.57 As shown, the front end of the rigid catheter is a bevel gear structure, and the rotary motion of the catheter transmits the driving force to the components of the front end actuator 244. Driven by the catheter, the front end actuator 244 can realize rotational motion R1, deflection motion R2, and front end rotational motion R3. The front end actuator 244 with different functions can also complete other types of actions, such as the opening and closing action K that can be completed by the clamping type front end actuator. The surgical tools used in robot-assisted minimally invasive surgery usually adopt a wire drive method. Due to the tensile strength of the drive wire and the size requirements of the surgical tools, the wire-driven surgical tools cannot provide a large load capacity. The front end actuator 244 is driven by a rigid catheter, which can transmit a large torque. The rotation of the rigid catheter replaces the tensile motion of the drive wire, which can make the front end actuator have a large bending and torsion load capacity.

[0356] The front end actuator 244 includes a connection seat 244a, a deflection seat 244b, a support seat 244c, a clamp leaf 244d, etc. The connection seat 244a is used to connect the outer tube 22 and the front end actuator 244. The connection seat 244a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connection seat 244a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front end actuator 244 to realize the self-rotation motion R1.

[0357] Fig.58 FIG. 1 is an exploded view of a front-end execution device according to another embodiment. Fig.58 As shown, the rigid conduit for driving includes a deflection drive tube 244e, a self-rotation drive tube 244f, and an opening and closing drive tube 244g. The three rigid conduits are sleeved in the outer tube 22, and the respective rotation axes are arranged to overlap, and the rotation of the three rigid conduits is independent of each other. A bevel gear structure is processed at the front end of the rigid conduit. The connecting seat 244a is installed with a deflection shaft 244h, and the rotation axis of the deflection shaft 244h is arranged to overlap with R2. The self-rotation guide wheel 244i and the opening and closing guide wheel 244k for transmitting the driving force are installed on the deflection shaft 244h. The self-rotation guide wheel 244i and the opening and closing guide wheel 244k are bevel gears, which are respectively meshed with the self-rotation drive tube 244f and the opening and closing drive tube 244g.

[0358] Fig.59 This is a structural diagram of the installation of the deflection seat of the front end actuator in another embodiment. Fig.59 The deflection seat 244b is installed on the deflection shaft 244h, and the deflection seat 244b can rotate around the axis R2. A deflection wheel 244l is installed inside the deflection seat 244b, and the rotation axis of the deflection wheel 244l coincides with the rotation axis of the deflection seat 244b. The rotation of the deflection wheel 244l can drive the rotation of the deflection seat 244b. The deflection wheel 244l is a bevel gear, which meshes with the bevel gear surface of the deflection drive tube 244e. The rotation of the deflection drive tube 244e can drive the deflection wheel 244l to rotate, thereby driving the deflection seat 244b to achieve the deflection movement R2.

[0359] Fig.60 This is a structural diagram of the front end execution device installed on the rotating seat in another embodiment. Fig.60, the self-rotating seat 244c is installed on the upper end of the deflection seat 244b, and a self-rotating wheel 244m is fixedly installed below the self-rotating seat 244c. The rotation axis of the self-rotating wheel 244m coincides with the rotation axis of the self-rotating seat 244c, and the rotation of the self-rotating wheel 244m can drive the self-rotating seat 244c to rotate at the upper end of the deflection seat 244b. The self-rotating wheel 244m extends to the lower end of the deflection seat 244b through the hole set at the axis of the deflection seat 244b, and meshes with the self-rotating guide wheel 244i. The bevel gear surface of the self-rotating driving pipe 244f, the self-rotating guide wheel 244i, and the self-rotating wheel 244m mesh with each other, and the driving force of the self-rotating driving pipe 244f can be transmitted to the self-rotating seat 244c, and the driving of the self-rotating driving pipe 244f can realize the self-rotating motion R3.

[0360] Fig.61 This is a structural diagram of the clamp installation of the front-end execution device in yet another embodiment. Fig.62 This is a structural diagram of the front-end execution device clamp installation from another perspective of another embodiment. Fig.61 , Fig.62 The clamping leaf 244d is installed on the rotating shaft of the opening and closing seat 244c, and an opening and closing wheel 244n is fixedly installed at one end of the clamping leaf 244d. The rotation axis of the opening and closing wheel 244n coincides with the rotation axis of the clamping leaf 244d. The rotation of the opening and closing wheel 244n can drive the clamping leaf 244d to rotate around the axis. The opening and closing driving wheel 244o for transmitting the opening and closing driving force is installed in the middle of the self-rotating wheel 244m. The axis of the opening and closing driving wheel 244o coincides with the axis of the self-rotating wheel 244m. The rotation of the opening and closing driving wheel 244o is independent of the rotation of the self-rotating wheel 244m. The other end of the opening and closing driving wheel 244o extends to the inside of the opening and closing seat 244c through the hole set inside the self-rotating wheel 244m and at the axis of the opening and closing seat 244c, and is fixedly connected to the opening and closing driven wheel 244p. The opening and closing driving wheel 244o and the opening and closing driven wheel 244p can rotate synchronously. The opening and closing driven wheel 244p meshes with the opening and closing wheels 244n fixed on the two clamping pages 244d, and the opening and closing driven wheel 244p actively drives the opening and closing movement of the clamping page 244d. The opening and closing driving tube 244g meshes with the opening and closing guide wheel 244k, and the opening and closing guide wheel 244k meshes with the opening and closing driving wheel 244o. The driving force generated by the rotation of the opening and closing driving tube 244g can be transmitted to the clamping page 244d through the opening and closing guide wheel 244k, the opening and closing driving wheel 244o, the opening and closing driven wheel 244p, and the opening and closing wheel 244n. The rotation of the opening and closing driving tube 244g can drive the opening and closing of the clamping page 244d to realize the opening and closing movement K.

[0361] The rotation axes of the rigid driving tubes, the deflection axis 244h, and the rotation axes of the self-rotating wheel 244m and the opening and closing driving wheel 244o intersect at one point. This arrangement can realize that the deflection movement R2, the self-rotation movement R3, and the opening and closing movement K are independent of each other and do not interfere with each other.

[0362] Fig.63 FIG. 1 is a schematic diagram of the structure of a front-end execution device according to another embodiment. Fig.63 As shown, the front-end actuator 233 is fixedly connected to the outer tube 22, and can complete multi-degree-of-freedom movement under the drive of the rear-end drive device 21, including rotation movement R1 around the axis of the outer tube 22, deflection movement R2, and pitch movement R3. The front-end actuator 233 with different functions can also complete other types of movements, such as the opening and closing movement K that can be completed by the clamping-type front-end actuator.

[0363] See also Fig.63 , the three motion R1, R2, and R3 rotation axes of the front-end actuator 233 of the present invention intersect at one center. The three-axis intersecting structure is arranged on the front-end actuator 233, which can reduce the volume of the front-end actuator and make its structure compact. Usually, minimally invasive surgical instruments adopt a slender rod structure to reduce the wound on the patient's body surface. For the surgical tools 23 used on the minimally invasive surgical robot, the outer diameter of the outer tube 22 and the front-end actuator 23 should be less than 10mm. Compared with the structure without three-axis intersecting at one center, the structure with three-axis intersecting at one center at this scale can have higher movement flexibility. When achieving the same movement angle, the movement rotation radius of the three-axis intersecting structure is smaller. The three-axis intersecting-center structure can easily realize posture separation calculation in kinematics. The surgical robot is installed with a surgical tool 13 provided with a three-axis intersecting-center structure. Especially for a surgical robot with an instrument arm 12 with multiple degrees of freedom (six degrees of freedom or seven degrees of freedom), the kinematic inverse solution process of the instrument arm 12 is easier and an analytical solution can be obtained, thereby reducing the amount of calculation of the surgical robot controller and improving the robot motion control response speed.

[0364] Fig.64 FIG. 1 is an exploded view of a front-end execution device according to another embodiment. Fig.64 As shown, the front end actuator 233 includes a connection seat 233a, a support seat 233b, a cross shaft 233c, and a clamp 233d. The connection seat 233a is used to connect the outer tube 22 and the front end actuator 233. The connection seat 233a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connection seat 233a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front end actuator 233 to realize the self-rotation motion R1. The support seat 233b is connected to the connection seat 233a through the cross shaft 233c. Fig.65 FIG. 1 is a structural diagram of a cross axis of a front end actuator according to another embodiment. Fig.65 The two rotation axes of the cross axis 233c coincide with the rotation axes of the yaw motion R2 and the pitch motion R3 respectively, realizing the characteristic of three axes intersecting at one center.

[0365] The support seat 233b is equipped with a device for implementing specific surgical actions, which may be a clamp, scissors, an energy tool, a negative pressure suction tool, etc. All kinds of tools are of universal structure and will not be described in detail.

[0366] Fig.64 The clamp leaf 233d shown is one of the schematic diagrams. The structure composed of the connecting seat 233a, the supporting seat 233b, and the cross shaft 233c can be regarded as a Hooke's hinge. In the field of robotics, Hooke's hinges are mostly used in industrial robots or large-sized multi-joint flexible robots. For the structure of minimally invasive surgical instruments with tiny sizes, to achieve the same form of movement, the use of a structure with a Hooke's hinge is more conducive to reducing the size of the surgical instrument and improving the flexibility of movement. The structure of the Hooke's hinge or its evolved configuration itself has a two-degree-of-freedom motion characteristic, which can realize four-way rotation around the intersection of its two rotating axes. Arranging four drive wires around the intersection can make the movement of the structure controllable.

[0367] Fig.66 This is a schematic diagram of the arrangement of driving wires of a front-end actuator according to yet another embodiment. Fig.67 FIG. 1 is a schematic diagram of the arrangement of the drive wires of the front-end actuator from another perspective of another embodiment. Fig.66 , Fig.67 As shown, one end of the driving wire 233e is fixedly mounted on the support seat 233b, and the other end passes through the threading hole 233f set on the connecting seat 233a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. The driving wire can be fixedly mounted by threading, bonding or welding. Four driving wires 233e are evenly distributed at the intersection of the axes of the cross shaft 233c. Pulling the driving wire 233e can realize the yaw motion R2 and pitch motion R3 of the front end driving device 233.

[0368] Fig.68 Schematic diagram of the change of the length of the driving wire of the front end actuator of another embodiment. When the driving wire 233e pulls the support seat 233b to move, the length of the driving wire 233e between the connecting seat 233a and the support seat 233b will change. Fig.68 Taking the deflection motion R2 as an example, the length of the driving wire between the connecting seat 233a and the supporting seat 233b is L, and the supporting seat 233b rotates around the axis R2 by an angle θ, and the lengths of the driving wires on the inner and outer sides of the rotation direction become L 1 and L 2 , the length change of the driving wire on both sides Δ 1 , Δ 2 They are:

[0369]

[0370]

[0371] It can be seen that Δ1 <Δ 2 That is, the contraction amount of the inner driving wire is smaller than the extension amount of the outer driving wire. The change in the length of the driving wire can be compensated or corrected in the control system of the surgical robot to achieve precise driving of the front-end actuator 233. The phenomenon of different changes in the length of the driving wire can also be eliminated by other means, such as using a guide wheel in combination with the driving wire to achieve precise driving.

[0372] Since the front-end actuator with the three-axis intersecting-at-one-center feature has higher motion flexibility, under the condition of achieving the same motion angle, the motion turning radius of the three-axis intersecting-at-one-center structure is smaller. And the three-axis intersecting-at-one-center structure is easy to realize the posture separation calculation in kinematics, so one embodiment Figure 69 to Figure 222 Provides more front-end actuators that realize three-axis intersection structure, namely Figure 69 to Figure 222 In the corresponding embodiment, the rotation axes of the yaw, pitch and rotation of the front end actuator all intersect at one point.

[0373] In an illustrative embodiment of the present disclosure, a front end actuator is provided. The front end actuator 301 of one embodiment is a front end actuator using a wire-wheel transmission. The front end actuator 301 is provided with two intersecting arc-shaped slide rails, the axes of the two slide rails intersect at one point, and a slider is provided on the slide rails, which can slide around the intersection point between the two slide rails. By utilizing the arc shape of the two slide rails, the movement of the slider installed thereon is limited to the rotational movement around the axis of the slide rails. After the rotational movement of the slider around the axis on the two slide rails is coupled, the movement of the slider is synthesized into a movement on a spherical surface with the intersection of the axes of the two slide rails as the center of the sphere. The arrangement of two slide rails with orthogonal axes jointly supporting a slider can make the structure have a larger support stiffness, ensuring that the front end actuator 301 does not deform or reverse drive when maintaining a certain posture under load.

[0374] Fig.69 It is a schematic diagram of the structure of the front-end execution device of the embodiment of the present disclosure. Fig.70 This is a partial enlarged view of the front-end execution device of the embodiment of the present disclosure. Fig.69 , Fig.70As shown, the front end actuator 301 includes a connecting seat 301a, an inner slide rail 301b, an outer slide rail 301c, a slider 301d, a support seat 301e, etc. Among them, the inner slide rail 301b and the outer slide rail 301c are arc-shaped, and the two ends are respectively connected to the shaft seat of the connecting seat 301a, the slider 301d is slidably connected between the inner slide rail 301b and the outer slide rail 301c, and the support seat 301e is connected to the slider 301d. The connecting seat 301a is used to connect the outer tube 22 and the front end actuator 301. The connecting seat 301a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connecting seat 301a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front end actuator 301 to realize the self-rotation movement around the axis R1.

[0375] Fig.71 Schematic diagram of the structure of the arc-shaped slide rail of the front-end execution device of the embodiment of the present disclosure. Fig.71 As shown, two wire wheels are fixedly installed on the outer sides of both ends of the inner slide rail 301b, and the axes of the two wire wheels coincide with each other, and their axes are A. Axis A intersects with the axis x of the inner slide rail 301b at a point perpendicularly; two wire wheels are fixedly installed on the inner sides of both ends of the outer slide rail 301c, and the axes of the two wire wheels coincide with each other, and their axes are B. Axis B intersects with the axis y of the outer slide rail 301c at a point perpendicularly. The rotation of the wire wheels can drive the slide rail to rotate around its axis A. The inner slide rail 301b and the outer slide rail 301c are installed on the shaft seat 301h of the connecting seat 301a, and can rotate around the axis R2 (axis A) and R3 (axis B). Among them, the axis A intersects with the axis B. In this embodiment, the axis A and the axis B are approximately 90°.

[0376] Fig.72 The structure diagram of the slider of the front-end actuator of the embodiment of the present disclosure. The slider 301d is fixedly installed with the support seat 301e. The slider 301d includes two parts, namely, the lower slider 301f and the upper slider 301g which are connected to each other. The sliding contact surfaces of the two sliders are curved surfaces. The curvature radius of the sliding contact surface on the upper surface of the lower slider 301f is the same as the inner arc surface of the inner slide rail 301b, and the curvature radius of the sliding contact surface on the lower surface of the upper slider 301g is the same as the outer arc surface of the outer slide rail 301c, so that the slider 301d can move on the two slide rails at the same time. The slider 301d and the slide rail and other small parts are usually made of medical metal materials, such as medical 316 stainless steel or titanium alloy. Such materials themselves have a low friction coefficient, but during the operation, the surgical tools are often immersed in human tissue secretions or blood. After the surgical tools are coated with liquid, the friction coefficient between the parts will increase, and the working efficiency of the surgical tools will decrease. The friction coefficient between parts can be further reduced by coating the surfaces of sliders, rails and other parts with a fluorine-containing material film. At the same time, the coated parts are easier to clean after surgery.

[0377] See also Fig.69 , Fig.71, the rotation of the wire wheels at both ends of the inner slide rail 301b around the axis A can drive the slider 301d to slide around the axis y on the outer slide rail 301c, and the rotation of the wire wheels at both ends of the outer slide rail 301c around the axis B can drive the slider 301d to slide around the axis x on the inner slide rail 301b. The sliding of the slider 301d around the axis between the two slide rails enables the support seat 301e to complete the deflection movement R2 and the pitch movement R3, realizing the three-axis intersection characteristic. The three-axis intersection structure composed of the slider 301d and the two slide rails has a motion transmission direction: the rotation of the slide rail around the axis drives the movement of the slider installed thereon. The tangential direction of the slide rail's rotational movement is always parallel to the direction of the slider's movement, that is, the pressure angle of the slide rail on the slider during the driving process is always 90°. The theoretical value of the motion transmission efficiency of this part is 100%. Considering the influence of the friction between the slider and the slide rail, the slider can still maintain a very high transmission efficiency during movement.

[0378] The front-end actuator 301 structure uses a guide rail slider structure to replace part of the drive wire guide wheels. Under the premise of meeting all motion characteristics, the number of guide wheels on the drive wire transmission path is reduced, which can increase the driving force transmitted by the drive wire. In the wire wheel transmission system, the number of guide wheels that the drive wire passes through, that is, the size of the wrap angle of the drive wire, is the most direct factor affecting the transmission efficiency of the drive wire. Using a guide rail slider structure to replace part of the drive wire guide wheels can reduce the wrap angle of the drive wire by more than 50%. The wrap angle of the drive wire in the front-end actuator 301 is only 3π / 2 (each initial position). The yaw motion and pitch motion load of the front-end actuator 301 in the initial position can reach 28N.

[0379] Fig.73 The figure shows a schematic diagram of the arrangement of the drive wires of the front-end actuator of the embodiment of the present disclosure. Fig.73 As shown, one end of the driving wire 301i and 301i' is fixed to the wire wheel. The fixing method of the driving wire 301i and 301i' to the wire wheel is not limited to a single form. Fig.21 The thread 301k shown in the figure can also be fixed by welding or bonding. The other end of the driving wire 301i passes through the 9-wire wheel, passes through the threading hole set on the connecting seat 301a, passes through the outer tube 22, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. The winding direction of the driving wire 301i on the wire wheels at both ends of the inner slide rail 301b is opposite to the winding direction of the driving wire 301i' on the wire wheels at both ends of the outer slide rail 301c. Pulling different driving wires 301i can realize the forward and reverse rotation of the slide rail around the axis. During the movement of each part of the front end driving device 301, the position of the wire wheel remains fixed, that is, the length of the driving wires 301i and 301i' between the driving wire wheel 21a and the wire wheel remains unchanged. After the driving wires 301i and 301i' are installed and pre-tensioned, precise driving can be achieved, such as Fig.74 shown.

[0380] Fig.75FIG. 2 is a schematic diagram of the structure of a front-end execution device according to another embodiment of the present disclosure. Fig.75 As shown, two arc-shaped steering arms are arranged in series on the front-end actuator 302, and the axes of the two steering arms intersect at one point. The two steering arms can rotate around their respective rotation axes. The two steering arms are arranged in series to form a set of serial robot arm mechanisms. The most significant advantage of the serial mechanism is that the kinematic solution is easy to obtain. At the same time, the front-end actuator 302 has the advantages of a three-axis intersection structure: it is easy to realize posture separation calculation, and it is easier to solve the inverse kinematic solution. Therefore, the kinematic solution process of the front-end actuator 302 is extremely simple.

[0381] See also Fig.75 The front-end actuator 302 includes a connecting seat 302a, a double-axis steering arm 302b, a single-axis steering arm 302c, and a support seat 302d. The double-axis steering arm 302b is connected to the connecting seat 302a, the single-axis steering arm 302c is connected to the double-axis steering arm 302b, and the support seat 302d is connected to the single-axis steering arm 302c. The connecting seat 302a is used to connect the outer tube 22 and the front-end actuator 302. The connecting seat 302a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connecting seat 302a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front-end actuator 302 to realize the self-rotation motion R1.

[0382] Fig.76 Shown is a schematic diagram of a serial robot arm mechanism structure of a front-end execution device according to another embodiment of the present disclosure. Fig.77 The figure is a schematic diagram of the structure of a dual-axis steering arm of another front-end actuator according to the embodiment of the present disclosure. Fig.76 , Fig.77 As shown, the outer sides of the left and right ends of the dual-axis steering arm 302b are respectively provided with a wire wheel 302e and a guide wheel 302f, and the wire wheel 302e and the guide wheel 302f are arranged with their axes coincident, and the rotation of the wire wheel 302e can drive the dual-axis steering arm 302b to rotate around the axis A. The single-axis steering arm 302c is installed on the steering arm seat 302g provided in the middle of the dual-axis steering arm 302b.

[0383] Fig.78 FIG. 2 is a schematic diagram of the structure of a single-axis steering arm of another front-end actuator according to an embodiment of the present disclosure. Fig.78 The structure of the single-axis steering arm 302c is an arc-shaped connecting rod, and a wire wheel 302h is arranged on the inner side of the arc surface at one end. The rotation of the wire wheel 302h can drive the single-axis steering arm 302c to rotate around axis B. Axis A is perpendicular to axis B and intersects at one point. The support seat 302d is fixedly installed at the other end of the single-axis steering arm 302c. The rotation of the double-axis steering arm 302b around axis A and the rotation of the single-axis steering arm 302c around axis B enable the support seat 302d to complete the yaw motion R2 and the pitch motion R3, realizing the characteristic of three axes intersecting at one center.

[0384] Fig.79 It is a schematic diagram of the arrangement of the driving wires of the front-end actuator according to an embodiment of the present disclosure. Fig.80 Schematic diagram of the arrangement of the drive wire on the dual-axis steering arm of the disclosed embodiment. For the dual-axis steering arm 302b, the drive wire 302i is fixed in the groove provided on the wire wheel 302e through the wire section 302k, and the two ends of the drive wire 302i pass around the wire wheel 302e, pass through the wire threading hole provided on the connecting seat 302a, pass through the outer tube 22, and then be fixedly installed on the drive wire wheel 21a in the rear end driving device 21.

[0385] Fig.81 Schematic diagram of the arrangement of the drive wire on the single-axis steering arm of the disclosed embodiment. For the single-axis steering arm 302c, the drive wire 302i' is fixed in the groove set on the wire wheel 302e through the wire section 302k', and the two ends of the drive wire 302i' pass around the wire wheel 302e, pass through the wire threading hole set on the connecting seat 302a along the limit block 302l and the guide wheel 302f, and then pass through the outer tube 22 and be fixedly installed on the drive wire wheel 21a in the rear end driving device 21. Pulling the two ends of the drive wire 302i' can realize the forward and reverse rotation of the dual-axis steering arm 302b and the single-axis steering arm 302c around the axis.

[0386] Fig.82 FIG. 1 is a schematic diagram of a driving wire of a front end actuator driving a slide rail to rotate according to another embodiment of the present disclosure. Fig.82 As shown, during the movement of each part of the front-end driving device 302 of this embodiment, the positions of the wire wheel and the steering wheel remain fixed, that is, the length of the driving wires 302i and 302i' between the driving wire wheel 21a and the wire wheel remains unchanged, and the driving wires 302i and 302i' can achieve precise driving after being installed and pre-tensioned.

[0387] Fig.83 This is a diagram showing the relationship between the rotation angle of the driving wire and the slide rail of the front end actuator of another embodiment of the present disclosure. Fig.83 , when the front-end actuator 302 is in the initial position, the angle a between the double-axis steering arm 302b and the upper end surface of the connecting seat 302a is set to 30°. In order to meet the design requirements of the initial position of the front-end actuator and the three-axis intersection structure, the central angle b of the single-axis steering arm 302c must meet the condition a+b=90°. When a increases, b decreases accordingly, and the rotation radius of the single-axis steering arm 302c decreases, then the load capacity of the single-axis steering arm 302c is improved, and the motion control accuracy is reduced; when a decreases, b increases accordingly, and the rotation radius of the single-axis steering arm 302c increases, then the load capacity of the single-axis steering arm 302c is reduced, and the motion control accuracy is improved. For the rotational motion of the single-axis steering arm 302c around the R3 axis, with load capacity and motion control accuracy as boundary conditions, b=60° is selected, then a=30°.

[0388] For the front-end actuator with a rigid structure, the deflection angle in each direction is usually less than 90°. For the front-end actuator 302, since the double-axis steering arm 302b and the upper end surface of the connecting seat 302a are set at a 30° angle, the deflection angle of the deflection movement R2 of the double-axis steering arm 302 in one direction can reach 150°, which can greatly improve the operational flexibility of the surgical tool. For example, during the implementation of robot-assisted minimally invasive surgery, when it is necessary to operate on the back of an organ in the field of view, a surgical tool with a deflection angle greater than 90° in one direction can more easily meet the operational requirements.

[0389] Fig.84 FIG. 1 is a schematic diagram of the structure of a front-end execution device according to another embodiment of the present disclosure. Fig.84 As shown, the front end actuator 303 is provided with an arc-shaped double slide rail structure, and a slider can slide on the double slide rail structure. Except for the sliding direction, the remaining degrees of freedom of the slider are restricted, that is, the slider can only slide on the slide rail. The arc-shaped slide rail adopts the virtual constraint form of the double slide rail structure, which can improve the rigidity of the front end actuator 303 under load and reduce the influence of the sliding gap on the motion error. Fig.84 The front end actuator 303 includes a connection seat 303a, a double slide rail 303b, a slider 303c, a support seat 303d, etc. Among them, the arc-shaped double slide rail 303b is connected to the connection seat 303a, the slider 303c is slidably connected to the upper part of the double slide rail 303b, and the support seat 303d is connected to the slider 303c. The connection seat 303a is used to connect the outer tube 22 and the front end actuator 303. The connection seat 303a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connection seat 303a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front end actuator 303 to realize the self-rotation motion R1.

[0390] Fig.85 FIG. 1 is a schematic diagram of a double slide rail structure of a front-end execution device according to another embodiment of the present disclosure. Fig.84 , Fig.85 As shown, the double slide rail 303b is an arc-shaped slide rail, including two parallel slide rail structures, which are installed at the shaft seat 303e on the connecting seat 303a, and two wire wheels 303f are fixedly installed on the inner sides of both ends. The axes of the two wire wheels 303f coincide with each other, and their axis is A. The rotation of the wire wheels 303f can drive the double slide rail 303b to rotate around the axis A. The rotation axis of the sliding contact surface of the double slide rail 303b is B, and the axis A is perpendicular to the axis B and intersects at one point.

[0391] Fig.86 FIG. 1 is a schematic diagram of a slider connection structure of a front-end actuator according to another embodiment of the present disclosure. Fig.86The slider 303c can slide around the axis B on the double slide rail 303b. The slider 303c includes an upper slider 303g and a lower slider 303h, wherein the lower surface of the upper slider 303g contacts the upper surface of the two parallel rails, and the upper surface of the lower slider 303h contacts the lower surface of the two parallel rails. The sliding contact surfaces of the two sliders are curved surfaces, and the curvature radii thereof are respectively the same as the curvature radii of the upper and lower sliding contact surfaces of the two parallel rails of the double slide rail 303b. The support seat 303d is fixedly connected to the slider 303c, and the movement of the slider 303c on the double slide rail 303b can drive the movement of the support seat 303d.

[0392] The rotation of the slide rail 303c around the axis A and the sliding of the slider 303c around the axis B enable the support seat 303d to complete the deflection motion R2 and the pitch motion R3, realizing the characteristic of three axes intersecting at one center. The slider and the slide rail and other such tiny parts are usually made of medical metal materials, such as medical 316 stainless steel or titanium alloy, etc. Such materials themselves have a low friction coefficient, but during the operation, the surgical tools are often immersed in the secretion fluid of human tissue or blood. After the surgical tools are coated with liquid, the friction coefficient between the parts will increase, and the working efficiency of the surgical tools will decrease. The friction coefficient between the parts can be further reduced by coating the surface of the slider and the slide rail with a fluorine-containing material film, and the coated parts are easier to clean after the operation.

[0393] Fig.87 This is a schematic diagram of the arrangement of driving wires of a front-end actuator according to yet another embodiment of the present disclosure. Fig.88 FIG. 1 is a schematic diagram of the arrangement of the drive wires of the double slide rails in another embodiment of the present disclosure. Fig.87 , Fig.88 As shown, for the double slide rail 303b, one end of the driving wire 303i is fixed to the wire wheel 303f. The fixing method of the driving wire 303i and the wire wheel 303f is not limited to a single form, and can be adopted. Fig.35 The thread 303k shown in the figure can also be fixed by welding or bonding. The other end of the driving wire 303i passes through the wire wheel 303f, passes through the wire threading hole set on the connecting seat 303a, passes through the outer tube 22, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. Another driving wire 303i is installed on the wire wheel 303f at the other end of the double slide rail 303b, and the two driving wires 303i are installed in the same way. The driving wires 303i on the wire wheels 303f at both ends of the double slide rail 303b are wound in opposite directions. By pulling the two driving wires 303i respectively, the double slide rail 303b can be rotated around the axis R3.

[0394] For the slider 303c, one end of the driving wire 303i' is fixed in the wire hole on the upper slider 303g, and the other end passes through the wire threading hole set on the connecting seat 303a along the limiting groove 303l set on the double slide rail 303b, passes through the outer tube 22, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. Another driving wire 303i' (not shown) is installed on the other side of the slider 303c. The two driving wires 303i' are installed in the same way but in opposite directions. By pulling the two driving wires 303i' separately, the slider 303c can be made to slide around the axis B on the double slide rail 303b. During the movement of each part of the front end driving device 303, the position of the wire wheel remains fixed, that is, the length of the driving wires 303i and 303i' between the driving wire wheel 21a and the wire wheel remains unchanged. After the driving wire 303i is installed and pre-tensioned, precise driving can be achieved. Fig.89 shown.

[0395] Please see again Fig.87 The limit groove 3031 is parallel to the two sliding tracks of the double slide rail 303b, and the driving wire 303i' is arranged along the sliding direction of the slider 303c. The driving method of driving the deflection movement R2 of the front-end actuator 303 is that the driving wire 303i directly pulls the slider 303c to slide on the double slide rail 303b. Under the limitation of the limit groove 3031, the pulling direction of the slider 303c by the driving wire 303i is always the same as the tangential direction of the movement of the slider 303c. Ignoring the influence of friction, the pulling force of the driving wire 303i all acts on the slider 303c. The driving force of this driving method is much greater than that of the wire wheel driving method.

[0396] Taking the front end actuator 303 as an example, the curvature radius of the double slide rail 303b is 5mm, and the radius of the wire wheel 303f is 2mm. Since the front end actuator 303 has a three-axis cross-center structure, the distances from axis A and axis B to the front end load point are the same. Assuming that the distance from the load point to the two axes is L, and the pulling force of the driving wires 303i and 303i' is F, the driving force G generated by the deflection motion is 2 =2F / L, driving force G generated by pitch motion 3 =5F / L, obvious G 3 Much larger than G 2 At the front end actuator of the minimally invasive surgical tool, due to the size of the surgical tool, the radius of the wire wheel is usually 2-3mm, and the radius of the arc-shaped slide rail is 4-5mm. Therefore, when the driving wire tension is the same, the load capacity of the slide rail slider structure is greater than the load capacity of the wire wheel structure. For example, the front end actuator 303 has a deflection motion load capacity of 18N and a pitch motion load capacity of up to 35N.

[0397] Fig.90 FIG. 1 is a schematic diagram of the structure of a front-end execution device according to another embodiment of the present disclosure. Fig.90As shown, the front end actuator 304 is provided with two driving arms, and the two steering arms can rotate around their respective axes, and the two axes intersect vertically. The front end actuator 304 includes a connecting seat 304a, a lower driving arm 304b, an upper driving arm 304c, a supporting seat 304d, etc. The connecting seat 304a is used to connect the outer tube 22 and the front end actuator 304. The connecting seat 304a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connecting seat 304a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front end actuator 304 to realize the self-rotation motion R1.

[0398] Fig.91 This is a schematic diagram of the structure of two driving arms of a front-end actuator according to yet another embodiment of the present disclosure. Fig.92 FIG. 1 is a schematic diagram of the structure of the lower drive arm of the front end actuator according to another embodiment of the present disclosure. Fig.91 , Fig.92 The lower driving arm 304b includes a steering arm 304e and a lower connecting rod 304f. The steering arm 304e is in the form of an arc connecting rod and is mounted on a shaft seat 304g provided on the connecting seat 304a. A wire wheel 304h is mounted on the inner side of the arc surface at one end thereof, and its axis is A. The rotation of the wire wheel 304h can cause the steering arm 304e to rotate around the axis A. The lower connecting rod 304f is mounted on the other end of the steering arm 304e, and the lower connecting rod 304f can perform a rotational motion around the axis x, and the axis x is perpendicular to the axis A and intersects at one point.

[0399] Fig.93 FIG. 1 is a schematic diagram of the upper drive arm structure of a front end actuator according to another embodiment of the present disclosure. Fig.91 , Fig.93 The upper driving arm 304c includes a steering arm 304e' and an upper connecting rod 304i. The steering arm 304e is in the form of an arc connecting rod and is mounted on the shaft seat 304g provided on the connecting seat 304a. A wire wheel 304h' is mounted on the inner side of the arc surface at one end thereof, and its axis is B. The rotation of the wire wheel 304h can drive the steering arm 304e to rotate around the axis B, and the axis B is perpendicular to the axis A and intersects at one point. The upper connecting rod 304i is mounted on the other end of the steering arm 304e, and the upper connecting rod 304i can perform a rotational motion around the axis y, and the axis y is perpendicular to the axis B and intersects at one point.

[0400] like Fig.91As shown, the lower connecting rod 304f and the upper connecting rod 304i are respectively connected to the steering arms 304e and 304e' to form the lower driving arm 304b and the upper driving arm 304c. At the same time, the lower connecting rod 304f is connected to the upper connecting rod 304i in an articulated manner, and the two connecting rods can rotate around the axis C. The support seat 304d is fixedly installed on the upper end of the upper connecting rod 304i. The movement of the lower driving arm 304b and the upper driving arm 304c around the axis A and the axis B enables the support seat 304d to complete the deflection movement R2 and the pitch movement R3, realizing the characteristic of three axes intersecting at one center. The following is established at the rotating shaft of the front end actuator 304. Fig.94 In the coordinate system shown, assuming that the axial radius of the front-end actuator 304 is a, the motion spiral system of the lower driving arm 304b is: (1, 0, 0; -a, 0, 0), (0, 1, 0; 0, a, 0), and the motion spiral system of the upper driving arm 304c is: (0, 1, 0; 0, -a, 0), (1, 0, 0; a, 0, 0). Through calculation, it can be known that after the motion of the two driving arms is coupled, the motion of the support seat 304d installed on the upper connecting rod 304i is (1, 1, 0; 0, 0, 0), that is, the deflection motion R2 and the pitch motion R3, indicating that the support seat 304d can realize the three-axis cross-center motion characteristics under the drive of the wire wheel 304h.

[0401] Fig.95 This is a schematic diagram of the arrangement of driving wires of a front-end actuator according to yet another embodiment of the present disclosure. Fig.96 The following is a schematic diagram of the arrangement of the driving wire of the front-end actuator on the wire wheel of another embodiment of the present disclosure. The driving wires 304k and 304k' are fixed in the grooves provided on the wire wheel 304h through the wire sections 304l. After the two ends of the driving wires 304k and 304k' pass around the wire wheel 304h, they pass through the wire threading holes provided on the connecting seat 304a, pass through the outer tube 22, and are fixedly installed on the driving wire wheel 21a in the rear-end driving device 21. By pulling the two ends of the driving wires 304k and 304k', the different steering arms 304e can be rotated around the axis in both positive and negative directions. During the movement of each part of the front-end driving device 304, the position of the wire wheel remains fixed, that is, the length of the driving wires 304k and 304k' between the driving wire wheel 21a and the wire wheel remains unchanged. After the driving wires 304k and 304k' are installed and pre-tensioned, precise driving can be achieved, such as Fig.97 shown.

[0402] At the scale of surgical tools, the parts used are usually tiny or thin-walled parts, which often undergo elastic deformation under load and affect the movement accuracy. Fig.92 , Fig.93 The steering arm 304e shown has a thickness of about 0.8 mm and a cross-sectional aspect ratio of about 3:1 to 4:1. Fig.92 , the elastic deformation sensitive direction of the steering arm 304e is the axial direction of the x-axis, and the load direction is the circumferential direction of the x-axis, see Fig.93The elastic deformation sensitive direction of the steering arm 304e is the y-axis axial direction, and the load direction is the y-axis circumferential direction. Therefore, the load direction of the front end actuator 304 is different from the elastic deformation sensitive direction, and the structure has good rigidity under load.

[0403] The common feature of the above four specific embodiments is that the support seat 23b on the front end actuator 23 is precisely driven by a wire wheel transmission method to achieve the characteristic of three axes intersecting at one center. The support seat 23b is equipped with a device for implementing specific surgical actions, such as a clamp, etc. Fig.11 , Fig.12 The rotation axis of the opening and closing action K of the clamp leaf 23d is parallel to the deflection motion axis R2. If the two axes are overlapped, that is, the clamp leaf 23d is installed on the cross shaft 23c, the axial size of the front-end actuator 23 can be further reduced, making its structure compact, while shortening the gyration radius of the deflection motion R2 and the pitch motion R3, thereby improving the load capacity. In terms of kinematics, after the above two axes are overlapped, the kinematic model of the front-end actuator 23 can be simplified, the kinematic calculation amount of the control program can be reduced, the control accuracy and the real-time operation of the system can be improved, and the quality of the surgical operation can be ensured.

[0404] Fig.98 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure. Fig.99 This is an exploded view of the structure of the front-end actuator of another embodiment of the present disclosure. The front-end actuator 305 is provided with a cross-axis structure, and two opening and closing clamps for completing surgical operations are installed on the cross-axis, and the rotation axis of the opening and closing movement of the clamps coincides with the axis of the deflection movement R2. The front-end actuator 305 includes a connecting seat 305a, a cross-axis 305b, clamps 305c, guide wheels 305d, etc. The connecting seat 305a is used to connect the outer tube 22 and the front-end actuator 305. The connecting seat 305a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connecting seat 305a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front-end actuator 305 to realize the self-rotation movement R1.

[0405] Fig.100 FIG. 1 is a schematic diagram of the structure of a cross axis of a front-end execution device according to another embodiment of the present disclosure. Fig.99 , Fig.100, the pitch axis 305e on the cross axis 305b is installed on the shaft seat 305f of the connecting seat 305a, and the cross axis 305b can rotate around the axis R3. Two pitch wire wheels 305g are fixedly installed on the pitch axis 305e, and the axis of the pitch wire wheel 305g coincides with the axis of the pitch axis 305e. The rotation of the pitch wire wheel 305g can drive the cross axis 305b to rotate around the axis R3. The clamp leaf 305c is installed on the deflection axis 305h of the cross axis 305b, and the clamp leaf 305c can rotate around the axis R2. The inner deflection wire wheel 305i and the outer deflection wire wheel 305k are arranged on the clamp leaf 305c, and the two deflection wire wheels are coaxial. The rotation of the inner deflection wire wheel 305i and the outer deflection wire wheel 305k on the deflection axis 305h can drive the clamp leaf 305c to rotate around the axis R2, realizing the deflection movement R2 and the opening and closing movement K. All guide wheels and wire wheels used for driving wire guide are arranged on the pitch axis 305e and the deflection axis 305h. This arrangement can reduce the space occupied under the cross axis 305b and avoid the interference between the parts under the rotating axis and the driving wire. The pitch axis 305e is perpendicular to the deflection axis 305h and intersects at one point. The cross axis 305b and the clamp leaf 305c move around the axis to realize the three-axis intersection characteristic. The overlap of the clamp leaf rotation axis and the deflection axis is one of the steps to realize the three-axis intersection characteristic. The clamp leaf is directly installed on the cross axis, which can reduce the axial size of the front-end actuator and increase the deflection motion load capacity. Taking the front-end actuator 305 as an example, the three-axis intersection characteristic structure can reduce the axial size by 8mm, the distance between the clamp leaf load point and the rotation axis is 12mm, and the deflection motion load capacity can be increased by about 60%. Usually, the deflection motion load capacity of rigid component surgical tools is 20N, and the deflection motion load capacity of the front-end actuator 305 can reach 30N. On the other hand, during the implementation of robot-assisted minimally invasive surgery, the image of the surgical operation site will be magnified dozens of times. Usually the outer diameter of the surgical tool is 8-10mm, and a part with a length of 8mm below this outer diameter will occupy a large part of the image area. Reducing the axial size of the front-end actuator by 8mm and adopting a three-axis intersecting structure can greatly reduce the obstruction of the field of view by surgical tools.

[0406] The cross-axis structure (Hooke's hinge) is often used as an intermediate component in the driving force transmission line to change the direction of driving force transmission. In the field of robotics, the cross-axis is often used as a connector for the joints of the flexible arm. A single part that can perform rotational motion is installed at each end. The single part at one end is relatively fixed, and the single part at the other end can be installed with other parts and controlled by the drive wire to achieve two-degree-of-freedom rotation around the intersection of the cross-axis. The cross-axis 305b of the front-end actuator 305 has a single-part connection seat 305a at one end and two clamps 305c that move independently of each other at the other end. The clamps are directly installed on the cross-axis, which can reduce the axial size of the front-end actuator and increase the deflection motion load capacity. Taking the front-end actuator 305 as an example, the three-axis cross-center characteristic structure is adopted, which can reduce the axial size by 8mm, the clamp load point is 12mm away from the rotation axis, and the deflection motion load capacity can be increased by about 60%.

[0407] In order to make the deflection motion R2 of the clamping leaf 305c coincide with the rotation axis of the opening and closing motion K, the two clamping leaves 305c are arranged on the same axis of the cross shaft and distributed on both sides of the axis. At the same time, in order to make the front-end actuator structure more compact and the two clamping leaves 305c can still mesh correctly when they are distributed on both sides of the cross shaft 305b, the clamping leaves 305c are arranged in a "Z" shape.

[0408] Fig.101 This is a schematic diagram of the arrangement of drive wires of a front-end actuator according to yet another embodiment of the present disclosure. Fig.102 This is a schematic diagram of the arrangement of the driving wire on the cross axis of a front-end actuator according to another embodiment of the present disclosure. Fig.103 Schematic diagram of the arrangement of the driving wire cross axis of the front end actuator from another perspective of another embodiment of the present disclosure. Fig.102 , Fig.103 One end of the driving wire 305l is fixed on the pitching wire wheel 305g, and the other end passes through the pitching wire wheel 305g, passes through the wire threading hole set on the connecting seat 305a, passes through the outer tube 22, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. Another driving wire 305l is installed on the pitching wire wheel 305g on the other side of the cross shaft 305b in the same way, and the winding directions of the two driving wires 305l on the pitching wire wheel 305g are opposite. Pulling the two driving wires 305l can realize the rotation of the cross shaft 305b around the axis R3, that is, the pitching movement R3 of the front end actuator 305, as shown in FIG. Fig.104 shown.

[0409] Fig.105 This is a schematic diagram of the arrangement of the drive wire of the front-end actuator on the deflection wire wheel according to another embodiment of the present disclosure. Fig.106 Schematic diagram of the arrangement of the drive wire of the front end actuator on the deflection wire wheel from another perspective of another embodiment of the present disclosure. For the deflection motion R2 and the opening and closing motion K, see Fig.105 , Fig.106 One end of the driving wire 3051' is fixed on the inner deflection wire wheel 305i, and the other end passes through the inner deflection wire wheel 305i, along the small wheel groove on the guide wheel 305d, through the threading hole set on the connecting seat 305a, through the outer tube 22, and then fixedly installed on the driving wire wheel 21a in the rear end driving device 21; one end of the other driving wire 3051' is fixed on the outer deflection wire wheel 305k, and the other end passes through the outer deflection wire wheel 305k, along the large wheel groove on the guide wheel 305d, through the threading hole set on the connecting seat 305a, through the outer tube 22, and then fixedly installed on the driving wire wheel 21a in the rear end driving device 21. The winding directions of the two driving wires 305i' on the inner deflection wire wheel 305i and the outer deflection wire wheel 305k are opposite. By pulling the two driving wires 3051', the clamp leaf 305c can be rotated around the axis R2, that is, the front end actuator 305 can be deflected R2 and opened and closed K. Fig.107 shown.

[0410] The threading holes arranged on the connecting seat 305a are distributed on a straight line, and the straight line is arranged parallel to the rotating shaft R3. This arrangement can achieve the effect of reducing the degree of coupling of each movement. Fig.108 FIG. 1 is a schematic diagram showing the distribution of the wire threading holes of the front-end execution device according to another embodiment of the present disclosure. Fig.108 As shown in (a), the driving wires of the surgical tool are usually distributed circumferentially in the outer tube 22. When the front end actuator performs the self-rotation motion R1, the circumferentially distributed driving wires will be entangled with each other. The entangled driving wires will not only couple the various movements on the front end actuator, but also the friction force generated by the driving wires is much greater than the friction force of the driving wires on the guide wheel and the wire wheel, resulting in a serious decrease in the motion accuracy and load capacity of the front end actuator. Fig.108 As shown in (b), the linearly distributed driving wires are used to avoid the driving wires in the outer tube 22 from being entangled and coupled with each other during the rotation.

[0411] In order to make the deflection movement R2 of the clamp leaf 305c coincide with the rotation axis of the opening and closing movement K, the two clamp leaves 305c are set on the same axis of the cross shaft and distributed on both sides of the axis, and the driving wire realizes the horizontal axis crossing. At the same time, in order to make the front-end actuator structure more compact, and the two clamp leaves 305c distributed on both sides of the cross shaft 305b can still mesh correctly, the clamp leaf 305c is set to a "Z" shape structure. The clamp leaf adopts a "Z" shape structure, so there are no parts that can interfere with the movement of the clamp leaf in the direction of rotation of the clamp leaf, and the deflection angle of the deflection movement R2 can reach ±125°

[0412] For surgical tools 13 with different functions, the structure of clamping tools is the most complex, because the front end actuator 23 of the clamping surgical tool 13 needs to be provided with at least two independently movable actuator parts (clamps, scissors). Therefore, the above specific implementation takes the clamping tool as an example to describe the front end actuator 23 with the characteristic of three axes intersecting at one center. Surgical tools 13 other than clamping tools, such as energy tools, ultrasonic scalpels, negative pressure tools, etc., can all be simply changed based on the above specific implementation to achieve their functions.

[0413] Fig.109 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure. Fig.110 FIG. 1 is an exploded view of the structure of a front-end execution device according to another embodiment of the present disclosure. Fig.109 , 110 As shown, the front-end actuator 310 can be regarded as a functional expansion structure of the front-end actuator 305, and the method of expanding the same front-end actuator into surgical tools with different functions is demonstrated by taking energy tools as an example. The front-end actuator 310 is provided with a cross-axis structure, and the energy tool used to complete the surgical operation is installed on the cross-axis. The front-end actuator 310 includes a connecting seat 310a, a cross-axis 310b, an electric hook seat 310c, an electric hook 310d, etc. The connecting seat 310a is used to connect the outer tube 22 and the front-end actuator 310. The connecting seat 310a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connecting seat 310a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front-end actuator 310 to realize the self-rotation motion R1.

[0414] See also Fig.110 , Fig.111 , the pitch axis 310e on the cross axis 310b is installed on the axis seat 310f of the connecting seat 310a, and the cross axis 310b can rotate around the axis R3. Two pitch wire wheels 310g are fixedly installed on the pitch axis 310e, and the axis of the pitch wire wheel 310g coincides with the axis of the pitch axis 310e. The rotation of the pitch wire wheel 310g can drive the cross axis 310b to rotate around the axis R3. The electric hook seat 310c is installed on the deflection axis 310h of the cross axis 310b, and the electric hook seat 310c can rotate around the axis R2. A deflection wire wheel 310i is arranged on the inner side of the electric hook seat 310c, and the two deflection wire wheels are coaxial. The rotation of the deflection wire wheel 310i on the deflection axis 310h can drive the electric hook seat 310c and the electric hook 310d fixed on the top of the electric hook seat 310c to rotate around the axis R2, thereby realizing the deflection movement R2. The pitch axis 310e is perpendicular to the yaw axis 310h and intersects at one point. The cross axis 310b and the electric hook seat 310c move around the axis to achieve the characteristic of three axes intersecting at one center.

[0415] Fig.112FIG. 3 is a schematic diagram of the arrangement of the drive wires of the front end actuator 310 in another embodiment of the present disclosure. Fig.113 One end of the driving wire 310k is fixed on the pitching wire wheel 310g, and the other end passes through the pitching wire wheel 310g, passes through the wire threading hole set on the connecting seat 310a, passes through the outer tube 22, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. Another driving wire 310k is installed on the pitching wire wheel 310g on the other side of the cross shaft 310b in the same way, and the winding directions of the two driving wires 310k on the pitching wire wheel 310g are opposite. Pulling the two driving wires 310k can realize the rotation of the cross shaft 310b around the axis R3, that is, the pitching movement R3 of the front end actuator 310, as shown in FIG. Fig.114 shown.

[0416] Fig.115 This is a schematic diagram of the arrangement of the drive wire of the front-end actuator on the deflection wire wheel according to another embodiment of the present disclosure. Fig.116 FIG. 1 is a schematic diagram of the arrangement of the drive wire of the front end actuator on the deflection wire wheel from another perspective of another embodiment of the present disclosure. For the deflection motion R2, see Fig.115 , Fig.116 One end of the driving wire 310k' is fixed on the inner deflection wire wheel 310i, and the other end passes around the deflection wire wheel 310i, along the wheel groove on the guide wheel 310l, passes through the wire threading hole set on the connecting seat 310a, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22; the other driving wire 310k' is installed on the deflection wire wheel 310i on the other side of the electric hook seat 310c in the same way. The winding directions of the two driving wires 310k' on the deflection wire wheel 310i are opposite. By pulling the two driving wires 310k', the rotation of the electric hook seat 310c around the axis R2 can be realized, that is, the deflection movement R2 of the front end actuator 310 can be realized, as shown in FIG. Fig.117 shown.

[0417] Fig.118 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure. Fig.119 FIG. 1 is an exploded view of the structure of a front-end execution device according to another embodiment of the present disclosure. Fig.118 , Fig.119 As shown, the front end actuator 307 includes a connection seat 307a, a cross shaft 307b, a clamp leaf 307c, etc. The connection seat 307a is used to connect the outer tube 22 and the front end actuator 307. The connection seat 307a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connection seat 307a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front end actuator 307 to realize the self-rotation motion R1.

[0418] Fig.120 FIG. 1 is a schematic diagram of the structure of a front-end execution device clamp according to another embodiment of the present disclosure. Fig.119 , Fig.120 , the pitch axis 307d on the cross axis 307b is installed on the shaft seat 307e of the connecting seat 307a, and the cross axis 307b can rotate around the axis R3. Two pitch wire wheels 307f are fixedly installed on the pitch axis 307d, and the axis of the pitch wire wheel 307f coincides with the axis of the pitch axis 307d. The rotation of the pitch wire wheel 307f can drive the cross axis 307b to rotate around the axis R3. Two double-row guide wheels 307g are also installed on the pitch axis 307d for driving wire guidance. Four guide wheels 307m are evenly distributed on the side wall above the cross axis 307b, and the guide wheels 307m are used to guide the driving wire of the control clamp 307c. Setting the guide wheels above the cross axis 307b can reduce the space occupied below the cross axis 307b, and at the same time can increase the pitch motion R3 rotation angle. For the front-end actuator with a rigid structure, the deflection angle in each direction is usually less than 70°.

[0419] Fig.121 FIG. 3 is a schematic diagram of the pitch angle of the front end actuator according to another embodiment of the present disclosure. The front end actuator 307 has an increased space below the cross axis 307b, such as Fig.121As shown, the pitch motion R3 has a range of up to ±110°, which can greatly improve the flexibility of the operation of the surgical tool. For example, during the implementation of robot-assisted minimally invasive surgery, when it is necessary to operate on the back of an organ in the field of view, a surgical tool with a deflection angle greater than 90° in a certain direction can more easily meet the operation requirements. The clamp leaf 307c is installed on the deflection axis 307h of the cross axis 307b, and the clamp leaf 307c can rotate around the axis R2. The clamp leaf 307c is provided with an inner deflection wire wheel 307i and an outer deflection wire wheel 307k, and the two deflection wire wheels are coaxial. The rotation of the inner deflection wire wheel 307i and the outer deflection wire wheel 307k on the deflection axis 307h can drive the clamp leaf 307c to rotate around the axis R2, thereby realizing the deflection motion R2 and the opening and closing motion K. The pitch axis 307d is perpendicular to the yaw axis 307h and intersects at one point. The cross axis 307b and the clamp leaf 307c move around the axis to realize the three-axis intersection characteristic. Setting the clamp leaf rotation axis and the yaw axis to coincide is one of the steps to realize the three-axis intersection characteristic. The clamp leaf is directly installed on the cross axis, which can reduce the axial size of the front-end actuator and increase the deflection motion load capacity. Taking the front-end actuator 307 as an example, the three-axis intersection characteristic structure can be used to reduce the axial size by 8mm, the distance between the clamp leaf load point and the rotation axis is 12mm, and the deflection motion load capacity can be increased by about 60%. Usually, the deflection motion load capacity of rigid component surgical tools is 20N, and the deflection motion load capacity of the front-end actuator 307 can reach 30N. On the other hand, during the implementation of robot-assisted minimally invasive surgery, the image of the surgical operation site will be magnified dozens of times. Usually the outer diameter of the surgical tool is 8-10mm, and a part with a length of 8mm below this outer diameter will occupy a large part of the image area. Reducing the axial size of the front-end actuator by 8mm and adopting a three-axis intersecting structure can greatly reduce the obstruction of the field of view by surgical tools.

[0420] Fig.122 This is a schematic diagram of the arrangement of drive wires of a front-end actuator according to yet another embodiment of the present disclosure. Fig.123 FIG. 1 is a schematic diagram of the arrangement of the drive wire of the front end actuator on the cross axis according to another embodiment of the present disclosure. Fig.123 One end of the driving wire 307l is fixedly mounted on the pitching wire wheel 307f, and the other end passes through the pitching wire wheel 307f, passes through the threading hole set on the connecting seat 307a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. Another driving wire 307l is installed on the pitching wire wheel 307f on the other side of the cross shaft 307b in the same way, and the winding directions of the two driving wires 307l on the pitching wire wheel 307f are opposite. Pulling the two driving wires 307l can realize the rotation of the cross shaft 307b around the axis R3, that is, the pitching movement R3 of the front end actuator 307, as shown in FIG. Fig.124 shown.

[0421] Fig.125This is a schematic diagram of the arrangement of the drive wires for the deflection movement and opening and closing movement of the front end actuator on the cross axis according to another embodiment of the present disclosure. Fig.126 This is a schematic diagram of the arrangement of the drive wires for the deflection movement and opening and closing movement of the front end actuator of another embodiment of the present disclosure on the clamp leaf. For the deflection movement R2 and the opening and closing movement K, see Fig.125 , Fig.126 One end of the driving wire 3071' is fixed on the inner deflection wire wheel 307i, and the other end bypasses the inner deflection wire wheel 307i, and then bypasses the guide wheel 307m installed above it to achieve the first reversal, and then bypasses the adjacent guide wheel 307m to achieve the second reversal, and then bypasses the outer wheel of the double-row guide wheel 307g, passes through the threading hole set on the connecting seat 307a, passes through the outer tube 22, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21; another driving wire 3071' is fixed on the outer deflection wire wheel 307k, and the other end bypasses the inner wheel of the double-row guide wheel 307g to achieve reversal, passes through the threading hole set on the connecting seat 307a, passes through the outer tube 22, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. The winding directions of the two driving wires 3071' on the inner deflection wire wheel 307i and the outer deflection wire wheel 307k are opposite. By pulling the two driving wires 3071 ′, the clamp leaf 307 c can be rotated around the axis R2 , that is, the front end actuator 307 can be subjected to a deflection movement R2 and an opening and closing movement K.

[0422] Fig.127 FIG. 1 is a schematic diagram of a front end actuator performing deflection and opening and closing motions according to another embodiment of the present disclosure. Figures 125-127 After the driving wire 3071' passes around two adjacent guide wheels 307m, the driving wire 3071' can be turned from the plane where the inner deflection wire wheel 307i is located to the plane where the pitch wire wheel 307f is located, so that the wire threading holes set on the connecting seat 307a are distributed on a straight line, and the straight line is parallel to the rotation axis R3, so as to achieve the effect of reducing the degree of coupling of each movement. Usually, the driving wire of the surgical tool is distributed circumferentially in the outer tube 22, such as Fig.108 As shown, when the front-end actuator performs a self-rotation motion R1, the circumferentially distributed drive wires will be entangled with each other. The entangled drive wires will not only couple the movements of the front-end actuator, but also the friction between the drive wires will be much greater than the friction between the drive wires on the guide wheel and the wire wheel, resulting in a serious decrease in the motion accuracy and load capacity of the front-end actuator. The use of linearly distributed drive wires can avoid the drive wires in the outer tube 22 from being entangled and coupled with each other during the self-rotation motion.

[0423] In order to make the deflection movement R2 of the clamping leaf 307c coincide with the rotation axis of the opening and closing movement K, the two clamping leaves 307c are set on the same axis of the cross shaft and distributed on both sides of the axis, and the driving wire realizes the horizontal axis crossing. At the same time, in order to make the front-end actuator structure more compact, and the two clamping leaves 307c distributed on both sides of the cross shaft 307b can still mesh correctly, the clamping leaf 307c is set as a "Z" shape structure. The clamping leaf adopts a "Z" shape structure, so there are no parts that can interfere with the movement of the clamping leaf in the direction of rotation of the clamping leaf, and the deflection angle of the deflection movement R2 can reach ±125°.

[0424] Fig.128 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure. Fig.129 FIG. 1 is an exploded view of the structure of a front-end execution device according to another embodiment of the present disclosure. Fig.128 , 129 As shown, the front end actuator 308 includes a connection seat 308a, a cross shaft 308b, a clamp leaf 308c, etc. The connection seat 308a is used to connect the outer tube 22 and the front end actuator 308. The connection seat 308a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connection seat 308a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front end actuator 308 to realize the self-rotation motion R1.

[0425] Fig.130 FIG. 1 is a schematic diagram of a front-end execution device structure clamp of another embodiment of the present disclosure. Fig.129 , Fig.130 The pitch axis 308d on the cross axis 308b is installed on the shaft seat 308e of the connecting seat 308a, and the cross axis 308b can rotate around the axis R3. Two pitch wire wheels 308f are fixedly installed on the pitch axis 308d, and the axis of the pitch wire wheel 308f coincides with the axis of the pitch axis 308d. The rotation of the pitch wire wheel 308f can drive the cross axis 308b to rotate around the axis R3.

[0426] Two double-row guide wheels 308g are also installed on the pitch axis 308d for driving wire guiding. Two guide wheels 308n are obliquely symmetrically arranged on the side wall above the cross axis 308b, and the guide wheels 308n are used to guide the driving wire of the clamping page 308c. The guide wheels are arranged above the cross axis 308b, which can reduce the space occupied below the cross axis 308b, avoid the interference between the parts below the rotating shaft and the driving wire, and increase the rotation angle of the deflection movement R3. The clamping page 308c is installed on the deflection axis 308h of the cross axis 308b, and the clamping page 308c can rotate around the axis R2. The inner deflection wire wheel 308i and the outer deflection wire wheel 308k are arranged on the clamping page 308c, and the two deflection wire wheels are coaxial. The rotation of the inner deflection wire wheel 308i and the outer deflection wire wheel 308k on the deflection axis 308h can drive the clamping page 308c to rotate around the axis R2, realizing the deflection movement R2 and the opening and closing movement K. The pitch axis 308d is perpendicular to the yaw axis 308h and intersects at one point. The cross axis 308b and the clamp leaf 308c move around the axis to achieve the characteristic of three axes intersecting at one center.

[0427] The overlapping setting of the rotating axis of the clamp leaf and the deflection axis is one of the steps to achieve the three-axis intersection and one-center characteristic. The clamp leaf is directly installed on the cross axis, which can reduce the axial size of the front-end actuator, thereby increasing the deflection motion load capacity. Taking the front-end actuator 308 as an example, the use of the three-axis intersection and one-center characteristic structure can reduce the axial size by 8mm, the distance between the clamp leaf load point and the rotating axis is 12mm, and the deflection motion load capacity can be increased by about 60%. Usually, the deflection motion load capacity of rigid component surgical tools is 20N, and the deflection motion load capacity of the front-end actuator 308 can reach 30N. On the other hand, during the implementation of robot-assisted minimally invasive surgery, the image of the surgical operation site will be magnified dozens of times. Usually, the outer diameter of the surgical tool is 8-10mm. A part with a length of 8mm under this outer diameter will occupy a large part of the image area. Reducing the axial size of the front-end actuator by 8mm and using the three-axis intersection and one-center structure can greatly reduce the occlusion of the surgical tool on the field of view.

[0428] Fig.131 This is a schematic diagram of the arrangement of drive wires of a front-end actuator according to yet another embodiment of the present disclosure. Fig.132 FIG. 1 is a schematic diagram of the arrangement of the drive wire of the front end actuator on the pitch wire wheel according to another embodiment of the present disclosure. For the pitch motion R3, see Fig.131 , Fig.132One end of the driving wire 308l is fixed on the pitching wire wheel 308f, and the other end passes around the pitching wire wheel 308f, along the small wheel groove of the shaft seat guide wheel 308m set below the pitching wire wheel 308f, passes through the wire threading hole set on the connecting seat 308a, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. Another driving wire 308l is installed on the pitching wire wheel 308f on the other side of the cross shaft 308b in the same way, and the winding directions of the two driving wires 308l on the pitching wire wheel 308f are opposite. By pulling the two driving wires 308l, the rotation of the cross shaft 308b around the axis R3 can be realized, that is, the pitching movement R3 of the front end actuator 308 can be realized, as shown in FIG. Fig.133 shown.

[0429] Fig.134 This is a schematic diagram of the arrangement of the drive wires for the deflection movement and opening and closing movement of the front end actuator on the cross axis according to another embodiment of the present disclosure. Fig.135 This is a schematic diagram of the arrangement of the drive wires for the deflection movement and opening and closing movement of the front-end actuator on the cross axis from another perspective of yet another embodiment of the present disclosure. Fig.136 This is a schematic diagram of the arrangement of the drive wires for the deflection movement and opening and closing movement of the front end actuator on the clamp leaf from another perspective of another embodiment of the present disclosure. For the deflection movement R2 and the opening and closing movement K, see Fig.134 , Fig.135 , Fig.136 One end of the driving wire 3081' is fixed on the inner deflection wire wheel 308i, and the other end passes around the inner deflection wire wheel 307i, along the wheel groove of the double-row guide wheel 308g, through the threading hole set on the connecting seat 308a, through the outer tube 22, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21; another driving wire 3081' is fixed on the outer deflection wire wheel 308k, and the other end passes around the deflection guide wheel 308n set above the cross shaft 308b, along the large wheel groove of the shaft seat guide wheel 308m, through the threading hole set on the connecting seat 308a, through the outer tube 22, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. The winding directions of the two driving wires 3081' on the inner deflection wire wheel 308i and the outer deflection wire wheel 308k are opposite. By pulling the two driving wires 3081', the clamp leaf 308c can be rotated around the axis R2, that is, the front end actuator 308 can be deflected R2 and opened and closed K. Fig.137 shown.

[0430] After the driving wire 3081' passes around the guide wheel 308n, the driving wire 3081' can be turned from the plane where the inner deflection wire wheel 308i is located to the plane where the pitch wire wheel 308f is located, so that the wire threading holes set on the connecting seat 308a are distributed on a straight line, which is parallel to the rotating axis R3, thereby achieving the effect of reducing the coupling degree of each movement.

[0431] Typically, the driving wires of the surgical tool are distributed circumferentially within the outer tube 22, such as Fig.108 As shown, when the front-end actuator performs a self-rotation motion R1, the circumferentially distributed drive wires will be entangled with each other. The entangled drive wires will not only couple the movements of the front-end actuator, but also the friction between the drive wires will be much greater than the friction between the drive wires on the guide wheel and the wire wheel, resulting in a serious decrease in the motion accuracy and load capacity of the front-end actuator. The use of linearly distributed drive wires can avoid the drive wires in the outer tube 22 from being entangled and coupled with each other during the self-rotation motion.

[0432] In order to make the deflection movement R2 of the clamp leaf 308c coincide with the rotation axis of the opening and closing movement K, the two clamp leaves 308c are set on the same axis of the cross shaft and distributed on both sides of the axis. At the same time, in order to make the front-end actuator structure more compact and the two clamp leaves 308c can still mesh correctly when they are distributed on both sides of the cross shaft 308b, the clamp leaves 308c are set as a "Z" shape structure. The clamp leaves adopt a "Z" shape structure, so there are no parts that can interfere with the movement of the clamp leaves in the direction of rotation of the clamp leaves, and the deflection angle of the deflection movement R2 can reach ±125°

[0433] Fig.138 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure. Fig.139 FIG. 1 is an exploded view of the structure of a front-end execution device according to another embodiment of the present disclosure. Fig.138 , Fig.139 As shown, the front-end actuator 306 is provided with a cross-axis structure with an arc-shaped wire guide groove (U-shaped frame), and the driving wire is installed in the wire guide groove to drive the cross-axis structure to move. An arc-shaped wire guide groove is provided below the cross-axis, so that the driving wire is pulled along the direction of the wire guide groove, the purpose of which is to increase the rotation radius of the driving wire's action point on the cross-axis relative to the rotating shaft, thereby increasing the cross-axis rotation torque when the driving wire tension remains unchanged. The front-end actuator 306 includes a connecting seat 306a, a cross-axis 306b, a clamp 306c, a guide wheel 306d, etc. The connecting seat 306a is used to connect the outer tube 22 and the front-end actuator 306. The connecting seat 306a is fixedly installed at the front end of the outer tube 22, and the rotation axis of the connecting seat 306a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front-end actuator 306 to realize the self-rotation motion R1.

[0434] Fig.140 FIG. 1 is a schematic diagram of the structure of a cross axis of a front-end execution device according to another embodiment of the present disclosure. Fig.139 , Fig.140, the pitch axis 306e on the cross axis 306b is installed on the shaft seat 306f of the connecting seat 306a, and the cross axis 306b can rotate around the axis R3. The clamp leaf 306c is installed on the deflection axis 306h of the cross axis 306b, and the clamp leaf 306c can rotate around the axis R2. The clamp leaf 306c is provided with an inner deflection wire wheel 306i and an outer deflection wire wheel 306k, and the two deflection wire wheels are coaxial. The rotation of the inner deflection wire wheel 306i and the outer deflection wire wheel 306k on the deflection axis 306h can drive the clamp leaf 306c to rotate around the axis R2, realizing the deflection movement R2 and the opening and closing movement K. The pitch axis 306e is perpendicular to the deflection axis 306h and intersects at one point. The cross axis 306b and the clamp leaf 306c move around the axis to realize the characteristic of three axes intersecting at one center.

[0435] The lower part of the cross shaft 306b is provided with a U-shaped wire guide groove 306m at the position where it contacts the connection seat 306a. The wire guide groove 306m and the deflection shaft 306h are arranged in the same plane. Two pitch guide wheels 306n are installed at the end surface of the connection seat 306a. The two pitch guide wheels 306n are also arranged in the same plane as the wire guide groove 306m. When the cross shaft 306b rotates around the axis R3, the pitch guide wheels 306n can keep the driving wire 306l in the wire guide groove 306m.

[0436] Fig.141 This is a schematic diagram of the arrangement of driving wires of a front-end actuator according to yet another embodiment of the present disclosure. Fig.142 FIG. 1 is a schematic diagram of the arrangement of the driving wire of the front end actuator on the cross axis according to another embodiment of the present disclosure. Fig.141 , Fig.142 One end of the driving wire 306l is fixed in the wire guide groove 306m provided on the cross shaft 306b, and the other end is along the wire guide groove 306m, bypasses the pitch guide wheel 306n, passes through the wire threading hole provided on the connecting seat 305a, passes through the outer tube 22, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. Another driving wire 306l is installed on the other side of the pitch cross shaft 306b in the same way. By pulling the two driving wires 306l, the rotation of the cross shaft 306b around the axis R3 can be realized, that is, the pitch movement R3 of the front end actuator 306 can be realized. Fig.143 shown.

[0437] Fig.144 This is a schematic diagram of the arrangement of the drive wires for the deflection movement and opening and closing movement of the front-end actuator on the guide wheel from another perspective of yet another embodiment of the present disclosure. Fig.145 This is a schematic diagram of the arrangement of the drive wires for the deflection movement and opening and closing movement of the front end actuator on the clamp leaf from another perspective of another embodiment of the present disclosure. For the deflection movement R2 and the opening and closing movement K, see Fig.144 , Fig.145One end of the driving wire 3061 is fixed on the inner deflection wire wheel 306i, and the other end passes around the inner deflection wire wheel 306i, along the small wheel groove on the guide wheel 306d, through the threading hole set on the connecting seat 306a, through the outer tube 22, and then fixedly installed on the driving wire wheel 21a in the rear end driving device 21; one end of the other driving wire 3061 is fixed on the outer deflection wire wheel 306k, and the other end passes around the outer deflection wire wheel 306k, along the large wheel groove on the guide wheel 306d, through the threading hole set on the connecting seat 306a, through the outer tube 22, and then fixedly installed on the driving wire wheel 21a in the rear end driving device 21. The winding directions of the two driving wires 3061' on the inner deflection wire wheel 306i and the outer deflection wire wheel 306k are opposite. By pulling the two driving wires 3061', the clamp leaf 306c can be rotated around the axis R2, that is, the front end actuator 306 can be deflected R2 and opened and closed K. Fig.146 shown.

[0438] A circular arc wire guide groove 306m is provided below the cross shaft 306b, and a driving wire 306l for driving the cross shaft 306b to perform a pitch motion R3 is arranged in the wire guide groove 306m, and the pulling direction of the driving wire 306l can always be the same as the tangent direction of the rotation direction of the cross shaft 306b. The above arrangement can increase the load capacity of the front-end actuator 306. Taking the front-end actuator 306 as an example, the radius of the outer deflection wire wheel 306k for driving the clamp leaf 306c to perform a deflection motion R2 and an opening and closing motion K is 2.5mm, and the turning radius of the circular arc wire guide groove 306m is 5mm. Ignoring the influence of the friction force on the transmission path of the driving wire 306l, when the pulling forces of the driving wires 306l and 306l' are the same, the torque of the pitch motion R3 is twice the torque of the deflection motion R2. Taking the front-end actuator 306 as an example, the average load capacity of the deflection motion R2 using the wire wheel transmission method is 18N, and the average load capacity of the pitch motion R3 using the arc guide wire groove transmission method can reach 36N.

[0439] In order to make the deflection movement R2 of the clamp leaf 306c coincide with the rotation axis of the opening and closing movement K, the two clamp leaves 306c are set on the same axis of the cross shaft 306b and distributed on both sides of the axis. At the same time, in order to make the front-end actuator structure more compact and the two clamp leaves 306c can still mesh correctly when they are distributed on both sides of the cross shaft 306b, the clamp leaves 306c are set as a "Z" shape structure. When the clamp leaves adopt a "Z" shape structure, there are no parts that can interfere with the movement of the clamp leaves in the direction of rotation of the clamp leaves, and the deflection angle of the deflection movement R2 can reach ±110°.

[0440] Fig.147 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure. Fig.148 FIG. 1 is an exploded view of the structure of a front-end execution device according to another embodiment of the present disclosure. Fig.147 , Fig.148 As shown, the front-end actuator 309 is provided with a cross-axis structure with an arc-shaped wire guide groove, and the driving wire is installed in the wire guide groove to drive the movement of the cross-axis structure. An arc-shaped wire guide groove is provided below the cross-axis so that the driving wire is pulled along the direction of the wire guide groove. The purpose is to increase the rotation radius of the driving wire's action point on the cross-axis relative to the rotating shaft, thereby increasing the cross-axis rotation torque when the driving wire tension remains unchanged. The front-end actuator 309 includes a connecting seat 309a, a cross-axis 309b, a clamp 309c, etc. The connecting seat 309a is used to connect the outer tube 22 and the front-end actuator 309. The connecting seat 309a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connecting seat 309a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front-end actuator 309 to realize the self-rotation motion R1.

[0441] Fig.149 It is a schematic structural diagram of a cross axis of a front-end execution device according to another embodiment of the present disclosure. Fig.150 FIG. 1 is a schematic diagram of the structure of a front-end execution device clamp according to another embodiment of the present disclosure. Fig.148 , Fig.149 , Fig.150 , the pitch axis 309d on the cross axis 309b is installed on the shaft seat 309e of the connecting seat 309a, and the cross axis 309b can rotate around the axis R3. The clamp leaf 309c is installed on the deflection axis 309f of the cross axis 309b, and the clamp leaf 309c can rotate around the axis R2. The clamp leaf 309c is provided with an inner deflection wire wheel 309g and an outer deflection wire wheel 309h, and the two deflection wire wheels are coaxial. The rotation of the inner deflection wire wheel 309g and the outer deflection wire wheel 309h on the deflection axis 309f can drive the clamp leaf 309c to rotate around the axis R2, realizing the deflection movement R2 and the opening and closing movement K. The pitch axis 309d is perpendicular to the deflection axis 309f and intersects at one point. The cross axis 309b and the clamp leaf 309c move around the axis to realize the characteristic of three axes intersecting at one center. A double-row guide wheel 309m and a guide wheel 309o are installed inside the shaft seat 309e of the connecting seat 309a. The driving wire 309i for driving the clamp leaf 309c to rotate can extend to the wire threading hole set on the end face of the connecting seat 309a after passing through the double-row guide wheel 309m and the guide wheel 309o. Two deflection guide wheels 309n are arranged above the cross shaft 309c, which are used to change the driving wire 309i for driving the clamp leaf 309c to rotate from the plane where the inner and outer deflection wire wheels are located to the plane where the double-row guide wheel 309m and the guide wheel 309o are located. Two pitch guide wheels 309l are installed at the end face of the connecting seat 309a. The two pitch guide wheels 309l and the guide wire groove 309k are arranged in the same plane. When the cross shaft 309b rotates around the axis R3, the pitch guide wheel 309l can keep the driving wire 309i in the guide wire groove 309k at all times.

[0442] Fig.151 This is a schematic diagram of the arrangement of driving wires of a front-end actuator according to yet another embodiment of the present disclosure. Fig.152 This is a schematic diagram of the arrangement of the driving wire of the front-end actuator on the cross axis according to another embodiment of the present disclosure. Fig.151 The diagram shows the arrangement of the drive wires of the front end actuator 309. Fig.152 One end of the driving wire 309i' is fixed in the wire guide groove 309k provided on the cross shaft 309b, and the other end goes along the wire guide groove 309k, bypasses the pitch guide wheel 309l, passes through the threading hole provided on the connecting seat 309a, passes through the outer tube 22, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. Another driving wire 309i' is installed on the other side of the cross shaft 309b in the same way. By pulling the two driving wires 309i', the rotation of the cross shaft 309b around the axis R3 can be realized, that is, the pitch movement R3 of the front end actuator 309 can be realized. Fig.153 shown.

[0443] Fig.154 This is a schematic diagram of the arrangement of drive wires for the deflection movement and opening and closing movement of a front-end actuator according to yet another embodiment of the present disclosure. Fig.155 This is a schematic diagram of the arrangement of drive wires for the deflection movement and opening and closing movement of a front-end actuator from another perspective of yet another embodiment of the present disclosure. Fig.156 This is a schematic diagram of the arrangement of the drive wires for the deflection movement and opening and closing movement of the front end actuator of another embodiment of the present disclosure on the clamp leaf. For the deflection movement R2 and the opening and closing movement K, see Fig.154 , Fig.155 , Fig.156 One end of the driving wire 309i is fixed on the inner deflection wire wheel 309g, and the other end bypasses the inner deflection wire wheel 309g and then bypasses the inner wheel groove of the double-row guide wheel 309m to realize the reversal of the driving wire 309i, and then passes through the wire threading hole set on the connecting seat 309a, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22; the other driving wire 309i is installed and fixed on the outer deflection wire wheel 309h, and the other end bypasses the deflection guide wheel 309n set above the cross shaft 309b and then changes direction in the plane where the double-row guide wheel 309m is located, along the outer wheel groove of the double-row guide wheel 309m and the wheel groove of the guide wheel 309o, passes through the wire threading hole set on the connecting seat 308a, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. The winding directions of the two driving wires 309i on the inner deflection wire wheel 309g and the outer deflection wire wheel 309h are opposite. Pulling the two driving wires 309i can realize the rotation of the clamp leaf 309c around the axis R2, that is, the deflection movement R2 and the opening and closing movement K of the front end actuator 309, as shown in FIG. Fig.157 shown.

[0444] An arc-shaped wire guide groove 309k is provided below the cross shaft 309b, and a driving wire 309i' for driving the cross shaft 309b to perform a pitch motion R3 is arranged in the wire guide groove 309k, and the pulling direction of the driving wire 309i' can always be the same as the tangent direction of the rotation direction of the cross shaft 309b. The above arrangement can increase the load capacity of the front-end actuator 309. Taking the front-end actuator 309 as an example, the radius of the outer deflection wire wheel 309h for driving the clamp leaf 309c to perform a deflection motion R2 and an opening and closing motion K is 2mm, and the turning radius of the arc-shaped wire guide groove 309k is 5mm. Ignoring the influence of the friction force on the transmission path of the driving wire 309i', when the pulling forces of the driving wires 309i and 309i' are the same, the torque of the pitch motion R3 is 2.5 times the torque of the deflection motion R2. Taking the front-end actuator 306 as an example, the average load capacity of the deflection motion R2 using the wire wheel transmission method is 18N, and the average load capacity of the pitch motion R3 using the arc guide groove transmission method can reach 38N.

[0445] In order to make the deflection movement R2 of the clamp leaf 309c coincide with the rotation axis of the opening and closing movement K, the two clamp leaves 309c are set on the same axis of the cross shaft 309b and distributed on both sides of the axis. At the same time, in order to make the front-end actuator structure more compact and the two clamp leaves 309c distributed on both sides of the cross shaft 309b can still mesh correctly, the clamp leaves 309c are set as a "Z" shape structure. The clamp leaves adopt a "Z" shape structure, so there are no parts that can interfere with the movement of the clamp leaves in the direction of rotation of the clamp leaves, and the deflection angle of the deflection movement R2 can reach ±125°.

[0446] Fig.158 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure. Fig.159 This is an exploded view of the front-end actuator structure of another embodiment of the present disclosure. The front-end actuator 311 includes a connecting seat 311a, a cross shaft 311b, a clamp 311c, etc. Among them, the cross shaft 311b is arranged on the connecting seat 311a, and the clamp 311c is arranged at both ends of one of the axes of the cross shaft 311b. The connecting seat 311a is used to connect the outer tube 22 and the front-end actuator 311. The connecting seat 311a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connecting seat 311a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front-end actuator 311 to realize the self-rotation motion R1.

[0447] See also Fig.158 , Fig.159 The pitch axis 311d on the cross axis 311b is installed on the shaft seat 311e of the connecting seat 311a, and the cross axis 311b can rotate around the axis R3. Two pitch wire wheels 311f are fixedly installed on the pitch axis 311d, and the axis of the pitch wire wheel 311f coincides with the axis of the pitch axis 311d. The rotation of the pitch wire wheel 311f can drive the cross axis 311b to rotate around the axis R3.

[0448] The clamp leaf 311c is mounted on the deflection axis 311h of the cross axis 311b, and the clamp leaf 311c can rotate around the axis R2. Fig.160 FIG. 1 is a schematic diagram of the clamp structure of a front-end execution device according to another embodiment of the present disclosure. Fig.160 As shown, a deflection bevel gear 311i is provided on the clamp leaf 311c. The rotation of the deflection bevel gear 311i on the deflection shaft 311h can drive the clamp leaf 311c to rotate around the axis R2, realizing the deflection movement R2 and the opening and closing movement K. The pitch axis 311d is perpendicular to the deflection axis 311h and intersects at one point. The cross axis 311b and the clamp leaf 311c move around the axis to realize the three-axis intersection characteristic. Setting the clamp leaf rotation axis to coincide with the deflection axis is one of the steps to realize the three-axis intersection characteristic. The clamp leaf is directly installed on the cross axis, which can reduce the axial size of the front-end actuator and thereby increase the deflection movement load capacity.

[0449] Fig.161 This is a schematic diagram of the arrangement of drive wires of a front-end actuator according to yet another embodiment of the present disclosure. Fig.162 Schematic diagram of the arrangement of the drive wires for the pitch motion of the front end actuator of another embodiment of the present disclosure. Fig.162 One end of the driving wire 311l is fixedly mounted on the pitching wire wheel 311f, and the other end passes around the pitching wire wheel 311f, passes through the threading hole set on the connecting seat 311a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. Another driving wire 311l is installed on the pitching wire wheel 311f on the other side of the cross shaft 311b in the same way, and the winding directions of the two driving wires 311l on the pitching wire wheel 311f are opposite. Pulling the two driving wires 311l can realize the rotation of the cross shaft 311b around the axis R3, that is, the pitching movement R3 of the front end actuator 311.

[0450] Fig.163 Schematic diagram of the arrangement of the drive wires for the deflection and opening and closing motions of the front end actuator of another embodiment of the present disclosure. For the deflection motion R2 and the opening and closing motion K, see Fig.163The driving wire 311l' is fixed on the deflection wheel 311g. After one end bypasses the deflection wheel 311g, it goes along the guide wheel 311j and passes through the wire threading hole set on the connecting seat 311a, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. After the other end bypasses the deflection wheel 311g in the opposite direction, it bypasses the pitch axis 311d, goes along the guide wheel 311j and passes through the wire threading hole set on the connecting seat 311a, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21 after passing through the outer tube 22. One side of the deflection wheel 311g is a bevel gear with the same module as the deflection bevel gear 311i. The bevel gear on the deflection wheel is meshed with the deflection bevel gear 311i. The rotation of the deflection wheel 311g can drive the clamp leaf 311c to rotate around the axis R2. By pulling the two driving wires 3111', the clamp leaf 311c can rotate around the axis R2, that is, the front end actuator 311 has a deflection movement R2 and an opening and closing movement K. The bevel gear structures can also use a friction wheel solution to achieve the same function.

[0451] In order to make the deflection movement R2 of the clamp leaf 311c coincide with the rotation axis of the opening and closing movement K, the two clamp leaves 311c are set on the same axis of the cross shaft and distributed on both sides of the axis, and the driving wire realizes the horizontal axis crossing. At the same time, in order to make the front-end actuator structure more compact, and the two clamp leaves 311c distributed on both sides of the cross shaft 311b can still mesh correctly, the clamp leaf 311c is set as a "Z" shape structure. The clamp leaf adopts a "Z" shape structure, so there are no parts that can interfere with the movement of the clamp leaf in the direction of rotation of the clamp leaf, and the deflection angle of the deflection movement R2 can reach ±125°.

[0452] Fig.164 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure. Fig.165 This is an exploded view of the structure of the front-end actuator of another embodiment of the present disclosure. The front-end actuator 312 includes a connecting seat 312a, a cross shaft 312b, a clamp 312c, etc. Among them, the cross shaft 312b is arranged on the connecting seat 312a, and the clamp 312c is arranged at both ends of one of the axes of the cross shaft 312b. The connecting seat 312a is used to connect the outer tube 22 and the front-end actuator 312. The connecting seat 312a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connecting seat 312a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front-end actuator 312 to realize the self-rotation motion R1.

[0453] Fig.166 FIG. 1 is a schematic diagram of a clamp structure of a front-end execution device according to another embodiment of the present disclosure. Fig.165 , Fig.166The pitch axis 312d on the cross axis 312b is installed on the shaft seat 312e of the connecting seat 312a, and the cross axis 312b can rotate around the axis R3. Two pitch wire wheels 312f are fixedly installed on the pitch axis 312d, and the axis of the pitch wire wheel 312f coincides with the axis of the pitch axis 312d. The rotation of the pitch wire wheel 312f can drive the cross axis 312b to rotate around the axis R3. Two double-row guide wheels 312g are also installed on the pitch axis 312d for driving the wire guide.

[0454] Two deflection wheels 312n are obliquely symmetrically arranged on the side wall above the cross shaft 312b. The deflection wheels 312n are used to control the rotation of the clamp leaf 312c. One side of the deflection wheels 312n is a bevel gear structure. The deflection wheels 312n are arranged above the cross shaft 312b to reduce the space occupied below the cross shaft 312b, avoid mutual interference between the parts below the rotating shaft and the driving wire, and increase the rotation angle of the deflection movement R3.

[0455] The clamp leaf 312c is installed on the deflection axis 312h of the cross shaft 312b, and the clamp leaf 312c can rotate around the axis R2. A bevel gear 312i is provided on the clamp leaf 312c, and the bevel paper wheel 312i meshes with the bevel gear on one side of the deflection wheel 312n. The rotation of the bevel gear 312i on the deflection axis 312h can drive the clamp leaf 312c to rotate around the axis R2, thereby realizing the deflection movement R2 and the opening and closing movement K. The pitch axis 312d is perpendicular to the deflection axis 312h and intersects at one point. The cross shaft 312b and the clamp leaf 312c move around the axis to realize the three-axis intersection characteristic. Setting the clamp leaf rotation axis to coincide with the deflection axis is one of the steps to realize the three-axis intersection characteristic. The clamp leaf is directly installed on the cross shaft, which can reduce the axial size of the front-end actuator and thereby increase the deflection movement load capacity.

[0456] Fig.167 This is a schematic diagram of the arrangement of drive wires of a front-end actuator according to yet another embodiment of the present disclosure. Fig.168 Schematic diagram of the arrangement of the drive wires for the pitch motion of the front end actuator of another embodiment of the present disclosure. Fig.168 One end of the driving wire 312l is fixedly mounted on the pitching wire wheel 312f, and the other end passes around the pitching wire wheel 312f, passes through the threading hole set on the connecting seat 312a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. Another driving wire 312l is installed on the pitching wire wheel 312f on the other side of the cross shaft 312b in the same way, and the winding directions of the two driving wires 312l on the pitching wire wheel 312f are opposite. Pulling the two driving wires 312l can realize the rotation of the cross shaft 312b around the axis R3, that is, the pitching movement R3 of the front end actuator 312.

[0457] Fig.169Schematic diagram of the arrangement of the drive wires for the deflection and opening and closing motions of the front end actuator of another embodiment of the present disclosure. For the deflection motion R2 and the opening and closing motion K, see Fig.169 The driving wire 312l' is fixed on the deflection wheel 312n. After one end bypasses the deflection wheel 312n, it goes along one of the double-row guide wheels 312g and passes through the wire threading hole set on the connecting seat 312a. After passing through the outer tube 22, it is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. After the other end bypasses the deflection wheel 312n in the opposite direction, it goes along the other wheel of the double-row guide wheel 312g and passes through the wire threading hole set on the connecting seat 312a. After passing through the outer tube 22, it is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. One side of the deflection wheel 312n is a bevel gear with the same module as the bevel gear 312i. The bevel gear on the deflection wheel is meshed with the bevel gear 312i of the clamp leaf. The rotation of the deflection wheel 312n can drive the clamp leaf 312c to rotate around the axis R2. By pulling the two driving wires 3121', the clamp leaf 312c can rotate around the axis R2, that is, the front end actuator 312 can perform a deflection movement R2 and an opening and closing movement K. The bevel gear structures can also use a friction wheel solution to achieve the same function.

[0458] In order to make the deflection movement R2 of the clamp leaf 312c coincide with the rotation axis of the opening and closing movement K, the two clamp leaves 312c are set on the same axis of the cross shaft and distributed on both sides of the axis. At the same time, in order to make the front-end actuator structure more compact and the two clamp leaves 312c distributed on both sides of the cross shaft 312b can still mesh correctly, the clamp leaves 312c are set as a "Z" shape structure. The clamp leaf adopts a "Z" shape structure, so there are no parts that can interfere with the movement of the clamp leaf in the direction of rotation of the clamp leaf, and the deflection angle of the deflection movement R2 can reach ±125°

[0459] Fig.170 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure. Fig.171 This is an exploded view of the front end actuator structure of another embodiment of the present disclosure. The front end actuator 313 includes a connecting seat 313a, a cross shaft 313b, a clamp 313c, etc. The connecting seat 313a is used to connect the outer tube 22 and the front end actuator 313. The connecting seat 313a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connecting seat 313a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front end actuator 313 to realize the self-rotation motion R1.

[0460] Fig.172 FIG. 1 is a schematic diagram of a clamp structure of a front-end execution device according to another embodiment of the present disclosure. Fig.171 , Fig.172, the pitch axis 313d on the cross axis 313b is installed on the shaft seat 313e of the connecting seat 313a, and the cross axis 313b can rotate around the axis R3. Two pitch wire wheels 313f are fixedly installed on the pitch axis 313d, and the axis of the pitch wire wheel 313f coincides with the axis of the pitch axis 313d. The rotation of the pitch wire wheel 313f can drive the cross axis 313b to rotate around the axis R3. Two deflection drive wheels 313g are also installed on the pitch axis 313d to drive the clamp leaf 313c. One end of the deflection drive wheel 313g is a bevel gear structure. The clamp leaf 313c is installed on the deflection axis 313h of the cross axis 313b, and the clamp leaf 313c can rotate around the axis R2. A deflection driven wheel 313n is provided between the deflection axis 313h and the pitch axis 313d. The deflection driven wheel 313n is a bevel gear, and the gear module is the same as the bevel gear module on the deflection driving wheel 313g and they mesh with each other. A bevel gear 313i is provided on the clamp 313c, and the bevel gear 313i meshes with the bevel gear of the deflection driven wheel 313n. The rotation of the deflection driving wheel 313g on the deflection axis 313h can drive the clamp 313c to rotate around the axis R2, realizing the deflection movement R2 and the opening and closing movement K. The pitch axis 313d is perpendicular to the deflection axis 313h and intersects at one point. The cross axis 313b and the clamp 313c move around the axis to realize the characteristic of three axes intersecting at one center. Setting the clamp leaf rotation axis and the deflection axis to coincide with each other is one of the steps to achieve the three-axis intersection characteristic. The clamp leaf is directly installed on the cross axis, which can reduce the axial size of the front-end actuator and thus increase the deflection motion load capacity.

[0461] Fig.173 This is a schematic diagram of the arrangement of drive wires of a front-end actuator according to yet another embodiment of the present disclosure. Fig.174 Schematic diagram of the arrangement of the drive wires for the pitch motion of the front end actuator of another embodiment of the present disclosure. Fig.174 One end of the driving wire 313l is fixedly mounted on the pitching wire wheel 313f, and the other end passes around the pitching wire wheel 313f, passes through the threading hole set on the connecting seat 313a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. Another driving wire 313l is installed on the pitching wire wheel 313f on the other side of the cross shaft 313b in the same way, and the winding directions of the two driving wires 313l on the pitching wire wheel 313f are opposite. Pulling the two driving wires 313l can realize the rotation of the cross shaft 313b around the axis R3, that is, the pitching movement R3 of the front end actuator 313.

[0462] Fig.175 Schematic diagram of the arrangement of the drive wires for the deflection and opening and closing motions of the front end actuator of another embodiment of the present disclosure. For the deflection motion R2 and the opening and closing motion K, see Fig.175The driving wire 3131 is fixed on the deflection driving wheel 313g. One end of the driving wire 3131 bypasses the deflection driving wheel 313g, passes through the threading hole set on the connecting seat 313a, passes through the outer tube 22, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. The other end of the driving wire 3131 bypasses the deflection driving wheel 313g in the opposite direction, passes through the threading hole set on the connecting seat 313a, passes through the outer tube 22, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. The deflection driving wheel 313g, the deflection driven wheel 313n, and the bevel gear 313i on the clamping leaf 313c are meshed in sequence. The rotation of the deflection driving wheel 313g can drive the clamping leaf 313c to rotate around the axis R2. Pulling the two driving wires 3131' can realize the rotation of the clamping leaf 313c around the axis R2, that is, the deflection movement R2 and the opening and closing movement K of the front end actuator 313. The above-mentioned bevel gear structures can also adopt the friction wheel scheme to achieve the same function.

[0463] In order to make the deflection movement R2 of the clamp leaf 313c coincide with the rotation axis of the opening and closing movement K, the two clamp leaves 313c are set on the same axis of the cross shaft and distributed on both sides of the axis. At the same time, in order to make the front-end actuator structure more compact, and the two clamp leaves 313c can still mesh correctly when they are distributed on both sides of the cross shaft 313b, the clamp leaves 313c do not need to be set as a "Z" shape. If the clamp leaves adopt a "Z" shape structure, there will be no parts that can interfere with the movement of the clamp leaves in the direction of rotation of the clamp leaves.

[0464] Fig.176 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure. Fig.177 This is an exploded view of the front end actuator structure of another embodiment of the present disclosure. The front end actuator 314 includes a connecting seat 314a, a cross shaft 314b, a clamp 314c, etc. The connecting seat 314a is used to connect the outer tube 22 and the front end actuator 314. The connecting seat 314a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connecting seat 314a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front end actuator 314 to realize the self-rotation motion R1.

[0465] Fig.178 FIG. 1 is a schematic diagram of a clamp structure of a front-end execution device according to another embodiment of the present disclosure. Fig.177 , Fig.178 The pitch axis 314d on the cross axis 314b is installed on the shaft seat 314e of the connecting seat 314a, and the cross axis 314b can rotate around the axis R3. Two pitch wire wheels 314f are fixedly installed on the pitch axis 314d, and the axis of the pitch wire wheel 314f coincides with the axis of the pitch axis 314d. The rotation of the pitch wire wheel 314f can drive the cross axis 314b to rotate around the axis R3. Two deflection driving wheels 314g are also installed on the pitch axis 314d to drive the clamp leaf 314c.

[0466] The clamp leaf 314c is mounted on the deflection shaft 314h of the cross shaft 314b, and the clamp leaf 314c can rotate around the axis R2. Fig.178 As shown, a circular arc groove 314i is provided on the clamping leaf 314c, and the center of the circular arc groove 314i is not coincident with the axis of the rotating shaft of the clamping leaf 314c.

[0467] Fig.179 FIG. 1 is a schematic diagram of the deflection drive wheel structure of a front end execution device according to another embodiment of the present disclosure. Fig.179 As shown, a shaft 314k is provided on the deflection driving wheel 314g, and the shaft 314k can slide in the arc groove 314i. The rotation of the deflection driving wheel 314g can drive the shaft 314k to slide in the arc groove 314i, thereby driving the clamp leaf 314c to rotate around the axis R2, thereby realizing the deflection movement R2 and the opening and closing movement K. The pitch axis 314d is perpendicular to the deflection axis 314h and intersects at one point. The cross axis 314b and the clamp leaf 314c move around the axis to realize the three-axis intersection characteristic. The overlap of the clamp leaf rotation axis and the deflection axis is one of the steps to realize the three-axis intersection characteristic. The clamp leaf is directly installed on the cross axis, which can reduce the axial size of the front-end actuator and thereby increase the deflection movement load capacity.

[0468] Fig.180 This is a schematic diagram of the arrangement of drive wires of a front-end actuator according to yet another embodiment of the present disclosure. Fig.181 Schematic diagram of the arrangement of the drive wires for the pitch motion of the front end actuator of another embodiment of the present disclosure. Fig.181 One end of the driving wire 314l is fixedly mounted on the pitching wire wheel 314f, and the other end passes around the pitching wire wheel 314f, passes through the wire threading hole set on the connecting seat 314a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. Another driving wire 314l is installed on the pitching wire wheel 314f on the other side of the cross shaft 314b in the same way, and the winding directions of the two driving wires 314l on the pitching wire wheel 314f are opposite. Pulling the two driving wires 314l can realize the rotation of the cross shaft 314b around the axis R3, that is, the pitching movement R3 of the front end actuator 314.

[0469] Fig.182 Schematic diagram of the arrangement of the drive wires for the deflection and opening and closing motions of the front end actuator of another embodiment of the present disclosure. For the deflection motion R2 and the opening and closing motion K, see Fig.182The driving wire 314l' is fixed on the deflection driving wheel 314g. After one end bypasses the deflection driving wheel 314g, it passes through the wire threading hole set on the connecting seat 314a, passes through the outer tube 22 and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. After the other end bypasses the deflection driving wheel 314g in the opposite direction, it passes through the wire threading hole set on the connecting seat 312a, passes through the outer tube 22 and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. The rotation of the deflection driving wheel 314g can drive the shaft 314k to slide in the arc groove 314i, and then drive the clamp leaf 314c to rotate, pulling the two driving wires 314l', and realizing the rotation of the clamp leaf 314c around the axis R2, that is, the deflection movement R2 and opening and closing movement K of the front end actuator 314.

[0470] In order to make the deflection motion R2 of the clamp leaf 314c coincide with the rotation axis of the opening and closing motion K, the two clamp leaves 314c are arranged on the same axis of the cross shaft and distributed on both sides of the axis. At the same time, in order to make the front-end actuator structure more compact and the two clamp leaves 314c can still mesh correctly when they are distributed on both sides of the cross shaft 314b, the clamp leaves 314c are arranged in a "Z" shape. The clamp leaves adopt a "Z" shape structure, so there are no parts that can interfere with the movement of the clamp leaves in the direction of rotation of the clamp leaves.

[0471] Fig.183 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure. Fig.184 This is an exploded view of the front end actuator structure of another embodiment of the present disclosure. The front end actuator 315 includes a connection seat 315a, a cross shaft 315b, a clamp 315c, etc. The connection seat 315a is used to connect the outer tube 22 and the front end actuator 315. The connection seat 315a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connection seat 315a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front end actuator 315 to realize the self-rotation motion R1.

[0472] Fig.185 FIG. 1 is a schematic diagram of a clamp structure of a front-end execution device according to another embodiment of the present disclosure. Fig.184 , Fig.185 , the pitch axis 315d on the cross axis 315b is installed on the axis seat 315e of the connecting seat 315a, and the cross axis 315b can rotate around the axis R3. Two pitch wire wheels 315f are fixedly installed on the pitch axis 315d, and the axis of the pitch wire wheel 315f coincides with the axis of the pitch axis 315d. The rotation of the pitch wire wheel 315f can drive the cross axis 315b to rotate around the axis R3. Two deflection drive wheels 315g are also installed on the pitch axis 315d to drive the clamp 315c, and one end face of the deflection drive wheel 315g is a gear structure. The clamp 315c is installed on the deflection axis 315h of the cross axis 315b, and the clamp 315c can rotate around the axis R2. As Fig.185As shown, a circular arc groove 315i is provided on the clamp leaf 315c, and the center of the circular arc groove 315i is not coincident with the axis of the rotating shaft of the clamp leaf 314c.

[0473] Fig.186 FIG. 1 is a schematic diagram of the deflection drive rack structure of a front end actuator according to another embodiment of the present disclosure. Fig.186 As shown, a shaft 315k is provided on the deflection drive rack 315g, and the shaft 315k can slide in the arc groove 315i. The deflection drive rack 315g is meshed with the end gear of the deflection drive wheel 315g. The rotation of the deflection drive wheel 315g can drive the deflection drive rack to slide on the cross shaft 315b, thereby driving the clamp leaf 315c to rotate. The rotation of the deflection drive wheel 315g can drive the shaft 315k to slide in the arc groove 315i, thereby driving the clamp leaf 315c to rotate around the axis R2, thereby realizing the deflection movement R2 and the opening and closing movement K. The pitch axis 315d is perpendicular to the deflection axis 315h and intersects at one point. The cross axis 315b and the clamp leaf 315c move around the axis to realize the characteristic of three axes intersecting at one center. Setting the clamp leaf rotation axis and the deflection axis to coincide with each other is one of the steps to achieve the three-axis intersection characteristic. The clamp leaf is directly installed on the cross axis, which can reduce the axial size of the front-end actuator and thus increase the deflection motion load capacity.

[0474] Fig.187 This is a schematic diagram of the arrangement of drive wires of a front-end actuator according to yet another embodiment of the present disclosure. Fig.188 Schematic diagram of the arrangement of the drive wires for the pitch motion of the front end actuator of another embodiment of the present disclosure. Fig.188 One end of the driving wire 315l is fixedly mounted on the pitching wire wheel 315f, and the other end passes around the pitching wire wheel 315f, passes through the wire threading hole set on the connecting seat 315a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. Another driving wire 315l is installed on the pitching wire wheel 315f on the other side of the cross shaft 315b in the same way, and the winding directions of the two driving wires 315l on the pitching wire wheel 315f are opposite. Pulling the two driving wires 315l can realize the rotation of the cross shaft 315b around the axis R3, that is, the pitching movement R3 of the front end actuator 315.

[0475] Fig.189 Schematic diagram of the arrangement of the drive wires for the deflection and opening and closing motions of the front end actuator of another embodiment of the present disclosure. For the deflection motion R2 and the opening and closing motion K, see Fig.189The driving wire 315l' is fixed on the deflection driving wheel 315g. After one end bypasses the deflection driving wheel 315g, it passes through the wire threading hole set on the connecting seat 315a, passes through the outer tube 22 and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. After the other end bypasses the deflection driving wheel 315g in the opposite direction, it passes through the wire threading hole set on the connecting seat 312a, passes through the outer tube 22 and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. The rotation of the deflection driving wheel 315g can drive the shaft 315k to slide in the arc groove 315i, and then drive the clamp leaf 315c to rotate, pulling the two driving wires 315l', and realizing the rotation of the clamp leaf 315c around the axis R2, that is, the deflection movement R2 and opening and closing movement K of the front end actuator 315.

[0476] In order to make the deflection movement R2 of the clamp leaf 315c coincide with the rotation axis of the opening and closing movement K, the two clamp leaves 315c are arranged on the same axis of the cross shaft and distributed on both sides of the axis. At the same time, in order to make the front-end actuator structure more compact and the two clamp leaves 315c can still mesh correctly when they are distributed on both sides of the cross shaft 314b, the clamp leaves 315c are arranged in a "Z" shape. When the clamp leaves adopt a "Z" shape structure, there are no parts that can interfere with the movement of the clamp leaves in the direction of rotation of the clamp leaves.

[0477] Fig.190 It is a structural diagram of a front-end execution device according to another embodiment of the present disclosure. Fig.191 This is an exploded view of the front end actuator structure of another embodiment of the present disclosure. The front end actuator 316 includes a connection seat 316a, a cross shaft 316b, a clamp 316c, etc. The connection seat 316a is used to connect the outer tube 22 and the front end actuator 316. The connection seat 316a is fixedly installed at the front end of the outer tube 22. The rotation axis of the connection seat 316a coincides with the rotation axis of the outer tube 22. The rotation of the outer tube 22 can drive the front end actuator 316 to realize the self-rotation motion R1.

[0478] Fig.192 FIG. 1 is a schematic diagram of a cross-axis structure of a front-end execution device according to another embodiment of the present disclosure. Fig.190 , Fig.191 , Fig.192 , the pitch axis 316d on the cross axis 316b is installed on the shaft seat 316e of the connecting seat 316a, and the cross axis 316b can rotate around the axis R3. Two pitch wire wheels 316f are fixedly installed on the pitch axis 316d, and the axis of the pitch wire wheel 316f coincides with the axis of the pitch axis 316d. The rotation of the pitch wire wheel 316f can drive the cross axis 316b to rotate around the axis R3. Two deflection drive wheels 316g are also installed on the pitch axis 316d to drive the clamp leaf 316c. One end of the deflection drive wheel 316g is a bevel gear structure. The clamp leaf 316c is installed on the deflection axis 316h of the cross axis 316b, and the clamp leaf 316c can rotate around the axis R2.

[0479] Fig.193 FIG. 1 is a schematic diagram of the clamp structure of a front-end execution device according to another embodiment of the present disclosure. Fig.193 As shown, a bevel gear 316i is provided on the clamp leaf 316c, and the bevel gear module of the bevel paper wheel 316i is the same as that of the deflection drive wheel 316g, and they mesh with each other. The rotation of the deflection drive wheel 316g on the deflection shaft 316h can drive the clamp leaf 316c to rotate around the axis R2, realizing the deflection movement R2 and the opening and closing movement K. The pitch axis 316d intersects with the deflection axis 316h at a point, and the angle between the two axes is α. The cross axis 316b and the clamp leaf 316c move around the axis to realize the three-axis intersection characteristic. Setting the clamp leaf rotation axis to coincide with the deflection axis is one of the steps to realize the three-axis intersection characteristic. The clamp leaf is directly installed on the cross axis, which can reduce the axial size of the front-end actuator and thereby increase the deflection movement load capacity.

[0480] Fig.194 This is a schematic diagram of the arrangement of drive wires of a front-end actuator according to yet another embodiment of the present disclosure. Fig.195 Schematic diagram of the arrangement of the drive wires for the pitch motion of the front end actuator of another embodiment of the present disclosure. Fig.195 One end of the driving wire 316l is fixedly mounted on the pitching wire wheel 316f, and the other end passes around the pitching wire wheel 316f, passes through the threading hole set on the connecting seat 316a, passes through the outer tube 22, and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. Another driving wire 316l is installed on the pitching wire wheel 316f on the other side of the cross shaft 316b in the same way, and the winding directions of the two driving wires 316l on the pitching wire wheel 316f are opposite. Pulling the two driving wires 316l can realize the rotation of the cross shaft 316b around the axis R3, that is, the pitching movement R3 of the front end actuator 316.

[0481] Fig.196 Schematic diagram of the arrangement of the drive wires for the deflection and opening and closing motions of the front end actuator of another embodiment of the present disclosure. For the deflection motion R2 and the opening and closing motion K, see Fig.196The driving wire 3161' is fixed on the deflection driving wheel 316g. One end of the driving wire 3161' bypasses the deflection driving wheel 316g, passes through the threading hole set on the connecting seat 316a, passes through the outer tube 22, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. The other end of the driving wire 3161' bypasses the deflection driving wheel 316g in the opposite direction, passes through the threading hole set on the connecting seat 316a, passes through the outer tube 22, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. The bevel gear on the deflection driving wheel 316g is meshed with the bevel gear 316i on the clamping page 316c. The rotation of the deflection driving wheel 316g can drive the clamping page 316c to rotate around the axis R2. Pulling the two driving wires 3161' can realize the rotation of the clamping page 316c around the axis R2, that is, the deflection movement R2 and the opening and closing movement K of the front end actuator 316. The above-mentioned bevel gear structures can also adopt the friction wheel scheme to achieve the same function.

[0482] In order to make the deflection motion R2 of the clamp leaf 316c coincide with the rotation axis of the opening and closing motion K, the two clamp leaves 316c are arranged on the same axis of the cross shaft and distributed on both sides of the axis. At the same time, in order to make the front-end actuator structure more compact, and the two clamp leaves 316c can still mesh correctly when they are distributed on both sides of the cross shaft 316b, the clamp leaves 316c do not need to be set as a "Z" shape structure. If the clamp leaves adopt a "Z" shape structure, there are no parts that can interfere with the movement of the clamp leaves in the direction of rotation of the clamp leaves.

[0483] The movement modes of the above-mentioned front-end execution devices 23 and embodiments all have a common feature, that is, the device contains rigid parts that can rotate around an axis, and the rotational motion coupling of multiple rigid parts realizes the surgical operation.

[0484] Fig.197 The flexible front-end actuator 234 is characterized in that it is composed of a plurality of deflectable joints connected in series, each joint can deflect a certain angle relative to the adjacent joints, and the deflection of all joints in a certain direction is superimposed to realize the bending action of the front-end actuator.

[0485] The front-end actuator 234 can complete three-degree-of-freedom motion, namely, pitch motion R1, yaw motion R2 and rotation motion R3, under the drive of the rear-end drive device 21, and includes a connecting seat 234a, a joint 234b, a swivel seat 234c, a support seat 234d, etc. The connecting seat 234a is used to connect the outer tube 22 and the front-end actuator 234, and the connecting seat 234a is fixedly installed at the front end of the outer tube 22. A "V"-shaped groove structure is provided at the other end of the connecting seat 234a, and the V-shaped groove is used to install the joint 234b. A "V"-shaped protrusion is provided at one end of the joint 234b, and the ridge of the V-shaped protrusion is pressed on the bottom ridge of the V-shaped groove. A V-shaped groove identical to the connecting seat 234a is provided at the other end of the joint 234b, which is used to install the adjacent joint 234b, and the ridge at the bottom of the V-shaped groove is vertically staggered with the ridge of the V-shaped protrusion. The sharp angle of the V-shaped protrusion is smaller than the sharp angle of the bottom of the V-shaped groove, so the joint 234b can deflect in the V-shaped groove. Fig.198 The swivel seat 234c is used to connect the joint 234b and the support seat 234d. The swivel seat 234c is provided with a V-shaped protrusion which is the same as the joint 234b and can perform deflection movement in the V-shaped groove of the joint 234b adjacent thereto.

[0486] The connecting seat 234a, the joint 234b, and the rotating seat 234c are respectively provided with evenly distributed wire threading holes. One end of the driving wire 234e is fixedly connected to the rotating seat 234c, and the other end passes through each joint 234c and the connecting seat 234a, passes through the outer tube 22, and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. After the driving wire 234e is tensioned, the connecting seat 234a, the joint 234b, and the rotating seat 234c are pressed against each other, and the pitching motion R1 and the yaw motion R2 of the front end driving device 234 can be realized by pulling the driving wire 234e.

[0487] The support seat 234d is mounted on the swivel seat 234c, and an elastic soft shaft 234f is fixedly mounted at the swivel shaft of the support seat 234d. The soft shaft 234f passes through the connecting seat 234a, the joint 234b, and the central hole of the swivel seat 234c in sequence, and then passes through the outer tube 22 and is fixedly mounted on the driving wire wheel 21a in the rear end driving device 21. The rotation of the elastic soft shaft 234f can drive the support seat 234d to realize the swivel motion R3. In addition, the elastic soft shaft 234f can also provide resilience for each joint 234b on the front end actuator 234, which is conducive to the rapid return of the joint 234b after deflection. Compared with the front end actuator with rigid swivel parts, the front end actuator 234 with flexible characteristics is more suitable for surgical tools that require rapid response and no large load requirements.

[0488] Fig.199FIG. 2 is a schematic diagram of the structure of a flexible front-end actuator according to another embodiment of the present disclosure. The front-end actuator 240 can complete three-degree-of-freedom motion under the drive of the rear-end drive device 21, namely, pitch motion R1, yaw motion R2 and rotation motion R3. Fig.199 As shown, the flexible front end actuator of the embodiment of the present disclosure can perform three-degree-of-freedom motion, and includes a joint piece 240a, a joint ball 240b, a support seat 240c, etc. The joint piece 240a and the joint ball 240b are connected in series, and a joint ball is arranged between two adjacent joint pieces 240a. Fig.200 FIG. 1 is a schematic diagram of the joint structure of a flexible front-end actuator according to another embodiment of the present disclosure. Fig.200 , the joint piece 240b is evenly provided with thread holes 240f, one end of the driving wire 240d is fixedly installed with a thread 240e, and the other end passes through each thread hole 240f and then passes through the outer tube 22 and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. After the driving wire 240d is tightened, each joint piece 240a is pressed against the joint piece 240b.

[0489] Fig.201 FIG. 2 is a cross-sectional view of a joint structure of a flexible front end actuator according to another embodiment of the present disclosure. Fig.201 A through hole is provided on the rotation axis of the joint plate 240a and the joint ball 240b for installing a soft shaft 240e. One end of the soft shaft 240e is fixed to the support seat 240c, and the other end is installed in the rear end driving device 21. The rotation of the soft shaft 240e can drive the support seat 240c to realize the self-rotation motion R3. At the same time, the soft shaft 240e can also provide bending restoring force for the front end actuator 240.

[0490] The two ends of the through hole on the joint piece 240a are provided with arc surfaces, and the radius of the arc surface is equal to the radius of the joint ball 240b, and the joint piece 240a can rotate around the center of the joint ball b. When the driving wire 240d is pulled, the joint piece 240a rotates on the joint ball 240b under the action of the pulling force of the driving wire 240d, and the front end actuator 240 will overcome the bending restoring force of the rotating shaft 240e and deflect, thereby realizing the pitch motion R1 and the yaw motion R2.

[0491] Fig.202The schematic diagram of the structure of the flexible front-end actuator of another embodiment of the present disclosure is shown. The structure and motion characteristics of the flexible front-end actuator 235 are similar to those of the front-end actuator 234. It is composed of a plurality of deflectable joints connected in series. Each joint can deflect a certain angle relative to the adjacent joints. The deflection of all joints in a certain direction is superimposed to realize the bending action of the front-end actuator. It can complete three-degree-of-freedom motion under the drive of the rear-end drive device 21, namely, pitch motion R1, deflection motion R2 and rotation motion R3. The difference is that each joint of the front-end actuator 234 is a discrete structure, and each discrete joint is connected in series to form a flexible bendable structure through the limiting effect of the driving wire. The flexible bendable structure of the front-end actuator 235 is a continuum 235a, and each deflection joint is connected by a flexible hinge 235b.

[0492] The discrete flexible front-end actuator 234 is an under-actuated structure, and the degree of activity of the structure itself is greater than the degree of freedom. This will cause the front-end actuator 234 to deflect at different angles at each joint when it bends in a certain direction. In addition, the influence of the friction factor of the driving wire in the traditional sheath system will cause the bending angle of the end of the front-end actuator 234 close to the outer tube 22 to be larger, and the bending angle of the end of the outer tube 22 to be smaller. The bendable structure of the front-end actuator 235 is a continuum 235a, which can be regarded as an elastic body. When bent, its shape is closer to an arc, such as Fig.203 shown.

[0493] Fig.204 Schematic diagram of the structure of a flexible front-end actuator with variable stiffness according to an embodiment of the present disclosure. The main structure of the flexible front-end actuator 236 with variable stiffness is a continuum with a flexible hinge. The gaps in the continuum are filled with a material that can rapidly undergo a phase change, and the stiffness of the front-end actuator 236 is changed by the phase change of the material. Since the flexible front-end actuator is usually large in axial dimension, its load capacity is poor compared to a rigid articulated front-end actuator, and it is more suitable for low-load surgical actions that require a quick response. In order to expand the scope of application of the flexible front-end actuator, it can be set as a structure with variable stiffness to meet the requirements of rapid response in a flexible state and meet the requirements of high load capacity in a rigid state.

[0494] Fig.205Schematic diagram of the internal structure of the flexible front-end actuator with variable stiffness performance in the embodiment of the present disclosure. The front-end actuator 236 includes: a flexible continuum 236a, a heating wire 236b, a lower retaining ring 236c, an upper retaining ring 236d, a support seat 236e, etc. The continuum 236a is radially evenly distributed with wire threading holes, and a heating chamber 236f is evenly distributed, and a heating wire 236b is arranged in the heating chamber 236f. ​​The two end surfaces of the flexible continuum 236a are respectively installed with a lower retaining ring 236c and an upper retaining ring 236d, and a support seat 236e is installed on the upper retaining ring 236d. An elastic soft shaft 236g is fixedly installed at the rotating shaft of the support seat 236e. The soft shaft 236g passes through the center holes of the upper retaining ring 236d, the flexible continuum 236a, and the lower retaining ring 236c in turn, and then passes through the outer tube 22 and is fixedly installed on the driving wire wheel 21a in the rear end driving device 21. The rotation of the elastic soft shaft 236g can drive the support seat 236e to realize the rotational motion R3. In addition, the elastic soft shaft 236g can also provide a rebound force for the flexible continuum 236a, which is conducive to the rapid return of the front-end actuator 236 after deflection. The other end face of the lower retaining ring 236c is fixedly connected to the outer tube 22, one end of the driving wire 236h is fixed to the upper retaining ring 236d, and the other end passes through the threading hole set on the flexible continuum 236a and the lower retaining ring 236c, and then passes through the outer tube 22 and is fixedly installed on the driving wire wheel 21a in the rear-end driving device 21. The front-end actuator 234 can complete three-degree-of-freedom motion under the drive of the rear-end driving device 21, namely, pitch motion R1, deflection motion R2 and rotation motion R3.

[0495] The outer wall and inner wall of the flexible continuum 236a are respectively covered with an outer packaging tube 236i and an inner packaging tube 236k, which are used to seal the continuum 236a. The inner packaging tube 236i and the outer packaging tube 236k are usually made of highly elastic materials, and the packaging does not affect the bending performance of the flexible continuum 236a. The gap inside the flexible continuum 236a is filled with a low-temperature phase change material, such as liquid metal. When it is heated by the heating wire 236b to become liquid, the front-end actuator 236 is in a flexible state; after the heating is stopped, the low-temperature phase change material quickly condenses into a solid state, and the front-end actuator is in a rigid state. In addition to the low-temperature phase change material, materials such as magnetic fluid can also be filled in the gaps in the continuum 236a, and its rigidity can be changed by applying magnetic fields in different directions to the front-end actuator 236.

[0496] Fig.206This is a schematic diagram of the structure of a flexible front-end actuator of another embodiment of the present disclosure. The main structure is a metal flexible continuum 237a, whose structure and motion characteristics are similar to those of the front-end actuator 235, and is composed of a plurality of deflectable joints connected in series, and each deflection joint is connected by a flexible hinge 237b. Each joint can deflect a certain angle relative to the adjacent joint, and the deflection of all joints in a certain direction is superimposed to realize the bending action of the front-end actuator, and can complete three-degree-of-freedom motion under the drive of the rear-end drive device 21, namely, pitch motion R1, deflection motion R2 and rotation motion R3.

[0497] The flexible continuum 237a is made of a whole thin-walled metal tube, and the hollowed-out part of the tube wall is removed by laser cutting. Fig.207 FIG. 1 is a schematic diagram of a flexible hinge connection structure of a flexible front-end actuator according to another embodiment of the present disclosure. Fig.207 The hollowed-out parts at both ends of the flexible hinge 237b can be cut with circular outlines to prevent local stress concentration and improve the fatigue strength of the flexible hinge. The continuous body 237a is mostly made of a highly elastic metal tube, such as a stainless steel tube, a nickel-titanium alloy tube, etc.

[0498] Fig.208 Schematic diagram of the structure of a flexible front-end actuator of another embodiment of the present disclosure. The main structure of the flexible front-end actuator 238 is a metal discrete joint 238a, and adjacent joints are connected by hinges 238b. Each joint can deflect a certain angle relative to the adjacent joints, and complete three-degree-of-freedom motion under the drive of the rear-end drive device 21, namely, pitch motion R1, yaw motion R2 and rotation motion R3.

[0499] The entire continuum on the front end actuator 238 is made from a whole thin-walled metal tube. Fig.209 FIG. 1 is a schematic diagram of the joint connection structure of a flexible front-end actuator according to another embodiment of the present disclosure. Fig.209 As shown, the hollowed-out part of the tube wall is removed by laser cutting, and the hinge 238b is cut and formed by the laser beam at one time, and two adjacent discrete joints can rotate around their axes.

[0500] Fig.210 The figure is a schematic diagram of discrete joint processing of a flexible front-end actuator according to another embodiment of the present disclosure. The metal tube is mounted on the chuck of the laser cutting machine and rotates with the chuck, while the laser beam is directed to the metal tube for cutting. The laser beam intersects the rotation axis of the metal tube perpendicularly. Fig.211 for Fig.208 The sectional view in the cutting direction is shown as Fig.211As shown, since the laser beam intersects the rotation axis of the metal tube at right angles, the direction of the slit extension line of the hinge 238b of two adjacent discrete joints passes through the rotation axis of the metal tube. The tube wall thickness is usually 0.1-0.3 mm, and the slit width a is about 0.02 mm. Therefore, the movement of the two adjacent discrete joints in the x and y directions is restricted, and they can only rotate around the hinge rotation axis.

[0501] Fig.212 This is a schematic diagram of a thickened discrete joint of a flexible front end actuator according to another embodiment of the present disclosure. Since the metal tube wall is relatively thin, the discrete joint cannot withstand a large bending moment or torque in the axial direction thereof. Fig.212 The method shown increases the wall thickness of the metal tube to improve the load capacity of the discrete joints. Metal tubes of different sizes are cut according to the same trajectory, and after cutting, they are assembled, and the inner and outer discrete joints are welded or bonded.

[0502] Fig.213 FIG. 2 is a schematic diagram of the structure of a flexible front-end actuator according to another embodiment of the present disclosure. The front-end actuator 243 can complete three-degree-of-freedom motion under the drive of the rear-end drive device 21, namely, pitch motion R1, yaw motion R2 and rotation motion R3. The main structure of the front-end actuator 243 is composed of a plurality of drive units 243a that can be bent in two directions in series, and the bending directions of two adjacent drive units 243a are orthogonal, such as Fig.214 shown.

[0503] The driving unit 243a includes an outer tube 243b and an inner tube 243c. The inner diameter of the outer tube 243b is the same as the outer diameter of the inner tube 243c. The outer tube 243b is fixedly mounted on the outer wall of 243c. The two elements have the same bending direction and the bending axes are arranged to coincide. Fig.215 shown.

[0504] The outer tube 243b and the inner tube 243c are made of thin-walled metal tubes. Fig.216 FIG. 1 is a side view of a driving unit of a flexible front-end actuator according to another embodiment of the present disclosure. Fig.216 As shown, the hollowed-out part of the tube wall is removed by laser cutting. Taking the outer tube 243b as an example, its structure is arranged in a central symmetrical manner, and the axis of symmetry is its own rotation axis. It includes a base 243d and an elastic arm 243e at both ends. The elastic arm 243e is used to maintain the shape of the outer tube 243b and provide bending resilience for the outer tube 243b. The base 243d is provided with an arc-shaped inclined surface 243f for guiding the elastic arm 243e. When the outer tube 243b bends in one direction, the elastic arm 243e bends along the inclined surface 243f. Since the structure of the outer tube 243b is a central symmetrical structure, the bending directions of the two elastic arms 243e are always opposite, which can prevent the outer tube 243b from being compressed in the axial direction.

[0505] At the same time, due to the central symmetric structure of the outer tube 243b, when it is bent, it will produce Fig.217 In order to offset the influence of the torque on the bending effect, the inner tube 243c structure adopts the same arrangement as the outer tube 243b, and its elastic arm 243e is cut in the opposite direction to the elastic arm 243e of the outer tube 243b. Fig.218 When the driving unit 243a is bent, the torques generated by the outer tube 243b and the inner tube 243c are in opposite directions and cancel each other out.

[0506] Fig.219 The schematic diagram of the structure of the front-end actuator of the embodiment of the present disclosure is shown in FIG. The main structure of the front-end actuator 239 is composed of a plurality of rotatable joints, the end face of each swivel joint is an inclined plane, and a swivel axis is arranged on the inclined plane. Adjacent swivel joints can rotate on the inclined plane, and their own axes deflect as the swivel joints rotate. The rotational movement of the plurality of swivel joints on the inclined plane realizes the directional movement of the front-end actuator 239, and completes the three-degree-of-freedom movement under the drive of the rear-end drive device 21, namely, the pitch movement R1, the yaw movement R2 and the rotation movement R3.

[0507] Fig.220 The figure is a schematic diagram of the internal structure of the swivel joint of the front-end actuator of the embodiment of the present disclosure. The internal end face of the swivel joint 239a is an inclined surface, and a swivel axis A is arranged on the inclined surface. The swivel axis is perpendicular to the inclined surface, and the adjacent swivel joints 239a can rotate around the axis A on the inclined surface. The angle between the swivel axis A and the axis B of the swivel joint 239a itself is θ. When the swivel joint 239a rotates around the axis A, the axis B of the two adjacent swivel joints deflects, and the deflection angle increases with the rotation angle around the axis A. When the swivel joint 239a rotates 180 degrees around the axis A, the angle between the axis B of the two adjacent swivel joints reaches a maximum value of 2θ. The rotation of each swivel joint 239a around the axis A can enable the front-end actuator 239 to realize deflection motions R1 and R2, such as Fig.221 shown.

[0508] Fig.222 The diagram is a schematic diagram of the driving mode of each swivel joint of the front end actuator of the embodiment of the present disclosure. Due to the size limitation of the surgical tool (usually the outer diameter is less than 10 mm), the front end actuator 239 is driven by a flexible catheter. A flexible catheter capable of transmitting torque is installed inside the swivel joint, and the rotation of the flexible catheter drives the movement of the swivel joint. Fig.222The three rotary joints are the first rotary joint 239b, the second rotary joint 239c, and the third rotary joint 239d. The first flexible conduit 239e is installed in the second rotary joint 239c. The rotary axis of the first flexible conduit 239e coincides with the rotary axis of the second rotary joint 239c. The rotation of the first flexible conduit 239e can drive the rotation of the second rotary joint 239c. Since the second rotary joint 239c is installed on the inclined end surface of the first rotary joint 239b, the rotation of the first flexible conduit 239e will drive the second rotary joint 239c to rotate around the axis A on the inclined surface. The other end of the first flexible conduit 239e passes through the first rotary joint 239b and then passes through the conduit 22 and is installed on the rear end drive device 21. A second flexible conduit 239f is installed in the third rotary joint 239d, and the installation method is the same as that of the second rotary joint 239c. The outer diameter of the second flexible conduit 239f is smaller than the inner diameter of the first flexible conduit 239e. The second flexible conduit can pass through the inside of the first flexible conduit 239e and is installed on the rear end drive device 21. The rotations of the first flexible conduit 239e and the second flexible conduit 239f are independent of each other.

[0509] The surgical tools used in robot-assisted minimally invasive surgery are usually driven by wires. Due to the tensile strength of the driving wire and the size requirements of the surgical tools, the surgical tools driven by wires cannot provide a large load capacity. The front-end actuator 239 is driven by a flexible catheter, which can transmit a large torque. The rotation of the flexible catheter replaces the tensile movement of the driving wire, which can make the front-end actuator have a large bending and torsion load capacity.

[0510] In one embodiment of the present disclosure, a surgical instrument is also provided, comprising a front end execution device as described in the above embodiment.

[0511] In another embodiment of the present disclosure, a manipulator device is provided, comprising a joint assembly, wherein the joint assembly comprises a front-end execution device as described in the above embodiment. The front-end execution device can be arranged in the joint assembly of a slave manipulator in the manipulator device, wherein the operation instruction of the slave manipulator is sent by the master manipulator.

[0512] So far, the embodiments of the present disclosure have been described in detail in conjunction with the accompanying drawings. It should be noted that the implementation methods not shown or described in the drawings or the body of the specification are all forms known to ordinary technicians in the relevant technical field and are not described in detail. In addition, the above definitions of each element and method are not limited to the various specific structures, shapes or methods mentioned in the embodiments, and ordinary technicians in the field can simply change or replace them.

[0513] It should also be noted that the directional terms mentioned in the embodiments, such as "upper", "lower", "front", "back", "left", "right", etc., are only reference directions of the drawings and are not intended to limit the scope of protection of the present disclosure. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or configurations will be omitted when they may cause confusion in the understanding of the present disclosure.

[0514] Moreover, the shapes and sizes of the components in the figures do not reflect the real size and proportion, but only illustrate the contents of the embodiments of the present disclosure. In addition, in the claims, any reference symbols between brackets shall not be constructed as limiting the claims.

[0515] Unless otherwise indicated, the numerical parameters in this specification and the appended claims are approximate values ​​and can vary according to the desired properties obtained through the content of the present disclosure. Specifically, all numbers used in the specification and claims to express the content of the composition, reaction conditions, etc., should be understood to be modified by the term "about" in all cases. In general, the meaning of the expression is to include a variation of ±10% in some embodiments, ±5% in some embodiments, ±1% in some embodiments, and ±0.5% in some embodiments by a specific number.

[0516] Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.

[0517] The ordinal numbers used in the specification and claims, such as "first", "second", "third", etc., to modify the corresponding elements, do not themselves mean that the elements have any ordinal numbers, nor do they represent the order of one element and another element, or the order in the manufacturing method. The use of these ordinal numbers is only used to clearly distinguish a component with a certain name from another component with the same name.

[0518] In addition, unless the steps are specifically described or must occur in sequence, the order of the above steps is not limited to the above list, and can be changed or rearranged according to the required design. And the above embodiments can be mixed and matched with each other or with other embodiments based on design and reliability considerations, that is, the technical features in different embodiments can be freely combined to form more embodiments.

[0519] The method and display provided herein are not inherently related to any particular computer, virtual system or other device. Various general purpose systems can also be used together with the teachings based on this. According to the above description, it is obvious that the structure required for constructing such systems. In addition, the present disclosure is not directed to any specific programming language either. It should be understood that various programming languages ​​can be utilized to implement the content of the present disclosure described herein, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of the present disclosure.

[0520] The present disclosure can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. The various component embodiments of the present disclosure can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all functions of some or all components in the related equipment according to the embodiments of the present disclosure. The present disclosure can also be implemented as a device or apparatus program (e.g., computer program and computer program product) for executing part or all of the methods described herein. Such a program implementing the present disclosure can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0521] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and set in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and in addition they may be divided into multiple submodules or subunits or subcomponents. All features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this manner may be combined in any combination, except that at least some of such features and / or processes or units are mutually exclusive. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose. Furthermore, in a unit claim that lists several devices, several of these devices may be embodied by the same hardware item.

[0522] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various disclosed aspects, in the above description of the exemplary embodiments of the present disclosure, the various features of the present disclosure are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting the following intention: the claimed disclosure requires more features than the features explicitly recited in each claim. More specifically, as reflected in the claims below, the disclosed aspects are less than all the features of the single embodiment disclosed above. Therefore, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, with each claim itself serving as a separate embodiment of the present disclosure.

[0523] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present disclosure. It should be understood that the above description is only a specific embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A front-end execution device, characterized in that: include: A cross axis, the cross axis includes a first cross axis and a second cross axis that intersect each other perpendicularly, and is used to rotate around the first cross axis and / or the second cross axis under the drive of the driving device to achieve the driving of the front end actuator in two degrees of freedom of pitch and yaw, wherein the two degrees of freedom include a first degree of freedom and a second degree of freedom; as well as A front end actuator, the front end actuator being fixed at two ends of the first cross axis or the second cross axis of the cross axis; Two guide wheels, the two guide wheels are symmetrically arranged at two ends of the other one of the first cross axis and the second cross axis; The front end actuator is a clamping type front end actuator assembly, which has at least two actuator parts that can move independently, and at least two of the actuator parts are provided with a first front end actuator driving wire wheel and a second front end actuator driving wire wheel, which are used to realize the opening and closing of at least two of the actuator parts under the drive of the driving wire; At least two of the actuators are relatively mounted at the two ends of the first cross axis or the second cross axis of the cross axis, so that the rotation axis for realizing the opening and closing movement of at least two of the actuators coincides with the rotation axis of one of the two degrees of freedom; The driving wire wheel comprises an inner deflection wire wheel and an outer deflection wire wheel, one end of one driving wire is fixed to the inner deflection wire wheel, and the other end passes through the wire threading hole of the connecting seat along the wheel groove of the guide wheel after bypassing the inner deflection wire wheel; one end of another driving wire is fixed to the outer deflection wire wheel, and the other end passes through the wire threading hole of the connecting seat along the wheel groove of the guide wheel after bypassing the outer deflection wire wheel; Wherein, the threading holes arranged on the connecting seat are distributed on a straight line.

2. The front-end execution device according to claim 1, characterized in that: The at least two independently movable actuators include two mutually meshing clamps, which are of a "Z"-shaped structure, so that the deflection angle range of the deflection degree of freedom or pitch degree of freedom coaxial with the clamping degree of freedom of the clamping-type front-end actuator is -125° to 125°.

3. The front-end execution device according to claim 1, characterized in that: The distance between the rotation axis of the first degree of freedom and the rotation axis of the second degree of freedom of the front end actuator is 0.

4. The front-end execution device according to claim 1, characterized in that: The load capacity of the front end actuator is at least 30N.

5. A control method for a front-end execution device according to any one of claims 1 to 4, comprising: Controlling the first driver of the manipulator to drive the driving wire wheel in the actuating mechanism to rotate, pulling the first cross axis or the second cross axis arranged in the cross axis to rotate, thereby operating the front end actuator to perform one of the pitch motion and the yaw motion; The first driver of the control manipulator drives the rotation of the driving wire wheel in the actuating mechanism, pulling the first front end actuator driving wire wheel or the second front end actuator driving wire wheel of at least two independently movable actuator parts respectively arranged on the front end actuator, so as to realize synchronous or asynchronous rotation around the axis of at least two of the actuator parts, thereby operating the front end actuator to perform the other one of the pitch motion or yaw motion or operating the front end actuator to perform the clamping motion.

6. A surgical instrument, characterized in that: The surgical instrument comprises a front end effector as described in any one of claims 1-4.

7. A robot device, characterized in that: include: A joint assembly, comprising a front-end actuator as described in any one of claims 1-4.

8. The robot device according to claim 7, characterized in that: The front-end execution device is arranged in the joint assembly of the slave manipulator in the manipulator device, wherein the operation instruction of the slave manipulator is sent by the master manipulator.

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