Driving device for instrument operating arm and surgical instrument for surgical robot

Abstract

A driving device for an instrument operating arm comprises: a driving device, comprising a first base, and a plurality of driving parts mounted on the first base, each driving part comprising an output shaft; a control device, comprising a second base, and a plurality of control parts mounted on the second base, each control part comprising a driven shaft, each of the driven shaft being configured to drive the instrument operating arm to produce corresponding movements; and a plurality of connecting parts, each of the connecting parts comprising: a bearing seat mounted on the output shaft; and two one-way bearings arranged in the bearing seat in opposite rotation directions; during the installation process of the driving device and the control device, the driven shafts are respectively inserted into the one-way bearings, so that the driving parts respectively drive the driven shafts to rotate through the connecting parts, while limiting the relative rotation between the driven shaft and the driving parts.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a driving device for driving an instrument operating arm of a surgical robot to generate corresponding movements and a surgical instrument for the surgical robot. Background Art

[0002] At present, the instrument operating arm of the surgical robot is generally driven by a drive wire. In actual applications, in order to facilitate installation and debugging, a split design is often used, that is, the instrument operating arm and the drive device are installed separately, so that the tension of the drive wire and the control program can be debugged during the assembly process to avoid damage to the front-end instrument caused by abnormal operation of the motor during the debugging process. However, during the docking process, docking debugging is required, and after successful docking, the motor needs to be initialized, which takes a certain amount of time. In the case of frequent replacement of instruments, repeated motor initialization will also affect the efficiency of the operation. Summary of the invention

[0003] In order to at least partially overcome the technical defects of at least one or other inventions mentioned above, at least one embodiment of the present invention provides a driving device for an instrument operating arm and a surgical instrument for a surgical robot. By providing a bearing seat and two one-way bearings that cooperate with the bearing seat and are arranged in opposite directions, the drive device and the control device do not need to be circumferentially debugged during installation, thereby avoiding repeated initialization of the motor.

[0004] According to one aspect of the present disclosure, there is provided a driving device for an instrument operating arm, comprising: a driving device comprising a first base and a plurality of driving parts mounted on the first base, each driving part comprising an output shaft; a control device comprising a second base and a plurality of control parts mounted on the second base, each control part comprising a driven shaft, each of the driven shaft being configured to drive the instrument operating arm to produce corresponding movements; and a plurality of connecting parts, each of the connecting parts comprising: a bearing seat mounted on the output shaft; and two one-way bearings arranged in the bearing seat in opposite rotation directions; during the installation process of the driving device and the control device, the driven shafts are respectively inserted into the one-way bearings, so that the driving parts respectively drive the driven shafts to rotate through the connecting parts, while limiting the relative rotation between the driven shaft and the driving parts.

[0005] In an embodiment of the present disclosure, the driving device also includes a plurality of connecting plates, which extend from the first base toward the second base, respectively, and the connecting plates include connecting holes; and the control device also includes a plurality of connecting claws, which extend from the second base toward the first base, respectively, and the ends of the connecting claws are provided with protrusions, which are configured to cooperate and connect with the holes on the connecting plates, respectively, so as to limit the movement of the control device relative to the driving device.

[0006] In the disclosed embodiment, the second base includes: a rear base, one end of the driven shaft passes through the rear base and is sleeved with the one-way bearing; a front base, which is arranged parallel to the rear base, wherein the other end of the driven shaft is rotatably mounted on the front base, and the front base is provided with a mounting hole suitable for mounting the instrument operating arm, and the driving wire of the instrument operating arm passes through the front base and is connected to the driven shaft.

[0007] In the embodiment of the present disclosure, each of the control parts includes: a wire winding shaft, one end of which is inserted into the one-way bearing, and the other end is rotatably mounted on the rear base and the front base respectively to serve as the driven shaft to drive the drive wire to move; and the control device also includes a plurality of wire guide wheels, which are mounted on the front base and located between the mounting hole and the wire winding shaft to guide the drive wire from the instrument operating arm to the wire winding shaft.

[0008] In the embodiment of the present disclosure, each of the control parts further includes: at least one winding wheel, which is sleeved on the other end of the winding shaft to wind or unwind the driving wire under the drive of the winding shaft.

[0009] In the embodiment of the present disclosure, the driving device includes: a plurality of motors installed on a side of the first base opposite to the connecting portion.

[0010] In the embodiment of the present disclosure, the driving device further includes: a plurality of reducers, one end of each of which is disposed on each of the plurality of motors, and the other end of each of which is used as the output shaft to be combined with the connecting portion.

[0011] In the disclosed embodiment, the one-way bearing and the bearing seat are in interference fit.

[0012] In the disclosed embodiment, the one-way bearing comprises a plurality of rolling elements, and the one-way bearing has a degree of freedom in a rotation direction based on a clamping principle.

[0013] According to another aspect of the present disclosure, there is provided a surgical instrument for a surgical robot, comprising: a driving device as described above; and an instrument operating arm connected to the driving device and configured to perform surgical actions.

[0014] According to an embodiment of the present invention, a bearing seat of a connecting part is installed on the output shaft. During the installation of the driving device and the control device, the driven shaft is inserted into two one-way bearings of the connecting part that are arranged in opposite directions. Since the two one-way bearings of the connecting part are arranged in opposite directions, that is, the driving directions are opposite, and the one-way bearings only allow the driven shaft to rotate in one direction, after the driven shaft is inserted into the connecting part, the two one-way bearings jointly limit the rotation of the driven shaft relative to the connecting part in two directions, so that the bearing seat installed on the output shaft of the motor drives the driven shaft to rotate through the two one-way bearings. Therefore, during the overall installation of the driving device and the control device, there is no need to adjust the circumferential direction, and only the docking in the axial direction is required to achieve the overall installation of the driving device and the control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a perspective view of a driving device and a control device after installation according to an exemplary embodiment of the present invention;

[0016] Figure 2 is a perspective view of a driving device according to an exemplary embodiment of the present invention;

[0017] Figure 3 is a perspective view of a control device according to an exemplary embodiment of the present invention;

[0018] Figure 4 is an exploded view of a control unit according to an exemplary embodiment of the present invention;

[0019] Figure 5 is an exploded view of a connection portion according to an exemplary embodiment of the present invention;

[0020] Figure 6 is a perspective view of a control device according to an exemplary embodiment of the present invention from another perspective;

[0021] Figure 7 is a perspective view of a control device according to an exemplary embodiment of the present invention from another perspective;

[0022] Figure 8 is an exploded view of a driving part, a connecting part and a control part after installation according to an exemplary embodiment of the present invention;

[0023] Fig. 9 is a top view of a one-way bearing according to an exemplary embodiment of the present invention;

[0024] Fig.10 is a perspective view of an instrument operating arm according to an exemplary embodiment of the present invention; and

[0025] Fig.11 1 is a perspective view of a driving device and a control device according to an exemplary embodiment of the present invention before installation.

[0026] Description of Reference Numerals

[0027] 1: Driving device;

[0028] 11: First base;

[0029] 12: driving unit;

[0030] 121: output shaft;

[0031] 13: Connecting plate;

[0032] 14: Motor;

[0033] 15: reducer;

[0034] 2: Control device;

[0035] 21: Second base;

[0036] 211: rear base;

[0037] 212: front base;

[0038] 2121: Mounting hole;

[0039] 213: rear bearing;

[0040] 214: front bearing;

[0041] 22: Control department;

[0042] 221: driven shaft;

[0043] 222: Wire winding shaft;

[0044] 223: Wire winding wheel;

[0045] 2231: Fixing screw;

[0046] 23: connecting claw;

[0047] 24: Godet wheel

[0048] 3: Connecting part;

[0049] 31: bearing seat;

[0050] 32: One-way bearing;

[0051] 321: rolling element;

[0052] 322: outer ring;

[0053] 323: inner circle;

[0054] 4: Instrument operating arm. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical scheme and advantages of the present invention more clear, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. However, the present invention can be implemented in different forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, providing these embodiments will make the disclosure thorough and complete and fully convey the scope of the present invention to those skilled in the art. In the accompanying drawings, for clarity, the sizes and relative sizes of layers and regions may be exaggerated, and the same reference numerals throughout represent the same elements.

[0056] Below, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present invention. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of embodiments of the present invention. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of concepts of the present invention.

[0057] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "comprise", "include", etc. used herein indicate the existence of the above-mentioned features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0058] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0059] In order to facilitate those skilled in the art to understand the technical solution of the present invention, the following technical terms are explained.

[0060] In the case of using expressions such as "at least one of A, B, and C, etc.", it should generally be interpreted in accordance with the meaning of the expression generally understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.). In the case of using expressions such as "at least one of A, B, or C, etc.", it should generally be interpreted in accordance with the meaning of the expression generally understood by those skilled in the art (for example, "a system having at least one of A, B, or C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0061] In the process of docking the driving device and the control device of the driving device of the instrument operating arm, it is necessary to combine the output shaft of the motor of the driving device and the control device with the help of two circular parts with protrusions and recesses matching the protrusions on the surface, for example, a bearing seat with a keyway and a driven shaft with a convex key matching the keyway, so as to realize the driving of the control device by the driving device. In the initial stage of the docking process, after the two parts are in contact, the protrusion and the recess may not be engaged, and it is necessary to rotate left and right respectively to find the engagement position through the motor initialization process. When the protrusion and the recess are engaged, the initialization process ends. The entire initialization process takes a certain amount of time. However, the surgical process often requires frequent replacement of surgical instruments. Therefore, this docking method requires repeated motor initialization process, which will affect the efficiency of the operation. Moreover, after the motor and the driven shaft are docked, the left and right rotation of the motor is likely to cause unnecessary deflection of the surgical instrument, which is likely to cause damage to the surgical instrument itself and the target tissue.

[0062] To this end, an embodiment of the present invention provides a driving device for an instrument operating arm.

[0063] Figure 1 is a perspective view of a driving device according to an exemplary embodiment of the present invention; Figure 2 is a perspective view of a driving device 1 according to an exemplary embodiment of the present invention; Figure 3 is a perspective view of a control device 2 according to an exemplary embodiment of the present invention; Figure 4 is an exploded view of the control unit 22 according to an exemplary embodiment of the present invention.

[0064] like Figure 1 As shown, an embodiment of the present invention provides a driving device for an instrument operating arm 4 , comprising a driving device 1 , a control device 2 and a plurality of connecting parts 3 .

[0065] Specifically, Figure 2 As shown, the driving device 1 includes a first base 11 and a plurality of driving parts 12 mounted on the first base 11 , and each driving part 12 includes an output shaft 121 .

[0066] like Figure 3 As shown, the control device 2 includes a second base 21 and a plurality of control units 22 mounted on the second base 21. Figure 1 and Figure 4 As shown, each control part 22 includes a driven shaft 221 , and each driven shaft 221 is configured to drive the instrument operating arm 4 to generate corresponding movement.

[0067] Figure 5 is an exploded view of the connecting portion 3 according to an exemplary embodiment of the present invention.

[0068] like Figure 5 Each connecting part 3 includes a bearing seat 31 and two one-way bearings 32. Figure 1 ,like Figure 2 and Figure 5 As shown, the bearing seat 31 is installed on the output shaft 121, and two one-way bearings 32 are arranged in the bearing seat 31 in opposite rotations. During the installation of the driving device 1 and the control device 2, the driven shafts 221 are respectively inserted into the one-way bearings 32, so that the driving part 12 drives the driven shafts 221 to rotate through the connecting part 3, while limiting the relative rotation between the driven shaft 221 and the driving part 12.

[0069] According to the embodiment of the present disclosure, the bearing seat 31 of the connecting part 3 is installed on the output shaft 121. During the installation of the drive device 1 and the control device 2, the connecting part 3 is pre-installed on the output shaft of the drive device, and the driven shaft 221 is inserted into two one-way bearings 32 arranged in opposite directions of rotation of the connecting part 3. Since the two one-way bearings of the connecting part 3 are arranged in opposite directions, that is, the driving directions are opposite, and the one-way bearings 32 only allow the driven shaft to rotate in one direction, the bearing seat installed on the output shaft of the motor drives the driven shaft to rotate through the two one-way bearings. Therefore, after the driven shaft 221 is inserted into the connecting part 3, the two one-way bearings 32 jointly limit the rotation of the driven shaft 221 relative to the connecting part 3 in two directions. Therefore, during the overall installation of the drive device 1 and the control device 2, there is no need to adjust the circumferential direction. It is only necessary to achieve docking of the connecting part and the driven shaft in the axial direction to achieve the overall installation of the drive device 1 and the control device 2.

[0070] like Figures 1 to 3 As shown, in some embodiments, the driving device 1 further includes a plurality of connecting plates 13, which extend from the first base 11 toward the second base 21, respectively, and the connecting plates 13 include connecting holes. The control device 2 further includes a plurality of connecting claws 23, which extend from the second base 21 toward the first base 11, respectively, and the ends of the connecting claws 23 are provided with protrusions, which are configured to respectively cooperate and connect with the holes on the connecting plates 13 to limit the movement of the control device 2 relative to the driving device 1. The connecting claws 23 have a certain flexibility, and the installation state of the driving device 1 and the control device 2 can be released by applying pressure to the connecting claws 23.

[0071] Figure 6 is a perspective view of a control device 2 according to an exemplary embodiment of the present invention from another perspective; Figure 7 is a perspective view of the control device 2 according to an exemplary embodiment of the present invention from another perspective.

[0072] like Figure 1 , Figure 6 and Figure 7As shown, the second base 21 includes a rear base 211 and a front base 212. Specifically, one end of the driven shaft 221 passes through the rear base 211 and is sleeved with the one-way bearing 32. The front base 212 is arranged parallel to the rear base 211. The other end of the driven shaft 221 is rotatably mounted on the front base 212, and the front base 212 is provided with a mounting hole 2121 suitable for mounting the instrument operating arm 4, and the driving wire of the instrument operating arm 4 passes through the front base 212 and is connected to the driven shaft 221. The instrument operating arm 4 passes through the front base 212 through the mounting hole 2121, and the driving wire of the instrument operating arm 4 is wound around the driven shaft 221 in the space formed by the front base 212 and the rear base 211.

[0073] Figure 8 1 is an exploded view of the driving part 12, the connecting part 3 and the control part 22 after installation according to an exemplary embodiment of the present invention.

[0074] like Figures 6 to 8 As shown, in some embodiments, each control part 22 includes a wire winding shaft 222. Specifically, one end of the wire winding shaft 222 is inserted into the one-way bearing 32, and the other end is rotatably mounted on the rear base 211 and the front base 212, respectively, and serves as a driven shaft 221 to drive the driving wire to move. The driving wire can be wound on the wire winding shaft 222 through the groove on the wire winding shaft 222. When the output shaft 121 drives the connecting part 3 to rotate and then drives the wire winding shaft 222 to rotate, the driving wire is wound or unwound on the wire winding shaft 222. Positioning holes can be respectively provided on the rear base 211 and the front base 212, and the front bearing 214 and the rear bearing 213 can be respectively installed in the positioning holes. The wire winding shaft 222 can be installed on the front base 212 and the rear base 211 through the front bearing 214 and the rear bearing 213.

[0075] like Figure 6 As shown, in some embodiments, the control device 2 further includes a plurality of wire guide wheels 24, which are mounted on the front base 212 and located between the mounting hole 2121 and the wire winding shaft 222, so as to guide the drive wire from the instrument operating arm 4 through the front base 212 to the wire winding shaft 222. By setting the wire guide wheels 24, the drive wire extending in the axial direction from the instrument operating arm 4 is guided to change the direction of travel and be guided to the wire winding shaft 222 in the radial direction, thereby adjusting the operation mode and operation direction of the drive wire to control the instrument operating arm 4. Figure 6 and Figure 8As shown, in some embodiments, the driven shaft 221 of each control unit 22 further includes at least one winding wheel 223, which is sleeved on the other end of the winding shaft 222 to wind or unwind the driving wire under the drive of the winding shaft 222. The winding wheel 223 can be installed on the winding shaft 222 to replace the groove structure on the winding shaft 222. Each winding wheel 223 can correspond to a driving wire, and multiple winding wheels 223 can be provided to control multiple driving wires through one winding shaft 222. A fixing screw 2231 can be provided on the winding wheel 223. When the winding wheel 223 is rotated to make the driving wire reach a preset pre-tightening force, the fixing screw 2231 can be tightened to limit the relative rotation of the winding wheel 223 and the winding shaft 222. By arranging the wire guide wheel 24 to be installed on the front base 212 and located between the mounting hole 2121 and the wire winding wheel 223, the driving wire extending in the axial direction from the instrument operating arm 4 is guided to change the traveling direction and guided to the wire winding wheel 223 in the radial direction, thereby adjusting the driving wire to control the operation mode and operation direction of the instrument operating arm 4. It can be understood that the number of the wire guide wheels 24 and the number of the wire winding wheels 223 can be the same.

[0076] like Figure 1 and Figure 8 As shown, in some embodiments, the driving device 1 includes a plurality of motors 14, which are mounted on a side of the first base 11 opposite to the connecting portion 3. The number of motors 14 can be the same as the number of connecting portions 3 and control portions 22, and the control portions 22 can be driven to rotate respectively by providing a plurality of motors 14.

[0077] like Figure 8 As shown, in some embodiments, the driving device 1 further includes a plurality of reducers 15, one end of each of which is respectively disposed on a plurality of motors 14, and the other end of each reducer 15 is used as an output shaft 121 to be combined with the connecting portion 3. The speed of the motor 14 can be adjusted by providing the reducer 15 to meet the working requirements of the instrument operating arm 4. The motor 14 can be mounted on the first base 11 by screws, the reducer 15 can be mounted on the motor 14 by screws, a plurality of positioning holes can be provided on the reducer 15, and the bearing seat 31 can be mounted on the reducer 15 by the positioning holes.

[0078] In some embodiments, the one-way bearing 32 and the bearing seat 31 are in interference fit, so that the one-way bearing 32 and the bearing seat 31 are relatively stable, and loosening is avoided when the driven shaft 221 is inserted into or pulled out of the one-way bearing 32.

[0079] Fig. 9 is a top view of a one-way bearing 32 according to an exemplary embodiment of the present invention.

[0080] like Fig. 9As shown, in some embodiments, the one-way bearing includes a plurality of rolling elements 321, an outer ring 322 and an inner ring 323, and the one-way bearing has a degree of freedom in a rotation direction based on a clamping principle.

[0081] The rolling element in the one-way bearing can be a roller, a roller, a wedge, a needle roller or a ball. By setting a structure between the outer ring 322 and the inner ring 323, the one-way bearing can only roll in one direction, and a large resistance will be generated in the other direction.

[0082] For example, a wedge-type one-way bearing has a set of cam wedges between the inner and outer rings of the bearing. The cam wedges have two diameters of different sizes, of which the long diameter is larger than the distance between the inner and outer rings, while the short diameter is smaller than the distance between the inner and outer rings of the bearing. Between the cam wedges, there is a cylindrical winding spring connected end to end to form a ring spring set on the fulcrum of the wedge, which can reset the wedge through the action of the spring.

[0083] For example, a ramp and roller type one-way bearing includes multiple rollers, an inner ring and an outer ring, and a spring in contact with the roller. The outer ring of the bearing is a cylindrical outer ring like a common bearing, and the inner ring is a circle with a ramp. The roller is always in contact with the inner ring and the outer ring. The working surface of the roller is a ramp, that is, the roller is placed at an angle. When the bearing is in a downhill state along the roller, the space at the downhill is large and the roller will not be affected. When turning in the opposite direction, the roller is uphill, and the uphill is narrow, the roller is stuck, and the bearing is locked.

[0084] The embodiment of the present invention also provides a surgical instrument for a surgical robot, comprising the above-mentioned drive device and an instrument operating arm 4 connected to the drive device. Specifically, the instrument operating arm 4 is configured to perform surgical actions, and the drive device can control the instrument operating arm 4 to perform swinging and opening and closing actions.

[0085] Fig.10 is a perspective view of an instrument operating arm 4 according to an exemplary embodiment of the present invention; Fig.11 1 is a perspective view of a driving device 1 and a control device 2 before installation according to an exemplary embodiment of the present invention.

[0086] like Fig.10 As shown, the instrument operating arm 4 includes a rigid rod 41, a multi-degree-of-freedom joint 42, and a front opening and closing clamp 43. Fig.11 As shown, the instrument operating arm 4 is installed at the center of the front base 212. After each set of driving wires of the instrument operating arm 4 is led out from the end, it can be connected to the winding wheel 223 through the wire guide wheel 24. After the motor 14 is powered on, the rotation of each set of winding wheels 223 can be controlled by controlling the rotation of the motor shaft, and then the instrument operating arm 4 can be controlled to perform swinging and opening and closing actions.

[0087] 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 invention. 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 invention, and the shapes and sizes of the components in the drawings do not reflect the actual size and proportion, but only illustrate the contents of the embodiments of the present invention.

[0088] Unless otherwise indicated, the numerical parameters in this specification and the appended claims are approximate values ​​and can be changed according to the desired properties obtained by the content of the present invention. 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 change of ±10% in some embodiments, a change of ±5% in some embodiments, a change of ±1% in some embodiments, and a change of ±0.5% in some embodiments by a specific number.

[0089] 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.

[0090] 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.

[0091] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A driving device for an instrument operating arm, comprising: A driving device, comprising a first base, and a plurality of driving parts mounted on the first base, each driving part comprising an output shaft; A control device, comprising a second base, and a plurality of control parts mounted on the second base, each control part comprising a driven shaft, and each of the driven shafts is configured to drive the instrument operating arm to generate a corresponding movement; as well as A plurality of connecting parts, each of the connecting parts comprising: a bearing seat mounted on the output shaft; and Two one-way bearings are arranged in the bearing seat in opposite directions; During the installation of the driving device and the control device, the driven shafts are respectively inserted into the one-way bearings, so that the driving part drives the driven shaft to rotate through the two one-way bearings based on the bearing seat of the connecting part, while limiting the relative rotation between the driven shaft and the driving part.

2. The driving device according to claim 1, wherein: The driving device further comprises a plurality of connecting plates respectively extending from the first base toward the second base, the connecting plates comprising connecting holes; and The control device also includes a plurality of connecting claws, which extend from the second base toward the first base respectively. The ends of the connecting claws are provided with protrusions, which are configured to cooperate with the holes on the connecting plate respectively to limit the movement of the control device relative to the driving device.

3. The driving device according to claim 1, wherein the second base comprises: A rear base, one end of the driven shaft passes through the rear base and is sleeved with the one-way bearing; The front base is arranged parallel to the rear base, wherein the other end of the driven shaft is rotatably mounted on the front base, and the front base is provided with a mounting hole suitable for mounting the instrument operating arm, and the driving wire of the instrument operating arm passes through the front base and is connected to the driven shaft.

4. The driving device according to claim 3, wherein each of the control units comprises: A wire winding shaft, one end of which is inserted into the one-way bearing, and the other end of which is rotatably mounted on the rear base and the front base and serves as the driven shaft to drive the driving wire to move; and The control device further comprises a plurality of guide wire wheels mounted on the front base and located between the mounting hole and the wire winding shaft to guide the driving wire from the instrument operating arm to the wire winding shaft.

5. The driving device according to claim 4, wherein each of the control units further comprises: At least one winding wheel is sleeved on the other end of the winding shaft to wind or unwind the driving wire under the drive of the winding shaft.

6. The driving device according to claim 1, wherein the driving means comprises: A plurality of motors are mounted on a side of the first base opposite to the connecting portion.

7. The driving device according to claim 6, wherein the driving device further comprises: A plurality of reducers, one end of each of which is disposed on each of the plurality of motors, and the other end of each of which is used as the output shaft to be combined with the connection portion.

8. The driving device according to claim 1, wherein: The one-way bearing and the bearing seat are in interference fit.

9. The driving device according to claim 1, wherein: The one-way bearing comprises a plurality of rolling elements and has a degree of freedom in a rotation direction based on a clamping principle.

10. A surgical instrument for a surgical robot, comprising: A drive device as claimed in any one of claims 1 to 9; The instrument operating arm is connected to the driving device and is configured to perform surgical actions.

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