Front-end actuators, surgical instruments, handsets and minimally invasive surgical systems

Abstract

The present disclosure provides a front-end actuator, which is connected to a rear-end driving device through an outer tube, and the front-end actuator includes: a connecting seat, the first end of the connecting seat is coaxially connected to the outer tube, and the connecting seat rotates around a first axis; a deflection seat, the first end of the deflection seat is connected to the second end of the connecting seat through a cam structure; two driving wires, the driving wires are passed through the deflection seat, the ends of the driving wires are connected to the rear-end driving device, and the driving wires drive the deflection seat to rotate around a second axis through the rear-end driving device; an actuator, the actuator is pivotally connected to the second end of the deflection seat, and the actuator rotates around a third axis; the second axis and the third axis are arranged along the first axis, and the first axis, the second axis and the third axis are perpendicular to each other. The front-end actuator provided by the present disclosure can obtain higher transmission accuracy without the need to add an additional wire compensation device, and can improve transmission efficiency and accuracy on the basis of obtaining a larger deflection space.

Description

[0001] This application is a divisional application of the invention patent application with application number 202110793485.4 and application date July 14, 2021. The invention name of the original invention patent application is front-end execution device, surgical instrument, slave end and minimally invasive surgical system. Technical Field

[0002] The present disclosure relates to the field of minimally invasive medical devices, and in particular to a front-end execution device, a surgical instrument, a slave end, and a minimally invasive surgical system. Background Art

[0003] During the implementation of robot-assisted minimally invasive surgery, after the surgical instrument reaches the lesion site through the poking card, the initial position of the front-end actuator of the surgical instrument is a posture deflected in a certain direction in order to achieve the surgical operation. The movement of the front-end actuator during the operation is mostly completed within the above-mentioned direction range. In order to enable the front-end actuator to maintain a posture with a deflection angle during the operation, most of the currently disclosed front-end actuators have a transition joint structure. The transition joint structure will increase the driving force arm when the forceps perform the clamping action, reduce the load capacity of the front-end actuator, and affect the transmission efficiency and transmission accuracy of the driving force. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] The present disclosure provides a front-end execution device, a surgical instrument, a slave end and a minimally invasive surgical system to solve the above-mentioned technical problems.

[0006] (II) Technical solution

[0007] According to one aspect of the present disclosure, a front-end actuator is provided, which is connected to a rear-end driving device via an outer tube, and the front-end actuator includes:

[0008] A connecting seat, a first end of which is coaxially connected to the outer tube, and the connecting seat rotates around a first axis;

[0009] A deflection seat, wherein a first end of the deflection seat is pivotally connected to a second end of the connection seat;

[0010] Two driving wires, the driving wires are passed through the deflection seat, the ends of the driving wires are connected to the rear end driving device, and driven by the rear end driving device, the driving wires drive the deflection seat to rotate around the second axis;

[0011] an execution part, the execution part is pivotally connected to the second end of the deflection seat, and the execution part rotates around a third axis;

[0012] The second axis and the third axis are arranged along the first axis, and the first axis, the second axis and the third axis are perpendicular to each other.

[0013] In some embodiments of the present disclosure, the center of rotation of the second axis is located between the connecting seat and the deflection seat, on the connecting seat, or on the deflection seat.

[0014] In some embodiments of the present disclosure, after the first end of the drive wire passes through the connecting seat to the first side of the deflection seat in sequence, the drive wire reverses downward and passes through the deflection seat again, extends to the other side of the second axis on the second side of the deflection seat, and passes through the deflection seat upward to the first side of the deflection seat, the drive wire reverses downward and passes through the deflection seat again, and the second end of the drive wire is connected to the rear end drive device through the outer tube.

[0015] In some embodiments of the present disclosure, the deflection seat is provided with a first wire hole, a second wire hole, a third wire hole and a fourth wire hole along the first path, and the first wire hole, the second wire hole and the third wire hole and the fourth wire hole are symmetrically arranged relative to the second axis; the deflection seat is provided with a fifth wire hole, a sixth wire hole, a seventh wire hole and an eighth wire hole along the second path, and the fifth wire hole, the sixth wire hole and the seventh wire hole and the eighth wire hole are symmetrically arranged relative to the second axis;

[0016] The connecting seat is provided with a ninth thread hole, a tenth thread hole, an eleventh thread hole and a twelfth thread hole, and the ninth thread hole and the tenth thread hole are symmetrically arranged on both sides of the second axis along the third path, and the eleventh thread hole and the twelfth thread hole are symmetrically arranged on both sides of the second axis along the fourth path;

[0017] The first wire hole is coaxially arranged with the ninth wire hole; the fourth wire hole is coaxially arranged with the tenth wire hole; the fifth wire hole is coaxially arranged with the eleventh wire hole; the eighth wire hole is coaxially arranged with the twelfth wire hole.

[0018] In some embodiments of the present disclosure, the first path, the second path, the third path and the fourth path are straight or non-straight paths.

[0019] In some embodiments of the present disclosure, the first path and the second path are arranged in a cross; the third path and the fourth path are arranged in a cross.

[0020] In some embodiments of the present disclosure, the difference between the apertures of the first to twelfth wire holes and the diameter of the driving wire is no more than 0.05 mm.

[0021] According to one aspect of the present disclosure, there is also provided a front-end execution device connected to a rear-end driving device via an outer tube, the front-end execution device comprising:

[0022] A connecting seat, a first end of which is coaxially connected to the outer tube, and the connecting seat rotates around a first axis;

[0023] A deflection seat, wherein a first end of the deflection seat is connected to a second end of the connection seat via a cam structure;

[0024] Two driving wires, the driving wires are passed through the deflection seat, the ends of the driving wires are connected to the rear end driving device, and driven by the rear end driving device, the driving wires drive the deflection seat to rotate around the second axis;

[0025] an execution part, the execution part is pivotally connected to the second end of the deflection seat, and the execution part rotates around a third axis;

[0026] The second axis and the third axis are arranged along the first axis, and the first axis, the second axis and the third axis are perpendicular to each other.

[0027] In some embodiments of the present disclosure, the cam structure comprises:

[0028] A first cam is symmetrically arranged on the end surface of the second end of the connecting seat, and the first cam rotation axis is arranged parallel to the second axis;

[0029] A second cam is symmetrically arranged on the end surface of the first end of the deflection seat, and the second cam rotation axis is arranged parallel to the second axis;

[0030] The first cam is press-connected with the second cam, and a contact line between the first cam and the second cam coincides with the second axis;

[0031] Two driving wires are respectively located at both sides of the first cam and the second cam, and are driven by the rear end driving device. The driving wires drive the second cam to perform rolling motion on the first cam.

[0032] In some embodiments of the present disclosure, the cam structure further comprises:

[0033] Two limit blocks are symmetrically arranged on the end surface where the connecting seat is connected to the deflection seat; the two limit blocks are adjacent to the inner side of the first cam, and the second cam is clamped on the outer side of the two limit blocks.

[0034] In some embodiments of the present disclosure, the cam structure further comprises:

[0035] Two guide wheels are respectively arranged on the end surface where the connecting seat is connected to the deflection seat and the end surface where the deflection seat is connected to the connecting seat, and are used for guiding the driving wire.

[0036] In some embodiments of the present disclosure, it further includes:

[0037] The fixed steel wire is installed on the two guide wheels, and the fixed steel wire is arranged in an 8-shape on the two guide wheels.

[0038] In some embodiments of the present disclosure, the wheel curvature radii of the first cam and the second cam are the same.

[0039] According to one aspect of the present disclosure, there is also provided a front-end execution device connected to a rear-end driving device via an outer tube, the front-end execution device comprising:

[0040] A connecting seat, a first end of which is coaxially connected to the outer tube, and the connecting seat rotates around a first axis;

[0041] A deflection seat, wherein a first end of the deflection seat is connected to a second end of the connection seat via a flange structure;

[0042] Two driving wires, the driving wires are passed through the deflection seat, the ends of the driving wires are connected to the rear end driving device, and driven by the rear end driving device, the driving wires drive the deflection seat to rotate around the second axis;

[0043] an execution part, the execution part is pivotally connected to the second end of the deflection seat, and the execution part rotates around a third axis;

[0044] The second axis and the third axis are arranged along the first axis, and the first axis, the second axis and the third axis are perpendicular to each other.

[0045] In some embodiments of the present disclosure, the flange structure comprises:

[0046] At least one flange, symmetrically arranged on the end surface of the second end of the connecting seat;

[0047] At least one groove is symmetrically arranged on the end surface of the first end of the deflection seat, the groove coincides with the center of the flange, and the groove is connected with the flange in a matching manner;

[0048] Two driving wires are respectively located at both sides of the groove and the flange, and are driven by the rear end driving device, so that the driving wires drive the groove to rotate on the flange.

[0049] In some embodiments of the present disclosure, it also includes: at least one transition joint, arranged between the connecting seat and the deflection seat; a flange is arranged at the first end of the transition joint, which is matched and connected with a groove arranged on the deflection seat; a groove is arranged at the second end of the transition joint, which is matched and connected with a flange arranged on the connecting seat.

[0050] In some embodiments of the present disclosure, it also includes: a rebound rod, a first end of which is fixedly connected to the deflection seat, and a second end of which passes through the transition joint and the connecting seat and is fixedly connected to the connecting seat.

[0051] In some embodiments of the present disclosure, it also includes: a limit rod, wherein both ends of the limit rod are pivotally connected to the connecting seat and the flip seat through axial holes provided on the connecting seat and the flip seat respectively; and the center of the axial hole coincides with the center of the flange and the groove respectively.

[0052] According to one aspect of the present disclosure, there is also provided a surgical instrument, comprising:

[0053] An outer tube, a first end of which is connected to the front end actuator as described above;

[0054] A rear end driving device is connected to the second end of the outer tube.

[0055] In some embodiments of the present disclosure, it further includes: a protective cover, which is mounted outside the connecting seat and the flip seat of the front-end execution device.

[0056] According to one aspect of the present disclosure, there is also provided a slave terminal, comprising:

[0057] a first instrument arm, mounted with an endoscope;

[0058] At least one second instrument arm, mounted with a surgical instrument; the surgical instrument comprises:

[0059] An outer tube, a first end of which is connected to the front end actuator as described above;

[0060] A rear end driving device is connected to the second end of the outer tube.

[0061] According to one aspect of the present disclosure, there is also provided a minimally invasive surgery system, comprising: a master hand end and a slave hand end as described above;

[0062] A three-dimensional image module, integrated in the master hand end, the three-dimensional image module receives a three-dimensional image of the surgical site collected by the endoscope;

[0063] A control module, integrated in the master hand end, the control module receives input parameters, calculates output parameters, and outputs the output parameters to the first instrument arm and the second instrument arm;

[0064] The three-dimensional image module receives the three-dimensional image collected by the slave hand end, the master hand end adjusts the posture of the master operator according to the three-dimensional image, and controls the posture and movement of the first instrument arm and the second instrument arm on the slave hand end according to the output parameters output by the control module.

[0065] (III) Beneficial effects

[0066] It can be seen from the above technical solutions that the front-end execution device, surgical instrument, hand end and minimally invasive surgical system disclosed in the present invention have at least one or part of the following beneficial effects:

[0067] (1) The front-end actuator provided by the present invention can achieve higher transmission accuracy without the need for an additional wire compensation device.

[0068] (2) This application can improve transmission efficiency and accuracy on the basis of obtaining a larger deflection space.

[0069] (3) The drive wire fixing method adopted in the present invention has a simple and compact structure, does not require additional fixing parts such as threads, hangers, nuts and other accessories, and does not require bonding or welding, which can avoid the reduction of load capacity due to damage to the drive wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1a Schematic diagram of the master hand end in the minimally invasive surgery system according to an embodiment of the present disclosure.

[0071] Figure 1b It is a schematic diagram of the hand end in the minimally invasive surgical system according to an embodiment of the present disclosure.

[0072] Figure 2 It is a schematic diagram of the instrument arm of the embodiment of the present disclosure.

[0073] Figure 3 This is a schematic diagram of the use status of the surgical instrument according to the embodiment of the present disclosure.

[0074] Figure 4 Schematic diagram of surgical instrument according to an embodiment of the present disclosure.

[0075] Figure 5 Schematic diagram of the front-end execution device of the embodiment of the present disclosure.

[0076] Figure 6 A simplified model diagram of the front-end execution device of an embodiment of the present disclosure.

[0077] Figure 7 A simplified model diagram of the front-end execution device of an embodiment of the present disclosure.

[0078] Figure 8 A simplified model diagram of the front-end execution device of an embodiment of the present disclosure.

[0079] Fig. 9 and Fig.10 for Figure 7 Schematic diagram of the corresponding front-end execution device.

[0080] Fig.11This is the arrangement of the drive wires corresponding to the deflection motion R2 in the front-end actuator.

[0081] Fig.12 for Fig.11 Cross-sectional view of the middle deflection seat.

[0082] Fig.13 It is the arrangement of the drive wire corresponding to a clamp page in the front-end actuator.

[0083] Fig.14 This is the arrangement of the drive wires corresponding to another clamp page in the front-end actuator.

[0084] Fig.15 and Fig.16 for Figure 7 Schematic diagram of the corresponding front-end execution device.

[0085] Fig.17 A simplified model diagram of the front-end execution device of an embodiment of the present disclosure.

[0086] Fig.18 Schematic diagram of the front-end execution device of the embodiment of the present disclosure.

[0087] Fig.19 for Fig.18 The corresponding explosion diagram.

[0088] Fig. 20 It is a schematic diagram of the rotational motion state of the deflection seat on the connecting seat.

[0089] Fig.21 The figure is a simplified diagram of the structure of the front-end execution device according to the embodiment of the present disclosure.

[0090] Fig. 22 for Fig.21 A schematic diagram of the front-end actuator structure when one side of the driving belt is pulled to drive the deflection seat to rotate around the R2 axis.

[0091] Fig.23 , Fig.24 and Fig.25 This is a schematic diagram of the installation of the deflection seat drive wire in the front-end actuator.

[0092] Fig.26 Schematic diagram of the front-end execution device of the embodiment of the present disclosure.

[0093] Fig. 27 for Fig.26 A partial enlarged view of the middle connecting seat and deflection seat.

[0094] Fig.28 for Fig.26 The corresponding explosion diagram.

[0095] Fig.29 , Fig.30 and Fig.31 This is a schematic diagram of the installation of the deflection seat drive wire in the front-end actuator.

[0096] Fig.32 Schematic diagram of the front-end execution device of the embodiment of the present disclosure.

[0097] Fig.33 for Fig.32 The corresponding explosion diagram.

[0098] Fig.34 and Fig.35 for Fig.32 The corresponding local structure diagram.

[0099] Fig.36 Schematic diagram of the front-end execution device of the embodiment of the present disclosure.

[0100] Fig.37 and Fig.38 This is a schematic diagram of the installation of the deflection seat drive wire in the front-end actuator.

[0101] Fig.39 Schematic diagram of the front-end execution device of the embodiment of the present disclosure.

[0102] Fig.40 and Fig.41 for Fig.39 The corresponding local structure diagram.

[0103] Fig.42 It is a schematic diagram of the outline of the flange and groove at the upper end of the connecting seat.

[0104] Fig.43 It is a schematic diagram of the contour lines of the flange and groove at the lower end of the deflection seat.

[0105] Fig.44 Schematic diagram of the front-end execution device of the embodiment of the present disclosure.

[0106] Fig.45 Schematic diagram of an auxiliary device of the front-end execution device of an embodiment of the present disclosure.

[0107] Fig.46 Schematic diagram of an auxiliary device of the front-end execution device of an embodiment of the present disclosure. DETAILED DESCRIPTION

[0108] The present disclosure provides a front-end actuator, which is connected to a rear-end driving device through an outer tube, and the front-end actuator includes: a connecting seat, a deflection seat, two driving wires and an actuator; the first end of the connecting seat is coaxially connected to the outer tube, and the connecting seat rotates around the first axis; the first end of the deflection seat is pivotally connected to the second end of the connecting seat; the driving wire is passed through the deflection seat, and the end of the driving wire is connected to the rear-end driving device, and the driving wire drives the deflection seat to rotate around the second axis through the rear-end driving device; the actuator is pivotally connected to the second end of the deflection seat, and the actuator rotates around the third axis; the second axis and the third axis are arranged along the first axis, and the first axis, the second axis and the third axis are perpendicular to each other. The front-end actuator provided by the present disclosure can obtain higher transmission accuracy without adding an additional wire compensation device, and can improve transmission efficiency and accuracy on the basis of obtaining a larger deflection space.

[0109] 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.

[0110] Certain embodiments of the present disclosure will be described more fully below with reference to the accompanying drawings, some but not all of which are 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.

[0111] The present invention discloses a surgical instrument front-end execution structure for a robot-assisted minimally invasive surgery system. The surgical instrument structure can be configured for a multi-hole minimally invasive surgical robot and a single-hole minimally invasive surgical robot. It 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.

[0112] The minimally invasive surgery system includes: a master hand end 01 as shown in FIG1 a and a slave hand end 02 as shown in FIG1 b, wherein the master hand end 01 is also integrated with a three-dimensional image module 03 and a control module 04. A master operator 011 is provided on the master hand end 01, and the master operator 011 controls an instrument arm 022 and a surgical instrument 023 provided on the slave hand end 02. The slave hand end 02 is provided with a plurality of instrument arms 022, including an instrument arm 022 equipped with an endoscope 024 as a first instrument arm for image transmission during surgery. Other instrument arms 022 will be equipped with surgical instruments 023 with different functions, such as tissue forceps, needle holders, energy tools, ultrasonic scalpels, etc., as second instrument arms during surgery to meet the needs of different surgical procedures.

[0113] During the operation, the instrument arm 022 equipped with the endoscope 024 adjusts its posture to position and orient the endoscope 024. The endoscope 024 passes through the minimally invasive incision (stuck card) and enters the human body. It can collect the three-dimensional image of the operation site, and synchronously transmit the three-dimensional image of the lesion site to the three-dimensional image module 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 module 03 at the master hand end 01, and operates the main operating hand 011 at the same time. By adjusting the posture of the main operating hand 011, the posture and movement of multiple instrument arms 022 and surgical instruments 023 on the slave hand end 02 are controlled to complete the operation. In the above process, the encoders set at the joints of the main operating hand 011 operated by the doctor can record the joint rotation angle data in real time, which can be called input parameters. The data is transmitted to the control module 04. The controller inside the control module 04 is pre-set with a kinematic mathematical model that maps the main operating hand 011, the instrument arm 022, and the surgical instrument 023 to each other. The controller receives the input parameters and calculates the output parameters of the kinematic model corresponding to the surgical instruments 023 with different functions, and transmits the output parameters to the instrument arm 022 and the surgical instrument 023 of the slave hand end 02 to realize motion control.

[0114] like Figure 2 and Figure 3 As shown, driven by the instrument arm 022 , the surgical instrument 023 can complete three degrees of freedom motion P1 , P2 , and P3 in space, wherein P1 is a linear motion through a fixed point O, and P3 and P2 are deflection motions around the fixed point O.

[0115] The master hand terminal 01 and the slave hand terminal 02 can be placed in the same operating room for robot-assisted minimally invasive surgery, or the master hand terminal 01 and the slave hand terminal 02 can be placed in different areas respectively, and the robot-assisted remote minimally invasive surgery can be completed through signal transmission of commercial broadband or 5G mobile network.

[0116] Figure 4 Schematic diagram of surgical instrument according to the embodiment of the present disclosure. Figure 4 As shown, the surgical instrument 023 includes a rear drive device 231, an outer tube 232, and a front actuator 233. The surgical instrument 023 usually adopts a wire drive drive mode to achieve long-distance driving force transmission in a narrow channel, thereby meeting the operation requirements of various minimally invasive surgeries.

[0117] Figure 5 Schematic diagram of the front-end execution device of the embodiment of the present disclosure. Figure 5As shown, the front-end actuator 232 is fixedly connected to the outer tube 232, and can complete multi-degree-of-freedom movement under the drive of the rear-end driving device 231, including rotation movement R1 around the axis of the outer tube 232, deflection movement R2, and pitch movement R3. The front-end actuator 232 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.

[0118] The front end actuator 233 includes a connection seat 233a, a deflection seat 233b, an actuator, a driving wire 233d, etc. In this embodiment, the actuator is a clamp 233c. The connection seat 233a is used to connect the outer tube 232 and the front end actuator 233. The connection seat 233a is fixedly installed at the front end of the outer tube 232. The rotation axis of the connection seat 233a coincides with the rotation axis of the outer tube 232. The rotation of the outer tube 232 can drive the front end actuator 233 to realize the self-rotation motion R1.

[0119] The deflection seat 233b is installed on the connection seat 233a, and the deflection seat 233b can rotate around the axis R2 under the drive of the two driving wires 233d. The second end of the deflection seat 233b is installed with a clamp leaf 233c, which can be a clamping forceps, scissors and other opening and closing movement tools, or an energy tool, a negative pressure suction tool, etc. All kinds of tools are universal structures and will not be described in detail. The clamp leaf 233c can rotate around the axis R3.

[0120] The connecting seat 233a and the deflecting seat 233b in the front end actuator 233 can be simplified as follows: Figure 6 In the structure shown, the connecting seat 233a and the deflection seat 233b are hinged through the R2 circle (point O shown in the figure), and the deflection seat 233b can rotate around the point O on the connecting seat 233a, and the position of point O is between the connecting seat 233a and the deflection seat 233b. The first end of the driving wire 233d is fixedly connected to the deflection seat 233b, and the second end passes through the threading hole set on the connecting seat 233a and is connected to the inside of the rear end driving device 231. Figure 6 As shown, two driving wires 233d are distributed on both sides of point O. Pulling the driving wires 233d respectively can realize the control of the rotation of the deflection seat 233b around point O.

[0121] Comparison Figure 6 In (a), when the deflection seat 233b does not rotate (initial position), the length of the drive wire 233d between the connecting seat 233a and the deflection seat 233b is l AB =l CD , and l AB + l CD =2l EF . Figure 6In (b), when the deflection seat 233b rotates, the length of the driving wire on one side of the rotation direction is shortened, and the length of the driving wire on the other side is extended. Compared with the posture in the figure, the length of the driving wire 233d between the connecting seat 233a and the deflection seat 233b is l AB <l CD , which is verified by calculation and actual measurement. AB + l CD <2 l EF , and l AB Length change and l CD The length changes are different. As a result, when the deflection seat 233b rotates, the tension on the driving wire 233d will be increased by a part of the tension generated by the elastic deformation of the driving wire in addition to the preload and the driving tension, which is beneficial to improve the movement response speed of the front-end actuator. However, due to the different length changes of the driving wires on both sides, the movement accuracy of the front-end actuator is reduced, and it is necessary to set an additional wire compensation device in the rear-end driving device 231 or compensate the length of the driving wire at any deflection angle of the deflection seat 233b in the control program.

[0122] Figure 7 , Figure 8 Shown are simplified structural diagrams of two other front-end actuator embodiments, which are different from the front-end actuator 233 in that the position of point O in the above two embodiments is located on the connecting seat and the deflection seat respectively. Figure 7 (a) and (b) respectively show the stationary state and moving state of point O on the connecting seat. Figure 8 (a) and (b) respectively show the stationary state and moving state of point O on the deflection seat.

[0123] like Fig. 9 , Fig.10 As shown, Figure 7 The specific implementation 331 of the structure of the front-end actuator corresponds to the front-end actuator 331. The front-end actuator 331 includes: a connection seat 331a, a deflection seat 331b, a clamp 331c, etc. The connection seat 331a is used to connect the outer tube 232 and the front-end actuator 331. The connection seat 331a is fixedly installed at the front end of the outer tube 232. The rotation axis of the connection seat 331a coincides with the rotation axis of the outer tube 232. The rotation of the outer tube 232 can drive the front-end actuator 331 to realize the self-rotation motion R1.

[0124] The deflection seat 331b is installed on the connection seat 331a, and the deflection seat 331b can rotate around the axis R2 under the drive of the two driving wires 331d. The second end of the deflection seat 331b is installed with a clamp leaf 331c, which can be a clamping forceps, scissors and other opening and closing movement tools, or an energy tool, a negative pressure suction tool, etc. All kinds of tools are universal structures and will not be described in detail. The clamp leaf 331c can rotate around the axis R3.

[0125] Regarding the specific wiring method, such as Fig.11 As shown in (a) and (b), referring to the positions of the parts in the figure, the first end of the driving wire 331d passes upward through the ninth wire hole 331e on the connecting seat 331a and the first wire hole 331f on the deflection seat 331b, then bends in the reverse direction and passes downward through the second wire hole 331g, and then the driving wire 331d extends to the other side of the R2 axis under the deflection seat 331b, passes upward through the third wire hole 331h, and bends in the reverse direction and passes downward through the fourth wire hole 331i and the tenth wire hole 331j. The two ends of the driving wire 331d extend downward through the outer tube 232 and are connected to the interior of the rear-end driving device 231. The rear-end driving device 231 is provided with an actuator that can pull the driving wire 331d. The rear-end driving device 231 is not described in detail in this disclosure.

[0126] The two driving wires are arranged in a cross shape on the deflection seat, and are specifically limited by the wire holes set on the deflection seat. The ninth wire hole 331e, the first wire hole 331f, the second wire hole 331g and the third wire hole 331h, the fourth wire hole 331i, and the tenth wire hole 331j are symmetrically arranged on both sides of the R2 axis, wherein, in the initial position of the deflection seat 331b, the ninth wire hole 331e is coaxially arranged with the first wire hole 331f, and the fourth wire hole 331i is coaxially arranged with the tenth wire hole 331j. After the driving wire 331d is tensioned, it is fixed in the inner wire hole of the deflection seat 331b due to the friction between the inner wall of the wire hole and the outer surface of the driving wire, that is, the driving wire 331d will not slide in the first wire hole 331f, the second wire hole 331g, the third wire hole 331h, and the fourth wire hole 331i, and the rotation of the deflection seat 331b can be controlled by pulling the two ends of the driving wire 331d.

[0127] like Fig.12 As shown, the installation method of the drive wire 331d in the deflection seat 331b is shown in the figure. The wire holes on the deflection seat 331b for installing the drive wire 331d, such as the first wire hole 331f, the second wire hole 331g, the third wire hole 331h, and the fourth wire hole 331i, can be set in a collinear structure, or a non-collinear structure can be adopted according to the arrangement of the remaining parts in the front-end actuator. The diameter range of the drive wire usually used for surgical instruments is within 0.4mm~0.8mm. When the difference between the wire hole diameter and the drive wire diameter is within 0.05mm (the wire hole diameter is greater than the drive wire diameter), the number of wire holes (such as the first wire hole 331f, the second wire hole 331g, the third wire hole 331h, and the fourth wire hole 331i) for fixing the drive wire set on the deflection seat 331b is 2n, and after the drive wire is tensioned, the drive wire has no sliding movement in the above-mentioned wire hole, that is, the drive wire is fixed on the deflection seat 331b, where n=2,3,4...

[0128] The drive wire fixing method provided in this embodiment has a simple and compact structure. It does not require additional fixing parts such as threads, hangers, nuts and other accessories, nor does it require bonding or welding, which can avoid a decrease in load capacity due to damage to the drive wire.

[0129] Fig.13 The figure shows the arrangement of the driving wire 331d of the clamp leaf 331c. The clamp leaf 331c can rotate around the axis R3. The clamp leaf 331c is provided with a wire groove for installing the driving wire, and the rotation axis of the wire groove is coaxial with R3. The driving wire 331d is fixedly arranged in the wire groove. After passing through the wire groove, the two ends of the driving wire 331d pass through the fifth wire hole 331k and the sixth wire hole 331l provided on the deflection seat 331b, respectively, and are installed in the rear end driving device 231 after passing through the outer tube 232. Fig.14 The figure shows the arrangement of the drive wire 331d of another clamping leaf 331c. The clamping leaf 331c can rotate around the axis R3. The clamping leaf 331c is provided with a wire groove for installing the drive wire, and the rotation axis of the wire groove is coaxial with R3. The drive wire 331d is fixedly arranged in the wire groove. After passing through the wire groove, the two ends of the drive wire 331d pass through the seventh wire hole 331m and the eighth wire hole 331n provided on the deflection seat 331b, respectively, and are installed in the rear end drive device 231 after passing through the outer tube 232.

[0130] The fifth wire hole 331k, the sixth wire hole 331l, the seventh wire hole 331m, and the eighth wire hole 331n are arranged on the same straight line, wherein the seventh wire hole 331m and the eighth wire hole 331n are located inside the fifth wire hole 331k and the sixth wire hole 331l, that is, both ends of the driving wire used to drive the same clamp leaf pass through the inner wire hole or the outer wire hole at the same time. This arrangement of the driving wires can make the movements of the driving wires independent and non-interfering, and can also decouple the movement of the clamp leaf around the axis R3.

[0131] like Fig.15 , Fig.16 As shown, the front end actuator 332 includes a connection seat 332a, a deflection seat 332b, a clamp leaf 332c, etc. The connection seat 332a is used to connect the outer tube 232 and the front end actuator 332. The connection seat 332a is fixedly installed at the front end of the outer tube 232. The rotation axis of the connection seat 332a coincides with the rotation axis of the outer tube 232. The rotation of the outer tube 232 can drive the front end actuator 332 to realize the self-rotation motion R1.

[0132] The deflection seat 332b is installed on the connection seat 332a, and the deflection seat 332b can rotate around the axis R2 under the drive of the two driving wires 332d. The second end of the deflection seat 332b is installed with a clamp leaf 332c, which can be a clamping forceps, scissors and other opening and closing movement tools, or an energy tool, a negative pressure suction tool, etc. All kinds of tools are universal structures and will not be described in detail. The clamp leaf 332c can rotate around the axis R3.

[0133] Comparison Figure 6 , Figure 7 , Figure 8 Compared with the front end actuator 233, the front end actuator 331 and the front end actuator 332 are different in the position of point O, that is, the position of the R2 axis is different. The R2 axis of the front end actuator 331 is located on the connecting seat, and the R2 axis of the front end actuator 332 is located on the deflection seat. The front end actuator 331 and the front end actuator 332 have similar characteristics to the front end actuator 233, such as: when the deflection seat rotates, the length of the driving wire on one side of the rotation direction is shortened, and the length of the driving wire on the other side is extended, and the length of the driving wire between the connecting seat and the deflection seat is l AB <l CD , l AB + l CD <2 l EF , and l AB Length change and l CD In addition, the front-end execution devices 331 and 331 also have other beneficial effects.

[0134] Comparison Figure 7 When the deflection seat 331b of the front end actuator 331 rotates, since O is set on the connecting seat 331a, the rotation radius of the deflection seat 331b is larger, thereby obtaining a larger deflection movement space. Figure 8 When the deflection seat 332b of the front-end actuator 332 rotates, since O is set on the deflection seat 332b, the angle between the driving wire 332d and the plane on the connecting seat 332a is very small, so that the driving wire 332d has very little friction when sliding in the wire hole on the connecting seat 332a, which is beneficial to improving transmission efficiency and accuracy.

[0135] Fig.17 Another front end actuator 333 is shown. When the driving wire on one side is pulled to rotate the deflection seat 333b, the length of the driving wire on one side of the rotation direction is shortened, and the length of the driving wire on the other side is extended. The length of the driving wire between the connecting seat and the deflection seat is l AB <l CD . Fig.17 From (a) to (b), after the deflection seat 333b rotates, the quadrilateral ABCD can form an isosceles trapezoid structure with AB and CD as the base and AC and BD as the waist. EF is the midline of the trapezoid ABCD. Then l AB + l CD =2 l EF , l AB Length change and l CD The length change is the same, Δl AB =Δl CD This feature enables the front-end actuator 333 to obtain higher transmission accuracy without adding an additional wire compensation device.

[0136] Fig.18 The figure shows a front end actuator 334, which is an embodiment of the front end actuator 333. The front end actuator 334 has the same deflection motion characteristics as the front end actuator 333, that is, the deflection seat can form an isosceles trapezoidal structure with the driving wire after rotation, and the length changes of the driving wires on both sides of the R2 axis are the same, and there is no need to add a wire compensation device.

[0137] The front end actuator 334 includes: a connection seat 334a, a deflection seat 334b, a clamp leaf 334c, etc. The connection seat 334a is used to connect the outer tube 232 and the front end actuator 334. The connection seat 334a is fixedly installed at the front end of the outer tube 232. The rotation axis of the connection seat 334a coincides with the rotation axis of the outer tube 232. The rotation of the outer tube 232 can drive the front end actuator 334 to realize the self-rotation motion R1.

[0138] The deflection seat 334b ​​is installed on the connection seat 334a, and the deflection seat 334b ​​can rotate around the axis R2 under the drive of the two driving wires 334d. The second end of the deflection seat 334b ​​is installed with a clamp leaf 334c, which can be a clamping forceps, scissors and other opening and closing movement tools, or an energy tool, a negative pressure suction tool, etc. All kinds of tools are universal structures and will not be described in detail. The clamp leaf 334c can rotate around the axis R3.

[0139] like Fig.19 As shown, two arc-shaped cam structures are provided on the connecting seat 334a, serving as the first cam, namely the upper cam 334d. The upper cam 334d is symmetrically arranged on the upper end surface of the connecting seat 334a, and its rotation axis is arranged parallel to the second axis R2. Two arc-shaped cam structures are provided on the deflection seat 334b, serving as the second cam, namely the lower cam 334e. The lower cam 334e is symmetrically arranged on the lower end surface of the deflection seat 334b, and its rotation axis is arranged parallel to the R2 axis. The two cams have the same radius of curvature, and the lower edge of the lower cam 334e is pressed against the upper edge of the upper cam 334d. After the two cams are pressed tightly, the lower cam 334e can roll on the upper cam 334d, thereby realizing the rotation movement of the deflection seat 334b ​​on the connecting seat 334a, and the rotating axis R2 coincides with the contact line of the two cams, as shown in FIG. Fig. 20 As shown in (a) and (b).

[0140] like Fig.21 As shown, the two drive wires 334f are respectively located on both sides of the upper cam 334d and the lower cam 334e. After the drive wire is tightened, the lower edge of the lower cam 334e is pressed on the upper edge of the upper cam 334d. After the two cams are pressed, the lower cam 334e can roll on the upper cam 334d. The two cams have the same curvature radius, point E is the center of the lower cam 334e, and point F is the center of the upper cam 334d. The distance between points E and F is l EFis the sum of the two cam radii. When the deflection seat 334b ​​does not rotate (initial position), the length of the drive wire 334f between the connecting seat 334a and the deflection seat 334b ​​is l AB =l CD , and l AB + l CD =2l EF .

[0141] like Fig. 22 As shown, when the driving wire on one side is pulled to drive the deflection seat 334b ​​to rotate around the R2 axis, the lower cam 334e rolls on the upper cam 334d in the rotation direction, the driving wire length on one side of the deflection seat 334b ​​in the rotation direction is shortened, and the driving wire length on the other side is extended. The driving wire length between the connecting seat and the deflection seat is l AB <l CD After the deflection seat 334b ​​rotates, the quadrilateral ABCD can form an isosceles trapezoid structure with AB and CD as the base and AC and BD as the waist. EF is the midline of the trapezoid ABCD. At this time, the distance between points E and F is l EF is the sum of the two cam radii, l AB + l CD =2 l EF , which can be realized AB Length change and l CD The length change is the same, Δl AB =Δl CD .

[0142] Comparison Fig.18 , Fig.19 As shown, the upper end surface of the connecting seat 334a is provided with two limit blocks 334g, and the limit blocks 334g are respectively adjacent to the inner sides of the two upper cams 334d. When the lower cam 334e is installed on the upper cam 334d, the inner sides of the two lower cams 334e are just stuck on the outer sides of the two limit blocks 334g, and the limit blocks 334g are used to limit the movement of the deflection seat 334b ​​in the R2 axis direction. An upper guide wheel 334h and a lower guide wheel 334i are respectively provided at the upper end of the connecting seat 334a and the lower end of the deflection seat 334b, and the two guide wheels are used to drive the wire guide.

[0143] Fig.23 , Fig.24 , Fig.25As shown, the first end of the driving wire 334f passes upward through the wire hole 334j set on the connecting seat 334a, passes upward through the wire hole 334k set on the deflection seat 334b ​​along the arc surface of the upper guide wheel 334h and the lower guide wheel 334i, reaches the upper end surface of the deflection seat 334b, bends in the opposite direction and passes downward through the wire hole 334l, enters the wire hole 334m along the lower end surface of the deflection seat 334b, passes upward through the wire hole 334m and reaches the upper end surface of the deflection seat 334b ​​again, then enters the wire hole 334n along the upper end surface of the deflection seat 334b, passes downward through the wire hole 334n, passes upward through the wire hole 334o, passes downward through the wire hole 334p, bypasses the lower guide wheel 334i and the upper guide wheel 334h, passes through the connecting seat 334a, passes through the outer tube 232, and is installed in the rear end driving device 231. The number of wire holes for fixing the driving wire set on the deflection seat 334b ​​is 2n (n=3). After the driving wire is tensioned, the driving wire does not slide in the above-mentioned wire holes, and the driving wire is fixed on the deflection seat 334b.

[0144] like Fig.26 As shown, the front end actuator 335 has the same deflection motion characteristics as the front end actuator 333, that is, the deflection seat can form an isosceles trapezoidal structure with the driving wire after rotation, and the length changes of the driving wires on both sides of the R2 axis are the same, and there is no need to add a wire compensation device.

[0145] The front end actuator 335 includes: a connection seat 335a, a deflection seat 335b, a clamp leaf 335c, etc. The connection seat 335a is used to connect the outer tube 232 and the front end actuator 335. The connection seat 335a is fixedly installed at the front end of the outer tube 232. The rotation axis of the connection seat 335a coincides with the rotation axis of the outer tube 232. The rotation of the outer tube 232 can drive the front end actuator 335 to realize the self-rotation motion R1.

[0146] The deflection seat 335b is installed on the connection seat 335a, and the deflection seat 335b can rotate around the axis R2 under the drive of the two driving wires. The second end of the deflection seat 335b is installed with a clamp leaf 335c, which can be a clamping forceps, scissors and other opening and closing movement tools, or an energy tool, a negative pressure suction tool, etc. All kinds of tools are universal structures and will not be described in detail. The clamp leaf 335c can rotate around the axis R3.

[0147] like Fig. 27 , Fig.28As shown, two arc-shaped cam structures, namely the upper cam 335d, are provided on the connecting seat 335a. The upper cam 335d is symmetrically arranged on the upper end surface of the connecting seat 335a, and its rotation axis is arranged parallel to the R2 axis. Two arc-shaped cam structures, namely the lower cam 335e, are provided on the deflection seat 335b. The lower cam 335e is symmetrically arranged on the lower end surface of the deflection seat 334b, and its rotation axis is arranged parallel to the R2 axis. The two cams have the same radius of curvature, and the lower edge of the lower cam 335e is pressed against the upper edge of the upper cam 335d. After the two cams are pressed tightly, the lower cam 335e can roll on the upper cam 335d, thereby realizing the rotation movement of the deflection seat 335b on the connecting seat 335a, and the rotating axis R2 coincides with the contact line of the two cams, as shown in FIG. Fig.26 shown.

[0148] Comparison Fig. 27 Two limit blocks 335f are provided on the upper end surface of the connecting seat 335a, and the limit blocks 335f are respectively adjacent to the inner sides of the two upper cams 335d. When the lower cam 335e is installed on the upper cam 335d, the inner sides of the two lower cams 335e are just stuck on the outer sides of the two limit blocks 335f. The limit blocks 335f are used to limit the movement of the deflection seat 335b in the direction of the R2 axis.

[0149] An upper guide wheel 335g and a lower guide wheel 335h are respectively provided at the upper end of the connecting seat 335a and the lower end of the deflecting seat 335b. Fig.29 , Fig.30 As shown, the upper guide wheel 335g and the lower guide wheel 335h are equipped with fixed steel wires 335i for pressing the upper cam 335d and the lower cam 335e. When the fixed steel wires 335i are installed and tensioned, the upper cam 335d is pressed against the lower cam 335e. At the same time, the fixed steel wires 335i are installed on the two guide wheels in a cross-arrangement, which can prevent the upper cam 335d from sliding on the lower cam 335e, thereby ensuring the construction of the trapezoidal structure and improving the transmission accuracy.

[0150] As shown in the figure, the two guide wheels are provided with wire holes, and the two ends of the fixing wire 335e pass downward through the wire holes 335k from the upper end surface of the deflection seat 335b, and then extend downward along the arc surface of the upper guide wheel 335g and cross the arc surface of the lower guide wheel 335l, enter the wire holes 335l and reach the lower end surface of the connecting seat 335a, and the pressing wire 335k is tensioned and fixed by the thread 335j at the lower end surface of the connecting seat 335a. Fig.31 As shown, the arrangement of the compression wire 335i crossing over the two guide wheels can prevent sliding between the cams while not restricting the rolling motion between the cams.

[0151] like Fig.32As shown, the front end actuator 336 has the same deflection motion characteristics as the front end actuator 333, that is, the deflection seat can form an isosceles trapezoidal structure with the driving wire after rotation, and the length changes of the driving wires on both sides of the R2 axis are the same, and there is no need to add a wire compensation device.

[0152] The front end actuator 336 includes: a connection seat 335a, a deflection seat 335b, a clamp leaf 335c, etc. The connection seat 336a is used to connect the outer tube 232 and the front end actuator 336. The connection seat 336a is fixedly installed at the front end of the outer tube 232. The rotation axis of the connection seat 336a coincides with the rotation axis of the outer tube 232. The rotation of the outer tube 232 can drive the front end actuator 336 to realize the self-rotation motion R1.

[0153] The deflection seat 336b is installed on the connection seat 336a, and the deflection seat 336b can rotate around the axis R2 under the drive of the two driving wires. The second end of the deflection seat 336b is installed with a clamp leaf 336c, which can be a clamping forceps, scissors and other opening and closing movement tools, or an energy tool, a negative pressure suction tool, etc. All kinds of tools are universal structures and will not be described in detail. The clamp leaf 336c can rotate around the axis R3.

[0154] like Fig.33 As shown, the upper end of the connecting seat 336a is provided with a flange 336d structure, and the lower end of the deflection seat 336b is provided with a groove 336e structure. The flange 336d can be installed in conjunction with the groove 336e. After installation, the flange 336d and the groove 336e can rotate in the deflection direction without slipping. Fig.34 , the geometric center of the flange 336d is point O, that is, the contour line of the flange 336d is created based on point O. By comparing the positions of the various parts in the figure, point O is set at the upper quadrant point of the base circle M on the connecting seat 336a, and the center of the base circle M is E; the geometric center of the groove 336e is point O, that is, the contour line of the groove 336e is created based on point O. By comparing the positions of the various parts in the figure, point O is set at the lower quadrant point of the base circle N of the deflection seat 336b, and the center of the base circle N is F. The radius of the base circle M is the same as that of the base circle N. The rotational motion of the groove 336e on the flange 336d can be regarded as the rolling motion of the base circle N on the base circle M, that is, the deflection motion of the deflection seat 336b on the connecting seat 336a is like the rolling motion of the base circle N on the base circle M, as shown in FIG. Fig.35 As shown, when the flange 336d and the groove 336e are kept in cooperation, the distance between the two points E and F during the rotation of the deflection seat 336b around the axis R2 on the connecting seat a is l EF Remain unchanged.

[0155] During the rotation of the deflection seat 336b around the axis R2 on the connecting seat a, the flange 336d and the groove 336e need to always keep in a matching state. In order to increase the rotation angle of the deflection seat 336b, a transition joint 336 can be added between the deflection seat 336b and the connecting seat 336a. Fig.36 The lower end of the transition joint 336f is provided with a groove that can be matched with the flange 336d, and the upper end of the transition joint 336f is provided with a flange that can be matched with the groove 336e. The end surface of the transition joint 336f is provided with a thread hole that is the same as the connection seat 336a, which is used for installing the drive thread, as shown in FIG. Fig.37 , Fig.38 As shown. The number of transition joints 336f is not limited to 1. When the number of transition joints 336f is greater than 0, the configuration of the front end actuator 336 changes from a rigid joint structure to a discrete joint structure. The discrete joint structure is an under-actuated structure. A rebound rod 336g can be set on the front end actuator 336 to enhance the controllability of the front end actuator and provide a rebound force for the return movement of the deflection seat 336b. The rebound rod 336g is made of an elastic material, such as a shape memory alloy, spring steel, etc. Fig.38 As shown, the rebound rod 336g is arranged on an orthogonal plane to the plane where the driving wire is located, the first end of the rebound rod 336g is fixedly connected to the deflection seat 336b, and the second end passes through the transition joint 336f and the wire hole on the connecting seat 336a.

[0156] The above arrangement of adding a transition joint 336f between the deflection seat and the connecting seat is intended to increase the deflection angle of the deflection seat to increase the working space of the front-end actuator. Another implementation method of increasing the deflection angle of the deflection seat is described below.

[0157] like Fig.39 As shown, the front end actuator 337 has the same flange and groove structure as the front end actuator 336, except that the number of flanges and grooves provided on the front end actuator 337 is greater than 1. Fig.40 In addition to the flange 337c, the connecting seat 337a is provided with grooves 337d and 337e on both sides adjacent to the flange 337c, and the geometric centers of the flange 337c, the groove 337d and the groove 337e are all set on the base circle M; in addition to the groove 337f, the deflection seat 337b is provided with flanges 337g and 337h on both sides adjacent to the groove 337f, and the geometric centers of the groove 337f, the flange 337g and the flange 337h are all set on the base circle N. The flange 337c cooperates with the groove 337f, the groove 337d cooperates with the flange 337g, and the groove 337e cooperates with the flange 337h.

[0158] like Fig.41 As shown, when the deflection seat 337b is at the starting position, the flange 337c is matched with the groove 337f, and the other flanges and grooves are in a separated state. When the deflection seat 337b rotates on the connection seat 337a beyond a certain angle, the flange 337g and the groove 337d enter a matched state, and the flange 337c is separated from the groove 337f by continuing to rotate. The same is true for the reverse rotation.

[0159] Fig.42 As shown, the contour lines of each flange and groove can be regarded as partial arcs of geometric circles 337i that are continuously tangent to the base circle M. The center of the geometric circle 337i is set on the base circle M, and the radius of each geometric circle is the same. Fig.43 As shown, the contour lines of each flange and groove can be regarded as partial arcs of geometric circles 337i that are continuously tangent to the base circle N. The center of the geometric circle 337i is set on the base circle N, and the radius of each geometric circle is the same. The number of geometric circles connecting the seat 337a and the deflection seat 337b in the front end actuator 337 is 5. By increasing the number of geometric circles, the rotation angle of the deflection seat 337b can be expanded. Fig.44 The figure shows a schematic diagram of a front-end actuator with 9 geometric circles. At present, the outer diameter of the front-end actuators commonly used is mostly no more than 10 mm. For the front-end actuators of surgical instruments with an outer diameter of 10 mm or less, experimental tests show that during the movement of the front-end actuators with more than 9 geometric circles, the flange will fall out of the groove, causing the deflection seat 337b to slip on the connecting seat 337a. Taking into account the current surgical instrument parts processing technology and processing costs, the number of geometric circles should be set to be less than or equal to 9.

[0160] Fig.45 As shown, the component is a limit connecting rod 337j, which is used to limit the movement of the deflection seat 337b on the connecting seat 337a along the R2 axis. The limit rod 337j has a rotating shaft at both ends, and the distance between the two rotating shaft axes is l EF The same is installed inside the front end actuator, and is installed in the shaft holes set on the deflection seat 337b and the connecting seat 337a respectively. Among them, the shaft hole on the connecting seat 337a is set to coincide with the center of the base circle M, and the shaft hole on the deflection seat 337b is set to coincide with the center of the base circle N. EF Similarly, the limit rod 337j is constructed as a virtual constraint in the rotation direction of the deflection seat 337b, which only limits the axial movement of the deflection seat 337b along the axis R2.

[0161] Fig.46 As shown, the two components are protective sleeves 337k, which are respectively installed on the outside of the connecting seat 337a and the deflection seat 337b. The protective sleeve 337k is made of insulating material. When the front-end actuator is an energy tool, the protective sleeve 337k can prevent the front-end actuator from accidentally leaking electricity. After installation, the protective sleeve 337k can cover the flanges and grooves set on the connecting seat 337a and the deflection seat 337b. This structure can effectively prevent the deflection seat 337b from accidentally damaging human tissue when it moves during the operation.

[0162] 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.

[0163] 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.

[0164] 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.

[0165] 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 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 changes in some embodiments of ±10%, in some embodiments of ±5%, in some embodiments of ±1%, and in some embodiments of ±0.5% by a specific number.

[0166] 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.

[0167] 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.

[0168] 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.

[0169] 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 actuator connected to a rear-end driving device via an outer tube, the front-end actuator comprising: A connecting seat, a first end of which is coaxially connected to the outer tube, and the connecting seat rotates around a first axis; A deflection seat, wherein a first end of the deflection seat is connected to a second end of the connection seat via a cam structure; Two driving wires, the driving wires are passed through the deflection seat, the ends of the driving wires are connected to the rear end driving device, and driven by the rear end driving device, the driving wires drive the deflection seat to rotate around the second axis; an execution part, the execution part is pivotally connected to the second end of the deflection seat, and the execution part rotates around a third axis; The second axis and the third axis are arranged along the first axis, and the first axis, the second axis and the third axis are perpendicular to each other; Wherein, the deflection seat is provided with a first wire hole, a second wire hole, a third wire hole and a fourth wire hole along the first path, and the first wire hole, the second wire hole and the third wire hole and the fourth wire hole are symmetrically arranged relative to the second axis; the deflection seat is provided with a fifth wire hole, a sixth wire hole, a seventh wire hole and an eighth wire hole along the second path, and the fifth wire hole, the sixth wire hole and the seventh wire hole and the eighth wire hole are symmetrically arranged relative to the second axis; The connecting seat is provided with a ninth thread hole, a tenth thread hole, an eleventh thread hole and a twelfth thread hole, and the ninth thread hole and the tenth thread hole are symmetrically arranged on both sides of the second axis along the third path, and the eleventh thread hole and the twelfth thread hole are symmetrically arranged on both sides of the second axis along the fourth path; The first thread hole is coaxially arranged with the ninth thread hole; the fourth thread hole is coaxially arranged with the tenth thread hole; the fifth thread hole is coaxially arranged with the eleventh thread hole; the eighth thread hole is coaxially arranged with the twelfth thread hole; Wherein, after the first end of the driving wire passes through the connecting seat to the first side of the deflection seat in sequence, the driving wire reverses downward and passes through the deflection seat again, extends to the other side of the second axis at the second side of the deflection seat, passes through the deflection seat upward to the first side of the deflection seat, and then reverses downward and passes through the deflection seat again, and the second end of the driving wire is connected to the rear end driving device through the outer tube; The first path and the second path are arranged in a cross; the third path and the fourth path are arranged in a cross, so as to fix the driving wire on the deflection seat.

2. The front-end execution device according to claim 1, wherein: The cam structure comprises: A first cam is symmetrically arranged on the end surface of the second end of the connecting seat, and the first cam rotation axis is arranged parallel to the second axis; A second cam is symmetrically arranged on the end surface of the first end of the deflection seat, and the second cam rotation axis is arranged parallel to the second axis; The first cam is press-connected with the second cam, and a contact line between the first cam and the second cam coincides with the second axis; Two driving wires are respectively located at both sides of the first cam and the second cam, and are driven by the rear end driving device. The driving wires drive the second cam to perform rolling motion on the first cam.

3. The front-end execution device according to claim 2, wherein: The cam structure also includes: Two limit blocks are symmetrically arranged on the end surface where the connecting seat is connected to the deflection seat; the two limit blocks are adjacent to the inner side of the first cam, and the second cam is clamped on the outer side of the two limit blocks.

4. The front-end execution device according to claim 2, wherein: The cam structure also includes: Two guide wheels are respectively arranged on the end surface where the connecting seat is connected to the deflection seat and the end surface where the deflection seat is connected to the connecting seat, and are used for guiding the driving wire.

5. The front-end execution device according to claim 4, wherein: Also includes: The fixed steel wire is installed on the two guide wheels, and the fixed steel wire is arranged in an 8-shape on the two guide wheels.

6. The front-end execution device according to claim 2, wherein: The wheel curvature radius of the first cam and the wheel curvature radius of the second cam are the same.

7. A surgical instrument comprising: an outer tube, a first end of the outer tube being connected to a front end actuator as claimed in any one of claims 1 to 6; A rear end driving device is connected to the second end of the outer tube.

8. The surgical instrument according to claim 7, further comprising: A protective sleeve is sleeved outside the connecting seat and the deflection seat of the front-end actuator.

9. A hand terminal, comprising: a first instrument arm, mounted with an endoscope; at least one second instrument arm, mounted with a surgical instrument; The surgical instrument comprises: an outer tube, a first end of the outer tube being connected to a front end actuator as claimed in any one of claims 1 to 6; A rear end driving device is connected to the second end of the outer tube.

10. A minimally invasive surgical system, comprising: A master hand end and a slave hand end as claimed in claim 9; A three-dimensional image module, integrated in the master hand end, the three-dimensional image module receives a three-dimensional image of the surgical site collected by the endoscope; A control module, integrated in the master hand end, the control module receives input parameters, calculates output parameters, and outputs the output parameters to the first instrument arm and the second instrument arm; The three-dimensional image module receives the three-dimensional image collected by the slave hand end, the master hand end adjusts the posture of the master operator according to the three-dimensional image, and controls the posture and movement of the first instrument arm and the second instrument arm on the slave hand end according to the output parameters output by the control module.

Images