Surgical robots, surgical instruments, and instrument cases

Abstract

This invention relates to a surgical robot, surgical instruments, and an instrument case. The instrument case includes: a support assembly comprising a first plate, on which one end of a connecting rod is rotatably mounted, and the other end of the connecting rod extends out of the first plate; a rotating assembly disposed on the first plate, the rotating assembly including a first rotating member and a second rotating member, the first rotating member and the second rotating member being located on the periphery of the connecting rod, the second rotating member being drively connected to the connecting rod; and a guide assembly corresponding to the first rotating member, the guide assembly being used to guide the movement of the first rotating member into the connecting rod. This design makes the overall structure of the power box compact, reduces the transmission distance, and ensures transmission accuracy.

Description

Technical Field

[0001] This invention relates to the field of medical surgical equipment technology, and in particular to a surgical robot, surgical instruments, and instrument box. Background Technology

[0002] The instruments in a laparoscopic surgical robot system are divided into distal, intermediate, and proximal positions. The distal position is used for surgical operations, the proximal position is where the distal drive components are integrated, and the intermediate position serves a connecting and supporting function. Multiple drive axes of the proximal instrument correspond to multiple joints of the distal instrument (actuator), and both are connected by a pair of drive ropes. This is achieved by fixing one end of each pair of drive ropes to the distal joint of the instrument, and multiple pairs of drive ropes pass through the internal channels of the connecting rod, converging into the proximal instrument and fixing to the corresponding drive axes, thus fulfilling the movement requirements of the instruments in minimally invasive surgery.

[0003] Currently, the instruments are connected to the instrument box and the end instrument via a connecting rod. Usually, the components in the instrument box are located on one side of the connecting rod, which causes the drive ropes in the instrument box to cross on the path, increasing the difficulty of assembly and affecting the convenience of use. Summary of the Invention

[0004] Therefore, it is necessary to provide a surgical robot, surgical instruments, and instrument box that reduces assembly difficulty, addressing the problem that the crossover of drive ropes in the current instrument box increases assembly difficulty.

[0005] An instrument case, mounted on the end of a connecting rod of a surgical instrument, the instrument case comprising:

[0006] The load-bearing component includes a first plate on which one end of a connecting rod is rotatably mounted, and the other end of the connecting rod extends out of the first plate;

[0007] A rotating assembly, disposed on the first plate, includes a first rotating member and a second rotating member, the first rotating member and the second rotating member being located on the periphery of the connecting rod, and the second rotating member being kinetically connected to the connecting rod; and

[0008] A guide assembly, corresponding to the first rotating member, is used to guide the movement of the first rotating member into the connecting rod.

[0009] In one embodiment, the axis of the first rotating member and the axis of the second rotating member are located on the same circumference.

[0010] In one embodiment, the center of the circumference of the first rotating member coincides with the axis of the connecting rod.

[0011] In one embodiment, the first rotating member includes a spiral groove, a first rotating shaft, and a first connecting rope. The spiral groove is disposed on the first rotating shaft, and the first connecting rope extends into the connecting rod via the guide assembly and is connected to the end instrument of the surgical instrument.

[0012] In one embodiment, the instrument box further includes a force detection element for detecting the driving force of the first connecting rope;

[0013] The spiral groove is detachably mounted on the first rotating shaft, the spiral groove is made of an elastic material, and the force sensing element is disposed between the first rotating shaft and the spiral groove; or

[0014] The force sensing element is disposed on the outside of the spiral groove.

[0015] In one embodiment, the guide assembly includes a mounting base and two guide wheels, which are rotatably mounted on the mounting base. Each guide wheel guides the first connecting rope extending from the first rotating shaft and introduces the first connecting rope into the connecting rod.

[0016] In one embodiment, the instrument box further includes two force detection elements for detecting the driving force of the first connecting rope. The force detection elements are disposed on the mounting base and mounted on the first plate. The guide wheel transmits the force of the first connecting rope to the force detection elements through the mounting base.

[0017] In one embodiment, the first rotating component includes a lead screw shaft, a nut rotatably disposed on the lead screw shaft, and a first connecting rope. The instrument box includes two force detection components disposed on the nut. One end of the first connecting rope is connected to the force detection component, and the other end of the first connecting rope is introduced into the connecting rod through the guide assembly.

[0018] A surgical instrument includes a connecting rod, an end effector, and an instrument housing as described in any of the above technical features;

[0019] One end of the connecting rod is rotatably mounted on the instrument box, and the other end of the connecting rod is fitted with the end instrument. The power box is sleeved on the connecting rod and connected to the instrument box.

[0020] A surgical robot includes a console, a robotic arm, and surgical instruments as described in the above technical features;

[0021] The robotic arm is mounted on the control console. The end of the robotic arm integrates a power box. The surgical instruments are connected to the power box. The control console controls the movement of the robotic arm and the surgical instruments.

[0022] By adopting the above technical solution, the present invention has at least the following technical effects:

[0023] The surgical robot, surgical instruments, and instrument case of this invention are described. In use, the instrument case is mounted at the end of the connecting rod of the surgical instruments. The movement of the first rotating component in the rotating assembly is introduced into the connecting rod through a guide assembly to drive the movement of the end instrument at the end of the connecting rod. Furthermore, the second rotating component is also connected to the connecting rod in a transmission manner to drive the connecting rod and the end instrument to rotate, thus realizing the surgical function. While the instrument case performs its corresponding function, the first and second rotating components in the rotating assembly are arranged around the periphery of the connecting rod. The first and second rotating components respectively achieve their respective operations through the inner connecting rod. This effectively solves the problem of increased assembly difficulty caused by the crossing of drive ropes in current instrument cases. It ensures that the first and second rotating components in the instrument case do not have a cross relationship in their motion output, reducing assembly difficulty. At the same time, it also reduces the overall size of the instrument case, making the overall structure of the power box compact without affecting functionality, ensuring the surgical precision of the surgical instruments, and facilitating control by medical personnel. Attached Figure Description

[0024] Figure 1 This is a perspective view of a surgical instrument according to an embodiment of the present invention;

[0025] Figure 2 for Figure 1 A magnified view of the distal end of the surgical instruments shown.

[0026] Figure 3 for Figure 1 A schematic diagram showing a surgical instrument with a power box installed and the instrument box exposed.

[0027] Figure 4 for Figure 3 A perspective view of an embodiment of the instrument box of the first embodiment of the surgical instruments shown;

[0028] Figure 5 for Figure 4 Top view of the instrument box shown;

[0029] Figure 6 for Figure 5 A perspective view of the first rotating component in the instrument box shown;

[0030] Figure 7 for Figure 6 An exploded view of the first rotating component shown;

[0031] Figure 8 for Figure 7 A perspective view of the first rotating shaft in the first rotating component shown;

[0032] Figure 9 for Figure 5 The instrument box shown is a cross-sectional view at CC.

[0033] Figure 10 for Figure 9 A schematic diagram showing the interaction between the second rotating component and the connecting rod in the instrument box shown;

[0034] Figure 11 This is a structural schematic diagram of the force detection component in the instrument box shown in Figure 4, representing the first embodiment.

[0035] Figure 12 for Figure 11 A perspective view of the guide assembly in the instrument box shown;

[0036] Figure 13 for Figure 4 A schematic diagram of the second embodiment of the force detection component in the instrument box shown;

[0037] Figure 14 for Figure 4 A schematic diagram of the third embodiment of the force detection component in the instrument box shown;

[0038] Figure 15 for Figure 3 A perspective view of the second embodiment of the instrument box in the surgical instruments shown;

[0039] Figure 16 for Figure 15 A perspective view of one embodiment of the force detection device mounted on the first rotating component in the instrument box shown;

[0040] Figure 17 for Figure 15 A perspective view of another embodiment of the force detection device mounted on the first rotating component in the instrument box shown.

[0041] Wherein: 100, instrument box; 110, load-bearing component; 111, first plate; 112, second plate; 113, connector; 120, rotating component; 121, first rotating component; 1211, first rotating shaft; 1212, spiral groove; 1213, first connecting rope; 1214, clamping component; 1215, support component; 1216, transmission disc; 1217, lead screw shaft; 1218, nut; 122, second rotating component; 1221, second rotating shaft; 1222, winding wheel; 12221, winding groove; 1223, second connecting rope; 130, guide component; 131, guide wheel; 132, mounting base; 140, force detection component; 200, connecting rod; 300, end instrument; 400, power box; 410, power source. Detailed Implementation

[0042] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0043] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0045] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0046] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0047] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0048] See Figures 1 to 4 , Figure 15 This invention discloses an instrument box 100. The instrument box 100 is mounted on a connecting rod 200 of surgical instruments. The instrument box 100 can drive the movement of an end effector 300 at its end via the connecting rod 200, enabling the end effector 300 to perform surgical operations. The surgical instruments used in this instrument box 100 can be applied to surgical robots. Furthermore, the surgical robot can be an laparoscopic surgery robot or a robot for other types of surgery.

[0049] Understandably, in current surgical instrument cases, the connecting rod is located on one side of the rotating shaft. The rotating shaft is connected to the connecting rod via a relatively long transmission component, thereby controlling the movement of the end effector. However, having the connecting rod on the side of the rotating shaft leads to an unreasonable layout of the internal components of the instrument case, increases the overall structural size, and also increases the transmission distance, affecting the accuracy of the instrument case during use.

[0050] To address this, the present invention provides a novel instrument case 100. The structure of the components within the instrument case 100 allows for a rational layout, reducing the overall size of the instrument case 100 and making its overall structure compact. Simultaneously, it also reduces transmission distance, ensuring the accuracy of the instrument case 100 in use. The specific structure of the instrument case 100 is described in detail below.

[0051] See Figures 1 to 4 , Figure 15 In one embodiment, the instrument box 100 includes a support assembly 110, a rotation assembly 120, and a guide assembly 130. The support assembly 110 includes a first plate 111, one end of a connecting rod 200 is rotatably mounted on the first plate 111, and the other end of the connecting rod 200 extends out of the first plate 111. The rotation assembly 120 is disposed on the first plate 111 and includes a first rotating member 121 and a second rotating member 122. The first rotating member 121 and the second rotating member 122 are located on the periphery of the connecting rod 200, and the second rotating member 122 is kinetically connected to the connecting rod 200. The guide assembly 130 corresponds to the first rotating member 121 and is used to guide the movement of the first rotating member 121 into the connecting rod 200.

[0052] The support assembly 110 serves a supporting function, carrying the various components of the instrument box 100. A rotating assembly 120 and a guide assembly 130 are mounted on the support assembly 110, and a connecting rod 200 can also be rotatably mounted on the support assembly 110. One end of the connecting rod 200 is rotatably mounted to the support assembly 110, and the other end is fitted with the end instrument 300. After the rotating assembly 120 is mounted on the support assembly 110, it can connect to the power box 400 of the surgical instruments, providing rotational power to the rotating assembly 120, enabling it to rotate and output rotational motion. The guide assembly 130 is positioned behind the support assembly 110, guiding the output portion of the rotating assembly 120 to transmit its motion to the connecting rod 200, thereby controlling the movement of the end instrument 300 at the end of the connecting rod 200.

[0053] Specifically, the supporting component 110 includes a first plate 111. The first plate 111 serves to support and bear the various components of the instrument box 100. One end of the connecting rod 200 is rotatably mounted on the first plate 111, and the other end of the connecting rod 200 extends away from the first plate 111. The rotating component 120 is movably mounted on the first plate 111. It is worth noting that the guide component 130 can be mounted on the first plate 111 or in other locations, as long as the guide component 130 can guide the movement of the rotating component 120.

[0054] In one embodiment, the support assembly 110 of the instrument box 100 includes a support plate, namely the first plate 111, which supports the rotating assembly 120 and the guide assembly 130, and the first plate 111 is rotatably connected to one end of the connecting rod 200.

[0055] In another embodiment, the support assembly 110 of the instrument box 100 includes two support plates, namely a first plate 111 and a second plate 112, with the second plate 112 fixedly connected to the first plate 111. The rotation assembly 120 and the guide assembly 130 are installed through the cooperation of the first plate 111 and the second plate 112. Several installation methods are described below:

[0056] See Figure 3 , Figure 4 and Figure 11 In the first embodiment of the present invention, the rotating component 120 may be partially mounted on the first plate 111 and extend through the second plate 111, and the guide component 130 is disposed on the second plate 112. That is to say, in this embodiment, the second plate 112 is equivalent to the intermediate plate.

[0057] Specifically, the rotating assembly 120 is partially mounted on the second plate 112 and extends through the first plate 111. For example... Figure 4As shown, the second plate 112 and the first plate 111 are in Figure 4 The plates are spaced at intervals in the height direction, with the second plate 112 located below the first plate 111. A rotating assembly 120 is rotatably mounted on the second plate 112 and extends upward through the first plate 111. A connecting rod 200 is rotatably mounted on the first plate 111 and extends through the second plate 112.

[0058] See Figure 15 In the second embodiment of the present invention, the rotating component 120 is rotatably disposed between the first plate 111 and the second plate 112, and is connected to the first plate 111 and the second plate 112, and the guiding component 130 is disposed on the first plate 111. That is to say, in this embodiment, the second plate 112 is equivalent to the top plate.

[0059] It is worth noting that the mounting configuration of the rotating assembly 120 and the guide assembly 130 is not limited to these two types; other positions capable of achieving the corresponding functions are also possible. Optionally, the axis of the connecting rod 200 coincides with the central axis of the first plate 111. Of course, in other embodiments of the present invention, the axis of the connecting rod 200 is parallel to the central axis of the first plate 111.

[0060] See Figures 1 to 4 , Figure 15 The rotating assembly 120 includes a first rotating member 121 and a second rotating member 122. A connecting rod 200 is located in the central region of the first plate 111, with the first rotating member 121 and the second rotating member 122 located around the periphery of the connecting rod 200. That is, the connecting rod 200 is located inside the first rotating member 121 and the second rotating member 122. Thus, the first rotating member 121 and the second rotating member 122 can be directly connected to the inner connecting rod 200 to drive the connecting rod 200 and the end effector 300 at its end, thereby achieving the corresponding function. It is worth noting that the connecting rod 200 has a hollow structure, which facilitates the transmission of motion between the first rotating member 121 and the second rotating member 122.

[0061] Because the connecting rod 200 is located inside the first rotating component 121 and the second rotating component 122, the space occupied by the rotating assembly 120 and the connecting rod 200 can be reduced, making the layout of the rotating assembly 120 more reasonable and the transmission structure between the rotating assembly 120 and the connecting rod 200 more compact. This, in turn, reduces the volume of the instrument box 100, making the overall structure of the instrument box 100 more compact and easier for medical personnel to use. At the same time, the transmission between the first rotating component 121 and the second rotating component 122 and the inner connecting rod 200 avoids wiring intersections between the first rotating component 121 and the second rotating component 122, reducing assembly difficulty, improving assembly efficiency, and ensuring ease of use.

[0062] Furthermore, the first rotating member 121 in the rotating assembly 120 introduces motion into the connecting rod 200 via the guide assembly 130, and then transmits the motion to the end effector 300 to drive the end effector 300 to move. It can be understood that the first rotating member 121 corresponds to at least one guide assembly 130, which guides the output motion of the first rotating member 121. In this way, the first rotating member 121, guided by the corresponding guide assembly 130, can simultaneously act on the end effector 300 via the connecting rod 200, ensuring accurate movement of the end effector 300.

[0063] In the above embodiments, while the instrument box 100 performs the corresponding functions, the first rotating component 121 and the second rotating component 122 in the rotating assembly 120 are arranged around the periphery of the connecting rod 200. The first rotating component 121 and the second rotating component 122 respectively achieve corresponding operations through the inner connecting rod 200, effectively solving the problem of increased assembly difficulty caused by the crossing of drive ropes in the current instrument box. This ensures that the motion output of the first rotating component 121 and the second rotating component will not have a cross relationship, reducing assembly difficulty. At the same time, it can also reduce the overall size of the instrument box 100. Without affecting the realization of functions, the overall structure of the power box 400 is compact, ensuring the surgical precision of surgical instruments and facilitating control by medical staff.

[0064] In one embodiment, the rotating assembly 120 includes four first rotating members 121 and one second rotating member 122, with the connecting rod 200 located inside the first rotating members 121 and the second rotating member 122; and the number of guide assemblies 130 is four. Of course, in other embodiments of the present invention, the number of first rotating members 121 can be other than that of the first rotating members 121, and their layout and working principle are substantially the same as those of the four first rotating members 121.

[0065] Furthermore, the four first rotating members 121 in the rotating assembly 120 respectively introduce motion into the connecting rod 200 through four guide assemblies 130, and then transmit the motion to the end effector 300 to drive the end effector 300 to move. It can be understood that each first rotating member 121 corresponds to one guide assembly 130, which guides the output motion of the first rotating member 121. In this way, the four first rotating members 121, each guided by its corresponding guide assembly 130, can simultaneously act on the end effector 300 via the connecting rod 200, ensuring accurate movement of the end effector 300.

[0066] See Figure 4 and Figure 9In one embodiment, the first plate 111 and the second plate 112 are connected and fixed by a connector 113. It is understood that the form of the connector 113 is not limited in principle, as long as it can reliably fix the first plate 111 and the second plate 112 and prevent positional movement between them. Optionally, the first plate 111 and the second plate 112 are connected and fixed by a threaded connection. Optionally, the first plate 111 and the second plate 112 are connected and fixed by a snap-fit ​​connection. Further, the snap-fit ​​is disposed on the second plate 112, and the first plate 111 has a snap-fit ​​groove that mates with the snap-fit. Of course, in other embodiments of the present invention, the positions of the snap-fit ​​and the snap-fit ​​groove can be interchanged. Optionally, the snap-fit ​​is made of plastic material. Optionally, the snap-fit ​​and the second plate 112 are an integral structure.

[0067] Optionally, the supporting component 110 also includes a housing, which covers the outside of the first plate 111 and encloses the rotating component 120 and the guide component 130. This prevents the rotating component 120 and the guide component 130 from being exposed, ensuring the accuracy of the movement of the rotating component 120 and the guide component 130 and preventing them from being interfered with by external factors.

[0068] It is worth noting that the rotating assembly 120 may employ one first rotating member 121, four first rotating members 121, or other numbers of first rotating members 121. In the following embodiments of the present invention, four first rotating members 121 are used as an example for explanation.

[0069] See Figure 4 and Figure 5 In one embodiment, the axis of the first rotating member 121 and the axis of the second rotating member 122 are located on the same circumference. That is, on a circumference formed by the same radius, the axes of the first rotating member 121 and the second rotating member 122 are both located on the circumference, and the distances from the center of the first rotating member 121 and the center of the second rotating member 122 to the center of the circle are equal. Specifically, four first rotating members 121 are symmetrically arranged and located on the circumference, and the second rotating members 122 are located on the circumference between two of the first rotating members 121.

[0070] Optionally, multiple first rotating members 121 are arranged at equal intervals. This facilitates processing and assembly, makes the overall structure compact, and provides sufficient layout space for the guide components. Of course, in other embodiments of the present invention, the first rotating members 121 and the second rotating members 122 may also be arranged non-circularly.

[0071] See Figure 4 and Figure 5In one embodiment, the center of the circumference of the first rotating member 121 coincides with the axis of the connecting rod 200. That is, the center of the circumference formed by the four first rotating members 121 coincides with the axis of the connecting rod 200. In this way, the distance from the center of each first rotating member 121 to the connecting rod 200 is the same, and the distance from the center of the second rotating member 122 to the connecting rod 200 is also equal to the distance from the center of the first rotating member 121 to the connecting rod 200. This can minimize the overall size of the instrument box 100, making the overall structure of the instrument box 100 compact. At the same time, it can also reduce the transmission distance between the first rotating member 121 and the connecting rod 200, and reduce the transmission distance between the second rotating member 122 and the connecting rod 200.

[0072] In one embodiment, the first rotating member 121, the second rotating member 122, and the connecting rod 200 are arranged parallel to each other, and the first rotating member 121, the second rotating member 122, and the connecting rod 200 are perpendicular to the first plate 111. Of course, in other embodiments of the present invention, the included angles of the first rotating member 121, the second rotating member 122, and the connecting rod 200 with the first plate 111 are approximately the same, and the included angle ranges from 85 degrees to 105 degrees.

[0073] See Figures 3 to 10 In a first embodiment of the present invention, the first rotating member 121 includes a spiral groove 1212, a first rotating shaft 1211, and a first connecting rope 1213. The spiral groove 1212 is disposed on the first rotating shaft 1211. The first connecting rope 1213 extends into the connecting rod 200 via a guide assembly 130 and is connected to the end instrument 300 of the surgical instrument. The spiral groove 1212 is used for winding and releasing the first connecting rope 1213.

[0074] One end of the first rotating shaft 1211 is rotatably mounted on the first plate 111, exposing the end face of the first plate 111 away from the second plate 112. The other end of the first rotating shaft 1211 extends toward the second plate 112 and protrudes through the second plate 112. When the first rotating shaft 1211 rotates, it can rotate relative to both the second plate 112 and the first plate 111. The end of the first rotating shaft 1211 extending from the first plate 111 can be connected to the power source 410 in the power box 400 of the surgical instrument, driving the first rotating shaft 1211 to rotate via the power source 410. Alternatively, in the second embodiment of the invention, both ends of the first rotating shaft 1211 can be mounted on the first plate 111 and the second plate 112, as shown below. Figure 15 As shown.

[0075] The spiral groove 1212 is a cylindrical hollow structure with a spiral groove on its surface. The spiral groove 1212 is fitted onto the outside of the first rotating shaft 1211 and is located on the side of the second plate 112 away from the first plate 111. A first connecting rope 1213 is wound around the spiral groove 1212. The first connecting rope 1213 is wound around the spiral groove 1212 of the first rotating shaft 1211, and is also guided by a guide assembly 130 to change its direction, guiding it into the connecting rod 200 and connecting it to the end device 300 at the end of the connecting rod 200. In this way, when the power source 410 of the power box 400 drives the first rotating shaft 1211 to rotate, the first rotating shaft 1211 can wind and release the first connecting rope 1213. Then, the first connecting rope 1213 will move in the connecting rod 200 after passing through the guide assembly 130, so as to drive the end device 300 to move.

[0076] It is understandable that the number of first connecting ropes 1213 can be one or two. When there is one first connecting rope 1213, both ends of the first connecting rope 1213 are wound around the spiral groove 1212 of the first rotating shaft 1211, and the middle position of the first connecting rope 1213 passes through the connecting rod 200 and connects to the end device 300 at the end of the connecting rod 200. When there are two first connecting ropes 1213, one end of each of the two first connecting ropes 1213 is wound around the first rotating shaft 1211, and the other ends of the two connecting ropes extend into the connecting rod 200 through the guide assembly 130 and connect to the end device 300. It is worth noting that regardless of whether there is one or two first connecting ropes 1213, the working principle is essentially the same. This invention is only described using the example of one first connecting rope 1213.

[0077] The two ends of the first connecting rope 1213 are respectively wound around the spiral groove 1212 of the first rotating shaft 1211, and the two ends of the first connecting rope 1213 are wound in opposite directions on the spiral groove 1212. For example, one end of the first connecting rope 1213 is wound around the first rotating shaft 1211 in a right-handed manner from top to bottom, and the other end of the first connecting rope 1213 is wound around the first rotating shaft 1211 in a right-handed manner from bottom to top. The two ends of the first connecting rope 1213 are symmetrically arranged on the spiral groove 1212. Thus, when the first rotating shaft 1211 rotates, it allows one end of the first connecting rope 1213 to unwind and the other end to control the movement of the end effector 300. Optionally, the two ends of the first connecting rope 1213 have fixed terminals. The first rotating shaft 1211 has a buckle groove for mounting the fixed terminals to ensure reliable fixation of the first connecting rope 1213.

[0078] Optionally, the spiral groove 1212 and the first rotating shaft 1211 are an integral structure. Of course, in other embodiments of the present invention, the spiral groove 1212 and the first rotating shaft 1211 may also be detachable structures.

[0079] Optionally, the first rotating component 121 further includes a transmission disk 1216, which is mounted on the end of the first rotating shaft 1211 extending from the first plate 111. The first rotating shaft 1211 is connected to the power source 410 of the power box 400 via the transmission disk 1216. The diameter of the transmission disk 1216 is larger than the diameter of the first rotating shaft 1211. This increases the contact area between the first rotating shaft 1211 and the power source 410, ensuring that the power source 410 can accurately drive the first rotating shaft 1211 to rotate. Optionally, the transmission disk 1216 has a mating groove that engages with a protrusion of the power source 410, achieving a secure connection between the power source 410 and the transmission disk 1216, ensuring a reliable connection between the transmission disk 1216 and the power source 410, and ensuring that the power source 410 drives the first rotating shaft 1211 to rotate synchronously via the transmission disk 1216. Optionally, the mating groove is oblong, D-shaped, or rectangular, etc.

[0080] In one embodiment, the first rotating member 121 further includes a support member 1215, which is disposed on the first rotating shaft 1211 and is used to rotatably support the first rotating shaft 1211 on the first plate 111 and / or the second plate 112. The support member 1215 is used to rotatably support the first rotating shaft 1211, avoiding interference between the first rotating shaft 1211 and the first plate 111 or the second plate 112, and ensuring smooth rotation of the first rotating shaft 1211. Optionally, the number of support members 1215 is at least one, and the support member 1215 is disposed on the second plate 112 and / or the first plate 111. Optionally, the support member 1215 is a bearing. Optionally, there is only one support member 1215, which is disposed on the first plate 111 or the second plate 112, and the first rotating shaft 1211 is rotatably mounted through the support member 1215. Optionally, there are two support members 1215, which are respectively disposed on the second plate 112 and the first plate 111, so as to rotatably support the first rotating shaft 1211 on the second plate 112 and the first plate 111.

[0081] In one embodiment, the first rotating shaft 1211 is further provided with a slot, which is located on the end face of the support member 1215. The first rotating member 121 also includes a retaining ring disposed in the slot, which limits the position of the support member 1215 to prevent the position of the support member 1215 from shifting and ensures that the first rotating shaft 1211 rotates smoothly.

[0082] In one embodiment, the first rotating member 121 further includes a clamping member 1214, which is disposed at the end of the first rotating shaft and is used to lock the axial displacement of the helical groove 1212. The clamping member 1214 is disposed at the end of the first rotating shaft 1211 away from the second plate 112 and is used to lock the helical groove 1212 to prevent axial movement of the helical groove 1212 and ensure that the helical groove 1212 is reliably fixed. Optionally, the clamping member 1214 is fixed to the first rotating shaft 1211 by a threaded member.

[0083] See Figures 15 to 17 In the second embodiment of the present invention, the first rotating member 121 includes a lead screw shaft 1217, a nut 1218 rotatably disposed on the lead screw shaft 1217, and a first connecting rope 1213. The instrument box 100 includes two force detection elements 140, which are disposed on the nut 1218. One end of the first connecting rope 1213 is connected to the force detection element 140, and the other end of the first connecting rope 1213 is introduced into the connecting rod 200 through a guide assembly 130. That is, the second rotating member 122 uses a lead screw and nut 1218 transmission structure to drive the movement of the first connecting rope 1213.

[0084] One end of the lead screw shaft 1217 is rotatably mounted on the first plate 111 and extends out of the first plate 111. The other end of the lead screw shaft 1217 is rotatably mounted on the second plate 112, meaning the lead screw shaft 1217 is rotatably mounted on both the second plate 112 and the first plate 111. A nut 1218 is mounted on the lead screw shaft 1217. A first connecting rope 1213 is mounted on the nut 1218, and the first connecting rope 1213 is introduced into the connecting rod 200 after passing through the guide assembly 130 to connect to the end device 300. The lead screw shaft 1217 extends out of the first plate 111 and connects to the power source 410 of the power box 400. The structure of this part is essentially the same as the structure and principle of the connection between the first rotating shaft 1211 and the power source 410 in the first embodiment, and will not be described in detail here. When the power source 410 drives the lead screw shaft 1217 to rotate, the rotation of the lead screw shaft 1217 can drive the nut 1218 to move along the axial direction of the lead screw shaft 1217, and then the nut 1218 can drive the first connecting rope 1213 to move, thereby controlling the movement of the end effector 300.

[0085] It is worth noting that the structure of the first rotating member 121 in this embodiment is essentially no different from that in the first embodiment. The only difference is that the first rotating shaft 1211 and the spiral groove 1212 are replaced with a screw shaft 1217 and a nut 1218, and the connection method of the first connecting rope 1213 is changed.

[0086] See Figure 15 and Figure 16In the first embodiment of the second embodiment, there are two nuts 1218, which are spaced apart on the lead screw shaft 1217. Each nut 1218 is connected to one end of the first connecting rope 1213. Specifically, the two nuts 1218 are respectively connected to the two ends of the first connecting rope 1213, and the middle position of the first connecting rope 1213 passes through the connecting rod 200 and is connected to the end device 300.

[0087] In this way, when the power source 410 drives the lead screw shaft 1217 to rotate, the lead screw shaft 1217 can drive the corresponding nuts 1218 to move in opposite directions, that is, the two nuts 1218 move closer to each other or further away from each other. For example, one nut 1218 rises and the other nut 1218 falls, thereby driving the end of the corresponding first connecting rope 1213 to move accordingly, so that the first connecting rope 1213 controls the end device 300 to perform corresponding operations.

[0088] See Figure 17 In the second embodiment of the second embodiment, there is one nut 1218, the lead screw shaft 1217 has a helix with a single direction of rotation, and the two ends of the first connecting rope 1213 are respectively connected to the two end faces of the nut 1218 along the axial direction of the lead screw shaft 1217. By connecting the two ends of the first connecting rope 1213 in two different directions, the movement of the two ends of the first connecting rope 1213 can be controlled separately, thereby controlling the end device 300 to perform corresponding operations.

[0089] See Figure 4 , Figure 9 , Figure 10 and Figure 15 In one embodiment, the second rotating member 122 is connected to the connecting rod 200 via a gear transmission structure, belt transmission structure, chain transmission structure or rope transmission structure.

[0090] See Figure 4 , Figure 9 , Figure 10In the first embodiment of the present invention, the second rotating member 122 is connected to the connecting rod 200 via a rope transmission structure to drive the connecting rod 200 to rotate. The second rotating member 122 includes a second connecting rope 1223, a second rotating shaft 1221, and two winding wheels 1222 sleeved on the second rotating shaft 1221. The two winding wheels 1222 are axially arranged on the second rotating shaft 1221. The winding wheels 1222 have winding grooves 12221, through which the second connecting rope 1223 is wound, and the second connecting rope 1223 is also wound around the connecting rod 200. Thus, when the second rotating shaft 1221 rotates, the second rotating shaft 1221 drives the winding wheels 1222 to rotate, and then the winding wheels 1222 drive the connecting rod 200 to rotate via the second connecting rope 1223, thereby controlling the rotation of the end device 300 at the end of the connecting rod 200 to achieve the corresponding operation. The structure of the second rotating shaft 1221 is essentially the same as that of the first rotating shaft 1211, and will not be described in detail here. The second rotating shaft 1221 is connected to the power source 410 of the power box 400, and the power source 410 drives the second rotating shaft 1221 to rotate, thereby controlling the rotation of the connecting rod 200.

[0091] See Figure 15 In the second embodiment of the present invention, the rope drive structure is replaced with a gear drive structure, and the second rotating shaft 1221 is replaced with a gear shaft. Correspondingly, the outer periphery of the connecting rod 200 is provided with an external gear meshing with the gear shaft, thereby driving the rotation of the connecting rod 200 and achieving the purpose of controlling the rotation of the end effector 300. It is worth noting that in this embodiment, the structure of the gear shaft is essentially the same as the structure of the second rotating shaft 1221 in the above embodiment, and both can be connected to the power source 410, which will not be described in detail here.

[0092] See Figure 4 and Figure 15 In the first embodiment of the present invention, the guide assembly 130 includes a mounting base 132 and two guide wheels 131. The two guide wheels 131 are rotatably mounted on the mounting base 132, which is disposed on the second plate 112. Each guide wheel 131 guides the first connecting rope 1213 extending from the first rotating shaft 1211 and introduces the first connecting rope 1213 into the connecting rod 200. The mounting base 132 provides support for rotating and supporting the guide wheel 131. The two guide wheels 131 guide the two ends of the first connecting rope 1213 extending from the first rotating shaft 1211, so that the first connecting rope 1213 extends into the connecting rod 200. Optionally, the mounting base 132 of each guide assembly 130 can be independently provided or can be an integral structure.

[0093] See Figure 4In the first embodiment of the present invention, each guide wheel 131 in the four guide components 130 is located inside the four first rotating members 121, and each guide wheel 131 is coplanar. That is to say, the guide wheels 131 are not staggered in height, which can avoid the first connecting ropes 1213 from crossing and ensure the smooth transmission of the first connecting ropes 1213.

[0094] Understandably, the location of the guide assembly 130 is not limited in principle, as long as it can guide the first connecting rope 1213. Optionally, the guide assembly 130 can be located directly inside the four first rotating members 121 and arranged around the periphery of the connecting rod 200. Of course, in other embodiments of the present invention, the guide assembly 130 can also be directly arranged corresponding to the first rotating members 121.

[0095] Optionally, each first rotating member 121 corresponds to one guide assembly 130, which guides the first connecting rope 1213 in the corresponding first rotating member 121 and leads it into the connecting rod 200. Of course, in other embodiments of the present invention, each first rotating member 121 corresponds to two guide assemblies 130, which guide the first connecting rope 1213 in the corresponding first rotating member 121 and lead it into the connecting rod 200. In the first and second embodiments, each first rotating member 121 corresponds to one guide assembly 130. In other embodiments of the present invention, each first rotating member 121 may also correspond to two guide assemblies 130. The specific structure of the guide assembly 130 will be mentioned later.

[0096] See Figures 15 to 17 In the second embodiment of the present invention, each guide assembly includes four guide wheels 131, and each end of the first connecting rope 1213 corresponds to two guide wheels 131. In this way, after the end of the first connecting rope 1213 is guided by the two guide wheels 131, the extension direction of the first connecting rope 1213 can be changed, so that the end of the first connecting rope 1213 can be introduced into the connecting rod 200.

[0097] See Figure 15 and Figure 16 In one embodiment, four guide wheels 131 are arranged coplanarly, and two guide wheels 131 corresponding to the same end of the first connecting rope 1213 are arranged such that one guide wheel 131 is closer to the lead screw shaft 1217 and the other guide wheel 131 is farther away from the lead screw shaft 1217. Optionally, two guide wheels 131 corresponding to the same end of the first connecting rope 1213 are arranged side by side.

[0098] Of course, in another implementation, see Figure 17Two guide wheels 131 at the same end of the first connecting rope 1213 are offset along the axial direction of the lead screw shaft 1217. That is, the height of one guide wheel 131 is higher than the height of the other guide wheel 131. Optionally, the axis of one guide wheel 131 corresponding to the first connecting rope 1213 coincides with the axis of the first guide wheel 131 corresponding to the first connecting rope 1213.

[0099] For details, see Figure 4 , Figure 5 In the first embodiment of the present invention, each first rotating member 121 corresponds to two guide wheels 131, and four guide assemblies 130 are mounted on the first plate 111 via mounting bases 132. For other embodiments of the first embodiment of the present invention, see [link to relevant documentation]. Figure 11 and Figure 12 The guide component 130 can be set at the corresponding first rotating member 121.

[0100] In one embodiment of the second embodiment of the present invention, each first rotating member 121 corresponds to four guide wheels 131, and the four guide wheels 131 are arranged side by side along the radial direction of the connecting rod 200, such as... Figure 16 As shown. Four guide wheels 131 guide the first connecting rope 1213, and the two ends of the first connecting rope 1213 are respectively connected to two nuts 1218. In another embodiment of the second embodiment of the present invention, two guide wheels 131 corresponding to the same end of the first connecting rope 1213 are offset in the axial direction, as shown. Figure 17 As shown, one end of the first connecting rope 1213 is led out through the guide wheel 131 at a higher position and enters the connecting rod 200 through another adjacent guide wheel 131. The other end of the first connecting rope 1213 is led out through the guide wheel 131 at a lower position and enters the connecting rod 200 through yet another adjacent guide wheel 131. The two ends of the first connecting rope 1213 are respectively connected to the end of a nut 1218.

[0101] See Figures 11 to 17 In one embodiment, the instrument box 100 further includes two force detection elements 140, which are respectively disposed at the two ends of the first connecting rope 1213, and respectively detect the driving force at the ends of the first connecting rope 1213. Thus, after the force detection element 140 obtains the driving force at the ends of the first connecting rope 1213, it can calculate the force exerted by the first connecting rope 1213 on the end instrument 300, thereby knowing the clamping or releasing force of the end instrument 300, improving the estimation accuracy of the driving force, and ensuring the operational accuracy of the end instrument 300. Optionally, the force detection element 140 is a driving force sensor.

[0102] See Figure 11 and Figure 12In the first embodiment of the first embodiment, the force detection element 140 is disposed on the mounting base 132 and mounted on the first plate 111. The guide wheel 131 transmits the force of the first connecting rope 1213 to the force detection element 140 via the mounting base 132. Specifically, the force detection element 140 is disposed on the mounting base 132 and fixed to the first plate 111 by a support. The force detection element 140 contacts the guide wheel 131 through the mounting base 132. Thus, the force of the first connecting rope 1213 acting on the guide wheel 131 can be fed back to the force detection element 140, thereby obtaining the driving force on the first connecting rope 1213. In this embodiment, the support base is a support column; however, it can also be other components capable of providing support. Figure 12 As shown, the force detection component 140 tilts the guide wheel 131 onto the first plate 111, and the driving force detected by the force detection component 140 is F. sensor The angle between the force detection element 140 and the force sensor 140 is θ, which allows the calculation of the driving force F on the first connecting rope 1213. wire =2F sensor ×cosθ.

[0103] See Figure 13 In the second embodiment of the first embodiment, the spiral groove 1212 is detachably disposed on the first rotating shaft 1211. The spiral groove 1212 is made of elastic material, and the force detection element 140 is disposed between the first rotating shaft 1211 and the spiral groove 1212. That is, a thin-film force detection element 140 can be added between the winding groove 12221 and the first rotating shaft 1211. The outer wall of the force detection element 140 contacts the winding groove 12221, and the inner wall of the force detection element 140 contacts the first rotating shaft 1211. In this way, the force of the first connecting rope 1213 can act on the winding groove 12221 and be transmitted to the force detection element 140 through the winding groove 12221 made of elastic material to detect the driving force of the first connecting rope 1213.

[0104] See Figure 14 In the third embodiment of the first embodiment, a force detection element 140 can be directly disposed on the outer side of the spiral groove 1212. The force detection element 140 has a thin-film structure and is directly disposed on the spiral groove 1212. The force detection element 140 directly contacts the first connecting rope 1213 to detect the driving force of the first connecting rope 1213. Optionally, a protective coating can be disposed on the outer side of the force detection element 140 to reduce wear on the force detection element 140.

[0105] It is worth noting that the various types of force sensors 140 described above can be used in combination to achieve sensor fusion and improve the estimation accuracy of the driving force. See also Figure 16In the first embodiment of the second embodiment, each nut 1218 is provided with a force detection element 140, and the force detection elements 140 on the two nuts 1218 are arranged in opposite directions. The two nuts 1218 are respectively connected to the ends of the first connecting rope 1213 through the corresponding force detection elements 140. In this way, the tension of the first connecting rope 1213 can directly act on the force detection element 140, and the force detection element 140 detects the force of the first connecting rope 1213. Furthermore, the first connecting rope 1213 is introduced into the connecting rod 200 through two guide components 130. The first connecting rope 1213 is driven to move by the screw shaft 1217 cooperating with the nut 1218. After cooperating with the force detection element 140, the driving force can be directly measured without the need to convert the driving force into a driving force, and the driving force estimation is more accurate.

[0106] See Figure 17 In the second embodiment of the second embodiment, two force detection elements 140 are respectively disposed on the two end faces of the nut 1218 and respectively connected to the first connecting rope 1213. Thus, the tension of the first connecting rope 1213 can directly act on the force detection elements 140, and the force detection elements 140 detect the force of the first connecting rope 1213. Furthermore, the first connecting rope 1213 is introduced into the connecting rod 200 through two guide components 130.

[0107] See Figure 3 and Figure 4 The instrument box 100 of the present invention drives the end-effector 300 by arranging a first rotating member 121 and a second rotating member 122 around the connecting rod 200 and introducing a first connecting rope 1213 into the connecting rod 200 via a guide assembly 130. The second rotating member 122 controls the rotation of the connecting rod 200, thereby controlling the movement of the end-effector 300. Through the combined action of the first rotating member 121 and the second rotating member 122, the end-effector 300 is controlled to perform surgical operations. Simultaneously, by setting the force detection member 140 at different positions, the force exerted by the first connecting rope 1213 can be detected, facilitating precise control of the end-effector 300.

[0108] See Figures 1 to 4The present invention also provides a surgical instrument, including a connecting rod 200, an end instrument 300, a power box 400, and an instrument box 100 as described in any of the above embodiments. One end of the connecting rod 200 is rotatably mounted to the instrument box 100, and the end instrument 300 is mounted on the other end of the connecting rod 200. The power box 400 is sleeved on the connecting rod 200 and connected to the instrument box 100, providing power to the instrument box 100 to drive the end instrument 300 to move via the connecting rod 200. By using the instrument box 100 of the above embodiments, the surgical instrument of the present invention can reduce the overall size of the surgical instrument and the space occupied, while also achieving accurate driving of the end instrument 300 and ensuring surgical precision. The surgical instrument in this embodiment includes a power box 400.

[0109] This invention also provides a surgical robot, including a console, a robotic arm, and the surgical instruments described in the above embodiments. The robotic arm is mounted on the console, which is electrically connected to the robotic arm and the surgical instruments. The console controls the movement of the robotic arm and the surgical instruments. By employing the aforementioned surgical instruments, the surgical robot of this invention ensures accurate control of the surgical instruments, thereby improving the accuracy of the surgical procedure.

[0110] The present invention also provides a surgical instrument, including a connecting rod 200, an end instrument 300, and an instrument box 100. One end of the connecting rod 200 is rotatably mounted to the instrument box 200, and the other end of the connecting rod 200 is mounted with the end instrument. The instrument box 100 includes: a support assembly 110, including a first plate 111, one end of the connecting rod 200 being rotatably mounted to the first plate 111, and the other end of the connecting rod 200 extending out of the first plate 111; a rotation assembly 120, disposed on the first plate 111, the rotation assembly 120 including a plurality of first rotating members 121, the plurality of first rotating members 121 being located around the connecting rod 200, and the plurality of first rotating members 121 being arranged in parallel with a portion of the connecting rod 200; and a guide assembly 130, at least partially disposed between the plurality of first rotating members 121 and the connecting rod 200, the guide assembly 130 being used to guide the movement of the first rotating members 121 into the connecting rod 200.

[0111] It is worth noting that the structure of the instrument box 100 in this embodiment is essentially the same as the structure and working principle of the instrument box in the above embodiment. The difference is that several first rotating parts 121 and some connecting rods 200 are arranged in parallel. The similarities will not be repeated, and only the differences will be pointed out.

[0112] The parallel arrangement here includes cases where the axes of the first rotating member and the connecting rod are parallel or at a certain angle, approximately parallel. Optionally, the first rotating member 121, the second rotating member 122, and the connecting rod 200 are arranged parallel to each other, and the first rotating member 121, the second rotating member 122, and the connecting rod 200 are perpendicular to the first plate 111. Of course, in other embodiments of the present invention, the angles between the first rotating member 121, the second rotating member 122, and the connecting rod 200 and the first plate 111 are approximately the same, and the angle range is between 85 degrees and 105 degrees.

[0113] See Figures 1 to 4 The present invention also provides a surgical instrument, including a connecting rod 200, an end effector 300, and an instrument housing 100 as described in any of the above embodiments. One end of the connecting rod 200 is rotatably mounted to the instrument housing 100, and the end effector 300 is mounted on the other end of the connecting rod 200. A power housing 400 is sleeved on the connecting rod 200 and connected to the instrument housing 100, providing power to the instrument housing 100 to drive the end effector 300 to move via the connecting rod 200. By using the instrument housing 100 of the above embodiments, the surgical instrument of the present invention can reduce the overall size of the surgical instrument and the space occupied, while also achieving accurate driving of the end effector 300 and ensuring surgical precision. In this embodiment, the surgical instrument does not include the power housing 400; in this case, the power housing 400 can be integrated into the end effector of a surgical robot.

[0114] This invention also provides a surgical robot, including a console, a robotic arm, and the surgical instruments described in the above embodiments. The robotic arm is mounted on the console, and a power unit is integrated at the end of the robotic arm. The surgical instruments are connected to the power unit, and the console controls the movement of the robotic arm and the surgical instruments. By employing the aforementioned surgical instruments, the surgical robot of this invention ensures accurate control of the surgical instruments, thereby improving the accuracy of the surgical procedure.

[0115] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0116] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. An instrument box, characterized in that, The instrument box, mounted on the end of the connecting rod of the surgical instrument, includes: The load-bearing component includes a first plate on which one end of a connecting rod is rotatably mounted, and the other end of the connecting rod extends out of the first plate; A rotating assembly, disposed on the first plate, includes a first rotating member and a second rotating member, the first rotating member and the second rotating member being located on the periphery of the connecting rod, and the second rotating member being kinetically connected to the connecting rod; and A guide assembly, corresponding to the first rotating member, is used to guide the movement of the first rotating member into the connecting rod; The first rotating component includes a spiral groove, a first rotating shaft, and a first connecting rope. The spiral groove is disposed on the first rotating shaft, and the first connecting rope is driven into the connecting rod through the guide assembly and connected to the end instrument of the surgical instrument. The instrument box also includes a force detection element for detecting the driving force of the first connecting rope; the spiral groove is detachably disposed on the first rotating shaft, the spiral groove is made of elastic material, and the force detection element is disposed between the first rotating shaft and the spiral groove.

2. The instrument box according to claim 1, characterized in that, The axis of the first rotating component and the axis of the second rotating component are located on the same circumference.

3. The instrument box according to claim 2, characterized in that, The center of the circle on which the first rotating component is located coincides with the axis of the connecting rod.

4. The instrument box according to claim 1, characterized in that, The guide assembly includes a mounting base and two guide wheels. The two guide wheels are rotatably mounted on the mounting base. Each guide wheel guides the first connecting rope extending from the first rotating shaft and introduces the first connecting rope into the connecting rod.

5. The instrument box according to claim 4, characterized in that, The instrument box also includes two force detection devices, which are used to detect the driving force of the first connecting rope. The force detection devices are disposed on the mounting base and mounted on the first plate. The guide wheel transmits the force of the first connecting rope to the force detection devices through the mounting base.

6. A surgical instrument, characterized in that, Includes a connecting rod, an end effector, and an instrument box as described in any one of claims 1 to 5; One end of the connecting rod is rotatably mounted on the instrument box, and the other end of the connecting rod is fitted with the end instrument. The power box is sleeved on the connecting rod and connected to the instrument box.

7. A surgical robot, characterized in that, Includes a control console, a robotic arm, and the surgical instruments as described in claim 6; The robotic arm is mounted on the control console. The end of the robotic arm integrates a power box. The surgical instruments are connected to the power box. The control console controls the movement of the robotic arm and the surgical instruments.

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