End effector detachable multi-degree of freedom minimally invasive surgical instrument

Abstract

The present application relates to a kind of end effector detachable multi-degree-of-freedom minimally invasive surgical instrument, it solves the technical problem that existing minimally invasive surgical robot surgical instrument is scrapped after being used 10 times as consumables, waste resources, increase surgical cost;It includes instrument box, instrument rod, effector connecting component, end effector, locking device, multiple transmission steel wire ropes, the rear end of instrument rod is connected with instrument box, instrument box is equipped with driving mechanism, the rear end of transmission steel wire rope is connected with driving mechanism, end effector is detachably connected with instrument rod by effector connecting component.The present application is widely used in minimally invasive surgical robot technical field.

Description

Technical Field

[0001] This invention relates to the field of minimally invasive surgical instruments, and more specifically, to a multi-degree-of-freedom minimally invasive surgical instrument with a detachable end effector. Background Technology

[0002] Referring to Chinese invention patent application CN109091237A, entitled "Minimally Invasive Surgical Instrument Assistance System," minimally invasive surgery, represented by laparoscopy, is hailed as one of the most important contributions of 20th-century medical science to human civilization. Minimally invasive surgery refers to the use of slender surgical instruments inserted into the body through tiny incisions on the surface to perform surgical procedures. Compared with traditional open surgery, it has advantages such as smaller incisions, less bleeding, smaller postoperative scars, and faster recovery time, greatly reducing patient suffering; therefore, minimally invasive surgery is widely used in clinical surgery.

[0003] Referring to Chinese invention patent application CN109091238A entitled "Split-type Minimally Invasive Surgical Instrument Assist System", the minimally invasive surgical robot system includes a surgeon's operating table. The surgeon operates the surgeon's robotic arm to precisely control one or more surgical instruments on the robotic arm of the patient's operating table to perform various surgical actions.

[0004] Referring to invention patents CN105286989B and CN105286999B, surgical instruments are essential tools for surgical procedures, performing various functions including clamping, resection, cutting, suturing, and anastomosis. Surgical instruments have different configurations, including an actuator end, wrist joint, instrument rod, and instrument case. They are inserted through an opening to perform remote surgery. During the procedure, a sterile curtain attachment is fitted to the patient's robotic arm to isolate the surgical instruments from the surrounding area and maintain the cleanliness of the patient's operating table. The surgical instruments connect to the instrument lifter on the patient's robotic arm via an instrument adapter on the sterile curtain attachment, receiving electrical, mechanical, and other signals from the robotic arm. Furthermore, to meet the needs of different surgical tasks (clamping, suturing, knotting, etc.), the surgical instruments can be replaced at any time and reconnected to the instrument mount on the patient's robotic arm.

[0005] However, surgical instruments are complex in structure and expensive. As consumables, surgical instruments have a maximum lifespan of only 10 uses, and must be sterilized after each use. Repeated use and the sterilization process increase the probability of instrument malfunction, posing a serious risk to both surgeons and patients. The requirement to discard surgical instruments after 10 uses wastes resources, increases surgical costs, and hinders the widespread adoption of robotic laparoscopic surgery. Summary of the Invention

[0006] The present invention aims to solve the technical problem that existing minimally invasive surgical robots' surgical instruments are consumables that must be scrapped after 10 uses, wasting resources and increasing surgical costs. The invention provides a multi-degree-of-freedom minimally invasive surgical instrument with a detachable end effector.

[0007] This invention provides a multi-degree-of-freedom minimally invasive surgical instrument with a detachable end effector, comprising an instrument box, an instrument rod, an actuator connection assembly, an end effector, a locking device, and multiple transmission steel wire ropes. The rear end of the instrument rod is connected to the instrument box, the instrument box is provided with a drive mechanism, and the rear end of the transmission steel wire ropes is connected to the drive mechanism.

[0008] The actuator connection assembly includes a connecting sleeve, a connecting column, an actuator wire rope, an actuator slider, an actuator slider return spring, and an actuator slider top post. The connecting sleeve includes a rear connecting part and a middle part, with the rear connecting part and the middle part fixedly connected together. The middle part has a circular end face. The connecting column has multiple T-shaped grooves and multiple guide slides, with the guide slides and T-shaped grooves spaced apart. Three of the guide slides each have a ball groove. The actuator slider has a T-shaped boss, a connecting boss, and a return spring mounting hole. The T-shaped boss of the actuator slider is embedded in the T-shaped boss of the connecting column. In the chute, the actuator slider return spring is located in the return spring mounting hole, the upper part of the actuator slider top post is located in the return spring mounting hole, the actuator slider top post is located below the actuator slider return spring, the lower end of the actuator slider return spring contacts the upper end of the actuator slider top post, and the lower end of the actuator slider top post abuts against the circular end face of the middle part; the actuator wire rope is fixedly connected to the actuator slider, and the actuator wire rope is led out from the central through hole of the middle part of the connecting sleeve to the end actuator; the end face of the rear connecting part is provided with a limiting groove, and the side of the rear connecting part is provided with a dot and an indicator arrow;

[0009] The instrument rod comprises a front part and a rear part fixedly connected together. The front part has an indicator arrow on its front side, a limiting boss on its front face, and evenly distributed circumferential locking block sliding grooves on its side. The front end of the front part also has several dovetail grooves, several mounting guide grooves, several radial grooves, and several through holes for the transmission steel wire rope. The radial grooves communicate with the mounting guide grooves and the dovetail grooves. The front part has a connecting post limiting end face and an annular upper pressure plate positioning end face. An annular upper pressure plate is located between the positioning end face of the annular upper pressure plate and the end face of the rear part. The front part has three evenly distributed circumferential steel ball holes, which connect to the locking blocks. The sliding groove is connected, and the steel ball hole is located above the radial groove; the front part of the instrument rod is connected to a transmission slider, which has a wedge-shaped part, a spring mounting hole at the top of the transmission slider, and a connecting groove at the bottom of the transmission slider. The wedge-shaped part of the transmission slider is located in the dovetail groove of the front part of the instrument rod, with one dovetail groove corresponding to one transmission slider; a transmission slider return spring is located in the spring mounting hole of the transmission slider, and the upper end of the transmission slider return spring abuts against the annular upper pressure plate; the transmission steel wire rope first passes through the central through hole of the annular upper pressure plate, and then passes through several transmission steel wire rope through holes in the front part of the instrument rod respectively, and the end of the transmission steel wire rope is fixedly connected to the top of the transmission slider;

[0010] The locking device includes a locking block, a locking block compression spring, and locking steel balls. The top of the locking block is provided with a spring positioning hole, an inclined surface, and a flat surface. The locking steel balls are located in the steel ball holes of the instrument rod. The locking sleeve is fitted onto the front part of the instrument rod. The locking block and the locking block compression spring are located in the locking block sliding groove of the instrument rod. The locking block compression spring is located above the locking block, and the lower end of the locking block compression spring is located in the spring positioning hole of the locking block. The locking sleeve is fixedly connected to the locking block. There are three locking block compression springs, three locking blocks, three locking steel balls, and three steel ball holes.

[0011] The end effector is connected to the front end of the middle part of the connecting sleeve, and the front end of the wire rope is connected to the end effector;

[0012] Pull the locking sleeve back and align the indicator arrow on the rear connecting part with the indicator arrow on the connecting sleeve. Insert the connecting post into the front part of the instrument rod. The actuator slider is embedded in the installation guide groove. When the connecting post is fully inserted, the top of the connecting post is blocked by the limiting end face of the connecting post. At this time, the connecting boss of the actuator slider is embedded in the radial groove. At this time, the limiting boss on the instrument rod is embedded in the limiting groove of the rear connecting part. Then, rotate the rear connecting part clockwise. The rear connecting part drives the connecting post to rotate. The connecting boss of the actuator slider moves out of the radial groove and into the connecting groove at the bottom of the transmission slider. The indicator arrow is aligned with the dot. The limiting boss moves to the leftmost end of the limiting groove. Finally, loosen the locking sleeve. The plane of the locking block squeezes the locking steel ball. A part of the locking steel ball enters the steel ball groove of the connecting post. This completes the assembly of the actuator connecting assembly and the instrument rod.

[0013] When disassembling the end effector and the actuator connection assembly, pull the locking sleeve backward, rotate the rear connection part counterclockwise, and the limiting boss will move to the rightmost end of the limiting groove. Align the two indicator arrows, and then pull the connecting post outward.

[0014] Preferably, the number of T-shaped slides is six, the number of guide slides is six, the number of actuator slides is six, the number of actuator wire ropes is six, the number of actuator slide return springs is six, the number of actuator slide top posts is six, the number of radial slots is six, the number of drive wire rope through holes is six, and the number of drive slide return springs is six.

[0015] Preferably, the rear end of the front part of the instrument rod is provided with an internal thread, and the front end of the rear part is provided with an external thread, with the external thread and the internal thread connected.

[0016] Preferably, the top of the transmission slider is provided with a wire rope mounting hole, and the end of the transmission wire rope is fixedly connected in the wire rope mounting hole.

[0017] Preferably, the locking sleeve is fixedly connected to the locking block by two screws.

[0018] Preferably, the actuator slider is provided with a wire rope mounting hole, and the actuator wire rope is fixedly installed in the wire rope mounting hole.

[0019] Preferably, the front part is provided with a spare center through hole.

[0020] The beneficial effects of this invention are that the instrument rod 20, instrument box 10, and transmission steel wire rope are reusable. The end effector is flexibly detachable, and the end effector and actuator connection assembly are used as consumables, replaceable after their service life expires. This reduces the manufacturing cost of surgical instruments and thus reduces surgical costs.

[0021] Further features of the present invention will be clearly described in the following detailed description of the embodiments. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of a multi-degree-of-freedom minimally invasive surgical instrument with a detachable end effector;

[0023] Figure 2 yes Figure 1 The diagram shows a structural view of a multi-degree-of-freedom minimally invasive surgical instrument with a detachable end effector, in which the rear end of the connecting sleeve is connected to the connecting post.

[0024] Figure 3 yes Figure 2 Front view of the structure shown;

[0025] Figure 4 yes Figure 2 Left view of the structure shown;

[0026] Figure 5 yes Figure 2 Right view of the structure shown;

[0027] Figure 6 yes Figure 2 Top view of the structure shown;

[0028] Figure 7 yes Figure 2 A bottom view of the structure shown;

[0029] Figure 8 yes Figure 2 A half-sectional view of the structure shown;

[0030] Figure 9 yes Figure 1 The diagram shows the structure of the slider being installed on the connecting column.

[0031] Figure 10 yes Figure 9 The diagram shows the structure in which the lower end of the actuator slider pin abuts against the circular end face of the middle part of the connecting sleeve.

[0032] Figure 11 This is a schematic diagram of the actuator slider;

[0033] Figure 12 yes Figure 11 The main view of the execution slider is shown below;

[0034] Figure 13 yes Figure 11 The image shows a bottom view of the slider being executed;

[0035] Figure 14 yes Figure 11 The diagram shows a cross-sectional view of the slider.

[0036] Figure 15 yes Figure 11The left view of the slider shown;

[0037] Figure 16 yes Figure 15 A cross-sectional view of square AA in the middle;

[0038] Figure 17 It is an isometric view of the front part of the instrument's lever;

[0039] Figure 18 yes Figure 17 A cross-sectional view of the structure shown;

[0040] Figure 19 yes Figure 17 A cross-sectional view of the structure shown;

[0041] Figure 20 yes Figure 17 Axonometric view of the front portion of the instrument rod shown;

[0042] Figure 21 yes Figure 20 A bottom view of the front part of the instrument rod shown.

[0043] Figure 22 It is an isometric view of the transmission slider;

[0044] Figure 23 This is a schematic diagram showing the connection and engagement between the locking sleeve and the front part of the instrument rod, with the transmission slider located in the dovetail groove of the instrument rod.

[0045] Figure 24 This is a schematic diagram of the locking block;

[0046] Figure 25 This is a schematic diagram of a structure in which the front and rear parts of the instrument rod are connected by a threaded structure, the locking block is connected to the locking sleeve, and the actuator slider is connected to the transmission slider.

[0047] Figure 26 yes Figure 25 The diagram shows the structure in which the upper end of the transmission slider reset spring abuts against the annular upper pressure plate.

[0048] Figure 27 yes Figure 1 A magnified view of a portion of the image;

[0049] Figure 28 This is a schematic diagram showing the state when the connecting sleeve of the actuator connection assembly begins to align with the instrument rod.

[0050] Explanation of symbols in the diagram:

[0051] 10. Instrument box; 20. Instrument rod; 20-1. Front part; 20-1-1. Internal thread; 20-2. Rear part; 20-2-1. External thread; 21. Indicator arrow; 22. Limiting boss; 23. Locking block sliding groove; 24. Steel ball hole; 25. Dovetail groove; 26. Radial groove; 27. Mounting guide groove; 28. Transmission steel wire rope through hole; 29. ​​Connecting column limiting end face; 210. Annular upper pressure plate positioning end face;

[0052] 30. Actuator connecting assembly; 31. Connecting sleeve; 31-1. Rear end connecting part; 31-1-1. Limiting groove; 31-1-2. Dot; 31-1-3. Indicating arrow; 31-2. Middle part; 31-2-1. Circular end face; 32. Actuating wire rope; 33. Connecting column; 33-1. T-shaped slide groove; 33-2. Steel ball groove; 33-3. Guide slide; 34. Actuating slider; 34-1. T-shaped boss; 34-2. Connecting boss; 34-3. Wire rope mounting hole; 34-5. Return spring mounting hole; 35. Actuating slider return spring; 36. Actuating slider top column;

[0053] 40. End effector; 50. Drive wire rope; 60. Locking sleeve; 70. Screw; 80. Drive slider; 81. Wedge-shaped part; 82. Spring mounting hole; 83. Wire rope mounting hole; 84. Connecting groove; 90. Annular upper pressure plate; 100. Drive slider return spring; 110. Locking block; 111. Spring positioning hole; 112. Screw hole; 113. Inclined surface; 114. Flat surface; 120. Locking block compression spring; 130. Locking ball. Detailed Implementation

[0054] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0055] like Figure 1 As shown, the multi-degree-of-freedom minimally invasive surgical instrument with a detachable end effector mainly consists of an instrument box 10, an instrument rod 20, an actuator connection assembly 30, an end effector 40, a transmission steel wire rope 50, and other parts. The rear end of the instrument rod 20 is connected to the instrument box 10, which is a conventional structure in the prior art. The instrument box 10 contains a drive mechanism, and the rear end of the transmission steel wire rope 50 is connected to the drive mechanism.

[0056] like Figure 1-16As shown, the actuator connection assembly 30 includes a connecting sleeve 31, a connecting post 33, an actuator wire rope 32, an actuator slider 34, an actuator slider return spring 35, and an actuator slider top post 36. The connecting sleeve 31 includes a rear connecting part 31-1 and a middle part 31-2. The rear connecting part 31-1 and the middle part 31-2 are fixedly connected together by interference fit or welding or other methods. The connecting post 33 is provided with six T-shaped grooves 33-1 and six guide slides 33-3. The guide slides 33-3 and T-shaped grooves 33-1 are distributed at intervals. Three of the guide slides 33-3 are provided with ball grooves 33-2. The actuator slider 34 is provided with a T-shaped boss 34-1, a connecting boss 34-2, a wire rope mounting hole 34-3, and a return spring mounting hole 34-5. The T-shaped boss 34-1 of the actuator slider 34 is embedded in the T-shaped groove 33-1 of the connecting post 33 for connection and fit, so that the actuator slider 34 can... The actuator slides along the T-shaped groove 33-1; there are six actuator sliders 34, one actuator slider 34 corresponds to one T-shaped groove 33-1; the actuator slider return spring 35 is placed in the return spring mounting hole 34-5, and the upper part of the actuator slider top post 36 is also placed in the return spring mounting hole 34-5. The actuator slider top post 36 is located below the actuator slider return spring 35, the lower end of the actuator slider return spring 35 contacts the upper end of the actuator slider top post 36, and the lower end of the actuator slider top post 36 abuts against the circular end face 31-2-1 of the middle part 31-2; the actuator wire rope 32 is fixedly installed in the wire rope mounting hole 34-3; the six actuator wire ropes 32 are led out from the central through hole of the middle part 31-2 of the connecting sleeve 31 to the end actuator 40; the end face of the rear connecting part 31-1 is provided with a limiting groove 31-1-1, and the side of the rear connecting part 31-1 is provided with a dot 31-1-2 and an indicator arrow 31-1-3.

[0057] The instrument lever 20 consists of a front part 20-1 and a rear part 20-2, as follows: Figure 18 As shown, the rear end of the front part 20-1 is provided with an internal thread 20-1-1, as... Figure 26 As shown, the front end of the rear part 20-2 is provided with an external thread 20-2-1, as... Figure 25 As shown, the external thread 20-2-1 and the internal thread 20-1-1 are connected and fitted together to fix the front part 20-1 and the rear part 20-2 together. Figure 17-21As shown, the front part 20-1 has an indicator arrow 21 on its side, a limiting boss 22 on its front end face, a locking block sliding groove 23 on its side, and six dovetail grooves 25, six mounting guide grooves 27, six radial grooves 26, and six transmission wire rope through holes 28 on its front end. The radial grooves 26 communicate with the mounting guide grooves 27 and with the dovetail grooves 25. The front part 20-1 has a connecting post limiting end face 29 and an annular upper pressure plate positioning end face 210. The annular upper pressure plate 90 is located between the annular upper pressure plate positioning end face 210 and the end face of the rear part 20-2. After the front part 20-1 and the rear part 20-2 are connected by a threaded structure, the annular upper pressure plate 90 is pressed and fixed. The front part 20-1 is provided with three steel ball holes 24. The three steel ball holes 24 are evenly distributed in the circumferential direction. The steel ball holes 24 are connected to the sliding groove 23 of the locking block. The steel ball holes 24 are located above the radial groove 26.

[0058] like Figure 22 As shown, the transmission slider 80 is provided with a wedge-shaped part 81, the top of the transmission slider 80 is provided with a spring mounting hole 82 and a wire rope mounting hole 83, and the bottom of the transmission slider 80 is provided with a connecting groove 84.

[0059] The wedge-shaped portion 81 of the transmission slider 80 is placed in the dovetail groove 25 of the instrument rod 20. The transmission slider 80 can slide axially in the dovetail groove 25. One dovetail groove 25 corresponds to one transmission slider 80, and there are six transmission sliders 80 in total. The lower end of the transmission slider return spring 100 is placed in the spring mounting hole 82 of the transmission slider 80, and the upper end of the transmission slider return spring 100 abuts against the annular upper pressure plate 90. Figure 23 and 25 As shown, the six transmission steel wire ropes 50 first pass through the central through hole of the annular upper pressure plate 90, and then pass through the six transmission steel wire rope through holes 28 respectively. The ends of the transmission steel wire ropes 50 are fixedly installed in the steel wire rope mounting holes 83.

[0060] like Figure 24 As shown, the top of the locking block 110 is provided with a spring positioning hole 111, the locking block 110 is provided with two screw holes 112, and the locking block 110 is provided with an inclined surface 113 and a flat surface 114.

[0061] like Figure 23 and 25As shown, the locking steel ball 130 is located in the steel ball hole 24, the locking sleeve 60 is fitted on the instrument rod 20, the locking block 110 and the locking block compression spring 120 are located in the locking block sliding groove 23, the locking block compression spring 120 is located above the locking block 110, and the lower end of the locking block compression spring 120 is located in the spring positioning hole 111. The locking sleeve 60 is fixedly connected to the two screw holes 112 of the locking block 110 by two screws 70. When the locking sleeve 60 is pulled backward by hand (towards the instrument box 10), the locking block 110 presses against the locking block compression spring 120, the locking block compression spring 120 is compressed, the locking steel ball 130 is released from the pressure of the locking block 110, the pressure applied by the locking block 110 to the locking steel ball 130 disappears, and the locking steel ball 130 moves freely in the steel ball hole 24. After the hand is released, under the elastic force of the locking block compression spring 120, the locking block 110 moves downward (towards the end effector). The inclined surface 113 on the locking block 110 pushes the locking steel ball 130 until the flat surface 114 on the locking block 110 contacts the locking steel ball 130. There are three locking block sliding grooves 23, which are evenly distributed in the circumferential direction. Correspondingly, there are three locking block compression springs 120, three locking blocks 110, three locking steel balls 130, three steel ball holes 24, and six screws 70.

[0062] The end effector 40 is connected to the front end of the middle part 31-2 of the connecting sleeve 31, and the front end of the actuating wire rope 32 is connected to the end effector 40. The end effector 40 adopts a conventional structure in the prior art. The end effector can have various structures, such as pliers or scissors.

[0063] After the end effector 40 is connected to the actuator connection assembly 30, the process of assembling the actuator connection assembly 30 to the instrument rod 20 is as follows: Figure 28 As shown, first pull the locking sleeve 60 upwards by hand (at this time, the locking steel ball 130 can move), then align the indicator arrow 31-1-3 on the rear connecting part 31-1 with the indicator arrow 21 on the instrument rod 20, insert the connecting post 33 into the front end of the front part 20-1 of the instrument rod 20, and the six actuator sliders 34 are respectively embedded in the six mounting guide grooves 27. When the connecting post 33 is fully inserted, the top of the connecting post 33 is blocked by the connecting post limiting end face 29. At this time, the connecting boss 34-2 of the actuator slider 34 is embedded in the radial groove 26, and the limiting boss 22 on the instrument rod 20 is embedded in the limiting groove 31-1-1 of the rear connecting part 31-1. Then, rotate the rear connecting part 31-1 clockwise in the direction indicated by the arrow. The rear connecting part 31-1 drives the connecting post 33 to rotate, and the connecting boss 34-2 of the actuator slider 34 moves out of the radial groove 26 and enters the connecting groove 84 at the bottom of the transmission slider 80 (as shown). Figure 25As shown, this achieves the integration of the execution slider 34 and the transmission slider 80 into one unit. The indicator arrow 21 is aligned with the dot 31-1-2, as shown. Figure 27 As shown, the limiting boss 22 moves to the leftmost end of the limiting groove 31-1-1, and finally the locking sleeve 60 is released. Under the action of the spring 120 of the locking block compression, the locking block 110 returns to the initial position. The plane 114 of the locking block 110 then squeezes a part of the locking steel ball 130 into the steel ball groove 33-2 of the connecting column 33, thus locking the connecting column 33 and preventing it from loosening. This completes the assembly of the actuator connecting assembly 30 and the instrument rod 20. During surgery, the transmission steel wire rope 50 transmits motion to the execution steel wire rope 32 through the transmission slider 80 and the execution slider 34. The execution steel wire rope 32 causes the end effector 40 to perform surgical actions. During surgery, when the transmission steel wire rope 50 is pulled backward, the transmission slider return spring 100 is compressed. When the backward pulling force disappears, under the action of the spring 100 of the transmission slider return spring, the transmission slider 80 moves forward with the transmission steel wire rope 50 to reset. During the operation, when the actuator wire rope 32 moves forward, the actuator slider return spring 35 is compressed. When the force that caused the actuator wire rope 32 to move forward disappears, the actuator slider 34 moves backward with the actuator wire rope under the action of the return force of the actuator slider return spring 35.

[0064] When it is necessary to replace the end effector 40 and the actuator connection assembly 30, pull the locking sleeve 60 backward by hand, rotate the rear connecting part 31-1 counterclockwise, and the limiting boss 22 will move to the rightmost end of the limiting groove 31-1-1, aligning the indicator arrow 31-1-3 with the indicator arrow 21. Then pull the connecting post 33 outward, and the actuator connection assembly 30 will separate from the instrument rod 20, completing the disassembly of the end effector 40 and the actuator connection assembly 30. Finally, replace the end effector 40 and the actuator connection assembly 30 with a new one.

[0065] As can be seen, the instrument rod 20, instrument box 10, and transmission wire rope can all be reused. The end effector 40 and the actuator connection assembly 30 are used as disposable consumables.

[0066] It should be noted that the number of transmission wire ropes 50 can be three, four, five, seven or more, and the number of transmission sliders can be three, four, five, seven or more. Correspondingly, the number of actuating wire ropes 32 can also be three, four, five, seven or more, and the number of actuating sliders can also be three, four, five, seven or more.

[0067] like Figure 21 As shown, the front part 20-1 is provided with a spare center through hole, which is located at the center of the connecting post limiting end face 29. This spare center through hole is sometimes used, for example, for wiring.

[0068] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and, without departing from the spirit of the present invention, adopt other forms of part configurations, driving devices, and connection methods to create structures and embodiments similar to this technical solution without creative design, all such structures and embodiments should fall within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom minimally invasive surgical instrument with a detachable end effector, characterized in that, Includes instrument box, instrument rod, actuator connection assembly, end effector, locking device, and multiple drive steel wire ropes; The actuator connection assembly includes a connecting sleeve, a connecting column, an actuator wire rope, an actuator slider, an actuator slider return spring, and an actuator slider top column. The connecting sleeve includes a rear connecting part and a middle part. The connecting column is provided with multiple spaced T-shaped grooves and multiple guide slides. Three of the multiple guide slides are respectively provided with ball grooves. The actuator slider is provided with a T-shaped boss, a connecting boss, and a reset spring mounting hole. The T-shaped boss of the actuator slider is embedded in the T-shaped groove of the connecting column. The reset spring of the actuator slider is located in the reset spring mounting hole. The upper part of the actuator slider top column is located in the reset spring mounting hole. The actuator slider top column is located below the actuator slider reset spring. The lower end of the actuator slider reset spring contacts the upper end of the actuator slider top column. The lower end of the actuator slider top column abuts against the circular end face of the middle part. The instrument rod includes a front part and a rear part. The side of the front part is provided with locking block sliding grooves evenly distributed in the circumferential direction. The front end of the front part is provided with several dovetail grooves, several mounting guide grooves, several radial grooves, and several transmission steel wire rope through holes. The radial grooves are connected to the mounting guide grooves and the dovetail grooves. The front part is provided with a connecting column limiting end face and an annular upper pressure plate positioning end face. An annular upper pressure plate is provided between the positioning end face of the annular upper pressure plate and the end face of the rear part. The front part is provided with three steel ball holes evenly distributed in the circumferential direction. The steel ball holes are connected to the locking block sliding grooves and are located above the radial grooves. The front part of the instrument rod is connected to a transmission slider. The transmission slider is provided with a wedge-shaped part. The top of the transmission slider is provided with a spring mounting hole, and the bottom of the transmission slider is provided with a connecting groove. The wedge-shaped part of the transmission slider is located in the dovetail groove of the front part of the instrument rod. A transmission slider return spring is provided in the spring mounting hole of the transmission slider, and the upper end of the transmission slider return spring abuts against the annular upper pressure plate. The locking device includes a locking block, a locking block compression spring, and a locking steel ball. The top of the locking block is provided with a spring positioning hole, an inclined surface, and a flat surface. The locking steel ball is located in the steel ball hole of the instrument rod. The locking sleeve is fitted on the front part of the instrument rod. The locking block and the locking block compression spring are located in the locking block sliding groove of the instrument rod. The locking block compression spring is located above the locking block, and the lower end of the locking block compression spring is located in the spring positioning hole of the locking block. The locking sleeve is fixedly connected to the locking block.

2. The multi-degree-of-freedom minimally invasive surgical instrument with a detachable end effector according to claim 1, characterized in that, The number of T-shaped slides is six, the number of guide slides is six, the number of actuating slides is six, the number of actuating wire ropes is six, the number of actuating slide return springs is six, the number of actuating slide top posts is six, the number of radial grooves is six, the number of transmission wire rope through holes is six, and the number of transmission slide return springs is six.

3. The multi-degree-of-freedom minimally invasive surgical instrument with a detachable end effector according to claim 1, characterized in that, The end face of the rear connecting part is provided with a limiting groove, and the side of the rear connecting part is provided with dots and indicator arrows.

4. The multi-degree-of-freedom minimally invasive surgical instrument with a detachable end effector according to claim 1, characterized in that, The front end of the front part has an indicator arrow on its side and a limiting protrusion on its front end face.

5. The multi-degree-of-freedom minimally invasive surgical instrument with a detachable end effector according to claim 1, characterized in that, The number of locking block compression springs is three, the number of locking blocks is three, the number of locking steel balls is three, and the number of steel ball holes is three.

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