Tensioning assembly, surgical instrument, adapter and surgical robot

Abstract

The application provides a tensioning assembly, a surgical instrument, an adapter and a surgical robot, wherein the tensioning assembly comprises a winding mechanism and a tensioning mechanism, the winding mechanism comprises a damping part, the tensioning mechanism comprises a damping piece, the damping piece is movably connected to the winding mechanism, and the damping piece is configured to abut or separate from the damping part of the winding mechanism. The application can keep the pre-tightening state of the transmission rope before and after the surgical instrument is assembled with the adapter, and when the transmission rope is loosened due to long-term use, the transmission rope can be tensioned at any time through the tensioning assembly, thereby reducing the material requirements of the transmission rope, and there is no need to frequently adjust the pre-tightening state of the transmission rope before use of the surgical instrument, which is convenient to operate.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more particularly to a tensioning component, surgical instrument, adapter, and surgical robot. Background Technology

[0002] Surgical robots can be equipped with robotic arms for performing surgical manipulations. Surgical instruments are mounted at the distal end of these robotic arms, effectively transmitting the robotic arm's motion to its end effector to control the end effector's movement in different directions. Surgical instruments typically include a handle for driving the end effector. This handle engages with a sterile adapter at the distal end of the robotic arm, allowing the robotic arm's motors to drive the adapter, which in turn drives the handle, ultimately moving the surgical instrument.

[0003] Existing robotic surgical instrument drive systems often employ closed-loop linear transmission, requiring the drive rope (cable) to be pre-tensioned and assembled into the drive system at the factory. However, the shaft fixing the drive rope is prone to rotation when not in operation, causing the drive rope to slack and malfunction, necessitating frequent and cumbersome adjustments before deployment. Furthermore, the drive rope inevitably slackens over time. To prevent this, existing closed-loop drive ropes require extremely high stiffness and minimal strain over time. Therefore, this transmission method places very high demands on the manufacturing process and drive rope materials, and is ultimately uneconomical. Summary of the Invention

[0004] The purpose of this application is to provide a tensioning component, surgical instrument, adapter, and surgical robot to solve the problem that the closed-loop linear transmission method in the prior art has high requirements for process and transmission rope material.

[0005] The first aspect of this application provides a tensioning assembly for use in surgical instruments, comprising:

[0006] A winding mechanism, the winding mechanism including a damping section;

[0007] The tensioning mechanism includes a damping element movably connected to the winding mechanism and configured to abut or separate from the damping portion of the winding mechanism.

[0008] In one possible design, the tensioning mechanism also includes an elastic element;

[0009] One end of the elastic element abuts against the housing of the surgical instrument, and the other end of the elastic element abuts against the damping element.

[0010] In one possible design, the damping part is a truncated cone, and the cross-sectional area of ​​the truncated cone gradually increases from the side closer to the damping member to the side farther away from the damping member.

[0011] The damping element is provided with a tapered hole that mates with the conical platform. The inner wall surface of the tapered hole is formed as an anti-loosening surface, which abuts against or separates from the surface of the conical platform.

[0012] In one possible design, the winding mechanism includes a winding shaft and a drive key, the drive key being fixed to one end of the winding shaft and protruding from the housing of the surgical instrument.

[0013] In one possible design, the cross-sectional shape of the drive key is rectangular or trapezoidal.

[0014] In one possible design, the damping element protrudes from or is housed within the housing of the surgical instrument by the elastic force of the elastic element.

[0015] In one possible design, the tensioning mechanism further includes a top post, one end of which abuts against the damping element, and the other end of which protrudes from or is housed in the housing of the surgical instrument by the elastic force of the elastic element, so as to drive the damping element to abut or separate from the damping part.

[0016] A second aspect of this application also provides a surgical instrument, comprising a housing, an actuator, a transmission cord, and a tensioning assembly provided in the first aspect of this application, the tensioning assembly being disposed within the housing;

[0017] The transmission rope is fixed to the winding mechanism and the actuator in the tensioning assembly, respectively. The winding mechanism controls the action of the actuator through the transmission rope.

[0018] In one possible design, a support frame is provided inside the housing, one end of the elastic element in the tensioning mechanism abuts against the support frame, a limiting part is provided on the support frame, a limiting step is provided on the damping element in the tensioning mechanism, and the limiting step is in contact with the limiting part.

[0019] A third aspect of this application also provides an adapter, which is fixed in conjunction with the surgical instrument provided in the second aspect of this application. The adapter is provided with a drive mechanism for driving the winding mechanism to rotate, and the drive mechanism is detachably connected to the winding mechanism.

[0020] In one possible design, the adapter is provided with a boss for abutting against one end of the damping member that protrudes from the housing of the surgical instrument.

[0021] In one possible design, the adapter is provided with a boss for abutting against the end of the top post in the tensioning mechanism away from the damping element in the tensioning mechanism.

[0022] In one possible design, the boss has a guide surface in the mounting direction of the winding mechanism toward the drive mechanism.

[0023] In one possible design, the guide surface is an arc-shaped surface or a straight inclined surface.

[0024] In one possible design, the drive mechanism is provided with a keyway for engaging with the drive key in the winding mechanism.

[0025] In one possible design, the width of the keyway is greater than the width of the drive key.

[0026] A fourth aspect of this application also provides a surgical robot, comprising a robotic arm, surgical instruments provided in the second aspect of this application, and an adapter provided in the third aspect of this application, wherein the adapter is connected to the robotic arm and the surgical instruments are detachably connected to the adapter.

[0027] In one possible design, the robotic arm is equipped with a motor, and the drive mechanism of the adapter is connected to the robotic arm via the motor.

[0028] The technical solution provided in this application can achieve the following beneficial effects:

[0029] The tensioning component, surgical instrument, adapter, and surgical robot provided in this application enable the surgical instrument to maintain the pre-tension of the transmission rope before and after assembly with the adapter. At the same time, if the transmission rope becomes loose due to long-term use, it can be tightened at any time by the tensioning component, thereby reducing the material requirements of the transmission rope. It also eliminates the need to frequently adjust the pre-tension of the transmission rope before using the surgical instrument, making it easier to operate.

[0030] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of the surgical instrument provided in the embodiments of this application;

[0032] Figure 2 for Figure 1 A magnified view of a portion of the image;

[0033] Figure 3 This is a diagram showing the state of the surgical instruments when they are separated from the adapter.

[0034] Figure 4This is a schematic diagram of the structure of a surgical instrument;

[0035] Figure 5 for Figure 2 A partial view;

[0036] Figure 6 for Figure 2 A partial view in the X direction;

[0037] Figure 7 for Figure 2 A partial view in the Z direction (winding mechanism and drive mechanism are separated).

[0038] Figure 8 for Figure 2 A partial view in the Z direction (connection between the winding mechanism and the drive mechanism).

[0039] Figure 9 for Figure 2 A partial view showing the engagement of the drive key and keyway in the X direction;

[0040] Figure 10 for Figure 2 A partial view in the Y direction (the top post is not in contact with the boss);

[0041] Figure 11 for Figure 2 A partial view in the Y direction (top post and boss abutting).

[0042] Figure label:

[0043] 1- Surgical instruments;

[0044] 11-Shell;

[0045] 111-Support frame;

[0046] 12-Winding mechanism;

[0047] 121 - Wound spool;

[0048] 1211 - Frustum conical;

[0049] 122 - Drive key;

[0050] 13-Tensioning mechanism;

[0051] 131-Damping component;

[0052] 1311 - Anti-loosening surface;

[0053] 132 - Elastic element;

[0054] 133-Top column;

[0055] 14-Transmission rope;

[0056] 15-Guide pulley;

[0057] 2-Adapter;

[0058] 21-Drive mechanism;

[0059] 211-Keyway;

[0060] 22-Boss;

[0061] 3-Executable;

[0062] 31-Connecting pipes;

[0063] 32 - Surgical operating tools.

[0064] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0066] In the description of this application, unless otherwise expressly specified and limited, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; unless otherwise specified or explained, the term "multiple" refers to two or more; the terms "connected," "fixed," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, an integral connection, or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0067] In the description of this specification, it should be understood that the directional terms such as "upper" and "lower" used in the embodiments of this application are used to describe the angles shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should also be understood that when it is mentioned that an element is connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected to the other element "upper" or "lower" through an intermediate element.

[0068] like Figures 1 to 11As shown, this application provides a tensioning component, a surgical instrument, an adapter, and a surgical robot. The tensioning component is applied to a surgical instrument 1, which can perform various surgical procedures. The tensioning component can tension the transmission cable in the surgical instrument 1 to ensure that the transmission cable does not slacken before and after the surgical instrument 1 is used. The surgical instrument 1 is connected to the adapter and then to the surgical robot, so that the surgical robot can control the movement of the actuator at the distal end of the surgical instrument 1 through the adapter to perform surgical operations.

[0069] The surgical instrument 1 includes a housing 11, an actuator 3, a transmission rope 14, and the aforementioned tensioning assembly. The housing 11 is designed for easy gripping and operation by the user. The tensioning assembly is housed within the housing 11 and includes a winding mechanism 12 and a tensioning mechanism 13. The winding mechanism 12 includes a damping section, and the tensioning mechanism 13 includes a damping element 131. The damping element 131 is movably connected to the winding mechanism 12 and is configured to abut or separate from the damping section of the winding mechanism 12. The transmission rope 14 is fixed to both the winding mechanism 12 and the actuator 3 within the tensioning assembly. The winding mechanism 12 controls the movement of the actuator 3 via the transmission rope 14. One end of the transmission rope 14 can be fixed to the winding mechanism 12, and the other end can be fixed to the actuator 3; alternatively, both ends of the transmission rope 14 can be fixed to the actuator 3, while a position between the two ends of the transmission rope 14 is fixed to the winding mechanism 12.

[0070] It is understood that in this embodiment, the surgical instrument 1 can be connected to the robotic arm of the surgical robot via the adapter 2. The movement of the surgical instrument 1 can be transmitted to the adapter 2 and then to the actuator 3 at the distal end of the surgical instrument 1 by controlling the robotic arm, so as to perform surgical operations on the patient through the actuator 3.

[0071] The surgical instrument 1 transmits the force of the robotic arm to the actuator 3 via the transmission rope 14. The tensioning mechanism 13 maintains the tension of the transmission rope 14. When the damping element 131 in the tensioning mechanism 13 abuts against the damping part of the winding mechanism 12, the winding mechanism 12 cannot rotate due to friction, thus maintaining the pre-tension of the transmission rope 14. When the damping element 131 of the tensioning mechanism 13 separates from the winding mechanism 12, the winding mechanism 12 can be controlled to rotate via the adapter 2, and the transmission rope 14 also remains taut under the control of the adapter 2.

[0072] Therefore, the tensioning component provided in this application embodiment enables the surgical instrument 1 to maintain the pre-tension of the transmission rope before and after assembly with the adapter, reducing the material requirements of the transmission rope, and eliminating the need to frequently adjust the pre-tension of the transmission rope before using the surgical instrument 1, which facilitates operation.

[0073] In addition, such as Figure 1 As shown, the actuator 3 may specifically include a connecting pipe 31 and a surgical operating device 32. One end of the surgical operating device 32 is connected to the connecting pipe 31, and the end of the connecting pipe 31 away from the surgical operating device 32 is connected to the housing 11. The transmission rope 14 can be connected to the surgical operating device 32 through the connecting pipe 31, thereby realizing the control of the movement of the surgical operating device 32 through the transmission rope 14 to perform surgical operations.

[0074] Specifically, such as Figure 7 and Figure 8 As shown, the tensioning mechanism 13 also includes an elastic element 132. One end of the elastic element 132 abuts against the housing 11, and the other end of the elastic element 132 abuts against one end of the damping element 131. The other end of the damping element 131 is used to abut against or separate from the winding mechanism 12.

[0075] The damping element 131 can protrude from or be housed within the housing 11 of the surgical instrument 1 by the elastic force of the elastic element 132. When the damping element 131 is pressed against the winding mechanism 12 by the elastic force of the elastic element 132, a portion of the damping element 131 protrudes from the housing 11; when the portion of the damping element 131 protruding from the housing 11 is pushed by the adapter 2, the damping element 131 separates from the winding mechanism 12 and can be housed within the housing 11.

[0076] As a specific implementation, the tensioning mechanism 13 also includes a top post 133. One end of the top post 133 abuts against the damping member 131, and the other end of the top post 133 protrudes out or is housed in the housing 11 of the surgical instrument 1 by the elastic force of the elastic member 132, so as to drive the damping member 131 to abut or separate from the damping part of the winding mechanism 12.

[0077] The elastic element 132 can be a spring, which can always remain compressed, meaning it can always provide a pressing force to the damping element 131. When the surgical instrument 1 is separated from the adapter 2, the elastic element 132 uses its own elasticity to press the damping element 131 against the winding mechanism 12, thus restricting the rotation of the winding mechanism 12. At this time, the end of the top post 133 away from the damping element 131 protrudes from the housing 11 of the surgical instrument 1. When the surgical instrument 1 is installed onto the adapter 2, the end of the top post 133 protruding from the housing 11 can be squeezed by the adapter 2, causing the top post 133 to move away from the adapter 2. The top post 133 can then push the damping element 131 to move, thereby separating the damping element 131 from the winding mechanism 12. The damping component 131 may have a groove or hole that mates with the top post 133. The top post 133 and the groove or hole may be interference-fitted to prevent the top post 133 from shaking and to facilitate the assembly of the damping component 131 and the top post 133. Of course, the top post 133 and the damping component 131 may also be integrally formed.

[0078] Among them, such as Figure 3 , Figures 7 to 11 As shown, the adapter 2 is equipped with a drive mechanism 21 for driving the winding mechanism 12 to rotate. The drive mechanism 21 is detachably connected to the winding mechanism 12. This detachable connection can be a plug-in or snap-fit ​​connection, so as to achieve relative fixation or separation between the winding mechanism 12 and the drive mechanism 21. When the winding mechanism 12 rotates under the control of the drive mechanism 21, the winding mechanism 12 can tension the transmission rope 14, and the transmission rope 14 can transmit force to the actuator 3, thereby driving the actuator 3 to move.

[0079] As a specific implementation method, such as Figure 7 and Figure 8 As shown, the winding mechanism 12 is provided with a conical platform 1211, which serves as the damping part of the winding mechanism 12. The cross-sectional area of ​​the conical platform 1211 gradually increases from the side closer to the damping member 131 to the side farther away from the damping member 131. The damping member 131 is provided with a conical hole that mates with the conical platform 1211. The inner wall surface of the conical hole is formed as an anti-loosening surface 1311, which abuts against or separates from the surface of the conical platform 1211.

[0080] It is understood that the aforementioned anti-loosening surface 1311 is an inclined surface, forming a certain angle with the direction of movement of the damping element 131. When the damping element 131 is pressed against the conical platform 1211 by the action of the elastic element 132, the anti-loosening surface 1311 generates a normal force on the conical platform 1211, causing static friction between the anti-loosening surface 1311 and the conical platform 1211, thereby achieving the purpose of locking the winding mechanism 12, preventing the winding mechanism 12 from rotating, and thus keeping the transmission rope 14 in a taut state.

[0081] As a specific implementation method, such as Figure 7 and Figure 8 As shown, the winding mechanism 12 specifically includes a winding shaft 121 and a drive key 122. The drive key 122 is fixed to one end of the winding shaft 121 and protrudes from the housing 11 of the surgical instrument 1. The adapter 2 may be provided with a groove that mates with the drive key 122. In this embodiment, the drive mechanism 21 of the adapter 2 may be provided with a keyway 211 for mates with the drive key 122.

[0082] Specifically, there can be four winding shafts 121, each connected to a transmission rope 14 to control the surgical operating device 32, thereby enabling the surgical operating device 32 to move in multiple degrees of freedom. In addition, the housing 11 is also provided with a guide pulley 15, which can guide the transmission ropes 14 of each winding shaft 121 into the connecting pipe 31 for connection with the surgical operating device 32, while also preventing the transmission ropes 14 from interfering with surrounding components.

[0083] The drive mechanism 21 can be a drive wheel, and a keyway 211 is formed on the drive wheel, extending in the direction in which the winding mechanism 12 and the drive wheel are installed. A drive key 122 can gradually slide into the keyway 211 from one end opening to achieve a mating installation between the winding mechanism 12 and the drive wheel. The keyway 211 is formed on one side of the drive wheel, while the other side of the drive wheel is connected to a motor. The motor can control the rotation of the drive wheel, and the drive wheel can drive the winding mechanism 12 to rotate synchronously through the mating of the keyway 211 and the drive key 122.

[0084] The drive key 122 can have a rectangular or trapezoidal cross-sectional shape, and the corresponding keyway 211 can also have a rectangular or trapezoidal cross-sectional shape that mates with the drive key 122. When the drive key 122 mates with the keyway 211, the drive mechanism 21 can constrain the winding mechanism 12 and prevent it from rotating. Of course, the cross-sectional shape of the keyway 211 can also be any other shape that can restrict the rotation of the winding mechanism 12.

[0085] It should be noted that when the surgical instrument 1 is removed from the adapter 2, the drive key 122 is generally required to be preset at a specific angle. The winding mechanism 12 can have a slight permissible error when rotating to this specific angle. Therefore, to ensure that the drive key 122 can be smoothly removed or installed from the keyway 211, in this embodiment, the width of the keyway 211 can be slightly larger than the width of the drive key 122. This allows the drive key 122 to slide smoothly into or out of the keyway 211 even with a slight angular error relative to it, facilitating operation.

[0086] For the surgical instrument 1 provided in this embodiment, a support frame 111 is provided inside the housing 11. One end of the elastic element 132 in the tensioning mechanism 13 abuts against the support frame 111. A limiting part is provided on the support frame 111, and a limiting step is provided on the damping element 131 in the tensioning mechanism 13. The limiting step and the limiting part are in contact. Through the cooperation of the limiting step and the limiting part, excessive movement or detachment of the damping element 131 can be prevented. The support frame 111 can be integrally formed with the housing 11.

[0087] The adapter provided in this embodiment needs to be connected with the surgical instrument 1 to transmit force. The adapter 2 is provided with a drive mechanism 21 for driving the winding mechanism 12 to rotate, and the drive mechanism 21 is detachably connected to the winding mechanism 12.

[0088] In the specific operation process, such as Figure 7 As shown, when the surgical instrument 1 needs to be detached from the adapter 2, the winding mechanism 12 can gradually separate from the drive mechanism 21 of the adapter 2. During the separation process, the drive mechanism 21 still maintains its constraint on the winding mechanism 12, preventing it from rotating. At the same time, the tensioning mechanism 13 can gradually approach and abut against the winding mechanism 12 during the separation process. At this time, the tensioning mechanism 13 and the drive mechanism 21 jointly constrain the rotation of the winding mechanism 12. When the winding mechanism 12 is completely separated from the drive mechanism 21, the tensioning mechanism 13 can independently constrain the rotation of the winding mechanism 12.

[0089] When it is necessary to install surgical instrument 1 into adapter 2, such as Figure 8 As shown, the winding mechanism 12 can be gradually installed into the drive mechanism 21 of the adapter 2. During the installation process, the winding mechanism 12 can first be constrained by the drive mechanism 21 and the tensioning mechanism 13. As the winding mechanism 12 continues to be installed, the tensioning mechanism 13 gradually separates from the winding mechanism 12. At this time, the drive mechanism 21 can independently constrain the rotation of the winding mechanism 12.

[0090] As a specific implementation, a portion of the damping element 131 can protrude from or be housed within the housing 11. Specifically, when the damping element 131 abuts against the winding mechanism 12, a portion of the damping element 131 can protrude from the housing 11. When the portion of the damping element 131 protruding from the housing 11 is pushed by the adapter 2, the damping element 131 separates from the winding mechanism 12, and the damping element 131 can be housed within the housing 11.

[0091] As a specific implementation method, such as Figure 10 and Figure 11As shown, the adapter 2 is provided with a boss 22, which is used to abut against the end of the top post 133 in the tensioning mechanism 13 away from the damping element 131 in the tensioning mechanism 13. During the installation of the surgical instrument 1 onto the adapter 2, when the winding mechanism 12 begins to cooperate with the drive mechanism 21, the top post 133 does not temporarily contact the boss 22. At this time, the top post 133 does not move, and the damping element 131 remains pressed against the winding mechanism 12. That is to say, in the distance before the winding mechanism 12 begins to cooperate with the drive mechanism 21 and the top post 133 contacts the boss 22, the winding mechanism 12 is simultaneously constrained by the drive mechanism 21 and the damping element 131 and cannot rotate. As the winding mechanism 12 and the drive mechanism 21 continue to cooperate and install, the top column 133 reaches the position of the boss 22 and is lifted by the boss 22. The top column 133 can push the damping member 131 away from the winding mechanism 12. At this time, the winding mechanism 12 is only constrained by the drive mechanism 21 and cannot rotate.

[0092] In order to ensure that the top post 133 can be smoothly lifted without jamming after contacting the boss 22, the boss 22 is provided with a guide surface in the installation direction of the winding mechanism 12 toward the drive mechanism 21.

[0093] Specifically, the guide surface can be an arc-shaped surface or a straight inclined surface. In this embodiment, an arc-shaped surface is preferred.

[0094] This application also provides a surgical robot, which includes a robotic arm, a surgical instrument 1 and an adapter as provided in any embodiment of this application. The adapter 2 is connected to the robotic arm, and the surgical instrument 1 is detachably connected to the adapter 2.

[0095] The robotic arm is equipped with a motor, and the drive mechanism 21 of the adapter 2 is connected to the robotic arm via the motor. The motor can provide power to the drive mechanism 21 on the adapter 2, thereby controlling the rotation of the winding mechanism 12 through the drive mechanism 21, and thus adjusting the pretension of the transmission rope 14. This avoids the problem of the transmission rope 14 becoming slack and unable to work properly, and also reduces the requirements for the material selection of the transmission rope 14.

[0096] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A tensioning assembly for use in surgical instruments, characterized in that, include: A winding mechanism (12) includes a damping section; Tensioning mechanism (13), the tensioning mechanism (13) includes a damping element (131), the damping element (131) is movably connected to the winding mechanism (12), and the damping element (131) is configured to abut or separate from the damping portion of the winding mechanism (12); The damping part is a conical truncated platform (1211), and the cross-sectional area of ​​the conical truncated platform (1211) gradually increases from the side closer to the damping member (131) to the side farther away from the damping member (131). The damping member (131) is provided with a tapered hole that mates with the tapered platform (1211). The inner wall surface of the tapered hole is formed as an anti-loosening surface (1311). The anti-loosening surface (1311) abuts against or separates from the surface of the tapered platform (1211).

2. The tensioning assembly according to claim 1, characterized in that, The tensioning mechanism (13) also includes an elastic element (132); One end of the elastic element (132) abuts against the housing (11) of the surgical instrument (1), and the other end of the elastic element (132) abuts against the damping element (131).

3. The tensioning assembly according to claim 1, characterized in that, The winding mechanism (12) includes a winding shaft (121) and a drive key (122). The drive key (122) is fixed to one end of the winding shaft (121) and protrudes from the housing (11) of the surgical instrument (1).

4. The tensioning assembly according to claim 3, characterized in that, The cross-sectional shape of the drive key (122) is rectangular or trapezoidal.

5. The tensioning assembly according to claim 2, characterized in that, The damping element (131) protrudes from or is housed within the housing (11) of the surgical instrument (1) by the elastic force of the elastic element (132).

6. The tensioning assembly according to claim 2, characterized in that, The tensioning mechanism (13) further includes a top post (133), one end of which abuts against the damping member (131), and the other end of which protrudes or is housed in the housing (11) of the surgical instrument (1) by the elastic force of the elastic member (132), so as to drive the damping member (131) to abut or separate from the damping part.

7. A surgical instrument, characterized in that, It includes a housing (11), an actuator (3), a transmission rope (14), and a tensioning assembly as described in any one of claims 1-6, the tensioning assembly being disposed within the housing (11); The transmission rope (14) is fixed to the winding mechanism (12) and the actuator (3) in the tensioning assembly, respectively. The winding mechanism (12) controls the actuator (3) to move through the transmission rope (14).

8. The surgical instrument according to claim 7, characterized in that, A support frame (111) is provided inside the housing (11). One end of the elastic element (132) in the tensioning mechanism (13) abuts against the support frame (111). A limiting part is provided on the support frame (111). A limiting step is provided on the damping element (131) in the tensioning mechanism (13). The limiting step is in contact with the limiting part.

9. A surgical robot, characterized in that, The device includes a robotic arm, a surgical instrument (1) as described in claim 7 or 8, and an adapter (2), wherein the adapter (2) is connected to the robotic arm and the surgical instrument (1) is detachably connected to the adapter (2); the adapter (2) is provided with a drive mechanism (21) for driving the winding mechanism (12) to rotate, and the drive mechanism (21) is detachably connected to the winding mechanism (12).

10. The surgical robot according to claim 9, characterized in that, The robotic arm is equipped with a motor, and the drive mechanism (21) of the adapter (2) is connected to the robotic arm through the motor.

11. The surgical robot according to claim 9, characterized in that, The adapter (2) is provided with a boss (22) for abutting against one end of the damping member (131) that protrudes from the housing (11) of the surgical instrument (1).

12. The surgical robot according to claim 9, characterized in that, The adapter (2) is provided with a boss (22), which is used to abut against one end of the top post (133) of the tensioning mechanism (13) away from the damping element (131) in the tensioning mechanism (13).

13. The surgical robot according to claim 11 or 12, characterized in that, The boss (22) has a guide surface in the mounting direction of the winding mechanism (12) toward the driving mechanism (21).

14. The surgical robot according to claim 13, characterized in that, The guide surface is an arc surface or a straight inclined surface.

15. The surgical robot according to claim 13, characterized in that, The drive mechanism (21) is provided with a keyway (211) for cooperating with the drive key (122) in the winding mechanism (12), and the width of the keyway (211) is greater than the width of the drive key (122).

Images