Surgical instrument components, surgical instrument devices, and surgical robots

Abstract

This invention relates to a surgical instrument assembly, a surgical instrument device, and a surgical robot. The surgical robot includes a power system, a robotic arm, and a surgical instrument device. The surgical instrument assembly of the surgical instrument device is detachably connected to the end of the robotic arm. The power system is mounted on the robotic arm and is drive-connected to the surgical instrument assembly. The surgical instrument assembly is detachably connected to the surgical instrument. The surgical instrument assembly includes a wire drive system, a telescopic drive system, and a wire length constraint system. The drive wire of the wire drive system is connected to the surgical instrument to control its posture. The telescopic drive system is connected to the proximal end of the surgical instrument to drive it to perform telescopic movements. The wire length constraint system is connected to the drive wire and is used to limit the total length of the drive wire to remain constant during the telescopic process of the surgical instrument. This reduces the complexity of motor wiring, decreases the size of the surgical robot, and lowers its cost.

Description

Technical Field

[0001] This invention relates to the field of surgical instrument technology, and in particular to a surgical instrument assembly, a surgical instrument device, and a surgical robot. Background Technology

[0002] In traditional laparoscopic surgery, the endoscope is operated by hand by the surgeon. The endoscope itself is quite heavy, and prolonged operation puts a significant strain on the surgeon's hands. To address this issue, surgical robots and various semi-automatic robotic arms have been introduced into laparoscopic surgery. Surgical robots use robotic arms to control surgical instruments, which, once inserted into the body, are used to manipulate the lesion. Before surgery, sterilized surgical instruments are mounted onto the robot. During the surgery, the degrees of freedom and workspace of the instruments determine the surgeon's maneuverability over the lesion. The degrees of freedom of the instruments include rotation, yaw, pitch, and extension. Currently, the attitude control (yaw and pitch) of the end effector of laparoscopic robots primarily uses a linear drive system, which is housed within the instrument housing. However, due to the limitations of the linear drive mode, the drive system controlling the overall extension and retraction of the instruments, because it interferes with the linear drive system, is often located outside the instrument housing and not included in the housing of the detachable instruments themselves. This results in the control device's power system not being integrated, but rather a superposition of two power systems. Consequently, the surgical robot has multiple superimposed power systems, which not only complicates the structure but also increases the overall size and cost of the surgical robot system.

[0003] Existing multi-degree-of-freedom integrated single-port laparoscopic surgical instruments utilize slide rails for instrument extension and retraction, with the power unit mounted on these rails. This means the power unit is not fixed and must move with the instrument's extension and retraction, leading to difficulties in motor wiring, a large and complex instrument size, and challenging control. Furthermore, the power unit must be disassembled after each surgery for instrument sterilization, making the process cumbersome and inconvenient. Moreover, when the instrument is mounted at the end of a robotic arm, the slide rail design results in a large robotic arm during surgery, increasing the risk of interference between arms and requiring a large aseptic isolation device. This device needs ample space for extension and retraction, adding to its design complexity. Additionally, some aseptic isolation devices are more susceptible to damage due to the instrument's extension and retraction, compromising the sterile barrier and posing an infection risk to the patient. Summary of the Invention

[0004] To address one or more of the aforementioned technical problems, the present invention provides a surgical instrument assembly, a surgical instrument device, and a surgical robot, which can reduce the difficulty of motor connection wiring, reduce the size of the instrument, simplify the instrument structure, and reduce the difficulty of control.

[0005] To achieve the above objectives, according to a first aspect of the present invention, a surgical instrument assembly is provided, comprising a wire drive system, a telescopic drive system, and a wire length constraint system;

[0006] The wire drive system includes a plurality of drive wires, which are used to connect to surgical instruments to control the posture of the surgical instruments;

[0007] The telescopic drive system is used to connect to the proximal end of the surgical instrument to drive the surgical instrument to perform telescopic movements;

[0008] The wire length constraint system is connected to the transmission wire and is used to limit the total length of the transmission wire to remain constant during the extension and retraction of the surgical instrument.

[0009] Optionally, the wire length constraint system includes a movable frame and a wire length control drive system; the movable frame is provided with guide wheels, which are used to guide the transmission wire;

[0010] The wire length control drive system is configured to drive the movable frame to move in the same direction as the extension and retraction of the surgical instrument during the extension and retraction process of the surgical instrument.

[0011] Optionally, the wire length control drive system is also connected to the telescopic drive system; the wire length control drive system is further configured to control the movement of the movable frame under the drive of the telescopic drive system, so that the movable frame moves synchronously with the surgical instrument.

[0012] Optionally, the extension stroke of the surgical instrument is in a predetermined ratio to the travel stroke of the movable frame.

[0013] Optionally, the ratio of the travel of the movable frame to the extension / retraction of the surgical instrument is 0.2 to 1.0.

[0014] Optionally, the surgical instrument assembly further includes a base, the wire length control drive system includes a control wire and a movable pulley; the movable frame is movably mounted on the base; the movable pulley is mounted on the movable frame; the movable frame is mounted at the front or rear end of the base;

[0015] The control wire is configured such that one end is connected to the proximal end of the surgical instrument, and the other end is connected to the front end of the base after passing around the movable pulley.

[0016] Optionally, the surgical instrument assembly further includes a base, and the wire length control drive system includes a control wire, a movable pulley, and a fixed pulley; the movable frame is movably mounted on the base; the movable pulley is mounted on the movable frame, and the fixed pulley is mounted at both the front and rear ends of the base; the movable frame is mounted at either the front or rear end of the base.

[0017] The control wire is configured such that one end is connected to the proximal end of the surgical instrument, and after the body of the control wire passes around the fixed pulley on the front end, the body continues to pass around the fixed pulley on the rear end, and finally the other end passes around the movable pulley and is connected to the rear end of the base.

[0018] Optionally, the wire length control drive system includes a linkage mechanism, which includes a drive link and a driven link. One end of the drive link is connected to the telescopic drive system, and the other end is rotatable about a fulcrum. The proximal end of the surgical instrument is connected to the middle of the drive link. One end of the driven link is connected to the movable frame, and the other end is connected to other positions on the drive link except for the middle position.

[0019] The surgical instrument and the drive link are connected to form a first connection point, and the driven link and the drive link are connected to form a second connection point. The distance from the first connection point to the fulcrum is in a predetermined ratio to the distance from the second connection point to the fulcrum.

[0020] Optionally, the wire length control drive system includes a gear transmission mechanism, which includes a plurality of transmission gears. The movable frame is provided with a rack structure that meshes with the transmission gears. One of the transmission gears in the gear transmission mechanism can receive power from a power system synchronously with the telescopic drive system.

[0021] Optionally, the surgical instrument assembly further includes a base, the movable frame is movably disposed on the base, and the base is provided with a linear limiting groove, the movable frame being used to move within the linear limiting groove.

[0022] Optionally, the surgical instrument assembly further includes a power input system connected to the wire drive system, the telescopic drive system, and the wire length constraint system, respectively, to transmit the power output by a power system.

[0023] Optionally, the wire drive system includes a first wire drive system and a second wire drive system; the first wire drive system is used to drive the flexible joint of the surgical instrument to rotate; the second wire drive system is used to drive the end effector of the surgical instrument to move.

[0024] Optionally, the telescopic drive system includes a rack and pinion mechanism, wherein the rack in the rack and pinion mechanism is connected to the proximal end of the surgical instrument, and the gear in the rack and pinion mechanism rotates to drive the rack to move, thereby driving the surgical instrument to perform telescopic movements.

[0025] Optionally, the surgical instrument assembly further includes a base, and the movable frame is movably disposed on the base; the telescopic drive system is disposed on the base and includes a drive wheel and a drive wire assembly, the drive wire assembly including a first drive wire and a second drive wire;

[0026] One end of both the first drive wire and the second drive wire is connected to the proximal end of the surgical instrument, and the other ends extend in opposite directions and are wrapped around the same drive wheel;

[0027] The drive wheel rotates and drives the first drive wire assembly to move, and the first drive wire assembly drives the surgical instrument to perform telescopic movement; wherein, the body of the first drive wire is guided around the fixed pulley on the front end of the base, and the body of the second drive wire is guided around the guide wheel on the movable frame.

[0028] Optionally, the telescopic drive system includes a drive wheel and a linkage slider mechanism. One end of the linkage slider mechanism is hinged to the drive wheel, and the other end is hinged to the slider in the linkage slider mechanism. The slider is connected to the proximal end of the surgical instrument. After the drive wheel rotates, it pulls the slider and the instrument rod to move through the linkage.

[0029] Optionally, the telescopic drive system is configured to drive the surgical instrument to telescopic movement via one of the following methods: belt drive, chain drive, worm gear drive, or lead screw and nut drive.

[0030] To achieve the above objectives, according to a second aspect of the present invention, a surgical instrument device is provided, comprising a surgical instrument and a surgical instrument assembly as described in any one of the claims, wherein the surgical instrument assembly is detachably connected to the surgical instrument to drive the movement of the surgical instrument.

[0031] To achieve the above objectives, according to a third aspect of the present invention, a surgical instrument device is provided, comprising an instrument housing and any of the surgical instrument components described in the present invention, a portion of the surgical instrument components being disposed within the instrument housing.

[0032] To achieve the above objectives, according to a fourth aspect of the present invention, a surgical robot is provided, comprising a power system, a robotic arm, and a surgical instrument assembly as described in any one of the present inventions; the surgical instrument assembly is detachably connected to the end of the robotic arm; the power system is disposed on the robotic arm and is drively connected to the surgical instrument assembly.

[0033] Optionally, the power system is located at the end of the robotic arm.

[0034] The aforementioned surgical instrument components, surgical instrument devices, and surgical robots integrate both a wire drive system and a telescopic drive system within the instrument housing, and place the power system on the robotic arm. This eliminates the need for the power system to move with the extension and retraction of the surgical instruments, simplifying motor wiring, reducing the overall size and structure of the surgical robot, lowering control complexity, and reducing costs. Furthermore, sterilization of surgical instruments can be performed after each surgery without disassembling the power system, simplifying postoperative sterilization procedures and making surgery more convenient. In particular, eliminating the need for slide rails reduces interference or influence between robotic arms when the surgical robot is equipped with multiple robotic arms, increasing the range of motion of each arm and improving flexibility. Simultaneously, the design complexity of the aseptic isolation device is reduced, and the device is less prone to damage, resulting in improved surgical safety.

[0035] The aforementioned surgical instrument components, surgical instrument devices, and surgical robots can further simplify the structure by linking the movable frame and surgical instruments, such as reducing the number of motors, drive shafts, and transmission interfaces, thereby further reducing costs.

[0036] The aforementioned surgical instrument components, surgical instrument devices, and surgical robots can further simplify the structure, reduce the volume of the instrument box, and lower costs by configuring the travel of the movable frame to be less than the extension travel of the surgical instruments. Attached Figure Description

[0037] The features, properties, and advantages of the implementation methods and related embodiments of the present invention will be described in conjunction with the following drawings, wherein:

[0038] Figure 1 This is a schematic diagram of the internal structure of the surgical instrument device according to a preferred embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of the overall structure of the surgical instrument device according to a preferred embodiment of the present invention;

[0040] Figure 3 This is an application scenario diagram of the surgical robot according to a preferred embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram of the robotic arm and the instrument box and surgical instruments installed at the end of the robotic arm, which is a comparative embodiment.

[0042] Figure 5 This is a schematic diagram of the structure of a robotic arm and a surgical instrument device mounted at the end of the robotic arm, according to a preferred embodiment of the present invention.

[0043] Figure 6a A schematic diagram of the degrees of freedom of the surgical instruments according to a preferred embodiment of the present invention;

[0044] Figure 6b This is a schematic diagram of the deflection degrees of freedom of the end effector according to a preferred embodiment of the present invention;

[0045] Figure 6c This is a schematic diagram of the opening and closing degrees of freedom of the end effector according to a preferred embodiment of the present invention;

[0046] Figure 6d This is a schematic diagram of the pitch degrees of freedom of the end effector according to a preferred embodiment of the present invention;

[0047] Figure 7a and Figure 7b These are schematic diagrams illustrating the control principle of the bending posture of the surgical instrument according to a preferred embodiment of the present invention.

[0048] Figure 8a and Figure 8b These are control principle diagrams of the deflection attitude of the end effector according to a preferred embodiment of the present invention;

[0049] Figure 9a and Figure 9b These are structural schematic diagrams illustrating the impact of the overall telescopic extension and retraction of the surgical instrument on the wire drive system, according to a preferred embodiment of the present invention.

[0050] Figure 10 A schematic diagram illustrating the structural principle of the surgical instrument of the preferred embodiment of the present invention, which achieves extension and retraction through a gear and rack transmission mechanism;

[0051] Figure 11 This is a schematic diagram illustrating the structural principle of a surgical instrument according to a preferred embodiment of the present invention, which achieves telescoping via a drive wire.

[0052] Figure 12 This is a schematic diagram illustrating the structural principle of the surgical instrument of the preferred embodiment of the present invention, which achieves telescopic movement through a linkage-slider mechanism.

[0053] Figure 13a and Figure 13b These are schematic diagrams illustrating the structural principle of the wire length constraint system of the preferred embodiment of the present invention, which achieves wire length control through a movable pulley and a control wire.

[0054] Figure 14a and Figure 14b These are schematic diagrams illustrating the structural principle of the wire length constraint system according to a preferred embodiment of the present invention, which achieves wire length control through a movable pulley, a fixed pulley, and a control wire.

[0055] Figure 15 This is a schematic diagram illustrating the structural principle of the wire length constraint system of the preferred embodiment of the present invention, which achieves wire length control through a linkage mechanism.

[0056] Figure 16a and Figure 16b These are schematic diagrams of the wire length constraint system of the preferred embodiment of the present invention, which achieves wire length control through a linkage mechanism.

[0057] Figure 17a and Figure 17b The schematic diagram of the wire length constraint system of the preferred embodiment of the present invention, which achieves wire length control through a gear transmission mechanism, is shown.

[0058] In the diagram: 100 - Surgical instrument; 101 - Instrument rod; 102 - End instrument; 103 - Pull ring structure;

[0059] 200 - Surgical instrument assembly;

[0060] 300 - Instrument box; 301 - Front end of the base of the instrument box; 302 - Linear limiting groove; 303 - Rear end of the base of the instrument box; 304 - Fulcrum;

[0061] 400 - Wire drive system; 401 - Transmission wire; 402 - First wire drive system; 4021 - First drive wire wheel; 4011 - First transmission wire; 4012 - Second transmission wire; 403 - Second wire drive system; 4031 - Third transmission wire; 4032 - Fourth transmission wire; 4033 - Second drive wire wheel;

[0062] 500 - Telescopic drive system; 501 - Gear; 502 - Rack; 503 - Drive wheel; 504 - First drive wire; 505 - Second drive wire; 506 - Connecting rod; 507 - Slider;

[0063] 600 - Wire length constraint system; 601 - Guide wheel; 602 - Movable frame; 603 - Control wire; 604 - Movable pulley; 605 - Fixed pulley; 606 - Drive link; 607 - Driven link; 608 - Transmission gear; 609 - Rack and pinion structure;

[0064] 700 - Power input system; 701 - First drive shaft; 702 - Second drive shaft; 703 - Third drive shaft; 710 - Transmission interface;

[0065] 800 - Surgical robot; 810 - Robotic arm; 820 - Power system;

[0066] S1 - Flexible joint; S2 - Deflection joint; R1 - First degree of rotation; S - Extension / twist degree of freedom; R2 - First degree of rotation; R3 - Second degree of rotation; R4 - Second degree of rotation; R5 - Opening / closing degree of freedom; R6 - Deflection degree of freedom; R7 - Pitch degree of freedom;

[0067] 10-Operating table; 20-Patient; 1-Slide rail; 2-Target instrument; 3-Tool arm; 4-Power box; 5-Power pack. Detailed Implementation

[0068] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0069] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. In this application, for ease of understanding, terms such as "proximal" and "distal" are used. These terms refer to the relative orientation, position, or direction of elements or movements relative to each other from the perspective of a physician using the surgical instrument. "Proximal" and "distal" are not restrictive, but "proximal" or "rear end" generally refers to the end of the component closer to the operator during normal operation, while "distal," "end," or "front end" generally refers to the end farther from the operator. As used herein, the singular forms "a," "an," and "the" include plural objects unless otherwise expressly indicated. As used herein, the term "or" generally includes the meaning of "and / or," unless otherwise expressly indicated. As used herein, the terms "a plurality" and "several" generally include the meaning of "two or more," unless otherwise expressly indicated. Furthermore, the terms "first," "second," and "third" 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," "second," or "third" may explicitly or implicitly include one or at least two of that feature.

[0070] The present invention will now be described in more detail with reference to the accompanying drawings and preferred embodiments. Unless otherwise specified, the following embodiments and features can complement or combine with each other.

[0071] Figure 1 This is a schematic diagram of the internal structure of a surgical instrument device according to a preferred embodiment of the present invention, and is provided for ease of understanding of the internal structure. Figure 1 The complete instrument box is not shown in the image. Figure 2 This is a schematic diagram of the overall structure of a surgical instrument device according to a preferred embodiment of the present invention.

[0072] like Figure 1 and Figure 2As shown, a preferred embodiment of the present invention provides a surgical instrument device, including a surgical instrument 100 and a surgical instrument assembly 200; the surgical instrument 100 can be understood as a surgical tool or a non-surgical tool, such as an image acquisition device (e.g., an endoscope). The surgical instrument assembly 200 is connected to the surgical instrument 100, and the two are typically detachably connected. Furthermore, the surgical instrument device may also be equipped with an instrument housing 300, a portion of which is disposed within the instrument housing 300, and another portion mainly consists of a transmission wire, which extends partially out of the instrument housing 300 and connects to the surgical instrument 100.

[0073] The surgical instrument 100 includes an instrument rod 101 and an end instrument 102 connected axially in sequence. This application does not limit the type of end instrument 102; for example, the end instrument 102 can be a surgical tool for performing surgical operations, such as forceps, hemostatic clips, scissors, scalpels, etc., to create a certain working space within the patient's body, allowing the end instrument 102 to operate on the lesion; the end instrument 102 can also be a flexible detector, such as an endoscope or other image acquisition device, to obtain images of the surgical environment inside the body. In this embodiment, the end instrument 102 is a surgical tool, such as an instrument capable of opening and closing.

[0074] The surgical instrument assembly 200 includes a wire drive system 400, a telescopic drive system 500, and a wire length constraint system 600. Further, the wire drive system 400, the telescopic drive system 500, and the wire length constraint system 600 are disposed within an instrument case 300. Specifically, the instrument case 300 includes a base and a lid that closes the base, and the wire drive system 400, the telescopic drive system 500, and the wire length constraint system 600 are all disposed on the base.

[0075] The wire drive system 400 is connected to the distal end of the instrument lever 101 to control the posture of the surgical instrument 100 and the degrees of freedom of the end effector 102. Specifically, the wire drive system 400 can drive a single flexible joint of the instrument lever 101 to rotate in different directions to control the bending posture of the surgical instrument 100. Furthermore, the wire drive system 400 can also drive the end effector 102 to open, close, deflect, and pitch. In this embodiment, the surgical instrument 100 has multiple degrees of freedom under the control of the wire drive system 400. The telescopic drive system 500 is connected to the proximal end of the instrument lever 101 to drive the surgical instrument 100 to perform telescopic movements. This application does not limit the structure of the telescopic drive system 500 driving the surgical instrument 100 to telescopically extend or retract. The wire length constraint system 600 is connected to the transmission wire 401 in the wire drive system 400 and is used to limit the total length of the transmission wire 401 to remain unchanged during the overall extension and retraction of the surgical instrument 100. That is, the transmission amount of the transmission wire 401 remains unchanged. Therefore, when the surgical instrument 100 moves in extension and retraction, it will not affect or interfere with the wire drive system 400. This realizes that the wire drive system 400 and the extension and retraction drive system 500 are integrated in the instrument box 300 at the same time.

[0076] It should also be understood that the power system used to provide power in this invention is set on the robotic arm of the surgical robot, so that the power system will not move with the overall extension and retraction of the surgical instrument 100. This not only facilitates the wiring of the motor assembly, but also eliminates the need for frequent disassembly and assembly of the motor assembly during sterilization, and also eliminates the need for the slide rail at the end of the robotic arm.

[0077] Figure 3 This is an application scenario diagram of the surgical robot according to a preferred embodiment of the present invention. Figure 3 As shown, a preferred embodiment of the present invention also provides a surgical robot 800, including a plurality of robotic arms 810, the ends of which are detachably connected to surgical instrument devices to drive the surgical instrument devices to move, thereby adjusting the position and orientation of the surgical instrument devices.

[0078] This application does not limit the number of robotic arms 810. For example, at least one robotic arm 810 may be used to load a surgical instrument device carrying surgical instruments at its end; at least one robotic arm 810 may be used to load a surgical instrument device carrying a flexible detector at its end, in which case the robotic arm is also called a mirror arm or imaging arm. The robotic arm 810 can adjust the surgical instrument 100 so that it is inserted into the human body at a suitable angle. After the surgical instrument 100 is inserted into the human body, a certain working space is achieved through the swinging of the robotic arm 810 and the swinging of the surgical instrument end, thereby enabling surgical operations on the lesions of the patient 20 on the operating table 10 or the acquisition of surgical environment images.

[0079] To better understand the features of this invention, Figure 4 The provided comparative embodiments further illustrate the technical problem to be solved by the present invention.

[0080] like Figure 4 As shown, in the prior art, the surgical robot uses a slide rail 1 to achieve the telescopic movement of the target instrument 2. The slide rail 2 is located at the end of the tool arm 3 and outside the power box 4. The power box 4 houses a wire drive system, and a power pack 5 is mounted on the slide rail 2, with the power pack 5 connected to the power box 4 via a transmission connection. In this structure, while the slide rail 2 is telescopic, the power pack 5, the power box 4, and the target instrument 2 move together. Therefore, the motor assembly in the power pack 5 also needs to move. Consequently, the motor assembly (i.e., the power system) is not completely fixed, and the electrical connection wires of the power pack 5 move along with the telescopic movement of the power box 4. This not only makes motor wiring difficult but also increases the size of the surgical robot, leading to interference between the slide rail 1 or the tool arm 3 during surgery. Furthermore, the complex structure increases control difficulty and the cost of the surgical robot itself. In addition, frequent disassembly and reassembly of the power pack 5 are required post-operatively, which is very inconvenient. It also increases the design difficulty of the aseptic isolation device and makes it prone to damage during surgery, affecting surgical safety. The power box 4 here is used to receive the power output by the motor to drive the target device 2 to move.

[0081] Figure 5 A robotic arm and a surgical instrument device mounted at the end of the robotic arm are shown according to a preferred embodiment of the invention.

[0082] like Figure 5 As shown, the surgical robot 800 also includes a power system 820, which is fixed to the robotic arm 810, such as at the end of the robotic arm 810 or at other locations on the robotic arm 810. The power system 820 is typically non-removably fixed to the robotic arm 810 and is isolated along with the robotic arm 810 by a sterile isolation device, eliminating the need for frequent disassembly and reassembly of the power system 820. The power system 820 is drive-connected to the surgical instrument assembly 200, such as via a transmission disc, to provide power to drive the surgical instruments 100. Generally, the power system 820 includes a motor assembly, which drives the corresponding drive system in the surgical instrument assembly 200.

[0083] Compared to the comparative embodiment, the present invention incorporates a telescopic drive system 500 within the instrument box 300, thereby eliminating the need for a slide rail. The power system 820 is completely fixed to the robotic arm 810 of the surgical robot. The power system 820 and the instrument box 300 do not move with the extension and retraction of the surgical instrument 100. The motor connection cable is fixed, reducing the difficulty of motor connection cabling and decreasing the size of the surgical robot. This avoids interference between the robotic arms 810 during extension and retraction, and the structure is simpler, reducing the difficulty of instrument control and the cost of the surgical robot itself. Furthermore, the present invention simplifies the design of aseptic isolation measures during surgery, simplifies the structure of the aseptic isolation device, reduces the risk of damage to the aseptic isolation device due to extension and retraction, and improves surgical safety. In particular, by eliminating the slide rail, when the surgical robot 800 is equipped with multiple robotic arms 810, interference or influence between the robotic arms 810 is less likely, allowing for a larger range of motion and better flexibility for each robotic arm 810.

[0084] Furthermore, since both the telescopic drive system 500 and the wire drive system 400 are integrated within the instrument box 300, to avoid the influence of the telescopic movement of the surgical instrument 100 on the transmission wire 401, this invention also utilizes a wire length constraint system 600 to control the wire length of the transmission wire 401. This ensures that the total length of the transmission wire 401 remains consistent throughout the overall telescopic movement of the surgical instrument 100, maintains consistent tension on the transmission wire 401, prevents the transmission wire 401 from being excessively tightened or slack, and preserves the transmission efficiency of the transmission wire 401. In this embodiment, the wire length constraint system 600 can also guide the transmission wire 401 to change its extension direction.

[0085] Return to reference Figure 1 The surgical instrument assembly 200 also includes a power input system 700, which is connected to the wire drive system 400, the telescopic drive system 500, and the wire length constraint system 600, respectively, to transmit the power output from the power system 820 at the surgical robot end. (See also...) Figure 17a The power input system 700 includes a drive shaft and an input transmission interface 710. The input transmission interface 710 is used to transmit power from the output transmission interface of the power system 820, and the drive shaft is connected to the input transmission interface 710. The input transmission interface 710 is typically a transmission disc.

[0086] See Figure 1 and combined Figure 6a , Figures 7a-7bIn this embodiment, the wire drive system 400 includes a first wire drive system 402 and a second wire drive system 403 that are independently configured. The first wire drive system 402 is used to drive the flexible joint S1 of the instrument rod 101 to rotate, so as to control the posture of the entire surgical instrument 100. The second wire drive system 403 is used to drive the end instrument 102 to move, such as driving the end instrument 102 to perform opening, closing, pitching, deflecting and rotating movements.

[0087] Figures 6a to 6d The degrees of freedom of the surgical instruments according to a preferred embodiment are shown. For example... Figure 6a As shown, the surgical instrument 100 as a whole is capable of rotation and has a first degree of rotational freedom R1, and also has a degree of extensional freedom S that moves axially. Furthermore, any flexible joint S1 can bend in different directions; for example, each flexible joint S1 has a first degree of rotational freedom R2 and a second degree of rotational freedom R3 perpendicular to the rotation direction. Figure 6a and Figure 6c As shown, the end effector 102 also has a second rotational degree of freedom R4 and an opening / closing degree of freedom R5. (As...) Figure 6b As shown, the end effector 102 is also capable of deflection and has a deflection degree of freedom R6. For example... Figure 6d As shown, the end effector 102 is also capable of pitching and has a pitch degree of freedom R7. The rotation directions of the deflection degree of freedom R6 and the pitch degree of freedom R7 are perpendicular. Therefore, in this embodiment, the surgical instrument 100 is a multi-degree-of-freedom instrument, which can achieve a certain working space to perform surgical operations on the lesion.

[0088] like Figure 7a and Figure 7b As shown, each flexible joint S1's individual rotational degree of freedom is driven by the first wire drive system 402, and each flexible joint S1's individual rotational degree of freedom is controlled by two transmission wires 401. The working principle of the first wire drive system 402 will be further explained using the control of the rotation of a single flexible joint S1 as an example.

[0089] For ease of description, the two transmission wires 401 controlling a single rotational degree of freedom of the flexible joint S1 are defined as the first transmission wire 4011 and the second transmission wire 4012. More specifically, the power input system 700 includes a first drive shaft 701, and the first wire drive system 402 includes a first drive wire wheel 4021 and a first transmission wire group, which includes the first transmission wire 4011 and the second transmission wire 4012. One end of each of the first transmission wire 4011 and the second transmission wire 4012 is connected to the same flexible joint S1, and the other end extends through the instrument rod 101 and connects to the same first drive wire wheel 4021, which is driven to rotate by the first drive shaft 701. Furthermore, the bodies of the first transmission wire 4011 and the second transmission wire 4012 respectively bypass different guide wheels 601 in the wire length constraint system 600, and the guide wheels 601 guide the transmission wire 401 for bending posture control. It should be understood that the two transmission wires controlling a single rotational degree of freedom of the flexible joint S1 are wound in opposite directions on the same first drive wire wheel 4021; when the first drive shaft 701 receives power from the power system 820 and rotates, the first drive wire wheel 4021 rotates accordingly, causing one of the transmission wires to be further wound on the first drive wire wheel 4021, while the other transmission wire is gradually released, thereby maintaining the tension on the transmission wires unchanged, and at the same time changing the bending posture of the instrument rod 101. For example, after one of the flexible joints S1 rotates, the instrument rod 101 is moved from... Figure 7a The bending posture changes to Figure 7b The bending posture in the middle.

[0090] like Figure 8a and Figure 8bAs shown, the deflection of the end effector 102 is driven by the second wire drive system 403. Similarly, the deflection of the end effector 102 is also controlled by two transmission wires 401. For ease of description, the two transmission wires controlling the deflection of the end effector 102 are defined as the third transmission wire 4031 and the fourth transmission wire 4032. More specifically, the power input system 700 includes a second drive shaft 702, and the second wire drive system 403 includes a second drive wire wheel 4033 and a second transmission wire group, which includes the third transmission wire 4031 and the fourth transmission wire 4032. One end of each of the third transmission wire 4031 and the fourth transmission wire 4032 is connected to the deflection joint S2 of the end effector 102, and the other end passes through the device rod 101 and is connected to the same second drive wire wheel 4033, which is driven to rotate by the second drive shaft 702. Furthermore, the bodies of the third transmission wire 4031 and the fourth transmission wire 4032 also bypass different guide wheels 601 of the wire length constraint system 600, and the guide wheels 601 guide the deflection control transmission wire 401. It should be understood that the two transmission wires controlling the deflection degree of freedom of the end effector 102 are wound in opposite directions on the same second drive wheel 4033; when the second drive shaft 702 receives power from the power system 820 and rotates, the second drive wheel 4033 rotates accordingly, causing one transmission wire to be further wound on the second drive wheel 4033, while the other transmission wire is gradually released, maintaining the tension on the transmission wire unchanged, and simultaneously changing the deflection state of the end effector 102, such as from... Figure 8a The deflection attitude change in the middle Figure 8b The deflection attitude in the process. It should be known that different transmission wires are guided by different guide wheels 601, that is, one guide wheel 601 is only used for guiding the same transmission wire.

[0091] Further reading Figures 7a-7b ,as well as Figures 8a-8b The wire length constraint system 600 further includes a movable frame 602 and several guide wheels 601. The guide wheels 601 are mounted on the movable frame 602, and each guide wheel 601 guides the direction of the transmission wire 401 during its movement. It also tensions the transmission wire 401, effectively adjusting its tension and ensuring smooth and efficient movement. This application does not limit the number of guide wheels 601; it only depends on the number of transmission wires 401 that need to be guided. The movable frame 602 is movably mounted within the instrument box 300 and moves along with the extension and retraction of the surgical instrument 100. The extension and retraction stroke of the surgical instrument is in a predetermined ratio to the movement stroke of the movable frame 602. This predetermined ratio ensures that the transmission amount of the transmission wire 401 remains constant, and preferably, a predetermined reduction ratio is set, meaning the extension and retraction stroke of the surgical instrument is greater than the movement stroke of the movable frame 602.

[0092] In more detail, combined Figure 9a and Figure 9b When the surgical instruments are 100 units in total, as if from Figure 9a Move the position forward to Figure 9b During the positioning process, a movable frame 602 is configured to maintain the consistency of the length of the transmission wire 401. This frame not only guides the transmission wire 401 but also ensures that the total length of the transmission wire 401 remains constant during the extension and retraction of the surgical instrument, thus guaranteeing consistent tension on the transmission wire 401 and preventing it from becoming overly tensile or slack, thereby maintaining wire transmission efficiency. In this embodiment, the movement of the movable frame 602 must maintain a certain reduction ratio with the extension and retraction stroke of the surgical instrument 100 to reduce the movement stroke of the movable frame 602 and the volume of the instrument box, especially in the length and width directions. The movement stroke of the movable frame is x = L*i; where x is the movement stroke of the movable frame, L is the extension and retraction stroke of the surgical instrument, and i is a predetermined ratio, with i being less than or equal to 1.

[0093] In this embodiment, the ratio of the travel stroke x of the movable frame 602 to the extension stroke L of the surgical instrument can be 0.2 to 1.0. Preferably, the ratio of the travel stroke x of the movable frame 602 to the extension stroke L of the surgical instrument is less than 1.0, more preferably 0.2 to 0.5, and even more preferably 0.5. It should be understood that the travel stroke ratio will vary depending on the angle between the moving direction of the movable frame 602 and the transmission wire 401. Therefore, the value of the travel stroke ratio depends on the angle between the transmission wire 401 and the moving direction. In this embodiment, the moving direction of the movable frame 602 is approximately parallel to the transmission wire 401. At this time, the ratio of the travel stroke x of the movable frame 602 to the extension stroke L of the surgical instrument is 0.5. This structure is simpler, and the overall size of the surgical instrument device is smaller. In this embodiment, the optimal travel stroke ratio of 0.5 is selected, which can be understood as... Figure 9a Move the position forward to Figure 9b The position of the surgical instrument 100 has a telescopic stroke of L, and the movement stroke of the movable frame 602 is 0.5L.

[0094] like Figure 10 As shown, in some examples, the power input system 700 includes a third drive shaft 703, and the telescopic drive system 500 includes a rack and pinion mechanism. A gear 501 in the rack and pinion mechanism is connected to the third drive shaft 703, which drives the gear 501 to rotate. The rotation of the gear 501 drives the rack 502 in the rack and pinion mechanism to move. The rack 502 is connected to the proximal end of the instrument rod 101. The proximal end of the instrument rod 101 typically has a pull ring structure 103, through which the rack 502 is connected. The movement of the rack 502 drives the instrument rod 101 to move axially.

[0095] like Figure 11 As shown, in some other examples, the telescopic drive system 500 includes a drive wheel 503 and a drive wire assembly, which includes a first drive wire 504 and a second drive wire 505. One end of both the first drive wire 504 and the second drive wire 505 is connected to the proximal end of the instrument rod 101, such as by connecting to the pull ring structure 103, and the other end is wound around the same drive wheel 503. The drive wheel 503 is connected to a third drive shaft 703. The drive wheel 503 rotates under the drive of the third drive shaft 703 and pulls the instrument rod 101 to perform telescopic movement through the first drive wire 504 or the second drive wire 505. In addition, the body of the first drive wire 504 is guided around the fixed pulley 605 on the front end 301 of the base of the instrument box, and the body of the second drive wire 505 is guided around the guide wheel 601 (i.e., the fixed pulley) on the movable frame 602.

[0096] like Figure 12 As shown, in other examples, the telescopic drive system 500 includes a drive wheel 503 and a linkage-slider mechanism. One end of the connecting rod 506 in the linkage-slider mechanism is hinged to the drive wheel 503, and the other end is hinged to the slider 507 in the linkage-slider mechanism. The slider 507 is connected to the proximal end of the instrument rod 101, and the drive wheel 503 is connected to the third drive shaft 703. When the drive wheel 503 rotates under the drive of the third drive shaft 703, the connecting rod 506 can pull the slider 507 and the instrument rod 101 to perform telescopic movement.

[0097] Of course, the method of realizing the overall extension and retraction of the instrument rod is not limited to the above preferred embodiment. In other cases, it can also be achieved by, for example, belt drive, chain drive, worm gear drive, screw and nut drive.

[0098] Furthermore, the surgical instrument device preferably includes a limiting structure to restrict the extension and retraction direction of the instrument rod 101, ensuring that the extension and retraction movement of the instrument rod 101 is linear. For example, in a specific embodiment, the movement direction of the rack 502 may be limited.

[0099] The preferred embodiment in which the wire length constraint system 600 controls the transmission wire 401 to keep the total length unchanged will be further described next.

[0100] In addition to the movable frame 602 and guide wheel 601, the wire length constraint system 600 also includes a wire length control drive system. During the extension and retraction of the surgical instrument 100, the wire length control drive system drives the movable frame 602 to move in the same direction as the extension and retraction of the surgical instrument 100, and ensures that the travel distance of the movable frame 602 is in a predetermined ratio to the extension and retraction travel distance of the instrument rod. Preferably, the wire length control drive system is also connected to the extension and retraction drive system 500 to achieve synchronized extension and retraction of the instrument rod 101 and the movable frame 602, thus reducing the number of power components, such as motors, drive shafts, and transmission interfaces, resulting in a simpler structure. Of course, in other embodiments, the movable frame 602 and the instrument rod 101 may not be linked, i.e., they may move independently. In this embodiment, when the extension and retraction drive system 500 drives the instrument rod 101 to move, the wire length control drive system can drive the movable frame 602 to move synchronously in the same direction.

[0101] like Figure 13a and Figure 13b As shown, in some examples, the wire length control drive system includes a control wire 603 and a movable pulley 604. The movable pulley 604 is mounted on a movable frame 602, and may be mounted on a different side of the movable frame 602 than the guide wheel 601. The movable frame 602 may be mounted at the front or rear end of the base of the instrument case 300. One end of the control wire 603 is fixed to the proximal end of the instrument rod 101, such as on the pull ring structure 103, and the other end, after passing over the movable pulley 604 on the movable frame 602, is fixed to the front end 301 (i.e., the distal end) of the base of the instrument case 300. When the telescopic drive system 500 drives the instrument rod 101 to move backward (i.e., towards the proximal end), a portion of the control wire 603 tightens, pulling the movable pulley 604 and the movable frame 602 backward in a proportional manner, thereby achieving linkage. Preferably, the base of the instrument box 300 is provided with a linear limiting groove 302, within which the movable frame 602 moves linearly, thereby limiting the direction and stroke of movement of the movable frame 602 and ensuring the accuracy of motion control. It should be understood that during the forward (i.e., distal) movement of the instrument lever 101, the movement of the movable frame 602 can be controlled by a basically similar operation.

[0102] like Figure 14a and Figure 14bAs shown, in some other examples, the wire length control drive system also includes a control wire 603 and a movable pulley 604. Unlike the above embodiments, a fixed pulley 605 is added, with fixed pulleys 605 located at both the front and rear ends of the instrument box 300 base. In this case, the movable frame 602 can be positioned at either the front or rear end of the instrument box 300 base. After one end of the control wire 603 is fixed to the proximal end of the instrument rod 101, the body of the control wire 603 passes around the fixed pulley 605 on the front end 301 of the instrument box base. Then, the body of the control wire 603 continues to pass around the fixed pulley 605 on the rear end 303 (i.e., the proximal end) of the instrument box base. Finally, the other end of the control wire 603 passes around the movable pulley 604 on the movable frame 602 and is fixedly connected to the rear end 303 of the instrument box base. As the telescopic drive system 500 drives the instrument lever 101 forward (i.e., to the distal end), another part of the control wire 603 tightens, pulling the pulley 604 and the movable frame 602 forward proportionally. Similarly, as the instrument lever 101 moves backward, the movement of the movable frame 602 can be controlled through essentially the same operation.

[0103] like Figure 15 ,as well as Figure 16a and Figure 16bAs shown, in some other examples, the wire length control drive system includes a linkage mechanism, and the telescopic drive system 500 includes a rack and pinion transmission mechanism. The linkage mechanism includes a drive link 606 and a driven link 607. One end of the drive link 606 is hinged to the rack 502. When the rack 502 moves, the drive link 606 rotates about the fulcrum 304. One end of the driven link 607 is hinged to the drive link 606, and the other end is connected to the movable frame 602. The pull ring structure 103 on the instrument rod 101 is connected to the middle of the drive link 606. The movement of the drive link 606 causes the instrument rod 101 to extend and retract, and synchronously drives the movable frame 602 to move through the driven link 607, thereby realizing the synchronous movement of the movable frame and the instrument rod. The direction of movement of the rack 502 is limited by the telescopic movement limiting groove 306, which is provided on the base of the instrument box 300. In this structure, the instrument rod 101 and the drive link 606 are connected to form a first connection point, and the driven link 607 and the drive link 606 are connected to form a second connection point. The distance from the first connection point to the fulcrum 304 is in a predetermined ratio to the distance from the second connection point to the fulcrum 304, thereby ensuring that the travel of the movable frame 602 and the extension / retraction travel of the instrument rod are in a predetermined ratio, thus guaranteeing the efficiency of the wire drive. Further, the ratio of the distance from the first connection point to the fulcrum 304 to the distance from the second connection point to the fulcrum 304 is 0.2 to 1.0, preferably 0.2 to 0.5, and more preferably 0.5. It should be understood that this structure applies the lever principle, amplifying the driving force on the instrument rod and also amplifying the driving force on the movable frame. Of course, the linkage mechanism is not limited to cooperating with a gear and rack transmission mechanism; the linkage mechanism can also cooperate with other extension / retraction methods to achieve the extension / retraction linkage between the movable frame 602 and the instrument rod 101. Preferably, the driven link 607 is limited in its direction of movement by a guide groove to ensure the accuracy of linear motion.

[0104] like Figure 17a and Figure 17b As shown, in some other examples, the wire length control drive system includes a gear transmission mechanism, which comprises several transmission gears 608, and a rack structure 609 on the movable frame 602 that meshes with the last transmission gear 608. Both gear 501 and the first transmission gear 608 (i.e., the driving gear) are connected to the third drive shaft 703, thus simultaneously receiving power from the power system 820. Gear 501 directly drives the instrument rod 101 to move via the rack 502, and the first transmission gear 608 drives the movable frame 602 to move via the remaining transmission gears 608. This transmission method achieves a proportional relationship between the movement of the movable frame 602 and the movement of the instrument rod 101 through the ratio of the gear module to the number of teeth. The ratio of the module to the number of teeth of the transmission gears 608 is determined by the reduction ratio set as needed.

[0105] In summary, according to the technical solution provided by the embodiments of the present invention, using the present invention not only makes motor connection wiring easier, but also results in a smaller size, simpler structure, and reduced control difficulty for the entire surgical robot, ultimately reducing the cost of the surgical robot itself. Furthermore, after each surgery, medical staff only need to disassemble and assemble the surgical instruments individually, without disassembling the power system, to sterilize the surgical instruments, simplifying postoperative sterilization procedures and making surgery more convenient. Especially by eliminating the slide rails, when the surgical robot is equipped with multiple robotic arms, interference or influence between the robotic arms is less likely, allowing for a larger range of motion for each robotic arm, improving the flexibility and operability of the robotic arms. Simultaneously, the design difficulty of the aseptic isolation device is reduced, and the aseptic isolation device is less prone to damage, resulting in better surgical safety.

[0106] It should be understood that the above description is only a preferred embodiment of the present invention and is not a limitation of the present invention in any form or substance. Although the innovation of the present invention comes from the field of end-device opening and closing structure technology, those skilled in the art will understand that the end-device of the present invention can also be applied to other non-opening and closing structures or endoscopic catheter technology.

[0107] It should be noted that those skilled in the art can make various improvements and additions without departing from the method of this invention, and these improvements and additions should also be considered within the scope of protection of this invention. Any modifications, alterations, and variations made by those skilled in the art without departing from the spirit and scope of this invention, based on the disclosed technical content, are equivalent embodiments of this invention; furthermore, any modifications, alterations, and variations made to the above embodiments based on the essential technology of this invention still fall within the scope of the technical solution of this invention.

Claims

1. A surgical instrument assembly, characterized in that, This includes a wire drive system, a telescopic drive system, and a wire length constraint system; The wire drive system includes a plurality of drive wires, which are used to connect to surgical instruments to control the posture of the surgical instruments; The telescopic drive system is used to connect to the proximal end of the surgical instrument to drive the surgical instrument to perform telescopic movements; The wire length constraint system is connected to the transmission wire and is used to limit the total length of the transmission wire to remain constant during the extension and retraction of the surgical instrument; The wire length constraint system includes a movable frame and a wire length control drive system; the wire length control drive system is configured to drive the movable frame to move in the same direction as the extension and retraction of the surgical instrument during the extension and retraction process of the surgical instrument.

2. The surgical instrument assembly as claimed in claim 1, characterized in that, The movable frame is equipped with guide wheels, which are used to guide the transmission wire.

3. The surgical instrument assembly as described in claim 2, characterized in that, The wire length control drive system is also connected to the telescopic drive system; the wire length control drive system is also configured to control the movement of the movable frame under the drive of the telescopic drive system, so that the movable frame moves synchronously with the surgical instrument.

4. The surgical instrument assembly as described in claim 2 or 3, characterized in that, The extension stroke of the surgical instrument is in a predetermined ratio to the movement stroke of the movable frame.

5. The surgical instrument assembly as claimed in claim 4, characterized in that, The ratio of the travel distance of the movable frame to the extension / retraction distance of the surgical instrument is 0.2 to 1.

0.

6. The surgical instrument assembly as claimed in claim 3, characterized in that, It also includes a base, and the wire length control drive system includes a control wire and a movable pulley; the movable frame is movably mounted on the base; the movable pulley is mounted on the movable frame; the movable frame is mounted at the front end or rear end of the base; The control wire is configured such that one end is connected to the proximal end of the surgical instrument, and the other end is connected to the front end of the base after passing around the movable pulley.

7. The surgical instrument assembly as claimed in claim 3, characterized in that, It also includes a base, and the wire length control drive system includes a control wire, a movable pulley, and a fixed pulley; the movable frame is movably mounted on the base; the movable pulley is mounted on the movable frame, and the fixed pulley is mounted at both the front and rear ends of the base; the movable frame is mounted at either the front or rear end of the base. The control wire is configured such that one end is connected to the proximal end of the surgical instrument, and after the body of the control wire passes around the fixed pulley on the front end, the body continues to pass around the fixed pulley on the rear end, and finally the other end passes around the movable pulley and is connected to the rear end of the base.

8. The surgical instrument assembly as claimed in claim 3, characterized in that, The wire length control drive system includes a linkage mechanism, which includes a drive linkage and a driven linkage. One end of the drive linkage is connected to the telescopic drive system, and the other end is rotatable about a fulcrum. The proximal end of the surgical instrument is connected to the middle of the drive linkage. One end of the driven linkage is connected to the movable frame, and the other end is connected to other positions on the drive linkage except for the middle position. The surgical instrument and the drive link are connected to form a first connection point, and the driven link and the drive link are connected to form a second connection point. The distance from the first connection point to the fulcrum is in a predetermined ratio to the distance from the second connection point to the fulcrum.

9. The surgical instrument assembly as claimed in claim 3, characterized in that, The wire length control drive system includes a gear transmission mechanism, which includes a plurality of transmission gears. The movable frame is provided with a rack structure that meshes with the transmission gears. One of the transmission gears in the gear transmission mechanism can receive power from a power system synchronously with the telescopic drive system.

10. The surgical instrument assembly as claimed in claim 2, characterized in that, It also includes a base, the movable frame is movably disposed on the base, and the base is provided with a linear limiting groove, the movable frame being used to move within the linear limiting groove.

11. The surgical instrument assembly as claimed in claim 2, characterized in that, The telescopic drive system includes a rack and pinion mechanism, in which the rack is connected to the proximal end of the surgical instrument. When the gear in the rack and pinion mechanism rotates, it drives the rack to move, and the rack drives the surgical instrument to perform telescopic movements.

12. The surgical instrument assembly as claimed in claim 2, characterized in that, It also includes a base, and the movable frame is movably mounted on the base; the telescopic drive system is mounted on the base and includes a drive wheel and a drive wire assembly, the drive wire assembly including a first drive wire and a second drive wire; One end of both the first drive wire and the second drive wire is connected to the proximal end of the surgical instrument, and the other ends extend in opposite directions and are wrapped around the same drive wheel; The drive wheel rotates and drives the first drive wire assembly to move, and the first drive wire assembly drives the surgical instrument to perform telescopic movement; wherein, the body of the first drive wire is guided around the fixed pulley on the front end of the base, and the body of the second drive wire is guided around the guide wheel on the movable frame.

13. The surgical instrument assembly as claimed in claim 2, characterized in that, The telescopic drive system includes a drive wheel and a linkage slider mechanism. One end of the linkage in the linkage slider mechanism is hinged to the drive wheel, and the other end is hinged to the slider in the linkage slider mechanism. The slider is connected to the proximal end of the surgical instrument. After the drive wheel rotates, it pulls the slider and the instrument rod of the surgical instrument to move through the linkage.

14. The surgical instrument assembly as claimed in claim 2, characterized in that, The telescopic drive system is configured to drive the surgical instrument to telescopic movement via one of the following methods: belt drive, chain drive, worm gear drive, or lead screw and nut drive.

15. The surgical instrument assembly as claimed in claim 1, characterized in that, It also includes a power input system, which is connected to the wire drive system, the telescopic drive system and the wire length constraint system respectively, to transmit the power output by a power system.

16. The surgical instrument assembly as claimed in claim 1, characterized in that, The wire drive system includes a first wire drive system and a second wire drive system; the first wire drive system is used to drive the flexible joint of the surgical instrument to rotate; the second wire drive system is used to drive the end effector movement of the surgical instrument.

17. A surgical instrument device, characterized in that, The invention includes surgical instruments and surgical instrument assemblies as described in any one of claims 1-16, wherein the surgical instrument assemblies are detachably connected to the surgical instruments to drive the movement of the surgical instruments.

18. A surgical instrument device, characterized in that, It includes an instrument case and a surgical instrument assembly as claimed in any one of claims 1-16, a portion of which is disposed within the instrument case.

19. A surgical robot, characterized in that, It includes a power system, a robotic arm, and a surgical instrument device as described in claim 17 or 18; the surgical instrument assembly of the surgical instrument device is detachably connected to the end of the robotic arm; the power system is disposed on the robotic arm and is drively connected to the surgical instrument assembly.

20. The surgical robot as described in claim 19, characterized in that, The power system is located at the end of the robotic arm.

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