Emergency release devices, surgical instruments, and surgical robots

Abstract

The present invention discloses an emergency release device, which is applied to a surgical instrument. The surgical instrument includes a cutter head transmission mechanism and a forceps head transmission mechanism. The emergency release device includes: a first release mechanism, which is used to be connected to the cutter head transmission mechanism; a second release mechanism, which is used to cooperate with or separate from the forceps head transmission mechanism to achieve the closing or disconnection of the transmission chain of the forceps head transmission mechanism; a trigger mechanism, which is connected to the first release mechanism when in a first position, and is connected to the second release mechanism when in a second position. The emergency release mechanism of the present invention allows the workflow of emergency manual intervention release to proceed in an orderly manner, thereby reducing the operator's pain in the operation process that requires emergency release, reducing the possibility of the operator making mistakes, and has a simple structure and is easy to use. The present invention also provides a surgical instrument and a surgical robot.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to an emergency release device, a surgical instrument and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a surgical procedure performed within the human body using modern medical instruments such as laparoscopes and thoracoscopes and related equipment. With technological advancements, minimally invasive surgical robotics have matured and are widely used. Minimally invasive surgical robots typically consist of a master control console and slave devices. The master control console sends control commands to the slave devices based on the surgeon's actions, controlling the slave devices. The slave devices respond to the commands from the master control console and perform the corresponding surgical procedures.

[0003] A surgical instrument that is detachable from the slave operating device is connected to the slave operating device. The surgical instrument includes a driving device and an end effector for performing surgery, and a long shaft for connecting the end effector and the driving device. The driving device is used to connect the surgical instrument to the slave operating device and receive driving force from the slave operating device to drive the end effector to move.

[0004] In order to restore the working structure of the surgical instrument to a free state during the working process or from a stuck state to avoid damaging the tissue, a release structure needs to be set up. The release structure allows the end effector to restore to a free state from the working process or from a stuck state. However, the current release mechanism structure is too complicated or requires multiple operations, which is inconvenient to operate and the release process takes a long time. Summary of the Invention

[0005] In view of this, the present invention provides an emergency release device, which allows the workflow of emergency manual intervention release to proceed in an orderly manner, thereby reducing the operator's pain in the operation process requiring emergency release, reducing the possibility of operator errors, and has a simple structure and is easy to use.

[0006] The present invention also provides a surgical instrument and a surgical robot.

[0007] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0008] An emergency release device, the surgical instrument includes a cutter head transmission mechanism and a forceps head transmission mechanism, the emergency release device includes:

[0009] a first releasing mechanism, configured to be in transmission connection with the cutter head transmission mechanism;

[0010] a second releasing mechanism, for cooperating with the pliers head transmission mechanism to close the transmission chain of the pliers head transmission mechanism when in the transmission position, and for separating from the pliers head transmission mechanism to disconnect the transmission chain of the pliers head transmission mechanism when in the releasing position;

[0011] The trigger mechanism is in transmission connection with the first releasing mechanism when in the first position, and is in transmission connection with the second releasing mechanism when in the second position.

[0012] Optionally, an instrument box is further included, and the trigger mechanism is slidably disposed on the instrument box to switch between the first position and the second position.

[0013] Optionally, the trigger end of the trigger mechanism extends outward from the instrument box, and the trigger end is provided with a trigger knob.

[0014] Optionally, a reset member is provided between the trigger mechanism and the instrument box, and when the reset member is reset, the trigger mechanism is in the first position or the second position.

[0015] Optionally, the trigger mechanism includes:

[0016] a rotating shaft slidably engaged with the instrument box;

[0017] The first triggering member is provided on the rotating shaft, and the first releasing mechanism is provided with a first releasing member which is in transmission cooperation with the first triggering member.

[0018] Optionally, the first triggering member and the first releasing member are both gears.

[0019] Optionally, the first releasing mechanism further includes a connecting member for transmission connection with the cutter head transmission mechanism, and a power input member for transmission connection with an external cutter head drive mechanism.

[0020] Optionally, the trigger mechanism further includes a second trigger member that rotates along with the rotating shaft, and the second releasing mechanism is provided with a second releasing member that is in transmission cooperation with the second trigger member.

[0021] Optionally, the second triggering member is a lever provided on the first triggering member;

[0022] The second releasing member is a releasing rocker that swings when being tossed by the second triggering member.

[0023] Optionally, an accommodating groove is provided on the release rocker, and the accommodating groove is used for transmission cooperation with the shifting rod.

[0024] Optionally, the second release mechanism further includes a release clutch mechanism, and the pliers transmission mechanism includes a disconnected first pliers transmission mechanism branch and a disconnected second pliers transmission mechanism branch;

[0025] When the second releasing mechanism is in the transmission position, the releasing clutch mechanism is respectively connected to the first pliers transmission mechanism branch and the second pliers transmission mechanism branch, so that the transmission chain of the pliers transmission mechanism is closed; when the second releasing mechanism is in the releasing position, the releasing clutch mechanism is disconnected from at least one of the first pliers transmission mechanism branch and the second pliers transmission mechanism branch.

[0026] Optionally, the first clamp head transmission mechanism branch chain includes a clamp head opening and closing power mechanism and a clamp head swinging power mechanism, and the second clamp head transmission mechanism branch chain includes a clamp head opening and closing drive mechanism and a clamp head swinging drive mechanism. The clamp head opening and closing power mechanism and the clamp head opening and closing drive mechanism form a clamp head opening and closing mechanism chain, and the clamp head swinging power mechanism and the clamp head swinging drive mechanism form a clamp head swinging mechanism chain.

[0027] Optionally, the clutch release mechanism includes a swing limit plate and / or a clamping limit plate, and the swing limit plate and / or the clamping limit plate are driven by the second release member to move in the same direction;

[0028] When the clamping limit plate is in the transmission position, the clamp head opening and closing power mechanism is transmission-connected with the clamp head opening and closing drive mechanism; when the swing limit plate is in the transmission position, the clamp head swing power mechanism is transmission-connected with the clamp head swing drive mechanism.

[0029] Optionally, the pliers head swing power mechanism includes a swing fork, the pliers head swing drive mechanism includes a first position-limiting concave ring provided on the swing tube, a first plug opening is provided on the side of the swing fork, the first plug opening is correspondingly connected to the first position-limiting concave ring, and the swing limit plate is slidably plugged into the first position-limiting concave ring through the first plug opening;

[0030] When the swing fork is stuck in the first limiting concave ring, the clamp head swing mechanism chain is closed, and the swing fork drives the clamp head to swing through the swing tube. When the swing fork withdraws from the first limiting concave ring, the clamp head swing mechanism chain is disconnected.

[0031] Optionally, the clamp head opening and closing power mechanism includes a clamping fork, and the clamp head opening and closing drive mechanism includes a second limiting concave ring provided on the outer tube, a second plug opening is provided on the side of the clamping fork, the second plug opening is correspondingly communicated with the second limiting concave ring, and the clamping limiting piece is slidably plugged into the second limiting concave ring through the second plug opening;

[0032] When the clamping fork is stuck in the second limiting concave ring, the clamp head opening and closing mechanism chain is closed, and the clamping fork drives the clamp head to open and close through the outer tube. When the clamping fork withdraws from the second limiting concave ring, the clamp head opening and closing mechanism chain is disconnected.

[0033] Optionally, the second releasing mechanism comprises a rotatably arranged supporting spindle, and the second releasing member is arranged on the supporting spindle;

[0034] The axis of the supporting main shaft is staggered with the axis of the second releasing member, and a release clutch mechanism is provided at one end of the supporting main shaft away from the release rocker.

[0035] Optionally, the second releasing mechanism further includes a first releasing crank, the supporting spindle and the second releasing member are respectively arranged at two ends of the first releasing crank, and the first releasing crank is connected to a reset mechanism.

[0036] Optionally, the reset mechanism includes a spring connecting column fixedly mounted on the first release crank, the spring connecting column being connected to one end of a reset spring for returning to its original position, the other end of the reset spring being fixedly mounted on a spring seat, and the spring seat being fixedly mounted on the bracket assembly;

[0037] The spring connecting column and the second releasing member are respectively arranged at two ends of the supporting main shaft.

[0038] Optionally, the clutch release mechanism includes a second release crank connected to the support main shaft, the second release crank is connected to a first limit plate sliding rod, the first limit plate sliding rod is rotatably connected to a second limit plate sliding rod, the second limit plate sliding rod is slidably connected to a swing limit plate and a clamping limit plate, the swing limit plate and the clamping limit plate are used to be slidably connected to the clamp head transmission mechanism to realize the closing or disconnection of the transmission chain of the clamp head transmission mechanism.

[0039] An embodiment of the present invention further provides a surgical instrument, comprising:

[0040] A drive disc, configured to be detachably connected to a robotic arm of a surgical robot and receive a driving force from the robotic arm;

[0041] A cutter head transmission mechanism and a pliers head transmission mechanism driven by the drive disc, and:

[0042] a first releasing mechanism, configured to be in transmission connection with the cutter head transmission mechanism;

[0043] a second releasing mechanism, for cooperating with the pliers head transmission mechanism to close the transmission chain of the pliers head transmission mechanism when in the transmission position, and for separating from the pliers head transmission mechanism to disconnect the transmission chain of the pliers head transmission mechanism when in the releasing position;

[0044] The trigger mechanism is in transmission connection with the first releasing mechanism when in the first position, and is in transmission connection with the second releasing mechanism when in the second position.

[0045] An embodiment of the present invention further provides a surgical robot comprising a main operating console and a slave operating device controlled by the main operating console, wherein a surgical instrument is detachably connected to the slave operating device, and the surgical instrument is provided with the above-mentioned emergency release device.

[0046] It can be seen from the above technical solution that the emergency release device provided by the embodiment of the present invention is provided with a trigger mechanism, which is used to release different mechanisms when it is in different positions. The trigger mechanism has two working positions. In the first position, the first release mechanism works to return the cutter head to its position first to prevent the cutter head from damaging the tissue. In the second position, the second release mechanism works to disconnect the transmission chain of the forceps head, so that the workflow of emergency manual intervention release is carried out in order, thereby reducing the pain of the operator in the operation process that requires emergency release, reducing the possibility of the operator making mistakes, simple structure, easy to use, improving the release efficiency of the end effector of the surgical instrument, and saving the time required for the release process.

[0047] The surgical instrument and surgical robot of the present invention have the above-mentioned emergency release device, so the surgical robot of the present invention has the above-mentioned advantages, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0049] Figure 1 A schematic structural diagram of an emergency release device provided in an embodiment of the present invention;

[0050] Figure 2 A schematic structural diagram of the transmission connection between the trigger mechanism and the first release mechanism provided in an embodiment of the present invention;

[0051] Figure 3 A schematic diagram of the structure of the transmission connection between the trigger mechanism and the second release mechanism provided in an embodiment of the present invention;

[0052] Figure 4 A schematic diagram of a partially enlarged structure of the connection between the trigger mechanism and the first release mechanism provided by an embodiment of the present invention;

[0053] Figure 5 A schematic structural diagram of a second release mechanism provided in an embodiment of the present invention;

[0054] Figure 6 A schematic structural diagram of a second release member provided in an embodiment of the present invention;

[0055] Figure 7 A schematic structural diagram of a reset mechanism provided in an embodiment of the present invention;

[0056] Figure 8 A schematic structural diagram of a stapler provided in an embodiment of the present invention;

[0057] Figure 9 A schematic diagram of a partial cross-sectional structure of an instrument rod provided in an embodiment of the present invention;

[0058] Figure 10 for Figure 9 A local enlarged structural diagram of part A;

[0059] Figure 11 A schematic diagram of the installation structure of the second release mechanism provided in an embodiment of the present invention;

[0060] Figure 12 A schematic diagram of the connection structure of the swing limiter clamping the swing tube provided in an embodiment of the present invention;

[0061] Figure 13 A schematic structural diagram of the swing limiter provided in an embodiment of the present invention being disconnected from the swing tube;

[0062] Figure 14 A schematic diagram of the connection structure of the clamping limit piece clamping the outer tube provided in an embodiment of the present invention;

[0063] Figure 15 A schematic diagram of a structure in which the clamping and limiting piece provided in an embodiment of the present invention is released from the outer tube;

[0064] Figure 16 A schematic structural diagram of an angle of a second release crank provided by an embodiment of the present invention;

[0065] Figure 17 A schematic structural diagram of another angle of the second release crank provided by an embodiment of the present invention;

[0066] Figure 18 A schematic structural diagram of an angle of the support main shaft provided by an embodiment of the present invention;

[0067] Figure 19 A schematic structural diagram of another angle of the support main shaft provided by an embodiment of the present invention;

[0068] Figure 20A schematic structural diagram of a cutter head drive mechanism provided in an embodiment of the present invention;

[0069] Figure 21 A schematic structural diagram of a first input shaft provided in an embodiment of the present invention;

[0070] Figure 22 A schematic structural diagram of an intermediate shaft provided in an embodiment of the present invention;

[0071] Figure 23 A schematic cross-sectional view of the center of the instrument box provided by an embodiment of the present invention;

[0072] Figure 24 A schematic cross-sectional view of the connection between the trigger rod and the cutter head provided in an embodiment of the present invention;

[0073] Figure 25 A schematic diagram of the structure of the clamp head opening and closing power mechanism provided in an embodiment of the present invention;

[0074] Figure 26 A schematic structural diagram of the connection between the outer tube and the forceps head of a surgical instrument provided by an embodiment of the present invention;

[0075] Figure 27 A schematic diagram of the exploded structure of the connection between the outer tube and the forceps head of the surgical instrument provided by an embodiment of the present invention;

[0076] Figure 28 A schematic structural diagram of a clamp head swinging power mechanism provided in an embodiment of the present invention;

[0077] Figure 29 A schematic diagram of the installation structure of a parallelogram drive frame for swinging the clamp head provided in an embodiment of the present invention;

[0078] Figure 30 A schematic structural diagram of a parallelogram drive frame for pliers head swing provided by an embodiment of the present invention;

[0079] Figure 31 A schematic diagram of the structure of the main operation console provided in an embodiment of the present invention;

[0080] Figure 32 A schematic structural diagram of a slave operating device provided in an embodiment of the present invention.

[0081] Wherein: 1. Bracket assembly, 101. Base, 102. Column, 103. Middle plate, 104. Top plate, 105. Support cover, 2. Trigger mechanism, 201. Trigger knob, 202. Rotating shaft, 203. Reset member, 204. Second trigger member, 205. First trigger member, 3. Second release mechanism, 301. Second release member, 3011. Accommodating groove, 302. First release crank, 303. Support spindle, 3031. Limiting clamp, 304. First sliding rod connecting piece, 305. Second release crank, 3051. First connecting through hole, 3052. Second connecting through hole, 305 3. Threaded through hole, 306. First limit plate sliding rod, 307. Second sliding rod connecting piece, 308. Second limit plate sliding rod, 309. Clamping limit plate, 310. Swing limit plate, 311. Spring connecting column, 312. Return spring, 313. Spring seat, 4. Instrument box, 5. First release mechanism, 501. First release member, 502. Connecting member, 503. First rotating shaft, 504. Power input member, 6. Instrument rod, 601. Firing nut, 602. Wire wheel pressure block, 603. Wire wheel, 604. Second bearing, 605. Base tube, 606. Swing tube, 6061. First limit Position concave ring, 607, outer tube, 6071, second position limiting concave ring, 608, sleeve, 609, firing rod connecting piece, 610, firing rod, 611, firing screw, 612, guide rod, 613, cutter head firing rod, 614, clamping fork, 615, swing fork, 616, clamp head shaft, 617, clamping tube connecting piece, 618, clamping tube, 619, needle anvil, 620, nail magazine seat, 621, swing pull rod, 622, swing arm, 623, first cutter head swing pull rod, 624, second cutter head swing pull rod, 7, clamp head, 8, cutter head driving mechanism, 801, first driving capstan, 802, first A clamping ring, 803, a first input gear, 804, a first bearing, 805, a first input shaft, 806, a fifth gear, 807, a sixth gear, 808, an intermediate shaft, 9, a cutting head, 901, a cutting rod, 10, a forceps opening and closing power mechanism, 1001, a second driving capstan, 1002, a clamping screw, 1003, a first guide shaft, 11, a forceps swinging power mechanism, 1101, a third driving capstan, 1102, a swinging screw, 1103, a second guide shaft, 12, a main operating console, 13, a slave operating device, 1301, a robotic arm, 1302, an actuator, 14, a surgical instrument. DETAILED DESCRIPTION

[0082] The present invention discloses an emergency release device, which enables the workflow of emergency manual intervention release to proceed in order, thereby reducing the pain of the operator in the operation process requiring emergency release and reducing the possibility of the operator making mistakes. It has a simple structure and is easy to use.

[0083] The present invention also provides a surgical instrument and a surgical robot.

[0084] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by practitioners in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0085] See also Figure 1 An embodiment of the present invention provides an emergency release device, which is applied to a surgical instrument, which can be, for example, a stapler. The surgical instrument includes a cutter head transmission mechanism and a forceps head transmission mechanism, and the emergency release device includes a first release mechanism 5 and a second release mechanism 3. The first release mechanism 5 is used for transmission connection with the cutter head transmission mechanism. When the second release mechanism 3 is in the transmission position, it is used to cooperate with the forceps head transmission mechanism to achieve the closure of the transmission chain of the forceps head transmission mechanism. When it is in the release position, it is used to separate from the forceps head transmission mechanism to achieve the disconnection of the transmission chain of the forceps head transmission mechanism, so that the forceps head can swing or open and close freely. It also includes a trigger mechanism 2. When the trigger mechanism 2 is in the first position, it is transmission connected to the first release mechanism 5, and when it is in the second position, it is transmission connected to the second release mechanism 3.

[0086] The emergency release device is provided with a trigger mechanism 2. When the trigger mechanism 2 is in the first position, it is connected to the first release mechanism 5. When it is in the second position, it is connected to the second release mechanism 3. The trigger mechanism 2 is connected to different release mechanisms, so as to facilitate the manipulation of the movement of different transmission mechanisms. When the trigger mechanism 2 is in the first position, it is connected to the first release mechanism 5, so that the operator can manually return the cutter head 9 to its original position in an emergency to prevent the cutter head 9 from damaging the tissue. When the trigger mechanism 2 is in the second position, it drives the second release mechanism 3, and the transmission chain of the forceps transmission mechanism is disconnected, so that the forceps of the surgical instrument can swing or open and close freely, so that the workflow of emergency manual intervention release can be completed by only one trigger mechanism 2. The release workflow is carried out in order, thereby reducing the pain of the operator in the operation process that requires emergency release and reducing the possibility of the operator making mistakes. The structure is simple and easy to use, which improves the release efficiency of the surgical instrument and saves the time required for the release process.

[0087] Reference Figure 2 and Figure 3 The trigger mechanism 2 is slidably arranged on the instrument box 4, so that the trigger mechanism 2 switches between the first position and the second position. The device further comprises a bracket assembly 1, which is arranged in the instrument box 4 and has a first release mechanism 5 and a second release mechanism 3.

[0088] Among them, a reset member 203 is provided between the trigger mechanism 2 and the instrument box 4. When the reset member 203 is reset, the trigger mechanism 2 is in the first position or the second position. Figure 2 As shown, when the reset member 203 is reset, the trigger mechanism 2 is in the first position.

[0089] Specifically, such as Figures 2 to 4 As shown, the trigger mechanism 2 includes a rotating shaft 202, a trigger knob 201, and a first trigger member 205. The rotating shaft 202 is slidably connected to the instrument box 4, and the trigger knob 201 is connected to the protruding end of the rotating shaft 202. The first trigger member 205 is fixedly connected to one end of the rotating shaft 202 located inside the instrument box 4. The first release mechanism 5 is provided with a first release member 501 that is in transmission engagement with the first trigger member 205. The first trigger member 205 is a first gear, and the first release member 501 is a second gear. The reset member 203 is a compression spring, one end of which is limited by the inner wall of the instrument box 4, and the other end is limited by the end face of the first gear.

[0090] like Figure 4 As shown, the first release mechanism 5 also includes a connecting member 502 that is transmission-connected to the cutter head transmission mechanism, and a connecting member 503 for connecting to an external cutter head drive mechanism 8 (see Figure 20 ) is connected to a power input member 504 in a transmission manner. The cutter head drive mechanism 8 is used to provide power to the power input member 504, and the connecting member 502 transmits the power to the cutter head transmission mechanism. Specifically, the connecting member 502 is the third gear, and the power input member 504 is the fourth gear. The power input member 504 is fixedly connected to one end of the first rotating shaft 503. The first release member 501 is connected to the other end of the first rotating shaft 503. The connecting member 502 is connected to the first rotating shaft 503, and the first rotating shaft 503 is rotatably connected to the bracket assembly 1.

[0091] Further, such as Figure 3 and Figure 4 As shown, the trigger mechanism 2 further includes a second trigger member 204 that rotates along with the rotating shaft 202 , and the second releasing mechanism 3 is provided with a second releasing member 301 that is in transmission cooperation with the second trigger member 204 .

[0092] Specifically, the second trigger member 204 is a lever mounted on the first trigger member 205. Since the first trigger member 205 is a first gear, the lever is fixedly connected to the end face of the first gear. The second release member 301 is a release rocker that swings when the second trigger member 204 is activated. One end of the release rocker corresponds to the lever on the first trigger member 205, and the other end is fixedly connected to the first trigger member 205.

[0093] In order to facilitate the transmission connection between the release rocker and the shift lever, as Figure 5 and Figure 6 As shown, the release rocker is provided with a receiving groove 3011, which is used to cooperate with the transmission of the deflector lever. The depth and width of the receiving groove 3011 are set by technicians based on actual usage requirements. The receiving groove 3011 is suspended above the upper end of the first gear. When the trigger knob 201 is pulled to the second position, the reset member 203 is compressed, and the position of the first gear is raised. At this time, the height of the deflector lever corresponds to the position of the receiving groove 3011. After the first gear rotates, the deflector lever slides within the receiving groove 3011, thereby applying a counterclockwise force to the release rocker.

[0094] Furthermore, the second release mechanism 3 further includes a release clutch mechanism, and the pliers transmission mechanism includes a disconnected first pliers transmission mechanism branch chain and a disconnected second pliers transmission mechanism branch chain. When the second release mechanism 3 is in the transmission position, the release clutch mechanism is respectively connected to the first pliers transmission mechanism branch chain and the second pliers transmission mechanism branch chain, thereby closing the transmission chain of the pliers transmission mechanism. When the second release mechanism 3 is in the release position, the release clutch mechanism is disconnected from at least one of the first pliers transmission mechanism branch chain and the second pliers transmission mechanism branch chain, thereby restoring the first pliers transmission mechanism branch chain and the second pliers transmission mechanism branch chain to a disconnected state.

[0095] Specifically, the first clamp head transmission mechanism branch chain includes a clamp head opening and closing power mechanism 10 and a clamp head swinging power mechanism 11, and the second clamp head transmission mechanism branch chain includes a clamp head opening and closing drive mechanism and a clamp head swinging drive mechanism. The clamp head opening and closing power mechanism 10 and the clamp head opening and closing drive mechanism form a clamp head opening and closing mechanism chain, and the clamp head swinging power mechanism 11 and the clamp head swinging drive mechanism form a clamp head swinging mechanism chain.

[0096] The release clutch mechanism includes a swing limit plate 310 and a clamping limit plate 309, both of which are driven to move in the same direction by the second release member 301. When the clamping limit plate 309 is in the transmission position, the clamp head opening and closing power mechanism 10 is in transmission connection with the clamp head opening and closing drive mechanism, so that the clamp head opening and closing mechanism chain is closed. At this time, the clamp head opening and closing power mechanism 10 can drive the clamp head 7 to open and close through the clamp head opening and closing drive mechanism. When the swing limit plate 310 is in the transmission position, the clamp head swing power mechanism 11 is in transmission connection with the clamp head swing drive mechanism, so that the clamp head swing mechanism chain is closed. At this time, the clamp head swing power mechanism 11 can drive the clamp head 7 to swing through the clamp head swing drive mechanism.

[0097] In one embodiment, the second release mechanism 3 includes a rotatably mounted support spindle 303, with the release clutch mechanism being mounted at one end of the support spindle 303 away from the release rocker. The support spindle 303 is rotatably connected to the bracket assembly 1. The second release member 301 is fixedly connected to the support spindle 303. In order to enable the second release member 301 to drive the support spindle 303 to rotate when the second release member 301 is toggled by the toggle lever, the axis of the support spindle 303 is staggered from the axis of the second release member 301. In this way, when the release rocker is pushed by the toggle lever, the release rocker is subjected to a counterclockwise force, and the support spindle 303 rotates counterclockwise by a certain angle. The support spindle 303 drives the release clutch mechanism to rotate counterclockwise, thereby achieving the release operation of the release clutch mechanism, that is, achieving the release operation of the swing limit plate 310 and the clamping limit plate 309.

[0098] Further, such as Figure 5 As shown, the second release mechanism 3 further includes a first release crank 302, a support spindle 303 and a second release member 301 respectively disposed at either end of the first release crank 302, and both the support spindle 303 and the second release member 301 are fixedly connected to the first release crank 302. A reset mechanism is connected to the first release crank 302, which is configured to return the second release member 301 and the support spindle 303 to their original state when the second trigger 204 is not acting on the second release member 301. The original state herein refers to the position and state of the second release member 301 and the support spindle 303 when the second trigger 204 is not acting.

[0099] Specifically, such as Figure 7 As shown, the reset mechanism includes a spring connecting post 311 fixed to the first release crank 302. The spring connecting post 311 is connected to one end of a return spring 312, the other end of which is fixed to a spring seat 313, which is fixed to the bracket assembly 1. The spring connecting post 311 and the second release member 301 (the release rocker) are located at opposite ends of the support spindle 303. It will be understood that in the non-release state, the return spring 312 is in its initial state. In the release state, the return spring 312 is in its extended state. At this time, if the pulling force acting on the second release member 301 (the release rocker) disappears, the restoring force of the return spring 312 acts on the spring connecting post 311, pulling the spring connecting post 311 back to its original position. Since the spring connecting post 311 is fixedly connected to the first release crank 302, the support spindle 303 is rotated, thereby driving the support spindle 303 to rotate in the opposite direction and return to its original position.

[0100] In one embodiment, the surgical instrument is a stapler. Figure 8 The anastomosis device includes an instrument box 4, an instrument rod 6 and a clamp head 7 arranged in sequence. Figure 9 and Figure 10As shown, the instrument rod 6 includes an outer tube 607, a swing tube 606 and a base tube 605. The base tube 605 is fixed relative to the axial direction of the bracket assembly 1. The swing tube 606 is sleeved on the base tube 605, and the outer tube 607 is sleeved on the swing tube 606.

[0101] Among them, reference Figure 11 As shown, the clamp head swing power mechanism 11 includes a swing fork 615, and the clamp head swing drive mechanism includes a first limiting concave ring 6061 provided on the swing tube 606, as shown in FIG. Figure 9 As shown, a first plug opening is provided on the side of the swing fork 615, and the first plug opening is connected to the first limiting concave ring 6061. The swing limiting piece 310 is slidably plugged into the first limiting concave ring 6061 through the first plug opening. When the swing fork 615 is stuck in the first limiting concave ring 6061, as shown in FIG. Figure 12 As shown, the clamp head swing mechanism chain is closed, and the swing fork 615 drives the clamp head 7 to swing through the swing tube 606. When the swing fork 615 withdraws from the first limiting concave ring 6061, as shown in FIG. Figure 13 As shown, the chain of the pliers head swing mechanism is disconnected, the swing fork 615 cannot drive the pliers head 7 to swing through the swing tube 606, and the swing angle of the pliers head 7 returns to a free state. The swing angle of the pliers head 7 twists with the resistance of human tissue, avoiding the swing angle of the pliers head 7 always being at a constant angle to damage human tissue.

[0102] The clamp head opening and closing power mechanism 10 includes a clamping fork 614, and the clamp head opening and closing driving mechanism includes a second limiting concave ring 6071 provided on the outer tube 607. Figure 9 As shown, a second plug opening is provided on the side of the clamping fork 614 , and the second plug opening is connected to the second limiting concave ring 6071 , and the clamping limiting piece 309 is slidably plugged into the second limiting concave ring 6071 through the second plug opening.

[0103] like Figure 14 As shown, when the clamping fork 614 is stuck in the second limiting concave ring 6071, the clamp head opening and closing mechanism chain is closed, and the clamping fork 614 can drive the clamp head 7 to open and close through the outer tube 607. When the clamping fork 614 withdraws from the second limiting concave ring 6071, as shown in FIG. Figure 15 As shown, the pliers head opening and closing mechanism chain is disconnected, and the clamping fork 614 cannot drive the pliers head 7 to open and close through the outer tube 607. At the same time, the opening and closing angle of the pliers head 7 is no longer restricted by the pliers head opening and closing mechanism chain, thereby avoiding damage to human tissue caused by a large opening and closing angle of the pliers head 7.

[0104] In order to facilitate the connection between the support spindle 303 and the swing limit plate 310 and the clamping limit plate 309, the release clutch mechanism further includes a second release crank 305 connected to the support spindle 303, such as Figure 5As shown, the second release crank 305 is connected to a first limit plate sliding rod 306, which is rotatably connected to a second limit plate sliding rod 308. The second limit plate sliding rod 308 is slidably connected to a swing limit plate 310 and a clamping limit plate 309. The swing limit plate 310 and the clamping limit plate 309 are used to be slidably connected to the clamp head transmission mechanism to achieve the closing or opening of the transmission chain of the clamp head transmission mechanism.

[0105] Among them, such as Figure 16 and Figure 17 As shown, the second release crank 305 is provided with a first connecting through hole 3051 and a second connecting through hole 3052 arranged in a vertical direction. The first connecting through hole 3051 is connected to the first limiting plate sliding rod 306, and the second connecting through hole 3052 is used to connect with the support main shaft 303. A threaded through hole 3053 is provided on the side of the second connecting through hole 3052, and a positioning bolt is connected to the inner thread of the threaded through hole 3053. The positioning bolt positions the second release crank 305 at a suitable position of the support main shaft 303.

[0106] Further, such as Figure 5 As shown, the first limiting plate sliding rod 306 is rotatably connected to the second limiting plate sliding rod 308 via the first sliding rod connecting piece 304 and the second sliding rod connecting piece 307. The second limiting plate sliding rod 308 is slidably connected to a swing limiting piece 310 and a clamping limiting piece 309. It is understood that the two sliding rod connecting pieces are respectively connected to the upper and lower ends of the first limiting plate sliding rod 306 and the second limiting plate sliding rod 308, and the two sliding rod connecting pieces are fixedly connected to the first limiting plate sliding rod 306 and the second limiting plate sliding rod 308 using nuts. The swing limiting piece 310 and the clamping limiting piece 309 can rotate and slide on the second limiting plate sliding rod 308, thereby being applicable to anastomosis devices of different sizes and having a wider range of applications. It is understood that the first limiting plate sliding rod 306 and the second limiting plate sliding rod 308 are arranged parallel to each other. The support main shaft 303 is provided with an annular limiting clamping ring 3031, and the support main shaft 303 is rotatably connected to the bracket assembly 1 through a limiting clamping plate clamped in the limiting clamping ring 3031. Figure 18 and Figure 19 shown.

[0107] Reference Figure 20 and Figure 21The cutter head drive mechanism 8 includes a first drive capstan 801, which is used to input driving force. The first drive capstan 801 is rotatably connected to the support assembly 1. The end of the first drive capstan 801 is connected to the robotic arm. The first drive capstan 801 is fixedly connected to a first input shaft 805 and is used to transmit the rotational driving force input from an external power device to the first input shaft 805. Preferably, the power device is a robotic arm actuator, which is used to input rotational motion. A first input gear 803 is provided on the first input shaft 805. The first input gear 803 is fixed to the first input shaft 805 via a first clamping ring 802 and is in transmission connection with the cutter head transmission mechanism. The end of the first input shaft 805 remote from the first drive capstan 801 is rotatably connected to a first bearing 804. The first bearing 804 and the bearing at the location of the first drive capstan 801 are connected to the support assembly 1.

[0108] In one embodiment, in order to meet the speed increase requirement, an intermediate transmission shaft assembly is further provided between the first input gear 803 and the cutter head transmission mechanism, and the intermediate transmission shaft assembly is rotatably provided on the bracket assembly 1. Figure 20 and Figure 22 Specifically, the intermediate transmission shaft assembly includes an intermediate shaft 808, a fifth gear 806, and a sixth gear 807. The intermediate shaft 808 is rotatably mounted on the bracket assembly 1 via a bearing. The fifth gear 806 and the sixth gear 807 are fixedly connected to the intermediate shaft 808. The fifth gear 806 is configured to mesh with the first input gear 803, and the sixth gear 807 is configured to be transmission-connected to the cutter head transmission mechanism.

[0109] Reference Figure 20 The bracket assembly 1 includes a base 101, a column 102, a middle plate 103, a top plate 104 and a support cover 105. Among them, the column 102 is fixedly connected to the base 101, and the top plate 104 is fixedly connected to the top of the column 102. A support platform is provided at a middle relative position of the column 102, and the middle plate 103 is fixedly connected to the support platform. The middle plate 103 is located between the base 101 and the top plate 104. The support cover 105 is connected to the top plate 104. All of the above connections are fixed connections, which can be bolted connections or welded. The first bearing 804 is mounted on the top plate 104.

[0110] Specifically, the cutter head transmission mechanism is sleeved in the base tube 605. Figure 23As shown, the cutter head transmission mechanism includes a firing nut 601, the outer surface of which is provided with teeth that engage with the connecting member 502. The firing nut 601 is connected to the cutter head 9 via a first intermediate transmission mechanism. The firing nut 601 has a threaded hole in the axial direction. When the firing nut 601 rotates, the first intermediate transmission mechanism threaded therewith drives the cutter head 9 to move linearly, causing the cutter head 9 to return to its initial state. The end of the firing nut 601 is rotatably connected to the support assembly 1 via a bearing. The base tube 605 is connected to a wire wheel 603, which is fixedly connected to the base tube 605 via a wire wheel pressing block 602. The wire wheel 603 is rotatably connected to the support assembly 1 via a second bearing 604. The firing screw 611 is provided with a guide rod 612 for limiting the rotation of the firing screw 611.

[0111] Furthermore, the first intermediate transmission mechanism includes a firing screw 611, one end of which is threadedly connected to the internal thread structure of the cylinder integrally provided with the firing nut 601, and the other end is connected to the firing rod 610 through the firing rod connector 609, the firing rod 610 is connected to the cutter head 9 through the cutter rod 901, and the firing rod 610 is connected to the cutter rod 901 through the cutter head firing rod 613. Figure 23 and Figure 24 The firing nut 601 is threadedly connected to the firing screw 611, so that the firing screw 611 moves linearly. The firing screw 611 is rotatably connected to the base tube 605 through the shaft sleeve 608.

[0112] Specifically, such as Figure 25 As shown, the clamp head opening and closing power mechanism 10 includes a second drive capstan 1001, one end of which is connected to the clamping screw 1002, and the other end is connected to the input port of the robot arm. One end of the second drive capstan 1001 is connected to the clamping screw 1002 via a coupling. A clamping fork 614 is threadedly connected to the clamping screw 1002. The rotational motion input by the second drive capstan 1001 is converted into linear motion of the clamping fork 614 through the threaded structure formed by the clamping fork 614 and the clamping screw 1002. In order to guide the clamping fork 614 in linear motion and prevent it from rotating due to the friction of the screw pair during linear motion, a first guide shaft 1003 is also provided on the clamping fork 614. The first guide shaft 1003 is passed through the clamping fork 614 via a linear bearing. The clamping fork 614 is arranged in parallel with the clamping screw 1002 to avoid interference with the movement of the clamping fork 614.

[0113] The clamp head opening and closing drive mechanism includes an outer tube 607, one end of which is connected to the clamping fork 614, and the other end is connected to the clamping tube 618 via the clamping tube connecting piece 617. The clamp head 7 includes a needle anvil 619 and a nail magazine seat 620 that are arranged in a coordinated manner. The clamping tube 618 is connected to the needle anvil 619, and the clamping tube connecting piece 617 drives the needle anvil 619 of the clamp head 7 to open and close through the clamping tube 618. Figure 26 and Figure 27 As shown, the cartridge holder 82 is connected to the base tube 605 via a connecting structure, which is not the subject of protection of the present invention and will not be described in detail herein. The clamping tube 618 moves linearly, and the anvil 619 rotates around the pliers head shaft 616, thereby closing or opening the pliers head 7.

[0114] Specifically, the clamp head swing power mechanism 11 includes a third driving capstan 1101 and a swing screw 1102. Figure 28 As shown, the end of the swing screw 1102 is rotatably connected to the bracket assembly 1, and the swing screw 1102 is rotatably connected to the swing fork 615 via a screw pair. The swing fork 615 is provided with a second guide shaft 1103, which is used to prevent the swing fork 615 from rotating, so that the swing fork 615 only moves linearly along the axis of the swing screw 1102. The second guide shaft 1103 is passed through the swing fork 615 via a linear bearing. The swing screw 1102 is arranged parallel to the swing tube 606. The swing fork 615 is connected to the upper end of the swing tube 606 via a swing limit plate 310. The swing screw 1102 is connected to the third drive capstan 1101, which is connected to the robot arm for drive input.

[0115] The clamp head swinging mechanism 11 includes a swing tube 606, one end of which is connected to the swing fork 615, and the other end is connected to the rotating shaft at one end of a parallelogram drive frame via a swing rod 621. The other end of the parallelogram drive frame is connected to the clamp head 7. The parallelogram drive frame is rotatably connected to the base tube 605 at the middle of the rod near the swing tube 606. It will be understood that the rotating shaft connected to the swing rod 621 is an axis of the rod near the swing tube 606. The swing rod 621 is slidably connected to a chute on the side of the base tube 605. The end of the chute is a through groove, which facilitates the repeated linear movement of the swing rod 621 along the chute.

[0116] The parallelogram drive frame includes a rotatably connected swing arm 622, a first cutter head swing rod 623, a second cutter head swing rod 624, and a nail magazine seat 620 for the pliers head. The first cutter head swing rod 623 and the second cutter head swing rod 624 are arranged in parallel, and the swing arm 622 is rotatably connected to the first cutter head swing rod 623 and the second cutter head swing rod 624 via a swing arm pin. The first cutter head swing rod 623 and the second cutter head swing rod 624 are respectively arranged at opposite ends of the swing arm 622 and are of equal length. The ends of the first cutter head swing rod 623 and the second cutter head swing rod 624, which are away from the swing arm 622, are rotatably connected to one end of the nail magazine seat 620 for the pliers head. The middle part of the swing arm 622 is rotatably connected to the base tube 605. In this way, when the swing rod 621 pulls one end of the swing arm 622 to move, the other end of the swing arm 622 moves in the opposite direction, thereby driving the clamp head 7 to swing. Figure 29 and Figure 30 shown.

[0117] It is understandable that in order to prevent the swing tube 606 from interfering with the movement of the parallelogram drive frame, the swing tube 606 is only sleeved on the pipe section of the base pipe 605 where the parallelogram drive frame is not provided.

[0118] When the above-mentioned emergency release device is applied to a surgical instrument, the surgical instrument may include:

[0119] A drive plate, configured to be detachably connected to a robotic arm of a robot and receive a driving force from the robotic arm;

[0120] The connection relationship between the cutter head transmission mechanism and the clamp head transmission mechanism driven by the driving disc, and the above-mentioned emergency release device will not be repeatedly described.

[0121] The embodiment of the present invention further provides a surgical robot, comprising a main operation console 12 and a slave operation device 13 controlled by the main operation console 12. Figure 31 The main operating console 12 of one embodiment of the present invention is shown. Figure 32 The figure shows a slave operating device 13 according to an embodiment of the present invention. A surgical instrument 14 is detachably connected to the slave operating device 13. The surgical instrument 14 is the above-mentioned surgical instrument and is provided with the above-mentioned emergency release device.

[0122] Specifically, the surgeon performs relevant control operations on the slave operating device 13 on the master operating console 12 , and the slave operating device 13 performs a surgical operation on the human body according to the input instructions of the master operating console 12 .

[0123] The master operating console 12 and the slave operating device 13 can be located within the same operating room or in different rooms. Data can be transmitted between the master operating console 12 and the slave operating device 13 via wired or wireless communication. The slave operating device 13 includes a robotic arm 1301 and an actuator 1302 located at the distal end of the robotic arm 1301. The surgical instrument 14 used to perform the surgical procedure is connected to the actuator 1302. The actuator 1302 drives the surgical instrument 14 via multiple actuators within the actuator 1302.

[0124] In the description of this solution, it should be understood that the terms "upper", "lower", "vertical", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as a limitation on this solution.

[0125] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this solution, "plurality" means two or more, unless otherwise specifically defined.

[0126] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0127] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An emergency release device, applied to a surgical instrument, wherein the surgical instrument comprises a cutter head transmission mechanism and a forceps head transmission mechanism, characterized in that: The emergency release device comprises: A first releasing mechanism (5) is used for transmission connection with the cutter head transmission mechanism; A second releasing mechanism (3) is used to cooperate with the pliers head transmission mechanism to close the transmission chain of the pliers head transmission mechanism when in the transmission position, and is used to separate from the pliers head transmission mechanism to disconnect the transmission chain of the pliers head transmission mechanism when in the releasing position; The trigger mechanism (2) is in transmission connection with the first release mechanism (5) when in the first position, and is in transmission connection with the second release mechanism (3) when in the second position.

2. The emergency release device according to claim 1, characterized in that: It also includes an instrument box (4), and the trigger mechanism (2) is slidably arranged on the instrument box (4) to switch between the first position and the second position.

3. The emergency release device according to claim 2, characterized in that: The trigger end of the trigger mechanism (2) extends outward from the instrument box (4), and the trigger end is provided with a trigger knob (201).

4. The emergency release device according to claim 2, characterized in that: A reset member (203) is provided between the trigger mechanism (2) and the instrument box (4); when the reset member (203) is reset, the trigger mechanism (2) is in the first position or the second position.

5. The emergency release device according to claim 2, characterized in that: The trigger mechanism (2) comprises: a rotating shaft (202) that is slidably engaged with the instrument box (4); The first trigger member (205) is provided on the rotating shaft (202), and the first release mechanism (5) is provided with a first release member (501) that is in transmission cooperation with the first trigger member (205).

6. The emergency release device according to claim 5, characterized in that: The first triggering member (205) and the first releasing member (501) are both gears.

7. The emergency release device according to claim 5, characterized in that: The first release mechanism (5) further comprises a connecting member (502) for transmission connection with the cutter head transmission mechanism, and a power input member (504) for transmission connection with an external cutter head drive mechanism (8).

8. The emergency release device according to claim 5, characterized in that: The trigger mechanism (2) further comprises a second trigger member (204) rotating along with the rotating shaft (202), and the second release mechanism (3) is provided with a second release member (301) in transmission cooperation with the second trigger member (204).

9. The emergency release device according to claim 8, characterized in that: The second triggering member (204) is a lever arranged on the first triggering member (205); The second release member (301) is a release rocker that swings when the second trigger member (204) is activated.

10. The emergency release device according to claim 9, characterized in that: An accommodating groove (3011) is provided on the release rocker, and the accommodating groove (3011) is used for transmission cooperation with the shifting rod.

11. The emergency release device according to claim 8, characterized in that: The second release mechanism (3) further comprises a release clutch mechanism, and the pliers transmission mechanism comprises a disconnected first pliers transmission mechanism branch and a disconnected second pliers transmission mechanism branch; When the second releasing mechanism (3) is in the transmission position, the releasing clutch mechanism is respectively connected to the first pliers transmission mechanism branch chain and the second pliers transmission mechanism branch chain, so that the transmission chain of the pliers transmission mechanism is closed; when the second releasing mechanism (3) is in the releasing position, the releasing clutch mechanism is disconnected from at least one of the first pliers transmission mechanism branch chain and the second pliers transmission mechanism branch chain.

12. The emergency release device according to claim 11, characterized in that: The first clamp head transmission mechanism branch chain includes a clamp head opening and closing power mechanism (10) and a clamp head swinging power mechanism (11), and the second clamp head transmission mechanism branch chain includes a clamp head opening and closing drive mechanism and / or a clamp head swinging drive mechanism, the clamp head opening and closing power mechanism (10) and the clamp head opening and closing drive mechanism form a clamp head opening and closing mechanism chain, and the clamp head swinging power mechanism (11) and the clamp head swinging drive mechanism form a clamp head swinging mechanism chain.

13. The emergency release device according to claim 12, characterized in that: The clutch release mechanism comprises a swing limit plate (310) and / or a clamping limit plate (309), and the swing limit plate (310) and / or the clamping limit plate (309) are driven by the second release member (301) to move in the same direction; When the clamping limit plate (309) is in the transmission position, the clamp head opening and closing power mechanism (10) is in transmission connection with the clamp head opening and closing drive mechanism; when the swing limit plate (310) is in the transmission position, the clamp head swing power mechanism (11) is in transmission connection with the clamp head swing drive mechanism.

14. The emergency release device according to claim 13, characterized in that: The clamp head swing power mechanism (11) includes a swing fork (615), and the clamp head swing drive mechanism includes a first position-limiting concave ring (6061) provided on the swing tube (606). A first plug opening is provided on the side of the swing fork (615), and the first plug opening is connected to the first position-limiting concave ring (6061) in a corresponding manner. The swing limit piece (310) is slidably plugged into the first position-limiting concave ring (6061) through the first plug opening. When the swing fork (615) is stuck in the first limiting concave ring (6061), the clamp head swing mechanism chain is closed, and the swing fork (615) drives the clamp head (7) to swing through the swing tube (606); when the swing fork (615) withdraws from the first limiting concave ring (6061), the clamp head swing mechanism chain is disconnected.

15. The emergency release device according to claim 13, characterized in that: The clamp head opening and closing power mechanism (10) includes a clamping fork (614), and the clamp head opening and closing drive mechanism includes a second limiting concave ring (6071) provided on the outer tube (607). A second plug opening is provided on the side of the clamping fork (614), and the second plug opening is connected to the second limiting concave ring (6071) in a corresponding manner. The clamping limiting piece (309) is slidably plugged into the second limiting concave ring (6071) through the second plug opening. When the clamping fork (614) is stuck in the second limiting concave ring (6071), the clamp head opening and closing mechanism chain is closed, and the clamping fork (614) drives the clamp head (7) to open and close through the outer tube (607); when the clamping fork (614) withdraws from the second limiting concave ring (6071), the clamp head opening and closing mechanism chain is disconnected.

16. The emergency release device according to claim 8, characterized in that: The second releasing mechanism (3) comprises a rotatably arranged supporting main shaft (303), and the second releasing member (301) is arranged on the supporting main shaft (303); The axis of the supporting main shaft (303) is staggered with the axis of the second releasing member (301), and a release clutch mechanism is provided at one end of the supporting main shaft (303) away from the second releasing member (301).

17. The emergency release device according to claim 16, characterized in that: The second release mechanism (3) further comprises a first release crank (302), the support main shaft (303) and the second release member (301) are respectively arranged at two ends of the first release crank (302), and the first release crank (302) is connected to a reset mechanism.

18. The emergency release device according to claim 17, characterized in that: The reset mechanism comprises a spring connecting column (311) fixed to the first release crank (302), the spring connecting column (311) being connected to one end of a reset spring (312) for returning to its original position, the other end of the reset spring (312) being fixed to a spring seat (313), and the spring seat (313) being fixed to the bracket assembly (1); The spring connecting column (311) and the second releasing member (301) are respectively arranged at two ends of the supporting main shaft (303).

19. The emergency release device according to claim 16, characterized in that: The clutch release mechanism comprises a second release crank (305) connected to the support main shaft (303); the second release crank (305) is connected to a first limit plate sliding rod (306); the first limit plate sliding rod (306) is rotatably connected to a second limit plate sliding rod (308); the second limit plate sliding rod (308) is slidably connected to a swing limit plate (310) and a clamping limit plate (309); the swing limit plate (310) and the clamping limit plate (309) are used to be slidably connected to the clamp head transmission mechanism to realize the closing or disconnection of the transmission chain of the clamp head transmission mechanism.

20. A surgical instrument, characterized in that: It includes: A drive plate, configured to be detachably connected to a robotic arm of a robot and receive a driving force from the robotic arm; A cutter head transmission mechanism and a pliers head transmission mechanism driven by the drive disc, and: A first releasing mechanism (5) is used for transmission connection with the cutter head transmission mechanism; A second releasing mechanism (3) is used to cooperate with the pliers head transmission mechanism to close the transmission chain of the pliers head transmission mechanism when in the transmission position, and is used to separate from the pliers head transmission mechanism to disconnect the transmission chain of the pliers head transmission mechanism when in the releasing position; The trigger mechanism (2) is in transmission connection with the first release mechanism (5) when in the first position, and is in transmission connection with the second release mechanism (3) when in the second position.

21. A surgical robot comprising a main operating console (12) and a slave operating device (12) controlled by the main operating console (12), wherein a surgical instrument (14) is detachably connected to the slave operating device (12), and the surgical instrument (14) is provided with an emergency release device, characterized in that: The emergency release mechanism is the emergency release device according to any one of claims 1 to 19.

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