Surgical instruments and surgical robots

Abstract

The present invention provides a surgical instrument and a surgical robot. The surgical instrument includes a forceps body and an opening and closing transmission mechanism. The forceps body includes a first clamp and a second clamp that are rotatable with respect to each other. The opening and closing transmission mechanism includes a base rod and an outer tube. The base rod is connected to at least one of the first clamp and the second clamp. The outer tube is disposed outside the base rod and is movable relative to the base rod. When the outer tube moves, the outer tube has a first state in which it is disposed outside at least a portion of the first clamp and at least a portion of the second clamp, and a second state in which it is separated from the first clamp and the second clamp. When the outer tube is in the first state, the first clamp and the second clamp rotate to close. When the outer tube is in the second state, the first clamp and the second clamp rotate to open. The transmission mechanism of the entire surgical instrument is simpler, and the forceps body can output a stable opening and closing action.

Description

Technical Field

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

[0002] Minimally invasive surgery is a surgical procedure performed inside the human body using modern medical devices such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery.

[0003] With technological advancements, minimally invasive surgical robotics have matured and are now widely used. These robots typically consist of a master control console and slave devices. The master console sends commands to the slave devices based on the surgeon's actions, controlling the slave devices. The slave devices respond to these commands and perform the corresponding surgical procedures.

[0004] The slave operating device is connected to a detachable surgical instrument, which includes a drive device and an end effector for performing surgery. The clamp body of the existing surgical instrument is relatively complex in structure and has low opening and closing stability. Summary of the Invention

[0005] The main purpose of the present invention is to provide a surgical instrument and a surgical robot, aiming to solve the problems of complex opening and closing structure and low stability of existing actuators.

[0006] To achieve the above objectives, an embodiment of the present invention provides a surgical instrument, comprising:

[0007] A drive disk connected to a robotic arm of a robot and receiving and converting power from the robotic arm into a rotational drive force;

[0008] a transmission assembly, the transmission assembly comprising a first transmission member and a second transmission member, the first transmission member receiving the rotational driving force of the driving disk, the second transmission member moving in a straight line under the drive of the first transmission member;

[0009] a limiting member, the limiting member abutting against the second transmission member to limit the rotation of the second transmission member;

[0010] an outer tube, wherein the outer tube moves in a straight line when driven by the second transmission member; and

[0011] The clamp body includes a first clamp and a second clamp. When the outer tube moves, the first clamp and the second clamp are retracted into the outer tube to close, or exposed from the outer tube to open relatively.

[0012] As an optional embodiment, it also includes a clamping tube, which is connected to the second transmission member through a hook, and the linear movement of the second transmission member pushes the clamping tube to move linearly. The clamping tube is connected to the outer tube through a clamping key, so that the linear movement of the clamping tube drives the linear movement of the outer tube.

[0013] As an optional embodiment, one end of the clamping tube penetrates into one end of the outer tube, and one end of the clamp body is detachably connected to the other end of the outer tube via a connector.

[0014] As an optional embodiment, the limiting member includes an annular base and a limiting column extending from the annular base, the limiting column abuts the second transmission member, and the clamping tube extends from the annular base.

[0015] As an optional embodiment, the outside of the clamping key is further covered with a heat shrink tube.

[0016] As an optional implementation, the first transmission member includes a nut, and the second transmission member is a screw.

[0017] As an optional embodiment, it further includes a self-rotating tube, which receives a rotational driving force. The clamping tube and the self-rotating tube are fixedly connected via a tube self-rotation key, so that when the self-rotating tube rotates, the clamping tube and the outer tube rotate accordingly.

[0018] As an optional embodiment, it also includes a base rod, which is connected to the rotating tube via a button so that the base rod rotates along with the rotating tube. The pliers body is fixed to a tool holder, and the tool holder is detachably connected to the base rod via a hook. When the base rod rotates, the tool holder rotates along with it.

[0019] To achieve the above objectives, an embodiment of the present invention further provides a surgical instrument, comprising:

[0020] A forceps body for performing surgery, the forceps body including a first jaw and a second jaw; and

[0021] a base rod and an outer tube, wherein the base rod is connected to at least one of the first clamp and the second clamp, and the outer tube is sleeved outside the base rod and is movable relative to the base rod;

[0022] When the outer tube moves, the outer tube has a first state in which it is sleeved outside at least part of the first clamp and at least part of the second clamp, and a second state in which it is separated from the first clamp and the second clamp. When the outer tube is in the first state, the first clamp and the second clamp are rotated to close, and when the outer tube is in the second state, the first clamp and the second clamp are rotated to open.

[0023] As an optional embodiment, the first clamp is connected to the base rod, and the second clamp is connected to the base rod through the first clamp, and the second clamp is linked to rotate when the outer tube moves.

[0024] As an optional embodiment, the outer tube is provided with a groove, which is an arc-shaped groove, and the second clamp is provided with a hook. When the outer tube moves relative to the second clamp, the hook slides in the groove, so that the second clamp rotates when moving relative to the outer tube.

[0025] As an optional embodiment, a tool holder is further included, the base rod is connected to at least one of the first clamp and the second clamp through the tool holder, and the tool holder and the base rod are detachably connected through a hook, the base rod is rotatable, and the tool holder rotates with the base rod.

[0026] As an optional embodiment, it also includes a first transmission member and a second transmission member, the first transmission member is used to be connected to a driving mechanism and rotates around a first axis under the drive of the driving mechanism, the second transmission member is matched with the first transmission member and moves along the first axis under the drive of the first transmission member, and the second transmission member is connected to the outer tube to drive the outer tube to move.

[0027] As an optional embodiment, a limiting member is further included, which forms a sliding fit with the second transmission member and limits the rotation of the second transmission member.

[0028] As an optional embodiment, the surgical instrument also includes a bracket, the limiting member includes a limiting column and an annular base, the annular base is connected to the bracket or the annular base is a part of the bracket, the number of the limiting columns is multiple, and the second transmission member has a groove matching the limiting column.

[0029] As an optional embodiment, the bracket includes a base and a mounting member, the mounting member is fixed to the base, and the first transmission member is rotatably connected to the mounting member and fixes the annular base to the mounting member.

[0030] As an optional embodiment, the surgical instrument further includes a bracket and a clamping tube, the second transmission member is rotatably connected to the clamping tube, and the clamping tube extends out of the bracket and is connected to the outer tube.

[0031] As an optional embodiment, it also includes a first mating key, a first fixed key groove is provided on the clamping tube, a second fixed key groove is provided on the outer tube, the outer tube is sleeved outside the clamping tube, and the first mating key is inserted into the first fixed key groove and the second fixed key groove for fixation.

[0032] As an optional embodiment, the first transmission member and the second transmission member are nested with each other, the clamping tube is connected to the end of the second transmission member, and the clamping tube is embedded in the outer tube, the base rod is embedded in the outer tube and the outer tube is slidable relative to the base rod.

[0033] To achieve the above objectives, an embodiment of the present invention further provides a surgical robot comprising a doctor-side device and a patient-side slave operating device controlled by the doctor-side device, wherein the patient-side slave operating device comprises the above-mentioned surgical instrument.

[0034] The embodiments of the present invention have at least the following beneficial effects:

[0035] This surgical instrument can open and close the first clamp and the second clamp of the actuator through the linear movement of the outer tube. The input power driving direction is simple. Compared with rotation, the transmission distance of linear movement is longer, which can reduce the requirements for the distance of the power source. The transmission mechanism of the entire surgical instrument is simpler. At the same time, by controlling the moving position, the opening and closing degree of the clamp body can be achieved, and the clamp body can output a high-precision and stable opening and closing action. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 A schematic diagram of the overall structure of a surgical instrument provided by an embodiment of the present invention is shown;

[0038] Figure 2 A schematic diagram of a partial structure of a surgical instrument provided by an embodiment of the present invention is shown;

[0039] Figure 3 Shown Figure 2 sectional view of

[0040] Figure 4 A schematic diagram of the assembly structure of the bracket of the surgical instrument provided in this embodiment is shown;

[0041] Figure 5 Shown Figure 3 Schematic diagram of the decomposition structure;

[0042] Figure 6 A schematic diagram of the assembly structure of an opening and closing drive mechanism of a surgical instrument provided by an embodiment of the present invention is shown;

[0043] Figure 7 Shown Figure 6 Schematic diagram of the decomposition structure;

[0044] Figure 8 A partial cross-sectional schematic diagram of a surgical instrument provided by an embodiment of the present invention is shown;

[0045] Figure 9 A schematic diagram of a partially exploded structure of a surgical instrument provided by an embodiment of the present invention is shown;

[0046] Figure 10 A schematic diagram showing the limiting cooperation between the second transmission member and the limiting member of the surgical instrument provided by an embodiment of the present invention is shown;

[0047] Figure 11 A schematic structural diagram showing the coordination relationship between the clamping tube, the self-rotating tube, and the outer tube of the surgical instrument provided by an embodiment of the present invention;

[0048] Figure 12 A schematic diagram of the connection structure between the clamp body and the opening and closing drive mechanism provided by an embodiment of the present invention is shown;

[0049] Figure 13 Shown Figure 11 Schematic diagram of the decomposition structure;

[0050] Figure 14 A schematic diagram showing the connection structure of the cutter head assembly of the opening and closing transmission mechanism provided by an embodiment of the present invention is shown;

[0051] Figure 15 It is a schematic structural diagram showing the cutter head assembly and the pliers body of the opening and closing transmission mechanism provided by an embodiment of the present invention.

[0052] Component Symbol Description:

[0053] 10-bracket; 101-base; 102-top seat; 103-first connecting plate; 104-second connecting plate; 105-cover plate; 100-moving transmission mechanism; 110-first transmission member; 111-gear; 112-third bearing; 113-circlip; 114-nut; 120-second transmission member; 121-limiting groove; 122-screw; 130-base rod; 131-fourth bearing; 140-limiting member; 141-limiting column; 142-annular base; 150-clamping tube; 151-first fixed keyway; 152-first matching key; 153-button; 154-transmission member; 155-clamping key; 156-rotation key; 1401, 1402-embedded groove; 160-mounting member; 161-limiting pin; 170-knife Head assembly; 171-blade holder; 172-blade firing member; 180-outer tube; 180a-first outer tube; 180b-second outer tube; 181-groove; 190-rotating connection assembly; 191-connecting member; 1911-first connecting part; 1912-second connecting part; 192-heat shrinkage tube; 193-rotating tube; 200-opening and closing drive mechanism; 210-opening and closing drive member; 211-driving disk; 212-first bearing; 220-first transmission gear; 221-second bearing; 230-first gear shaft; 240-second bearing; 250-nut; 260-coupling; 300-clamp body; 310-first clamp; 311-arc-shaped slide groove; 320-second clamp; 321-slider; 322-hook; 330-blade. DETAILED DESCRIPTION

[0054] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0055] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be an element centered thereon. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may also be an element centered thereon. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods. The terms "distal end" and "proximal end" used herein are directional terms, which are commonly used terms in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification of the present invention herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items, and the "cable bundle" in the text means that each cable in a bundle of cables is relatively close to each other and extends in substantially the same direction. Unless otherwise specified, the cable bundle direction or cable direction referred to in this application refers to the direction along the length of the cable bundle or cable.

[0057] The following is a detailed description with reference to the accompanying drawings.

[0058] A surgical robot generally includes a master operating console and a slave operating device. The doctor performs relevant control operations on the slave operating device on the master operating console, and the slave operating device performs surgical operations on the human body according to the input instructions of the master operating console. The master operating console and the slave operating device can be placed in the same operating room or in different rooms. The master operating console and the slave operating device can even be far apart. For example, the master operating console and the slave operating device are located in different cities. The master operating console and the slave operating device can transmit data by wire or by wireless means. For example, the master operating console and the slave operating device are located in the same operating room, and data is transmitted between the two by wire. Alternatively, the master operating console and the slave operating device are located in different cities, and long-distance data transmission is performed between the two using wireless signals such as 4G and 5G.

[0059] The slave operating device includes a robotic arm and an actuator arranged at the distal end of the robotic arm. The surgical instrument used to perform a surgical operation is connected to the actuator, and the actuator drives the surgical instrument to move through multiple actuators inside the actuator.

[0060] Surgical instruments, used in surgical robots, perform corresponding surgical procedures on the patient's surgical site or affected area according to a set program under the control of the surgical robot's main operating console. Surgical instruments include a transmission mechanism and a drive mechanism. The drive mechanism is used to connect to the actuator and provide power for the surgical instrument to perform its movements. The transmission mechanism is used to convert the power received by the drive mechanism into different outputs, enabling the forceps used to perform surgical operations to perform different actions, such as movement, rotation, swinging, pinching, opening and closing.

[0061] like Figure 1 As shown, Figure 1 The figure shows the overall structure of the surgical instrument provided by the embodiment of the present invention.

[0062] The surgical instrument 1000 of this embodiment includes an opening and closing transmission mechanism 100, an opening and closing drive mechanism 200 and a clamp body 300. The opening and closing drive mechanism 200 drives the opening and closing transmission mechanism 100 to operate, so that the clamp body 300 performs corresponding opening and closing actions to achieve clamping of the suture thread.

[0063] As mentioned above, the opening and closing drive mechanism 200 is used to be detachably connected to the robotic arm of a surgical robot and transmit rotational power to the opening and closing transmission mechanism 100. It is a rotational transmission mechanism that can adjust the output speed and torque through multi-stage transmission; the opening and closing transmission mechanism 100 converts the rotational action of the opening and closing drive mechanism 200 into the opening and closing action of the clamp body 300. It is an action conversion mechanism.

[0064] like Figure 2 and 3 As shown, Figure 2 FIG1 shows a partial structural diagram of a surgical instrument provided by an embodiment of the present invention. Figure 3 Shown Figure 2 sectional view.

[0065] The opening and closing drive mechanism 200 includes a bracket 10, an opening and closing drive member 210, and a first transmission gear 220. The opening and closing drive member 210 drives the first transmission gear 220 to rotate. The opening and closing drive member 210 is used to connect to the robotic arm and receive the robotic arm's rotational power. The opening and closing drive mechanism 200 also includes a first gear shaft 230. The opening and closing drive member 210 drives the first transmission gear 220 to rotate via the first gear shaft 230. The first transmission gear 220 is used to be in transmission connection with the opening and closing transmission mechanism 100 to transmit the power of the opening and closing drive mechanism 200 to the opening and closing transmission mechanism 100.

[0066] like Figure 4 and Figure 5 As shown, Figure 4 FIG. 1 shows a schematic diagram of the assembly structure of the bracket of the surgical instrument provided in this embodiment. Figure 5 Shown Figure 4 Schematic diagram of the decomposition structure.

[0067] The bracket 10 is used to carry and install components of the surgical instrument, and is connected to the robotic arm to fix the entire surgical instrument to the robotic arm. In some embodiments, the bracket 10 includes a base 101, a top seat 102, a first connecting plate 103, and a second connecting plate 104. In this embodiment, the top seat 102 and the base 101 are arranged approximately parallel and spaced apart and connected by the first connecting plate 103 and the second connecting plate 104. For example, the first connecting plate 103 and the second connecting plate 104 are supported between the top seat 102 and the base 101. The first connecting plate 103 and the second connecting plate 104 can be connected to the top seat 102 and the base 101 by screws, snap-fit ​​connections, or welding.

[0068] Please also refer to Figure 3 、 Figure 6 and Figure 7 , Figure 6 A schematic diagram of the assembly structure of an opening and closing drive mechanism of a surgical instrument provided by an embodiment of the present invention is shown; Figure 7 Shown Figure 6 Schematic diagram of the decomposition structure.

[0069] In this embodiment, the opening and closing drive member 210 includes a drive disk 211 and a first bearing 212. The lower surface of the first bearing 212 is in contact with the bearing mounting surface of the drive disk 211. The drive disk 211 is installed into the base 101 from the bottom, and the upper surface of the first bearing 212 is flush with the step surface of the bearing mounting hole of the base 101. The drive disk 211 is used to receive the rotational power of the robotic arm, and the outer surface may have teeth for meshing. One end of the first gear shaft 230 is inserted into the drive disk 211 and connected thereto, and the other end of the first gear shaft 230 is rotatably mounted on the top seat 102 through the second bearing 240. For example, the top seat 102 is inserted into the first gear shaft 230 from the top, and the second bearing 240 is inserted into the first gear shaft 230 from the top. The lower surface of the inner ring of the second bearing 240 is in contact with the bearing mounting surface of the first gear shaft 230, and the lower surface of the outer ring of the second bearing 240 is in contact with the stepped surface of the bearing mounting hole of the top seat 102. The upper surface of the second bearing 240 is restrained by a nut 250 mounted on the first gear shaft 230. The first transmission gear 220 is coaxially arranged with the first gear shaft 230. The first transmission gear 220 can be integrally arranged with the first gear shaft 230, or it can be connected via a coupling 260, thereby allowing the first transmission gear 220 to rotate together with the first gear shaft 230. The first gear shaft 230 is connected between the top seat 102 and the base 101 at both ends, and also provides support for the stable connection between the top seat 102 and the base 101.

[0070] It is understandable that in other embodiments, the first transmission gear 220 can be coordinated with the opening and closing transmission mechanism 100 through other transmission gears. Of course, in order to meet the transmission ratio, the tooth diameter can be adjusted, or the first transmission gear 220 can also be coordinated with the opening and closing transmission mechanism 100 through more intermediate transition gears.

[0071] It should be noted that the "transmission connection" mentioned in this application can be the transmission of action achieved by direct transmission cooperation, or it can be the transmission of action achieved by indirect transmission cooperation through other intermediate transition components.

[0072] Please also refer to Figure 8-11 , Figure 8 A partial cross-sectional schematic diagram of an opening and closing transmission mechanism provided by an embodiment of the present invention is shown; Figure 9 A schematic diagram of a partially exploded structure of an opening and closing transmission mechanism provided by an embodiment of the present invention is shown; Figure 10 A schematic diagram showing the limiting cooperation between the second transmission member and the limiting member of the opening and closing transmission mechanism provided by an embodiment of the present invention is shown; Figure 11 A schematic diagram of the connection structure between the clamp body and the opening and closing drive mechanism provided by an embodiment of the present invention is shown; Figure 12 Shown Figure 11 Schematic diagram of the decomposition structure.

[0073] As mentioned above, the pliers body 300 includes a first clamp 310 and a second clamp 320 , and the first clamp 310 and the second clamp 320 are capable of rotating relative to each other.

[0074] The opening and closing drive mechanism 200 drives the jaw body 300 to open and close via the opening and closing transmission mechanism 100. The opening and closing transmission mechanism 100 includes an outer tube 180, with the jaw body 300 disposed at the end of the outer tube 180. The outer tube 180 is driven forward by the power output by the opening and closing drive mechanism 200. As the outer tube 180 moves forward, the jaw body 300 retracts into the tube and merges, thereby switching between opening and closing positions.

[0075] The opening and closing transmission mechanism 100 further includes a base rod 130 connected to at least one of the first clamp 310 and the second clamp 320. An outer tube 180 is disposed outside the base rod 130 and is movable relative to the base rod 130. When the outer tube 180 moves, the outer tube 180 has a first state in which it is disposed outside at least a portion of the first clamp 310 and at least a portion of the second clamp 320, and a second state in which it is separated from the first clamp 310 and the second clamp 320. When the outer tube 180 is in the first state, the first clamp 310 and the second clamp 320 rotate to close, and when the outer tube 180 is in the second state, the first clamp 310 and the second clamp 320 rotate to open.

[0076] As mentioned above, the surgical instrument 1000 can realize the opening and closing of the first clamp 310 and the second clamp 320 of the actuator 300 through the linear movement of the outer tube 180. The input power driving direction is simple. Compared with rotation, the transmission distance of linear movement is longer, which can reduce the requirements for the distance of the power source. The transmission mechanism of the entire surgical instrument 1000 is simpler. At the same time, by controlling the moving position, the opening and closing degree of the first clamp 310 and the second clamp 320 can be realized, and the opening and closing control of the clamp body 300 is more stable and precise.

[0077] It is understood that the base rod 130 is connected to at least one of the first clamp 310 and the second clamp 320. The base rod 130 may be connected to the first clamp 310 and connected to the second clamp via the first clamp 310, or the base rod 130 may be connected to the second clamp 320 and connected to the first clamp 310 via the second clamp 320, or the base rod 130 may be connected to both the first clamp 310 and the second clamp 320 to achieve axial pulling of the first clamp 310 and the second clamp 320. The outer tube 180 may be connected to the first clamp 310 and drive the first clamp 310 to rotate relative to the second clamp 320 when moving, or the outer tube 180 may be connected to the second clamp 320 and drive the second clamp 320 to rotate relative to the first clamp 310 when moving, or the outer tube 180 may be connected to both the first clamp 310 and the second clamp 320 to drive the first clamp 310 and the second clamp 320 to rotate simultaneously when moving.

[0078] In this embodiment, the first clamp 310 is connected to the base rod 130, and the second clamp 320 is connected to the base rod 310 via the first clamp 320. When the outer tube 180 moves, the second clamp 320 rotates to close or open toward the first clamp 310. In this way, by providing a single component connected to the base rod 310 and a single component connected to the outer tube 180, the connection structure is simpler and the risk of interference between the components during operation is effectively reduced.

[0079] In another embodiment, a surgical instrument 1000 includes a drive disk 211, a transmission assembly, a stopper 140, an outer tube 180, and a forceps body 300. The drive disk 211 is connected to a robotic arm and receives and converts the power of the robotic arm into a rotational driving force. The transmission assembly includes a first transmission member 110 and a second transmission member 120. The first transmission member 110 receives the rotational driving force from the drive disk 211. The second transmission member 120 moves linearly under the drive of the first transmission member 110. The stopper 140 abuts against the second transmission member 120 to limit the rotation of the second transmission member 120. The outer tube 180 moves linearly under the drive of the second transmission member 120. The forceps body 300 includes a first clamp 310 and a second clamp 320. The first clamp 310 and the second clamp 320 retract into the outer tube 180 to close, or emerge from the outer tube 180 to open relative to each other when the outer tube 180 moves. The surgical instrument 1000 first receives the rotational power of the robotic arm through the drive disk 211, and then converts the rotational power into reciprocating linear motion through the combined action of the transmission assembly and the limit member 140, which can then be linked to the outer tube 180 to perform reciprocating linear motion. When moving, the outer tube 180 can receive the pliers 300 therein to close it, and can open it by exposing the pliers, thereby completing the clamping action of the pliers 300. Furthermore, the first transmission member 110 includes a nut 114, and the second transmission member 120 includes a screw 122. This structure can move at the input end of the drive disk 211, but will lock when the input action of the pliers 300 is applied, thereby having a good self-locking effect.

[0080] In this embodiment, the outer tube 180 is provided with a groove 181, which is an arc-shaped groove. The second clamp 320 is provided with a hook 322. When the outer tube 180 moves relative to the second clamp 320, the hook 322 slides in the groove 181, so that the second clamp 320 rotates when moving relative to the outer tube 180.

[0081] Furthermore, the arc shape of the groove 181 aligns with the trajectory of the hook 322 when the second clamp 320 rotates. As the outer tube 180 moves, the height of the groove 181 and the hook 322 on the outer tube 180 differs. This change in the mating position of the groove 181 and the hook 322 drives the second clamp 320 to rotate, achieving opening and closing. This eliminates the need for elastic members, resulting in a simpler and more reliable structure.

[0082] The outer circumference of the closed first clamp 310 and the second clamp 320 matches the inner diameter of the outer tube 180, so that when the outer tube 180 is sleeved outside the first clamp 310 and the second clamp 320, the first clamp 310 and the second clamp 320 can be brought close to each other, and the outer tube 180 has a limiting effect on the separation of the first clamp 310 and the second clamp 320, which can enable the first clamp 310 and the second clamp 320 to achieve a stable closed state, and thus enable the clamp body 300 to achieve stable clamping and suturing action during surgery, with high reliability.

[0083] In this embodiment, the surgical instrument includes a first transmission member 110, a second transmission member 120, and a base rod 130. The first transmission member 110 is configured to be in transmission connection with the opening and closing drive mechanism 200 and to rotate about a first axis when driven by the opening and closing drive mechanism 200. The first axis extends in the same direction as the opening and closing transmission mechanism 100. The first transmission member 110 is rotatably connected to the support 10. The second transmission member 120 is in transmission cooperation with the first transmission member 110 and moves along the first axis when driven by the first transmission member 110. The base rod 130 and the second transmission member 120 are capable of relative movement about the first axis. The second transmission member 120 is in transmission connection with the outer tube 180 to drive the outer tube 180 to move, thereby enabling the first clamp 310 and the second clamp 320 to open and close under the pull of the base rod 130 and the drive of the outer tube 180.

[0084] As mentioned above, the first transmission member 110 is used to connect and transmit rotational power to the second transmission member 120, and is a rotational transmission member; the second transmission member 120 converts the rotation of the moving first transmission member 110 into linear movement, and is a motion conversion member; through the relative movement between the base rod 130 and the second transmission member 120, the two clamping jaws of the pliers body 300 produce relative rotation, thereby realizing the opening and closing linkage of the pliers body 300.

[0085] The opening and closing transmission mechanism 100 is generally in the shape of a straight rod. In this embodiment, the opening and closing transmission mechanism 100 serves as the shank of the pliers body 300. As described above, the extending direction of the first axis is consistent with the extending direction of the opening and closing transmission mechanism 100. The extending directions of the first transmission member 110 and the second transmission member 120 of the opening and closing drive mechanism 200 are both parallel to or coincide with the first axis. The extending direction of the first gear shaft 230 of the opening and closing drive mechanism 200 is also parallel to the first axis.

[0086] In this embodiment, the opening and closing transmission mechanism 100 and the opening and closing drive mechanism 200 share the same bracket 10. In other embodiments, the opening and closing transmission mechanism 100 and the opening and closing drive mechanism 200 can also be installed on their respective brackets 10 and then assembled.

[0087] In this embodiment, the surgical instrument 1000 further includes a stopper 140, which is fixed relative to the support 10 or is part of the support 10. When the first transmission member 110 rotates, the second transmission member 120 moves relative to the support 10 under the constraint of the stopper 140. By providing the stopper 140 to limit the rotation of the second transmission member 120, the second transmission member 120 can move but cannot rotate relative to the first transmission member 110, thereby improving the effectiveness of the movement of the second transmission member 120. The stopper 140 mechanically limits the rotation of the second transmission member 120, eliminating the need for complex decoupling operations.

[0088] The first transmission member 110 and the second transmission member 120 are threadedly connected. One of the second transmission member 120 and the limiting member 140 has a slot, and the other has a slider that matches the slot. The slot extends along the first axis. When the first transmission member 110 rotates, the second transmission member 120 moves along the first axis under the restraining cooperation of the slot and the slider. The threaded connection between the first and second transmission members 110, 120 converts rotational motion into linear motion. Furthermore, the nested arrangement of the first and second transmission members 110, 120 enhances the rod-shaped integrity of the opening and closing transmission mechanism 100 and makes it more compact.

[0089] The first transmission member 110 includes a gear 111, which is in transmission connection with the opening and closing drive mechanism 200. The first transmission member 110 is also provided with a nut 112, and the second transmission member 120 is further provided with a screw 122 disposed within the nut 112. A slider is provided on the limiter 140, and a slot is provided on the second transmission member 120. The first transmission member 110 and the movable second transmission member 120 form a screw pair, wherein the movable limiter 140 is used to limit the rotation of the second transmission member 120, thereby converting the rotational motion of the movable first transmission member 110 into linear motion of the movable second transmission member 120.

[0090] like Figure 10 As shown, the limiting member 140 includes an annular base 142 and a limiting post 141 extending from the annular base 142. The limiting post 141 abuts the second transmission member 120. The limiting member 140 is connected to the bracket 10 via the annular base 142. The limiting post 141 is a columnar body provided on the annular base 142. There are multiple limiting posts 141, and the transmission member has holes and slots that match the columns. This non-rotating sliding fit between the components does not need to be nested with each other, avoiding the rod diameter of the rod-shaped opening and closing transmission mechanism 100 being too large due to the large number of nesting layers. Figure 11 A structural schematic diagram shows the matching relationship between the clamping tube, the self-rotating tube and the outer tube of the surgical instrument provided by an embodiment of the present invention.

[0091] Please also refer to Figure 3 and Figure 11The surgical instrument also includes a clamping tube 150, which forms a hook connection with the second transmission member 120. The linear motion of the second transmission member 120 drives the clamping tube 150. The clamping tube 150 is connected to the outer tube 180 via a clamping key 155, so that the linear motion of the clamping tube 150 drives the linear motion of the outer tube 180. The clamping tube 150 extends from the stop member 140, specifically from the annular base 142, to the outside of the bracket 10.

[0092] One end of the clamping tube 150 passes through one end of the outer tube 180. One end of the clamp body 300 is movably mounted in a clamp head push tube. The clamp head push tube and the other end of the outer tube 180 are detachably connected via a connector 191. In this embodiment, connector 191 is a sheet-like connecting piece. A heat shrink tubing 192 is further sheathed around the clamping key 155 to limit its outward movement.

[0093] Surgical instrument 1000 also includes a rotation tube 193, which receives rotational drive force from a drive disk that can be independent of the aforementioned drive disk 211. The clamping tube 150 is fixedly connected to the rotation tube 193 via a tube rotation key 156, so that when the rotation tube rotates, the clamping tube 150 and outer tube 180 rotate accordingly. Surgical instrument 1000 also includes a base rod 130, which is connected to the rotation tube 193 via a key 153, so that the base rod 130 rotates with the rotation tube 193. The forceps body 330 is fixed to a blade holder 171, which is detachably connected to the base rod 130 via a hook. When the base rod 130 rotates, the blade holder 171 rotates accordingly.

[0094] Furthermore, the bracket 10 further includes a mounting member 160, which is fixed to the base 101 and can be connected to the base 101 using, but not limited to, screws. The first transmission member 110 is rotatably connected to the mounting member 160 and fixes the annular base 142 to the mounting member 160, and the gear 111 is exposed from the mounting member 160.

[0095] For example, the structure and assembly method of each component are as follows:

[0096] As shown in Figures 8 and 9, the mounting member 160 is cylindrical, the bottom surface of which is connected to the base 101 by screws, and the top surface is open. The limit member 140 is installed in the mounting member 160 from the top and is fixed together with screws; the clamping tube 150 is installed in the second transmission member 120 from the side through a hook to form a rotatable connection; the second transmission member 120 is screwed into the opening and closing drive member 210 from the top; the third bearing 112 is inserted into the first transmission member 110 from the bottom, and the upper surface of the third bearing 112 is connected to the first The bearing mounting surface of transmission member 110 is in contact with the bearing, and the lower surface of third bearing 112 is limited by a retaining spring 113 mounted on first transmission member 110. First transmission member 110 penetrates mounting member 160 from above, and the lower surface of the outer ring of third bearing 112 is in contact with the bearing mounting surface of mounting member 160. Limiting pin 161 penetrates mounting member 160 from both sides, and the cylindrical surface of limiting pin 161 is in contact with the upper surface of the outer ring of third bearing 112, which is used to limit the upward movement of third bearing 112. Limiting member 140 is fixed to mounting member 160 with screws, and mounting member 160 is fixed to base 101, thereby fixing limiting member 140 relative to base 101. The second transmission member 120 is inserted into the limiting member 140 from the upper part. The limiting column 141 of the limiting member 140 is a cylindrical feature provided on its annular base 142. The cylindrical feature cooperates with the limiting groove 123 feature of the second transmission member 120, thereby limiting the rotational movement of the second transmission member 120 relative to the limiting member 140.

[0097] As mentioned above, since the outer diameter of the first transmission member 110 of this embodiment is larger, it has a larger transmission ratio when it engages with the first transmission gear 220, which has the effect of reducing the rotational speed and increasing the torque, enabling the first transmission member 110 to have a stronger driving force and a slower rotational speed so that it has better driving accuracy.

[0098] The bracket 10 also includes a cover plate 105, and the end of the base rod 130 has a step. The base rod 130 is fixed to the cover plate 105 through a fourth bearing 131. The outer ring of the fourth bearing 131 is fixed to the cover plate 105, and the inner ring is fixed to the base rod 130. The base rod 130 is inserted into the fourth bearing 131 from the top, and the boss at the end abuts against the end face of the second bearing 240. The base rod 130 is fixed to the cover plate 105 by a retaining spring at the bottom of the fourth bearing 131. The cover plate 105 is connected to the first transmission member 110 by screws, thereby fixing the base rod 130 relative to the bracket 10 in the direction of movement of the first axis. The base rod 130 is rotatably connected to the first transmission member 110, and the base rod 130 is non-rotatingly slidingly matched with the clamping tube 150, thereby fixing the base rod 130 when the first transmission member 110 rotates.

[0099] The base rod 130 passes through the through holes of the second transmission member 120 and the limiting member 140 and extends out through the base 101 therebetween.

[0100] Please also refer to Figure 12 and 13 , Figure 13 A schematic diagram showing the connection structure of the cutter head assembly of the opening and closing transmission mechanism provided by an embodiment of the present invention is shown; Figure 14 It is a schematic structural diagram showing the cutter head assembly and the pliers body of the opening and closing transmission mechanism provided by an embodiment of the present invention.

[0101] In this embodiment, the cutter head assembly 170 includes a cutter head 171 and a cutter head firing member 172 capable of relative movement along the first axis. The cutter head 171 is rotatably connected to the base rod 130. The pliers body 300 also includes a blade 330, which is movably disposed between the first clamp 310 and the second clamp 320. The blade 330 is transmission-connected to the cutter head firing member 172 so as to move along the first axis under the drive of the cutter head firing member 172. At least one of the first clamp 310 and the second clamp 320 is connected to the cutter head 171. Further, the blade 330 is movably disposed on the clamp connected to the cutter head 171, for example, the cutter head 171 is connected to the first clamp 310, and the blade 330 is movably disposed in the first clamp 310. Thus, when the driving blade trigger 172 moves, the blade 330 can be driven to move, while the pliers body 300 is connected to the base rod 130 via the blade holder 171 and can remain fixed, thereby achieving relative movement between the blade 330 and the pliers body 300. The opening and closing transmission mechanism 100 links one clamp to move while the other clamp is fixed, which can reduce the impact on the blade 330 in the pliers body 300. The movement of the blade 330 and the opening and closing of the pliers body 300 can be controlled independently, and the pliers body 300 can output more high-precision operating actions.

[0102] In this embodiment, the second transmission member 120 is in transmission connection with the caliper body 300 via an outer tube 180. The outer tube 180 and the second transmission member 120 form a rotatable transmission connection. The outer tube 180 is sleeved over the base rod 130. In this embodiment, the outer tube 180 is sleeved outside the base rod 130 and the tool holder 171. By providing the outer tube 180 to enclose the base rod 130 and the tool holder 171, the base rod 130 and the tool holder 171 are movable and connected to each other, providing a complete appearance and preventing external interference at the connection between the two. In addition, the outer tube 180 encloses the connection structure between the base rod 130 and the tool holder 171, which has a restraining effect on the separation between the base rod 130 and the tool holder 171 through the opening of the bezel, thereby further stabilizing the connection between the base rod 130 and the tool holder 171.

[0103] In some embodiments, the second transmission member 120 is rotatably connected to the clamping tube 150, which extends outside the bracket 10 and is connected to the outer tube 180. By providing the clamping tube 150, the movement output by the second transmission member 120 is output outside the bracket 10, and then the outer tube 180 is sleeved. The connection between the outer tube 180 and the clamping tube 150 can be achieved by the engagement of a key and a keyway to achieve a fixed connection.

[0104] For example, the surgical instrument 1000 includes a second mating key 152. The clamping tube 150 is provided with a first fixed key groove 151, and the outer tube 180 is provided with a second fixed key groove 181. The outer tube 180 is sleeved outside the clamping tube 150. The second mating key 152 is inserted into the first fixed key groove 151 and the second fixed key groove 181 to be fixed. The second mating key 152 is inserted outside the bracket 10 to facilitate assembly.

[0105] In this embodiment, the clamp body 300 includes a first clamp 310 and a second clamp 320. The first clamp 310 and the second clamp 320 are rotatably connected. The first clamp 310 is connected to the base rod 130, and the second clamp 320 is rotatably connected to the second transmission member 120. When the second transmission member 120 opens and closes in a direction away from the bracket 10, the first clamp 310 and the second clamp 320 close. Therefore, when the second transmission member 120 moves, the first clamp 310 remains fixed under the action of the base rod 130, while the second clamp 320 rotates relative to the first clamp 310 as the second transmission member 120 moves, thereby achieving the opening and closing of the first clamp 310 and the second clamp 320.

[0106] Furthermore, an arcuate slot 311 is formed on the first clamp 310, and a slider 321 is formed on the second clamp 320 that slidably cooperates with the arcuate slot 311. When the second transmission member 120 drives the second clamp 320 to move, the second clamp 320 slides along the arcuate slot 311. The guiding effect of the arcuate slot 311 causes the orientation of the second clamp 320 to change, and then move closer to the first clamp 310. Similarly, when the second transmission member 120 drives the second clamp 320 to retreat, the second clamp 320 opens relative to the first clamp 310.

[0107] In this embodiment, the outer tube 180 includes a first outer tube 180a close to the opening and closing drive mechanism 200, and a second outer tube 180b close to the clamp body 300. The first outer tube 180a is connected to the second outer tube 180b, and the first clamp 310 and the second clamp 320 are retracted into the second outer tube 180b when they are closed.

[0108] The first outer tube 180a is in transmission connection with the second outer tube 180b, and the second clamp 320 is connected to the second transmission member 120 via the first outer tube 180a and the second outer tube 180b. The groove 181 divides the outer tube 180 into the first outer tube 180a and the second outer tube 180b, and the second outer tube 180b is shorter, making it easier to assemble with the second clamp 320 than the longer outer tube 180.

[0109] In addition, by configuring the transmission components to have more sections, more transmission postures can also be configured. In some embodiments, a rotatable connection is formed between the first outer tube 180a and the second outer tube 180b, and the second outer tube 180b, together with the caliper body 300, can swing relative to the first outer tube 180a. A transmission mechanism for driving the second outer tube 180b to swing is also embedded in the first outer tube 180a. The opening and closing transmission mechanism 100 also includes a rotating connection assembly 190, which includes two connecting members 191. The two connecting members 191 are respectively located on opposite sides outside the cutter head assembly 170. The linkage member 181 is rotatably connected to the outer tube 180 via the two connecting members 191. By arranging the connecting members 191 on both sides, the insertion of the internal transmission components is not affected.

[0110] The connecting member 191 includes a first connecting portion 1911 and a second connecting portion 1912 that are spaced apart. The first connecting portion 1911 is rotationally connected to the outer tube 180, and the second connecting portion 1912 is rotationally connected to the linkage member 181. The rotation axes of the first connecting portion 1911 and the second connecting portion 1912 are parallel to the swing axis. The spaced apart first connecting portion 1911 and the second connecting portion 1912 ensure that the rotation connection of the linkage member 181 does not interfere with the swing and obtains swing support, resulting in high structural stability. For example, the first connecting portion 1911 and the second connecting portion 1912 are bosses provided on the connecting member 191, and connecting holes are respectively provided on the linkage member 181 and the outer tube 180, thereby achieving a rotatable connection. Of course, the bosses and holes between the components can be interchangeable.

[0111] Optionally, the opening and closing transmission mechanism 100 further includes a flexible sleeve (not shown), one end of which is connected to the second outer tube 180b and the other end to the first outer tube 180a, and the flexible sleeve houses the rotating connection assembly 190 therein. The flexible sleeve can deform with the swinging of the linkage 181, and by housing the rotating connection assembly 190 therein, interference with the outside world, such as the human body, can be avoided during the swinging process. Rigid connecting rings are connected to the outer tube 180 and the linkage 181 at each end of the flexible sleeve, thereby achieving connection of the flexible sleeve. Furthermore, to ensure that the surface of the flexible sleeve always has a certain tension and does not become damaged or loose due to repeated deformation, the flexible sleeve can be made of a soft rubber material such as silicone or rubber. Of course, more skin-friendly leather can also be used, or a metal sleeve that can be bent and deformed.

[0112] As described above, the opening and closing transmission mechanism 100 of this embodiment is generally rod-shaped, with the first transmission member 110 and the second transmission member 120 nested within each other. The stopper 140 is partially inserted into the second transmission member 120. The second transmission member 120 forms a hook-type rotational connection with the end of the clamping tube 150, and the clamping tube 150 is embedded within the second transmission member 120. The base rod 130 is also embedded within the clamping tube 150. Specifically, the second transmission member 120 is embedded within the first transmission member 110, and the stopper 140 is coaxially disposed at the end of the second transmission member 120. The second transmission member 120 is movable relative to the stopper 140. The clamping tube 150 extends from the bracket 100 and is embedded within the outer tube 180, connecting to the outer tube 180 to drive the outer tube 180 to move. The base rod 130 extends from the bracket 100 and is embedded within the outer tube 180, and is able to slide relative to the outer tube 180.

[0113] Furthermore, the aforementioned base rod 130, clamping tube 150, second transmission member 120, and cutter head assembly 170 are all disposed within the outer tube 180. The base rod 130, second transmission member 120, and clamping tube 150 are nested and slidably disposed. Specifically, the second transmission member 120 is embedded within the base rod 130, the clamping tube 150 is sleeved outside the base rod 130, the base rod 130 is slidable relative to the clamping tube 150, and the clamping tube 150 is inserted into and connected to the outer tube 180, driving the outer tube 180 to move. The blade holder 171 and the cutter head firing member 172 are nested and slidably disposed relative to each other. Specifically, the cutter head firing member 172 is embedded within the blade holder 171, and the blade holder 171 is slidable relative to the outer tube 180. The blade holder 171 and the base rod form a hook rotatable connection, and the cutter head firing member 172 forms a hook non-rotatable connection with the second transmission member 20. Therefore, the entire mobile transmission mechanism 100 is rod-shaped, and the multiple components in the outer tube 180 are nested to form a transmission connection or a sliding decoupling relationship, and the components with an axial force transmission relationship form a rotational connection, which can be decoupled by rotational transmission. The various components are both related and independent.

[0114] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0115] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A surgical instrument, characterized in that: include: A drive disk connected to a robotic arm of a robot and receiving and converting power from the robotic arm into a rotational drive force; a transmission assembly, the transmission assembly comprising a first transmission member and a second transmission member, the first transmission member receiving the rotational driving force of the driving disk, the second transmission member moving in a straight line under the drive of the first transmission member; a limiting member, the limiting member abutting against the second transmission member to limit the rotation of the second transmission member; an outer tube, wherein the outer tube moves in a straight line when driven by the second transmission member; as well as a pliers body, the pliers body comprising a first clamp and a second clamp, wherein the first clamp and the second clamp are retracted into the outer tube to close, or exposed from the outer tube to open relative to each other when the outer tube moves; a clamping tube, wherein the clamping tube is connected to the second transmission member via a hook, and the linear motion of the second transmission member drives the clamping tube to move linearly, and the clamping tube is connected to the outer tube via a clamping key, so that the linear motion of the clamping tube drives the linear motion of the outer tube; A self-rotating tube, the self-rotating tube receiving a rotational driving force, the clamping tube and the self-rotating tube being fixedly connected via a tube self-rotating key, so that when the self-rotating tube rotates, the clamping tube and the outer tube rotate accordingly; The base rod is connected to the rotating tube through a button so that the base rod rotates along with the rotating tube. The pliers body is fixed to a tool holder. The tool holder is detachably connected to the base rod through a hook. When the base rod rotates, the tool holder rotates along with it.

2. The surgical instrument according to claim 1, wherein: One end of the clamping tube penetrates into one end of the outer tube, and one end of the clamp body is detachably connected to the other end of the outer tube via a connecting piece.

3. The surgical instrument according to claim 1, wherein: The limiting member includes an annular base and a limiting column extending from the annular base, the limiting column abuts against the second transmission member, and the clamping tube extends from the annular base.

4. The surgical instrument according to claim 1, wherein: The outside of the clamping key is further covered with a heat shrink tube.

5. The surgical instrument according to claim 1, wherein: The first transmission member includes a nut, and the second transmission member is a screw.

6. A surgical instrument, characterized in that: include: A forceps body for performing surgery is provided, the forceps body including a first clamp and a second clamp; as well as a base rod and an outer tube, wherein the base rod is connected to at least one of the first clamp and the second clamp, and the outer tube is sleeved outside the base rod and is movable relative to the base rod; Wherein, when the outer tube moves, the outer tube has a first state in which the outer tube is sleeved outside at least a portion of the first clamp and at least a portion of the second clamp, and a second state in which the outer tube is separated from the first clamp and the second clamp. When the outer tube is in the first state, the first clamp and the second clamp rotate to close, and when the outer tube is in the second state, the first clamp and the second clamp rotate to open. A clamping tube, wherein the clamping tube is connected to the outer tube via a clamping key, so that the linear motion of the clamping tube drives the linear motion of the outer tube; A self-rotating tube, the self-rotating tube receiving a rotational driving force, the clamping tube and the self-rotating tube being fixedly connected via a tube self-rotating key, so that when the self-rotating tube rotates, the clamping tube and the outer tube rotate accordingly; The base rod is connected to the rotating tube via a button so that the base rod rotates along with the rotating tube. The pliers body is fixed to a tool holder. The tool holder is detachably connected to the base rod via a hook. When the base rod rotates, the tool holder rotates along with it.

7. The surgical instrument according to claim 6, characterized in that: The first clamp is connected to the base rod, and the second clamp is connected to the base rod through the first clamp. When the outer tube moves, the second clamp is linked to rotate.

8. The surgical instrument according to claim 7, wherein: The outer tube is provided with a groove, which is an arc-shaped groove. The second clamp is provided with a hook. When the outer tube moves relative to the second clamp, the hook slides in the groove, so that the second clamp rotates when moving relative to the outer tube.

9. The surgical instrument according to claim 6, characterized in that: It also includes a tool holder, the base rod is connected to at least one of the first clamp and the second clamp through the tool holder, and the tool holder and the base rod are detachably connected through a hook, the base rod is rotatable, and the tool holder rotates with the base rod.

10. The surgical instrument according to claim 6, characterized in that It also includes a first transmission member and a second transmission member, the first transmission member is used to be connected to a driving mechanism and rotates around a first axis under the drive of the driving mechanism, the second transmission member is matched with the first transmission member and moves along the first axis under the drive of the first transmission member, and the second transmission member is connected to the outer tube to drive the outer tube to move.

11. The surgical instrument according to claim 10, characterized in that: It also includes a limiting member, which forms a sliding fit with the second transmission member and limits the rotation of the second transmission member.

12. The surgical instrument according to claim 11, wherein: The surgical instrument also includes a bracket, the limiting member includes a limiting column and an annular base, the annular base is connected to the bracket or the annular base is a part of the bracket, there are multiple limiting columns, and the second transmission member has a groove matching the limiting column.

13. The surgical instrument according to claim 12, wherein: The bracket includes a base and a mounting member, the mounting member is fixed to the base, and the first transmission member is rotatably connected to the mounting member and fixes the annular base to the mounting member.

14. The surgical instrument according to claim 10, wherein: The surgical instrument further includes a bracket, the second transmission member is rotatably connected to the clamping tube, and the clamping tube extends out of the bracket and is connected to the outer tube.

15. The surgical instrument according to claim 14, characterized in that It also includes a first mating key, a first fixed key groove is provided on the clamping tube, a second fixed key groove is provided on the outer tube, the outer tube is sleeved outside the clamping tube, and the first mating key is inserted into the first fixed key groove and the second fixed key groove for fixation.

16. The surgical instrument according to claim 14, wherein: The first transmission member and the second transmission member are nested with each other, the clamping tube is connected to the end of the second transmission member, and the clamping tube is embedded in the outer tube, the base rod is embedded in the outer tube and the outer tube is slidable relative to the base rod.

17. A surgical robot, characterized in that It comprises a doctor-end device and a patient-end slave operating device controlled by the doctor-end device, and the patient-end slave operating device comprises the surgical instrument according to any one of claims 1 to 16.

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