End effectors, surgical instruments, and surgical robots

Abstract

The application relates to an end effector, a surgical instrument and a surgical robot. The end effector comprises a base, an actuator, a pulley assembly and a traction assembly. The actuator is rotationally connected to the base, and the actuator has a first axis extending in a first direction. The pulley assembly comprises a tension pulley set and a movable pulley set. The tension pulley set and the movable pulley set are rotationally arranged on the actuator. The tension pulley set and the movable pulley set are staggered in a second direction and at least partially coincide in a third direction. The first direction, the second direction and the third direction intersect each other in pairs. The traction assembly is at least partially wound around the tension pulley set and the movable pulley set. The part of the traction assembly in contact with the movable pulley set and the part of the traction assembly in contact with the tension pulley set are located on opposite sides of the first axis. The traction assembly is further connected to the actuator. The surgical instrument comprises the end effector, and the traction assembly can be prevented from being detached. The surgical robot comprises the surgical instrument, and the traction assembly can be prevented from being detached.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an end effector, surgical instrument, and surgical robot. Background Technology

[0002] With the development of the medical and mechanical fields, surgical robots have emerged. Surgical robots assist in performing surgical procedures, facilitating minimally invasive surgery, and reducing hospital stays, complications, intraoperative blood loss, and postoperative pain.

[0003] In traditional technologies, surgical robots primarily use robotic arms to drive surgical instruments to perform surgery. These surgical instruments include end effectors. The end effectors mainly use traction components to pull grippers to achieve opening, closing, yaw, and pitch movements.

[0004] However, in traditional end effectors, the traction component is prone to detaching during the process of driving the chuck. Summary of the Invention

[0005] Therefore, it is necessary to provide an end effector, surgical instrument, and surgical robot that prevents the traction component from disengaging, in order to address the problem of traction component disengagement.

[0006] In a first aspect, the present invention provides an end effector, comprising:

[0007] Base;

[0008] An actuator, rotatably connected to the base, the actuator having a first axis extending in a first direction;

[0009] A pulley assembly, comprising a tension pulley group and a movable pulley group, the tension pulley group and the movable pulley group being rotatably disposed on the actuator, the tension pulley group and the movable pulley group being offset in a second direction and at least partially overlapping in a third direction, the first direction, the second direction and the third direction intersecting each other; and

[0010] A traction assembly, at least partially surrounding the tension wheel assembly and the movable wheel assembly, wherein the portion of the traction assembly in contact with the movable wheel assembly and the portion of the traction assembly in contact with the tension wheel assembly are located on opposite sides of the first axis, and the traction assembly is also connected to the actuator to drive the actuator to rotate relative to the base.

[0011] In one embodiment, the traction assembly includes a first traction member and a second traction member, both of which are wound around the movable wheel assembly and the tension wheel assembly. The first traction member and the second traction member are respectively connected to opposite sides of the actuator along a second direction.

[0012] In one embodiment, the first traction member includes a first end and a second end opposite to each other, the first end and the second end being located on opposite sides of the actuator along a first direction, and both the first end and the second end being wrapped around the tension wheel assembly and the movable wheel assembly;

[0013] The second traction member includes a third end and a fourth end, which are located on opposite sides of the actuator along the first direction. Both the third end and the fourth end are wrapped around the tension wheel assembly and the movable wheel assembly.

[0014] In one embodiment, the tensioning wheel assembly includes a first tensioning wheel, a second tensioning wheel, a third tensioning wheel, and a fourth tensioning wheel, and the movable wheel assembly includes a first movable wheel, a second movable wheel, a third movable wheel, and a fourth movable wheel, with the first end wrapped around the first tensioning wheel and the first movable wheel, the second end wrapped around the second tensioning wheel and the second movable wheel, the third end wrapped around the third tensioning wheel and the third movable wheel, and the fourth end wrapped around the fourth tensioning wheel and the fourth movable wheel.

[0015] In one embodiment, the distance from the axis of the first tensioning wheel to the first axis is equal to the distance from the axis of the fourth tensioning wheel to the first axis; and / or, the distance from the axis of the second tensioning wheel to the first axis is equal to the distance from the axis of the third tensioning wheel to the first axis.

[0016] In one embodiment, the actuator includes a first rotating shaft protruding along the first direction, the first rotating shaft being disposed on the base, and the movable wheel assembly being rotatably disposed on the first rotating shaft.

[0017] In one embodiment, the actuator includes a chuck assembly and a movable seat, the movable seat being rotatably connected to the base, the chuck assembly being rotatably connected to the movable seat, the chuck assembly having a second axis extending along the second direction, the movable wheel set being disposed on the movable seat, and the traction assembly being connected to the chuck assembly.

[0018] In one embodiment, the chuck assembly includes a first chuck and a second chuck, both of which are rotatably connected to the movable seat about the second axis. The traction assembly includes a first traction member and a second traction member, the first traction member being drive-connected to the side of the first chuck away from the second chuck, and the second traction member being drive-connected to the side of the second chuck away from the first chuck.

[0019] Secondly, the present invention also provides a surgical instrument, the surgical instrument comprising a drive device, an arm tube, and an end effector as described in any of the above embodiments, the drive device being drively connected to the traction assembly, the two ends of the arm tube being respectively connected to the end effector and the drive device, and the traction assembly passing through the arm tube.

[0020] Thirdly, the present invention also provides a surgical robot, the surgical robot including a robotic arm and surgical instruments as described in the above embodiments, the surgical instruments being mounted at the end of the robotic arm, and the robotic arm being connected to the surgical instruments in a transmission manner.

[0021] Compared with the prior art, the end effector, surgical instrument and surgical robot provided by the present invention include an end effector comprising a base, an actuator, a pulley assembly and a traction assembly. The actuator is rotatably connected to the base and has a first axis extending in a first direction. The pulley assembly includes a tension wheel group and a movable wheel group rotatably disposed on the actuator. The traction assembly is connected to the actuator, thereby enabling the actuator to rotate relative to the base. Because the tensioning wheel assembly and the movable wheel assembly are offset in the second direction and at least partially overlap in the third direction, the first, second, and third directions intersect each other, and the parts of the traction assembly that contact the movable wheel assembly and the parts of the traction assembly that contact the tensioning wheel assembly are located on opposite sides of the first axis of the actuator. This ensures that no matter which side of the first axis the traction assembly drives the actuator to rotate, the traction assembly will always be in contact with at least one of the movable wheel assembly and the tensioning wheel assembly. In other words, the traction assembly will always be in contact with the pulley assembly. This prevents the traction assembly from becoming loose and disengaging when it drives the actuator to rotate, ensuring the accuracy of the end effector when performing pitching motion. It also prevents friction and wear between the traction assembly and the base and actuator, extending the service life of the end effector. Attached Figure Description

[0022] Figure 1 This is an axonometric schematic diagram of a surgical robot provided in an embodiment of the present invention;

[0023] Figure 2 for Figure 1 Side view of the surgical instruments in the surgical robot shown;

[0024] Figure 3 for Figure 2 Side view of the end effector in the surgical instrument shown;

[0025] Figure 4 for Figure 3 A side view of a portion of the structure in the end effector shown;

[0026] Figure 5 for Figure 3 The exploded view of the end effector shown;

[0027] Figure 6 for Figure 3 An exploded view of the end effector from another perspective;

[0028] Figure 7 for Figure 3 The control state diagram of the end effector is shown below;

[0029] Figure 8 for Figure 3 The image shows a side view when the end effector is open.

[0030] Reference numerals: 1. Surgical robot; 10. Surgical instrument; 100. End effector; 1100. Base; 1110. First rotating shaft; 1200. Actuator; 1210. Movable seat; 1211. Second rotating shaft; 1212. Support shaft; 1220. Grip assembly; 1221. First gripper; 1222. Second gripper; 1300. Pulley assembly; 1310. Tensioner assembly; 1311. First tensioner; 1312. Second tensioner; 1313. Third tensioner; 1314. Fourth tensioner Wheel; 1320, movable wheel assembly; 1321, first movable wheel; 1322, second movable wheel; 1323, third movable wheel; 1324, fourth movable wheel; 1400, traction assembly; 1410, first traction member; 1411, first end; 1412, second end; 1420, second traction member; 1421, third end; 1422, fourth end; 1500, winding groove; 200, drive device; 300, arm tube; 20, robotic arm; D1, first direction; D2, second direction; D3, third direction. Detailed Implementation

[0031] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0032] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0033] 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 number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0034] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. The terms "distal" and "proximal" used herein are directional terms, which are commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the operator during surgery, and "proximal" refers to the end closest to the operator during surgery.

[0035] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0036] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0037] See Figure 1 An embodiment of the present invention provides a surgical robot 1 comprising a surgical instrument 10 and a robotic arm 20. The surgical instrument 10 is mounted at the end of the robotic arm 20, and the robotic arm 20 is connected to the surgical instrument 10 via a transmission connection to drive the surgical instrument 10 to move in space. Compared to surgery performed directly by a human hand, the surgical instrument 10 driven by the robotic arm 20 is more stable during surgery. Furthermore, compared to a human hand, the surgical robot 1 can be designed to be smaller in size to facilitate minimally invasive surgery.

[0038] Please see Figure 2 In one embodiment, the surgical instrument 10 includes a drive unit 200 and an end effector 100. The drive unit 200 is connected to the end effector 100 to control the specific actions of the end effector 100, enabling the end effector 100 to perform various actions required for the surgery.

[0039] Please see Figure 3 and Figure 4 In one embodiment, the end effector 100 includes a base 1100, an actuator 1200, a pulley assembly 1300, and a traction assembly 1400.

[0040] The actuator 1200 is rotatably connected to the base 1100 and has a first axis K1 extending along a first direction D1. The pulley assembly 1300 includes a tension pulley group 1310 and a movable pulley group 1320, which are rotatably disposed on the actuator 1200. The tension pulley group 1310 and the movable pulley group 1320 are offset in a second direction D2 and at least partially overlap in a third direction D3. 。 The first direction D1, the second direction D2, and the third direction D3 intersect each other.

[0041] The traction assembly 1400 is at least partially wrapped around the tension wheel assembly 1310 and the movable wheel assembly 1320. The portion of the traction assembly 1400 that contacts the movable wheel assembly 1320 and the portion of the traction assembly 1400 that contacts the tension wheel assembly 1310 are located on opposite sides of the first axis K1. The traction assembly 1400 is also connected to the actuator 1200 to drive the actuator 1200 to rotate relative to the base 1100.

[0042] Compared with the prior art, the end effector 100, surgical instrument 10 and surgical robot 1 provided by the present invention include a base 1100, an actuator 1200, a pulley assembly 1300 and a traction assembly 1400. The actuator 1200 is rotatably connected to the base 1100 and has a first axis K1 extending along a first direction D1. The pulley assembly 1300 includes a tension wheel group 1310 and a movable wheel group 1320 rotatably disposed on the actuator 1200. The traction assembly 1400 is connected to the actuator 1200, thereby driving the actuator 1200 to rotate relative to the base 1100. Because the tensioning wheel assembly 1310 and the movable wheel assembly 1320 are offset in the second direction D2 and at least partially overlap in the third direction D3, the first direction D1, the second direction D2, and the third direction D3 intersect each other. Furthermore, the portions of the traction assembly 1400 that contact the movable wheel assembly 1320 and the portions of the traction assembly 1400 that contact the tensioning wheel assembly 1310 are located on opposite sides of the first axis K1 of the actuator 1200. This ensures that regardless of which side the actuator 1200 is rotated by the traction assembly 1400 towards the first axis K1, the traction... The traction component 1400 will always abut against at least one of the movable wheel assembly 1320 and the tensioning wheel assembly 1310, that is, the traction component 1400 will always abut against the pulley assembly 1300. This avoids the phenomenon of the traction component 1400 becoming loose and disengaging when the traction component 1400 drives the actuator 1200 to rotate, ensuring the accuracy of the end effector 100 when performing pitching motion. At the same time, it avoids friction and wear between the traction component 1400 and the base 1100 and / or the actuator 1200, thus extending the service life of the end effector 100.

[0043] Please see Figure 3 It should be noted that, since the tensioning pulley assembly 1310 and the movable pulley assembly 1320 are offset in the second direction D2 and at least partially overlap in the third direction D3, the traction assembly 1400 can bend between the tensioning pulley assembly 1310 and the movable pulley assembly 1320, extending from one side of the tensioning pulley assembly 1310 and wrapping around the other side of the movable pulley assembly 1320. The aforementioned one side of the tensioning pulley assembly 1310 and the other side of the movable pulley assembly 1320 are the two opposite sides of the tensioning pulley assembly 1310 and the movable pulley assembly 1320 on the first axis K1.

[0044] Please see Figure 2 and Figure 3 In one embodiment, the drive unit 200 is drively connected to the traction assembly 1400, and the drive unit 200 drives the actuator 1200 to open, yaw, and pitch via the traction assembly 1400. The opening, yaw, and pitch of the actuator 1200 will be described in detail below with reference to the specific structure of the actuator 1200.

[0045] Please see Figure 2 and Figure 3 In one embodiment, the surgical instrument 10 further includes an arm tube 300. The two ends of the arm tube 300 are connected to the end effector 100 and the drive device 200, respectively. The arm tube 300 is hollow, and the traction assembly 1400 passes through it. Thus, the arm tube 300 allows the traction assembly 1400 to be relatively externally sealed and isolated, facilitating interventional surgery using the surgical instrument 10. Specifically, the arm tube 300 may be connected to a base 1100, i.e., the base 1100 is located proximal to the movable seat 1210.

[0046] In one embodiment, the first direction D1, the second direction D2, and the third direction D3 can be mutually perpendicular. In each embodiment, the mutual perpendicularity of the first direction D1, the second direction D2, and the third direction D3 can be used as a reference for intuitive understanding of the embodiments. However, it should be noted that the first direction D1, the second direction D2, and the third direction D3 may not be mutually perpendicular.

[0047] Please continue reading. Figure 3 In one embodiment, the traction assembly 1400 includes a first traction member 1410 and a second traction member 1420. Both the first traction member 1410 and the second traction member 1420 are wound around the movable wheel assembly 1320 and the tension wheel assembly 1310. The first traction member 1410 and the second traction member 1420 are respectively connected to opposite sides of the actuator 1200 along the second direction D2. This configuration allows the actuator 1200 to deflect to one side of the second direction D2 when the first traction member 1410 or the second traction member 1420 is pulled, thereby enabling the end effector 100 to perform a pitching motion.

[0048] It should be noted that the "two sides" in "opposite sides along the second direction D2" above has a different meaning from the "two sides located on the first axis K1" mentioned earlier. The former refers to the two sides along the linear extension direction of the second direction D2; while the latter refers to the two sides in the circumferential direction of rotation around the first axis K1. The same applies to the two sides along the first direction D1 mentioned below, so it will not be elaborated further.

[0049] Please continue reading. Figure 3 and Figure 4In one embodiment, the actuator 1200 includes a chuck assembly 1220 and a movable seat 1210. The movable seat 1210 is rotatably connected to the base 1100, and the chuck assembly 1220 is rotatably connected to the movable seat 1210. The chuck assembly 1220 has a second axis K2 extending along a second direction D2. A traction assembly 1400 is connected to the chuck assembly 1220. It is understood that the connection between the traction assembly 1400 and the chuck assembly 1220 enables the chuck assembly 1220 to rotate relative to the movable seat 1210 about the second axis K2. The movable seat 1210 is rotatable relative to the base 1100 about a first axis K1. When the chuck assembly 1220 rotates relative to the movable seat 1210 in different ways, it can have opening and closing actions and yaw actions. When the movable seat 1210 rotates relative to the base 1100, since the chuck assembly 1220 is mounted on the movable seat 1210, the rotation of the movable seat 1210 relative to the base 1100 enables the actuator 1200 to perform a pitching motion as a whole. With this configuration, by pulling the chuck assembly 1220 and / or the movable seat 1210 to rotate via the traction assembly 1400, the end effector 100 can perform different movements to adjust its posture and adapt to surgical requirements.

[0050] Furthermore, the tensioning wheel assembly 1310 can be mounted on the movable seat 1210 so that it rotates relative to the base 1100 along with the movable seat 1210. With this configuration, the tensioning wheel assembly 1310 can adapt to the tensioning traction assembly 1400 at various positions during the rotation of the movable seat 1210 relative to the base 1100, thus preventing the traction assembly 1400 from disengaging.

[0051] Please see Figure 3 In one embodiment, the actuator 1200 includes a first rotating shaft 1110 protruding along a first direction D1. The first rotating shaft 1110 is disposed on the base 1100, and the movable seat 1210 is specifically rotatably connected to the base 1100 via the first rotating shaft 1110. A movable wheel assembly 1320 is rotatably disposed on the first rotating shaft 1110. Thus, the movable wheel assembly 1320 is rotatably disposed on the base 1100 via the first rotating shaft 1110. This avoids the need for a separate shaft to mount the movable wheel assembly 1320, which helps to shorten the length of the end effector 100, achieve miniaturization of the end effector 100, and facilitate the assembly of the end effector 100.

[0052] Please see Figure 3 and Figure 4 In one embodiment, a second rotating shaft 1211 is provided on the movable seat 1210 along the second direction D2. The chuck assembly 1220 is rotatably connected to the movable seat 1210 via the second rotating shaft 1211.

[0053] Please see Figure 4 and Figure 5 In one embodiment, the chuck assembly 1220 includes a first chuck 1221 and a second chuck 1222. Both the first chuck 1221 and the second chuck 1222 are rotatably connected to a movable seat 1210 about a second axis K2, i.e., both the first chuck 1221 and the second chuck 1222 are connected to the movable seat 1210 via a second rotating shaft 1211. A first traction member 1410 is driven to the side of the first chuck 1221 away from the second chuck 1222 to drive the first chuck 1221 to rotate. A second traction member 1420 is driven to the side of the second chuck 1222 away from the first chuck 1221 to drive the second chuck 1222 to rotate. Thus, the first chuck 1221 and the second chuck 1222 can be independently driven to rotate about the second axis K2 by the first traction member 1410 and the second traction member 1420. When the first traction member 1410 and the second traction member 1420 drive the first chuck 1221 and the second chuck 1222 to rotate in different directions, the chuck assembly 1220 can be opened and closed; when the first traction member 1410 and the second traction member 1420 drive the first chuck 1221 and the second chuck 1222 to rotate in the same direction, the chuck assembly 1220 can be yawed.

[0054] Please see Figure 4 and Figure 5 The first traction member 1410 and the second traction member 1420 are respectively connected to opposite sides of the actuator 1200 along the second direction D2. Specifically, the first traction member 1410 is connected to the side of the first chuck 1221 away from the second chuck 1222, and the second traction member 1420 is connected to the side of the second chuck 1222 away from the first chuck 1221. With this configuration, the first traction member 1410 can pull the movable seat 1210 relative to the base 1100 towards the side where the first chuck 1221 is located; similarly, the second traction member 1420 can pull the movable seat 1210 relative to the base 1100 towards the side where the second chuck 1222 is located. In other words, the first traction member 1410 and the second traction member 1420 can indirectly drive the movable seat 1210 to deflect relative to the base 1100 through the first chuck 1221 and the second chuck 1222, thereby achieving a pitching motion. Specifically, the aforementioned movable seat 1210 can be deflected relative to the base 1100 around the first axis K1.

[0055] Understandably, the following will provide a detailed description of the specific structures of the first traction member 1410 and the second traction member 1420 regarding the opening and closing of the chuck assembly 1220 and the yaw of the drive chuck assembly 1220, as well as the pitch of the drive movable seat 1210.

[0056] It should be noted that the opening, closing, and yaw of the end effector 100 are achieved by driving the first chuck 1221 and the second chuck 1222 to rotate relative to the movable seat 1210. During the rotation of the chuck assembly 1220 driven by the first traction member 1410 and the second traction member 1420, the movable seat 1210 will not rotate relative to the base 1100. That is, the movable seat 1210 can be fixed relative to the base 1100 during opening, closing, and yaw, so the first traction member 1410 and / or the second traction member 1420 will generally not disengage during opening, closing, and yaw. However, during pitch, because the movable seat 1210 rotates relative to the base 1100, the distance between the first traction member 1410 and the movable seat 1210, and the distance between the second traction member 1420 and the movable seat 1210, will change. In each embodiment, by providing the pulley assembly 1300, the probability of the first traction member 1410 and the second traction member 1420 disengaging and experiencing friction and wear can be reduced.

[0057] Please see Figure 4 and Figure 5 In one embodiment, the first traction member 1410 includes a first end 1411 and a second end 1412, which are located on opposite sides of the actuator 1200 along the first direction D1. Thus, by pulling either the first end 1411 or the second end 1412 of the first traction member 1410, the first chuck 1221 can be rotated in different directions. Both the first end 1411 and the second end 1412 are wrapped around the tensioning wheel assembly 1310 and the movable wheel assembly 1320. Therefore, by cooperating with the tensioning wheel assembly 1310 and the movable wheel assembly 1320, both ends of the first traction member 1410 can be tensioned, that is, by cooperating with the tensioning wheel assembly 1310 and the movable wheel assembly 1320, the first end 1411 and the second end 1412 can be prevented from disengaging.

[0058] Please continue reading. Figure 4 and Figure 5 In one embodiment, similar to the first traction member 1410, the second traction member 1420 includes a third end 1421 and a fourth end 1422, which are located on opposite sides of the actuator 1200 along the first direction D1. Thus, by pulling the third end 1421 or the fourth end 1422 of the second traction member 1420, the second chuck 1222 can be rotated in different directions. Both the third end 1421 and the fourth end 1422 are wrapped around the tensioning wheel assembly 1310 and the movable wheel assembly 1320. Therefore, by cooperating with the tensioning wheel assembly 1310 and the movable wheel assembly 1320, both ends of the second traction member 1420 can be tensioned, that is, by cooperating with the tensioning wheel assembly 1310 and the movable wheel assembly 1320, the third end 1421 and the fourth end 1422 can be prevented from disengaging.

[0059] It is understandable that the movable seat 1210 is provided with movable wheel sets 1320 on both sides along the first direction D1.

[0060] Please see Figure 5 In one embodiment, a winding groove 1500 is formed on the side of the first chuck 1221 away from the second chuck 1222 along the circumferential direction of the second axis K2, and the first traction member 1410 is wound within the winding groove 1500. Thus, the groove wall of the winding groove 1500 can limit the first traction member 1410 to prevent it from separating from the first chuck 1221. At this time, the first traction member 1410 transmits motion to the first chuck 1221 through the groove wall of the winding groove 1500. Alternatively, a connecting block (not shown in the figure, the same below) can be provided within the winding groove 1500, and the first traction member 1410 is fixedly connected to the connecting block to transmit motion to the first chuck 1221. Of course, other similar transmission connection methods can also be used between the first traction member 1410 and the first chuck 1221, which will not be described in detail here.

[0061] Similarly, a winding groove 1500 can also be formed on the side of the second chuck 1222 away from the first chuck 1221 along the circumferential direction of the second axis K2, and the second traction member 1420 is wound within the winding groove 1500. In this way, the groove wall of the winding groove 1500 can limit the second traction member 1420 to prevent it from separating from the second chuck 1222. At this time, the second traction member 1420 transmits motion to the second chuck 1222 through the groove wall of the winding groove 1500. Alternatively, a connecting block (not shown in the figure, the same below) can be provided within the winding groove 1500, and the second traction member 1420 is fixedly connected to the connecting block to transmit motion to the second chuck 1222. Of course, other similar transmission connection methods can also be used between the second traction member 1420 and the second chuck 1222, which will not be elaborated further.

[0062] Please continue reading. Figure 5 In one embodiment, the first end 1411, the second end 1412, the third end 1421 and the fourth end 1422 can all be S-shaped and wrapped around the tension wheel assembly 1310 and the movable wheel assembly 1320, thereby preventing the first end 1411, the second end 1412, the third end 1421 and the fourth end 1422 from disengaging from the pulley assembly 1300 when the movable seat 1210 rotates relative to the base 1100.

[0063] Furthermore, the first end 1411 and the fourth end 1422 can be located on one side of the movable seat 1210, and the second end 1412 and the third end 1421 can be located on the other side of the movable seat 1210.

[0064] In one embodiment, the drive device 200 can be specifically connected to the first end 1411, the second end 1412, the third end 1421 and the fourth end 1422. By pulling the ends of different parts of the traction assembly 1400, the opening, closing, yaw and pitch of the end effector 100 can be controlled.

[0065] Please see Figure 4 and Figure 7 and combined Figure 8 Specifically, regarding pitch motion, when simultaneously along Figure 4 As shown, pulling the third end 1421 and the fourth end 1422 in the directions of Q3 and Q4, that is, along... Figure 4 When the third end 1421 and the fourth end 1422 are pulled down simultaneously, the second chuck 1222 will cause the movable seat 1210 to deflect relative to the base 1100 around the first axis K1, thereby causing the actuator 1200 to deflect to one side, that is, along... Figure 4 Rotate in the direction of R1. At this time, the first end 1411 and the second end 1412 can be pushed upward along Q1' and Q2' simultaneously, so that the first chuck 1221 can deflect with the movable seat 1210, and avoid the first traction member 1410 from restricting the pitch movement.

[0066] Similarly, when pitching or deflecting in the opposite direction, the first end 1411 and the second end 1412 can be pulled downwards along directions Q1 and Q2 simultaneously, and the third end 1421 and the fourth end 1422 can be pushed along directions Q3' and Q4'. At this time, the actuator 1200 can then... Figure 4 Rotate in the direction of R2 as shown.

[0067] Please continue reading. Figure 4 and Figure 7 and combined Figure 8 When the end effector 100 needs to yaw, the first chuck 1221 and the second chuck 1422 can rotate simultaneously in the same direction. For example, the first end 1411 can be pushed upward along Q1' and the second end 1412 can be pulled downward along Q2, so that the first chuck 1221 can rotate in the direction shown in S1 under the drive of the first traction member 1410. At the same time, the third end 1421 can be pulled downward along Q3 and the fourth end 1422 can be pushed upward along Q4', so that the second chuck 1222 can rotate in the direction shown in S1 under the drive of the second traction member 1420. Thus, the chuck assembly 1220 can yaw in the direction of S1.

[0068] Similarly, when yaw is required in the opposite direction, the first end 1411 can be pulled downward along Q1, and the second end 1412 can be pushed upward along Q2'. This allows the first clamp 1221 to rotate in the direction shown in S2 under the drive of the first traction member 1410. Simultaneously, the third end 1421 can be pushed upward along Q3', and the fourth end 1422 can be pulled downward along Q4. This allows the second clamp 1222 to rotate in the direction shown in S2 under the drive of the second traction member 1420. Thus, the clamp assembly 1220 can yaw in the direction of S2.

[0069] Please continue reading. Figure 4 and Figure 7 and combined Figure 8 When it is necessary to close the end effector 100, the first chuck 1221 can be rotated towards each other. Specifically, the first end 1411 can be pushed upward along Q1' and pulled downward along Q2. At this time, the first chuck 1221 can rotate towards the second chuck 1222 along the S1 direction under the drive of the first traction member 1410. At the same time, the third end 1421 can be pushed upward along Q3' and the fourth end 1422 can be pulled downward along Q4. At this time, the second chuck 1222 can rotate towards the first chuck 1221 along the S2 direction under the drive of the second traction member 1420. In this way, the chuck assembly 1220 is closed.

[0070] Similarly, when it is necessary to open the end effector 100, the first chuck 1221 can be rotated away from each other. Specifically, the first end 1411 can be pulled down along Q1 and pushed up along Q2'. At this time, the first chuck 1221 can rotate away from the second chuck 1222 along the S2 direction under the drive of the first traction member 1410. At the same time, the third end 1421 can be pulled down along Q3 and the fourth end 1422 can be pushed up along Q4'. At this time, the second chuck 1222 can rotate away from the first chuck 1221 along the S1 direction under the drive of the second traction member 1420. In this way, the chuck assembly 1220 is opened.

[0071] Of course, in some embodiments, when the clamp assembly 1220 needs to be opened, only one of the first clamp 1221 and the second clamp 1222 needs to be rotated away from the other. When the clamp assembly 1220 needs to be closed, only one of the first clamp 1221 and the second clamp 1222 needs to be rotated closer to the other.

[0072] It is understood that the pushing and pulling amounts of the first end 1411, the second end 1412, the third end 1421 and the fourth end 1422 can be controlled by the drive device 200 to control the opening and closing degree, yaw degree and pitch degree of the chuck assembly 1220.

[0073] To prevent the movable seat 1210 from deflecting when the first traction member 1410 pulls the first chuck 1221 to rotate, the movement of the second traction member 1420 can be restricted when the first traction member 1410 pulls the first chuck 1221, so that the second traction member 1420 neither pushes nor pulls. In this way, the movable seat 1210 will not experience unexpected pitch deflection around the first axis K1 due to the driving force of the first traction member 1410 pulling the first chuck 1221 to rotate. Similarly, when the second traction member 1420 pulls the second chuck 1222 to rotate, the movement of the first traction member 1410 can be restricted to prevent unexpected pitch deflection of the movable seat 1210.

[0074] Please see Figure 5 and Figure 6 In one embodiment, the tensioning wheel assembly 1310 includes a first tensioning wheel 1311, a second tensioning wheel 1312, a third tensioning wheel 1313, and a fourth tensioning wheel 1314. The movable wheel assembly 1320 includes a first movable wheel 1321, a second movable wheel 1322, a third movable wheel 1323, and a fourth movable wheel 1324.

[0075] The first tensioning wheel 1311 and the first movable wheel 1321 are located on the same side of the actuator 1200, and the first end 1411 is wrapped around the first tensioning wheel 1311 and the first movable wheel 1321. Specifically, the first tensioning wheel 1311 and the first movable wheel 1321 can be located on the same side of the movable seat 1210, and the first tensioning wheel 1311 and the first movable wheel 1321 can rotate in the same plane of rotation, so that the first end 1411 can be wrapped around the first tensioning wheel 1311 and the first movable wheel 1321 simultaneously. The first end 1411 can be wrapped around the first tensioning wheel 1311 and the first movable wheel 1321 in an S-shape.

[0076] The second tensioning wheel 1312 and the first tensioning wheel 1311 are located on opposite sides of the actuator 1200. The movable wheel assembly 1320 includes a second movable wheel 1322, and the second tensioning wheel 1312 and the second movable wheel 1322 are located on the same side of the actuator 1200. A second end 1412 is wound around the second tensioning wheel 1312 and the second movable wheel 1322. Specifically, the second tensioning wheel 1312 and the first tensioning wheel 1311 are located on opposite sides of the movable seat 1210. The second tensioning wheel 1312 and the second movable wheel 1322 are located on the same side of the movable seat 1210. The second tensioning wheel 1312 and the second movable wheel 1322 can rotate in the same plane of rotation, which facilitates the second end 1412 simultaneously wound around the second tensioning wheel 1312 and the second movable wheel 1322. The second end 1412 can be wound around the second tensioning wheel 1312 and the second movable wheel 1322 in an S-shape.

[0077] The third tensioning wheel 1313 and the third movable wheel 1323 are located on the same side of the actuator 1200, and the third end 1421 is wrapped around the third tensioning wheel 1313 and the third movable wheel 1323. Specifically, the third tensioning wheel 1313 and the third movable wheel 1323 are located on the same side of the movable seat 1210, and the third tensioning wheel 1313 and the third movable wheel 1323 can rotate in the same plane of rotation, so that the third end 1421 can simultaneously wrap around the third tensioning wheel 1313 and the third movable wheel 1323. The third end 1421 can be wrapped around the third tensioning wheel 1313 and the third movable wheel 1323 in an S-shape.

[0078] The fourth tensioning wheel 1314 and the third tensioning wheel 1313 are located on opposite sides of the actuator 1200, and the movable wheel assembly 1320 includes a fourth movable wheel 1324. The fourth tensioning wheel 1314 and the fourth movable wheel 1324 are located on the same side of the actuator 1200, and a fourth end 1422 is wound around the fourth tensioning wheel 1314 and the fourth movable wheel 1324. Specifically, the fourth tensioning wheel 1314 and the third tensioning wheel 1313 are located on opposite sides of the movable seat 1210, and the fourth end 1422 can be S-shaped and wound around the fourth tensioning wheel 1314 and the fourth movable wheel 1324. The fourth tensioning wheel 1314 and the fourth movable wheel 1324 are located on the same side of the movable seat 1210. The fourth tensioning wheel 1314 and the fourth movable wheel 1324 can rotate in the same plane of rotation, facilitating the simultaneous winding of the fourth end 1422 around both the fourth tensioning wheel 1314 and the fourth movable wheel 1324.

[0079] Please see Figure 5 and Figure 6In one embodiment, in the second direction D2, the first tensioning pulley 1311 is closer to the first chuck 1221 relative to the fourth tensioning pulley 1314; conversely, the fourth tensioning pulley 1314 is closer to the second chuck 1222 relative to the first tensioning pulley 1311. The second tensioning pulley 1312 is closer to the first chuck 1221 relative to the third tensioning pulley 1313; conversely, the third tensioning pulley 1313 is closer to the second chuck 1222 relative to the second tensioning pulley 1312.

[0080] In one embodiment, winding grooves 1500 may be formed on the circumferential surfaces of the first tensioning wheel 1311, the second tensioning wheel 1312, the third tensioning wheel 1313, the fourth tensioning wheel 1314, the first movable wheel 1321, the second movable wheel 1322, the third movable wheel 1323, and the fourth movable wheel 1324 to limit the first traction member 1410 and the second traction member 1420 and prevent them from coming off.

[0081] Please see Figure 5 and Figure 6 In one embodiment, the first movable wheel 1321, the second movable wheel 1322, the third movable wheel 1323 and the fourth movable wheel 1324 are respectively arranged axially on the first rotating shaft 1110.

[0082] Please continue reading. Figure 5 and Figure 6 In one embodiment, the movable seat 1210 is provided with a plurality of support shafts 1212. The first tensioning wheel 1311, the second tensioning wheel 1312, the third tensioning wheel 1313, and the fourth tensioning wheel 1314 are respectively disposed on each support shaft 1212. It can be understood that the plurality of support shafts 1212 are disposed on different sides of the movable seat 1210 corresponding to the positions of each tensioning wheel.

[0083] Please see Figure 5 and Figure 6 In one embodiment, the first rotating shaft 1110 is arranged parallel to the support shaft 1212.

[0084] Please continue reading. Figure 5 and Figure 6In one embodiment, the first end 1411 and the fourth end 1422 are located on the same side of the actuator 1200. Correspondingly, the first tension wheel 1311 and the second tension wheel 1312 are also located on the same side of the actuator 1200. In this embodiment, the distance from the axis of the first tension wheel 1311 to the first axis K1 is equal to the distance from the axis of the fourth tension wheel 1314 to the first axis K1, making the movement of the end effector 100 more regular. The periodicity of the micro-deformation generated by the force on the first tension wheel 1311, the fourth tension wheel 1314, and the first rotating shaft 1110 is better, reducing damage caused by deformation and extending the service life of the three components. In other words, on a cross section perpendicular to the first axis K1, the line connecting the axis of the first tensioning wheel 1311, the axis of the fourth tensioning wheel 1314, and the first axis K1 forms an isosceles triangle, and the line connecting the axis of the first tensioning wheel 1311 and the axis of the fourth tensioning wheel 1314 with the first axis K1 forms the two legs of the aforementioned isosceles triangle.

[0085] Please see Figure 5 and Figure 6 The second end 1412 and the third end 1421 are located on the same side of the actuator 1200. Correspondingly, the second tension wheel 1312 and the fourth tension wheel 1314 are located on the same side of the actuator 1200. The distance from the axis of the second tension wheel 1312 to the first axis K1 is equal to the distance from the axis of the third tension wheel 1313 to the first axis K1, which further makes the movement of the end effector 100 more regular. The periodicity of the micro-deformation generated by the force on the second tension wheel 1312, the third tension wheel 1313, and the first rotating shaft 1110 is better, reducing the damage caused by deformation of the three components and extending their service life.

[0086] In one embodiment, the first traction member 1410 and the second traction member 1420 may specifically be cables.

[0087] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0088] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. An end effector, characterized in that, The end effector is connected to the drive unit via an arm tube, and the end effector includes: Base; An actuator is rotatably connected to the base, the actuator having a first axis extending in a first direction, the first axis being a pitch axis; A pulley assembly, comprising a tension pulley group and a movable pulley group, the tension pulley group and the movable pulley group being rotatably disposed on the actuator, the tension pulley group and the movable pulley group being offset in a second direction and at least partially overlapping in a third direction, the second direction being perpendicular to the first axis, and the third direction being perpendicular to both the first direction and the second direction; and A traction assembly is provided, which is inserted through the boom tube. The traction assembly is at least partially wrapped around the tension wheel assembly and the movable wheel assembly. The portion of the traction assembly that contacts the movable wheel assembly and the portion of the traction assembly that contacts the tension wheel assembly are located on opposite sides of the circumference of the first axis. The traction assembly is also connected to the actuator to drive the actuator to rotate relative to the base. Wherein, the third direction is the axial direction of the arm tube, and the tensioning wheel assembly includes a first tensioning wheel, a second tensioning wheel, a third tensioning wheel, and a fourth tensioning wheel. Along the second direction, the first tensioning wheel, the second tensioning wheel, the third tensioning wheel, and the fourth tensioning wheel are offset relative to the movable wheel assembly on the side that contacts the traction assembly. Relative to the movable wheel assembly, the offset direction of the first tensioning wheel and the fourth tensioning wheel is opposite, and the offset direction of the second tensioning wheel and the third tensioning wheel is opposite.

2. The end effector according to claim 1, characterized in that, The traction assembly includes a first traction member and a second traction member, both of which are wound around the movable wheel assembly and the tension wheel assembly. The first traction member and the second traction member are respectively connected to opposite sides of the actuator along a second direction.

3. The end effector according to claim 2, characterized in that, The first traction member includes a first end and a second end opposite to each other, the first end and the second end being located on opposite sides of the actuator along a first direction, and both the first end and the second end are wrapped around the tension wheel assembly and the movable wheel assembly. The second traction member includes a third end and a fourth end opposite to each other, the third end and the fourth end being located on opposite sides of the actuator along a first direction, and both the third end and the fourth end are wrapped around the tension wheel assembly and the movable wheel assembly.

4. The end effector according to claim 3, characterized in that, The movable wheel assembly includes a first movable wheel, a second movable wheel, a third movable wheel, and a fourth movable wheel. The first end is wound around the first tension wheel and the first movable wheel, the second end is wound around the second tension wheel and the second movable wheel, the third end is wound around the third tension wheel and the third movable wheel, and the fourth end is wound around the fourth tension wheel and the fourth movable wheel.

5. The end effector according to claim 4, characterized in that, The distance from the axis of the first tensioning wheel to the first axis is equal to the distance from the axis of the fourth tensioning wheel to the first axis; and / or, the distance from the axis of the second tensioning wheel to the first axis is equal to the distance from the axis of the third tensioning wheel to the first axis.

6. The end effector according to claim 1, characterized in that, The actuator includes a first rotating shaft protruding along the first direction, the first rotating shaft being disposed on the base, and the movable wheel assembly being rotatably disposed on the first rotating shaft.

7. The end effector according to claim 1, characterized in that, The actuator includes a chuck assembly and a movable seat, the movable seat being rotatably connected to the base, the chuck assembly being rotatably connected to the movable seat, the chuck assembly having a second axis extending along the second direction, the movable wheel set being disposed on the movable seat, and the traction assembly being connected to the chuck assembly.

8. The end effector according to claim 7, characterized in that, The chuck assembly includes a first chuck and a second chuck, both of which are rotatably connected to the movable seat around the second axis. The traction assembly includes a first traction member and a second traction member, the first traction member being drive-connected to the side of the first chuck away from the second chuck, and the second traction member being drive-connected to the side of the second chuck away from the first chuck.

9. A surgical instrument, characterized in that, The surgical instrument includes a drive device, an arm tube, and an end effector as described in any one of claims 1 to 8. The drive device is connected to the traction assembly, and the two ends of the arm tube are respectively connected to the end effector and the drive device. The traction assembly passes through the arm tube.

10. A surgical robot, characterized in that, The surgical robot includes a robotic arm and a surgical instrument as described in claim 9, wherein the surgical instrument is mounted at the end of the robotic arm and the robotic arm is connected to the surgical instrument via a transmission connection.

Images