Surgical instrument and effector thereof

Abstract

The application relates to a surgical instrument and an actuator thereof, the actuator comprising a fixed base, a first clamping sheet and a second clamping sheet, the first clamping sheet and the second clamping sheet being oppositely arranged and connected to the fixed base, the actuator further comprising a push knife, a connecting shaft, a base rotating shaft, a first connecting assembly and a second connecting assembly, the push knife being connected to the first connecting assembly and capable of linear motion under the push / pull of the first connecting assembly to control the opening and closing of the actuator, the connecting shaft being hinged to the second connecting assembly and capable of rotary motion around the base rotating shaft under the push / pull of the second connecting assembly to control the pitching of the actuator. The actuator of the application can be flexibly pitched and opened and closed through the push of the two connecting assemblies, and can bear a larger tensile and compressive force.

Description

[0001] This application is a divisional application of Chinese Patent Application 202110349274.1, filed on March 31, 2021, entitled "A Surgical Instrument and Actuation Device". Technical Field

[0002] This invention belongs to the field of medical device technology and relates to a surgical instrument and actuation device. Background Technology

[0003] Currently, the technology of using surgical instruments to assist in minimally invasive surgery has gradually matured and is widely used. In the operation of surgical instruments, the instrument power box, as the slave-end drive mechanism of the surgical instrument, works with different commands sent by medical staff from the master-end mechanism to drive the actuator to complete corresponding actions or postures, such as pitch, rotation, clamping / closing, etc. At present, the power rotation of the instrument power box is mainly achieved by using a cable or tendon wound with a winch. The motor drives the cable to shorten or lengthen, thereby realizing the pitch, rotation, and other actions or postures of the actuator. Although this method is widely used, the coupled motion control between various actions is relatively complex, and there are certain limitations due to the inherent characteristics of the cable. For example, the cable can only withstand tension and not thrust; or when controlling the reciprocating motion of a component, at least two cables are required; or the diameter of the winding wheel is small, which can easily cause the cable to break; or due to the limitations of the number and size of the cable and the radius of the winding wheel, its load-bearing capacity is small, making it difficult to use in instruments that require large thrust / tension forces, such as tissue resection.

[0004] Chinese patent document CN102171006B discloses an automated medical system that utilizes a passive preload system connected to a tendon wound around a winch to control the relaxation tension in the tendon. The system employs a cable or tendon wound around a winch, with one end fixed to the winch and the other end extending to the actuator end via a slender rod. Different motors drive different winches to rotate, shortening or lengthening the cables to achieve pitch, rotation, and other movements or postures of the actuator. However, while the system can control the actuator, the coupled motion control between the various actions is complex. Furthermore, due to the inherent limitations of the cables (e.g., cables can only withstand tension, not thrust), at least two cables are needed to control the actuator when controlling the reciprocating motion of a component. However, the small diameter of the winding wheel makes the cables prone to breakage. Limited by the number and size of the cables, and the radius of the winding wheel, its load-bearing capacity is relatively small, making it difficult to use in instruments requiring significant thrust / tension, such as those used for tissue resection. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention discloses a surgical instrument and its actuator, which solves the problems of complex operation and control of the actuator in the prior art, and the small load capacity of the transmission structure, making it unsuitable for use in situations with large load requirements.

[0006] The technical solution adopted by the present invention to solve the above-mentioned technical problems is: an actuator for a surgical instrument, including a fixed base, a first clamping plate, and a second clamping plate. The first clamping plate and the second clamping plate are arranged opposite to each other and are both connected to the fixed base. The actuator also includes a pusher, a connecting shaft, a base rotating shaft, a first connecting assembly, and a second connecting assembly. The pusher is connected to the first connecting assembly and can move linearly under the push / pull of the first connecting assembly to control the opening and closing of the actuator. The connecting shaft is hinged to the second connecting assembly and can rotate around the base rotating shaft under the push / pull of the second connecting assembly to control the pitch of the actuator.

[0007] Furthermore, the fixed base is provided with a connecting part and a rotating part, the end of the first clamping piece is hinged to the connecting part, and the end of the second clamping piece is rigidly connected to the connecting part of the fixed base.

[0008] Furthermore, both the base rotating shaft and the connecting shaft are located at the position of the rotating part of the fixed base, and the connecting shaft and the base rotating shaft are set at a certain distance apart.

[0009] Furthermore, the first clamping plate has a groove along its length, and the pusher is located in the groove and can move linearly therein.

[0010] Furthermore, the outer contour of the first clamping piece near the fixed base has a slope difference to achieve two states: the pusher clamps or releases the first clamping piece.

[0011] Furthermore, the first connecting component is connected to the first transmission block, the first transmission block is provided with a first connecting groove, the first connecting groove is connected to the end of the first lead screw of the instrument driving part, and the end of the first lead screw can rotate freely in the first connecting groove.

[0012] Furthermore, the second connecting assembly is connected to the second transmission block, the second transmission block is provided with a second connecting groove, the second connecting groove is connected to the end of the second lead screw of the instrument drive part, and the end of the second lead screw can rotate freely in the second connecting groove.

[0013] Furthermore, the first lead screw is located at the center of the transmission rod, and the second lead screw is located at an offset position on the instrument rod, and the two do not interfere with each other.

[0014] This invention also discloses a surgical instrument employing the aforementioned actuator. The surgical instrument further includes an instrument drive section, comprising a first gear set, a second gear set, a third gear set, a first bundle tube, a second bundle tube, and a base. The first, second, and third gear sets are all mounted on the base. One end of the first bundle tube is connected to the first gear set, and the other end is connected to the end of a first lead screw. The first bundle tube transmits power from the first gear set to the first lead screw. One end of the second bundle tube is connected to the second gear set, and the other end is connected to the end of a second lead screw. The second bundle tube transmits power from the second gear set to the second lead screw. The first and second bundle tubes are each connected to a set of elastic tensioning mechanisms. The third gear set is fixedly connected to the beginning end of the outer tube of the transmission rod, and the third gear set drives the outer tube of the transmission rod to rotate.

[0015] Furthermore, it also includes a fixing nut, which is located inside the outer tube of the transmission rod and is rigidly connected to the outer tube of the transmission rod; the first lead screw and the second lead screw are both located inside the outer tube of the transmission rod, and the first lead screw and the second lead screw are respectively threadedly connected to the fixing nut.

[0016] Compared with the prior art, the present invention has at least the following advantages:

[0017] The actuator in this invention uses two connecting components to drive the pusher and connecting shaft in the actuator, which can flexibly realize the pitch and opening / closing movements of the actuator. The control method is simple and the control effect is stable.

[0018] The actuator in this invention achieves opening, closing, and pitching operations by pushing two connecting components. Due to the rigid structure of the connecting components, their load-bearing capacity is much greater than that of the cable, thus they can withstand axial tension and thrust, maintaining stable execution. Attached Figure Description

[0019] Figure 1 This is an overall structural diagram of a surgical instrument according to an embodiment of the present invention;

[0020] Figure 2 yes Figure 1 Internal structural diagram of the instrument power box at point A;

[0021] Figure 3 This is a top view of the device power box in an embodiment of the present invention;

[0022] Figure 4 This is a side view of the transmission rod mechanism in an embodiment of the present invention;

[0023] Figure 5yes Figure 4 Cross-sectional view of the BB position;

[0024] Figure 6 This is a structural diagram of the transmission rod mechanism in an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of the bundle tube structure in an embodiment of the present invention;

[0026] Figure 8 This is a structural diagram of the actuator in an embodiment of the present invention. Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0029] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0030] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," 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 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. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. Example

[0031] like Figure 1 As shown, this embodiment specifically discloses a surgical instrument, including an instrument power box 1, a transmission rod mechanism 2, and an actuator 3. The instrument power box 1 and the transmission rod mechanism 2 constitute the actuation device of the surgical instrument. The actuation device is used to provide and transmit power to the actuator 3, thereby enabling the actuator 3 to perform actions such as rotation, pitch, closing / cutting.

[0032] Specifically, such as Figure 4-6 As shown, the transmission rod mechanism 2 includes a transmission rod outer tube 201, a first lead screw 202, a second lead screw 203, and a fixing nut 204. The fixing nut 204 is fixedly installed inside the transmission rod outer tube 201. Both the first lead screw 202 and the second lead screw 203 are located inside the transmission rod outer tube 201, and both are threadedly connected to the fixing nut 204. The lengths of the first lead screw 202 and the second lead screw 203 are different. In this embodiment, the length of the first lead screw 202 is greater than the length of the second lead screw 203. Specifically, the first lead screw 202 is threaded to the fixing nut 204 near its end, while the first end of the second lead screw 203 is threaded to the fixing nut 204. This structure prevents interference between the lead screws when the surgical instruments rotate.

[0033] Specifically, such as Figure 2 and 3 As shown, the instrument power box 1 includes a first gear set, a second gear set, a third gear set, a first bundle tube 105, a second bundle tube 106, and a base 101. The first gear set, the second gear set, and the third gear set are all mounted on the base 101. One end of the first bundle tube 105 is connected to the first gear set, and the other end of the first bundle tube 105 is connected to the end of the first lead screw 202. The first bundle tube 105 is used to transmit the power of the first gear set to the first lead screw 202. One end of the second bundle tube 106 is connected to the second gear set, and the other end of the second bundle tube 106 is connected to the end of the second lead screw 203. The second bundle tube 106 is used to transmit the power of the second gear set to the second lead screw 203. The first bundle tube 105 and the second bundle tube 106 are respectively connected to a set of elastic tensioning mechanisms. The third gear set is fixedly connected to the head end of the transmission rod outer tube 201, and the third gear set is used to drive the transmission rod outer tube 201 to rotate.

[0034] During operation, the elastic tensioning mechanism ensures that the first bundle tube 105 and the second bundle tube 106 maintain a certain tension. The tension of the first bundle tube 105 and the second bundle tube 106 is transmitted to the first lead screw 202 and the second lead screw 203, respectively. When the first bundle tube 105 and the second bundle tube 106 are kept taut, it ensures that they are in a stable motion path and prevents unnecessary damage, such as wear or entanglement. At the same time, the ends of the first lead screw 202 and the second lead screw 203 receive a tension in a fixed direction, which can eliminate the transmission error caused by the lead screw backlash and improve the transmission accuracy.

[0035] More specifically, the first gear set includes a first motor, a first input gear 102a, and a first output gear 102b, with the first input gear 102a and the first output gear 102b meshing. The first motor is fixedly disposed on the outside of the base 101 and is used to drive the first input gear 102a to rotate. The gear shaft of the first output gear 102b is perpendicular to the gear shaft of the first input gear 102a. One end of the first bundle tube 105 is rigidly connected to the gear shaft of the first output gear 102b. The second gear set includes a second motor, a second input gear 103a, and a second output gear 103b, with the second input gear 103a and the second output gear 103b meshing. The second motor is fixedly disposed on the outside of the base 101 and is used to drive the second input gear 103a to rotate. The gear shaft of the second output gear 103b is perpendicular to the gear shaft of the second input gear 103a. One end of the second bundle tube 106 is rigidly connected to the gear shaft of the second output gear 103b.

[0036] It is expected that the first gear set and the second gear set are used to control the opening, closing, and pitching movements of the actuator 3, respectively. In the first gear set, after the first motor is connected to the power supply, the internal rotor generates driving force, which is transmitted to the first input gear 102a via the motor's drive shaft. The first input gear 102a and the first output gear 102b remain meshed, and the power is transmitted to the first output gear 102b. The first bundle tube 105 connected to the gear shaft then transmits the power to the first lead screw 202, driving the first lead screw 202 to engage with… The fixed nut 204 rotates relative to the actuator, causing the first lead screw 202 to displace axially and drive the actuator 3 to open and close. Similarly, after the second motor in the second gear set is connected to the power supply, it transmits power sequentially through the second input gear 103a, the second output gear 103b, and the second bundle tube 106 to the second lead screw 203. The second lead screw 203 rotates relative to the fixed nut 204, causing the second lead screw 203 to displace axially, generating thrust or pull to drive the actuator 3 to pitch. When the actuator 3 operates, it generates a large reaction force that is transmitted to the lead screw. Because the lead screw and the fixed nut 204 are self-locking and the lead screw itself has high rigidity, the lead screw can withstand a large load without deformation or displacement. Therefore, the actuator 3 operates more stably, has a greater cutting force, and is applicable to a wider range of situations.

[0037] The third gear set includes a third motor, a third input gear 104a, and a third output gear 104b, with the third input gear 104a and the third output gear 104b meshing. The third motor is fixedly mounted on the outside of the base 101 and drives the third input gear 104a to rotate. The third output gear 104b is mounted on the base 101, and its shaft has a hole that is rigidly connected to the outer wall of the transmission rod outer tube 201. Since the actuator 3 can rotate, to avoid affecting the opening, closing, or pitching motion when the actuator 3 rotates, the third output gear 104b in the third gear set is connected to the transmission rod outer tube 201. When the third output gear 104b rotates, it drives the transmission rod outer tube 201 to rotate synchronously, and the actuator 3 connected to the transmission rod outer tube 201 also rotates. In this embodiment, the first lead screw 202 and the second lead screw 203 have different lengths, and the corresponding bundle tubes extend to different positions inside the transmission rod outer tube 201. When the transmission rod outer tube 201 rotates, the bundle tube with the longer extension position in the transmission rod outer tube 201 will twist with the adjacent lead screw. However, since the bundle tube is made of a flexible material, such as the HHS bundle tube of FORT WAYNE material, the transmission torque center of the bundle tube itself is different from the twisting center. Therefore, when the bundle tube twists, it will not interfere with the transmission of the bundle tube itself, thereby avoiding the influence of the pitch and opening / closing actions when the actuator 3 performs rotation. The actuator 3 is more flexible in operation.

[0038] More specifically, the elastic tensioning mechanism includes a movable pulley 107a, a fixed pulley 107d, and a spring 107c; ​​the movable pulley 107a and the fixed pulley 107d are respectively located on both sides of the first gear set and the second gear set, and the fixed pulley 107d is fixedly installed above the third gear set; the first gear set and the second gear set are both located on the same side of the third gear set; the axis of the movable pulley 107a is connected to a fixed seat 107b, one end of the spring 107c is connected to the outside of the fixed seat 107b, and the other end of the spring 107c is connected to the base 101. In the elastic tensioning mechanism, the movable pulley 107a is used to change the direction of the bundle tube transmission and maintain the tension of the bundle tube, while the fixed pulley 107d is used to change the direction of the bundle tube transmission; the specific reason is that the bundle tube in this embodiment is provided with multiple spiral winding layers, such as... Figure 7 As shown, the rotation directions between adjacent winding layers are opposite. Since the actuator 3 requires different forces in different operating states during the opening and closing action, the torque borne by the bundle tube is also different when it rotates in different directions. Furthermore, when the bundle tube drives the lead screw to rotate, the position of the lead screw will change, and the length of the bundle tube in the outer tube of the transmission rod will change. To ensure that the bundle tube always remains taut, a spring 107c is used to connect the movable pulley 107a, and the elasticity of the spring 107c is used to keep the bundle tube taut.

[0039] In detail, the rotation direction with higher torque can be called the loading direction, in which actuator 3 performs a closing cutting action, while the rotation direction with lower torque can be called the unloading direction, in which actuator 3 performs an opening action. Therefore, in this embodiment, the rotation direction with more winding layers in the same direction is set as the loading direction, and the rotation direction with fewer winding layers in the same direction is set as the unloading direction, to correspond to different load requirements.

[0040] The first end of the first bundle tube 105 is rigidly connected to the axis of the first output gear 102b. After the end of the first bundle tube 105 surrounds the movable pulley 107a and the fixed pulley 107d in sequence, the end of the first bundle tube 105 is rigidly connected to the first lead screw 202. The first end of the second bundle tube 106 is rigidly connected to the axis of the second output gear 103b. After the end of the second bundle tube 106 surrounds the movable pulley 107a and the fixed pulley 107d in sequence, the end of the second bundle tube 106 is rigidly connected to the second lead screw 203.

[0041] The transmission rod mechanism 2 further includes a first transmission block 205 and a second transmission block 206. The first transmission block 205 is located at the lower end of the first lead screw 202 and has a first connecting groove 205a connected to the end of the first lead screw 202. The end of the first lead screw 202 can rotate freely in the first connecting groove 205a. The first transmission block 205 is used to control the pitch movement of the actuator 3. The second transmission block 206 is located at the lower end of the second lead screw 203 and has a second connecting groove 206a connected to the end of the second lead screw 203. The end of the second lead screw 203 can rotate freely in the second connecting groove 206a. The second transmission block 206 is used to control the opening and closing movement of the actuator 3.

[0042] The transmission rod mechanism 2 is used to transmit the power output from the instrument power box 1 to the actuator 3. The actuator 3 performs various actions or postures. In this embodiment, the transmission rod outer tube 201 is a hollow tube. One end of the transmission rod outer tube 201 is connected to the shaft of the third output gear 104b. The outer wall of the transmission rod outer tube 201 and the base 101 are both axially fixed and tangentially rotated. The shaft of the third output gear 104b is provided with a shaft hole, which is connected to the transmission rod outer tube 201. The first bundle tube 105 and the second bundle tube 106 change the transmission direction through the fixed pulley 107d. The ends of the first bundle tube 105 and the second bundle tube 106 are respectively connected to the lead screw in the transmission rod outer tube 201 through the shaft hole.

[0043] It should be noted that since the lead screw and the fixed nut 204 in the outer tube 201 of the transmission rod are connected by threads, when the bundle tube transmits power to the end of the lead screw, the lead screw and the fixed nut 204 will rotate relative to each other. Since the fixed nut 204 and the outer tube 201 of the transmission rod are rigidly connected, the lead screw will be displaced axially in the outer tube 201 of the transmission rod, thereby converting the torque motion of the bundle tube into linear displacement, and driving the actuator 3 connected to the end of the lead screw to produce corresponding actions or postures through the linear displacement of the lead screw.

[0044] Specifically, the actuator 3 is connected to the end of the transmission rod mechanism 2, and the actuator 3 and the transmission rod mechanism 2 are connected by a snap-fit ​​connection, which is a detachable connection. More specifically, the actuator 3 has a first connecting component 207 and a second connecting component 208 at its end. The first connecting component 207 controls the opening and closing of the actuator 3, and the second connecting component 208 controls the pitch of the actuator 3. The first connecting component 207 is fixedly connected to the first transmission block 205, and the second connecting component 208 is fixedly connected to the second transmission block 206. It is expected that the first transmission block 205 transmits the linear motion of the first lead screw 202 to the first connecting component 207; the second transmission block 206 transmits the linear motion of the second lead screw 203 to the second connecting component 208. Through this transmission method, different actions of the actuator 3 can be controlled respectively.

[0045] like Figure 8As shown, the actuator 3 includes a first clamping plate 302, a second clamping plate 303, a fixed base 301, a pusher 304, a connecting shaft 305, and a base rotating shaft 306. The fixed base 301 is provided with a connecting part and a rotating part. The end of the first clamping plate 302 is hinged to the connecting part, and the end of the second clamping plate 303 is rigidly connected to the connecting part of the fixed base 301. The base rotating shaft 306 and the connecting shaft 305 are both located at the rotating part of the fixed base 301, and the connecting shaft 305 and the base rotating shaft 306 are spaced apart by a certain distance. The connecting shaft 305 is hinged to the second connecting assembly 208. The first clamping plate 302 is provided with a groove 302a along the length direction. The pusher 304 is located in the groove 302a of the first clamping plate 302, and the pusher 304 is connected to the first connecting assembly 207. When the actuator 3 performs a pitching motion, the second connecting assembly 208 generates a pushing or pulling force on the connecting shaft 305. Through the force acting on the connecting shaft 305, the base rotating shaft 306 rotates around the rotating part. The first clamping plate 302 and the second clamping plate 303 then rotate synchronously with the base rotating shaft 306, achieving the pitching motion. When the actuator 3 performs a closing motion, the first connecting assembly 207 pushes the pusher 304 to a linear displacement. The pusher 304 moves towards the end of the first clamping plate in the groove 302a of the first clamping plate 302. The pusher 304 first pushes the first clamping plate... When the clamping plate 302 is closed, the pusher 304 continues to move towards the end of the first clamping plate 302, keeping the first clamping plate 302 clamped and simultaneously performing a cutting action; when the actuator 3 performs an opening action, the first connecting component 207 pulls the pusher 304 to move towards the connection position of the first clamping plate. During the movement of the pusher 304, a clamping force is applied to the first clamping plate 302, keeping the first clamping plate 302 closed. When the pusher 304 continues to move to the connection position of the first clamping plate 302, the first clamping plate 302 opens, realizing the opening action of the actuator 3.

[0046] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. An actuator for a surgical instrument, comprising a fixed base, a first clamping plate, and a second clamping plate, wherein the first clamping plate and the second clamping plate are disposed opposite to each other and are both connected to the fixed base, characterized in that: The actuator further includes a pusher, a connecting shaft, a base rotating shaft, a first connecting component, and a second connecting component. The pusher is connected to the first connecting component and can move linearly under the push / pull of the first connecting component to control the opening and closing of the actuator. The connecting shaft is hinged to the second connecting component and can rotate around the base rotating shaft under the push / pull of the second connecting component to control the pitch of the actuator. The first connecting component is connected to the first transmission block, the first transmission block is provided with a first connecting groove, the first connecting groove is connected to the end of the first lead screw of the instrument driving part, and the end of the first lead screw can rotate freely in the first connecting groove; The second connecting component is connected to the second transmission block, the second transmission block is provided with a second connecting groove, the second connecting groove is connected to the end of the second lead screw of the instrument drive part, and the end of the second lead screw can rotate freely in the second connecting groove; The first lead screw is located at the center of the transmission rod, and the second lead screw is located at an offset position on the instrument rod, and the two do not interfere with each other.

2. The actuator according to claim 1, characterized in that: The fixed base is provided with a connecting part and a rotating part. The end of the first clamping piece is hinged to the connecting part, and the end of the second clamping piece is rigidly connected to the connecting part of the fixed base.

3. The actuator according to claim 2, characterized in that: Both the base rotating shaft and the connecting shaft are located at the position of the rotating part of the fixed base, and the connecting shaft and the base rotating shaft are set at a certain distance apart.

4. The actuator according to claim 1, characterized in that: The first clamping plate has a groove along its length, and the pusher is located in the groove and can move linearly therein.

5. The actuator according to claim 4, characterized in that: The outer contour of the first clamping piece near the fixed base has a slope difference to achieve two states: the pusher clamps or releases the first clamping piece.

6. A surgical instrument comprising the actuator according to any one of claims 1 to 5, characterized in that: It also includes a device drive section, which comprises a first gear set, a second gear set, a third gear set, a first bundle tube, a second bundle tube, and a base. The first gear set, the second gear set, and the third gear set are all mounted on the base. One end of the first bundle tube is connected to the first gear set, and the other end of the first bundle tube is connected to the end of a first lead screw. The first bundle tube is used to transmit power from the first gear set to the first lead screw. One end of the second bundle tube is connected to the second gear set, and the other end of the second bundle tube is connected to the end of a second lead screw. The second bundle tube is used to transmit power from the second gear set to the second lead screw. The first bundle tube and the second bundle tube are each connected to a set of elastic tensioning mechanisms. The third gear set is fixedly connected to the beginning end of the outer tube of the transmission rod, and the third gear set is used to drive the outer tube of the transmission rod to rotate.

7. The surgical instrument according to claim 6, characterized in that: It also includes a fixing nut, which is located inside the outer tube of the transmission rod and is rigidly connected to the outer tube of the transmission rod; the first lead screw and the second lead screw are both located inside the outer tube of the transmission rod, and the first lead screw and the second lead screw are respectively threadedly connected to the fixing nut.

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