End effector of surgical instruments and surgical instruments

Abstract

This application discloses an end effector mechanism for a surgical instrument and the surgical instrument itself. The end effector mechanism includes a lower support member, at least one set of guide wheels, a middle support member, and an end effector element. The middle support member includes a first support portion for defining an actuator axis and a second support portion for defining a guide wheel axis. The second support portion and the set of guide wheels are rotatable around the guide wheel axis. The end effector element is connected to the lower support member through the middle support member. The end effector element and the first support portion are rotatable around the actuator axis. The first support portion is located at the distal end of the second support portion. The actuator axis and the guide wheel axis defined by the second support portion are skew lines, and the angle between them is acute. According to this application, it can be ensured that the drive line extending downward from the end effector element to the guide wheel set is tangent to the guide structure of each cooperating guide wheel, thereby generating less friction and reducing wear on the drive line.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and more specifically to an end effector of a surgical instrument and a surgical instrument, particularly an end effector of a surgical micro-instrument. Background Technology

[0002] Existing surgical instruments typically have three degrees of freedom at the wrist joint: pitch, yaw, and end effector movement. End effector movements include, for example, gripping, grasping, or shearing. To minimize surgical incisions and facilitate flexible operation within the confined space of the target surgical site, these instruments are generally small in diameter and use a wire-driven mechanism to transmit motion from the proximal end of the instrument to the distal wrist joint. Summary of the Invention

[0003] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0004] To at least partially solve the above problems, this application provides an end effector for a surgical instrument, comprising:

[0005] Lower support component;

[0006] At least one set of guide wheels, the at least one set of guide wheels being disposed on the lower support member and rotatable about the guide wheel axis relative to the lower support member;

[0007] A central support member, comprising a first support portion defining an actuator axis and a second support portion defining a guide wheel axis, the second support portion being rotatable about the guide wheel axis with respect to one of the at least one set of guide wheels, wherein the first support portion is located at the distal end of the second support portion; and

[0008] An end effector is provided, which is connected to the lower support via a central support. The end effector and the first support portion are rotatable about the actuator axis.

[0009] Wherein, the actuator axis and the guide wheel axis defined by the second support portion are skew straight lines, and the included angle between them is an acute angle.

[0010] According to the end effector of the surgical instrument of this application, the actuator axis corresponding to the yaw axis and the guide wheel axis corresponding to the pitch axis are arranged as skew lines and are not perpendicular. This ensures that the drive line extending downward from the end effector to the guide wheel assembly is tangent to the guide structure of each guide wheel it mates with. Thus, when operating the end effector, the tension of the drive line generates a radial force on the guide wheel, reducing the axial force on the guide wheel. Ideally, no axial force is generated, resulting in a smaller overall force on the guide wheel. Furthermore, because the axial force is reduced or absent, the axial friction is reduced or absent, resulting in a smaller total friction between the drive line and the guide wheel. This reduces wear on the drive line and improves the performance of the surgical instrument (such as accuracy). Attached Figure Description

[0011] The following drawings, which are incorporated herein by reference and are used to understand this application, illustrate embodiments of the invention and their descriptions to explain the principles of the invention.

[0012] In the attached image:

[0013] Figure 1 A perspective view of an end effector according to a preferred embodiment of this application;

[0014] Figure 2 for Figure 1 An exploded three-dimensional view of the end effector shown;

[0015] Figure 3 for Figure 1 A side view of the first end effector shown;

[0016] Figure 4 for Figure 1 A perspective view of the first end effector shown;

[0017] Figure 5 for Figure 1 A perspective view of the central support component shown;

[0018] Figure 6 for Figure 1 Top view of the central support component shown;

[0019] Figure 7 for Figure 1 The top view of the upper guide wheel assembly shown;

[0020] Figure 8 for Figure 1 A perspective view of the lower support component shown;

[0021] Figure 9 for Figure 1 A perspective view of the first end actuator with drive lines shown;

[0022] Figure 10 for Figure 1 A side view of the first end actuator with drive line shown;

[0023] Figure 11 for Figure 1 A perspective view of the first end actuator with drive line, the upper guide wheel assembly, and the lower guide wheel assembly shown;

[0024] Figure 12 for Figure 1 Another perspective view of the second end actuator with drive line, the upper guide wheel assembly, and the lower guide wheel assembly shown;

[0025] Figure 13 for Figure 1 A perspective view of the first end actuator, the second end actuator, the upper guide wheel assembly, and the lower guide wheel assembly with drive lines shown;

[0026] Figure 14 This is a perspective view of another end actuator according to this application, wherein the central support member has a fork-shaped structure;

[0027] Figure 15 for Figure 14 A side view of the end effector shown;

[0028] Figure 16 for Figure 14 A perspective view of the central support component shown;

[0029] Figure 17 This is a schematic diagram of a conventional surgical robot system.

[0030] Explanation of reference numerals in the attached figures: Surgical robot 10, robotic arm 11

[0031] Surgical instruments 12 Main tube 13

[0032] Back-end mechanism 14, base 15

[0033] End effector 100 End effector element 110

[0034] First terminal actuator 110a Second terminal actuator 110b

[0035] Anti-slip structure 111 First threading hole 112

[0036] Second wire hole 113 Third wire hole 114

[0037] Fourth threading hole 115 First slot 116

[0038] Second groove 117 Actuator shaft hole 118

[0039] First guide wheel section 119a Second guide wheel section 119b

[0040] Central support component 120 First support part 121

[0041] Second support section 122 First central support hole 123

[0042] Second central support hole 124, actuator shaft pin 130

[0043] Upper guide wheel assembly 140 First upper guide wheel 141

[0044] Second upper guide wheel 142 Third upper guide wheel 143

[0045] Fourth upper guide wheel 144, first guide wheel axle pin 150

[0046] Lower guide wheel assembly 160, first lower guide wheel 161

[0047] Second lower guide wheel 162 Third lower guide wheel 163

[0048] Fourth lower guide wheel 164, second guide wheel axle pin 170

[0049] Lower support component 180, bottom wall body 181

[0050] Side wall body 182 First wire hole 183a

[0051] Second wire guide hole 183b Third wire guide hole 183c

[0052] Fourth wire hole 183d, first lower support hole 184

[0053] Second lower support hole 185, actuator axis 190

[0054] First guide wheel axis 191 Second guide wheel axis 192

[0055] Actuator axis projection 190'

[0056] First drive line 101 Second drive line 102

[0057] First arm 221 Second arm 222 Detailed Implementation

[0058] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0059] To fully understand this application, a detailed description will be provided in the following description. It is obvious that the implementation of embodiments of this application is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of this application are described in detail below; however, other embodiments may be implemented in addition to these detailed descriptions.

[0060] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0061] Ordinal numbers such as “first” and “second” used in this application are merely identifiers and have no other meaning, such as a specific order. Moreover, for example, the term “first component” does not imply the existence of a “second component”, and the term “second component” does not imply the existence of a “first component”.

[0062] It should be noted that the terms “up,” “down,” “front,” “back,” “left,” “right,” “inner,” “outer,” and similar expressions used in this article are for illustrative purposes only and are not intended to be restrictive.

[0063] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0064] To achieve smaller wrist joint sizes, some existing wrist joints use grooves or channels to guide the drive wires. The disadvantage of this method is the significant friction between the wires and the grooves or channels, which reduces the accuracy of motion transmission from proximal to distal and causes lag during master-slave teleoperation, affecting surgical outcomes. Furthermore, this friction accelerates wear on the drive wires, reducing the lifespan of surgical instruments.

[0065] Figure 17The structure of a conventional surgical robot system is shown. The surgical robot system includes a surgical robot 10 and surgical instruments 12 disposed on the surgical robot 10. The surgical robot 10 includes a base 15 and at least one set of robotic arms 11 rotatably disposed on the upper end of the base 15. The surgical instruments 12 are disposed at the end of each set of robotic arms 11. The surgical instruments 12 are detachable to facilitate individual replacement and sterilization. The surgical instruments 12 include a rear end mechanism 14, a main pipeline 13, and an end effector 100. The main pipeline 13 extends from the rear end mechanism 14 to the front end, and the end effector 100 is disposed at the front end of the main pipeline 13. The rear end mechanism 14 drives the end effector 100 through multiple cables passing through the main pipeline 13. Herein, the proximal end is defined as the end furthest from the patient, and the distal end is the end closer to the patient.

[0066] Figures 1 to 13 An end effector 100 according to a preferred embodiment of this application is shown, for surgical instruments, particularly surgical micro-instruments. For example... Figure 1 and Figure 2 As shown, the end effector 100 may include an end effector element 110, a middle support 120, at least one set of guide wheels, a lower support 180, and a drive cable. Figure 1 and Figure 2 Not shown in the image, see [link / reference]. Figures 9 to 13 The end effector 110 can be any type of actuator, such as pliers, scissors, or clamps. The end effector 110 is connected to the lower support 180 via a central support 120. At least one set of guide wheels is disposed on the lower support 180 and is rotatable relative to the lower support 180 about a guide wheel axis. The end effector 110 is rotatable about an actuator axis 190. The central support 120 and one of the at least one set of guide wheels are rotatable about a guide wheel axis. The drive cable is capable of winding around the end effector 110 and the guide wheels in the at least one set of guide wheels.

[0067] like Figure 1 and Figure 2 As shown, the end effector 100 includes a pair of end effectors, a middle support 120, a fork-shaped lower support 180, 10 guide wheels, and 3 pins. The pair of end effectors are fixed to both sides of the middle support 120 by a pin. Each end effector can rotate independently around the axis of its pin to perform a gripping action (rotation towards each other), a releasing action (rotation in opposite directions), and a yaw action (rotation in the same direction). The middle support 120 is fixed to the middle of the fork-shaped lower support 180 by its pin. The middle support 120 can rotate relative to the fork-shaped lower support 180 around the axis of its pin to achieve pitch motion.

[0068] The specific structure and arrangement of the aforementioned components of the end effector 100 will be described in detail below with reference to the accompanying drawings.

[0069] It should be noted that the directional terms used in this article to describe the various components and parts of the end effector 100, such as "up," "down," "above," "below," "upward," and "downward," are relative to a vertically placed and upright position. Figure 1 The term "end actuator 100" refers to the end actuator 100 in the placement state shown.

[0070] The end effector 110 includes two end effectors arranged opposite each other: a first end effector 110a and a second end effector 110b. These two end effectors can be configured to correspond to the shape and structure of pliers, scissors, or clamps, etc., as needed. Further, the first end effector 110a and the second end effector 110b have substantially the same structure and are arranged in a mirror image. The drive lines include a first drive line 101 and a second drive line 102. The first drive line 101 is used for the first end effector 110a. The second drive line 102 is used for the second end effector 110b.

[0071] like Figure 3 and Figure 4 As shown, taking the first end effector 110a as an example, Figure 3 The outer structure of the first end effector 110a is shown. Figure 4 The inner structure of the first end effector 110a is shown. The head of the first end effector 110a may be provided with an anti-slip structure 111 located on the inner side, such as staggered grooves, which prevents the clamped object (e.g., human tissue and surgical needle) from sliding. The base of the first end effector 110a may be provided with a first threading hole 112 and a second threading hole 113 arranged at intervals in the vertical direction, and a third threading hole 114 and a fourth threading hole 115 arranged at intervals in the vertical direction. All four threading holes are through holes, specifically through holes extending between the inner surface and the outer surface of the end effector 110.

[0072] like Figure 9 and Figure 10 As shown, the first wire portion 101a of the first drive line 101 passes through the first wire hole 112 from the inside of the first end actuation part 110a and extends downward through the second wire hole 113. The second wire portion 101b of the first drive line 101 passes through the third wire hole 114 from the inside of the first end actuation part 110a and extends downward through the fourth wire hole 115.

[0073] In one example, as illustrated in the embodiment, the first line portion 101a and the second line portion 101b are integral structures, meaning the first drive line 101 is a single wire. The drive line is repeatedly bent, for example, eight times at the entrance and exit of each through-hole, resulting in plastic deformation, thereby fixing the drive line to the end effector 110. Alternatively, the method of mounting the drive line on the end effector 110 can be replaced by using a short tube to tighten the drive line and using a structure that clamps the ends of the short tube onto the end effector 110 to restrict the movement of the drive line relative to the end effector 110.

[0074] Another example is where the first wire portion 101a and the second wire portion 101b are separate components. That is, the first drive wire 101 consists of two wires. In this design, the end of each wire is fixed to the end effector 110 using a fixed connector (clamping, gluing, welding, riveting, etc.) to restrict the movement of the drive wire relative to the end effector 110. Specifically, the ends of both drive wires can be welded to the first end effector 110a; or the ends of the two drive wires can be clamped to the corresponding wire holes or fixed to the first end effector 110a using an auxiliary component such as a short tube.

[0075] The first wire hole 112 and the third wire hole 114 are horizontally aligned, and the second wire hole 113 and the fourth wire hole 115 are horizontally aligned as well. This allows the end effector to remain balanced when driven by the drive wire. A first groove 116 is provided between the first wire hole 112 and the second wire hole 113, and a second groove 117 is provided between the third wire hole 114 and the fourth wire hole 115. Both the first groove 116 and the second groove 117 are located on the outer surface of the end effector 110. The drive wire is located within the first groove 116 and the second groove 117 to restrict its position and ensure a more secure and reliable fixation to the end effector.

[0076] The second drive line 102 is disposed on the second end effector 110b in a manner largely similar to that of the first drive line 101 disposed on the first end effector 110a, and will not be described further for the sake of simplicity. By stretching the two portions of both the first drive line 101 and the second drive line 102, the first end effector 110a and the second end effector 110b can be driven to rotate around their axes. Furthermore, by independently rotating the first end effector 110a and the second end effector 110b, gripping and yaw movements of the wrist joint can be achieved.

[0077] Compared with the conventional method of installing drive lines, the method of installing drive lines on the end effector 110 in this embodiment greatly facilitates assembly and improves the reliability of surgical instruments, which is especially important in surgical micro-instruments.

[0078] The base of the first end effector 110a may also be provided with an actuator shaft hole 118 and a first guide wheel portion 119a. The actuator shaft hole 118 is a through hole, specifically a through hole extending between the inner surface and the outer surface of the end effector 110. The first guide wheel portion 119a is located inside the first end effector 110a. The drive wires passing inward from the second wire hole 113 and the fourth wire hole 115 can be wound around both sides of the first guide wheel portion 119a.

[0079] Figure 5 The central support member 120 of this embodiment is shown, as follows: Figure 5 As shown, the middle support 120 extends from the proximal end to the distal end; in other words, the middle support 120 extends in the direction of the instrument axis, wherein the direction of the instrument axis includes a direction extending from the proximal end to the distal end and a direction extending from the distal end to the proximal end, preferably extending along a first direction D1. The end effector 110, the middle support 120, at least one set of guide wheels, and the lower support 180 are arranged in the length direction of the end effector 100. Figure 1 In the position shown, the end effector 100 is positioned such that its length direction is parallel to the vertical direction. In this text, "first direction D1" refers to a direction approximately the same as the proximal-to-distal direction of the surgical instrument or the length direction of the end effector 100, or in other words, in... Figure 1 The end effector 100 shown is positioned in a direction parallel to the vertical direction.

[0080] The central support 120 includes a first support portion 121 defining an actuator axis 190 and a second support portion 122 defining a guide wheel axis. The end effector 110 is rotatable with the first support portion 121 about the actuator axis 190. The second support portion 122 is rotatable with one of at least one set of guide wheels about a guide wheel axis. Specifically, the first support portion 121 has a first central support hole 123, the centerline of which defines the actuator axis 190; in other words, the centerline of the first central support hole 123 is collinear with the actuator axis 190. The second support portion 122 has a second central support hole 124, the centerline of which defines a guide wheel axis; in other words, the centerline of the first central support hole 123 is collinear with the guide wheel axis.

[0081] The actuator axis 190 and the guide wheel axis defined by the second support portion 122 are skew lines, and the included angle α between them is an acute angle. Further, as... Figure 6 , Figure 7As shown, the actuator axis 190 has an actuator axis projection 190' on a horizontal section P of a guide wheel assembly rotatable about the guide wheel axis defined by the second support portion 122, wherein the guide wheel axis defined by the second support portion 122 is on this horizontal section P. The actuator axis projection 190' is not orthogonal to the guide wheel axis 191 defined by the second support portion 122, or their included angle α is an acute angle. When the pitch angle is 0, both the actuator axis 190 and the guide wheel axis 191 defined by the second support portion 122 are perpendicular to the direction of the instrument axis, wherein the direction of the instrument axis is the direction extending from the proximal end to the distal end. The pitch angle is the angle by which the end effector element 110 rotates away from the instrument axis about the guide wheel axis 191 or the pitch axis 191, and the yaw angle is the angle by which the end effector element 110 rotates away from the instrument axis about the actuator axis 190 or the yaw axis 190.

[0082] It can be understood that the actuator axis 190 in this article corresponds to the yaw axis, and the guide wheel axis defined by the second support portion 122 corresponds to the pitch axis.

[0083] By arranging the pitch axis and yaw axis as non-perpendicular straight lines, it can be ensured that the drive line extending downward from the end effector 110 to the guide wheel assembly is tangent to the guide structure of each guide wheel it mates with. As a result, when operating the end effector 110, the drive line and the guide structure of the guide wheel are subjected to less force at the initial contact position, resulting in less friction and thus reducing wear on the drive line.

[0084] The first support portion 121 and the second support portion 122 can be an integral structure, or the first support portion 121 and the second support portion 122 can be separate components. For example... Figure 5 and Figure 6 As shown, both the first support portion 121 and the second support portion 122 are constructed in a cylindrical shape. The first support portion 121 and the second support portion 122 are connected at their cylindrical surfaces, with the first support portion 121 located between the first end actuation portion 110a and the second end actuation portion 110b. The middle support member 120 is constructed in a shape resembling a twisted figure-eight.

[0085] The first central support hole 123 is spaced apart from the second central support hole 124 in the first direction D1, so that the actuator axis 190 is spaced apart from the guide wheel axis defined by the second support portion 122 in the first direction D1.

[0086] In the illustrated embodiment, at least one set of guide wheels includes an upper guide wheel set 140 and a lower guide wheel set 160. The upper guide wheel set 140 is rotatable about a first guide wheel axis 191 relative to the lower support member 180, and the lower guide wheel set 160 is rotatable about a second guide wheel axis 192 relative to the lower support member 180. The middle support member 120 is coaxially arranged with the upper guide wheel set 140, that is, both are rotatable about the first guide wheel axis 191. The first guide wheel axis 191 may be parallel to the second guide wheel axis 192. In this embodiment, the second support portion 122 defines the first guide wheel axis 191, and the second support portion 122 and the upper guide wheel set 140 are rotatable about the first guide wheel axis 191. The centerline of the second middle support hole 124 defines the first guide wheel axis 191; in other words, the centerline of the first middle support hole 123 is collinear with the first guide wheel axis 191.

[0087] The upper guide wheel assembly 140 includes a first upper guide wheel 141 and a second upper guide wheel 142 located on one side of the second support portion 122, and a third upper guide wheel 143 and a fourth upper guide wheel 144 located on the other side of the second support portion 122. The first upper guide wheel 141 is located outside the second upper guide wheel 142, and the fourth upper guide wheel 144 is located outside the third upper guide wheel 143. That is, the first upper guide wheel 141 and the fourth upper guide wheel 144 are outer guide wheels, and the second upper guide wheel 142 and the third upper guide wheel 143 are inner guide wheels. Further, the second support portion 122 is located between the second upper guide wheel 142 and the third upper guide wheel 143. The diameter of the second upper guide wheel 142 can be larger than the diameter of the first upper guide wheel 141, and the diameter of the third upper guide wheel 143 can be larger than the diameter of the fourth upper guide wheel 144. That is, the inner upper guide wheel can be larger than the outer upper guide wheel. The diameter of the first upper guide wheel 141 can be equal to the diameter of the fourth upper guide wheel 144, and the diameter of the second upper guide wheel 142 can be equal to the diameter of the third upper guide wheel 143.

[0088] According to this scheme, within the allowable diameter range of surgical instruments, by using large-diameter guide wheels on the inner side of the wrist joint and small-diameter guide wheels on the outer side, the diameter of each guide wheel in the upper guide wheel group is increased as much as possible, thereby increasing the joint stiffness of the pitch joint and the service life of the drive line. This is even more important in surgical micro-instruments (e.g., less than 4mm in diameter).

[0089] Furthermore, two additional drive lines can be fixed to both sides of the second support portion 122 in a direction perpendicular to the pitch axis 191 and along the axis of the device, to enhance the stability and strength of the pitch motion of the end effector and increase the stiffness of the wrist joint.

[0090] The lower guide wheel assembly 160 includes a first lower guide wheel 161, a second lower guide wheel 162, a third lower guide wheel 163, and a fourth lower guide wheel 164 arranged sequentially. The first lower guide wheel 161 is located outside the second lower guide wheel 162, and the fourth lower guide wheel 164 is located outside the third lower guide wheel 163. That is, the first lower guide wheel 161 and the fourth lower guide wheel 164 are the outer guide wheels, and the second lower guide wheel 162 and the third lower guide wheel 163 are the inner guide wheels. The second lower guide wheel 162 and the third lower guide wheel 163 can be separated by a bushing. The diameter of the first lower guide wheel 161 is equal to or greater than the diameter of the second lower guide wheel 162, and the diameter of the fourth lower guide wheel 164 is equal to or greater than the diameter of the third lower guide wheel 163. That is, the upper guide wheel located on the outer side can be equal to or greater than the upper guide wheel located on the inner side. The diameter of the first lower guide wheel 161 can be equal to the diameter of the fourth lower guide wheel 164, and the diameter of the second lower guide wheel 162 can be equal to the diameter of the third lower guide wheel 163.

[0091] Each guide wheel in the guide wheel assembly has a guiding structure for the drive line. The guiding structure can include any suitable guiding structure such as grooves or channels. The guiding structure allows for the individual guidance of each section of the drive line, reducing wear during the drive line guiding process.

[0092] According to this embodiment, a novel four-line drive wrist joint mechanism with guide wheels is provided, which includes eight guide wheels and two guide wheel sections. The two line sections of the first drive line 101 and the two line sections of the second drive line 102 are guided by the corresponding guide wheels of the upper guide wheel group 140 and then enveloped by the maximum diameter allowed by the wrist joint in the radial direction of the wrist joint, so as to maximize the overall diameter of the upper guide wheel group 140. This enables the four-line drive wrist joint mechanism with guide wheels to achieve higher joint stiffness within the allowable small size (e.g., diameter less than 4 mm).

[0093] like Figure 7As shown, the axis 191 of the first guide wheel lies on the horizontal section P of the upper guide wheel assembly 140. Specifically, the horizontal section P extends through the centerline of the second central support hole 124 and the centerline of the guide wheels of the upper guide wheel assembly 140. The section cut by the first drive line 101 along the horizontal section P is the first drive line section S1, and the section cut by the second drive line 102 along the horizontal section P is the second drive line section S2. The center line connecting the first drive line section S1 corresponding to the first upper guide wheel 141 and the first drive line section S1 corresponding to the third upper guide wheel 143 constitutes the first reference line L1. Furthermore, the center line connecting the section of the first line portion 101a of the first drive line 101 and the section of the second line portion 101b constitutes the first reference line L1. The center line connecting the second drive line section S2 corresponding to the second upper guide wheel 142 and the second drive line section S2 corresponding to the fourth upper guide wheel 144 constitutes the second reference line L2. Furthermore, the center line connecting the cross-section of the first line portion 102a of the second driving line 102 and the cross-section of the second line portion 102b constitutes the second reference line L2.

[0094] The first reference line L1 is parallel to the second reference line L2, and their midpoint C is used to locate the actuator axis. Preferably, the midpoint of the two reference lines is located on the actuator axis projection 190', that is, the line connecting the midpoints of the two reference lines coincides with the actuator axis projection 190'. In practical applications, this midpoint line may deviate slightly from the actuator axis projection 190', or a suitable deviation angle may be selected according to the actual application scenario. In other words, in these cases, the midpoint line deviates from the actuator axis projection 190'. Thus, the position of the actuator axis 190 can be defined by two points: the midpoint C of the line connecting the centers of the first line portion 101a and the second line portion 101b of the first drive line 101, and the midpoint C of the line connecting the centers of the first line portion 102a and the second line portion 102b of the second drive line 102. The position of the first guide wheel portion 119a can be determined by the positions of the first line portion 101a and the second line portion 101b of the first drive line 101. The position of the first guide wheel portion 119a is such that its projection on the horizontal section P lies on the first reference line L1, ensuring that the first drive line 101 is tangent to the guide structures, such as grooves, of the first guide wheel portion 119a, the first upper guide wheel 141, and the third upper guide wheel 143 to reduce wear on the drive line. Similarly, the position of the second guide wheel portion 119b can be determined by the positions of the first line portion 102a and the second line portion 102b of the second drive line 102. The position of the second guide wheel portion 119b is such that its projection on the horizontal section P lies on the second reference line L2, ensuring that the second drive line 102 is tangent to the guide structures, such as grooves, of the second guide wheel portion 119b, the second upper guide wheel 142, and the fourth upper guide wheel 144 to reduce wear on the drive line. In practical design, considering factors such as the manufacturability of the parts, a slight sacrifice in the lifespan of the drive line can be made by appropriately adjusting the positions of the first guide wheel portion 119a and the second guide wheel portion 119b, for example, bringing the relative positions of the first guide wheel portion 119a and the second guide wheel portion 119b closer together. Furthermore, the diameters of the first guide wheel portion 119a and the second guide wheel portion 119b can be appropriately increased to enhance the rigidity of the gripping and yaw degrees of freedom. This arrangement also reduces the axial force exerted by the drive line tension on the guide wheels; ideally, no axial force should be generated, thereby reducing axial friction caused by the axial force.

[0095] like Figure 8As shown, the lower support member 180 includes a bottom wall 181 and two upwardly extending side walls 182, thus forming a fork-like structure. The bottom wall 181 is provided with wire-passing holes for the drive cable to pass through, namely a first wire-passing hole 183a, a second wire-passing hole 183b, a third wire-passing hole 183c, and a fourth wire-passing hole 183d arranged at intervals. The first wire-passing hole 183a and the second wire-passing hole 183b are located on one side of the second guide wheel axis 192, and the third wire-passing hole 183c and the fourth wire-passing hole 183d are located on the other side of the second guide wheel axis 192. The first wire-passing hole 183a and the fourth wire-passing hole 183d are close to one side wall 182, and the second wire-passing hole 183b and the third wire-passing hole 183c are close to the other side wall 182. The upper guide wheel assembly 140 and the lower guide wheel assembly 160 are located between the two sidewalls 182 to confine the upper guide wheel assembly 140 and the lower guide wheel assembly 160 within the fork-shaped structure. Each of the two sidewalls 182 is provided with a first lower support hole 184 and a second lower support hole 185 for mounting a shaft pin.

[0096] The end effector 100 also includes an actuator pin 130, a first guide wheel pin 150, and a second guide wheel pin 170. An end effector element 110 is rotatably mounted on the actuator pin 130, which is located within a first central support hole 123. Thus, the first end effector 110a, the first support portion 121, and the second end effector 110b are connected together via the actuator pin 130. An upper guide wheel assembly 140 is rotatably mounted on the first guide wheel pin 150, which is located within a second central support hole 124. The first guide wheel pin 150 is fixed to a first lower support hole 184 to support the upper guide wheel assembly 140. Thus, the upper guide wheel assembly 140 and the second support portion 122 are mounted to the lower support member 180 via the first guide wheel pin 150. The lower guide wheel assembly 160 is rotatably mounted on the second guide wheel shaft pin 170, which is fixed to the second lower support hole 185 to support the lower guide wheel assembly 160. Thus, the lower guide wheel assembly 160 is mounted to the lower support member 180 via the second guide wheel shaft pin 170.

[0097] According to this design, the actuator pin 130 passes through the first end actuation part 110a, the middle support member 120, and the second end actuation part 110b simultaneously, confining the middle support member 120 between the first end actuation part 110a and the second end actuation part 110b located on both sides thereon. The first guide wheel pin 150 passes through the middle support member 120, the upper guide wheel assembly 140, and the lower support member 180 simultaneously, confining the first and second upper guide wheels to one side of the middle support member 120, while confining the third and fourth upper guide wheels to the other side of the middle support member 120, and confining the upper guide wheel assembly 140 between the two side walls 182 of the lower support member 180. The second guide wheel pin 170 passes through the lower guide wheel assembly 160 and the lower support member 180 simultaneously, confining the lower guide wheel assembly 160 between the two side walls 182 of the lower support member 180.

[0098] like Figure 2 The actuator pin 130 can be constructed as a straight stepped shaft. By selecting appropriate tolerances, an axial clearance fit between the end actuator, intermediate support, and actuator pin 130 can be ensured without the need for additional mounting fixtures, greatly improving manufacturability and facilitating maintenance and assembly. Specifically, the actuator pin 130 is constructed in a stepped shape and includes a large end, a middle section, and a small end with successively decreasing diameters. The first end actuator 110a is fitted and fixed to the small end. Fixing methods include, but are not limited to, adhesive bonding, welding, and interference fit. The second end actuator 110b and the middle support 120 are fitted together with a clearance fit in the middle of the pin. Specifically, the middle of the pin is fitted with the hole in the second end actuator 110b and the hole in the middle support 120. The second end actuator 110b and the middle support 120 are rotatable relative to the middle of the pin. The large end is located outside the second end actuator 110b and abuts against it, which is used to restrict the second end actuator 110b from moving outward. By controlling the length of the middle part of the actuator pin 130, the axial clearance between the first end actuator 110a, the middle support 120, the second end actuator 110b and the actuator pin 130 can be guaranteed without additional mounting fixtures when connecting the actuator pin 130 and the first end actuator 110a. In this design, the actuator pin 130 passes through the middle support 120, the upper guide wheel assembly 140, and the lower support 180, restricting the first and second upper guide wheels to one side of the middle support 120, while restricting the third and fourth upper guide wheels to the other side of the middle support 120, and restricting the upper guide wheel assembly 140 between the two side walls 182 of the lower support 180.

[0099] The guide wheel pins can be constructed as straight stepped shafts. By selecting appropriate tolerances, the clearance fit between the guide wheels, the lower support 180, and the guide wheel pins in the guide wheel assembly can be guaranteed without additional mounting fixtures, greatly improving manufacturability and facilitating maintenance and assembly. Specifically, both guide wheel pins are constructed in a stepped shape and include a large end, a middle section, and a small end with successively decreasing diameters. On the same guide wheel pin, a pair of inner guide wheels and a pair of outer guide wheels are fitted into the middle section of the pin, and the small end is fixed in the hole of the lower support 180. Fixing methods include, but are not limited to, adhesive bonding, welding, and interference fit. By controlling the length of the middle section of the guide wheel pin, the axial clearance between the guide wheels, the lower support 180, and the guide wheel pins in the guide wheel assembly can be guaranteed without additional mounting fixtures when connecting the guide wheel pins and the lower support 180.

[0100] like Figure 11 , Figure 12 and Figure 13 As shown, the first drive line 101 is wound around the first guide wheel portion 119a of the first end actuation unit 110a. The first portion 101a of the first drive line 101 extends downward from one side of the first guide wheel portion 119a and wraps around the first upper guide wheel 141. The second portion 101b of the first drive line 101 extends downward from the other side of the first guide wheel portion 119a and wraps around the third upper guide wheel 143. The second drive line 102 is wound around the second guide wheel portion 119b of the second end actuation unit 110b, and the first portion 102a of the second drive line 102 extends downward from one side of the second guide wheel portion 119b and wraps around the second upper guide wheel 142. The second portion 102b of the second drive line 102 extends downward from the other side of the second guide wheel portion 119b and wraps around the fourth upper guide wheel 144.

[0101] A first portion 101a of a first drive line 101 extending downward from the first upper guide wheel 141 passes between the first upper guide wheel 141 and the first lower guide wheel 161 and wraps downward around the first lower guide wheel 161. A second portion 101b of a first drive line 101 extending downward from the third upper guide wheel 143 passes between the third upper guide wheel 143 and the third lower guide wheel 163 and wraps downward around the third lower guide wheel 163. A first portion 102a of a second drive line 102 extending downward from the second upper guide wheel 142 passes between the second upper guide wheel 142 and the second lower guide wheel 162 and wraps downward around the second lower guide wheel 162. A second portion 102b of a second drive line 102 extending downward from the fourth upper guide wheel 144 passes between the fourth upper guide wheel 144 and the fourth lower guide wheel 164 and wraps downward around the fourth lower guide wheel 164.

[0102] A first portion 101a of the first drive line 101, extending downward from the first lower guide wheel 161, passes downward through the first wire passage hole 183a. A second portion 101b of the first drive line 101, extending downward from the third lower guide wheel 163, passes downward through the second wire passage hole 183b. A first portion 102a of the second drive line 102, extending downward from the second lower guide wheel 162, passes downward through the fourth wire passage hole 183d. A second portion 102b of the second drive line 102, extending downward from the fourth lower guide wheel 164, passes downward through the third wire passage hole 183c. Thus, the drive line extends into the interior of the instrument shaft through the wire passage hole of the lower support member 180.

[0103] According to this scheme, the first upper guide wheel 141, the second upper guide wheel 142, the third upper guide wheel 143, and the fourth upper guide wheel 144 are parallel to the first lower guide wheel 161, the second lower guide wheel 162, the third lower guide wheel 163, and the fourth lower guide wheel 164, respectively, and guide the first line portion 101a of the first drive line 101, the first line portion 102a of the second drive line 102, the second line portion 101b of the first drive line 101, and the second line portion 102b of the second drive line 102, respectively, to reduce wear during the guiding process of the drive lines. Simultaneously pulling the first line portion 101a and the second line portion 101b of the first drive line 101 and releasing the first line portion 102a and the second line portion 102b of the second drive line 102 achieves forward rotation along the axis 191 of the first guide wheel, and reverse rotation otherwise. The two line portions of the first drive line 101 and the second drive line 102, namely the first line portion 102a, the second line portion 102b, the second line portion 101b, and the first line portion 101a, are guided by the upper guide wheel group 140 and then by the lower guide wheel group 160. Finally, they extend into the instrument shaft through the corresponding fourth wire hole 183d, the third wire hole 183c, the second wire hole 183b, and the first wire hole 183a. The purpose of the lower guide wheel assembly 160 is to ensure that, within the range of the pitch joint's operating angle (e.g., within the range of -90° to 90°), the two line portions of the first drive line 101 and the second drive line 102, namely the first line portion 102a, the second line portion 102b, the second line portion 101b, and the first line portion 101a, are always wound around the second upper guide wheel 142, the fourth upper guide wheel 144, the third upper guide wheel 143, and the first upper guide wheel 141, respectively. This ensures that the pitch joint's movement angle and the change in the drive line length are linearly related, facilitating the design of the rear drive mechanism.

[0104] In other embodiments, the central support 120 may also have different characteristics. Figure 5 and Figure 6 The configuration shown is a configuration of the type shown. For example... Figures 14 to 16The shown central support member 120 can be configured as a fork-shaped structure. Specifically, the first support portion 121 may include a first arm portion 221 and a second arm portion 222. The first arm portion 221 and the second arm portion 222 are spaced apart and extend in the same direction. Both the first arm portion 221 and the second arm portion 222 are provided with a first central support hole 123. The second support portion 122 is configured as a cylinder and is provided with a second central support hole 124. The first end effector 110a and the second end effector 110b can be located between the first arm portion 221 and the second arm portion 222, and both are fixed to the first arm portion 221 and the second arm portion 222 by actuator shaft pins. The second support portion 122 is located between the second upper guide wheel 142 and the third upper guide wheel 143, and is fixed to the lower support member 180 by guide wheel shaft pins.

[0105] In other embodiments not shown, the first support portion 121 is cylindrical and located between the first end actuation portion 110a and the second end actuation portion 110b. The second support portion 122 includes a first arm portion 221 and a second arm portion 222. The first arm portion 221 and the second arm portion 222 are spaced apart and extend in the same direction. The first arm portion 221 may be located between the first upper guide wheel 141 and the second upper guide wheel 142, and the second arm portion 222 may be located between the third upper guide wheel 143 and the fourth upper guide wheel 144; alternatively, the first arm portion 221 may be located between the first upper guide wheel 141 and one side wall 182 of the lower support member 180, and the second arm portion 222 may be located between the fourth upper guide wheel 144 and the other side wall 182 of the lower support member 180; alternatively, the first arm portion 221 and the second arm portion 222 may be located outside the lower support member 180.

[0106] In other embodiments, a 3-DOF wrist joint can be reduced by one degree of freedom by combining the first end effector 110a and the second end effector 110b into one, thereby achieving a 2-DOF wrist joint. The end effector 110 can be replaced with an electrically charged ablation head or a laser fiber, etc.

[0107] According to another aspect of this application, a surgical instrument is provided, which includes an end effector 100 according to any of the above embodiments.

[0108] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0109] This application has been described through the above embodiments. However, it should be understood that the above embodiments are only for illustrative purposes. This application is not limited to the above embodiments. Many variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. An end effector of a surgical instrument, characterized in that, include: Lower support component; At least one set of guide wheels, the at least one set of guide wheels being disposed on the lower support member and rotatable about the guide wheel axis relative to the lower support member; A central support member, the central support member comprising a first support portion for defining an actuator axis and a second support portion for defining a guide wheel axis, the second support portion being rotatable about the guide wheel axis with respect to one of the at least one set of guide wheels, wherein the first support portion is located at the distal end of the second support portion; An end effector is provided, which is connected to the lower support via a central support. The end effector and the first support portion are rotatable about the actuator axis. The end effector includes a first end effector portion and a second end effector portion disposed opposite to each other. as well as A drive line is wound around the end effector and at least one set of guide wheels in the guide wheel assembly. The drive line extends from the end effector to the guide wheel assembly. The drive line includes a first drive line and a second drive line. The first drive line is connected to the first end effector and the second drive line is connected to the second end effector. The at least one set of guide wheels includes an upper guide wheel set, which is rotatable relative to the lower support member around the axis of the first guide wheel. The upper guide wheel assembly includes a first upper guide wheel, a second upper guide wheel, a third upper guide wheel, and a fourth upper guide wheel arranged sequentially along the axis of the first guide wheel. The first upper guide wheel and the fourth upper guide wheel have the same first diameter, and the second upper guide wheel and the third upper guide wheel have the same second diameter. The first diameter is smaller than the second diameter. The first drive line is wound around the first guide wheel portion of the first end effector, and a first portion of the first drive line extends downward from one side of the first guide wheel portion and wraps around the first upper guide wheel; a second portion of the first drive line extends downward from the other side of the first guide wheel portion and wraps around the third upper guide wheel. The second drive line is wound around the second guide wheel portion of the second end effector, and a first portion of the second drive line extends downward from one side of the second guide wheel portion and wraps around the second upper guide wheel; a second portion of the second drive line extends downward from the other side of the second guide wheel portion and wraps around the fourth upper guide wheel. The axis of the first guide wheel lies on the horizontal cross-section of the upper guide wheel assembly. The cross-section intercepted by the first drive line along the horizontal cross-section is the first drive line cross-section, and the cross-section intercepted by the second drive line along the horizontal cross-section is the second drive line cross-section. The center line connecting the first drive line section corresponding to the first upper guide wheel and the first drive line section corresponding to the third upper guide wheel constitutes a first reference line. The center line connecting the second drive line section corresponding to the second upper guide wheel and the second drive line section corresponding to the fourth upper guide wheel constitutes the second reference line; The actuator axis and the first guide wheel axis are out of plane, and the included angle between them is an acute angle. The projection of the actuator axis on the horizontal section coincides with the line connecting the midpoint of the first reference line and the midpoint of the second reference line. The projection of the first guide wheel portion on the horizontal section is located on the first reference line, and the projection of the second guide wheel portion on the horizontal section is located on the second reference line, so that the drive line and the guiding structure of each guide wheel that cooperates with it are tangent.

2. The end effector according to claim 1, characterized in that, When the pitch angle is 0, the actuator axis and the guide wheel axis defined by the second support portion are both perpendicular to the direction of the instrument axis, which extends from the proximal end to the distal end.

3. The end effector according to claim 1, characterized in that, It also includes an actuator pin and a guide wheel pin. The first support portion is provided with a first central support hole. The end effector is rotatably disposed on the actuator pin, and the actuator pin is located in the first central support hole. The second support portion is provided with a second central support hole. The guide wheel assembly is rotatably disposed on the guide wheel pin, and the guide wheel pin is located in the second central support hole.

4. The end effector according to claim 3, characterized in that, The actuator pin is constructed in a stepped shape and includes a large end, a middle part of the pin, and a small end with successively decreasing diameters.

5. The end effector according to claim 4, characterized in that, The first end actuator is sleeved and fixed to the small end, and the first end actuator and the middle support are sleeved in the middle of the shaft pin with a clearance fit and are rotatable relative to the middle of the shaft pin. The large end is located outside the second end actuator and the two abut against each other.

6. The end effector according to claim 1, characterized in that, It also includes an actuator pin, which is constructed in a stepped shape and includes a large end, a middle part of the pin, and a small end with successively decreasing diameters. The first end actuator is sleeved and fixed to the small end. The first end actuator and the middle support are sleeved on the middle part of the pin with a clearance fit and are rotatable relative to the middle part of the pin. The large end is located outside the second end actuator and the two abut against each other.

7. The end effector according to claim 1, characterized in that, It also includes an actuator pin, through which the first end effector, the first support portion, and the second end effector are connected together.

8. The end effector according to claim 1, characterized in that, Both the first support portion and the second support portion are constructed in a cylindrical shape. The first support portion and the second support portion are connected at their cylindrical surfaces. The first support portion is located between the first end effector and the second end effector.

9. The end effector according to claim 1, characterized in that, The first support portion includes a first arm and a second arm, the first arm and the second arm are spaced apart and extend in the same direction, the second support portion is constructed in a cylindrical shape, and the first end effector and the second end effector are located between the first arm and the second arm.

10. The end effector according to claim 1, characterized in that, The first support portion is constructed in a cylindrical shape, and the second support portion includes a first arm and a second arm, which are spaced apart and extend in the same direction.

11. The end effector according to claim 1, characterized in that, The first support portion and the second support portion are an integral structure, or the first support portion and the second support portion are separate components.

12. The end effector according to claim 1, characterized in that, The guide wheel assembly also includes a lower guide wheel assembly, which is rotatable relative to the lower support member around the axis of the second guide wheel. The lower guide wheel assembly includes a first lower guide wheel, a second lower guide wheel, a third lower guide wheel, and a fourth lower guide wheel. The first lower guide wheel is located outside the second lower guide wheel, and the fourth lower guide wheel is located outside the third lower guide wheel.

13. The end effector according to claim 12, characterized in that, The diameter of the first lower guide wheel is equal to or greater than the diameter of the second lower guide wheel, and the diameter of the fourth lower guide wheel is equal to or greater than the diameter of the third lower guide wheel.

14. The end effector according to claim 12, characterized in that, The first drive line extending downward from the first upper guide wheel passes through the first upper guide wheel and the first lower guide wheel and wraps downward around the first lower guide wheel; the first drive line extending downward from the third upper guide wheel passes through the third upper guide wheel and the third lower guide wheel and wraps downward around the third lower guide wheel. The second drive line extending downward from the second upper guide wheel passes between the second upper guide wheel and the second lower guide wheel and wraps downward around the second lower guide wheel. The second drive line extending downward from the fourth upper guide wheel passes between the fourth upper guide wheel and the fourth lower guide wheel and wraps downward around the fourth lower guide wheel.

15. The end effector according to claim 12, characterized in that, The lower support member includes a bottom wall and two upwardly extending side walls. The bottom wall has a cable pass-through hole for the drive cable to pass through. The upper guide wheel assembly and the lower guide wheel assembly are located between the two side walls. Each of the two side walls is provided with a first lower support hole and a second lower support hole. The upper guide wheel assembly is supported by a guide wheel axle pin fixed to the first lower support hole, and the lower guide wheel assembly is supported by a guide wheel axle pin fixed to the second lower support hole.

16. The end effector according to any one of claims 1-11, characterized in that, Each of the first end-effector and the second end-effector is provided with a first wire hole and a second wire hole arranged at intervals in the vertical direction, and a third wire hole and a fourth wire hole arranged at intervals in the vertical direction. The first wire portion of the drive wire passes through the first wire hole from the inside of the end-effector and extends downward through the second wire hole, and the second wire portion passes through the third wire hole from the inside of the end-effector and extends downward through the fourth wire hole.

17. The end effector according to claim 16, characterized in that, The first threading hole and the third threading hole are positioned in the horizontal direction, and the second threading hole and the fourth threading hole are positioned in the horizontal direction.

18. The end effector according to claim 16, characterized in that, A first groove is provided between the first wire hole and the second wire hole, and a second groove is provided between the third wire hole and the fourth wire hole. The first groove and the second groove are both provided on the outer surfaces of the first end-acting part and the second end-acting part, and the drive line is located in the first groove and the second groove.

19. The end effector according to claim 16, characterized in that, The first line portion and the second line portion are an integral structure, or the first line portion and the second line portion are separate components.

20. The end effector according to any one of claims 1-11, characterized in that, Each of the at least one set of guide wheels has a guiding structure for the drive line, the guiding structure including grooves or channels.

21. The end effector according to any one of claims 1-11, characterized in that, At least one drive line is fixed to each of the two sides of the second support portion, perpendicular to the axis of the guide wheel defined by the second support portion and along the axis of the instrument.

22. A surgical instrument, characterized in that, Includes the end effector as described in any one of claims 1 to 21.

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