Surgical actuators, surgical instruments and surgical robots

Abstract

The present invention relates to the technical field of surgical robots, and discloses a surgical actuator, a surgical instrument, and a surgical robot. The surgical actuator includes an actuator, a wrist assembly, an actuator drive wire, and a pitch drive wire. The wrist assembly includes a first connecting seat and a second connecting seat, the first connecting seat is provided with a first rotating shaft and a second rotating shaft, the actuator is rotatably connected to the first rotating shaft, the first connecting seat is provided with a first tooth structure coaxial with the second rotating shaft, the second connecting seat is provided with a third rotating shaft and a second tooth structure, the first tooth structure is meshed with the second tooth structure, the third rotating shaft sleeve is provided with a lower guide wheel, and the second rotating shaft sleeve is provided with an upper guide wheel; the actuator drive wire includes two actuator segments, the actuator segments are wound around the lower guide wheel and the upper guide wheel, and the two actuator segments are respectively connected to the two sides of the actuator along the radial direction of the first rotating shaft; the pitch drive wire is used to control the rotation of the first connecting seat. The actuator drive wire of the present invention will not be pulled, thereby extending its service life and improving the safety of the operation.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a surgical execution mechanism, a surgical instrument and a surgical robot. Background Art

[0002] Surgical robots are widely used in the medical field. They consist of a patient-mounted surgical platform, mounted on a trolley equipped with several surgical instruments used to perform surgical procedures on patients.

[0003] According to Chinese patent CN212788689U, a surgical instrument, a slave operating device, and a surgical robot are disclosed. The surgical instrument includes an end effector located at the distal end of the surgical instrument, and the end effector includes a first bracket and a second bracket. The first bracket is provided with a first pin and a second pin, which are parallel to each other. The first pin is provided with a first pulley assembly, and the second pin is provided with a second pulley assembly. The second bracket is rotatably connected to the first bracket via the second pin. The clamping portion of the end effector is rotatably mounted on the second bracket via a third pin. The drive cables of the end effector include a first drive cable, a second pair of cables, and a third pair of cables. The distal end of the first drive cable is connected to the second bracket and can manipulate the second bracket to rotate, thereby achieving pitch movement of the end effector. The second pair of cables manipulates the first clamping portion to rotate about the third pin; the third pair of cables manipulates the second clamping portion to rotate about the third pin. The second and third pairs of cables enable the opening, closing, and yaw movements of the end effector. The cables in the third pair of cables and the second pair of cables are both wound in an S shape on the second pulley group and the first pulley group arranged opposite each other. When the first drive cable manipulates the second bracket to rotate, the length of the portion of the cables in the third pair of cables (or the second pair of cables) wound on the second pulley group and the first pulley group changes, causing the cables to be pulled, which also aggravates the wear of the cables and other structures, increases the possibility of cable deformation or breakage, affects the smooth implementation of the operation, shortens the service life of the surgical instruments, reduces the reliability of the surgical instruments during surgery and the safety of the operation, and also needs to compensate for the length of the cables in the third pair of cables (or the second pair of cables) at the same time when achieving pitch movement, which increases the difficulty of controlling the surgical instruments.

[0004] Based on this, there is an urgent need for a surgical execution mechanism, surgical instrument and surgical robot to solve the problems mentioned above. Summary of the Invention

[0005] The purpose of the present invention is to provide a surgical actuator, a surgical instrument and a surgical robot. When the pitch freedom of the surgical actuator is realized, the execution drive wire will not be pulled, thereby reducing maintenance costs, extending the service life of the surgical instrument, ensuring the smooth implementation of the operation, improving the safety of the operation and reducing the difficulty of control.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] The surgical execution mechanism includes:

[0008] Executable items;

[0009] The wrist assembly includes a first connecting seat and a second connecting seat, the first connecting seat is provided with a first rotating shaft and a second rotating shaft perpendicular to each other, the actuator is rotatably connected to the first rotating shaft, the second rotating shaft is coaxially sleeved with an upper guide wheel, the first connecting seat is provided with a first arcuate surface coaxially arranged with the second rotating shaft, the first arcuate surface is provided with a first tooth structure, the second connecting seat is provided with a third rotating shaft parallel to the second rotating shaft and a second arcuate surface coaxially arranged with the third rotating shaft, the third rotating shaft is coaxially sleeved with a lower guide wheel, the second arcuate surface is provided with a second tooth structure, the first tooth structure is meshed with the second tooth structure, and the ratio of the pitch circle radius of the first tooth structure to that of the second tooth structure is the same as the ratio of the radius of the upper guide wheel to that of the lower guide wheel;

[0010] The actuator drive wire includes two actuator segments, each of which is S-shaped and wound around the upper guide wheel and the lower guide wheel that are arranged opposite each other. The portions of the two actuator segments located between the upper guide wheel and the lower guide wheel are parallel to each other. One end of the two actuator segments is respectively connected to the two sides of the actuator along the radial direction of the first rotating shaft, and the other ends of the two actuator segments are both inserted into the second connecting seat.

[0011] The pitch driving wire is connected to the first connecting seat and is used to control the first connecting seat to rotate around the second rotating axis.

[0012] As an optional technical solution for the surgical execution mechanism, a fourth rotating shaft is provided on the second connecting seat, the fourth rotating shaft is arranged parallel to the third rotating shaft and is located on a side of the third rotating shaft away from the first connecting seat, and at least two wire threading holes are formed through the second connecting seat;

[0013] The pitch drive wire includes two pitch segments, each of which is S-shaped and wound around the third rotating shaft and the fourth rotating shaft. The two pitch segments are partially staggered and cross-arranged between the third rotating shaft and the fourth rotating shaft. One end of the two pitch segments is respectively connected to the first connecting seat on both sides along the radial direction of the second rotating shaft, and the other ends of the two pitch segments are respectively corresponding to the two wire threading holes on the second connecting seat.

[0014] As an optional technical solution for the surgical execution mechanism, the movable sleeve on the third rotating shaft is provided with two upper auxiliary guide wheels, and the movable sleeve on the fourth rotating shaft is provided with two lower auxiliary guide wheels. The two upper auxiliary guide wheels and the two lower auxiliary guide wheels are arranged opposite each other, and the pitch section is S-shaped and wound around the upper auxiliary guide wheels and the lower auxiliary guide wheels arranged opposite each other.

[0015] As an optional technical solution for the surgical execution mechanism, the second connecting seat is provided with a receiving groove at one end facing the first connecting seat, at least part of the lower auxiliary guide wheel is placed in the receiving groove, and the wire threading hole is provided on the bottom wall of the receiving groove.

[0016] As an optional technical solution of the surgical execution mechanism, the surgical execution mechanism also includes a connecting member, which is located between the first connecting seat and the second connecting seat, one end of the connecting member is connected to the second rotating shaft, and the other end is connected to the third rotating shaft.

[0017] As an optional technical solution for the surgical execution mechanism, the first connecting seat is provided with two first connecting ears protruding from one end thereof toward the second connecting seat, the two ends of the second rotating shaft are respectively connected to the two first connecting ears, and the end surface of the first connecting ear facing the second connecting seat is the first arc-shaped surface; and / or,

[0018] The second connecting seat is provided with two second connecting ears protruding from one end toward the first connecting seat, and the two ends of the third rotating shaft are respectively connected to the two second connecting ears, and the end surface of the second connecting ear toward the first connecting seat is the second arc surface.

[0019] As an optional technical solution of the surgical execution mechanism, the surgical execution mechanism further includes a first protective shell and a second protective shell, the first protective shell is sleeved on the outside of the first connecting seat, and the second protective shell is sleeved on the outside of the second connecting seat;

[0020] An end surface of the first protective shell facing one end of the second protective shell includes two first contact arc surfaces and two first limiting surfaces connected end to end, the first contact arc surfaces and the first limiting surfaces are arranged alternately, the first contact arc surfaces are arranged coaxially with the second rotating shaft, and the radius of the first contact arc surfaces is the same as the pitch circle radius of the first tooth structure, and the first limiting surfaces are tangent to the first contact arc surfaces;

[0021] The end surface of the second protective shell facing one end of the first protective shell includes two second contact arc surfaces and two second limiting surfaces connected end to end, the second contact arc surfaces and the second limiting surfaces are arranged alternately, the second contact arc surfaces are arranged coaxially with the third rotating shaft, and the radius of the second contact arc surfaces is the same as the pitch circle radius of the second tooth structure, and the second limiting surfaces are tangent to the second contact arc surfaces;

[0022] The first contact arc surface is in direct contact with the second contact arc surface.

[0023] As an optional technical solution of the surgical execution mechanism, the upper guide wheel is movably mounted on the second rotating shaft; and / or the lower guide wheel is movably mounted on the third rotating shaft.

[0024] A surgical instrument includes an instrument box, a connecting rod and the surgical execution mechanism as described above, wherein the instrument box is connected to one end of the connecting rod, the second connecting seat is connected to the other end of the connecting rod, the execution drive wire passes through the second connecting seat and is connected to the execution drive wire shaft in the instrument box, and the pitch drive wire passes through the second connecting seat and is connected to the pitch drive wire shaft in the instrument box.

[0025] A surgical robot comprising the surgical instrument as described above.

[0026] Beneficial effects of the present invention:

[0027] The surgical actuator provided by the present invention includes an actuator, a wrist assembly, an actuator drive wire, and a pitch drive wire. The surgical actuator provided by this embodiment has a simple structure and is easy to produce and process. When the pitch drive wire manipulates the first connecting seat to rotate to achieve the pitch freedom of the surgical actuator, the length of the portion of the actuator drive wire wound around the upper guide wheel and the lower guide wheel remains unchanged, and the actuator drive wire will not be pulled, thereby reducing the possibility of deformation or breakage of the actuator drive wire, extending the service life of the surgical actuator, reducing maintenance costs, ensuring the smooth implementation of the surgery, and improving the reliability of surgical instruments during surgery. At the same time, the transmission accuracy of the surgical actuator is guaranteed, thereby ensuring the accuracy of the surgical actuator when performing surgical operations and improving the safety of the surgery. In addition, when the surgical actuator achieves the pitch freedom, the length of the portion of the actuator drive wire wound around the upper guide wheel and the lower guide wheel remains unchanged, so there is no need to simultaneously compensate for the length of the actuator drive wire, thereby reducing the difficulty of controlling the surgical actuator.

[0028] The surgical instrument provided by the present invention includes the aforementioned surgical actuator. When the pitch freedom of the surgical actuator is achieved, the actuator drive wire is not pulled, thereby reducing the possibility of deformation or breakage of the actuator drive wire, extending the service life of the surgical instrument, reducing maintenance costs, ensuring the smooth execution of the surgery, and improving the reliability and safety of the surgical instrument during surgery. It also ensures the accuracy of the surgical instrument during surgical operations and reduces the difficulty of controlling the surgical instrument.

[0029] The surgical robot provided by the present invention includes the above-mentioned surgical instruments, which extends the service life of the surgical instruments, reduces maintenance costs, ensures the smooth implementation of the operation, improves the reliability of the surgical robot during the operation, improves the safety of the operation, and at the same time ensures the accuracy of the surgical instruments when performing surgical operations, and reduces the difficulty of controlling the surgical instruments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic structural diagram of a surgical instrument provided in Example 1 of the present invention;

[0031] Figure 2 This is a structural diagram of a surgical execution mechanism provided in Example 1 of the present invention;

[0032] Figure 3 is a cross-sectional view of a surgical execution mechanism provided in a first embodiment of the present invention in a first direction;

[0033] Figure 4 is a cross-sectional view of the surgical execution mechanism provided in the first embodiment of the present invention in the second direction;

[0034] Figure 5 This is an exploded view of the surgical execution mechanism provided in Example 1 of the present invention;

[0035] Figure 6 This is a partial structural diagram of a surgical execution mechanism provided in Example 1 of the present invention;

[0036] Figure 7 yes Figure 6 Exploded view of

[0037] Figure 8 is a structural schematic diagram of the wrist assembly provided in the first embodiment of the present invention when it is in the initial position;

[0038] Figure 9 is a structural schematic diagram of the wrist assembly provided in the first embodiment of the present invention when it is in the first position;

[0039] Figure 10 is a structural schematic diagram of the wrist assembly provided in the first embodiment of the present invention when it is in the second position;

[0040] Figure 11 1 is a schematic structural diagram of a wrist assembly provided in Embodiment 1 of the present invention;

[0041] Figure 12 This is a structural diagram of the first connecting base and the first protective shell provided in the first embodiment of the present invention;

[0042] Figure 13 This is a structural diagram of the second connecting base and the second protective shell provided in the first embodiment of the present invention;

[0043] Figure 14 This is a structural diagram of the surgical execution mechanism provided by the second embodiment of the present invention.

[0044] Figure 15 This is a partial structural diagram of the surgical execution mechanism provided by the second embodiment of the present invention.

[0045] Figure 16 This is a partial structural diagram of the wrist assembly provided by the second embodiment of the present invention.

[0046] Figure 17 This is a partial structural diagram of the surgical execution mechanism provided by the third embodiment of the present invention.

[0047] Figure 18 yes Figure 17 The structural diagram of the first connecting socket is omitted.

[0048] In the picture:

[0049] 10. Surgical actuator; 20. Connecting rod; 30. Instrument box;

[0050] 1. Executable documents;

[0051] 2. Wrist assembly; 21. First connecting seat; 211. First rotating shaft; 212. Second rotating shaft; 213. First tooth structure; 214. Upper guide wheel; 215. First connecting ear; 216. Threading opening; 22. Second connecting seat; 221. Third rotating shaft; 222. Fourth rotating shaft; 223. Second tooth structure; 224. Lower guide wheel; 225. Second connecting ear; 226. Accommodating groove; 227. Threading hole; 23. Upper auxiliary guide wheel; 24. Lower auxiliary guide wheel;

[0052] 3. Actuating wire; 31. Actuating segment; 311. First connecting segment; 312. Second connecting segment; 313. Third connecting segment;

[0053] 4. Pitch drive wire; 41. Pitch segment; 5. Connector;

[0054] 6. First protective shell; 61. First contact arc surface; 62. First limiting surface;

[0055] 7. Second protective shell; 71. Second contact arc surface; 72. Second limiting surface;

[0056] 8. Wire; 9. Wire contact wheel. DETAILED DESCRIPTION

[0057] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved more clearly, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0058] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0059] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0060] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0061] Example 1

[0062] This embodiment provides a surgical robot. Specifically, the surgical robot includes surgical instruments, which are used to perform surgical operations on patients.

[0063] Furthermore, the surgical robot also includes a doctor control end and a patient surgical end. The patient surgical end includes surgical instruments, and the operator can control the surgical instruments through the doctor control end to perform surgery on the patient.

[0064] Among them, the specific structure of the doctor's control end, other structures of the patient's surgical end, and the control principles and control methods between the doctor's control end and the patient's surgical end can all refer to the existing technology. They are not the protection focus of this embodiment and will not be repeated here.

[0065] Specifically, if Figure 1 As shown, the surgical instrument includes an instrument box 30, a connecting rod 20 and a surgical execution mechanism 10. The instrument box 30 is connected to the structure of the patient's surgical end. The connecting rod 20 is connected between the surgical execution mechanism 10 and the instrument box 30.

[0066] Specifically, if Figures 1-13 As shown, the surgical actuator 10 includes an actuator 1, a wrist assembly 2, an actuator drive wire 3 and a pitch drive wire 4. The wrist assembly 2 includes a first connecting seat 21 and a second connecting seat 22. The first connecting seat 21 is provided with a first rotating shaft 211 and a second rotating shaft 212 that are perpendicular to each other. The actuator 1 is rotatably connected to the first rotating shaft 211, and the first connecting seat 21 can rotate relative to the second rotating shaft 212. An upper guide wheel 214 is coaxially sleeved on the second rotating shaft 212. The first connecting seat 21 is provided with a first curved surface coaxially arranged with the second rotating shaft 212, and a first tooth structure 213 is provided on the first curved surface. The second connecting seat 22 is provided with a third rotating shaft 221 parallel to the second rotating shaft 212, and the second connecting seat 22 is provided with a second curved surface coaxially arranged with the third rotating shaft 221, and a second tooth structure 223 is provided on the second curved surface. The center of the pitch circle of the first tooth structure 213 is located on the axis of the second rotating shaft 212, and the center of the pitch circle of the second tooth structure 223 is located on the axis of the third rotating shaft 221. The first tooth structure 213 is meshed with the second tooth structure 223. A lower guide wheel 224 is coaxially sleeved on the third rotating shaft 221. The ratio of the pitch circle radii of the first tooth structure 213 and the second tooth structure 223 is the same as the ratio of the radii of the upper guide wheel 214 and the lower guide wheel 224. The execution drive wire 3 includes two execution segments 31, and the execution segments 31 are S-shaped and wound on the upper guide wheel 214 and the lower guide wheel 224 that are arranged opposite each other. The parts of the two execution segments 31 located between the upper guide wheel 214 and the lower guide wheel 224 are parallel to each other. One end of the two executing segments 31 is respectively connected to the two sides of the actuator 1 along the radial direction of the first rotating shaft 211, and the other ends of the two executing segments 31 are both passed through the second connecting seat 22 and connected to the executing drive wire shaft; the pitch driving wire 4 is connected to the first connecting seat 21 and is used to manipulate the first connecting seat 21 to rotate around the second rotating shaft 212.

[0067] Specifically, the pitch circle radius of the first tooth structure 213 is set to r1, the pitch circle radius of the second tooth structure 223 is set to R1, the radius of the upper guide wheel 214 is set to r2, and the radius of the lower guide wheel 224 is set to R2. The aforementioned "ratio of the pitch circle radii of the first tooth structure 213 to the second tooth structure 223 and the ratio of the radii of the upper guide wheel 214 to the lower guide wheel 224 are the same" is specifically r1 / R1=i=r2 / R2.

[0068] In this embodiment, i = 1. In other embodiments, the value of i can be adaptively adjusted and is not limited here.

[0069] In this embodiment, the instrument box 30 is connected to one end of the connecting rod 20 , and the second connecting seat 22 is connected to the other end of the connecting rod 20 .

[0070] Specifically, an execution drive wire shaft and a pitch drive wire shaft are provided in the instrument box 30. The two ends of the execution drive wire 3 pass through the second connecting seat 22 respectively and are connected to the two execution drive wire shafts in the instrument box 30. An execution drive motor is provided on the patient's surgical end, and the execution drive motor is provided outside the instrument box 30. Each execution drive wire shaft is correspondingly provided with an execution drive motor, and the output shaft of the execution drive motor can be connected to the execution drive wire shaft through the execution transmission assembly, so that the execution drive motor drives the corresponding execution drive wire shaft to rotate, so as to reel or release the execution drive wire 3. Among them, the structure of the above-mentioned execution transmission assembly and the connection relationship between the execution transmission assembly and the instrument box 30 can refer to the existing technology, which is not the focus of protection of this embodiment. It is sufficient to realize that the execution drive motor drives the corresponding execution drive wire shaft to rotate, and will not be repeated here.

[0071] The two ends of the pitch drive wire 4 pass through the second connecting seat 22 and connect to the two pitch drive wire shafts within the instrument box 30. Two pitch drive motors are provided on the patient's surgical end, located outside the instrument box 30. The output shafts of the two pitch drive motors are connected to the two pitch drive wire shafts via pitch transmission assemblies, enabling the two pitch drive motors to correspondingly drive the two pitch drive wire shafts to rotate, thereby reeling or releasing the pitch drive wire 4. The structure of the pitch transmission assembly and the connection between the pitch transmission assembly and the instrument box 30 can be referenced in the prior art and are not the focus of this embodiment. The pitch drive motors are sufficient to drive the corresponding pitch drive wire shafts to rotate, and will not be further described here.

[0072] Among them, other forms of structures can also be set in the instrument box 30 to connect with the pitch drive wire 4 and the execution drive wire 3. The structure inside the instrument box 30 can refer to the existing technology. It is not the protection focus of this embodiment and will not be repeated here.

[0073] The surgical actuator 10 provided in this embodiment includes an actuator 1, a wrist assembly 2, an actuator drive wire 3, and a pitch drive wire 4. The surgical actuator 10 provided in this embodiment has a simple structure and is easy to manufacture and process. When the pitch drive wire 4 manipulates the first connecting seat 21 to rotate, achieving the pitch degree of freedom of the surgical actuator 10, the length of the portion of the actuator drive wire 3 wrapped around the upper guide wheel 214 and the lower guide wheel 224 remains unchanged, and the actuator drive wire 3 is not pulled, thereby reducing the possibility of deformation or breakage of the actuator drive wire 3, extending the service life of the surgical actuator 10, reducing maintenance costs, ensuring the smooth implementation of the surgery, and improving the reliability of the surgical instrument during surgery. At the same time, the transmission accuracy of the surgical actuator 10 is guaranteed, thereby ensuring the accuracy of the surgical actuator 10 when performing surgical operations and improving the safety of the surgery. In addition, when the surgical actuator 10 achieves the pitch degree of freedom, the length of the portion of the actuator drive wire 3 wrapped around the upper guide wheel 214 and the lower guide wheel 224 remains unchanged, eliminating the need to simultaneously compensate for the length of the actuator drive wire 3, thereby reducing the difficulty of controlling the surgical actuator 10.

[0074] The surgical instrument provided in this embodiment includes the aforementioned surgical actuator 10. When the pitch degree of freedom of the surgical actuator 10 is achieved, the actuator drive wire 3 is not pulled, thereby reducing the possibility of deformation or breakage of the actuator drive wire 3, extending the service life of the surgical instrument, reducing maintenance costs, ensuring the smooth implementation of the surgery, and improving the reliability and safety of the surgical instrument during surgery. At the same time, it ensures the accuracy of the surgical instrument during surgical operations and reduces the difficulty of controlling the surgical instrument.

[0075] The surgical robot provided in this embodiment includes the above-mentioned surgical instruments, which extends the service life of the surgical instruments, reduces maintenance costs, ensures the smooth implementation of the operation, improves the reliability of the surgical robot during the operation, improves the safety of the operation, and at the same time ensures the accuracy of the surgical instruments when performing surgical operations, and reduces the difficulty of controlling the surgical instruments.

[0076] In this embodiment, the first rotating shaft 211 and the second rotating shaft 212 are respectively disposed at two ends of the first connecting base 21 , and the first rotating shaft 211 is disposed at an end of the first connecting base 21 away from the second connecting base 22 .

[0077] like Figure 8As shown, the wrist assembly 2 is in its initial position. The actuator 31 includes a first connecting segment 311, a second connecting segment 312, and a third connecting segment 313. One end of the first connecting segment 311 is connected to the actuator 1, and the other end is connected to the first end of the second connecting segment 312. The second end of the second connecting segment 312 is connected to the first end of the third connecting segment 313. The second end of the third connecting segment 313 passes through the second connecting seat 22 and is connected to the actuator drive wire shaft in the instrument box 30. The first end of the second connecting segment 312 and the first connecting segment 311 are both tangent to the upper guide wheel 214 at point L, and the first connecting segment 311 contacts the upper guide wheel 214 only at point L. The second end of the second connecting segment 312 and the third connecting segment 313 are both tangent to the lower guide wheel 224 at point Q, and the third connecting segment 313 contacts the lower guide wheel 224 only at point Q.

[0078] It can be understood that the "part of the execution drive wire 3 wrapped around the upper guide wheel 214 and the lower guide wheel 224" described in the above text is the LQ segment (second connecting segment 312) on the execution segment 31, that is, when the pitch drive wire 4 manipulates the first connecting seat 21 to rotate to realize the pitch freedom of the surgical execution mechanism 10, the length of the LQ segment (second connecting segment 312) on the execution segment 31 remains unchanged.

[0079] The second connecting section 312 includes a first covering section, an inter-wheel connecting section, and a second covering section. The first covering section covers the upper guide wheel 214, and the second covering section covers the lower guide wheel 224. The first end of the inter-wheel connecting section is connected to the first covering section, and the second end of the inter-wheel connecting section is connected to the second covering section. The first end of the inter-wheel connecting section is tangent to the upper guide wheel 214 at point M, and the second end of the inter-wheel connecting section is tangent to the lower guide wheel 224 at point P. That is, the first covering section is the LM section of the second connecting section 312, the inter-wheel connecting section is the MP section of the second connecting section 312, and the second covering section is the PQ section of the second connecting section 312. It can be understood that the inter-wheel connecting section contacts the upper guide wheel 214 only at point M, and the inter-wheel connecting section contacts the lower guide wheel 224 only at point P. In this case, the central angle corresponding to the LM section is γ, and the central angle corresponding to the PQ section is θ.

[0080] It can be understood that the "parts of the two execution segments 31 located between the upper guide wheel 214 and the lower guide wheel 224" described in the previous text are the MP segments (inter-wheel connecting segments) on the second connecting segment 312, that is, the MP segments on the two execution segments 31 located on the same execution drive wire 3 are arranged parallel to each other.

[0081] like Figure 8As shown, point A is located on the axis of the third rotating shaft 221, and point B is located on the axis of the second rotating shaft 212. Dashed line AB intersects the axis of the second rotating shaft 212 perpendicularly, and dashed line AB intersects the axis of the third rotating shaft 221 perpendicularly. Dashed line BC intersects the axis of the second rotating shaft 212 perpendicularly, and dashed line BC intersects the axis of the first rotating shaft 211 perpendicularly. The first connecting seat 21 and the second connecting seat 22 are both roughly cylindrical. When the wrist assembly 2 is in the initial position, the first connecting seat 21 and the second connecting seat 22 are coaxially arranged, and the dashed line BC and the dashed line AB both extend along the axial direction of the first connecting seat 21. The dashed line h extends along the axial direction of the first connecting seat 21, and the dashed line h coincides with the dashed line BC and the dashed line AB.

[0082] When the first connecting seat 21 rotates relative to the second rotating shaft 212 along the first direction (x direction) by an angle ε, the wrist assembly 2 is in the first position, as shown in FIG. Figure 9 As shown, the angle α' between the dotted line BC and the dotted line AB is equal to ε. During the rotation of the first connecting seat 21, the upper guide wheel 214 releases part of the LM segment, shortening the LM segment to the L'M' segment. The central angle corresponding to the L'M' segment is γ', and γ-γ'=ε. The length of the LM segment - the length of the L'M' segment = εr2.

[0083] It can be understood that due to the arrangement of the first tooth structure 213 and the second tooth structure 223, when the first connecting seat 21 rotates around the second rotating shaft 212, the first connecting seat 21 will also rotate a certain angle relative to the second connecting seat 22 around the axis of the third rotating shaft 221, and according to the ratio of the pitch circle radius of the first tooth structure 213 to the pitch circle radius of the second tooth structure 223, r1 / R1=i, that is, the angle β' between the dotted line AB and the dotted line h is β'=iε.

[0084] During the rotation of the first connecting seat 21, the lower guide wheel 224 covers part of the PQ segment, so that the PQ segment is lengthened to the P'Q' segment. The central angle corresponding to the P'Q' segment is θ', and θ'-θ=iε, and the length of the P'Q' segment-the length of the PQ segment=iεR2.

[0085] Furthermore, since the distance between the upper guide wheel 214 and the lower guide wheel 224 remains unchanged, the length of the inter-wheel connecting section (MP section) remains unchanged, ie, the length of the MP section minus the length of the M'P' section=0.

[0086] Since r2 / R2=i, the length of the P'Q' segment - the length of the PQ segment = iεR2 = εr2 = the length of the LM segment - the length of the L'M' segment, that is, the first covering segment is shortened by εr2, the second covering segment is lengthened by εr2, and the length of the inter-wheel connecting segment remains unchanged. Therefore, when the pitch drive wire 4 controls the first connecting seat 21 to rotate along the first direction to realize the pitch freedom of the surgical actuator 10, the length of the LQ segment (the second connecting segment 312) on the execution segment 31 remains unchanged.

[0087] Similarly, when the first connecting seat 21 rotates relative to the second rotating shaft 212 along the second direction (y direction) by an angle ε, the wrist assembly 2 is in the second position, such as Figure 10 As shown, the angle α" between the dotted line BC and the dotted line AB is equal to ε. During the rotation of the first connecting seat 21, the upper guide wheel 214 covers part of the LM segment, so that the LM segment is lengthened to the L"M" segment. The central angle corresponding to the L"M" segment is γ", and γ"-γ=ε, and the length of the L"M" segment - the length of the LM segment = εr2.

[0088] It can be understood that due to the arrangement of the first tooth structure 213 and the second tooth structure 223, when the first connecting seat 21 rotates around the second rotating shaft 212, the first connecting seat 21 will also rotate a certain angle relative to the second connecting seat 22 around the axis of the third rotating shaft 221, and according to the ratio of the pitch circle radius of the first tooth structure 213 to the pitch circle radius of the second tooth structure 223 is r1 / R1=i, that is, the angle β"=iε between the dotted line AB and the dotted line h.

[0089] During the rotation of the first connecting seat 21, the lower guide wheel 224 releases part of the PQ segment, so that the PQ segment is shortened to the P"Q" segment. The central angle corresponding to the P"Q" segment is θ", and θ-θ"=iε, the length of the PQ segment-the length of the P"Q" segment=iεR2.

[0090] Since r2 / R2=i, the length of the PQ segment - the length of the P"Q" segment = iεR2=εr2=the length of the L"M" segment - the length of the LM segment. Moreover, since the axle spacing between the upper guide wheel 214 and the lower guide wheel 224 remains unchanged, the length of the inter-wheel connecting segment (MP segment) remains unchanged, that is, the length of the MP segment - the length of the M"P" segment = 0.

[0091] That is, the first covering segment is lengthened by εr2, the second covering segment is shortened by εr2, and the length of the inter-wheel connecting segment remains unchanged. Therefore, when the pitch drive wire 4 manipulates the first connecting seat 21 to rotate along the second direction to realize the pitch freedom of the surgical actuator 10, the length of the LQ segment (second connecting segment 312) on the execution segment 31 remains unchanged.

[0092] In this embodiment, the x direction is counterclockwise and the y direction is clockwise. In other embodiments, the x direction may be clockwise and the y direction may be counterclockwise, which is not limited here.

[0093] Among them, an annular groove is opened on the side wall of the upper guide wheel 214 and the lower guide wheel 224 along the circumferential direction, the cross-section of the annular groove is arc-shaped, the radius of the arc-shaped cross-section is greater than the radius of the execution segment 31, and the depth of the annular groove is the radius of the execution segment 31. When the execution segment 31 is placed in the annular groove, the axis of the execution segment 31 is placed on the side wall of the upper guide wheel 214 and the lower guide wheel 224, so that the distance between the axis of the execution segment 31 and the axis of the upper guide wheel 214 is the radius of the upper guide wheel 214, and the distance between the axis of the execution segment 31 and the axis of the lower guide wheel 224 is the radius of the lower guide wheel 224; or, the upper guide wheel 214 and the lower guide wheel 224 are cylindrical, and the radius of the execution segment 31 is small and can be ignored.

[0094] As a preferred embodiment, a plurality of upper guide wheels 214 are provided on the movable sleeve of the second rotating shaft 212, and a plurality of lower guide wheels 224 are provided on the movable sleeve of the third rotating shaft 221. The upper guide wheels 214 and the lower guide wheels 224 are arranged opposite each other, and the execution section 31 is arranged in an S-shape around the upper guide wheels 214 and the lower guide wheels 224 arranged opposite each other. With the above-mentioned structure, when the actuator 1 is rotated by pulling the execution section 31, the execution section 31 can drive the upper guide wheels 214 and the lower guide wheels 224 to rotate, thereby reducing the friction between the execution section 31 and the upper guide wheels 214 and the lower guide wheels 224, reducing the risk of wear and breakage of the execution drive wire 3, ensuring the smooth implementation of the operation, reducing maintenance costs, and improving the reliability of the surgical instrument during the operation.

[0095] In this embodiment, the actuator drive wire 3 is a steel wire rope, which has a high structural strength and ensures durability. The two actuator segments 31 can also be provided separately, with the ends of the two actuator segments 31 connected to the actuator 1 respectively; alternatively, one actuator segment 31 can be connected to one end of the actuator 1, or it can be connected to the other actuator segment 31 connected to one end of the actuator 1 through a knot, steel wire rope, or other connecting structure. In other words, the actuator drive wire 3 is wound around the actuator 1, and the friction between the actuator drive wire 3 and the actuator 1 drives the actuator 1 to rotate.

[0096] Furthermore, two actuators 1 are provided, so that the surgical actuator 10 has an opening and closing action, thereby realizing the function of grasping or clamping. Specifically, the surgical instrument is a passive instrument, such as a window clamp, grasping forceps, surgical scissors, needle holders or knotting forceps. In this embodiment, the surgical instrument is a non-destructive forceps, and the actuator 1 is a non-destructive forceps flap. Among them, the specific structure of the actuator 1 can refer to the existing technology. It is not the focus of protection of this embodiment and will not be repeated here.

[0097] It is understood that two actuator drive wires 3 are provided, and the two actuator drive wires 3 are respectively connected to two actuators 1. Specifically, there are four actuator segments 31, so there are four upper guide wheels 214 and four lower guide wheels 224, respectively. The four upper guide wheels 214 and the four lower guide wheels 224 are respectively arranged one by one to ensure that they can play a guiding role for each actuator segment 31.

[0098] Specifically, the two actuators 1 are respectively arranged on both sides of the second rotating shaft 212 in the radial direction, so that the two actuator segments 31 from different actuator drive wires 3 are staggered and cross-arranged in the part between the second rotating shaft 212 and the third rotating shaft 221 .

[0099] In this embodiment, a wire threading opening 216 is formed through the first connecting seat 21, and the wire threading opening 216 is for the execution segment 31 to pass through. Two wire threading openings 216 are provided on the first connecting seat 21, and two execution segments 31 are passed through each wire threading opening 216. Preferably, the opening area of ​​the wire threading opening 216 is large, and the two execution segments 31 are respectively located at the two ends of the wire threading opening 216, and the two execution segments 31 are spaced apart. This helps to reduce the friction between the two execution segments 31, reduces the possibility of wear of the execution segments 31, and also reduces the number of openings on the first connecting seat 21, which is convenient for production and processing.

[0100] In this embodiment, the four lower guide wheels 224 are divided into two groups. Each group of lower guide wheels 224 includes two lower guide wheels. The two lower guide wheels 224 are located on the same radial side of the first rotating shaft 211. Two actuating segments 31 from different actuating drive wires 3 are respectively wound around the two lower guide wheels 224 in the same group. The two wire threading openings 216 are respectively arranged opposite the two groups of lower guide wheels 224.

[0101] The pitch drive wire 4 includes two pitch segments 41, one end of the two pitch segments 41 is respectively connected to the first connecting seat 21 on both sides along the radial direction of the second rotating shaft 212, and the other ends of the two pitch segments 41 are both passed through the second connecting seat 22 and connected to the pitch drive wire shaft. By pulling the two pitch segments 41 respectively, the rotation of the first connecting seat 21 is controlled.

[0102] Preferably, the second connecting base 22 is provided with a plurality of threading holes 227 for passing the pitch drive wire 4 or the actuator drive wire 3. In this embodiment, there are six threading holes 227, two of which are respectively provided for passing the two pitch segments 41, and the remaining four threading holes 227 are respectively provided for passing the four actuator segments 31.

[0103] Due to the structural arrangement of the wrist assembly 2, when the first connecting seat 21 rotates, the end of the pitch drive wire 4 connected to the first connecting seat 21 will swing synchronously with the first connecting seat 21, increasing the possibility of the pitch drive wire 4 rubbing against the wall or edge of the wire threading hole 227, thereby increasing the possibility of damage to the pitch drive wire 4. As a preferred embodiment, the second connecting seat 22 is provided with a fourth rotating shaft 222, which is arranged parallel to the third rotating shaft 221 and located on the side of the third rotating shaft 221 away from the first connecting seat 21. Each pitch segment 41 is respectively arranged in an S-shape around the third rotating shaft 221 and the fourth rotating shaft 222, with the two pitch segments 41 located between the third rotating shaft 221 and the fourth rotating shaft 222 being staggered and arranged in a cross-section. One end of each pitch segment 41 is connected to the first connecting seat 21 on both sides of the radial direction of the second rotating shaft 212, and the other end of each pitch segment 41 passes through the two wire threading holes 227 of the second connecting seat 22 after passing around the fourth rotating shaft 222. The above arrangement can ensure that the pitch section 41 is always arranged around the third rotating shaft 221 and the fourth rotating shaft 222 when the first connecting seat 21 rotates, and the third rotating shaft 221 and the fourth rotating shaft 222 will not swing synchronously with the first connecting seat 21, thereby reducing the possibility of friction between the pitch section 41 and the hole wall or edge of the threading hole 227, and also avoiding the pitch section 41 accidentally touching other structures of the second connecting seat 22, thereby ensuring the durability of the surgical actuator 10, extending the service life of the surgical actuator 10, reducing maintenance costs, ensuring the smooth implementation of the operation, and improving the reliability of surgical instruments during surgery.

[0104] Furthermore, two upper auxiliary guide wheels 23 are movably mounted on the third rotating shaft 221, and two lower auxiliary guide wheels 24 are movably mounted on the fourth rotating shaft 222. The two upper auxiliary guide wheels 23 and the two lower auxiliary guide wheels 24 are arranged opposite each other, and the pitching section 41 is arranged in an S-shape around the upper auxiliary guide wheels 23 and the lower auxiliary guide wheels 24. By providing the above structure, when the first connecting seat 21 is rotated by pulling the pitching section 41, the pitching section 41 can drive the upper auxiliary guide wheels 23 and the lower auxiliary guide wheels 24 to rotate, thereby reducing the friction between the pitching section 41 and the upper and lower auxiliary guide wheels 23 and 24, and reducing the risk of wear and breakage of the pitching drive wire 4, thereby ensuring the smooth implementation of the operation, extending the service life of the surgical actuator 10, reducing maintenance costs, and improving the reliability of the surgical instrument during the operation.

[0105] In this embodiment, the two upper auxiliary guide wheels 23 are arranged between the two sets of lower guide wheels 224.

[0106] As a preferred embodiment, a receiving groove 226 is defined at one end of the second connecting seat 22 facing the first connecting seat 21. At least a portion of the lower auxiliary guide wheel 24 is positioned within the receiving groove 226. Two threading holes 227 are defined on the bottom wall of the receiving groove 226. The pitch section 41 extends into the receiving groove 226 and passes through the threading holes 227 to exit the second connecting seat 22. This configuration reduces the height of the lower auxiliary guide wheel 24 protruding from the second connecting seat 22, thereby increasing the structural compactness of the wrist assembly 2, reducing the size of the surgical actuator 10, and improving the flexibility of the surgical actuator 10. It also reduces the possibility of interference between the surgical actuator 10 and other instruments during surgery, thereby facilitating the smooth execution of the surgery.

[0107] It is understood that two threading holes 227 are provided on the bottom surface of the receiving groove 226, each for passing through the two pitching sections 41. The axes of the two threading holes 227 are tangential to the radial sides of the lower auxiliary guide wheel 24, that is, the distance between the axes of the two threading holes 227 is the same as the diameter of the lower auxiliary guide wheel 24, and the extension direction of the pitching section 41 after passing around the lower auxiliary guide wheel 24 is collinear with the axis of the corresponding threading hole 227, further reducing the possibility of friction between the pitching section 41 and the hole wall or edge of the threading hole 227.

[0108] In this embodiment, the pitch drive wire 4 is a steel wire rope, which has a high structural strength and ensures durability. The two pitch segments 41 can also be provided separately, with the ends of the two pitch segments 41 respectively connected to the first connecting seat 21; alternatively, the end of one pitch segment 41 connected to the first connecting seat 21 can be connected to the end of the other pitch segment 41 connected to the first connecting seat 21 through a knot, steel wire rope, or other connecting structure. In other words, the pitch drive wire 4 is wound around the first connecting seat 21, and the friction between the pitch drive wire 4 and the first connecting seat 21 drives the first connecting seat 21 to rotate.

[0109] The surgical actuator 10 provided in this embodiment can achieve three degrees of freedom: opening and closing, yaw, and pitch. When the two actuator segments 31 located on both sides of the first rotating shaft 211 along the radial direction and coming from different actuator drive wires 3 are pulled at the same time, the two actuators 1 can move closer to or farther away from each other, thereby achieving the degree of freedom of opening and closing. When the two actuator segments 31 located on the same side of the first rotating shaft 211 along the radial direction and coming from different actuator drive wires 3 are pulled at the same time, the two actuators 1 can rotate around the first rotating shaft 211 in the same direction, thereby achieving the degree of freedom of yaw. When one of the pitch segments 41 is pulled, the first connecting seat 21 rotates, thereby achieving the degree of freedom of pitch. It can be understood that the axis of the third rotating shaft 221 is the axis of rotation for the surgical actuator 10 to achieve the degree of freedom of pitch.

[0110] As a preferred embodiment, the surgical actuator further includes a connector 5, which is located between the first connecting seat 21 and the second connecting seat 22. One end of the connector 5 is connected to the second rotating shaft 212, and the other end is connected to the third rotating shaft 221. The provision of the connector 5 ensures a reliable connection between the first connecting seat 21 and the second connecting seat 22, reduces the possibility of separation between the first connecting seat 21 and the second connecting seat 22, and ensures the structural stability and reliability of the surgical actuator 10 during surgery.

[0111] In this embodiment, the connecting member 5 is rod-shaped. Two through-holes are defined in the connecting member 5. The second rotating shaft 212 and the third rotating shaft 221 are movably disposed in the two through-holes, respectively. The connecting member 5 can also move relative to the second rotating shaft 212 and the third rotating shaft 221. This prevents the connecting member 5 from being stuck and hindering the rotation of the first connecting seat 21. This ensures that the surgical actuator 10 can smoothly achieve the pitch freedom, reduces maintenance costs, ensures the smooth execution of the surgery, improves the reliability of the surgical instrument during surgery, and simultaneously ensures the transmission accuracy of the surgical actuator 10, thereby ensuring the accuracy of the surgical actuator 10 when performing surgical operations and improving the safety of the surgery.

[0112] In other embodiments, the connector 5 may be fixedly connected to the second rotating shaft 212 and the third rotating shaft 221, or detachably connected via a snap-fit ​​structure, which is not limited here. The connector 5 may also be a flexible structure, such as a wire or a ribbon, and the connector 5 may be a closed loop structure and tensioned on the second rotating shaft 212 and the third rotating shaft 221, which is not limited here.

[0113] In this embodiment, two connectors 5 are provided, one located on opposite sides of the two upper auxiliary guide wheels 23. The connectors 5 are preferably located between the upper auxiliary guide wheels 23 and the corresponding set of lower guide wheels 224, separating the actuator section 31 from the pitch section 41, reducing the possibility of friction between the pitch section 41 and the actuator section 31, and further ensuring the durability of the surgical actuator 10. In other embodiments, the positions of the connectors 5, upper auxiliary guide wheels 23, and lower guide wheels 224 can be adaptively adjusted, which is not limited here.

[0114] As a preferred embodiment, two first connecting ears 215 are protruding from one end of the first connecting seat 21 facing the second connecting seat 22. The two ends of the second rotating shaft 212 are respectively connected to the two first connecting ears 215. The end surface of the first connecting ear 215 facing the second connecting seat 22 is a first arc-shaped surface. This arrangement facilitates the positioning of the first tooth structure 213 and facilitates production and processing. The provision of the two first connecting ears 215 also increases the connection position between the first connecting seat 21 and the second connecting seat 22. At the same time, the second rotating shaft 212 can be supported by the two first connecting ears 215, thereby improving the structural stability of the surgical actuator 10.

[0115] Furthermore, two second connecting ears 225 are protruding from one end of the second connecting base 22 facing the first connecting base 21. The ends of the third rotating shaft 221 are respectively connected to the two second connecting ears 225. The end surfaces of the second connecting ears 225 facing the first connecting base 21 are second arc-shaped surfaces. This arrangement facilitates the positioning of the second tooth structure 223 and facilitates production and processing. The provision of the two second connecting ears 225 also increases the number of connection points between the first connecting base 21 and the second connecting base 22. At the same time, the third rotating shaft 221 can be supported by the two second connecting ears 225, thereby improving the structural stability of the surgical actuator 10.

[0116] In this embodiment, the connecting member 5 and the upper guide wheel 214 on the second rotating shaft 212 are all located between the two first connecting ears 215, and the connecting member 5, the upper auxiliary guide wheel 23 and the lower guide wheel 224 on the third rotating shaft 221 are all located between the two second connecting ears 225, so that the first connecting ear 215 and the second connecting ear 225 can separate the human tissue from the upper guide wheel 214 and the lower guide wheel 224, reducing the damage to the human tissue caused by being caught between the upper guide wheel 214 and the lower guide wheel 224, reducing the possibility of secondary injury to the patient, and improving the safety of the operation.

[0117] In other embodiments, the first connecting ear 215 may be located between the connecting member 5 and the upper guide wheel 214 , and the second connecting ear 225 may be located between the connecting member 5 and the lower guide wheel 224 , which is not limited here.

[0118] As a preferred embodiment, the surgical execution mechanism further includes a first protective shell 6 and a second protective shell 7. The first protective shell 6 is sleeved on the outside of the first connecting seat 21, and the second protective shell 7 is sleeved on the outside of the second connecting seat 22. The end surface of the first protective shell 6 facing the second protective shell 7 includes two first contact arc surfaces 61 connected end to end and two first limiting surfaces 62. The first contact arc surfaces 61 and the first limiting surfaces 62 are arranged alternately. The first contact arc surfaces 61 are coaxially arranged with the second rotating shaft 212, and the radius of the first contact arc surface 61 is the same as the pitch circle radius of the first tooth structure 213. The first limiting surfaces 62 are tangent to the first contact arc surfaces 61. The end surface of the second protective shell 7 facing the first protective shell 6 includes two second contact arc surfaces 71 and two second limiting surfaces 72 connected end to end. The second contact arc surfaces 71 and the second limiting surfaces 72 are arranged alternately. The second contact arc surfaces 71 are arranged coaxially with the third rotating shaft 221. The radius of the second contact arc surface 71 is the same as the pitch circle radius of the second tooth structure 223. The second limiting surfaces 72 are tangent to the second contact arc surfaces 71. The first contact arc surface 61 is in direct contact with the second contact arc surface 71. The setting of the first protective shell 6 and the second protective shell 7 can protect the first connecting seat 21 and the second connecting seat 22, thereby ensuring the durability of the surgical actuator 10; at the same time, the first contact arc surface 61 can cover part of the first tooth structure 213, and the second contact arc surface 71 can cover part of the second tooth structure 223. During the operation, the damage to human tissue caused by the engagement of the first tooth structure 213 and the second tooth structure 223 can be avoided, thereby reducing the possibility of secondary injury to the patient and improving the safety of the operation; in addition, the first limiting surface 62 and the second limiting surface 72 can also limit the rotation range of the wrist assembly 2, thereby avoiding interference with other instruments due to excessive rotation angles of the wrist assembly 2, thereby ensuring the smooth implementation of the operation.

[0119] In this embodiment, the first protective shell 6 and the first connecting base 21 are provided separately and fixedly connected by bonding, welding, or other means; the second protective shell 7 and the second connecting base 22 are provided separately and fixedly connected by bonding, welding, or other means. In other embodiments, the first protective shell 6 and the first connecting base 21 can be integrally formed, and the second protective shell 7 and the second connecting base 22 can be integrally formed.

[0120] Example 2

[0121] This embodiment provides a surgical execution mechanism, a surgical instrument, and a surgical robot, and the structure of this embodiment is basically the same as that of the first embodiment, with only some structures being different. This embodiment will not repeat other structures that are the same as the first embodiment.

[0122] like Figure 14-16As shown, in this embodiment, two actuators 1 are provided. Specifically, the surgical instrument can be an active instrument capable of opening and closing, such as a bipolar non-destructive forceps, which can achieve functions such as cutting and hemostasis. The actuator 1 is a non-destructive forceps flap.

[0123] The surgical actuator 10 also includes two wires 8, each of which is threaded through a connecting rod 20. One end of each wire 8 extends into the instrument box 30 and connects to two power supply structures, which respectively provide positive and negative power to the wires 8. To prevent conductive contact between the two actuators 1, an insulating tube is sheathed around the first rotating shaft 211, which is encased within the actuator 1, enhancing safety.

[0124] Preferably, the wire 8 is wound in an S-shape around the second rotating shaft 212 and the third rotating shaft 221, and the two wires 8 are staggered and cross-arranged in the portion between the second rotating shaft 212 and the third rotating shaft 221. Two wire contact wheels 9 are coaxially sleeved on the second rotating shaft 212, and two wire contact wheels 9 are coaxially sleeved on the third rotating shaft 221. The two wire contact wheels 9 on the second rotating shaft 212 and the two wire contact wheels 9 on the third rotating shaft 221 are arranged one-to-one opposite each other, and the wire 8 is wound in an S-shape around the two oppositely arranged wire contact wheels 9. The two oppositely arranged wire contact wheels 9 have the same diameter. When the pitch drive wire 4 manipulates the first connecting seat 21 to rotate to realize the pitch freedom of the surgical actuator 10, the length of the wire 8 wound on the two wire contact wheels 9 arranged opposite each other remains unchanged, and the wire 8 will not be pulled, thereby reducing the possibility of deformation or breakage of the wire 8, extending the service life of the surgical actuator 10, reducing maintenance costs, ensuring the smooth implementation of the operation, improving the reliability of surgical instruments during the operation, and ensuring the transmission accuracy of the surgical actuator 10, thereby ensuring the accuracy of the surgical actuator 10 when performing surgical operations, and at the same time reducing the risk of leakage and improving the safety of the operation.

[0125] In other embodiments, similarly to the first embodiment, the radius of the wire contact wheel 9 disposed on the second rotating shaft 212 / the radius of the wire contact wheel 9 disposed on the third rotating shaft 221 = i' = the ratio of the pitch circle radii of the first tooth structure 213 and the second tooth structure 223, which will not be repeated here.

[0126] Among them, the specific principle of "when the pitch drive wire 4 manipulates the first connecting seat 21 to rotate to realize the pitch freedom of the surgical actuator 10, the length of the wire 8 wound on the two wire contact wheels 9 arranged opposite each other remains unchanged" is the same as the principle of the unchanged length of the second connecting section 312, and will not be repeated here.

[0127] Preferably, the wire contact wheel 9 on the second rotating shaft 212 is movably mounted on the second rotating shaft 212, and the wire contact wheel 9 on the third rotating shaft 221 is movably mounted on the third rotating shaft 221. By providing the above structure, when the first connecting seat 21 is rotated, the friction between the wire 8 and the wire contact wheel 9 is reduced, reducing the risk of wire 8 wear and leakage, ensuring the smooth implementation of the operation, reducing maintenance costs, and improving the safety of the operation.

[0128] Preferably, the wire contact wheel 9 is made of insulating material, which further reduces the risk of electric leakage and improves the safety of the operation.

[0129] Example 3

[0130] This embodiment provides a surgical execution mechanism, a surgical instrument, and a surgical robot, and the structure of this embodiment is basically the same as that of the first embodiment, with only some structures being different. This embodiment will not repeat other structures that are the same as the first embodiment.

[0131] like Figure 17 and Figure 18 As shown, an actuator 1 is provided. Specifically, the surgical instrument can be an active instrument, such as a monopolar electric hook. The actuator 1 is a hook-shaped metal piece.

[0132] In this embodiment, two upper guide wheels 214 and two lower guide wheels 224 may be provided respectively.

[0133] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A surgical execution mechanism, characterized in that: include: Executable (1); The wrist assembly (2) includes a first connecting seat (21) and a second connecting seat (22), wherein the first connecting seat (21) is provided with a first rotating shaft (211) and a second rotating shaft (212) which are perpendicular to each other, the actuator (1) is rotatably connected to the first rotating shaft (211), the second rotating shaft (212) is coaxially sleeved with an upper guide wheel (214), the first connecting seat (21) is provided with a first arc surface which is coaxially arranged with the second rotating shaft (212), the first arc surface is provided with a first tooth structure (213), the second connecting seat (22) is provided with a first tooth structure (214), and the second connecting seat (22) is provided with a first tooth structure (213). A third rotating shaft (221) parallel to the second rotating shaft (212) and a second arc-shaped surface coaxially arranged with the third rotating shaft (221) are provided, a lower guide wheel (224) is coaxially sleeved on the third rotating shaft (221), a second tooth structure (223) is provided on the second arc-shaped surface, the first tooth structure (213) is meshed with the second tooth structure (223), and the ratio of the pitch circle radius of the first tooth structure (213) to the second tooth structure (223) is the same as the ratio of the radius of the upper guide wheel (214) to the lower guide wheel (224); The execution drive wire (3) comprises two execution segments (31), the execution segments (31) being arranged in an S-shape around the upper guide wheel (214) and the lower guide wheel (224) arranged opposite to each other, the portions of the two execution segments (31) located between the upper guide wheel (214) and the lower guide wheel (224) being parallel to each other, one end of the two execution segments (31) being respectively connected to the two sides of the execution member (1) along the radial direction of the first rotating shaft (211), and the other ends of the two execution segments (31) being respectively arranged through the second connecting seat (22); A pitch drive wire (4) is connected to the first connecting seat (21) and is used to control the first connecting seat (21) to rotate around the second rotation axis (212). The pitch drive wire (4) includes two pitch segments (41). One end of the two pitch segments (41) is respectively connected to two sides of the first connecting seat (21) along the radial direction of the second rotation axis (212). Two first connecting ears (215) are protruding from one end of the first connecting seat (21) toward the second connecting seat (22), and the two ends of the second rotating shaft (212) are respectively connected to the two first connecting ears (215), and the end surface of the first connecting ear (215) toward the second connecting seat (22) is the first arc-shaped surface; Two second connecting ears (225) are protruding from one end of the second connecting seat (22) toward the first connecting seat (21), and two ends of the third rotating shaft (221) are respectively connected to the two second connecting ears (225), and the end surface of the second connecting ear (225) facing the first connecting seat (21) is the second arc-shaped surface; The two first connecting ears (215) and the two second connecting ears (225) are arranged opposite each other, and the upper guide wheel (214), the lower guide wheel (224), the pitch drive wire (4) and the execution drive wire (3) are located between the two first connecting ears (215) and the two second connecting ears (225).

2. The surgical execution mechanism according to claim 1, characterized in that: A fourth rotating shaft (222) is provided on the second connecting seat (22), the fourth rotating shaft (222) is arranged parallel to the third rotating shaft (221) and is located on a side of the third rotating shaft (221) away from the first connecting seat (21), and at least two threading holes (227) are formed through the second connecting seat (22); Each of the pitching sections (41) is respectively arranged in an S-shape around the third rotating shaft (221) and the fourth rotating shaft (222), and the two pitching sections (41) are partially staggered and cross-arranged between the third rotating shaft (221) and the fourth rotating shaft (222), and the other ends of the two pitching sections (41) are respectively correspondingly passed through the two threading holes (227) on the second connecting seat (22).

3. The surgical execution mechanism according to claim 2, characterized in that: The third rotating shaft (221) is provided with two upper auxiliary guide wheels (23) on a movable sleeve, and the fourth rotating shaft (222) is provided with two lower auxiliary guide wheels (24) on a movable sleeve. The two upper auxiliary guide wheels (23) and the two lower auxiliary guide wheels (24) are arranged opposite each other, and the pitch section (41) is arranged in an S shape around the upper auxiliary guide wheels (23) and the lower auxiliary guide wheels (24) arranged opposite each other.

4. The surgical execution mechanism according to claim 3, characterized in that: The second connecting seat (22) is provided with a receiving groove (226) at one end facing the first connecting seat (21), at least part of the lower auxiliary guide wheel (24) is placed in the receiving groove (226), and two threading holes (227) are provided on the bottom wall of the receiving groove (226).

5. The surgical execution mechanism according to any one of claims 1 to 4, characterized in that: The surgical execution mechanism further comprises a connecting member (5), wherein the connecting member (5) is located between the first connecting seat (21) and the second connecting seat (22), and one end of the connecting member (5) is connected to the second rotating shaft (212), and the other end is connected to the third rotating shaft (221).

6. The surgical execution mechanism according to claim 1, characterized in that: The surgical execution mechanism further comprises a first protective shell (6) and a second protective shell (7), wherein the first protective shell (6) is sleeved on the outside of the first connecting seat (21), and the second protective shell (7) is sleeved on the outside of the second connecting seat (22); The end surface of the first protective shell (6) facing one end of the second protective shell (7) comprises two first contact arc surfaces (61) and two first limiting surfaces (62) connected end to end, the first contact arc surfaces (61) and the first limiting surfaces (62) are arranged alternately, the first contact arc surfaces (61) and the second rotating shaft (212) are arranged coaxially, and the radius of the first contact arc surface (61) is the same as the pitch circle radius of the first tooth structure (213), and the first limiting surface (62) is tangent to the first contact arc surface (61); The end surface of the second protective shell (7) facing one end of the first protective shell (6) comprises two second contact arc surfaces (71) and two second limiting surfaces (72) connected end to end, the second contact arc surfaces (71) and the second limiting surfaces (72) are arranged alternately, the second contact arc surface (71) is coaxially arranged with the third rotating shaft (221), the radius of the second contact arc surface (71) is the same as the pitch circle radius of the second tooth structure (223), and the second limiting surface (72) is tangent to the second contact arc surface (71); The first contact arc surface (61) is in direct contact with the second contact arc surface (71).

7. The surgical execution mechanism according to any one of claims 1 to 4, characterized in that: The upper guide wheel (214) is movably mounted on the second rotating shaft (212); and / or the lower guide wheel (224) is movably mounted on the third rotating shaft (221).

8. A surgical instrument, characterized in that It comprises an instrument box (30), a connecting rod (20) and a surgical execution mechanism as described in any one of claims 1 to 7, wherein the instrument box (30) is connected to one end of the connecting rod (20), the second connecting seat (22) is connected to the other end of the connecting rod (20), the execution drive wire (3) passes through the second connecting seat (22) and is connected to the execution drive wire shaft in the instrument box (30), and the pitch drive wire (4) passes through the second connecting seat (22) and is connected to the pitch drive wire shaft in the instrument box (30).

9. A surgical robot, characterized in that: Comprising the surgical instrument of claim 8.

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