End effector, surgical instrument, and surgical robot

Abstract

The present invention relates to the technical field of surgical robots, and discloses an end effector, a surgical instrument, and a surgical robot. The end effector includes: an actuator; a deflection seat, provided with a first axis, the deflection seat is provided with an actuator shaft, the actuator is rotatably connected to the actuator shaft, a hole group is provided on the deflection seat, the hole group includes two upper threading holes with the same vertical distance from the first axis; a connecting seat, provided with a second axis, the deflection seat can rotate around the first axis and / or the second axis relative to the connecting seat, a lower threading hole is provided on the first end face of the connecting seat, when the deflection seat is in the initial position, the upper threading hole and the lower threading hole are arranged one by one, and the first axis and the second axis are arranged opposite each other; a first cable, the two first cables of the actuator respectively pass through the two upper threading holes in the same hole group; a second cable is used to control the rotation of the deflection seat. The sum of the lengths of the two first cables of the present invention remains unchanged, which is conducive to reducing the number of parts, extending the service life, and simplifying the control difficulty.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to an end effector, 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] The surgical instrument usually includes an end effector, which includes two clamping members, a first bracket and a second bracket. A first pin is provided on the first bracket, and the second bracket is rotatably connected to the first bracket via the first pin. The clamping portion is rotatably provided on the second bracket via the second pin. The end effector also includes a first drive cable and a second drive cable, and the distal end of the first drive cable is connected to the second bracket for manipulating the rotation of the second bracket to achieve the pitch motion of the end effector. Two second drive cables are connected to each clamping member to manipulate the two clamping members to rotate around the third pin respectively, thereby achieving the opening and closing and yaw motion of the end effector. When the first drive cable manipulates the second bracket to rotate, the lengths of the two second drive cables on the same clamping member both change, and the length changes of the two second drive cables are different, resulting in a change in the sum of the lengths of the two second drive cables. If the two second drive cables on the same clamping member are connected to the same execution drive wire shaft in the instrument box, the second drive cable will be pulled, increasing the possibility of cable deformation or breakage, affecting the smooth implementation of the operation and shortening the service life of the surgical instrument. If two execution drive wire shafts are used to connect the two second drive cables respectively, it is not conducive to reducing the number of parts, and the two execution drive wire shafts need to be controlled separately, which increases the difficulty of controlling the surgical instrument.

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

[0005] The purpose of the present invention is to provide an end effector, a surgical instrument and a surgical robot. When the deflection seat rotates, the sum of the lengths of the two first cables remains unchanged, which is conducive to reducing the number of parts, will not pull the first cables, extend the service life of the surgical instrument, and simplify the control difficulty.

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

[0007] An end effector, comprising:

[0008] Executable items;

[0009] The deflection seat has a first axis on its end surface at its first end, an actuator shaft perpendicular to the first axis at its second end away from the first end, and the actuator is rotatably connected to the actuator shaft. The first end surface of the deflection seat has a plurality of hole groups, each of which includes two upper threading holes located on either side of the first axis and at the same vertical distance from the first axis.

[0010] A connecting seat, wherein the first end is arranged toward the first end of the deflection seat, a second axis parallel to the first axis is arranged on the first end surface of the connecting seat, the deflection seat can rotate relative to the connecting seat around the first axis and / or the second axis, a plurality of lower threading holes are opened on the first end surface of the connecting seat, the deflection seat has an initial position in which the first end surface is parallel to the first end surface of the connecting seat, and the deflection seat is configured so that when it is in the initial position, the upper threading holes and the lower threading holes are arranged one by one, and the first axis and the second axis are arranged opposite each other;

[0011] A first cable, wherein two first cables are respectively provided on both sides of the actuator along the radial direction of the actuator axis, and the two first cables respectively pass through the two upper threading holes in the same hole group, and the first cables after passing through the upper threading holes are passed through the lower threading holes arranged opposite thereto;

[0012] The second cable is connected to the deflection seat and is used to control the rotation of the deflection seat.

[0013] As an optional technical solution for the end effector, the end effector further includes a connecting rod, which is rotatably connected to the deflection seat around the first axis, and / or is rotatably connected to the connection seat around the second axis.

[0014] As an optional technical solution for the end effector, a first cylindrical pin is fixedly provided on the deflection seat, the axis of the first cylindrical pin is the first axis, and the connecting rod is rotatably connected to the first cylindrical pin;

[0015] And / or, a second cylindrical pin is fixedly provided on the connecting seat, the axis of the second cylindrical pin is the second axis, and the connecting rod is rotatably connected to the second cylindrical pin.

[0016] As an optional technical solution for the end effector, a first groove is provided on the first end face of the deflection seat along the first axis, and part of the first cylindrical pin is placed in the first groove. The two ends of the first cylindrical pin are respectively connected to the two sides of the deflection seat, and a first avoidance groove is provided on at least the part of the first cylindrical pin located outside the first groove. The first avoidance groove is arranged opposite to the upper threading hole to avoid the first cable.

[0017] As an optional technical solution for the end effector, two actuators are provided, and the two upper threading holes through which the two first cables pass, which are located on the same side of the two actuators, are both arranged opposite to the same first avoidance groove along the radial direction of the first cylindrical pin.

[0018] As an optional technical solution for the end effector, a second cylindrical pin is fixedly provided on the connecting seat, the axis of the second cylindrical pin is the second axis, a second groove is provided on the first end face of the connecting seat along the second axis, part of the second cylindrical pin is placed in the second groove, the two ends of the second cylindrical pin are respectively connected to the two sides of the connecting seat, and a second avoidance groove is provided on at least the part of the second cylindrical pin outside the second groove, and the second avoidance groove is arranged opposite to the lower threading hole to avoid the first cable.

[0019] As an optional technical solution for the end effector, two actuators are provided, and the two lower threading holes through which the two first cables pass, which are located on the same side of the two actuators, are both arranged opposite to the same second avoidance groove along the radial direction of the second cylindrical pin.

[0020] As an optional technical solution for the end actuator, the actuator includes a connecting structure, which is rotatably connected to the actuator shaft. Two winding ring grooves are provided on the connecting structure, and the two winding ring grooves are coaxially arranged with the actuator shaft. The first cable is arranged in each of the winding ring grooves, and the two winding ring grooves in the same connecting structure are respectively arranged opposite to the two upper threading holes in the same hole group.

[0021] As an optional technical solution for the end actuator, two actuators are provided, and the two actuators include a first actuator and a second actuator. The connecting structure of the first actuator is two first connecting wheels, and the connecting structure of the second actuator is a second connecting wheel placed between the two first connecting wheels. The first connecting wheel and the second connecting wheel are both movably mounted on the actuator shaft, and each of the first connecting wheels has a winding ring groove on its side wall, and two of the winding ring grooves are provided on the side wall of the second connecting wheel.

[0022] As an optional technical solution for the end actuator, the vertical projection of the actuator axis on the first end face of the deflection seat is set to intersect with the first axis at a reference intersection, and the two upper threading holes in the same hole group are symmetrical about the center of the reference intersection.

[0023] A surgical instrument comprises the end effector described above.

[0024] A surgical robot comprises the surgical instrument described above.

[0025] Beneficial effects of the present invention:

[0026] The end actuator provided by the present invention includes an actuator, a deflection seat, a connecting seat, a first cable, and a second cable. The end actuator provided by this embodiment has a simple structure and is easy to produce and process. Since the two upper threading holes in the same hole group are respectively located on both sides of the first axis and have the same vertical distance from the first axis, and the two first cables on both sides of the actuator pass through the two upper threading holes in the same hole group, when the second cable operates the deflection seat to rotate relative to the connecting seat around the first axis and / or the second axis, the length changes of the two first cables on both sides of the actuator located between the two end faces of the deflection seat and the connecting seat facing each other are the same, and one of the first cables grows and the other first cable shortens, and the sum of the lengths of the two first cables remains unchanged, ensuring a closed loop formed by the connection of the two first cables on both sides of the actuator. The structure can always be tensioned on the same execution drive wire shaft, which is beneficial to reducing the number of execution drive wire shafts, reducing costs and facilitating assembly. At the same time, the above-mentioned closed-loop structure will not be pulled, reducing the possibility of deformation or breakage of the first cable, extending the service life of the end effector, reducing maintenance costs, ensuring the smooth implementation of the operation, and improving the reliability of surgical instruments during surgery. At the same time, it ensures the transmission accuracy of the end effector, which also ensures the accuracy of the end effector when performing surgical operations and improves the safety of the operation. In addition, if two execution drive wire shafts are used to drive the two first cables on both sides of the actuator respectively, the control difficulty of the two execution drive wire shafts can also be simplified.

[0027] The surgical instrument provided by the present invention includes the aforementioned end effector. When the second cable manipulates the deflection seat to rotate, the sum of the lengths of the two first cables on either side of the actuator remains unchanged. The closed-loop structure formed by the two first cables can be consistently tensioned on the same actuator drive wire shaft, thereby reducing the number of actuator drive wire shafts and lowering costs. Furthermore, the closed-loop structure will not be stretched, extending the service life of the end effector, ensuring the smooth execution of the surgery and improving surgical safety. Furthermore, the control difficulty of the two actuator drive wire shafts can be simplified.

[0028] The surgical robot provided by the present invention includes the above-mentioned surgical instruments, which is beneficial to reducing the number of parts of the surgical instruments, reducing costs, extending the service life of the surgical instruments, ensuring the smooth implementation of the operation, improving the reliability of the surgical robot during the operation, improving the safety of the operation, and at the same time ensuring the accuracy of the surgical instruments when performing surgical operations, and reducing the difficulty of controlling the surgical instruments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic structural diagram of a surgical instrument provided in Example 1 of the present invention;

[0030] Figure 2 is a structural diagram of the end effector provided in the first embodiment of the present invention;

[0031] Figure 3 This is a disassembled diagram of the end effector provided in the first embodiment of the present invention;

[0032] Figure 4 is a partial structural diagram of the end effector provided in the first embodiment of the present invention;

[0033] Figure 5 1 is a schematic structural diagram of an actuator and a deflection seat provided in the first embodiment of the present invention;

[0034] Figure 6 This is a structural schematic diagram of the deflection seat provided in the first embodiment of the present invention in the initial position;

[0035] Figure 7 This is a schematic structural diagram of the deflection seat provided in the first embodiment of the present invention after it rotates around the first axis from the initial position;

[0036] Figure 8 This is a schematic structural diagram of the deflection seat provided in the first embodiment of the present invention after it rotates around the second axis from the initial position;

[0037] Figure 9 This is a schematic structural diagram of the deflection seat provided in the first embodiment of the present invention after rotating around the first axis and the second axis from the initial position;

[0038] Figure 10 1 is a schematic diagram of the arrangement of the first cable provided in Example 1 of the present invention;

[0039] Figure 11 1 is a schematic structural diagram of a deflection seat provided in the first embodiment of the present invention;

[0040] Figure 12 This is a schematic structural diagram of the connecting socket provided in the first embodiment of the present invention;

[0041] Figure 13 is a structural diagram of a first actuator provided in Example 1 of the present invention;

[0042] Figure 14 is a schematic structural diagram of a second actuator provided in the first embodiment of the present invention;

[0043] Figure 15 is a partial structural diagram of the end effector provided in the second embodiment of the present invention;

[0044] Figure 16 is a cross-sectional view of the end effector provided in the third embodiment of the present invention from a first perspective;

[0045] Figure 17is a cross-sectional view of the end effector provided in the third embodiment of the present invention from a second viewing angle;

[0046] Figure 18 This is a disassembled diagram of the partial structure of the end effector provided in Example 3 of the present invention.

[0047] In the picture:

[0048] 10. End effector; 20. Connecting rod; 30. Instrument box;

[0049] 1. Actuator; 1a. First actuator; 1b. Second actuator; 11. First connecting wheel; 12. Second connecting wheel; 13. Winding ring groove; 14. Clamping surface;

[0050] 2. Deflection seat; 21. Upper threading hole; 21a. First threading hole; 21b. Second threading hole; 21c. Third threading hole; 21d. Fourth threading hole; 22. First cylindrical pin; 221. First avoidance groove; 23. First groove; 24. First connecting ear; 241. First tooth structure; 25. Actuator shaft; 251. Actuator connecting ear; 26. First pitch line hole;

[0051] 3. Connecting seat; 31. Lower threading hole; 31a. Fifth threading hole; 31b. Sixth threading hole; 31c. Seventh threading hole; 31d. Eighth threading hole; 32. Second cylindrical pin; 321. Second avoidance groove; 322. Upper guide wheel; 33. Second groove; 34. Second connecting ear; 341. Second tooth structure; 35. Second pitch line hole; 36. Third cylindrical pin; 361. Lower guide wheel; 37. Accommodating groove;

[0052] 4. First rope; 4a. First traction wire; 4b. Second traction wire; 4c. Third traction wire; 4d. Fourth traction wire;

[0053] 5. Second cable; 6. Connecting rod; 7. First outer shell; 8. Second outer shell. DETAILED DESCRIPTION

[0054] 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.

[0055] 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.

[0056] 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.

[0057] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0058] Example 1

[0059] This embodiment provides a surgical robot. Specifically, the surgical robot includes surgical instruments, which are used to perform surgical operations on patients.

[0060] 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.

[0061] 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.

[0062] Specifically, if Figure 1 As shown, the surgical instrument includes an instrument box 30, a connecting rod 20 and an end effector 10. The instrument box 30 is connected to the structure of the patient's surgical end. The connecting rod 20 is connected between the end effector 10 and the instrument box 30.

[0063] Preferably, if Figures 1-14As shown, the end effector 10 includes an actuator 1, a deflection seat 2, a connecting seat 3, a first cable 4 and a second cable 5. A first axis is provided on the end face of the first end of the deflection seat 2, and an actuator shaft 25 perpendicular to the first axis is provided on the second end of the deflection seat 2 away from the first end. The actuator 1 is rotatably connected to the actuator shaft 25. A plurality of groups of holes are provided on the end face of the first end of the deflection seat 2. The hole groups include two upper threading holes 21 respectively located on both sides of the first axis, and the vertical distances between the two upper threading holes 21 in the same hole group and the first axis are the same; the first end of the connecting seat 3 is arranged toward the second end of the deflection seat 2, and a second axis parallel to the first axis is provided on the first end face of the connecting seat 3. The deflection seat 2 can rotate around the first axis and / or the second axis relative to the connecting seat 3. The first end of the connecting seat 3 A number of lower threading holes 31 are provided on the end face, and the deflection seat 2 has an initial position in which the first end face is parallel to the first end face of the connecting seat 3. When the deflection seat 2 is configured to be in the initial position, the upper threading hole 21 and the lower threading hole 31 are arranged one by one opposite to each other, and the first axis and the second axis are arranged opposite to each other; the first cable 4 is used to manipulate the rotation of the actuator 1, and the actuator 1 is provided with two first cables 4 on both sides of the radial direction of the actuator shaft 25. The two first cables 4 respectively pass through the two upper threading holes 21 in the same hole group, and the first cable 4 after passing through the upper threading hole 21 is passed through the lower threading hole 31 arranged opposite to each other; the second cable 5 is connected to the deflection seat 2 for manipulating the rotation of the deflection seat 2.

[0064] In this embodiment, the instrument box 30 is connected to one end of the connecting rod 20 , and the connecting seat 3 is connected to the other end of the connecting rod 20 .

[0065] Among them, "the deflection seat 2 can rotate around the first axis and / or the second axis relative to the connecting seat 3" means "the deflection seat 2 can rotate around the first axis relative to the connecting seat 3; and / or the deflection seat 2 can rotate around the second axis relative to the connecting seat 3".

[0066] It can be understood that the first end surface of the deflection seat 2 is arranged toward the connecting seat 3 , and the first end surface of the connecting seat 3 is arranged toward the deflection seat 2 .

[0067] Specifically, the instrument box 30 is provided with an execution drive wire shaft and a pitch drive wire shaft. The first cable 4 passes through the connecting seat 3 and is connected to the execution drive wire shaft in the instrument box 30. The patient's surgical end is provided with an execution drive motor, which is arranged outside the instrument box 30. Each execution drive wire shaft is correspondingly provided with an execution drive motor. 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 to reel in or release the first cable 4. 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. It is not the focus of protection of this embodiment. It is sufficient to realize that the execution drive motor drives the execution drive wire shaft to rotate, and will not be repeated here.

[0068] The second cable 5 passes through the connecting seat 3 and is connected to the pitch drive wire shaft within the instrument box 30. A pitch drive motor is provided on the patient's surgical end, and the pitch drive motor is disposed outside the instrument box 30. The output shaft of the pitch drive motor is connected to the pitch drive wire shaft via a pitch transmission assembly, enabling the pitch drive motor to rotate the pitch drive wire shaft to reel in or release the second cable 5. The structure of the pitch transmission assembly and the connection between the pitch transmission assembly and the instrument box 30 can be referenced to the prior art and are not the focus of this embodiment. The pitch drive motor is sufficient to rotate the pitch drive wire shaft and will not be further described here.

[0069] Among them, other forms of structures can also be set in the instrument box 30 to connect with the second cable 5 and the first cable 4. 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.

[0070] The end effector 10 provided in this embodiment includes an actuator 1, a deflection seat 2, a connecting seat 3, a first cable 4, and a second cable 5. The end effector 10 provided in this embodiment has a simple structure and is easy to produce and process. Since the two upper threading holes 21 in the same hole group are respectively located on both sides of the first axis and have the same vertical distance from the first axis, and the two first cables 4 on both sides of the actuator 1 pass through the two upper threading holes 21 in the same hole group, when the second cable 5 is used to manipulate the deflection seat 2 to rotate relative to the connecting seat 3 around the first axis and / or the second axis, the length changes of the two first cables 4 on both sides of the actuator 1 between the two end faces of the deflection seat 2 and the connecting seat 3 facing each other are the same, and one of the first cables 4 grows and the other first cable 4 shortens, and the sum of the lengths of the two first cables 4 remains unchanged, ensuring that the two first cables 4 on both sides of the actuator 1 are connected. The closed-loop structure formed by the connection can always be tensioned on the same execution drive wire shaft, which is beneficial to reduce the number of execution drive wire shafts, reduce costs, and facilitate assembly; at the same time, the above-mentioned closed-loop structure will not be pulled, reducing the possibility of deformation or breakage of the first cable 4, extending the service life of the end effector 10, reducing maintenance costs, ensuring the smooth implementation of the operation, and improving the reliability of surgical instruments during surgery. At the same time, it ensures the transmission accuracy of the end effector 10, which also ensures the accuracy of the end effector 10 when performing surgical operations and improves the safety of the operation; in addition, if two execution drive wire shafts are used to respectively drive the two first cables 4 on both sides of the actuator 1, the control difficulty of the two execution drive wire shafts can also be simplified.

[0071] The surgical instrument provided in this embodiment includes the aforementioned end effector 10. When the second cable 5 manipulates the deflection seat 2 to rotate, the sum of the lengths of the two first cables 4 on either side of the actuator 1 remains unchanged. The closed-loop structure formed by the two first cables 4 can always be tensioned on the same actuator drive wire shaft, which helps reduce the number of actuator drive wire shafts and lowers costs. Furthermore, the closed-loop structure will not be stretched, extending the service life of the end effector 10, ensuring the smooth implementation of the surgery and improving the safety of the surgery. Furthermore, it can also simplify the control difficulty of the two actuator drive wire shafts.

[0072] The surgical robot provided in this embodiment includes the above-mentioned surgical instruments, which is beneficial to reducing the number of parts of the surgical instruments, reducing costs, extending the service life of the surgical instruments, ensuring the smooth implementation of the operation, improving the reliability of the surgical robot during the operation, improving the safety of the operation, and at the same time ensuring the accuracy of the surgical instruments when performing surgical operations, and reducing the difficulty of controlling the surgical instruments.

[0073] In this embodiment, two actuating connecting ears 251 are protruding from one end of the deflection seat 2 opposite to the connecting seat 3 , and both ends of the actuating shaft 25 are respectively connected to the two actuating connecting ears 251 .

[0074] The end surface of the first end of the deflection seat 2 is set as the first plane, and the end surface of the first end of the connecting seat 3 is set as the second plane, that is, when the deflection seat 2 is in the initial position, the first plane is parallel to the second plane. Figure 6 Shown is the initial position of the deflection seat 2.

[0075] Set the projection plane perpendicular to the first and second axes, such as Figure 6-Figure 9 The figure shows a view facing the projection plane. Point M is the projection of the first axis on the projection plane, and point N is the projection of the second axis on the projection plane. Points A and B are the intersections of the axes of the two upper threading holes 21 in the same hole group and the first plane; points C and D are the intersections of the axes of the two lower threading holes 31 corresponding to the two upper threading holes 21 in the same hole group and the second plane. Figure 6-Figure 9 In the perspective shown, the deflection seat 2 can rotate around the point M and / or the point N relative to the connecting seat 3.

[0076] in, Figure 7 is a schematic diagram of the deflection seat 2 after it rotates around the point M, that is, a schematic diagram of the deflection seat 2 after it rotates around the first axis relative to the connecting seat 3; Figure 8 is a schematic diagram of the deflection seat 2 after it rotates around the point N, that is, a schematic diagram of the deflection seat 2 after it rotates around the second axis relative to the connecting seat 3; Figure 9 This is a schematic diagram of the deflection seat 2 after it rotates around point M and point N, that is, a schematic diagram of the deflection seat 2 after it rotates around the first axis and the second axis relative to the connecting seat 3.

[0077] like Figure 6-Figure 9 As shown in the above text, "the vertical distances between the two upper threading holes 21 in the same hole group and the first axis are the same", that is, the distance between point A and the first axis = the distance between point B and the first axis. Figure 6 That is, the distance between point A and point M = the distance between point B and point M = L1. And because "when the deflection seat 2 is configured to be in the initial position, the upper threading hole 21 and the lower threading hole 31 are arranged one by one opposite each other, and the first axis and the second axis are arranged opposite each other", that is, the line between point M and point N is perpendicular to the first plane. At this time, the distance between point C and the second axis = the distance between point D and the second axis = L1, Figure 6 That is: the distance between point C and point N = the distance between point D and point N = L2 = L1.

[0078] Points A, B, C, and D are connected in sequence to form an isosceles trapezoid. AB side length = 2L1 = CD side length = 2L2. The "parts of the two first cables 4 on both sides of the actuator 1 located between the two end faces of the deflection seat 2 and the connection seat 3 facing each other" mentioned above are Figure 6The AD section of the first cable 4 on the left side, and the BC section of the first cable 4 on the right side. Point M is the midpoint of the AB length, point N is the midpoint of the CD length, and the spacing between point N and point M = L3, that is to say the AD length + the BC length = 2L3, that is to say the length of the AD section of the first cable 4 on the left side + the length of the BC section of the first cable 4 on the right side = 2L3. Figure 6 In the case of the deflection seat 2 being in its initial position, the length of AD = the length of BC. During the rotation of the deflection seat 2, points A, B, C, and D are always connected in sequence to form an isosceles trapezoid, and L1 is a constant value, so the length of AD + the length of BC = 2L3 is always true. In other words, the deflection seat 2 is in the initial position. Figure 6 Rotate the position to Figure 9 After the position, the length of side AD is less than the length of side BC, and the reduction value of the length of side AD = the increase value of the length of side BC. If the two first cables 4 are connected as one piece at one end away from the deflection seat 2, then during the rotation of the deflection seat 2, the sum of the total lengths of the two first cables 4 remains unchanged. Only one execution drive wire shaft can be set in the instrument box 30, and the two first cables 4 are connected to the same execution drive wire shaft. At this time, only one execution drive wire motor can be set, which reduces the number of drive motors and reduces the cost. At the same time, there is no need to set two execution drive wire motors to adjust the lengths of the two first cables 4 respectively, which further simplifies the control difficulty of the end effector 10 and the surgical instrument.

[0079] Specifically, there are two actuators 1, and each actuator 1 is provided with two first cables 4. The two first cables 4 are respectively located on both sides of the actuator shaft 25 in the radial direction, and can respectively manipulate the actuator 1 to rotate in opposite directions around the actuator shaft 25, so that the end actuator 10 has an opening and closing action, thereby realizing the function of grasping or clamping.

[0080] In this embodiment, the surgical instrument is a passive instrument, such as a fenestration clamp, grasping forceps, surgical scissors, needle holders, or knotting forceps. Furthermore, the surgical instrument is a non-destructive forceps, and actuator 1 is a non-destructive forceps flap. The specific structure of actuator 1 can be referenced in the prior art and is not the focus of this embodiment and will not be further described here.

[0081] It is understandable that, since there are two actuators 1 , there are four first cables 4 , four upper threading holes 21 and four lower threading holes 31 , and the four upper threading holes 21 are respectively arranged opposite to the four lower threading holes 31 .

[0082] In this embodiment, the axis of the upper threading hole 21 is perpendicular to the first end surface of the deflection seat 2, while the axis of the lower threading hole 31 is perpendicular to the first end surface of the connection seat 3. In other words, when the deflection seat 2 is in the initial position, the axes of the upper threading hole 21 and the lower threading hole 31, which are arranged opposite each other, are collinear.

[0083] Specifically, if Figure 4 、 Figure 5 、 Figure 10-14 As shown, the four upper threading holes 21 include two groups of holes, one of which includes the first threading hole 21a and the second threading hole 21b, and the other group includes the third threading hole 21c and the fourth threading hole 21d. The four lower threading holes 31 include the fifth threading hole 31a, the sixth threading hole 31b, the seventh threading hole 31c, and the eighth threading hole 31d. The fifth threading hole 31a is arranged opposite the first threading hole 21a, the sixth threading hole 31b is arranged opposite the second threading hole 21b, the seventh threading hole 31c is arranged opposite the third threading hole 21c, and the eighth threading hole 31d is arranged opposite the fourth threading hole 21d.

[0084] The two actuators 1 include a first actuator 1a and a second actuator 1b. The two first cables 4 provided on the first actuator 1a are respectively a first traction wire 4a and a second traction wire 4b. The two first cables 4 provided on the second actuator 1b are respectively a third traction wire 4c and a fourth traction wire 4d. The first traction wire 4a is passed through the first threading hole 21a and the fifth threading hole 31a, the second traction wire 4b is passed through the second threading hole 21b and the sixth threading hole 31b, the third traction wire 4c is passed through the third threading hole 21c and the seventh threading hole 31c, and the fourth traction wire 4d is passed through the fourth threading hole 21d and the eighth threading hole 31d.

[0085] The actuator 1 is provided with a clamping surface 14. The clamping surfaces 14 of the two actuators 1 can move closer or further away from each other to clamp or release the object to be clamped. The first and second traction threads 4a, 4b are respectively located on either side of the first actuator 1a along the radial direction of the actuator axis 25. Specifically, the first traction thread 4a is located on the side of the first actuator 1a where the clamping surface 14 is provided, and the second traction thread 4b is located on the side of the first actuator 1a opposite the clamping surface 14. The third and fourth traction threads 4c, 4d are respectively located on either side of the second actuator 1b along the radial direction of the actuator axis 25. Specifically, the third traction thread 4c is located on the side of the second actuator 1b where the clamping surface 14 is provided, and the fourth traction thread 4d is located on the side of the second actuator 1b opposite the clamping surface 14. It is understood that the first and fourth traction threads 4a, 4d are located on the same side of the actuator axis 25, and the second and third traction threads 4b, 4c are located on the same side of the actuator axis 25.

[0086] As mentioned above, "the hole group includes two upper threading holes 21 respectively located on both sides of the first axis", that is to say, the first traction wire 4a and the second traction wire 4b are located on both sides of the first axis, and the third traction wire 4c and the fourth traction wire 4d are located on both sides of the first axis.

[0087] Preferably, the actuator 1 includes a connecting structure that is rotatably connected to the actuator shaft 25. The connecting structure is provided with two winding ring grooves 13, both of which are coaxially arranged with the actuator shaft 25. A first cable 4 is arranged in each winding ring groove 13. The two winding ring grooves 13 in the same connecting structure are respectively arranged opposite to the two upper threading holes 21 in the same hole group. By providing the winding ring grooves 13, it is possible to ensure that the first cable 4 is wound on the connecting structure, ensuring that the first cable 4 can operate the actuator 1 to rotate. Moreover, the upper threading holes 21 are arranged opposite to the winding ring grooves 13, which reduces the possibility of the first cable 4 escaping from the winding ring grooves 13, ensuring that the first cable 4 is always wound in the winding ring grooves 13, further ensuring that the first cable 4 can operate the actuator 1 to rotate, which is conducive to the smooth implementation of the operation, while also improving the safety of the operation, avoiding friction between the first cable 4 and the groove side wall edge of the winding ring groove 13, and further reducing the possibility of deformation or breakage of the first cable 4.

[0088] Preferably, the connection structure of the first actuator 1a is two first connecting wheels 11, each of which has a winding ring groove 13 on its side wall, and the first connecting wheel 11 is movably mounted on the actuator shaft 25; the connection structure of the second actuator 1b is a second connecting wheel 12, which is placed between the two first connecting wheels 11, and is movably mounted on the actuator shaft 25, and has two winding ring grooves 13 on its side wall. The above-mentioned structural arrangement facilitates the vertical distance between the two upper threading holes 21 in the same hole group and the first axis to be the same, ensuring Figure 6-Figure 9 The formation of the isosceles trapezoid further ensures that the sum of the lengths of the two first cables 4 on the same actuator 1 remains unchanged.

[0089] Specifically, the axis of the upper threading hole 21 is tangent to the corresponding first connecting wheel 11 or the second connecting wheel 12, the distance between the axis of the upper threading hole 21 and the first axis is the same as the radius of the corresponding first connecting wheel 11 or the second connecting wheel 12, and the extension direction of the first cable 4 after passing around the first connecting wheel 11 or the second connecting wheel 12 is collinear with the axis of the corresponding upper threading hole 21.

[0090] In this embodiment, a single second connecting wheel 12 is provided. In other embodiments, the connection structure of the second actuator 1b may also be provided with two second connecting wheels 12, each of which has a winding ring groove 13 defined on its sidewall. Both second connecting wheels 12 are positioned between the two first connecting wheels 11, or the two second connecting wheels 12 and the two first connecting wheels 11 may be alternately positioned, without limitation.

[0091] In this embodiment, the midpoint of the actuator shaft 25 is positioned opposite the midpoint of the first cylindrical pin 22 in a direction perpendicular to the first plane. The vertical projection of the actuator shaft 25 on the first end surface of the deflection seat 2 is set to intersect the first axis at a reference intersection point, which is the midpoint of the first cylindrical pin 22.

[0092] Preferably, the two upper threading holes 21 in the same hole group are symmetrical about the center of the reference intersection, which facilitates determination of the opening positions of the two upper threading holes 21 in the same hole group and facilitates production and processing.

[0093] As a preferred solution, Figure 3 and Figure 4 As shown, the end effector further includes a connecting rod 6, which is connected to the deflection seat 2 by rotation about a first axis, and / or is connected to the connecting seat 3 by rotation about a second axis. By providing the connecting rod 6, a reliable connection between the deflection seat 2 and the connecting seat 3 can be ensured, the possibility of separation of the deflection seat 2 and the connecting seat 3 is reduced, and the structural stability and reliability of the end effector 10 during surgery are ensured. At the same time, the spacing between the first axis and the second axis is kept unchanged, that is, Figure 6-Figure 9 The formation of the isosceles trapezoid further ensures that the sum of the lengths of the two first cables 4 on the same actuator 1 remains unchanged.

[0094] In other embodiments, the connecting rod 6 may be replaced by a flexible structure, such as a wire or a belt, which is connected end to end to form a closed loop structure and is tensioned on the first cylindrical pin 22 and the second cylindrical pin 32, which is not limited here.

[0095] In this embodiment, the deflection seat 2 is capable of rotating relative to the connecting seat 3 about a first axis and a second axis. Specifically, a first cylindrical pin 22 is fixedly mounted on the deflection seat 2. The axis of the first cylindrical pin 22 is the first axis. It is understood that the first cylindrical pin 22 is arranged perpendicular to the actuator shaft 25. The connecting rod 6 is rotatably connected to the first cylindrical pin 22, thereby enabling the deflection seat 2 to rotate relative to the connecting seat 3 about the first axis. This arrangement simplifies the connection structure between the deflection seat 2 and the connecting rod 6, facilitating assembly.

[0096] Furthermore, a second cylindrical pin 32 is fixedly mounted on the connecting base 3. The axis of the second cylindrical pin 32 is the second axis. The connecting rod 6 is rotatably connected to the second cylindrical pin 32, thereby enabling the deflection base 2 to rotate about the second axis relative to the connecting base 3. This arrangement simplifies the connection structure between the connecting base 3 and the connecting rod 6, facilitating assembly.

[0097] Further, if Figure 4 and Figure 10As shown, a first connecting lug 24 protrudes from the first plane, and the first cylindrical pin 22 is connected to the first connecting lug 24. The first connecting lug 24 is provided with a first arcuate surface, which is coaxial with the first cylindrical pin 22. The first arcuate surface is provided with a first tooth structure 241, and the center of the pitch circle of the first tooth structure 241 is located on the first axis. A second connecting lug 34 protrudes from the second plane, and the second cylindrical pin 32 is connected to the second connecting lug 34. The second connecting lug 34 is provided with a second arcuate surface, which is coaxial with the second cylindrical pin 32. The second arcuate surface is provided with a second tooth structure 341, and the center of the pitch circle of the second tooth structure 341 is located on the second axis. The first tooth structure 241 meshes with the second tooth structure 341. It can be understood that when the second cable 5 manipulates the deflection seat 2 to rotate around the first axis, the deflection seat 2 will also rotate a certain angle around the second axis relative to the connecting seat 3; similarly, when the second cable 5 manipulates the deflection seat 2 to rotate around the second axis, the deflection seat 2 will also rotate a certain angle around the first axis relative to the connecting seat 3, that is, the deflection seat 2 can rotate around the first axis and the second axis relative to the connecting seat 3.

[0098] Preferably, first connecting ears 24 are protrudingly provided at both ends of the first plane along the first axis, and second connecting ears 34 are protrudingly provided at both ends of the second plane along the second axis. The two first connecting ears 24 are connected to the two second connecting ears 34 in a one-to-one correspondence, thereby increasing the connection position between the deflection seat 2 and the connecting seat 3, and further increasing the structural stability of the end effector 10.

[0099] In other embodiments, the deflection seat 2 and the connecting seat 3 may be provided with other forms of connection structures, and the deflection seat 2 can only rotate around the first axis or the second axis relative to the connecting seat 3, which is not limited here.

[0100] As a preferred solution, Figure 3 and Figure 10 As shown, a first groove 23 is provided on the first end face of the deflection seat 2 along the first axis, and part of the first cylindrical pin 22 is placed in the first groove 23. The two ends of the first cylindrical pin 22 are respectively connected to the two sides of the deflection seat 2, thereby increasing the connection position between the first cylindrical pin 22 and the deflection seat 2, and further improving the structural stability of the end actuator 10; at the same time, compared with two first cylindrical pins 22 arranged at intervals along the first axis, and the two first cylindrical pins 22 are respectively connected to the two sides of the deflection seat 2, the above-mentioned structural setting makes the axial dimension of the first cylindrical pin 22 larger, increases the structural strength of the first cylindrical pin 22, improves the reliability of the end actuator 10, and extends the service life.

[0101] Specifically, the first cylindrical pin 22 is connected to two first connecting ears 24 at both ends along the first axis. The first cylindrical pin 22 is rotatably connected to the first connecting ears 24, allowing the first cylindrical pin 22 to rotate relative to the deflection seat 2. When the first cable 4 deflects and contacts the first cylindrical pin 22, the first cylindrical pin 22 can rotate with the movement of the first cable 4, further reducing the friction between the first cylindrical pin 22 and the first cable 4 and reducing wear on the first cable 4. In other embodiments, the first cylindrical pin 22 can also be fixedly connected to the first connecting ears 24, which is not limited here.

[0102] In this embodiment, the first cylindrical pin 22 is rotatably inserted into the connecting rod 6 .

[0103] Preferably, a first avoidance groove 221 is formed on at least the portion of the first cylindrical pin 22 located outside the first groove 23. The first avoidance groove 221 is arranged opposite the upper threading hole 21 to avoid the first cable 4. During the rotation of the deflection seat 2, the above arrangement reduces the possibility of friction between the first cable 4 and the first cylindrical pin 22, thereby reducing the possibility of deformation or breakage of the first cable 4 due to wear, extending the service life of the end effector 10, and reducing maintenance costs.

[0104] In this embodiment, the first avoidance groove 221 is an annular groove, which is provided along the circumference of the first cylindrical pin 22 .

[0105] Preferably, the two upper threading holes 21 through which the two first cables 4 located on the same side of the two actuators 1 pass are respectively located on both sides of the first cylindrical pin 22, and the two upper threading holes 21 through which the two first cables 4 located on the same side of the two actuators 1 pass are both arranged opposite to the same first avoidance groove 221 along the radial direction of the first cylindrical pin 22. "The two first cables 4 located on the same side of the two actuators 1" are the first traction wire 4a and the fourth traction wire 4d (or the second traction wire 4b and the third traction wire 4c), that is, the first threading hole 21a and the fourth threading hole 21d (or the second threading hole 21b and the third threading hole 21c) are respectively located on both sides of the first cylindrical pin 22 and are both arranged opposite to the same first avoidance groove 221 along the radial direction of the first cylindrical pin 22, so that the same first avoidance groove 221 can avoid the first traction wire 4a and the fourth traction wire 4d (or the second traction wire 4b and the third traction wire 4c) at the same time, reducing the number of first avoidance grooves 221, and thus reducing the number of slots on the first cylindrical pin 22, thereby ensuring the structural strength of the first cylindrical pin 22, improving the reliability of the end actuator 10, and extending its service life.

[0106] Preferably, a second groove 33 is formed on the first end surface of the connecting base 3 along the second axis, and a portion of the second cylindrical pin 32 is placed in the second groove 33, with the two ends of the second cylindrical pin 32 respectively connected to the two sides of the connecting base 3. The above arrangement increases the connection position between the second cylindrical pin 32 and the connecting base 3, further improving the structural stability of the end effector 10. At the same time, compared with two second cylindrical pins 32 spaced apart along the second axis, and the two second cylindrical pins 32 are respectively connected to the two sides of the connecting base 3, the above structural arrangement makes the axial dimension of the second cylindrical pin 32 larger, increases the structural strength of the second cylindrical pin 32, improves the reliability of the end effector 10, and extends its service life.

[0107] Specifically, the second cylindrical pin 32 is connected to two second connecting ears 34 at both ends along the second axis. The second cylindrical pin 32 is rotatably connected to the second connecting ears 34, allowing the second cylindrical pin 32 to rotate relative to the connecting base 3. When the first cable 4 deflects and contacts the second cylindrical pin 32, the second cylindrical pin 32 can rotate with the movement of the first cable 4, further reducing the friction between the second cylindrical pin 32 and the first cable 4 and reducing wear on the first cable 4. In other embodiments, the second cylindrical pin 32 can also be fixedly connected to the second connecting ears 34, which is not limited here.

[0108] In this embodiment, the second cylindrical pin 32 is rotatably inserted into the connecting rod 6 .

[0109] Preferably, a second avoidance groove 321 is formed on at least the portion of the second cylindrical pin 32 located outside the second groove 33. The second avoidance groove 321 is arranged opposite the lower threading hole 31 to avoid the first cable 4. During the rotation of the deflection seat 2, the above arrangement reduces the possibility of friction between the first cable 4 and the second cylindrical pin 32, thereby reducing the possibility of deformation or breakage of the first cable 4 due to wear, extending the service life of the end effector 10, and reducing maintenance costs.

[0110] In this embodiment, the second avoidance groove 321 is an annular groove, which is provided along the circumference of the second cylindrical pin 32 .

[0111] Preferably, the two upper threading holes 21 through which the two first cables 4 located on the same side of the two actuators 1 pass are respectively arranged on both sides of the second cylindrical pin 32, and the two lower threading holes 31 through which the two first cables 4 located on the same side of the two actuators 1 pass are both arranged opposite to the same second avoidance groove 321 along the radial direction of the second cylindrical pin 32. In other words, the first threading hole 21a and the fourth threading hole 21d (or the second threading hole 21b and the third threading hole 21c) are respectively located on both sides of the second cylindrical pin 32 and are both arranged opposite to the same second avoidance groove 321 along the radial direction of the second cylindrical pin 32, so that the same second avoidance groove 321 can avoid the first traction wire 4a and the fourth traction wire 4d (or the second traction wire 4b and the third traction wire 4c) at the same time, reducing the number of second avoidance grooves 321, and thus reducing the number of slots on the second cylindrical pin 32, thereby ensuring the structural strength of the second cylindrical pin 32, improving the reliability of the end effector 10, and extending its service life.

[0112] Specifically, two second cables 5 are provided, one located on either side of the first axis. When the two second cables 5 are pulled, the deflection seat 2 can rotate in opposite directions about the first axis. Specifically, the deflection seat 2 is provided with a first pitch line hole 26, located on either side of the first cylindrical pin 22. The connecting seat 3 is provided with two second pitch line holes 35. When the deflection seat 2 is in the initial position, the two second pitch line holes 35 are arranged one-to-one opposite the two first pitch line holes 26. The second cables 5 are inserted through the first pitch line holes 26 and the second pitch line holes 35, which are arranged opposite each other.

[0113] In this embodiment, the axis of the first pitch line hole 26 is perpendicular to the first end surface of the deflection seat 2; the axis of the second pitch line hole 35 is perpendicular to the first end surface of the connecting seat 3. In other words, when the deflection seat 2 is in the initial position, the axes of the first pitch line hole 26 and the second pitch line hole 35, which are arranged opposite each other, are collinear.

[0114] Preferably, the distances between the two first pitch line holes 26 and the first axis are the same. With the above arrangement, when the second cables 5 manipulate the deflection seat 2 to rotate relative to the connecting seat 3 about the first axis and / or the second axis, the lengths of the two second cables 5 located between the two end surfaces of the deflection seat 2 and the connecting seat 3 facing each other change by the same amount, and one second cable 5 increases while the other decreases, while the sum of the lengths of the two second cables 5 remains unchanged. This ensures that the closed-loop structure formed by the two second cables 5 can always be tensioned on the same pitch drive wire shaft, which helps reduce the number of pitch drive wire shafts, reduces costs, and facilitates assembly. Furthermore, the possibility of deformation or breakage of the second cables 5 is reduced, extending the service life of the end effector 10 and reducing maintenance costs, ensuring the smooth implementation of the surgery, improving the reliability of the surgical instrument during surgery, and ensuring the transmission accuracy of the end effector 10, thereby ensuring the accuracy of the end effector 10 when performing the surgical operation and improving the safety of the surgery. In addition, if the two second cables 5 are driven by two pitch drive wire shafts respectively, the control difficulty of the two pitch drive wire shafts can also be simplified.

[0115] The principle of "the sum of the lengths of the two second cables 5 remains unchanged" is the same as the principle of "the sum of the lengths of the two first cables 4 on both sides of the actuator 1 remains unchanged" mentioned above, and will not be repeated here.

[0116] The end effector 10 provided in this embodiment can achieve three degrees of freedom: opening and closing, yaw, and pitch. When the two first cables 4 located on different sides of the two actuators 1 are pulled simultaneously, the two actuators 1 can rotate around the actuator axis 25 in different directions, and the two actuators 1 can move closer to or further away from each other, achieving the opening and closing degree of freedom. When the two first cables 4 located on the same side of the two actuators 1 are pulled simultaneously, the two actuators 1 can rotate around the actuator axis 25 in the same direction, achieving the yaw degree of freedom. When one of the second cables 5 is pulled, the deflection seat 2 rotates, achieving the pitch degree of freedom.

[0117] As a preferred solution, Figure 2-Figure 4 As shown, the end effector 10 also includes a first shell 7 and a second shell 8. The first shell 7 is mounted on the outside of the deflection seat 2, and the second shell 8 is mounted on the outside of the connecting seat 3. The first shell 7 can cover part of the first tooth structure 241, and the second shell 8 can cover part of the second tooth structure 341. The setting of the first shell 7 and the second shell 8 can protect the deflection seat 2 and the connecting seat 3, and ensure the durability of the end effector 10; at the same time, the first shell 7 can cover part of the first tooth structure 241, and the second shell 8 can cover part of the second tooth structure 341. During the operation, it can avoid damage to human tissue due to the engagement of the first tooth structure 241 and the second tooth structure 341, thereby reducing the possibility of secondary injury to the patient and improving the safety of the operation.

[0118] In this embodiment, the first housing 7 is provided separately from the deflection seat 2 and fixedly connected by bonding, welding, or other means; the second housing 8 is provided separately from the connection seat 3 and fixedly connected by bonding, welding, or other means. In other embodiments, the first housing 7 can be integrally formed with the deflection seat 2, and the second housing 8 can be integrally formed with the connection seat 3.

[0119] Example 2

[0120] This embodiment provides an end effector, 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 elaborate on other structures that are the same as those of the first embodiment.

[0121] like Figure 15 As shown, the deflection seat 2 is provided with only one first connection ear 24, which is located in the middle of the deflection seat 2. The connection seat 3 is provided with only one second connection ear 34, which is located in the middle of the connection seat 3.

[0122] Preferably, two connecting rods 6 are provided, and the two connecting rods 6 are respectively located on both sides of the first connecting ear 24 and the second connecting ear 34, which can cover at least part of the first tooth structure 241 and at least part of the second tooth structure 341. During the operation, the damage of human tissue caused by the engagement of the first tooth structure 241 and the second tooth structure 341 can be avoided, thereby reducing the possibility of secondary injury to the patient and improving the safety of the operation.

[0123] Example 3

[0124] This embodiment provides an end effector, 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 elaborate on other structures that are the same as those of the first embodiment.

[0125] like Figure 16-18As shown, when the deflection seat 2 rotates, the end of the second cable 5 connected to the deflection seat 2 will swing synchronously with the deflection seat 2, increasing the possibility of the second cable 5 rubbing against the hole wall or edge of the second pitch line hole 35, increasing the possibility of damage to the second cable 5. As a preferred embodiment, the connecting seat 3 is provided with a third cylindrical pin 36, which is arranged parallel to the second cylindrical pin 32 and located on the side of the second cylindrical pin 32 away from the deflection seat 2. Each second cable 5 is respectively wound around the second cylindrical pin 32 and the third cylindrical pin 36 in an S-shape, and the portions of the two second cables 5 located between the second cylindrical pin 32 and the third cylindrical pin 36 are staggered and cross-arranged. The end of the second cable 5 away from the deflection seat 2 passes around the third cylindrical pin 36 and then passes through the corresponding second pitch line hole 35. The above arrangement can ensure that the second cable 5 is always wound around the second cylindrical pin 32 and the third cylindrical pin 36 when the deflection seat 2 rotates, and the second cylindrical pin 32 and the third cylindrical pin 36 will not swing synchronously with the deflection seat 2, thereby reducing the possibility of the second cable 5 rubbing against the hole wall or edge of the second pitch line hole 35, and also avoiding the second cable 5 accidentally touching other structures of the connecting seat 3, thereby ensuring the durability of the end effector 10, extending the service life of the end effector 10, reducing maintenance costs, ensuring the smooth implementation of the operation, and improving the reliability of surgical instruments during surgery.

[0126] Furthermore, two upper guide wheels 322 are provided on the movable sleeve of the second cylindrical pin 32, and two lower guide wheels 361 are provided on the movable sleeve of the third cylindrical pin 36. The two upper guide wheels 322 and the two lower guide wheels 361 are arranged opposite each other, and the second cable 5 is wound in an S-shape around the upper guide wheels 322 and the lower guide wheels 361 arranged opposite each other. With the above structure, when the deflection seat 2 is rotated by pulling the second cable 5, the second cable 5 can drive the upper guide wheels 322 and the lower guide wheels 361 to rotate, reducing the friction between the second cable 5 and the upper guide wheels 322 and the lower guide wheels 361, thereby reducing the risk of wear and breakage of the second cable 5, ensuring the smooth implementation of the operation, extending the service life of the end effector 10, reducing maintenance costs, and improving the reliability of the surgical instrument during the operation.

[0127] In this embodiment, two connecting rods 6 may be provided, and the two connecting rods 6 are provided on both sides of the two upper guide wheels 322. In other embodiments, one connecting rod 6 may also be provided, and placed between the two upper guide wheels 322, which is not limited here.

[0128] As a preferred embodiment, a receiving groove 37 is defined at one end of the connecting base 3 facing the deflection base 2. The lower guide wheel 361 and a portion of the upper guide wheel 322 are positioned within the receiving groove 37. Two second pitch line holes 35 are defined on the bottom wall of the receiving groove 37. The second cable 5 extends into the receiving groove 37 and exits the connecting base 3 through the second pitch line holes 35. This arrangement reduces the height of the lower guide wheel 361 protruding from the connecting base 3, thereby increasing the compactness and size of the end effector 10, and improving its flexibility. It also reduces the likelihood of interference between the end effector 10 and other instruments during surgery, thereby facilitating smoother surgical procedures.

[0129] The axes of the two second pitch line holes 35 are respectively tangent to the two sides of the lower guide wheel 361 in the radial direction, that is, the distance between the axes of the two second pitch line holes 35 is the same as the diameter of the lower guide wheel 361, and the extension direction of the second cable 5 after passing around the lower guide wheel 361 is colinear with the axis of the corresponding second pitch line hole 35, further reducing the possibility of friction between the second cable 5 and the hole wall or edge of the second pitch line hole 35.

[0130] 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. An end effector, characterized in that: include: Executable (1); The deflection seat (2) has a first axis on its end surface at the first end, an actuator shaft (25) perpendicular to the first axis on its second end away from the first end, and the actuator (1) is rotatably connected to the actuator shaft (25). The first end surface of the deflection seat (2) has a plurality of hole groups, the hole groups including two upper threading holes (21) located on both sides of the first axis and having the same vertical distance from the first axis; A connecting seat (3), the first end of which is arranged toward the first end of the deflection seat (2), a second axis parallel to the first axis is arranged on the first end surface of the connecting seat (3), the deflection seat (2) can rotate around the first axis and / or the second axis relative to the connecting seat (3), a plurality of lower threading holes (31) are opened on the first end surface of the connecting seat (3), the deflection seat (2) has an initial position in which the first end surface is parallel to the first end surface of the connecting seat (3), and when the deflection seat (2) is configured to be in the initial position, the upper threading holes (21) and the lower threading holes (31) are arranged one by one opposite to each other, and the first axis and the second axis are arranged opposite to each other; A first cable (4), wherein the actuator (1) is provided with two first cables (4) on both sides along the radial direction of the actuator shaft (25), and the two first cables (4) are respectively passed through the two upper threading holes (21) in the same hole group, and the first cables (4) after passing through the upper threading holes (21) are passed through the lower threading holes (31) arranged opposite thereto; The second cable (5) is connected to the deflection seat (2) and is used to control the rotation of the deflection seat (2).

2. The end effector according to claim 1, characterized in that: The end effector further comprises a connecting rod (6), wherein the connecting rod (6) is connected to the deflection seat (2) by rotating around the first axis, and / or the connecting rod (6) is connected to the connection seat (3) by rotating around the second axis.

3. The end effector according to claim 2, characterized in that: A first cylindrical pin (22) is fixedly provided on the deflection seat (2), the axis of the first cylindrical pin (22) is the first axis, and the connecting rod (6) is rotatably connected to the first cylindrical pin (22); And / or, a second cylindrical pin (32) is fixedly provided on the connecting seat (3), the axis of the second cylindrical pin (32) is the second axis, and the connecting rod (6) is rotatably connected to the second cylindrical pin (32).

4. The end effector according to claim 3, characterized in that: A first groove (23) is provided on the first end surface of the deflection seat (2) along the first axis, and part of the first cylindrical pin (22) is placed in the first groove (23). Both ends of the first cylindrical pin (22) are respectively connected to the two sides of the deflection seat (2). A first avoidance groove (221) is provided on at least the part of the first cylindrical pin (22) located outside the first groove (23). The first avoidance groove (221) is arranged opposite to the upper threading hole (21) to avoid the first cable (4).

5. The end effector according to claim 4, characterized in that: Two actuators (1) are provided, and the two upper threading holes (21) through which the two first cables (4) pass, which are located on the same side of the two actuators (1), are both arranged opposite to the same first avoidance groove (221) along the radial direction of the first cylindrical pin (22).

6. The end effector according to claim 3, characterized in that: A second cylindrical pin (32) is fixedly provided on the connecting seat (3), the axis of the second cylindrical pin (32) is the second axis, a second groove (33) is provided on the first end surface of the connecting seat (3) along the second axis, part of the second cylindrical pin (32) is placed in the second groove (33), the two ends of the second cylindrical pin (32) are respectively connected to the two sides of the connecting seat (3), at least a second avoidance groove (321) is provided on the part of the second cylindrical pin (32) located outside the second groove (33), and the second avoidance groove (321) is arranged opposite to the lower threading hole (31) to avoid the first cable (4).

7. The end effector according to claim 6, characterized in that: Two actuators (1) are provided, and the two lower threading holes (31) through which the two first cables (4) pass, located on the same side of the two actuators (1), are both arranged opposite to the same second avoidance groove (321) along the radial direction of the second cylindrical pin (32).

8. The end effector according to any one of claims 1 to 7, characterized in that: The actuator (1) includes a connecting structure, which is rotatably connected to the actuator shaft (25). Two winding ring grooves (13) are provided on the connecting structure. The two winding ring grooves (13) are coaxially arranged with the actuator shaft (25). The first rope (4) is arranged in each winding ring groove (13). The two winding ring grooves (13) on the same connecting structure are respectively arranged opposite to the two upper threading holes (21) in the same hole group.

9. The end effector according to claim 8, characterized in that: Two actuators (1) are provided, and the two actuators (1) include a first actuator (1a) and a second actuator (1b). The connection structure of the first actuator (1a) is two first connection wheels (11), and the connection structure of the second actuator (1b) is a second connection wheel (12) placed between the two first connection wheels (11). The first connection wheel (11) and the second connection wheel (12) are both movably sleeved on the actuator shaft (25). Each of the first connection wheels (11) has a winding ring groove (13) on its side wall, and the second connection wheel (12) has two winding ring grooves (13) on its side wall.

10. The end effector according to any one of claims 1 to 7, characterized in that: The vertical projection of the execution shaft (25) on the first end face of the deflection seat (2) is set to intersect the first axis at a reference intersection, and the two upper threading holes (21) in the same hole group are symmetrical about the center of the reference intersection.

11. A surgical instrument, characterized in that: The device comprises the end effector according to any one of claims 1 to 10.

12. A surgical robot, characterized in that: Comprising the surgical instrument of claim 11.

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