End effector assembly, minimally invasive surgical instrument, and minimally invasive surgical system

Abstract

The present application relates to the technical field of surgical robots, and discloses a terminal execution assembly, a minimally invasive surgical instrument and a minimally invasive surgical system. The terminal execution assembly comprises a movable piece, a first support, a second support, an engagement assembly, a connecting piece, a first traction wire and a second traction wire. The first support is provided with a first pin and a second pin, the movable piece is connected to the first pin, and the second pin is provided with a first pulley. The second support is provided with a third pin parallel to the second pin, and the third pin is provided with a second pulley. The engagement assembly comprises engaged first tooth structure and second tooth structure, the first support is provided with the first tooth structure, and the second support is provided with the second tooth structure. The connecting piece is movably sleeved on the third pin and connected to the second pin. The first traction wire comprises two first traction sections, the first traction sections are wound around the first pulley and the second pulley, and the first traction sections are connected to the movable piece. The second traction wire is connected to the connecting piece. The first traction wire of the present application will not be pulled, prolonging the service life and improving the safety of the operation.

Description

Technical Field

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

[0002] Surgical robots are widely used in the medical field. A surgical robot consists of surgical instruments mounted on a trolley. These instruments are used to perform surgical procedures on the patient.

[0003] According to Chinese Patent CN212788689U, a surgical instrument, a manipulator, and a surgical robot are disclosed. The surgical instrument includes an end effector located at the distal end of the instrument. The end effector includes a first support and a second support. The first support has a first pin and a second pin that are parallel to each other. A first pulley system is provided on the first pin, and a second pulley system is provided on the second pin. The second support is rotatably connected to the first support via the second pin. The clamping part of the end effector is rotatably mounted on the second support via a third pin. The drive cable of the end effector includes 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 support and can manipulate the rotation of the second support to achieve the pitch motion of the end effector. The second pair of cables manipulates the rotation of the first clamping part around the third pin; the third pair of cables manipulates the rotation of the second clamping part around the third pin. The second and third pairs of cables achieve the opening, closing, and yaw motion of the end effector. The third pair of cables, along with the cables in the second pair, are S-shaped and wound around the opposing second and first pulley groups. When the first drive cable rotates the second support, the length of the portion of the third pair of cables (or the second pair) wrapped around the second and first pulley groups changes, causing the cables to be stretched. This also exacerbates wear on the cables and other structures, increasing the possibility of cable deformation or breakage, affecting the smooth execution of the surgery, shortening the service life of the surgical instruments, reducing the reliability of the surgical instruments during surgery, and compensating for the length of the cables in the third pair of cables (or the second pair) when achieving pitching motion, increasing the difficulty of controlling the surgical instruments.

[0004] Therefore, there is an urgent need for an end effector, minimally invasive surgical instruments, and a minimally invasive surgical system to solve the problems mentioned above. Summary of the Invention

[0005] The purpose of this invention is to provide an end effector, a minimally invasive surgical instrument, and a minimally invasive surgical system, so as to prevent the first traction wire from being pulled, reduce maintenance costs, extend the service life of the minimally invasive surgical instrument, ensure the smooth implementation of the surgery, improve the safety of the surgery, and reduce the difficulty of control.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] An end effector assembly includes a movable component and a first bracket. The first bracket has a first pin and a second pin, which are perpendicularly arranged. The movable component is rotatably connected to the first pin, and a first pulley is coaxially sleeved on the second pin. The assembly also includes:

[0008] The second bracket is provided with a third pin parallel to the second pin, and a second pulley is coaxially sleeved on the third pin. The second bracket is provided with a lower arc-shaped surface coaxially arranged with the third pin.

[0009] The meshing assembly includes a first tooth structure and a second tooth structure that are meshed together. The first bracket has an upper arc-shaped surface that is coaxial with the second pin. The first tooth structure is disposed on the upper arc-shaped surface, and the second tooth structure is disposed on the lower arc-shaped surface. The ratio of the pitch circle radii of the first tooth structure and the second tooth structure is the same as the ratio of the radii of the first pulley and the second pulley.

[0010] A connector is movably fitted onto the third pin and connected to the second pin;

[0011] The first traction wire includes two first traction sections. The first traction sections are S-shaped and wound around the first pulley and the second pulley that are directly opposite each other. The portions of the two first traction sections located between the first pulley and the second pulley are parallel to each other. One end of each of the two first traction sections is connected to both sides of the movable member along the radial direction of the first pin. The other ends of the two first traction sections are both passed through the second bracket.

[0012] The second traction wire is connected to the connector and is used to manipulate the connector to rotate about the third pin.

[0013] As an optional technical solution for the end effector component, the connector includes a third pulley and a connecting part. The third pulley has a coaxial shaft hole, and the third pin is movably inserted through the shaft hole. The third pulley is connected to the second pin through the connecting part, and the second traction wire is connected to the third pulley.

[0014] As an optional technical solution for the end effector component, two connecting parts are provided, with the two connecting parts located on both sides of the third pulley along the axial direction, and the second traction wire located between the two connecting parts.

[0015] As an optional technical solution for the end effector component, the connector further includes a contact protrusion, which protrudes from the end face of the connector opposite to the third pulley. The end face of the contact protrusion away from the connector contacts the first pulley and / or the second pulley, and the area of ​​the end face of the contact protrusion away from the connector is smaller than the area of ​​the end face of the connector opposite to the third pulley.

[0016] As an optional technical solution for the end effector component, the second traction wire includes a connecting block and two second traction sections. The two second traction sections are respectively located on both sides of the third pulley along the radial direction. One end of each of the two second traction wires is connected to the connecting block, and the other end of each of the two second traction sections passes through the second bracket. A receiving groove is provided on the side wall of the third pulley, and at least part of the connecting block is placed in the receiving groove.

[0017] As an optional technical solution for the end effector component, one of the connecting parts has a mounting groove on one side facing the other connecting part, the mounting groove passes radially through one end of the connecting part facing the second pin along the third pin, and the mounting groove communicates with the receiving groove.

[0018] As an optional technical solution for the end effector component, the first bracket has two first connecting ears protruding from one end facing the second bracket, and the two ends of the second pin are respectively connected to the two first connecting ears. The end face of the first connecting ears facing the second bracket is the upper arc-shaped surface; and / or,

[0019] The second bracket has two second connecting ears protruding from one end facing the first bracket. The two ends of the third pin are respectively connected to the two second connecting ears, and the end face of the second connecting ear facing the first bracket is the lower arc-shaped surface.

[0020] As an optional technical solution for the end effector component, the end effector component further includes an upper ring shell and a lower ring shell, wherein the upper ring shell is sleeved on the outside of the first bracket and the lower ring shell is sleeved on the outside of the second bracket;

[0021] The end face of the upper ring shell facing the lower ring shell includes two upper contact arc surfaces and two upper limit positioning surfaces connected end to end. The upper contact arc surfaces and the upper limit positioning surfaces are alternately arranged. The upper contact arc surfaces are coaxially arranged with the second pin, and the radius of the upper contact arc surfaces is the same as the pitch circle radius of the first tooth structure. The upper limit positioning surfaces are tangent to the upper contact arc surfaces.

[0022] The end face of the lower ring shell facing the upper ring shell includes two lower contact arc surfaces and two lower limiting surfaces connected end to end. The lower contact arc surfaces and the lower limiting surfaces are alternately arranged. The lower contact arc surfaces are coaxially arranged with the third pin, and the radius of the lower contact arc surfaces is the same as the pitch circle radius of the second tooth structure. The lower limiting surfaces are tangent to the lower contact arc surfaces.

[0023] The upper contact arc surface and the lower contact arc surface are in direct contact.

[0024] The minimally invasive surgical instrument includes an instrument base, a connecting tube, and an end effector as described above, wherein the instrument base and the second support are respectively connected to the two ends of the connecting tube.

[0025] Minimally invasive surgical systems, including the minimally invasive surgical instruments described above.

[0026] The beneficial effects of this invention are:

[0027] The end effector assembly provided by this invention includes a movable component, a first support, a second support, an engaging component, a connecting component, a first traction wire, and a second traction wire. The end effector assembly provided in this embodiment has a simple structure and is easy to manufacture. When the second traction wire manipulates the connecting component to rotate, achieving the pitch freedom of the end effector assembly, the length of the portion of the first traction wire wrapped around the first and second pulleys remains unchanged. The first traction wire is not pulled, reducing the possibility of deformation or breakage, extending the service life of the end effector assembly, reducing maintenance costs, ensuring the smooth implementation of surgery, and improving the reliability of minimally invasive surgical instruments during surgery. Simultaneously, it ensures the transmission accuracy of the end effector assembly, thus ensuring the precision of the end effector assembly during surgical operations and improving surgical safety. Furthermore, when the end effector assembly achieves pitch freedom, the first traction wire wrapped around the first and second pulleys... Since the length of the first traction wire remains unchanged, there is no need to compensate for the length of the second traction wire simultaneously, reducing the control difficulty of the end effector. In addition, by setting a connector, a reliable connection between the first and second supports is ensured, reducing the possibility of separation between the first and second supports. This ensures the structural stability and reliability of the end effector during surgery. At the same time, the second traction wire can be connected to the connector, avoiding the second traction wire passing through the second support and connecting to the first support. This shortens the length of the second traction wire extending into the end effector, thus reducing the length of the second traction wire, lowering costs, and facilitating the reduction of the elastic elongation of the second traction wire. This further improves the motion accuracy of the end effector and the precision of the end effector during surgical operations.

[0028] The minimally invasive surgical instrument provided by this invention includes the aforementioned end effector component. When the pitch freedom of the end effector component is achieved, the first traction wire will not be pulled, reducing the possibility of deformation or breakage of the first traction wire, lowering maintenance costs, ensuring the smooth implementation of the surgery, improving the reliability of the minimally invasive surgical instrument during surgery, enhancing the safety of the surgery, ensuring the accuracy of the minimally invasive surgical instrument in performing surgical operations, and reducing the difficulty of controlling the minimally invasive surgical instrument.

[0029] The minimally invasive surgical system provided by this invention includes the aforementioned minimally invasive surgical instruments, which reduces maintenance costs, ensures the smooth implementation of surgery, improves the reliability of the minimally invasive surgical system during surgery, enhances the safety of surgery, ensures the accuracy of the minimally invasive surgical instruments when performing surgical operations, and also reduces the difficulty of controlling the minimally invasive surgical instruments. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of the minimally invasive surgical instrument provided in Embodiment 1 of the present invention;

[0031] Figure 2 This is a schematic diagram of the structure of the end-effector component provided in Embodiment 1 of the present invention;

[0032] Figure 3 This is a cross-sectional view of the end-effector component provided in Embodiment 1 of the present invention in a first direction;

[0033] Figure 4 This is a cross-sectional view of the end-effector component provided in Embodiment 1 of the present invention in a second direction;

[0034] Figure 5 This is an exploded view of the end-effector component provided in Embodiment 1 of the present invention;

[0035] Figure 6 This is a partial structural schematic diagram of the end-effector component provided in Embodiment 1 of the present invention;

[0036] Figure 7 yes Figure 6 Exploded view;

[0037] Figure 8 This is a schematic diagram of the structure of the end-effector component in its initial position according to Embodiment 1 of the present invention;

[0038] Figure 9 This is a schematic diagram of the structure of the end-effector component in the first position according to Embodiment 1 of the present invention;

[0039] Figure 10 This is a schematic diagram of the structure of the end-effector component in the second position according to Embodiment 1 of the present invention;

[0040] Figure 11 This is a schematic diagram of the connector provided in Embodiment 1 of the present invention;

[0041] Figure 12 This is a cross-sectional view of the connector provided in Embodiment 1 of the present invention;

[0042] Figure 13 This is a schematic diagram of the structure of the first support and the second support provided in Embodiment 1 of the present invention;

[0043] Figure 14 This is a schematic diagram of the structure of the first support and the upper ring shell provided in Embodiment 1 of the present invention;

[0044] Figure 15 This is a schematic diagram of the structure of the second support and the lower ring shell provided in Embodiment 1 of the present invention;

[0045] Figure 16 This is a schematic diagram of the structure of the end-effector component provided in Embodiment 2 of the present invention;

[0046] Figure 17 This is a partial structural schematic diagram of the end-effector component provided in Embodiment 2 of the present invention;

[0047] Figure 18 yes Figure 17 A schematic diagram of the structure with the wires, moving parts, and second traction wire hidden.

[0048] In the picture:

[0049] 10. End effector assembly; 20. Connecting tube; 30. Instrument holder;

[0050] 1. First bracket; 11. First pin; 12. Second pin; 13. First pulley; 14. First connecting lug; 15. Opening;

[0051] 2. Second bracket; 21. Third pin; 22. Threading hole; 23. Second pulley; 24. Second connecting lug;

[0052] 3. Connecting component; 31. Third pulley; 311. Receiving groove; 32. Connecting part; 321. Mounting groove; 33. Contact protrusion; 34. Shaft hole; 35. Through hole;

[0053] 4. First traction wire; 41. First traction section; 411. First connecting section; 412. Second connecting section; 413. Third connecting section;

[0054] 5. Second traction wire; 51. Second traction section; 52. Connecting block;

[0055] 6. Moving parts; 7. Engaging assembly; 71. First tooth structure; 72. Second tooth structure;

[0056] 81. Upper annular shell; 811. Upper contact arc surface; 812. Upper limit surface; 82. Lower annular shell; 821. Lower contact arc surface; 822. Lower limit surface;

[0057] 9. Wire; 91. Insulating pulley. Detailed Implementation

[0058] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, 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 some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0060] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0061] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0062] Example 1

[0063] This embodiment provides a minimally invasive surgical system. Specifically, the minimally invasive surgical system includes minimally invasive surgical instruments used to perform surgical procedures on a patient.

[0064] The minimally invasive surgical system can be a surgical robot; this embodiment uses a surgical robot as an example to describe the minimally invasive surgical system. Furthermore, the minimally invasive surgical system also includes a main control console and surgical operating equipment, including minimally invasive surgical instruments. The surgeon can control the minimally invasive surgical instruments to perform surgical procedures on the patient via the main control console.

[0065] The specific structure of the main console, the other structures of the surgical operating equipment, and the control principles and methods between the main console and the surgical operating equipment can all refer to existing technologies and are not the focus of protection in this embodiment, so they will not be described in detail here.

[0066] Specifically, such as Figure 1 As shown, the minimally invasive surgical instrument includes an instrument base 30, a connecting tube 20, and an end effector 10. The instrument base 30 and the end effector 10 are respectively connected to the two ends of the connecting tube 20. The instrument base 30 is used to connect with other structures of the surgical operating equipment.

[0067] Specifically, such as Figures 1-15 As shown, the end effector assembly 10 includes a movable member 6, a first bracket 1, a second bracket 2, an engagement assembly 7, a connector 3, a first traction wire 4, and a second traction wire 5. The first bracket 1 is provided with a first pin 11 and a second pin 12, which are arranged perpendicularly to each other. The movable member 6 is rotatably connected to the first pin 11, and the first bracket 1 can rotate relative to the second pin 12. A first pulley 13 is coaxially sleeved on the second pin 12, and the first bracket 1 is provided with an upper arc-shaped surface coaxially arranged with the second pin 12. The second bracket 2 is provided with a third pin 21 parallel to the second pin 12. A second pulley 23 is coaxially sleeved on the third pin 21. The second bracket 2 is provided with a lower arc-shaped surface coaxially arranged with the third pin 21. The meshing assembly 7 includes a first tooth structure 71 and a second tooth structure 72 meshing together. The first tooth structure 71 is provided on the upper arc-shaped surface, and the second tooth structure 72 is provided on the lower arc-shaped surface. The center of the pitch circle of the first tooth structure 71 is located on the axis of the second pin 12, and the center of the pitch circle of the second tooth structure 72 is located on the axis of the third pin 21. The ratio of the pitch circle radii of the first tooth structure 71 to the second tooth structure 72 and the ratio of the radii of the first pulley 13 to the second pulley 23 are given. The ratio is the same; the connector 3 is movably sleeved on the third pin 21, and the connector 3 is connected to the second pin 12; the first traction wire 4 includes two first traction sections 41, the first traction sections 41 are S-shaped and wound around the first pulley 13 and the second pulley 23 that are directly opposite each other, the two first traction sections 41 are parallel to each other in the part between the first pulley 13 and the second pulley 23, one end of the two first traction sections 41 is respectively connected to the two sides of the movable part 6 along the radial direction of the first pin 11, and the other end of the two first traction sections 41 is passed through the second bracket 2; the second traction wire 5 is connected to the connector 3, and the second traction wire 5 is used to manipulate the connector 3 to rotate around the third pin 21.

[0068] Specifically, the pitch circle radius of the first tooth structure 71 is set to r1, the pitch circle radius of the second tooth structure 72 is set to R1, the radius of the first pulley 13 is set to r2, and the radius of the second pulley 23 is set to R2. The previously described ratio of the pitch circle radii of the first tooth structure 71 to the second tooth structure 72 is the same as the ratio of the radii of the first pulley 13 to the second pulley 23, specifically r1 / R1 = r2 / R2.

[0069] In this embodiment, i = 1. In other embodiments, the value of i can be adjusted adaptively, and is not limited here.

[0070] In this embodiment, the second support 2 is connected to the end of the connecting tube 20 away from the instrument seat 30.

[0071] Specifically, the instrument base 30 is equipped with an execution drive wire spool and a pitch drive wire spool. The two ends of the first traction wire 4 pass through the second bracket 2 and are respectively connected to the two execution drive wire spools within the instrument base 30. The surgical operating device is equipped with an execution drive motor, which is located outside the instrument base 30. Each execution drive wire spool is equipped with a corresponding execution drive motor. The output shaft of the execution drive motor can be connected to the execution drive wire spool through an execution transmission assembly, enabling the execution drive motor to drive the corresponding execution drive wire spool to rotate, thereby winding or releasing the first traction wire 4. The structure of the aforementioned execution transmission assembly and the connection relationship between the execution transmission assembly and the instrument base 30 can refer to existing technologies and are not the focus of this embodiment. It is sufficient to enable the execution drive motor to drive the corresponding execution drive wire spool to rotate; therefore, further details are omitted here.

[0072] Both ends of the second traction wire 5 pass through the second bracket 2 and are respectively connected to the two pitch drive wire shafts inside the instrument base 30. The surgical operating device is equipped with two pitch drive motors, which are located outside the instrument base 30. The output shafts of the two pitch drive motors are respectively connected to the two pitch drive wire shafts through a pitch transmission assembly, enabling the two pitch drive motors to drive the two pitch drive wire shafts to rotate in a one-to-one correspondence, thereby winding or releasing the second traction wire 5. The structure of the pitch transmission assembly and the connection relationship between the pitch transmission assembly and the instrument base 30 can refer to existing technologies and are not the focus of this embodiment. It is sufficient to enable the pitch drive motors to drive the corresponding pitch drive wire shafts to rotate; therefore, further details are omitted here.

[0073] Other structures may be provided inside the instrument holder 30 to connect with the first traction wire 4 and the second traction wire 5. The internal structure of the instrument holder 30 can refer to the prior art, which is not the focus of protection in this embodiment, and will not be described in detail here.

[0074] Understandably, due to the setting of the engagement component 7, when the second traction wire 5 manipulates the connector 3 to rotate, the first bracket 1 will also rotate relative to the second bracket 2 around the axis of the third pin 21, thereby realizing the pitch freedom of the end effector 10.

[0075] The end effector 10 provided in this embodiment includes a movable component 6, a first support 1, a second support 2, an engagement component 7, a connector 3, a first traction wire 4, and a second traction wire 5. The end effector 10 provided in this embodiment has a simple structure and is easy to manufacture. When the second traction wire 5 manipulates the connector 3 to rotate, achieving the pitch freedom of the end effector 10, the length of the portion of the first traction wire 4 wrapped around the first pulley 13 and the second pulley 23 remains unchanged. The first traction wire 4 will not be pulled, reducing the possibility of deformation or breakage, extending the service life of the end effector 10, reducing maintenance costs, ensuring the smooth implementation of the surgery, and improving the reliability of minimally invasive surgical instruments during surgery. Simultaneously, it ensures the transmission accuracy of the end effector 10, thus ensuring the precision of the end effector 10 during surgical operations and improving surgical safety. Furthermore, when the end effector 10 achieves pitch freedom, the first traction wire 4 is wrapped around the first pulley 13 and the second pulley 23. Since the length of the first traction wire 4 remains unchanged, there is no need to compensate for the length of the first traction wire 4 at the same time, which reduces the control difficulty of the end effector 10. In addition, by setting the connector 3, a reliable connection between the first support 1 and the second support 2 is ensured, reducing the possibility of separation between the first support 1 and the second support 2, ensuring the structural stability and reliability of the end effector 10 during surgery. At the same time, the second traction wire 5 can be connected to the connector 3, avoiding the second traction wire 5 from passing through the second support 2 and connecting to the first support 1, shortening the length of the second traction wire 5 extending into the end effector 10, thus shortening the length of the second traction wire 5, reducing costs, and facilitating the reduction of the elastic elongation of the second traction wire 5, further improving the motion accuracy of the end effector 10 and the precision of the end effector 10 when performing surgical operations.

[0076] The minimally invasive surgical instrument provided in this embodiment includes the aforementioned end effector 10. When the pitch freedom of the end effector 10 is achieved, the first traction wire 4 will not be pulled, reducing the possibility of deformation or breakage of the first traction wire 4, reducing maintenance costs, ensuring the smooth implementation of the surgery, improving the reliability of the minimally invasive surgical instrument during surgery, improving the safety of the surgery, ensuring the accuracy of the minimally invasive surgical instrument when performing surgical operations, and reducing the difficulty of controlling the minimally invasive surgical instrument.

[0077] The minimally invasive surgical system provided in this embodiment includes the aforementioned minimally invasive surgical instruments, which reduces maintenance costs, ensures the smooth implementation of surgery, improves the reliability of the minimally invasive surgical system during surgery, enhances the safety of surgery, ensures the accuracy of the minimally invasive surgical instruments when performing surgical operations, and also reduces the difficulty of controlling the minimally invasive surgical instruments.

[0078] In this embodiment, the first pin 11 and the second pin 12 are respectively disposed at both ends of the first bracket 1, and the first pin 11 is disposed at the end of the first bracket 1 away from the second bracket 2.

[0079] like Figure 8 As shown, the end effector 10 is in its initial position. The first traction section 41 includes a first connecting section 411, a second connecting section 412, and a third connecting section 413. One end of the first connecting section 411 is connected to the movable part 6, and the other end is connected to the first end of the second connecting section 412; the second end of the second connecting section 412 is connected to the first end of the third connecting section 413; the second end of the third connecting section 413 passes through the second bracket 2 and is connected to the actuation drive screw in the instrument seat 30. Specifically, the first end of the second connecting section 412 and the first connecting section 411 are both tangent to the first pulley 13 at point L, and the first connecting section 411 only contacts the first pulley 13 at point L; the second end of the second connecting section 412 and the third connecting section 413 are both tangent to the second pulley 23 at point Q, and the third connecting section 413 only contacts the second pulley 23 at point Q.

[0080] It is understandable that the “part of the first traction wire 4 wound around the first pulley 13 and the second pulley 23” described above refers to the LQ segment (second connecting segment 412) on the first traction segment 41. That is to say, when the pitch degree of freedom of the end effector 10 is achieved by using the second traction wire 5, the length of the LQ segment (second connecting segment 412) on the first traction segment 41 remains unchanged.

[0081] The second connecting section 412 includes a first covering section, an inter-wheel connecting section, and a second covering section. The first covering section covers the first pulley 13, and the second covering section covers the second pulley 23. 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 first pulley 13 at point M, and the second end of the inter-wheel connecting section is tangent to the second pulley 23 at point P. That is, the first covering section is segment LM on the second connecting section 412, the inter-wheel connecting section is segment MP on the second connecting section 412, and the second covering section is segment PQ on the second connecting section 412. It can be understood that the inter-wheel connecting section only contacts the first pulley 13 at point M, and only contacts the second pulley 23 at point P. At this time, the central angle corresponding to segment LM is γ, and the central angle corresponding to segment PQ is θ.

[0082] It is understandable that the “parts of the two first traction sections 41 located between the first pulley 13 and the second pulley 23” described above are the MP sections (inter-wheel connecting sections) on the second connecting section 412. That is to say, the MP sections on the two first traction sections 41 located on the same first traction wire 4 are arranged in parallel to each other.

[0083] like Figure 8 As shown, point A is located on the axis of the third pin 21, and point B is located on the axis of the second pin 12. The dashed line AB intersects perpendicularly with the axis of the second pin 12 and the axis of the third pin 21. The dashed line BC intersects perpendicularly with the axis of the second pin 12 and the axis of the first pin 11. The first bracket 1 and the second bracket 2 are approximately cylindrical. When the end effector 10 is in its initial position, the first bracket 1 and the second bracket 2 are coaxially arranged, and both dashed lines BC and AB extend along the axial direction of the first bracket 1. The dashed line h extends along the axial direction of the first bracket 1, and coincides with dashed lines BC and AB.

[0084] When the connector 3 rotates by an angle ε relative to the third pin 21 in the first direction (x direction), the end effector 10 is in the first position, such as... Figure 9 As shown, the angle β' between the dashed line AB and the dashed line h is ε. During the rotation of the connecting piece 3, the second pulley 23 covers part of the PQ segment, making the PQ segment longer into the P'Q' segment. The central angle corresponding to the P'Q' segment is θ', and θ' - θ = ε. The length of the P'Q' segment - the length of the PQ segment = εR2.

[0085] It is understandable that, since the connector 3 is connected to the second pin 12, the connector 3 can drive the first bracket 1 to rotate synchronously around the third pin 21 while rotating around the third pin 21; and since the first tooth structure 71 and the second tooth structure 72 are set, the first bracket 1 will also rotate a certain angle relative to the second bracket 2 around the axis of the third pin 21, and according to the ratio of the pitch circle radius of the first tooth structure 71 to the pitch circle radius of the second tooth structure 72, r1 / R1=i, that is, the included angle α' between the dashed line BC and the dashed line AB is ε / i.

[0086] During the rotation of the first support 1, the first pulley 13 releases part of the LM segment, causing the LM segment to shorten into the L'M' segment. The central angle corresponding to the L'M' segment is γ', and γ-γ'=ε / i. The length of the LM segment - the length of the L'M' segment = εr2 / i.

[0087] Furthermore, since the distance between the shafts of the first pulley 13 and the second pulley 23 remains unchanged, the length of the connecting section between the pulleys (MP section) remains unchanged, that is, the length of the MP section - the length of the M'P' section = 0.

[0088] Since r2 / R2=i, the length of segment P'Q' - the length of segment PQ = εR2 = εr2 / i = the length of segment LM - the length of segment L'M'. That is, the first covering segment is shortened by εR2, the second covering segment is lengthened by εR2, and the length of the wheel connection segment remains unchanged. Therefore, when the second traction wire 5 manipulates the connecting member 3 to rotate in the first direction to realize the pitch degree of freedom of the end effector 10, the length of segment LQ (second connecting segment 412) on the first traction segment 41 remains unchanged.

[0089] Similarly, when the connector 3 rotates by an angle ε relative to the third pin 21 along the second direction (y direction), the end effector 10 is in the second position, such as... Figure 10 As shown, the angle β” between the dashed line AB and the dashed line h is ε. During the rotation of the connecting piece 3, the second pulley 23 releases part of the PQ segment, causing the PQ segment to shorten into the P”Q” segment. The central angle corresponding to the P”Q” segment is θ”, and θ-θ” = ε. The length of the PQ segment - the length of the P”Q” segment = εR2.

[0090] It is understandable that, since the connector 3 is connected to the second pin 12, the connector 3 can drive the first bracket 1 to rotate synchronously around the third pin 21 while rotating around the third pin 21; and since the first tooth structure 71 and the second tooth structure 72 are set, the first bracket 1 will also rotate by a certain angle relative to the second bracket 2 around the axis of the third pin 21, and according to the ratio of the pitch circle radius of the first tooth structure 71 to the pitch circle radius of the second tooth structure 72, r1 / R1=i, that is, the included angle α” between the dashed line BC and the dashed line AB is ε / i.

[0091] During the rotation of connector 3, the first pulley 13 covers part of the LM segment, making the LM segment longer into the L”M” segment. The central angle corresponding to the L”M” segment is γ”, and γ”-γ=ε / i. The length of the L”M” segment minus the length of the LM segment is εr2 / i.

[0092] Furthermore, since the distance between the shafts of the first pulley 13 and the second pulley 23 remains unchanged, the length of the connecting section between the pulleys (MP section) remains unchanged, that is, the length of the MP section - the length of the M”P” section = 0.

[0093] Since r2 / R2=i, the length of segment PQ - the length of segment P”Q” = εR2=εr2 / i= the length of segment L”M” - the length of segment LM. That is, the first covering segment is lengthened by εR2, the second covering segment is shortened by εR2, and the length of the wheel connection segment remains unchanged. Therefore, when the second traction wire 5 manipulates the connecting member 3 to rotate in the second direction to realize the pitch degree of freedom of the end effector 10, the length of segment LQ (second connection segment 412) on the first traction segment 41 remains unchanged.

[0094] 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; this is not a limitation.

[0095] Both the first pulley 13 and the second pulley 23 have circumferentially circumferentially formed annular grooves on their sidewalls. The cross-section of the annular groove is arc-shaped, and the radius of the arc-shaped cross-section is larger than the radius of the first traction section 41. The depth of the annular groove is the radius of the first traction section 41. When the first traction section 41 is placed in the annular groove, the axis of the first traction section 41 is placed on the sidewall of the first pulley 13 and the second pulley 23. Thus, the distance between the axis of the first traction section 41 and the axis of the first pulley 13 is the radius of the first pulley 13, and the distance between the axis of the first traction section 41 and the axis of the second pulley 23 is the radius of the second pulley 23. Alternatively, the first pulley 13 and the second pulley 23 are cylindrical, and the radius of the first traction section 41 is small and can be ignored.

[0096] As a preferred embodiment, several first pulleys 13 are movably fitted onto the second pin 12, and several second pulleys 23 are movably fitted onto the third pin 21. The first pulleys 13 and second pulleys 23 are arranged opposite each other, and the first traction section 41 is S-shaped and wound around the opposite first pulleys 13 and second pulleys 23. By setting up the above structure, when the movable part 6 is rotated by pulling the first traction section 41, the first traction section 41 can drive the first pulleys 13 and second pulleys 23 to rotate. This reduces the friction between the first traction section 41 and the first pulleys 13 and second pulleys 23, reduces the risk of wear and breakage of the first traction wire 4, ensures the smooth implementation of the surgery, reduces maintenance costs, and improves the reliability of minimally invasive surgical instruments during the operation.

[0097] In this embodiment, the first traction wire 4 is a steel wire rope, which has high structural strength and ensures durability. The two first traction sections 41 can also be set separately, with the ends of the two first traction sections 41 respectively connected to the movable part 6; or, one of the first traction sections 41 connected to one end of the movable part 6 can be connected to the other first traction section 41 connected to one end of the movable part 6 through a knot, steel wire rope or other connecting structure, that is, the first traction wire 4 is wound around the movable part 6, and the friction between the first traction wire 4 and the movable part 6 drives the movable part 6 to rotate.

[0098] In this embodiment, two movable parts 6 are provided, enabling the end effector 10 to have opening and closing actions, thereby realizing the function of grasping or clamping. Specifically, the minimally invasive surgical instrument can be a window clamp, grasping forceps, surgical scissors, needle holder forceps, or knot tying forceps, etc. In this embodiment, the minimally invasive surgical instrument is a non-destructive forceps, and the movable part 6 is a non-destructive forceps flap. The specific structure of the movable part 6 can be referred to in the prior art, which is not the focus of this embodiment and will not be described in detail here.

[0099] In other embodiments, only one movable component 6 may be provided. In this case, the minimally invasive surgical instrument is a monopolar electric hook, and the movable component 6 is a hook-shaped metal part. In this case, two first pulleys 13 and two second pulleys 23 may each be provided.

[0100] Understandably, there are two first traction wires 4, and each of the two first traction wires 4 is connected to one of the two movable parts 6. Specifically, there are four first traction sections 41, so there are four first pulleys 13 and four second pulleys 23. The four first pulleys 13 and the four second pulleys 23 are arranged one-to-one to ensure that each first traction section 41 can play a guiding role.

[0101] In this embodiment, the four second pulleys 23 are divided into two groups. Each group of second pulleys 23 includes two second pulleys 23. The two first traction segments 41 located on the same radial side of the first pin 11 and originating from different first traction wires 4 are respectively wound around the two second pulleys 23 in the same group.

[0102] Specifically, the two movable parts 6 are respectively arranged on both sides of the second pin 12 in the radial direction, so that the two first traction segments 41 from different first traction wires 4 are partially staggered and cross-arranged between the second pin 12 and the third pin 21.

[0103] In this embodiment, an opening 15 is provided through the first support 1, through which the first traction section 41 passes. The opening 15 is located in the middle of the first support 1, and all four first traction sections 41 pass through the opening 15. Preferably, the opening area of ​​the opening 15 is relatively large, and the opening 15 is approximately quadrilateral. The four first traction sections 41 are located at the four corners of the opening 15, so that the four first traction sections 41 are spaced apart, which helps to reduce the friction between the first traction sections 41, reduces the possibility of wear of the first traction sections 41, and also reduces the number of openings on the first support 1, which facilitates production and processing.

[0104] As a preferred embodiment, the connector 3 includes a third pulley 31 and a connecting part 32. A shaft hole 34 is coaxially formed on the third pulley 31, and a third pin 21 movably passes through the shaft hole 34. The third pulley 31 is connected to the second pin 12 via the connecting part 32, and a second traction wire 5 is wound around the third pulley 31. This arrangement simplifies the structure of the connector 3, facilitates determining the position of the shaft hole 34 on the third pulley 31, improves processing convenience, and simplifies production.

[0105] In this embodiment, the connecting part 32 is located on one side of the third pulley 31 along the axial direction. The third pulley 31 is connected to one end sidewall of the connecting part 32, and the shaft hole 34 on the third pulley 31 passes through the connecting part 32. A through hole 35 is opened at the other end of the connecting part 32, and the second pin 12 passes through the through hole 35.

[0106] Furthermore, the second pin 12 is movably inserted through the through hole 35, allowing the connector 3 to rotate relative to the second pin 12. This prevents the connector 3 from obstructing the rotation of the first support 1, ensuring that the end effector 10 can smoothly achieve pitch freedom, reducing maintenance costs, ensuring the smooth implementation of the surgery, improving the reliability of minimally invasive surgical instruments during surgery, and ensuring the transmission accuracy of the end effector 10, which in turn ensures the precision of the end effector 10 in performing surgical operations and improves the safety of the surgery.

[0107] Preferably, two connecting portions 32 are provided, with the two connecting portions 32 located on opposite sides of the third pulley 31 along the axial direction, and the second traction wire 5 located between the two connecting portions 32. Through this structural arrangement, the two connecting portions 32 can stop the second traction wire 5, preventing it from detaching from the third pulley 31 along the axial direction, further ensuring the smooth implementation of the surgery and improving the reliability of the minimally invasive surgical instruments during surgery. It is understood that the shaft hole 34 passes through the two connecting portions 32 and the third pulley 31.

[0108] Furthermore, each of the two connecting parts 32 is provided with a through hole 35, and the two through holes 35 are positioned opposite each other.

[0109] In this embodiment, the second traction wire 5 includes a connecting block 52 and two second traction sections 51. The two second traction sections 51 are located on both sides of the third pulley 31 along the radial direction. One end of each of the two second traction wires 51 is connected to the connecting block 52, and the other end of each of the two second traction sections 51 passes through the second bracket 2 and is connected to the pitch drive wire shaft.

[0110] As a preferred embodiment, a receiving groove 311 is provided on the side wall of the third pulley 31, and at least part of the connecting block 52 is placed in the receiving groove 311. This makes it easier to reduce the height of the connecting block 52 protruding from the third pulley 31, which is beneficial to the miniaturization of the connecting member 3 and the end effector 10. At the same time, the connecting block 52 being placed in the receiving groove 311 also allows the groove wall of the receiving groove 311 to stop the connecting block 52. When pulling the second traction section 51, it avoids using friction to drive the connecting member 3, ensuring the transmission accuracy of the end effector 10, which in turn ensures the precision of the end effector 10 when performing surgical operations and improves the safety of the surgery.

[0111] In this embodiment, the second traction section 51 is a steel wire rope, which has high structural strength and ensures durability. The second traction section 51 and the connecting block 52 can be fixed by welding, bonding, knotting, or crimping, etc., and there is no limitation here. The elastic elongation of the second traction wire 5 is positively correlated with the length of the second traction wire 5. The formula for calculating the elastic elongation is existing technology and will not be described in detail here.

[0112] Furthermore, a mounting groove 321 is provided on one side of the connecting part 32 facing the other connecting part 32. The mounting groove 321 passes radially through the end of the connecting part 32 facing the second pin 12 along the third pin 21, and the mounting groove 321 communicates with the receiving groove 311. The above-mentioned structural arrangement facilitates the installation and removal of the connecting block 52 through the mounting groove 321, improving the convenience of assembly; after the connecting block 52 is installed, part of the connecting block 52 can also be placed in the mounting groove 321, reducing the volume of the connecting member 3, and further facilitating the miniaturization of the connecting member 3 and the end effector 10.

[0113] In this embodiment, each of the two connecting parts 32 has a mounting groove 321 on the side facing each other, and the width of the mounting groove 321 is the same as the width of the receiving groove 311.

[0114] As a preferred embodiment, the connector 3 further includes a contact protrusion 33, which protrudes from the end face of the connector 32 opposite to the third pulley 31. The end face of the contact protrusion 33 away from the connector 32 contacts the first pulley 13 and / or the second pulley 23. The area of ​​the end face of the contact protrusion 33 away from the connector 32 is smaller than the area of ​​the end face of the connector 32 opposite to the third pulley 31. By providing the contact protrusion 33, the area of ​​the connector 3 in contact with the first pulley 13 and the second pulley 23 can be reduced, thus reducing the friction between the connector 3 and the first pulley 13 and the second pulley 23. This ensures that the connector 3 can rotate smoothly relative to the first pulley 13 or the second pulley 23, reducing the possibility of jamming of the end effector 10 and ensuring the smooth implementation of the surgery.

[0115] Preferably, the second support 2 has a through-hole 22 for the second traction section 51 or the first traction section 41 to pass through. In this embodiment, there are six through-holes 22, with each of the two second traction sections 51 and the four first traction sections 41 corresponding to one of the six through-holes 22.

[0116] The end effector 10 provided in this embodiment can achieve three degrees of freedom: opening / closing, yaw, and pitch. When two first traction segments 41 located on both sides of the first pin 11 along the radial direction and originating from different first traction wires 4 are pulled simultaneously, the two movable parts 6 can move closer or further apart, achieving the opening / closing degree of freedom. When two first traction segments 41 located on the same side of the first pin 11 along the radial direction and originating from different first traction wires 4 are pulled simultaneously, the two movable parts 6 can rotate around the first pin 11 in the same direction, achieving the yaw degree of freedom. When one of the second traction segments 51 is pulled, the connecting member 3 rotates, achieving the pitch degree of freedom. It can be understood that the axis of the third pin 21 is the rotation axis of the end effector 10 for achieving the pitch degree of freedom.

[0117] As a preferred embodiment, the first bracket 1 has two protruding first connecting ears 14 at one end facing the second bracket 2. The two ends of the second pin 12 are respectively connected to the two first connecting ears 14, and the end face of the first connecting ears 14 facing the second bracket 2 is an upper arc-shaped surface. This arrangement facilitates determining the position of the first tooth structure 71, simplifying manufacturing. The two first connecting ears 14 also increase the number of connection points between the first bracket 1 and the second bracket 2. Furthermore, the second pin 12 can be supported by the two first connecting ears 14, improving the stability of the end effector assembly 10 structure.

[0118] Furthermore, the second bracket 2 has two protruding second connecting ears 24 at one end facing the first bracket 1. The two ends of the third pin 21 are respectively connected to the two second connecting ears 24, and the end face of the second connecting ears 24 facing the first bracket 1 is a lower arc-shaped surface. The above arrangement facilitates the determination of the setting position of the second tooth structure 72, facilitates production and processing, and the setting of the two second connecting ears 24 also increases the connection positions between the first bracket 1 and the second bracket 2. At the same time, the third pin 21 can be supported by the two second connecting ears 24, which improves the stability of the end effector assembly 10 structure.

[0119] In this embodiment, the first pulley 13 on the connector 3 and the second pin 12 are both located between the two first connecting ears 14, and the second pulley 23 on the connector 3 and the third pin 21 are both located between the two second connecting ears 24. This allows the first connecting ears 14 and the second connecting ears 24 to separate the human tissue from the first pulley 13 and the second pulley 23, reducing the damage to the human tissue caused by being caught between the first pulley 13 and the second pulley 23, reducing the possibility of secondary injury to the patient, and improving the safety of the surgery.

[0120] In other embodiments, the first connecting ear 14 may be located between the connector 3 and the first pulley 13, and the second connecting ear 24 may be located between the connector 3 and the second pulley 23, which is not limited here.

[0121] As a preferred embodiment, the end effector assembly further includes an upper ring shell 81 and a lower ring shell 82. The upper ring shell 81 is fitted onto the outside of the first bracket 1, and the lower ring shell 82 is fitted onto the outside of the second bracket 2. The end face of the upper ring shell 81 facing the lower ring shell 82 includes two upper contact arc surfaces 811 and two upper limit positioning surfaces 812 connected end to end. The upper contact arc surfaces 811 and the upper limit positioning surfaces 812 are alternately arranged. The upper contact arc surfaces 811 are coaxially arranged with the second pin 12, and the radius of the upper contact arc surfaces 811 is the same as the pitch circle radius of the first tooth structure 71. The upper limit positioning surfaces 812 are tangent to the upper contact arc surfaces 811. The end face of the lower annular shell 82 facing the upper annular shell 81 includes two lower contact arc surfaces 821 and two lower limiting surfaces 822 connected end to end. The lower contact arc surfaces 821 and lower limiting surfaces 822 are alternately arranged. The lower contact arc surfaces 821 are coaxially arranged with the third pin 21, and the radius of the lower contact arc surfaces 821 is the same as the pitch circle radius of the second tooth structure 72. The lower limiting surfaces 822 are tangent to the lower contact arc surfaces 821. The upper contact arc surface 811 is in direct contact with the lower contact arc surfaces 821. The upper ring shell 81 and the lower ring shell 82 protect the first support 1 and the second support 2, improving the durability of the end effector 10. Simultaneously, the upper contact arc surface 811 partially shields the first tooth structure 71, and the lower contact arc surface 821 partially shields the second tooth structure 72. During surgery, this prevents damage to human tissue caused by the biting of the first tooth structure 71 and the second tooth structure 72, reducing the possibility of secondary injury to the patient and improving surgical safety. Furthermore, the upper limit surface 812 and the lower limit surface 822 limit the rotation range of the end effector 10, preventing interference with other instruments due to excessive rotation angles and ensuring the smooth execution of the surgery.

[0122] In this embodiment, the upper ring shell 81 is separately disposed from the first support 1 and is fixedly connected by adhesive, welding or other means; the lower ring shell 82 is separately disposed from the second support 2 and is fixedly connected by adhesive, welding or other means. In other embodiments, the upper ring shell 81 may be integrally formed with the first support 1, and the lower ring shell 82 may be integrally formed with the second support 2.

[0123] Example 2

[0124] This embodiment provides an end effector, a minimally invasive surgical instrument, and a minimally invasive surgical system. The structure of this embodiment is basically the same as that of Embodiment 1, with only some structural differences. This embodiment will not describe the other structures that are the same as those in Embodiment 1.

[0125] like Figures 16-18 As shown, in this embodiment, there are two movable parts 6. Specifically, the minimally invasive surgical instrument can be an active instrument capable of opening and closing, such as a bipolar non-invasive forceps, to achieve functions such as cutting and hemostasis. The movable part 6 is a non-invasive forceps flap.

[0126] The end effector 10 also includes two wires 9, which pass through the connecting tube 20. One end of each wire 9 extends into the instrument base 30 and is connected to two power supply structures, which can provide positive and negative electrical energy to the wires 9 respectively. To prevent the two moving parts 6 from making conductive contact, an insulating tube is fitted on the first pin 11, and the moving part 6 is fitted on the insulating tube, which improves safety.

[0127] Preferably, the conductor 9 is S-shaped and wound around the second pin 12 and the third pin 21, with the portions of the two conductors 9 between the second pin 12 and the third pin 21 staggered and intersecting. Further, two insulating pulleys 91 are coaxially fitted on the second pin 12 and the third pin 21, respectively. The two insulating pulleys 91 on the second pin 12 and the two insulating pulleys 91 on the third pin 21 are arranged opposite each other, and the conductor 9 is S-shaped and wound around the two opposite insulating pulleys 91. The two opposite insulating pulleys 91 have the same diameter. When the pitch freedom of the end effector 10 is achieved using the second traction wire 5, the length of the wire 9 wound on the two oppositely arranged insulated pulleys 91 remains unchanged. The wire 9 will not be pulled, reducing the possibility of deformation or breakage of the wire 9, extending the service life of the end effector 10, reducing maintenance costs, ensuring the smooth implementation of the surgery, improving the reliability of minimally invasive surgical instruments during surgery, and ensuring the transmission accuracy of the end effector 10, which in turn ensures the precision of the end effector 10 in performing surgical operations. At the same time, it further reduces the risk of leakage and improves the safety of the surgery. In addition, the insulated pulleys 91 are made of insulating material, which further reduces the risk of leakage and improves the safety of the surgery.

[0128] In other embodiments, similar to the previous embodiment, the radius of the insulating pulley 91 on the second pin 12 / the radius of the insulating pulley 91 on the third pin 21 = i' = the ratio of the pitch circle radii of the first tooth structure 71 and the second tooth structure 72, which will not be elaborated here.

[0129] The specific principle that "when the pitch degree of freedom of the end effector 10 is realized by the second traction wire 5, the length of the wire 9 wound on the two oppositely arranged insulating pulleys 91 remains unchanged" is the same as the principle that the length of the second connecting section 412 remains unchanged, and will not be repeated here.

[0130] Preferably, the insulating pulley 91 on the second pin 12 is movably sleeved on the second pin 12, and the insulating pulley 91 on the third pin 21 is movably sleeved on the third pin 21. By setting the above structure, when the connector 3 rotates with the first support 1, the friction between the wire 9 and the insulating pulley 91 is reduced, lowering the risk of wire 9 wear and leakage, reducing maintenance costs, and improving surgical safety. Insulating pulleys 91 are provided between the connector 3 and the first pulley 13, and between the connector 3 and the second pulley 23.

[0131] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An end execution assembly, comprising a movable element (6) and a first support (1), wherein the first support (1) is provided with a first pin (11) and a second pin (12), the first pin (11) and the second pin (12) are arranged perpendicularly, the movable element (6) is rotationally connected to the first pin (11), and a first pulley (13) is coaxially sleeved on the second pin (12); characterized in that, Also include: Second support (2) is provided with the third pin (21) parallel to the second pin (12), the third pin (21) coaxially sleeve sets up the second pulley (23), the second support (2) is provided with the lower arc surface coaxially arranged with the third pin (21); Engagement assembly (7) includes the first tooth structure (71) and the second tooth structure (72) arranged in engagement, the first support (1) is provided with the upper arc surface coaxially arranged with the second pin (12), the upper arc surface sets the first tooth structure (71), the lower arc surface sets the second tooth structure (72), the first tooth structure (71) and the second tooth structure (72) the ratio of the radius of the index circle and the radius ratio of the first pulley (13) and the second pulley (23) are the same; Connecting piece (3), movably sleeved on the third pin (21) and connected to the second pin (12); First traction wire (4) includes two first traction sections (41), the first traction section (41) is S-shaped and arranged on the first pulley (13) and the second pulley (23) arranged opposite, the two first traction sections (41) are parallel to each other between the first pulley (13) and the second pulley (23), one end of the two first traction sections (41) is respectively connected to the movable element (6) along the two sides of the first pin (11) in the radial direction, and the other end of the two first traction sections (41) is penetrated into the second support (2); Second traction wire (5) is connected to the connecting piece (3) and is used for operating the connecting piece (3) to rotate around the third pin (21); The connecting piece (3) includes a third pulley (31) and a connecting portion (32), the third pulley (31) is coaxially provided with an axle hole (34), the third pin (21) is movably penetrated into the axle hole (34), the third pulley (31) is connected to the second pin (12) through the connecting portion (32), and the second traction wire (5) is arranged on the third pulley (31);The connecting portion (32) is provided with two, the two connecting portions (32) are respectively located on the two sides of the third pulley (31) in the axial direction, the second traction wire (5) is located between the two connecting portions (32), and one end of the third pulley (31) is connected to the side wall of the connecting portion (32); The second traction wire (5) includes a connecting block (52) and two second traction sections (51), the two second traction sections (51) are respectively located on the two sides of the third pulley (31) in the radial direction, one end of the two second traction sections (51) is connected to the connecting block (52), and the other end of the two second traction sections (51) is penetrated into the second support (2);The side wall of the third pulley (31) is provided with a containing groove (311), and at least part of the connecting block (52) is placed in the containing groove (311). The first support (1) is provided with two first connecting ears (14) protruding towards one end of the second support (2), two ends of the second pin (12) are connected to the two first connecting ears (14) respectively, and an end face of the first connecting ear (14) towards the second support (2) is the upper arc face; The second support (2) is provided with two second connecting ears (24) protruding towards one end of the first support (1), two ends of the third pin (21) are connected to the two second connecting ears (24) respectively, and an end face of the second connecting ear (24) towards the first support (1) is the lower arc face; The first pulley (13), the second pulley (23), the second traction wire (5) and the first traction wire (4) are located between the two first connecting ears (14) and the two second connecting ears (24), and the two first connecting ears (14) and the two second connecting ears (24) are arranged opposite to each other.

2. The end effector assembly of claim 1, wherein, The connecting piece (3) further comprises a contact protrusion (33) protruding on an end face of the connecting part (32) away from the third pulley (31), an end face of the contact protrusion (33) away from the connecting part (32) is in contact with the first pulley (13) and / or the second pulley (23), and an area of the end face of the contact protrusion (33) away from the connecting part (32) is smaller than an area of the end face of the connecting part (32) away from the third pulley (31).

3. The end effector assembly of claim 1, wherein, One connecting part (32) is provided with a mounting groove (321) on one side thereof towards another connecting part (32), the mounting groove (321) penetrates the connecting part (32) towards one end of the second pin (12) along a radial direction of the third pin (21), and the mounting groove (321) is in communication with the accommodating groove (311).

4. The end effector assembly of claim 1, wherein, The end execution assembly further comprises an upper ring shell (81) and a lower ring shell (82), the upper ring shell (81) is sleeved on the outside of the first support (1), and the lower ring shell (82) is sleeved on the outside of the second support (2); An end face of one end of the upper ring shell (81) towards the lower ring shell (82) comprises two upper contact arc faces (811) and two upper limiting faces (812) connected in sequence, the upper contact arc faces (811) and the upper limiting faces (812) are arranged alternately, the upper contact arc faces (811) are coaxially arranged with the second pin (12), a radius of the upper contact arc faces (811) is the same as a radius of a graduation circle of the first tooth structure (71), and the upper limiting faces (812) are tangent to the upper contact arc faces (811); The end face of the lower ring shell (82) towards the upper ring shell (81) comprises two lower contact arc surfaces (821) and two lower limit surfaces (822) in sequence, the lower contact arc surfaces (821) are arranged alternately with the lower limit surfaces (822), the lower contact arc surfaces (821) are coaxially arranged with the third pin (21), and the radius of the lower contact arc surfaces (821) is the same as the radius of the reference circle of the second tooth structure (72), and the lower limit surfaces (822) are tangent to the lower contact arc surfaces (821); The upper contact arc surface (811) is in opposite contact with the lower contact arc surface (821).

5. Minimally invasive surgical instrument, characterized in that The minimally invasive surgical instrument comprises an instrument seat (30), a connecting pipe (20), and the end execution assembly according to any one of claims 1-4, the instrument seat (30) and the second support (2) are respectively connected to two ends of the connecting pipe (20).

6. A minimally invasive surgical system, characterized by, The minimally invasive surgical instrument comprises the minimally invasive surgical instrument according to claim 5.

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