An end effector, surgical instrument, and surgical robot

Abstract

The present application relates to the technical field of surgical robots, and discloses an end effector, a surgical instrument and a surgical robot.The end effector comprises: an execution member; a wrist assembly comprising a first seat body and a second seat body, the first seat body being provided with an execution shaft, the execution member being rotationally connected to the execution shaft, the first seat body being capable of rotating relative to the second seat body about a first axis and / or a second axis, the first axis being located on an end face of one end of the first seat body facing the second seat body, the second axis being located on an end face of one end of the second seat body facing the first seat body, a plurality of first wire holes being formed in the first seat body, a plurality of second wire holes being formed in the second seat body, the plurality of first wire holes and the plurality of second wire holes being one-to-one correspondingly arranged; an execution traction member being connected to the execution member, the execution traction member being arranged in the corresponding first wire hole and second wire hole; and a pitch traction member being used for controlling the first seat body to rotate.The execution traction member of the present application will not be pulled, thereby prolonging the service life and improving the safety of surgery.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical robots, in particular to an end effector, a surgical instrument and a surgical robot. BACKGROUND

[0002] Surgical robots are widely used in the medical field. The surgical robot includes a patient surgery end, and a trolley of the patient surgery end is provided with a plurality of surgical instruments. The surgical instruments are used for surgical operation on patients.

[0003] According to the surgical instrument, the operating device and the surgical robot disclosed in Chinese patent CN212788689U. The surgical instrument includes an end effector at the distal end of the surgical instrument, and the end effector includes a first support and a second support. The first support is provided with a first pin and a second pin parallel to each other, the first pin is provided with a first pulley set, the second pin is provided with a second pulley set, and the second support is rotatably connected to the first support through the second pin. The clamping part of the end effector is rotatably arranged on the second support through a third pin. The driving cable of the end effector includes a first driving cable, a second pair of cables and a third pair of cables, the distal end of the first driving cable is connected to the second support, the second support can be controlled to rotate, and the pitch movement of the end effector is realized. The second pair of cables realizes the rotation of the first clamping part around the third pin; the third pair of cables realizes the rotation of the second clamping part around the third pin. The second pair of cables and the third pair of cables realize the opening and yawing movement of the end effector. The cables in the third pair of cables and the second pair of cables are S-shaped and arranged on the second pulley set and the first pulley set arranged opposite to each other. When the first driving cable controls the second support to rotate, the length of the part of the cable in the third pair of cables (or the second pair of cables) wound on the second pulley set and the first pulley set changes, which causes the cable to be pulled and also aggravates the wear of the cable with other structures, increases the possibility of cable deformation or breakage, affects the smooth implementation of the operation, shortens the service life of the surgical instrument, reduces the reliability of the surgical instrument during the operation and the safety of the operation, and also needs to compensate for the length of the cable in the third pair of cables (or the second pair of cables) when realizing the pitch movement, which increases the control difficulty of the surgical instrument.

[0004] Therefore, there is an urgent need for an end effector, a surgical instrument and a surgical robot to solve the above-mentioned problems. SUMMARY

[0005] The purpose of the present application is to provide an end effector, a surgical instrument and a surgical robot. When the first seat body rotates, the traction member will not be pulled, the maintenance cost is reduced, the service life of the surgical instrument is prolonged, the safety of the operation is improved, and the control difficulty is reduced.

[0006] To achieve this purpose, the present application adopts the following technical solutions:

[0007] An end effector, comprising:

[0008] An execution member;

[0009] A wrist assembly, comprising a first seat body and a second seat body, the first seat body being provided with an execution shaft at an end opposite to the second seat body, the execution member being rotationally connected to the execution shaft, the first seat body being capable of rotating relative to the second seat body about a first axis and / or a second axis, the first axis and the second axis being arranged in parallel, the first axis being arranged perpendicularly to the execution shaft, the first axis being located on an end face of the first seat body towards the second seat body, the second axis being located on an end face of the second seat body towards the first seat body, a plurality of first wire holes being formed in the first seat body, the axis of the first wire hole intersecting the first axis, a plurality of second wire holes being formed in the second seat body, the axis of the second wire hole intersecting the second axis, the plurality of first wire holes and the plurality of second wire holes being arranged in one-to-one correspondence;

[0010] An execution traction member, connected to the execution member, the execution traction member being arranged through the corresponding first wire hole and the second wire hole;

[0011] A pitch traction member, connected to the first seat body, for operating the first seat body to rotate.

[0012] As an optional technical solution of the end effector, the end effector further comprises a connecting member, the connecting member being rotationally connected to the first seat body about the first axis, and / or the connecting member being rotationally connected to the second seat body about the second axis.

[0013] As an optional technical solution of the end effector, the first seat body is fixedly provided with a first shaft, the axis of the first shaft being the first axis, the connecting member being rotationally connected to the first shaft;

[0014] and / or the second seat body is fixedly provided with a second shaft, the axis of the second shaft being the second axis, the connecting member being rotationally connected to the second shaft.

[0015] As an optional technical scheme of the end effector, the end face of the first seat body towards the second seat body is a first plane, a first groove is formed on the first plane along the first axis, the first shaft is arranged in the first groove, and the two ends of the first shaft along the first axis are respectively connected to the two sides of the first seat body, a first tangent plane is arranged on the side of the first shaft towards the second seat body, the first tangent plane is arranged in the same plane as the first plane, a plurality of first channels are formed on the first tangent plane, each first wire hole is arranged in correspondence with one first channel, the first channel has the same extension direction as the corresponding first wire hole, and the execution traction member is arranged in the first channel.

[0016] As an optional technical scheme of the end effector, a first protruding part is arranged on the groove wall of the first groove, a first accommodating structure is formed on the first shaft, and the first protruding part is arranged in the first accommodating structure.

[0017] As an optional technical scheme of the end effector, the first accommodating structure is the first channel, the first wire hole is formed on the first protruding part, and the end face of the first protruding part towards the second seat body is arranged in the same plane as the first plane.

[0018] As an optional technical scheme of the end effector, the end face of the second seat body towards the first seat body is a second plane, a second groove is formed on the second plane along the second axis, the second shaft is arranged in the second groove, the two ends of the second shaft along the second axis are respectively connected to the two sides of the second seat body, a second tangent plane is arranged on the side of the second shaft towards the first seat body, the second tangent plane is arranged in the same plane as the second plane, a plurality of second channels are formed on the second tangent plane, each second wire hole is arranged in correspondence with one second channel, the second channel has the same extension direction as the corresponding second wire hole, and the execution traction member is arranged in the second channel.

[0019] As an optional technical scheme of the end effector, a second protruding part is arranged on the groove wall of the second groove, a second accommodating structure is formed on the second shaft, and the second protruding part is arranged in the second accommodating structure.

[0020] As an optional technical scheme of the end effector, the second accommodating structure is the second channel, the second wire hole is formed on the second protruding part, and the end face of the second protruding part towards the first seat body is arranged in the same plane as the second plane.

[0021] As an optional technical solution for the end effector, the actuator is provided in two parts. One side of the actuator has a clamping surface for contacting the object to be clamped, and the clamping surfaces of the two actuators can approach each other to clamp the object to be clamped.

[0022] A plurality of first wire holes include a first execution wire hole and a second execution wire hole. A reference plane is set through the axis of the execution shaft. The first axis is perpendicular to the reference plane. The vertical distance between the first execution wire hole and the reference plane is less than the vertical distance between the second execution wire hole and the reference plane. Each execution member is provided with two execution traction members. One execution traction member is located on the side of the execution member opposite to the clamping surface and passes through the first execution wire hole. The other execution traction member is located on the side of the execution member where the clamping surface is located and passes through the second execution wire hole.

[0023] A surgical instrument comprising an end effector as described above.

[0024] A surgical robot, comprising the surgical instruments described above.

[0025] The beneficial effects of this invention are:

[0026] The end effector provided by the present invention includes an actuator, a wrist assembly, an actuator traction member, and a pitch traction member. The end effector provided in this embodiment has a simple structure and is easy to manufacture. When the pitch traction member manipulates the first base to rotate relative to the second base around the first axis and / or the second axis, since the distance between the first axis and the second axis remains unchanged, and the axis of the first wire hole intersects with the first axis and the axis of the second wire hole intersects with the second axis, the length of the portion of the traction member passing through the corresponding first and second wire holes between the two end faces of the first and second bases remains unchanged. That is, during the rotation of the first base, the traction member will not be pulled, reducing the possibility of deformation or breakage of the traction member, extending the service life of the end effector, reducing maintenance costs, ensuring the smooth implementation of the surgery, improving the reliability of the surgical instruments during surgery, and ensuring the transmission accuracy of the end effector, which in turn ensures the precision of the end effector during surgical operations and improves the safety of the surgery. In addition, when the pitch traction member is used to manipulate the rotation of the first base to realize the pitch freedom of the end effector, the length of the portion of the traction member between the two end faces of the first and second bases remains unchanged, so there is no need to compensate for the length of the traction member at the same time, reducing the control difficulty of the end effector.

[0027] The surgical instrument provided by this invention includes the aforementioned end effector. When the pitch traction device manipulates the first seat to rotate, the end effector is not pulled, which extends the service life of the surgical instrument, reduces maintenance costs, ensures the smooth implementation of the surgery, improves the reliability of the surgical instrument during surgery, enhances the safety of the surgery, and eliminates the need to compensate for the length of the end effector while manipulating the first seat to rotate using the pitch traction wire, thus reducing the difficulty of controlling the surgical instrument.

[0028] The surgical robot provided by this invention includes the aforementioned surgical instruments, which extends the service life of the surgical instruments, reduces maintenance costs, ensures the smooth implementation of the surgery, improves the reliability of the surgical robot during surgery, enhances the safety of the surgery, ensures the accuracy of the surgical instruments when performing surgical operations, and also reduces the difficulty of controlling the surgical instruments. Attached Figure Description

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

[0030] Figure 2 This is a schematic diagram of the end effector provided in Embodiment 1 of the present invention;

[0031] Figure 3 This is a split view of the end effector provided in Embodiment 1 of the present invention;

[0032] Figure 4 This is a schematic diagram of the wrist assembly provided in Embodiment 1 of the present invention;

[0033] Figure 5 This is a schematic diagram of the structure of the first base body provided in Embodiment 1 of the present invention;

[0034] Figure 6 This is an exploded view of the first seat portion structure provided in Embodiment 1 of the present invention;

[0035] Figure 7 This is a schematic diagram of the structure of the second seat provided in Embodiment 1 of the present invention;

[0036] Figure 8 This is an exploded view of the second seat portion structure provided in Embodiment 1 of the present invention;

[0037] Figure 9 This is a schematic diagram of the wrist assembly in its initial position according to Embodiment 1 of the present invention;

[0038] Figure 10 This is a schematic diagram of the wrist assembly provided in Embodiment 1 of the present invention after it has rotated from its initial position around a first axis;

[0039] Figure 11This is a schematic diagram of the wrist assembly provided in Embodiment 1 of the present invention after it has rotated from its initial position around the second axis;

[0040] Figure 12 This is a schematic diagram of the wrist assembly provided in Embodiment 1 of the present invention after it has rotated from its initial position around the first axis and the second axis.

[0041] Figure 13 This is a cross-sectional view of the end effector provided in Embodiment 1 of the present invention;

[0042] Figure 14 This is a partial structural schematic diagram of the end effector provided in Embodiment 2 of the present invention.

[0043] In the picture:

[0044] 10. End effector; 20. Connecting rod; 30. Instrument box;

[0045] 1. Actuating component; 11. Actuating part; 111. Clamping surface; 12. Wheel part;

[0046] 2. Wrist assembly; 21. First seat; 211. First shaft; 211a. First connecting segment; 211b. Second connecting segment; 211c. Fifth connecting segment; 2111. First tangential plane; 2112. First channel; 2113. First groove; 2114. First protrusion; 212. First threaded hole; 212a. First actuating threaded hole; 212b. Second actuating threaded hole; 213. First connecting lug; 2131. First tooth structure; 214. 215. Execution connecting ear; 22. First pitch threaded hole; 22. Second seat; 221. Second shaft; 221a. Third connecting section; 221b. Fourth connecting section; 221c. Sixth connecting section; 2211. Second tangential plane; 2212. Second channel; 2213. Second groove; 2214. Second protrusion; 222. Second threaded hole; 223. Second connecting ear; 2231. Second tooth structure; 224. Second pitch threaded hole; 23. Execution shaft;

[0047] 3. Traction actuator; 4. Pitch traction actuator; 5. Connecting component;

[0048] 6. First housing; 61. First contact arc surface; 62. First limiting surface;

[0049] 7. Second housing; 71. Second contact arc surface; 72. Second limiting surface;

[0050] 8. Steel wire connectors. Detailed Implementation

[0051] 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.

[0052] 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.

[0053] 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.

[0054] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0055] Example 1

[0056] This embodiment provides a surgical robot. Specifically, the surgical robot includes surgical instruments used to perform surgical procedures on a patient.

[0057] Furthermore, the surgical robot also includes a doctor's control terminal and a patient's surgical terminal. The patient's surgical terminal includes surgical instruments, and the operator can control the surgical instruments to perform surgical procedures on the patient through the doctor's control terminal.

[0058] The specific structure of the doctor's control terminal, other structures of the patient's surgical terminal, and the control principles and methods between the doctor's control terminal and the patient's surgical terminal 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.

[0059] Specifically, such as Figure 1As shown, the surgical instrument includes an instrument box 30, a connecting rod 20, and an end effector 10. The instrument box 30 is a structure that connects to the patient's surgical end. The connecting rod 20 connects the end effector 10 and the instrument box 30.

[0060] Specifically, such as Figures 1-13 As shown, the end effector 10 includes an actuator 1, a wrist assembly 2, an actuator traction member 3, and a pitch traction member 4. The wrist assembly 2 includes a first base 21 and a second base 22. An actuator shaft 23 is disposed at the end of the first base 21 opposite to the second base 22. The actuator 1 is rotatably connected to the actuator shaft 23. The first base 21 is rotatable relative to the second base 22 about a first axis and / or a second axis. The first axis is parallel to the second axis and perpendicular to the actuator shaft 23. The first axis is located on the end face of the first base 21 facing the second base 22, and the second axis is located on the end face of the second base 22 facing the first base 21. The first seat 21 has a plurality of first wire holes 212 through it, the axis of the first wire holes 212 intersecting the first axis. The second seat 22 has a plurality of second wire holes 222 through it, the axis of the second wire holes 222 intersecting the second axis. The plurality of first wire holes 212 and the plurality of second wire holes 222 are arranged one-to-one. The actuator traction member 3 is connected to the actuator 1 and passes through the corresponding first wire holes 212 and second wire holes 222. The pitch traction member 4 is connected to the first seat 21 and is used to operate the rotation of the first seat 21.

[0061] In this embodiment, the instrument box 30 is connected to one end of the connecting rod 20, and the second seat 22 is connected to the other end of the connecting rod 20.

[0062] Wherein, "the first seat 21 can rotate relative to the second seat 22 about the first axis and / or the second axis" means "the first seat 21 can rotate relative to the second seat 22 about the first axis; and / or, the first seat 21 can rotate relative to the second seat 22 about the second axis".

[0063] Specifically, the instrument box 30 is equipped with an execution drive spool and a pitch drive spool. The execution traction member 3 passes through the second seat 22 and connects to the execution drive spool inside the instrument box 30. An execution drive motor is provided on the patient's surgical end, and the execution drive motor is located outside the instrument box 30. Each execution drive spool is equipped with a corresponding execution drive motor. The output shaft of the execution drive motor can be connected to the execution drive spool through an execution transmission assembly, so that the execution drive motor drives the corresponding execution drive spool to rotate, thereby winding or releasing the execution traction member 3. 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 prior art and are not the focus of protection in this embodiment. It is sufficient to realize that the execution drive motor drives the execution drive spool to rotate, and will not be described in detail here.

[0064] The pitch traction component 4 passes through the second seat 22 and connects to the pitch drive wire shaft inside the instrument box 30. A pitch drive motor is installed on the patient's surgical end, located 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 drive the pitch drive wire shaft to rotate, thereby winding or releasing the pitch traction component 4. The structure of the aforementioned pitch transmission assembly and its connection to the instrument box 30 can refer to existing technologies and are not the focus of this embodiment; achieving the rotation of the pitch drive wire shaft by the pitch drive motor is sufficient and will not be elaborated further here.

[0065] Other structures may be provided inside the instrument box 30 to connect with the pitch traction member 4 and the actuation traction member 3. The internal structure of the instrument box 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.

[0066] The end effector 10 provided in this embodiment includes an actuator 1, a wrist assembly 2, an actuator traction member 3, and a pitch traction member 4. The end effector 10 provided in this embodiment has a simple structure and is easy to manufacture. When the pitch traction member 4 manipulates the first seat 21 to rotate relative to the second seat 22 around the first axis and / or the second axis, since the distance between the first axis and the second axis remains unchanged, and the axis of the first wire hole 212 intersects the first axis, and the axis of the second wire hole 222 intersects the second axis, the length of the actuator traction member 3 passing through the corresponding first wire hole 212 and second wire hole 222 between the two end faces of the first seat 21 and the second seat 22 remains unchanged. That is, during the rotation of the first seat 21, the actuator traction member 3 will not be pulled, reducing the deformation or breakage of the actuator traction member 3. This extends the service life of the end effector 10, reduces maintenance costs, ensures the smooth implementation of surgery, improves the reliability of surgical instruments during surgery, and ensures the transmission accuracy of the end effector 10, thus ensuring the precision of the end effector 10 in performing surgical operations and improving the safety of surgery. In addition, when the pitch traction member 4 is used to manipulate the rotation of the first base 21 to achieve the pitch freedom of the end effector 10, the length of the part of the traction member 3 located between the two end faces of the first base 21 and the second base 22 remains unchanged, so there is no need to compensate for the length of the traction member 3 at the same time, which reduces the control difficulty of the end effector 10.

[0067] The surgical instrument provided in this embodiment includes the aforementioned end effector 10. When the pitch traction member 4 manipulates the first seat 21 to rotate, the traction member 3 will not be pulled, which extends the service life of the surgical instrument, reduces maintenance costs, ensures the smooth implementation of the surgery, improves the reliability of the surgical instrument during surgery, enhances the safety of the surgery, and eliminates the need to compensate for the length of the traction member 3 while manipulating the first seat 21 to rotate using the pitch traction wire 4, thus reducing the difficulty of controlling the surgical instrument.

[0068] The surgical robot provided in this embodiment includes the aforementioned surgical instruments, which extends the service life of the surgical instruments, reduces maintenance costs, ensures the smooth implementation of the surgery, improves the reliability of the surgical robot during surgery, enhances the safety of the surgery, ensures the accuracy of the surgical instruments when performing surgical operations, and also reduces the difficulty of controlling the surgical instruments.

[0069] In this embodiment, the first base 21 has two execution connecting ears 214 protruding from one end opposite to the second base 22, and the two ends of the execution shaft 23 are respectively connected to the two execution connecting ears 214.

[0070] The end face of the first seat 21 facing the second seat 22 is defined as the first plane, and the end face of the second seat 22 facing the first seat 21 is defined as the second plane. The wrist assembly 2 is defined as being in its initial position when the first seat 21 rotates to a position where the first plane is parallel to the second plane. For example... Figure 9 The image shows the initial position of wrist component 2.

[0071] Define a projection plane perpendicular to the first and second axes, such as... Figures 9-12 The image shown is a view directly facing the projection plane. Point M is the intersection of the first axis and the actuating traction member 3, and point N is the intersection of the second axis and the actuating traction member 3. (The last sentence appears to be incomplete and possibly refers to a different view.) Figures 9-12 From the perspective shown, the first seat 21 can rotate relative to the second seat 22 about point M and / or point N.

[0072] in, Figure 10 This is a schematic diagram of the first seat 21 after rotating around point M, that is, a schematic diagram of the first seat 21 after rotating relative to the second seat 22 around the first axis. Figure 11 This is a schematic diagram of the first seat 21 after rotating around point N, that is, a schematic diagram of the first seat 21 after rotating relative to the second seat 22 around the second axis. Figure 12 This is a schematic diagram of the first seat 21 after rotating around points M and N, that is, a schematic diagram of the first seat 21 after rotating relative to the second seat 22 around the first axis and the second axis.

[0073] In the preceding text, "the portion of the actuator 3 passing through the corresponding first wire hole 212 and second wire hole 222 located between the two end faces of the first seat 21 and the second seat 22 facing each other" refers to segment MN on the actuator 3. It can be understood that when the first seat 21 rotates, the distance between points M and N remains unchanged, meaning the length of segment MN on the actuator 3 remains unchanged. In other words, "the length of the portion of the actuator 3 passing through the corresponding first wire hole 212 and second wire hole 222 located between the two end faces of the first seat 21 and the second seat 22 facing each other remains unchanged."

[0074] In this embodiment, the axis of the first wire hole 212 is perpendicular to the first plane, and the axis of the second wire hole 222 is perpendicular to the second plane. Furthermore, when the wrist assembly 2 is in the initial position, the axes of the first wire hole 212 and the corresponding second wire hole 222 are collinear.

[0075] In other embodiments, the axis of the first wire hole 212 may also be inclined to the first plane, and the axis of the second wire hole 222 may also be perpendicular to the second plane. At the same time, when the wrist assembly 2 is in the initial position, the axis of the first wire hole 212 may not be collinear with the axis of the corresponding second wire hole 222. These are not limited here.

[0076] As a preferred option, such as Figure 3 and Figure 4 As shown, the end effector also includes a connector 5. The connector 5 is rotatably connected to the first base 21 about a first axis, and / or rotatably connected to the second base 22 about a second axis. By providing the connector 5, a reliable connection between the first base 21 and the second base 22 can be ensured, reducing the possibility of separation between them. This ensures the structural stability and reliability of the end effector 10 during surgery, and also maintains a constant distance between the first axis and the second axis. Figures 9-12 The length of segment MN remains unchanged, further ensuring that the traction component 3 will not be pulled.

[0077] In this embodiment, the connector 5 is rod-shaped. In other embodiments, the connector 5 may also be a flexible structure, such as a wire or a strip, and the connector 5 may be a closed-loop structure, tensioned on the first shaft 211 and the second shaft 221, which is not limited here.

[0078] In this embodiment, the first base 21 is rotatable relative to the second base 22 about a first axis and a second axis. Specifically, a first shaft 211 is fixedly disposed on the first base 21, and the axis of the first shaft 211 is the first axis. It can be understood that the first shaft 211 is perpendicular to the actuation shaft 23. The connecting member 5 is rotatably connected to the first shaft 211, thereby enabling the first base 21 to rotate relative to the second base 22 about the first axis. The above arrangement simplifies the connection structure between the first base 21 and the connecting member 5, facilitating assembly.

[0079] Furthermore, a second shaft 221 is fixedly mounted on the second base 22, and the axis of the second shaft 221 is the second axis. The connecting piece 5 is rotatably connected to the second shaft 221, thereby enabling the first base 21 to rotate relative to the second base 22 around the second axis. The above arrangement simplifies the connection structure between the second base 22 and the connecting piece 5, facilitating assembly.

[0080] Furthermore, such as Figures 5-8 As shown, a first connecting lug 213 protrudes from the first plane, and a first shaft 211 is connected to the first connecting lug 213. The first connecting lug 213 has a first arc-shaped surface, coaxial with the first shaft 211, and a first tooth structure 2131 is provided on the first arc-shaped surface. The center of the pitch circle of the first tooth structure 2131 is located on the first axis. A second connecting lug 223 protrudes from the second plane, and a second shaft 221 is connected to the second connecting lug 223. The second connecting lug 223 has a second arc-shaped surface, coaxial with the second shaft 221, and a second tooth structure 2231 is provided on the second arc-shaped surface. The center of the pitch circle of the second tooth structure 2231 is located on the second axis. The first tooth structure 2131 and the second tooth structure 2231 mesh. It is understandable that when the pitch traction body 4 manipulates the first seat body 21 to rotate around the first axis, the first seat body 21 will also rotate around the second axis relative to the second seat body 22 by a certain angle; similarly, when the pitch traction body 4 manipulates the first seat body 21 to rotate around the second axis, the first seat body 21 will also rotate around the first axis relative to the second seat body 22 by a certain angle, that is, the first seat body 21 can rotate around the first axis and the second axis relative to the second seat body 22.

[0081] Preferably, the first plane has a first connecting ear 213 protruding from both ends along the first axis, and the second plane has a second connecting ear 223 protruding from both ends along the second axis. The two first connecting ears 213 and the two second connecting ears 223 are connected one-to-one, which increases the connection position between the first seat 21 and the second seat 22, and further increases the structural stability of the wrist assembly 2.

[0082] In other embodiments, the first seat 21 and the second seat 22 may be configured with other forms of connection structure, and the first seat 21 may rotate only relative to the second seat 22 about a first axis or a second axis, which is not limited here.

[0083] As a preferred embodiment, a first groove 2113 is formed on the first plane along the first axis, and the first shaft 211 is placed in the first groove 2113. The two ends of the first shaft 211 along the first axis are respectively connected to the first seat 21. A first cutting plane 2111 is provided on the side of the first shaft 211 facing the second seat 22. The first cutting plane 2111 is coplanar with the first plane. A plurality of first channels 2112 are formed on the first cutting plane 2111. The first channels 2112 pass through the first shaft 211. Each first wire hole 212 is corresponding to a first channel 2112. The first channel 2112 and the corresponding first wire hole 212 extend in the same direction. The traction member 3 passes through the first channel 2112. The above-described structural design avoids opening the first wire hole 212 on one radial side of the first shaft 211, reduces the radial dimension of the first base 21 along the first shaft 211, decreases the volume of the wrist assembly 2, improves the flexibility of the surgical instrument, reduces the possibility of the end effector 10 accidentally touching the patient during surgery, and improves surgical safety. Simultaneously, the opening of the first channel 2112 can also appropriately increase the radial dimension of the first shaft 211, increasing the structural strength of the first shaft 211, improving the reliability of the end effector 10, and extending its service life. Furthermore, since both ends of the first shaft 211 are connected to the first base 21, the number of connection points between the first shaft 211 and the first base 21 is increased, further improving the structural stability of the wrist assembly 2. In this embodiment, the first channel 2112 is a through hole.

[0084] In this embodiment, the first shaft 211 is rotatably inserted through the connector 5. It can be understood that increasing the radial dimension of the first shaft 211 increases the dimension of the connector 5 and thus increases the structural strength of the connector 5.

[0085] Furthermore, the two ends of the first shaft 211 along the first axis are respectively connected to two first connecting ears 213. Compared with two first shafts 211 spaced apart along the first axis and each of the two first shafts 211 connected to two first connecting ears 213, the above structure has a larger axial dimension of the first shaft 211, which increases the structural strength of the first shaft 211, improves the reliability of the end effector 10, and extends its service life.

[0086] Specifically, the first shaft 211 includes a first connecting segment 211a and a second connecting segment 211b coaxially arranged. The first connecting segment 211a is cylindrical; the second connecting segment 211b is cylindrical, and the sidewall of the second connecting segment 211b includes a first tangent plane 2111 connected end to end and a first arc-shaped sidewall. The cross-section of the first arc-shaped sidewall is semi-circular, and the central angle of the first arc-shaped sidewall is 180°. The first connecting segment 211a and the first arc-shaped sidewall have the same radius, and the axes of the first connecting segment 211a and the first arc-shaped sidewall are collinear with the first axis. There are two first connecting segments 211a, each connected to one of two first connecting lugs 213, and the second connecting segment 211b is connected to the two first connecting segments 211a. The first channel 2112 extends radially through the first shaft 211 along the first arc-shaped sidewall.

[0087] As a preferred embodiment, a first protrusion 2114 protrudes from the groove wall of the first groove 2113, and a first receiving structure is provided on the first shaft 211, with the first protrusion 2114 placed within the first receiving structure. By setting the first protrusion 2114 and the first receiving structure, rotation of the first shaft 211 can be avoided, reducing the possibility that the axis of the first wire hole 212 may not intersect with the first axis due to the rotation of the first shaft 211 driving the traction body 3. This ensures that the length of the MN segment on the traction member 3 remains unchanged, further ensuring that the traction member 3 will not be pulled when the pitch traction member 4 manipulates the rotation of the first seat 21, extending the service life of the surgical instrument, reducing maintenance costs, ensuring the smooth implementation of the surgery, improving the reliability of the surgical instrument during surgery, and improving the safety of the surgery. It also eliminates the need to compensate for the length of the traction member 3 while manipulating the rotation of the first seat 21 using the pitch traction wire 4, reducing the difficulty of controlling the surgical instrument.

[0088] Furthermore, the first receiving structure is a first channel 2112, and the first wire hole 212 is formed on the first protrusion 2114. It can be understood that since the first protrusion 2114 is located within the first channel 2112, when the actuating traction body 3 passes through the first wire hole 212, the actuating traction body 3 also passes through the first channel 2112. The end face of the first protrusion 2114 facing the second base 22 is coplanar with the first plane. This arrangement reduces the number of holes and slots formed on the first shaft 211, ensures the structural strength of the first shaft 211, further improves the reliability of the end effector 10, and extends its service life.

[0089] As a preferred embodiment, a second groove 2213 is formed on the second plane along the second axis, and the second shaft 221 is placed in the second groove 2213. The two ends of the second shaft 221 along the second axis are respectively connected to the second seat 22. A second tangent plane 2211 is provided on the side of the second shaft 221 facing the first seat 21. The second tangent plane 2211 is coplanar with the second plane, and a plurality of second channels 2212 are formed on the second tangent plane 2211. The second channels 2212 pass through the second shaft 221, and each second wire hole 222 is correspondingly provided with one second channel 2212. The second channel 2212 and the corresponding second wire hole 222 extend in the same direction. The traction member 3 passes through the second channel 2212. The above-described structural design avoids opening the second wire hole 222 on one radial side of the second shaft 221, reduces the radial dimension of the second seat 22 along the second shaft 221, decreases the volume of the wrist assembly 2, improves the flexibility of the surgical instrument, reduces the possibility of the end effector 10 accidentally touching the patient during surgery, and improves surgical safety. Simultaneously, the opening of the second channel 2212 can also appropriately increase the radial dimension of the second shaft 221, increasing the structural strength of the second shaft 221, improving the reliability of the end effector 10, and extending its service life. Furthermore, since both ends of the second shaft 221 are connected to the second seat 22, the number of connection points between the second shaft 221 and the second seat 22 is increased, further improving the structural stability of the wrist assembly 2. In this embodiment, the second channel 2212 is a through hole.

[0090] In this embodiment, the second shaft 221 is rotatably inserted through the connector 5. It can be understood that increasing the radial dimension of the second shaft 221 increases the dimension of the connector 5, thereby further increasing the structural strength of the connector 5.

[0091] Furthermore, the two ends of the second shaft 221 along the second axis are respectively connected to two second connecting ears 223. Compared with two second shafts 221 spaced apart along the second axis and each of the two second shafts 221 connected to two second connecting ears 223, the above structure configuration has a larger axial dimension of the second shaft 221, which increases the structural strength of the second shaft 221, improves the reliability of the end effector 10, and extends its service life.

[0092] Specifically, the second shaft 221 includes a third connecting segment 221a and a fourth connecting segment 221b coaxially arranged. The third connecting segment 221a is cylindrical; the fourth connecting segment 221b is cylindrical, and its sidewall includes a second tangent plane 2211 and a second arc-shaped sidewall connected end-to-end. The cross-section of the second arc-shaped sidewall is semi-circular, and its central angle is 180°. The radius of the third connecting segment 221a is the same as the radius of the second arc-shaped sidewall. The axes of the third connecting segment 221a and the second arc-shaped sidewall are both collinear with the second axis. There are two third connecting segments 221a, each connected to one of the two second connecting lugs 223. The fourth connecting segment 221b is connected to the two third connecting segments 221a. The second channel 2212 extends radially through the second shaft 221 along the second arc-shaped sidewall.

[0093] As a preferred embodiment, a second protrusion 2214 protrudes from the groove wall of the second groove 2213, and a second receiving structure is provided on the second shaft 221, with the second protrusion 2214 placed within the second receiving structure. By providing the second protrusion 2214 and the second receiving structure, rotation of the second shaft 221 can be avoided, reducing the possibility that the axis of the second wire hole 222 may not intersect with the second axis due to the rotation of the second shaft 221 driving the traction body 3. This further ensures that the length of the MN segment on the traction member 3 remains unchanged, thereby further ensuring that the traction member 3 will not be pulled when the pitch traction member 4 manipulates the rotation of the first seat 21. This extends the service life of the surgical instrument, reduces maintenance costs, ensures the smooth implementation of the surgery, improves the reliability of the surgical instrument during surgery, and enhances the safety of the surgery. It also eliminates the need to compensate for the length of the traction member 3 while manipulating the rotation of the first seat 21 using the pitch traction wire 4, reducing the difficulty of controlling the surgical instrument.

[0094] Furthermore, the second receiving structure is a second channel 2212, and the second wire hole 222 is formed on the second protrusion 2214. It can be understood that since the second protrusion 2214 is located within the second channel 2212, when the actuating traction body 3 passes through the second wire hole 222, the actuating traction body 3 also passes through the second channel 2212. The end face of the second protrusion 2214 facing the first base 21 is coplanar with the second plane. This arrangement reduces the number of holes and slots formed on the second shaft 221, ensures the structural strength of the second shaft 221, further improves the reliability of the end effector 10, and extends its service life.

[0095] Specifically, there are two actuators 1, and each actuator 1 is equipped with two actuator traction elements 3. The two actuator traction elements 3 are located on both sides of the actuator shaft 23 along the radial direction, and can respectively manipulate the actuator 1 to rotate around the actuator shaft 23 in opposite directions, so that the end actuator 10 has an opening and closing action, thereby realizing the function of grasping or clamping.

[0096] In this embodiment, the surgical instrument is a passive instrument, such as a window-opening clamp, grasping forceps, surgical scissors, needle holder forceps, or knot-tying forceps. Furthermore, the surgical instrument is a non-destructive forceps, and the actuator 1 is a non-destructive forceps flap. The specific structure of the actuator 1 can be found in existing technology and is not the focus of this embodiment; therefore, it will not be described further.

[0097] It is understandable that since there are two actuators 1, there are four actuators 3. There are four first wire holes 212 and four second wire holes 222. The four first wire holes 212 are respectively positioned opposite the four second wire holes 222.

[0098] The first shaft 211 also includes a fifth connecting segment 211c, which is positioned between two first connecting segments 211a. Two second connecting segments 211b are provided, and each end of the fifth connecting segment 211c is connected to one of the two first connecting segments 211a via a second connecting segment 211b. The fifth connecting segment 211c is cylindrical, and its radius is the same as that of the first connecting segments 211a. The fifth connecting segment 211c increases the structural strength of the first shaft 211. Specifically, a first channel 2112 is provided at each of the two first tangential planes 2111, and each first channel 2112 contains a first protrusion 2114. Each first protrusion 2114 has two first threaded holes 212.

[0099] The second shaft 221 also includes a sixth connecting segment 221c, which is positioned between the two third connecting segments 221a. Two fourth connecting segments 221b are provided, and each end of the sixth connecting segment 221c is connected to one of the two third connecting segments 221a via a fourth connecting segment 221b. The sixth connecting segment 221c is cylindrical, and its radius is the same as that of the third connecting segments 221a. The inclusion of the sixth connecting segment 221c increases the structural strength of the second shaft 221. Specifically, a second channel 2212 is provided at each of the two second tangential planes 2211, and a second protrusion 2214 is provided within each second channel 2212. Each second protrusion 2214 has two second threaded holes 222.

[0100] Specifically, the two ends of the connector 5 are connected to the fifth connecting segment 211c and the sixth connecting segment 221c respectively, which facilitates determining the connection position between the connector 5 and the first shaft 211 and the second shaft 221.

[0101] In this embodiment, the actuating traction element 3 is a steel wire rope, which has high structural strength and ensures durability. Specifically, both actuating traction elements 3 are connected to the steel wire connector 8, and the steel wire connector 8 is fixedly connected to the actuating element 1. In other embodiments, the ends of the two actuating traction elements 3 are respectively connected to the actuating element 1, which is not limited here.

[0102] Specifically, such as Figure 3 As shown, the actuator 1 includes a wheel portion 12 and an actuator portion 11. The actuator portion 11 is connected to the side wall of the wheel portion 12 and extends radially along the wheel portion 12. The wheel portion 12 is coaxially and movably sleeved on the actuator shaft 23. One side of the actuator portion 11 has a clamping surface 111 for contacting the object to be clamped. The clamping surfaces 111 of the two actuators 1 can approach each other to clamp the object to be clamped. Two actuator traction members 3 on each actuator 1 are connected to the wheel portion 12, and one actuator traction member 3 is located on the side of the actuator 1 opposite to the clamping surface 111, while the other actuator traction member 3 is located on the side of the actuator 1 where the clamping surface 111 is provided.

[0103] Set a reference plane passing through the axis of execution axis 23, with the first axis perpendicular to the reference plane. For example... Figure 5 , Figure 6 and Figure 13 As shown, a plurality of first wire holes 212 include a first execution wire hole 212a and a second execution wire hole 212b. The vertical distance between the first execution wire hole 212a and the reference plane is less than the vertical distance between the second execution wire hole 212b and the reference plane. An execution traction member 3 on the execution member 1 opposite to the clamping surface 111 passes through the first execution wire hole 212a, and another execution traction member 3 on the execution member 1 passes through the second execution wire hole 212b. When the execution unit 11 is arranged perpendicular to the first plane, the above arrangement ensures that the wrap angle of the execution traction member 3 on the wheel portion 12 on the side opposite to the clamping surface 111 of the execution member 1 is greater than the wrap angle of the other execution traction member 3 on the wheel portion 12. When the execution member 1 rotates toward the side opposite to the clamping surface 111, it ensures that the execution traction member 3 on the side opposite to the clamping surface 111 of the execution member 1 can always cover the wheel portion 12, preventing the execution traction member 3 on the side opposite to the clamping surface 111 of the execution member 1 from disengaging from the wheel portion 12. This ensures that the execution traction member 3 can control the rotation of the execution member 1, thus ensuring the smooth implementation of the surgery. At the same time, it prevents the execution traction member 3 on the side opposite to the clamping surface 111 of the execution member 1 from becoming loose, so there is no need to adjust the length of the execution traction member 3, further reducing the control difficulty of the end effector 10.

[0104] Furthermore, the vertical distance between the first actuating wire hole 212a and the reference plane is less than the radius of the wheel portion 12. When the actuating member 1 rotates toward the side opposite to the clamping surface 111 until the actuating portion 11 is parallel to the first plane, the above arrangement can further ensure that the actuating traction member 3 on the side opposite to the clamping surface 111 on the actuating member 1 can always cover the wheel portion 12.

[0105] In this embodiment, the four first wire holes 212 include two first execution wire holes 212a and two second execution wire holes 212b. Each first protrusion 2114 is provided with one first execution wire hole 212a and one second execution wire hole 212b, with the first execution wire hole 212a located on the side of the second execution wire hole 212b closer to the fifth connecting segment 211c. The first execution wire holes 212a and the second execution wire holes 212b on the same first protrusion 2114 correspond to two different actuators 1, respectively.

[0106] As a preferred embodiment, the first base 21 has a plurality of first pitch screw holes 215, and the second base 22 has a plurality of second pitch screw holes 224. The plurality of first pitch screw holes 215 and the plurality of second pitch screw holes 224 are respectively arranged correspondingly, and the pitch traction member 4 passes through the corresponding first pitch screw holes 215 and second pitch screw holes 224. The pitch traction member 4 is connected to the first base 21. The axis of the first pitch screw hole 215 is perpendicular to the first plane, and the axis of the second pitch screw hole 224 is perpendicular to the second plane. When the wrist assembly 2 is in the initial position, the axes of the corresponding first pitch screw holes 215 and second pitch screw holes 224 are collinear.

[0107] There are two pitch traction components 4. That is, there are also two first pitch screw holes 215 and two second pitch screw holes 224. The two first pitch screw holes 215 and the two second pitch screw holes 224 are respectively set on both sides of the first shaft 211, and the two second pitch screw holes 224 are respectively located on both sides of the second shaft 221.

[0108] like Figures 9-12 As shown, the axes of the two first pitch wire holes 215 intersect the first plane at points A and B, respectively. The distance between point A and the first axis is equal to the distance between point B and the first axis. Figure 9 In other words, the distance between point A and point M equals the distance between point B and point M equals L1. The axes of the two second pitch wire holes 224 intersect the second plane at points C and D respectively. The distance between point C and the second axis equals the distance between point D and the second axis. Figure 9 The distance between point C and point N is equal to the distance between point D and point N, which is L2.

[0109] Preferably, L1 = L2, and points A, B, C, and D are connected sequentially to form an isosceles trapezoid. The side length AB = 2L1 = the side length CD = 2L2. Point M is the midpoint of side AB, and point N is the midpoint of side CD. The distance between points N and M is L3. In this case, the side length AD + the side length BC = 2L3. Figure 9 In the initial position, when the wrist component 2 is in its initial position, the length of side AD equals the length of side BC. During the rotation of the first base 21, points A, B, C, and D are always connected sequentially to form an isosceles trapezoid, and L1 is a constant value. Therefore, the sum of the lengths of sides AD and BC always equals 2L3. In other words, the first base 21 rotates as follows: Figure 9 Rotate the position to Figure 12 After the position is determined, the length of side AD is less than the length of side BC, and the reduction value of side AD equals the increase value of side BC. If the ends of the two pitch traction members 4 that are away from the first seat 21 are connected as a whole, then during the rotation of the first seat 21, the sum of the total lengths of the two pitch traction members 4 remains unchanged. Only one pitch drive wire shaft can be set in the instrument box 30. Both pitch traction members 4 are connected to the pitch drive wire shaft. At this time, only one pitch drive wire motor can be set, which reduces the number of drive motors and lowers the cost. At the same time, there is no need to set two pitch drive wire motors to adjust the lengths of the two pitch traction members 4 separately, which further simplifies the control difficulty of the end effector 10 and the surgical instruments.

[0110] The end effector 10 provided in this embodiment can achieve three degrees of freedom: opening / closing, yaw, and pitch. When two actuators 3 located on different sides of the two actuators 1 are pulled simultaneously, the two actuators 1 can rotate around the actuator axis 23 in different directions, and the two actuators 1 can move closer or further apart, achieving the opening / closing degree of freedom. When two actuators 3 located on the same side of the two actuators 1 are pulled simultaneously, the two actuators 1 can rotate around the actuator axis 23 in the same direction, achieving the yaw degree of freedom. When one of the pitch actuators 4 is pulled, the first base 21 rotates, achieving the pitch degree of freedom.

[0111] As a preferred option, such as Figure 2 , Figure 5 and Figure 7As shown, the end effector 10 also includes a first housing 6 and a second housing 7. The first housing 6 is fitted onto the outside of the first base 21, and the second housing 7 is fitted onto the outside of the second base 22. The end face of the first housing 6 facing the second housing 7 includes two first contact arc surfaces 61 and two first limiting surfaces 62 connected end to end. The first contact arc surfaces 61 and the first limiting surfaces 62 are alternately arranged. The first contact arc surfaces 61 are coaxial with the first axis, and the radius of the first contact arc surfaces 61 is the same as the pitch circle radius of the first tooth structure 2131. The first limiting surfaces 62 are tangent to the first contact arc surfaces 61. The end face of the second housing 7 facing the first housing 6 includes two second contact arc surfaces 71 and two second limiting surfaces 72 connected end to end. The second contact arc surfaces 71 and the second limiting surfaces 72 are alternately arranged. The second contact arc surfaces 71 are coaxial with the second axis, and the radius of the second contact arc surfaces 71 is the same as the pitch circle radius of the second tooth structure 2231. The second limiting surfaces 72 are tangent to the second contact arc surfaces 71. The first contact arc surface 61 and the second contact arc surface 71 are in direct contact.

[0112] The first housing 6 and the second housing 7 protect the first base 21 and the second base 22, ensuring the durability of the end effector 10. Simultaneously, the first contact arc surface 61 partially shields the first tooth structure 2131, and the second contact arc surface 71 partially shields the second tooth structure 2231. During surgery, this prevents damage to human tissue caused by the biting of the first tooth structure 2131 and the second tooth structure 2231, reducing the possibility of secondary injury to the patient and improving surgical safety. Furthermore, the first limiting surface 62 and the second limiting surface 72 limit the rotation range of the wrist assembly 2, preventing interference with other instruments due to excessive rotation angle, thus ensuring the smooth implementation of the surgery.

[0113] In this embodiment, the first housing 6 and the first base 21 are separately disposed and fixedly connected by adhesive, welding or other means; the second housing 7 and the second base 22 are separately disposed and fixedly connected by adhesive, welding or other means. In other embodiments, the first housing 6 may be integrally formed with the first base 21, and the second housing 7 may be integrally formed with the second base 22.

[0114] Example 2

[0115] This embodiment provides an end effector, surgical instrument, and surgical robot. 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.

[0116] like Figure 14As shown, the first base 21 has only one first connecting ear 213, which is located in the middle of the first base 21. The second base 22 has only one second connecting ear 223, which is located in the middle of the second base 22.

[0117] Preferably, there are two connectors 5, which are located on both sides of the first connecting ear 213 and the second connecting ear 223, respectively. They can cover at least part of the first tooth structure 2131 and at least part of the second tooth structure 2231. During the operation, they can prevent human tissue from being damaged by the biting of the first tooth structure 2131 and the second tooth structure 2231, reduce the possibility of secondary injury to the patient, and improve the safety of the operation.

[0118] 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 effector, characterized in that, include: Execution component (1); The wrist assembly (2) includes a first seat (21) and a second seat (22). An actuation shaft (23) is provided at one end of the first seat (21) opposite to the second seat (22). The actuator (1) is rotatably connected to the actuation shaft (23). The first seat (21) is rotatable relative to the second seat (22) about a first axis and / or a second axis. The first axis is parallel to the second axis and perpendicular to the actuation shaft (23). The first axis is located on the side of the first seat (21) facing... On one end face of the second seat (22), the second axis is located on the end face of the second seat (22) facing the first seat (21). The first seat (21) is provided with a plurality of first wire holes (212), the axis of the first wire holes (212) intersects with the first axis. The second seat (22) is provided with a plurality of second wire holes (222), the axis of the second wire holes (222) intersects with the second axis. The plurality of first wire holes (212) and the plurality of second wire holes (222) are arranged in a one-to-one correspondence. An actuating traction member (3) is connected to the actuating member (1), and the actuating traction member (3) passes through the correspondingly provided first wire hole (212) and second wire hole (222); The pitch traction component (4) is connected to the first seat (21) and is used to manipulate the rotation of the first seat (21).

2. The end effector according to claim 1, characterized in that, The end effector further includes a connector (5) which is rotatably connected to the first base (21) about the first axis, and / or the connector (5) is rotatably connected to the second base (22) about the second axis.

3. The end effector according to claim 2, characterized in that, A first shaft (211) is fixedly provided on the first base (21), the axis of the first shaft (211) is the first axis, and the connecting piece (5) is rotatably connected to the first shaft (211); And / or, a second shaft (221) is fixedly provided on the second base (22), the axis of the second shaft (221) is the second axis, and the connector (5) is rotatably connected to the second shaft (221).

4. The end effector according to claim 3, characterized in that, The end face of the first seat (21) facing the second seat (22) is a first plane. A first groove (2113) is provided on the first plane along the first axis. The first shaft (211) is placed in the first groove (2113), and the two ends of the first shaft (211) along the first axis are respectively connected to the two sides of the first seat (21). A first cutting plane (2111) is provided on the side of the first shaft (211) facing the second seat (22). The first cutting plane (2111) is coplanar with the first plane. A plurality of first channels (2112) are provided on the first cutting plane (2111). Each first wire hole (212) is corresponding to one first channel (2112). The first channel (2112) and the corresponding first wire hole (212) have the same extension direction. The actuator (3) passes through the first channel (2112).

5. The end effector according to claim 4, characterized in that, The first groove (2113) has a first protrusion (2114) protruding from its groove wall, and the first shaft (211) has a first receiving structure, with the first protrusion (2114) placed inside the first receiving structure.

6. The end effector according to claim 5, characterized in that, The first receiving structure is the first channel (2112), the first wire hole (212) is opened on the first protrusion (2114), and the end face of the first protrusion (2114) facing the second seat (22) is coplanar with the first plane.

7. The end effector according to claim 3, characterized in that, The end face of the second seat (22) facing the first seat (21) is a second plane. A second groove (2213) is provided on the second plane along the second axis. The second shaft (221) is placed in the second groove (2213), and the two ends of the second shaft (221) along the second axis are respectively connected to the two sides of the second seat (22). A second cutting plane (2211) is provided on the side of the second shaft (221) facing the first seat (21). The second cutting plane (2211) is coplanar with the second plane. A plurality of second channels (2212) are provided on the second cutting plane (2211). Each second wire hole (222) is corresponding to one second channel (2212). The extension direction of the second channel (2212) and the corresponding second wire hole (222) is the same. The actuator (3) passes through the second channel (2212).

8. The end effector according to claim 7, characterized in that, The second groove (2213) has a second protrusion (2214) protruding from its groove wall, and the second shaft (221) has a second receiving structure, with the second protrusion (2214) placed inside the second receiving structure.

9. The end effector according to claim 8, characterized in that, The second receiving structure is the second channel (2212), the second wire hole (222) is opened on the second protrusion (2214), and the end face of the second protrusion (2214) facing the first seat (21) is coplanar with the second plane.

10. The end effector according to any one of claims 1-9, characterized in that, Two actuators (1) are provided. One side of each actuator (1) has a clamping surface (111) for contacting the object to be clamped. The clamping surfaces (111) of the two actuators (1) can come close to each other to clamp the object to be clamped. A plurality of first wire holes (212) include a first execution wire hole (212a) and a second execution wire hole (212b). A reference plane is set through the axis of the execution shaft (23). The first axis is perpendicular to the reference plane. The vertical distance between the first execution wire hole (212a) and the reference plane is less than the vertical distance between the second execution wire hole (212b) and the reference plane. Each execution member (1) is provided with two execution traction members (3). One execution traction member (3) is located on the side of the execution member (1) opposite to the clamping surface (111) and passes through the first execution wire hole (212a). The other execution traction member (3) is located on the side of the execution member (1) where the clamping surface (111) is set and passes through the second execution wire hole (212b).

11. A surgical instrument, characterized in that, Includes the end effector as described in any one of claims 1-10.

12. A surgical robot, characterized in that, Includes the surgical instruments as described in claim 11.

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