End effectors, surgical instruments, and surgical robots

Abstract

The present application relates to a kind of end effector, surgical instrument and surgical robot.The end effector includes: base;Pitch joint, rotatably disposed in base;At least one turntable, rotatably disposed in pitch joint;And at least one movable executor, movable executor and turntable one-to-one transmission connection, and when turntable rotates, it is used to drive movable executor rotation, wherein, the rotation axis of turntable and the rotation axis of movable executor are substantially parallel.In the case where the input force of cable to turntable is certain, the lever formed by movable executor is borrowed, so as to increase the output force of the head end of movable executor, and the miniaturization design of surgical instrument and the output force demand of end effector are considered.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to end effectors, surgical instruments and surgical robots. Background Technology

[0002] Surgical instruments from surgical robots with dexterous multi-joint motion capabilities are widely used in clinical surgical treatment today. Most of these instruments' joints are driven by a pair of very thin cables. Due to the miniaturized design of surgical instruments, the cables that can be used are also very thin, resulting in relatively low tensile strength and consequently insufficient output force from the end effector.

[0003] In some clinical surgical scenarios, the output force of the end effector of the surgical instrument is insufficient, making it difficult for the end effector to hold some large tissues in the patient's body or other instruments such as ultrasound probes, which will affect the progress of the operation. Summary of the Invention

[0004] Therefore, it is necessary to address the problem that the output power of the end effector is insufficient due to the miniaturization design of traditional surgical instruments, and to provide an end effector, surgical instrument, and surgical robot that can take into account both the miniaturization design of surgical instruments and the output power requirements of the end effector.

[0005] One embodiment of this application provides an end effector, the end effector comprising:

[0006] Base;

[0007] The pitch joint is rotatably mounted on the base;

[0008] At least one turntable is rotatably mounted on the pitch joint; and

[0009] At least one movable actuator is provided, which is connected to the turntable in a one-to-one transmission manner, and the turntable is used to drive the movable actuator to rotate when it rotates, wherein the rotation axis of the turntable is substantially parallel to the rotation axis of the movable actuator.

[0010] In one embodiment, the tail end of the active actuator and the corresponding turntable are provided with a groove on one and a sliding part on the other, and the sliding part slides in cooperation with the groove.

[0011] In one embodiment, the sliding groove is provided on the tail end of the active actuator, the sliding part is provided on the turntable and the sliding part protrudes from the turntable, and the sliding part is offset from the rotation axis of the turntable.

[0012] In one embodiment, the sliding part and the groove are located between the rotation axis of the turntable and the rotation axis of the movable actuator.

[0013] In one embodiment, the number of the active actuators is at least two, and the at least two active actuators are coaxial and rotatable relative to each other.

[0014] In one embodiment, the end effector further includes a fixed actuator, which is fixedly disposed on the pitch joint, and the movable actuator is rotatably connected to the fixed actuator.

[0015] In one embodiment, the turntable is provided with a rope connection structure for connecting a rope, and the turntable is driven by the rope.

[0016] In one embodiment, the rotation axis of the pitch joint is substantially perpendicular to the rotation axis of the turntable.

[0017] One embodiment of this application provides a surgical instrument, including a proximal controller, an intermediate connecting rod, and an end effector as described in any of the above. The proximal controller and the end effector are connected by corresponding ropes, and the ropes are threaded through the interior of the intermediate connecting rod.

[0018] One embodiment of this application provides a surgical robot, including: a robotic arm and surgical instruments, wherein the surgical instruments are mounted at the end of the robotic arm.

[0019] The aforementioned end effector, surgical instruments, and surgical robot all feature a movable actuator connected to a turntable via a transmission mechanism. The turntable's rotation drives the movable actuator to rotate, enabling it to perform surgical operations. Since the turntable's rotation axis is substantially parallel to the movable actuator's rotation axis, they are spaced apart. This means one end (tail end) of the movable actuator is located on the side of its rotation axis closer to the turntable's rotation axis, while the other end (head end) is located on the side of its rotation axis away from the turntable's rotation axis. The turntable and the tail end of the movable actuator are connected via a transmission mechanism. When the turntable drives the tail end of the movable actuator to rotate, the entire movable actuator rotates around its rotation axis, allowing the head end of the movable actuator to perform surgical operations. This creates a lever effect. With a fixed input force to the turntable, the lever effect created by the movable actuator increases the output force at the head end of the movable actuator, balancing the miniaturization design of the surgical instruments with the output force requirements of the end effector. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of an end effector according to one embodiment;

[0021] Figure 2 for Figure 1 A schematic diagram showing the connection relationship between the active actuator, turntable, first axis, and second axis of the end effector;

[0022] Figure 3 for Figure 1 A schematic diagram of the two moving actuators of the end effector in which they are closed relative to each other;

[0023] Figure 4 for Figure 1 A schematic diagram of the two moving actuators of the end effector when they are relatively open;

[0024] Figure 5 for Figure 1 A schematic diagram showing the overlap between the circle containing the rotation trajectory of the moving part of the end effector and the circle containing the rotation trajectory of the outer contour of the turntable.

[0025] Figure 6 This is a schematic diagram showing the overlap between the circumference of the rotation trajectory of the tail end of the active actuator in another embodiment and the circumference of the rotation trajectory of the outer contour of the turntable.

[0026] Reference numerals: End effector 100; Base 110; Turntable 120; Sliding part 121; Movable actuator 130; Tail end 130a; Head end 130b; Slide 131; First shaft 140; Second shaft 150; Rope connection structure 160; Pitch joint 170. Detailed Implementation

[0027] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0028] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0030] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0031] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0032] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0033] Please refer to Figures 1 to 4 This application provides an end effector 100 according to one embodiment. The end effector 100 includes: a base 110, a pitch joint 170, at least one turntable 120, and at least one movable actuator 130. The pitch joint 170 is rotatably disposed on the base 110. The turntable 120 is rotatably disposed on the pitch joint 170. The movable actuator 130 is connected to the turntable 120 in a one-to-one transmission manner, and the turntable 120 rotates to drive the movable actuator 130 to rotate, wherein the rotation axis of the turntable 120 is substantially parallel to the rotation axis of the movable actuator 130.

[0034] The aforementioned end effector 100 has a movable actuator 130 that is connected to the turntable 120. When the turntable 120 rotates, it drives the movable actuator 130 to rotate, thereby enabling the movable actuator 130 to perform surgical operations. Since the rotation axis of the turntable 120 is basically parallel to the rotation axis of the movable actuator 130, the rotation axes of the turntable 120 and the movable actuator 130 are spaced apart. Therefore, it can be understood that one end (tail end 130a) of the movable actuator 130 is located on the side of the movable actuator 130's rotation axis closer to the rotation axis of the turntable 120, and the other end (head end 130b) of the movable actuator 130 is located on the side of the movable actuator 130's rotation axis away from the rotation axis of the turntable 120. The turntable 120 and the tail end 130a of the movable actuator 130 are connected in a driving manner. When the turntable 120 drives the tail end 130a of the movable actuator 130 to rotate, the movable actuator 130 rotates as a whole around its axis of rotation, thereby enabling the head end 130b of the movable actuator 130 to perform surgical operations, thus making the movable actuator 130 a lever. With a fixed input force to the turntable 120, the output force of the head end 130b of the movable actuator 130 can be increased through the lever formed by the movable actuator 130, thus balancing the miniaturization design of surgical instruments with the output force requirements of the end effector 100.

[0035] Please refer to Figures 1 to 4 In one embodiment, the turntable 120 is rotatably mounted on the pitch joint 170 via a corresponding first shaft 140. The axis of rotation of the turntable 120 is the axis of the first shaft 140.

[0036] In one embodiment, when the number of active actuators 130 is at least two, the number of turntables 120 is at least two.

[0037] In one embodiment, at least two turntables 120 correspond to the same first shaft 140, the first shaft 140 is mounted on the pitch joint 170, and at least two turntables 120 are rotatably connected to the first shaft 140 respectively, that is, at least two turntables 120 are rotatably connected to the pitch joint 170 through the same first shaft 140.

[0038] In one embodiment, each turntable 120 corresponds to a first axis 140. That is, each turntable 120 is rotatably connected to the pitch joint 170 through its corresponding first axis 140.

[0039] Please refer to Figures 1 to 4 In one embodiment, the number of active actuators 130 is at least two, and the at least two active actuators 130 are coaxial and rotatable relative to each other.

[0040] Specifically, in this embodiment, there are two active actuators 130. The two active actuators 130 are coaxial and rotatable relative to each other, allowing them to open or close relative to each other when rotated, thus enabling them to perform surgical operations together. In this embodiment, the end effector 100 can be surgical scissors, surgical forceps, surgical tweezers, etc. During the surgical operation, the operating mode of the end effector 100 can be adjusted so that the rotation directions of the turntables 120 corresponding to each of the two active actuators 130 are opposite, thus allowing the two active actuators 130 to open or close relative to each other.

[0041] In other embodiments, the number of active executors may be greater, such as three, four, five, etc.

[0042] Please refer to Figures 1 to 4 In one embodiment, at least two movable actuators 130 are coaxially and rotatably connected via corresponding second shafts 150, thus allowing the at least two movable actuators 130 to rotate relative to each other about the axis of the second shaft 150. The axis of rotation of the movable actuator 130 is the axis of the second shaft 150.

[0043] In this embodiment, in addition to rotating at least two movable actuators 130 relative to each other, the working mode of the end effector 100 can also be adjusted so that the rotation direction of the turntables 120 corresponding to each of the at least two movable actuators 130 is the same, thereby enabling the at least two movable actuators 130 to rotate together around the rotation axis of the turntables 120 in the same direction, thereby enabling the at least two movable actuators 130 to swing, enhancing the movement flexibility of the movable actuators 130 and facilitating surgical operations.

[0044] In some embodiments, at least two active actuators 130 may correspond to the same second axis 150. For example, at least two active actuators 130 may be riveted to the same second axis 150, so that at least two active actuators 130 may rotate about the second axis 150, thereby achieving coaxial relative rotation of at least two active actuators 130.

[0045] In some embodiments, the active actuator 130 and the second axis 150 may also be in one-to-one correspondence. By rotatably connecting the second axis 150 corresponding to each active actuator 130, it is also possible to achieve coaxial relative rotation of at least two active actuators 130.

[0046] In other embodiments, the end effector further includes a fixed actuator (not shown), which is fixedly mounted on the pitch joint 170, and a movable actuator 130 is rotatably connected to the fixed actuator. Specifically, the fixed actuator is fixed relative to the pitch joint 170. The movable actuator 130 is rotated by the turntable 120, causing it to rotate relative to the fixed actuator, thereby enabling relative opening and closing of the movable actuator 130 and the fixed actuator, and thus performing surgical operations. It is understood that in this embodiment, the number of movable actuators 130 can also be one. The relative opening and closing of one movable actuator 130 with the fixed actuator can perform surgical operations such as clamping and cutting.

[0047] refer to Figures 2 to 4 In one embodiment, the tail end 130a of the active actuator 130 and the corresponding turntable 120 are provided with a groove 131 and a sliding part 121, respectively, and the sliding part 121 and the groove 131 are slidably engaged.

[0048] Specifically, when the turntable 120 rotates, it drives the sliding part 121 to slide along the groove 131. The force between the sliding part 121 and the groove wall of the groove 131 can drive the tail end 130a of the movable actuator 130 to rotate around its rotation axis, thereby causing the movable actuator 130 as a whole to rotate around its rotation axis, and thus causing the head end 130b of the movable actuator 130 to perform surgical operations. The sliding engagement between the sliding part 121 and the groove 131 facilitates the transmission connection between the turntable 120 and the tail end 130a of the movable actuator 130.

[0049] refer to Figures 2 to 4In one embodiment, the tail end 130a of the movable actuator 130 is provided with a groove 131, and the turntable 120 is provided with a sliding part 121 that protrudes from the turntable 120. The sliding part 121 is offset from the rotation axis of the turntable 120. Thus, when the turntable 120 rotates, it drives the sliding part 121 to perform a circular motion synchronously. The sliding part 121 slides relative to the groove 131, thereby driving the tail end 130a of the movable actuator 130 to rotate around its rotation axis.

[0050] Preferably, the sliding part 121 is provided at the edge of the turntable 120, so that the sliding part 121 can be matched with the groove 131 when the diameter of the turntable 120 is designed to be small, thereby reducing the volume of the turntable 120.

[0051] In one embodiment, the sliding part 121 protrudes from the end face of the turntable 120 and slides with the sliding groove 131. The tail end of the movable actuator 130 is also located on one side of the end face of the turntable 120, which facilitates setting the relative position of the movable actuator 130 and the turntable 120, thereby facilitating the transmission connection between the turntable 120 and the tail end 130a of the movable actuator 130.

[0052] like Figures 1 to 4 As shown, in one embodiment, a rope connection structure 160 is provided on the turntable 120, the rope connection structure 160 is used to connect a rope (not shown), and the turntable 120 is driven by the rope.

[0053] The rope connection structure 160 can be a clamping structure for securing the rope, a binding component that allows the rope to be tied (such as a connecting ring or hook), or a clamping component for holding the rope, etc. There are no restrictions on this.

[0054] Specifically, the rope can be wound around the turntable 120. Since the rope is connected to the turntable 120 via the rope connection structure 160, the rope can be fixed to the turntable 120 at the rope connection structure 160, preventing the rope from detaching from the turntable 120 and preventing relative sliding between the rope and the turntable 120. Because the rope is wound around the turntable 120, pulling one end of the rope causes the turntable 120 to rotate clockwise, and pulling the other end causes the turntable 120 to rotate counterclockwise. This allows the turntable 120 to be driven to rotate in opposite directions.

[0055] In one embodiment, the rotation axis of the pitch joint 170 is substantially perpendicular to the rotation axis of the turntable 120.

[0056] Since the turntable 120 is mounted on the pitch joint 170, when the pitch joint 170 rotates around its axis of rotation, it can carry the turntable 120 and the movable actuator 130 to rotate together around the axis of rotation of the pitch joint 170. Because the direction of the axis of rotation of the pitch joint 170 is substantially perpendicular to the direction of the axis of rotation of the turntable 120 (i.e., substantially perpendicular to the direction of the axis of rotation of the movable actuator 130), the movement flexibility of the movable actuator 130 is enhanced.

[0057] In one embodiment, the end effector 100 further includes a yaw joint (not shown). The yaw joint is rotatably mounted on the base. A pitch joint 170 is rotatably mounted on the yaw joint, thereby indirectly mounting the pitch joint 170 on the base. When the yaw joint rotates, it carries the pitch joint 170, the turntable 120, and the movable actuator 130 to rotate together about the rotation axis of the yaw joint. Therefore, the rotation of the yaw joint further enhances the operational flexibility of the movable actuator 130.

[0058] Please combine Figures 3 to 5 In one embodiment, when the movable actuator 130 rotates about its rotation axis, the circumference of the rotation trajectory of the tail end 130a of the movable actuator 130 is S1. When the turntable 120 rotates about its rotation axis, the circumference of the rotation trajectory of the outer contour of the turntable 120 is S2. Figure 5 It is understandable that only when the slide groove 131 and the sliding part 121 are set in the overlapping area A of S1 and S2 can the sliding part 121 and the slide groove 131 cooperate, thereby driving the movable actuator 130 to rotate around its rotation axis.

[0059] Since the rotation axis of the movable actuator 130 is parallel to the rotation axis of the turntable 120, according to geometric principles, two parallel lines can define a plane; that is, the rotation axis of the movable actuator 130 and the rotation axis of the turntable 120 together define plane P. Figure 5 As shown, the overlapping region A of S1 and S2 is divided into two halves by plane P.

[0060] The rotational stroke of the active actuator 130 about its rotation axis has a first limit angle and a second limit angle, and the stroke between the first limit angle and the second limit angle is the rotational stroke of the active actuator 130. Figure 3 The image shows the state of the movable actuator 130 (the left movable actuator 130 among two movable actuators 130) at the first limit angle, with the sliding part 121 located on one side of plane P. Figure 4The diagram shows the state of the movable actuator 130 (the leftmost of the two movable actuators 130) at the second extreme angle, with the sliding part 121 located on the other side of plane P. Since the sliding part 121 is located on different sides of plane P at the first and second extreme angles, during the switching process between the first and second extreme angles, the sliding part 121 moves from one side of plane P to the other. This allows the sliding part 121 to have a larger rotational stroke within the limited overlapping area A, which in turn allows the movable actuator 130 to have a larger rotational stroke when rotating around its axis, thus improving the flexibility of surgical operations.

[0061] Please combine Figures 3 to 5 In one embodiment, both the groove 131 and the sliding part 121 are located between the rotation axis of the turntable 120 and the rotation axis of the movable actuator 130.

[0062] Specifically, the tail end 130a of the movable actuator 130 is located between the rotation axis of the turntable 120 and the rotation axis of the movable actuator 130. Therefore, the mating structure of the groove 131 and the sliding part 121 is located between the rotation axis of the turntable 120 and the rotation axis of the movable actuator 130. Consequently, when the turntable 120 drives the movable actuator 130 to move, the mating structure of the groove 131 and the sliding part 121 always moves between the rotation axis of the turntable 120 and the rotation axis of the movable actuator 130. Thus, the mating structure of the groove 131 and the sliding part 121 will not interfere with the rotation axis (first axis 140) of the turntable 120, facilitating machining and assembly.

[0063] Please refer to Figure 6 In another embodiment, the tail end of the movable actuator 130 is located on the side of the rotation axis of the turntable 120 away from the rotation axis of the movable actuator 130. Therefore, the distance between the force application point of the sliding part 121 and the groove wall of the groove 131 at the tail end 130a of the movable actuator 130 and the rotation axis of the movable actuator 130 is relatively large. Consequently, the lever arm formed between the force application point of the tail end 130a of the movable actuator 130 and the rotation axis of the movable actuator 130 is longer. This allows for a further increase in the output force of the head end 130b when the input force of the rope on the turntable 120 is constant. Furthermore, when the length of the lever arm formed between the force application point of the tail end 130a of the movable actuator 130 and the rotation axis of the movable actuator 130 is constant, the distance between the rotation axis of the turntable 120 and the rotation axis of the movable actuator 130 can be reduced, resulting in a more compact end effector 100 structure.

[0064] One embodiment of this application provides a surgical instrument. The surgical instrument includes a proximal controller, an intermediate connecting rod, and an end effector 100 of any of the above. The proximal controller and the end effector 100 are connected by corresponding ropes, which pass through the interior of the intermediate connecting rod.

[0065] One embodiment of this application provides a surgical robot. The surgical robot includes a robotic arm and the aforementioned surgical instruments, the surgical instruments being mounted at the end of the robotic arm.

[0066] In the aforementioned surgical instruments and surgical robot, the movable actuator 130 is connected to the turntable 120 via a transmission connection. When the turntable 120 rotates, it drives the movable actuator 130 to rotate, thereby enabling the movable actuator 130 to perform surgical operations. Since the rotation axis of the turntable 120 is basically parallel to the rotation axis of the movable actuator 130, the rotation axes of the turntable 120 and the movable actuator 130 are spaced apart. Therefore, it can be understood that one end (tail end 130a) of the movable actuator 130 is located on the side of its rotation axis closer to the rotation axis of the turntable 120, and the other end (head end 130b) of the movable actuator 130 is located on the side of its rotation axis away from the rotation axis of the turntable 120. The turntable 120 and the tail end 130a of the movable actuator 130 are connected via a transmission connection. When the turntable 120 drives the tail end 130a of the movable actuator 130 to rotate, the movable actuator 130 rotates as a whole around its axis of rotation, thereby enabling the head end 130b of the movable actuator 130 to perform surgical operations, thus making the movable actuator 130 a lever. With a fixed input force to the turntable 120, the output force of the head end 130b of the movable actuator 130 can be increased through the lever formed by the movable actuator 130, thus balancing the miniaturization design of surgical instruments with the output force requirements of the end effector 100.

[0067] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0068] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. An end effector, characterized in that, The end effector includes: Base (110); The pitch joint (170) is rotatably mounted on the base (110). At least two turntables (120) are rotatably mounted on the pitch joint (170); and At least two movable actuators (130) are connected to the turntable (120) in a one-to-one transmission connection, and the turntable (120) is used to drive the movable actuators (130) to rotate when it rotates, wherein the rotation axis of the turntable (120) is parallel to the rotation axis of the movable actuators (130); Each of the aforementioned active actuators (130) has a tail end (130a) and a corresponding turntable (120), one of which is provided with a groove (131) and the other is provided with a sliding part (121), the sliding part (121) and the groove (131) being slidably engaged; The sliding part (121) and the slide groove (131) are both located between the rotation axis of the turntable (120) and the rotation axis of the movable actuator (130); By adjusting the working mode of the end effector, the rotation direction of the turntable (120) corresponding to each of the at least two active actuators (130) is the same, so that the at least two active actuators (130) can rotate together around the rotation axis of the turntable (120) in the same direction, thereby realizing the yaw action of the at least two active actuators (130).

2. The end effector according to claim 1, characterized in that, The sliding groove (131) is provided on the tail end (130a) of the active actuator (130), and the sliding part (121) is provided on the turntable (120) and the sliding part (121) protrudes from the turntable (120). The sliding part (121) is offset from the rotation axis of the turntable (120).

3. The end effector according to claim 1, characterized in that, At least two of the said active actuators (130) are coaxial and rotatable relative to each other.

4. The end effector according to claim 1, characterized in that, The end effector also includes a fixed actuator, which is fixedly mounted on the pitch joint (170), and the movable actuator (130) is rotatably connected to the fixed actuator.

5. The end effector according to claim 1, characterized in that, The turntable (120) is provided with a rope connection structure (160), which is used to connect a rope, and the turntable (120) is driven by the rope.

6. The end effector according to claim 1, characterized in that, The rotation axis of the pitch joint (170) is substantially perpendicular to the rotation axis of the turntable (120).

7. A surgical instrument, characterized in that, It includes a proximal controller, an intermediate connecting rod, and an end effector as described in any one of claims 1-6, wherein the proximal controller and the end effector are connected by a corresponding rope, and the rope passes through the interior of the intermediate connecting rod.

8. A surgical robot, characterized in that, include: The robotic arm and the surgical instrument as described in claim 7, wherein the surgical instrument is mounted at the end of the robotic arm.

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