Surgical robotic instrument

Abstract

The application provides a surgical robot instrument, which comprises an operating assembly, a fixed wire wheel set, a first yaw fixed wire wheel set, a second yaw fixed wire wheel set and a pitch fixed wire wheel set, a transition wheel set between the operating assembly and the fixed wire wheel set, a first yaw traction coil, a second yaw traction coil and a pitch traction coil respectively sleeved on the operating assembly and respectively wound on the transition wheel set, and then respectively extended along a first direction, a second direction and a third direction and respectively sleeved on the first yaw fixed wire wheel set, the second yaw fixed wire wheel set and the pitch fixed wire wheel set, wherein the first direction, the second direction and the third direction extend away from the axis of the operating assembly, and the pitch fixed wire wheel set is farther away from the transition wheel set than the first yaw fixed wire wheel set and the second yaw fixed wire wheel set. The application can reduce the included angle between the traction coil and the winding groove of the pitch fixed wire wheel set, reduce the friction between the traction coil and the wire winding groove, and improve the service life of the traction coil.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more particularly to a surgical robot device. Background Technology

[0002] Minimally invasive surgery has been rapidly accepted by doctors and patients due to its numerous advantages, including smaller incisions, less bleeding, smaller postoperative scars, and faster recovery. However, traditional minimally invasive surgery presents a challenge for surgeons. This is partly due to the change in operating habits compared to open surgery, and partly due to the limited flexibility of surgical instruments. This has led to new demands for surgical instruments that are highly flexible, easy to operate, and precise. With technological advancements, minimally invasive surgical robots, exemplified by the commercially available da Vinci Surgical System, have revolutionized the landscape of minimally invasive surgery. Their high flexibility, accuracy, and stable operation have gradually gained acceptance among surgeons. Surgical instruments are a crucial component of surgical robots and serve as the end effector; their performance plays a vital role in the success of the surgery. Therefore, highly flexible and reliable surgical instruments have become a research focus in recent years.

[0003] Surgical instruments generally refer to end effectors of surgical robots, such as needle forceps and scissors. They possess four degrees of freedom: spin, opening / closing, pitch, and yaw. Spin is typically achieved through gear transmission, while the other three degrees of freedom are transmitted via wires. One existing surgical instrument uses wire transmission to achieve these degrees of freedom. Wire transmission allows for long-distance power transmission, and the distance between the instrument's power interface and the forceps head is considerable, making it highly suitable. However, due to the large number of degrees of freedom, surgical instruments typically require six wires to achieve three of them. Current surgical instruments also have several shortcomings: First, surgical instruments are reusable, so a flushing tube is placed inside the instrument tube for rinsing the internal cavities. Simultaneously, the six wire bundles of the forceps head also pass through the instrument tube, causing interference between the flushing tube and the wire bundles, affecting the efficiency and lifespan of the wire transmission. Secondly, the distance between the pitching wire-fixing wheel assembly and its corresponding transition wheel is very close. When the wire-fixing wheel assembly is winding or unwinding the wire bundle, the helix angle of the winding groove changes, causing the wire bundle to lose tangency and increasing friction. Analysis shows that the closer the distance between the wire-fixing wheel assembly and the pulley, the greater the friction, leading to increased wire bundle wear and affecting its lifespan. Thirdly, the transition wheel assembly often uses three layers of pulleys. Too many layers require the wire to be tangent to the wire-fixing wheel assembly after passing through the pulleys, resulting in a very high overall height of the wire-fixing wheel assembly. This increases the length of the wire-fixing wheel assembly's shaft, reduces its strength, and also increases the overall size of the instrument box.

[0004] Therefore, it is necessary to provide a new type of surgical robotic instrument and surgical robot to solve the above-mentioned problems existing in the prior art. Summary of the Invention

[0005] The purpose of this invention is to provide a surgical robot instrument that reduces the angle between the traction coil and the winding groove of the pitch wire wheel assembly, reduces the friction between the traction coil and the winding groove, and improves the service life of the traction coil.

[0006] To achieve the above objectives, the surgical robot device of the present invention includes:

[0007] Operating components are used to perform surgical procedures;

[0008] The fixed wire wheel assembly includes a first yaw fixed wire wheel assembly, a second yaw fixed wire wheel assembly, and a pitch fixed wire wheel assembly located between the first yaw fixed wire wheel assembly and the second yaw fixed wire wheel assembly;

[0009] Transition wheel set;

[0010] The first yaw traction coil, the second yaw traction coil, and the pitch traction coil are slidably sleeved on the operating component and then wound around the transition wheel assembly. After being reversed by the transition wheel assembly, they extend along the first direction, the second direction, and the third direction, respectively, and are respectively sleeved on the first yaw fixed wire wheel assembly, the second yaw fixed wire wheel assembly, and the pitch fixed wire wheel assembly. The third direction is located between the first direction and the second direction. The first direction, the second direction, and the third direction extend away from the axis of the operating component, and the first direction and the second direction extend away from the third direction.

[0011] The pitch fixing wheel set is further away from the transition wheel set relative to the first yaw fixing wheel set and the second yaw fixing wheel set.

[0012] The beneficial effects of the surgical robot instrument of the present invention are as follows: the pitch wire fixing wheel group is further away from the transition wheel group than the first yaw wire fixing wheel group and the second yaw wire fixing wheel group, which can reduce the included angle between the traction coil and the winding groove of the pitch wire fixing wheel group, reduce the friction between the traction coil and the winding groove, and improve the service life of the traction coil.

[0013] Preferably, the transition wheel set includes a first yaw transition wheel set disposed opposite to the first yaw fixed wire wheel set along the first direction, a second yaw transition wheel set disposed opposite to the second yaw fixed wire wheel set along the second direction, and a pitch transition wheel set disposed opposite to the pitch fixed wire wheel set along the third direction. The first yaw transition wheel set and the second yaw transition wheel set are disposed further away from the operating component than the pitch transition wheel set.

[0014] Preferably, the first yaw transition wheel group includes a first yaw transition wheel and a second yaw transition wheel arranged sequentially in a direction away from the axis of the operating component, the second yaw transition wheel group includes a third yaw transition wheel and a fourth yaw transition wheel arranged sequentially in a direction away from the axis of the operating component, and the pitch transition wheel group includes a first pitch transition wheel and a second pitch transition wheel. The first yaw transition wheel and the third yaw transition wheel are opposite to each other and are arranged independently, the second yaw transition wheel and the fourth yaw transition wheel are opposite to each other and are arranged independently, and the first pitch transition wheel and the second pitch transition wheel are opposite to each other and are arranged independently.

[0015] Preferably, the two wire bundles of the first yaw traction coil are respectively wound around the first yaw transition wheel and the second yaw transition wheel, the two wire bundles of the second yaw traction coil are respectively wound around the third yaw transition wheel and the fourth yaw transition wheel, and the two wire bundles of the pitch traction coil are respectively wound around the first pitch transition wheel and the second pitch transition wheel.

[0016] Preferably, the axes of the first pitch transition wheel and the second pitch transition wheel are in the same plane, and the axes of the first yaw transition wheel, the second yaw transition wheel, the third yaw transition wheel and the fourth yaw transition wheel are in another plane.

[0017] Preferably, the transition wheel set further includes a transition fixing seat, which includes a first fixing seat and a second fixing seat disposed opposite to each other. The first yaw transition wheel set is disposed on one side wall of the first fixing seat, and the second yaw transition wheel set is disposed on the other side wall of the second fixing seat opposite to one side wall of the first fixing seat. The pitch transition wheel set is disposed on one side wall of the first fixing seat and the other side wall of the second fixing seat opposite to one side wall of the first fixing seat.

[0018] Preferably, among the points where the first yaw transition wheel, the second yaw transition wheel, the third yaw transition wheel, the fourth yaw transition wheel, the first pitch transition wheel, and the second pitch transition wheel contact the first yaw traction coil, the second yaw traction coil, and the pitch traction coil, respectively, the contact points closest to the operating component are arranged circumferentially around the axis of the operating component. The wiring harness portion of the first yaw traction coil located between the first yaw transition wheel and the operating component, and the wiring harness portion of the first yaw traction coil located between the second yaw transition wheel and the operating component... The six wire harnesses—the portion located between the third yaw transition wheel and the operating component in the second yaw traction coil, the portion located between the fourth yaw transition wheel and the second yaw fixed wire wheel group in the second yaw traction coil, the portion located between the first pitch transition wheel and the operating component in the pitch traction coil, and the portion located between the second pitch transition wheel and the operating component in the pitch traction coil—are distributed along the circumferential direction in the order of wire output from the operating component, and the distance between any point on one wire harness and any point on another wire harness is greater than 0.

[0019] Preferably, in the first yaw traction coil, the wire harness portion located between the first yaw transition wheel and the operating component, the wire harness portion located between the second yaw transition wheel and the operating component, the wire harness portion located between the third yaw transition wheel and the operating component, the wire harness portion located between the fourth yaw transition wheel and the operating component, the wire harness portion located between the first pitch transition wheel and the operating component, and the wire harness portion located between the second pitch transition wheel and the operating component in the pitch traction coil, the wire harness portion located between the first pitch transition wheel and the operating component in the pitch traction coil, and the wire harness portion located between the second pitch transition wheel and the operating component in the pitch traction coil, the acute angle between any two wire harnesses is 0-5°.

[0020] Preferably, the angle between any one of the first yaw traction coil, the second yaw traction coil, and the pitch traction coil and the rotation surface of the corresponding transition wheel groove is 0-0.2°.

[0021] Preferably, the surgical robot further includes a connecting structure at both ends connecting the operating component and the transition wheel assembly, wherein the first yaw traction coil, the second yaw traction coil and the pitch traction coil pass through the connecting structure and are configured to be able to move relative to the connecting structure.

[0022] Preferably, the surgical robot instrument further includes a spin wheel assembly, which includes a drive gear and a driven gear that mesh with each other. The driven gear is fixedly connected to the connecting structure, and the radius of the drive gear is larger than the radius of the driven gear.

[0023] Preferably, the surgical robot instrument further includes an instrument box base and a spin wheel assembly. The spin wheel assembly includes a drive gear and a driven gear that mesh with each other. The driven gear is fixedly connected to the connecting structure. The radius of the drive gear is larger than the radius of the driven gear. The first yaw wire-fixing wheel assembly, the second yaw wire-fixing wheel assembly, the pitch wire-fixing wheel assembly, and the spin wheel assembly are all fixedly mounted on the instrument box base.

[0024] Preferably, the center of the drive gear, the center of the driven gear, and the center of the pitch fixing wheel assembly are located on a straight line.

[0025] Preferably, the bottom surface of the instrument box base is symmetrical about the straight line containing the center of the drive gear, the center of the driven gear, and the center of the pitch fixing wheel assembly.

[0026] Preferably, the first yaw fixed wire wheel set and the second yaw fixed wire wheel set are symmetrical about the straight line containing the center of the pitch fixed wire wheel set and the center of the driven gear.

[0027] Preferably, the bottom surface of the instrument box base is rectangular. The sum of the diameters of the driving gear and the driven gear is a first data point. The difference between half the width of the rectangle and half the diameter of the driven gear is a second data point. The quotient of the second data point divided by the first data point is a third data point. The angle formed between the straight line passing through the center of the driving gear and the center of the driven gear and the length of the rectangle, pointing towards the fixed wire wheel assembly, is less than or equal to the arcsine function value of the third data point.

[0028] Preferably, the connection structure includes a hollow cavity, in which the first yaw traction coil, the second yaw traction coil, and the pitch traction coil are housed. Attached Figure Description

[0029] Figure 1 These are schematic diagrams of the surgical robot instruments in some embodiments of the present invention;

[0030] Figure 2 This is a schematic diagram of the wire bundle path of the first yaw traction coil in some embodiments of the present invention;

[0031] Figure 3 This is a schematic diagram of the wire bundle path of the second yaw traction coil in some embodiments of the present invention;

[0032] Figure 4This is a schematic diagram of the wire bundle path of the pitch traction coil in some embodiments of the present invention;

[0033] Figure 5 This is a schematic diagram illustrating the relative positional relationship between the wire-fixing wheel assembly and the transition wheel assembly in some embodiments of the present invention;

[0034] Figure 6 This is a schematic diagram of the transition wheel assembly in some embodiments of the present invention;

[0035] Figure 7 This is a top view of the transition wheel assembly in some embodiments of the present invention;

[0036] Figure 8 This is a schematic diagram of the surgical robot instrument in some other embodiments of the present invention;

[0037] Figure 9 This is a schematic diagram showing that the third yaw transition wheel is tangent to the second yaw traction coil in some embodiments of the present invention;

[0038] Figure 10 This is a top view of the spin wheel assembly in some embodiments of the present invention;

[0039] Figure 11 This is a top view of the instrument box base described in some embodiments of the present invention;

[0040] Figure 12 This is a schematic diagram of the winding groove in some embodiments of the present invention;

[0041] Figure 13 This is a schematic diagram of the structure of the operating components in some embodiments of the present invention;

[0042] Figure 14 This is a schematic diagram of the wire-fixing wheel assembly in some embodiments of the present invention;

[0043] Figure 15 This is a schematic diagram of the overall structure of the surgical robot instrument in some embodiments of the present invention.

[0044] Explanation of reference numerals in the attached figures

[0045] 1-Fixing wheel assembly, 11-First yaw thread-fixing wheel assembly, 12-Second yaw thread-fixing wheel assembly, 13-Pitch thread-fixing wheel assembly, 101-Thread-fixing wheel, 102-Winding groove, 103-Thread-fixing wheel shaft,

[0046] 2-Transition wheel assembly, 21-First yaw transition wheel assembly, 211-First yaw transition wheel, 212-Second yaw transition wheel, 22-Second yaw transition wheel assembly, 221-Third yaw transition wheel, 222-Fourth yaw transition wheel, 23-Pitch transition wheel assembly, 231-First pitch transition wheel, 232-Second pitch transition wheel, 24-Transition mounting base, 241-First mounting base, 242-Second mounting base, 2411-First upper mounting base, 2412- 2421-Second upper fixed base, 2422-Second lower fixed base, 2423-Mounting hole, 3-Operating component, 32-Actuator, 33-Clamping head seat, 34-Actuator connecting seat, 321-First actuator, 322-Second actuator, 311-First pulley, 312-Second pulley, 313-Third pulley, 41-First yaw traction coil, 42-Second yaw traction coil, 43-Pitch traction coil, 5-Hollow cavity.

[0047] 6- Instrument box base,

[0048] 7-Flush pipe, 71-Bend, 72-Connecting part, 73-Straight section

[0049] 8-Spinning gear set, 81-Drive gear, 82-Driven gear. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art. The terms "comprising" and similar expressions used herein mean that the element or object preceding the word covers the element or object listed following the word and its equivalents, but do not exclude other elements or objects.

[0051] To address the problems existing in the prior art, embodiments of the present invention provide surgical robot instruments. Figure 1 The following are schematic diagrams of the surgical robot instruments in some embodiments of the present invention, with reference to... Figure 1 The surgical robot instrument includes:

[0052] Operation component 3 is used to perform surgical procedures;

[0053] The fixed wire wheel assembly 1 includes a first yaw fixed wire wheel assembly 11, a second yaw fixed wire wheel assembly 12, and a pitch fixed wire wheel assembly 13 located between the first yaw fixed wire wheel assembly 11 and the second yaw fixed wire wheel assembly 12.

[0054] Transition wheel assembly 2 is located between the operating component 3 and the wire-fixing wheel assembly 1;

[0055] The first yaw traction coil 41, the second yaw traction coil 42, and the pitch traction coil 43 are slidably sleeved on the operating component 3 and then wound around the transition wheel group 2. After being reversed by the transition wheel group 2, they extend along the first direction a, the second direction b, and the third direction c, respectively, and are respectively sleeved on the first yaw fixed wire wheel group 11, the second yaw fixed wire wheel group 12, and the pitch fixed wire wheel group 13. The third direction c is located between the first direction a and the second direction b. The first direction a, the second direction b, and the third direction c extend away from the axis of the operating component 3, and the first direction a and the second direction b extend away from the third direction c. The extension direction from the transition wheel group 2 to the first yaw fixed wire wheel group 11 is the first direction a, the extension direction from the transition wheel group 2 to the second yaw fixed wire wheel group 12 is the second direction b, and the extension direction from the transition wheel group 2 to the pitch fixed wire wheel group 13 is the third direction.

[0056] The pitch fixing wheel assembly 13 is further away from the transition wheel assembly 2 relative to the first yaw fixing wheel assembly 11 and the second yaw fixing wheel assembly 12.

[0057] The beneficial effects of the surgical robot instrument of the present invention are as follows: the pitch wire fixing wheel group is further away from the transition wheel group than the first yaw wire fixing wheel group and the second yaw wire fixing wheel group, which can reduce the included angle between the traction coil and the winding groove of the pitch wire fixing wheel group, reduce the friction between the traction coil and the winding groove, and improve the service life of the traction coil.

[0058] Reference Figure 1 One end of the first yaw traction coil 41 is wound around the first yaw fixed wire reel 11, and two wire bundles are led out and wound around the transition reel 2 respectively. In some embodiments, the portion of the two wire bundles between the first yaw fixed wire reel 11 and the transition reel 2 is parallel. In other embodiments, the extension directions of the two wire bundles are not parallel, and the extension directions of the two wire bundles are close to the first direction a. The two wire bundles led out of the second yaw traction coil 42 from the second yaw fixed wire reel 12 and the two wire bundles led out of the pitch traction coil 43 from the pitch fixed wire reel 13 are similar to those of the first yaw traction coil 41, and will not be described further here.

[0059] Figure 2This is a schematic diagram of the wire bundle path of the first yaw traction coil in some embodiments of the present invention. Figure 3 This is a schematic diagram of the wire bundle path of the second yaw traction coil in some embodiments of the present invention. Figure 4 This is a schematic diagram of the wire bundle path of the pitch traction coil in some embodiments of the present invention. Figure 5 This is a schematic diagram illustrating the relative positional relationship between the fixed wire wheel assembly and the transition wheel assembly in some embodiments of the present invention, with reference to... Figures 2 to 5 The transition wheel assembly 2 includes a first yaw transition wheel assembly 21 disposed opposite to the first yaw fixed wire wheel assembly 11 along the first direction a, a second yaw transition wheel assembly 22 disposed opposite to the second yaw fixed wire wheel assembly 12 along the second direction b, and a pitch transition wheel assembly 23 disposed opposite to the pitch fixed wire wheel assembly 13 along the third direction c. The first yaw transition wheel assembly 21 and the second yaw transition wheel assembly 22 are disposed further away from the operating component 3 than the pitch transition wheel assembly 23.

[0060] Figure 6 This is a schematic diagram of the transition wheel assembly in some embodiments of the present invention. (Refer to...) Figure 6 The first yaw transition wheel group 21 includes a first yaw transition wheel 211 and a second yaw transition wheel 212 arranged sequentially along a direction away from the axis of the operating component (not shown in the figure). The second yaw transition wheel group 22 includes a third yaw transition wheel 221 and a fourth yaw transition wheel 222 arranged sequentially along a direction away from the axis of the operating component. The pitch transition wheel group 23 includes a first pitch transition wheel 231 and a second pitch transition wheel 232. The first yaw transition wheel 211 and the third yaw transition wheel 221 are opposite to each other and are arranged independently. The second yaw transition wheel 212 and the fourth yaw transition wheel 222 are opposite to each other and are arranged independently. The first pitch transition wheel 231 and the second pitch transition wheel 232 are opposite to each other and are arranged independently. (Refer to...) Figures 2 to 5 The two wire bundles of the first yaw traction coil 41 are respectively wound around the first yaw transition wheel 211 and the second yaw transition wheel 212, the two wire bundles of the second yaw traction coil 42 are respectively wound around the third yaw transition wheel 221 and the fourth yaw transition wheel 222, and the two wire bundles of the pitch traction coil 43 are respectively wound around the first pitch transition wheel 231 and the second pitch transition wheel 232.

[0061] Reference Figure 6The transition wheel assembly 2 further includes a transition fixing seat 24, which includes a first fixing seat 241 and a second fixing seat 242 disposed opposite to each other. The first yaw transition wheel assembly 21 is disposed on the side wall of the first fixing seat 241, and the second yaw transition wheel assembly 22 is disposed on the other side wall of the second fixing seat 242 opposite to the side wall of the first fixing seat 241. The pitch transition wheel assembly (not shown in the figure) is disposed on the side wall of the first fixing seat 241 and the other side wall of the second fixing seat 242 opposite to the side wall of the first fixing seat 241. The first pitch transition wheel 231 is disposed on the side wall of the first fixing seat 241, and the second pitch transition wheel 242 is disposed on the side wall of the second fixing seat 242. The first fixed base 241 includes a first upper fixed base 2411 and a first lower fixed base 2412. The second fixed base 242 includes a second upper fixed base 2421 and a second lower fixed base 2422. The rotation shafts of the first yaw transition wheel 211 and the second yaw transition wheel 212 are fixed on the first upper fixed base 2411. The rotation shafts of the third yaw transition wheel 221 and the fourth yaw transition wheel 222 are fixed on the second upper fixed base 2421. The rotation shaft of the first pitch transition wheel 231 is fixed on the first lower fixed base 2412. The rotation shaft of the second pitch transition wheel 232 is fixed on the second lower fixed base 2422.

[0062] Reference Figure 6 The axes of the first pitch transition wheel 231 and the second pitch transition wheel 232 are in the same plane, and the axes of the first yaw transition wheel 211, the second yaw transition wheel 212, the third yaw transition wheel 221 and the fourth yaw transition wheel 222 are in another plane.

[0063] Reference Figure 6 The plane containing the axis g5 of the first pitch transition wheel 231 and the axis g6 of the second pitch transition wheel 232 is a first plane. The plane containing the axis g1 of the first yaw transition wheel 211, the axis (not shown in the figure) of the second yaw transition wheel 212, the axis g3 of the third yaw transition wheel 221, and the axis g4 of the fourth yaw transition wheel 222 is a second plane. The first plane is parallel to the second plane. The centers of the rotation surfaces of the first yaw transition wheel 211, the second yaw transition wheel 212, and the first pitch transition wheel 231 form an acute triangle. The centers of the rotation surfaces of the third yaw transition wheel 221, the fourth yaw transition wheel 222, and the second pitch transition wheel 232 also form an acute triangle, making the structure of the transition wheel assembly more compact.

[0064] The transition wheel assembly of the present invention includes 6 transition wheels, and each transition wheel corresponds to 6 wire bundles of 3 traction coils. The 6 transition wheels play a reversing role for the 6 wire bundles, so that each wire bundle has an independent reversing transition wheel, ensuring that the traction wire bundle can be tangent to the rotation axis of the corresponding wire fixing wheel assembly after being reversed by the transition wheel, thereby improving the life of the wire bundle. Meanwhile, the axes of the first pitch transition wheel 231 and the second pitch transition wheel 232 are in the same plane, while the axes of the first yaw transition wheel 211, the second yaw transition wheel 212, the third yaw transition wheel 221, and the fourth yaw transition wheel 222 are in another plane. The first pitch transition wheel 231 and the second pitch transition wheel 232 are closer to the operating component than the first yaw transition wheel 211, the second yaw transition wheel 212, the third yaw transition wheel 221, and the fourth yaw transition wheel 222. This results in the transition wheels of the transition wheel group being divided into two layers. Since the traction coil is tangent to the transition wheels after being led out from the fixed wire wheel group, the height of the transition wheel group is reduced, which effectively reduces the height of the fixed wire wheel group on the shaft, thereby reducing the length of the fixed wire wheel group shaft, increasing the strength of the shaft, and improving the reliability of the instrument. Furthermore, the two-layer structure of the transition wheel group makes the transition wheel group structure more compact, saving instrument space.

[0065] Figure 7 This is a top view of the transition wheel assembly in some embodiments of the present invention. Figure 8 This is a schematic diagram of the surgical robot instrument in some other embodiments of the present invention, with reference to... Figures 7 to 8 The points where the first yaw transition wheel 211, the second yaw transition wheel 212, the third yaw transition wheel 221, the fourth yaw transition wheel 222, the first pitch transition wheel 231, and the second pitch transition wheel 232 contact the first yaw traction coil 41, the second yaw traction coil 42, and the pitch traction coil 43, respectively, form a hollow shape with the contact point closest to the operating component 3.

[0066] Reference Figures 7 to 8When the first yaw coil 41 cuts into the groove of the first yaw transition wheel 211 and extends towards the operating component 3, the tangent point d1 leaving the groove of the first yaw transition wheel 211 is the closest contact point to the operating component 3 among the points where the first yaw transition wheel 211 and the first yaw traction coil 41 are tangent; when the first yaw coil 41 cuts into the groove of the second yaw transition wheel 212 and extends towards the operating component 3, the tangent point d2 leaving the groove of the second yaw transition wheel 212 is the closest contact point to the operating component 3 among the points where the second yaw transition wheel 212 and the first yaw traction coil 41 are tangent; when the second yaw coil 42 cuts into the groove of the third yaw transition wheel 221 and extends towards the operating component 3, the tangent point d3 leaving the groove of the third yaw transition wheel 221 is the closest contact point to the operating component 3 among the points where the third yaw transition wheel 221 and the second yaw traction coil 42 are tangent; the second yaw coil 42 cuts into the groove of the third yaw transition wheel 221 and extends towards the operating component 3. When the pitch coil 43 enters the groove of the fourth yaw transition wheel 222 and extends towards the operating component 3, the tangent point d4 leaving the groove of the fourth yaw transition wheel 222 is the closest contact point to the operating component 3 among the points where the fourth yaw transition wheel 222 is tangent to the second yaw traction coil 42; when the pitch coil 43 enters the groove of the first pitch transition wheel 231 and extends towards the operating component 3, the point d5 leaving the groove of the first pitch transition wheel 231 is the closest contact point to the operating component 3 among the points where the first pitch transition wheel 231 is tangent to the pitch coil 43; when the pitch coil 43 enters the groove of the second pitch transition wheel 232 and extends towards the operating component 3, the point d6 leaving the groove of the second pitch transition wheel 232 is the closest contact point to the operating component 3 among the points where the second pitch transition wheel 232 is tangent to the pitch coil 43. d1, d2, d3, d4, d5, and d6 form a hollow shape around the axis of the operating component.

[0067] The surgical robot also includes a connection structure at both ends connecting the operating component 3 and the transition wheel assembly 2, respectively. (Refer to...) Figure 1 The connection structure (not shown in the figure) includes a hollow cavity 5, in which the first yaw traction coil 41, the second yaw traction coil 42 and the pitch traction coil 43 are housed and configured to move relative to the hollow cavity 5.

[0068] The surgical robot instrument also includes an irrigation tube. (See reference...) Figure 1 , Figure 6 and Figure 8The second fixing seat 242 is provided with a mounting hole 2423, and the flushing pipe 7 passes through the mounting hole 2423. The flushing pipe 7 includes a bent part 71, a connecting part 72 and a straight part 73 connected in sequence. The bent part 71 passes through the mounting hole 2423, and the straight part 73 is housed in the hollow cavity 5. The two ends of the connecting part 72 are respectively connected to the bent part 71 and the straight part 73. In order for the bent part 71 to pass through the mounting hole 2423, the shape of the bent part 71 is adapted to the shape of the mounting hole 2423. The extension direction of the straight part 73 and the extension direction of the axis of the hollow cavity 5 and the operating component 3 are the same.

[0069] Reference Figure 8 and Figure 5 The acute angle between any two wire harnesses in the first yaw traction coil 41 located between the first yaw transition wheel 211 and the operating component 3, the wire harness between the second yaw transition wheel 212 and the operating component 3 in the first yaw traction coil 41, the wire harness between the third yaw transition wheel 221 and the operating component 3 in the second yaw traction coil 42, the wire harness between the fourth yaw transition wheel 222 and the operating component 3 in the second yaw traction coil 42, the wire harness between the first pitch transition wheel 231 and the operating component 3 in the pitch traction coil 43, and the wire harness between the second pitch transition wheel 232 and the operating component 3 is 0-5°. In some specific embodiments, the two wire harnesses are parallel to each other. As the six wire harnesses switch directions via the six corresponding transition wheels, the six points closest to the operating component among the points where the six wire harnesses are tangent to the six corresponding transition wheels form a hollow shape around the axis z of the operating component. After the traction coil switches directions via the transition wheel group, the acute angle between the six wire harnesses is 0-5°, which reduces the crossing between the wire harnesses. Therefore, the wire harness portion between the transition wheel group and the operating component is arranged circumferentially around the axis of the operating component and forms a hollow space. The straight cylindrical portion 73 is located within the hollow space formed by the wire harness portion between the transition wheel group and the operating component arranged circumferentially around the axis of the operating component, and the wire harness portion between the transition wheel group and the operating component is arranged circumferentially around the straight cylindrical portion 73, without contacting the straight cylindrical portion 73.

[0070] The wire harness portion between the transition wheel assembly and the operating component is arranged circumferentially around the axis of the operating component and forms a hollow space for installing the flushing pipe, reducing interference between the flushing pipe and the wire harness, thereby improving the life of the wire harness.

[0071] Reference Figure 8 and Figure 5In the first yaw traction coil 41, the wire harness portion located between the first yaw transition wheel 211 and the operating component 3; the wire harness portion located between the second yaw transition wheel 212 and the operating component 3; the wire harness portion located between the third yaw transition wheel 221 and the operating component 3 in the second yaw traction coil 42; the wire harness portion located between the fourth yaw transition wheel 222 and the operating component 3 in the second yaw traction coil 42; the wire harness portion located between the first pitch transition wheel 231 and the operating component 3 in the pitch traction coil 43; and the wire harness portion located between the second pitch transition wheel 232 and the operating component 3 in the pitch traction coil 43, the distance between a point on any wire harness and a point on another wire harness is greater than 0. This ensures that after the traction coil in the surgical instrument of the present invention is reversed by the transition wheel group, there is no contact or overlap between the six wire harnesses, reducing the influence between the wire harnesses, reducing wire harness wear, and improving the service life of the wire harnesses.

[0072] In some embodiments, the angle between any one of the first yaw traction coil 41, the second yaw traction coil 42, and the pitch traction coil 43 and the rotation surface of the corresponding transition wheel groove is 0-0.2°. In some embodiments, this angle is 0-0.1°. In some specific embodiments, this angle is 0°.

[0073] Reference Figure 2 The angle between the portion of the wire harness in the first yaw traction coil 41 located between the first yaw transition wheel 211 and the first yaw fixed wire wheel group 11 and the rotating surface of the wire groove of the first yaw transition wheel 211 is in the range of 0-0.2°. The angle between the portion of the wire harness in the first yaw traction coil 41 located between the first yaw transition wheel 211 and the operating component 3 and the rotating surface of the wire groove of the first yaw transition wheel 211 is in the range of 0-0.2°. The angle between the portion of the wire harness in the first yaw traction coil 41 located between the second yaw transition wheel 212 and the first yaw fixed wire wheel group 11 and the rotating surface of the wire groove of the second yaw transition wheel 212 is in the range of 0-0.2°. The angle between the portion of the wire harness in the first yaw traction coil 41 located between the second yaw transition wheel 212 and the operating component 3 and the rotating surface of the wire groove of the second yaw transition wheel 212 is in the range of 0-0.2°.

[0074] Reference Figure 3The angle between the portion of the wire harness located between the third yaw transition wheel 221 and the second yaw fixed wire wheel group 12 in the second yaw traction coil 42 and the rotating surface of the wire groove of the third yaw transition wheel 221 is in the range of 0-0.2°. The angle between the portion of the wire harness located between the third yaw transition wheel 222 and the operating component 3 in the second yaw traction coil 42 and the rotating surface of the wire groove of the third yaw transition wheel 221 is in the range of 0-0.2°. The angle between the portion of the wire harness located between the fourth yaw transition wheel 222 and the second yaw fixed wire wheel group 12 in the second yaw traction coil 42 and the rotating surface of the wire groove of the fourth yaw transition wheel 222 is in the range of 0-0.2°. The angle between the portion of the wire harness located between the fourth yaw transition wheel 222 and the operating component 3 in the second yaw traction coil 42 and the rotating surface of the wire groove of the fourth yaw transition wheel 222 is in the range of 0-0.2°.

[0075] Reference Figure 4 and Figure 6 The angle between the portion of the wire harness in the pitch traction coil 43 located between the first pitch transition wheel 231 and the third yaw fixed wire wheel group 13 and the rotating surface of the wire groove of the first pitch transition wheel 231 is in the range of 0-0.2°. The angle between the portion of the wire harness in the pitch traction coil 43 located between the first pitch transition wheel 231 and the operating component 3 and the rotating surface of the wire groove of the first pitch transition wheel 231 is in the range of 0-0.2°. The angle between the portion of the wire harness in the pitch traction coil 43 located between the second pitch transition wheel 232 and the third yaw fixed wire wheel group 13 and the rotating surface of the wire groove of the second pitch transition wheel 232 is in the range of 0-0.2°. The angle between the portion of the wire harness in the pitch traction coil 43 located between the second pitch transition wheel 232 and the operating component 3 and the rotating surface of the wire groove of the second pitch transition wheel 232 is in the range of 0-0.2°.

[0076] Reference Figures 2 to 4 The six wires of the traction coil extend to one end near the operating component 3 after changing direction through corresponding transition wheels. Each transition wheel includes a wire groove for accommodating the wires. The wire groove includes a rotation surface, an entry tangent point, and an exit tangent point. The wires of the corresponding traction coil enter the transition wheel from the entry tangent point and exit the transition wheel from the exit tangent point. The rotation surface of the wire groove is the plane containing the wire groove and is perpendicular to the rotation axis of the transition wheel. Taking the third yaw transition wheel being tangent to the second yaw traction coil as an example... Figure 9 This is a schematic diagram showing the third yaw transition wheel being tangent to the second yaw traction coil in some embodiments of the present invention, with reference to... Figure 9 The third yaw transition wheel includes a wire groove rotation surface Gr and an entry tangent point d3. ′And leaving the tangent point d3, the groove rotation surface Gr of the third yaw transition wheel 221 is circular. The straight line passing through the center of the rotation surface Gr of the third yaw transition wheel 221 and perpendicular to the groove rotation surface Gr of the third yaw transition wheel 221 is the rotation axis g3 of the groove rotation surface Gr of the third yaw transition wheel 221. The wire harness of the second traction coil 42 enters from the tangent point d3. ′ The coil enters the groove of the third yaw transition wheel 221 and exits the groove at the exit tangent point d3. The third yaw transition wheel 221 is used to change the direction of the second yaw traction coil 42. The second pulley 312 is connected to the second traction coil 42 to form a connection point e3, which is connected to the entry tangent point d3 of the third yaw transition wheel 221. ′ The angle β between the wire harness portion and the rotating surface Gr of the wire groove is 0-0.2°, preferably 0-0.1°, and more preferably 0°. The angle β between the wire harness portion between the departure point d4 of the third yaw transition wheel 221 and the connection point of the second yaw wire fixing wheel set and the rotating surface Gr of the wire groove is also β, β being 0-0.2°, preferably 0-0.1°, and more preferably 0°. That is, the extension direction of the second yaw traction coil 42 is consistent with the rotating surface Gr of the wire groove of the third yaw transition wheel 221. The second yaw traction coil 42 will not generate lateral force due to the yaw angle, thus avoiding pressure against the sidewall of the wire groove and generating lateral friction, improving the transmission efficiency and service life of the traction coil. Furthermore, lateral force can cause the second yaw traction coil to move along the axial direction of the third yaw transition wheel 221, resulting in unfavorable phenomena such as the second yaw traction coil 42 shifting and wire skipping. The structures of the remaining transition wheels and their corresponding traction coils are the same as those of the third yaw transition wheel and will not be repeated here. Similarly, the angle between the connection point of the other traction coils and the pulley of the corresponding operating component and the entry tangent point of the transition wheel is configured to be 0-0.2°, preferably 0-0.1°, and more preferably 0°.

[0077] Figure 10 This is a top view of the spin wheel assembly in some embodiments of the present invention, with reference to... Figure 10 The surgical robot instrument also includes a spin wheel assembly 8 and an instrument box base 6. The spin wheel assembly 8 includes a drive gear 81 and a driven gear 82 that mesh with each other. The driven gear 82 is fixedly connected to the connecting structure (not shown in the figure). The radius of the drive gear 81 is larger than the radius of the driven gear 82. The first yaw wire fixing wheel assembly 11, the second yaw wire fixing wheel assembly 12, the pitch wire fixing wheel assembly 13, and the spin wheel assembly 8 are all fixedly mounted on the instrument box base 6.

[0078] In some embodiments, reference is made to Figure 1The first yaw traction coil 41, the second yaw traction coil 42, and the pitch traction coil 43 are housed in the hollow cavity 5, as shown in the reference. Figure 10 The passive gear 82 is sleeved on the outer periphery of the hollow cavity 5. The rotation of the driving gear 81 drives the passive gear 82 to rotate, thereby causing the hollow cavity 5 to rotate around its own axis.

[0079] In some embodiments, reference is made to Figure 10 The center of the drive gear 81, the center of the driven gear 82, and the center of the pitching fixed wire wheel assembly 13 are located on a straight line.

[0080] Figure 11 This is a top view of the instrument box base described in some embodiments of the present invention, with reference to... Figure 5 and Figure 11 The first yaw wire fixing wheel assembly 11, the second yaw wire fixing wheel assembly 12, the pitch wire fixing wheel assembly 13, and the transition wheel assembly 2 are all fixedly mounted on the instrument box base 6. The bottom surface of the instrument box base 6 is rectangular. The transition wheel assembly 2 is located on the side closer to the width of the rectangular instrument box base 6. The yaw wire fixing wheel assembly 11, the second yaw wire fixing wheel assembly 12, and the pitch wire fixing wheel assembly 13 are all located on the other wide side opposite to the transition wheel assembly 2, so that the first yaw wire fixing wheel assembly 11, the second yaw wire fixing wheel assembly 12, and the pitch wire fixing wheel assembly 13 are all located away from the transition wheel assembly 2.

[0081] Preferred, refer to Figure 11 The first yaw fixed wire wheel set 11 and the second yaw fixed wire wheel set 12 are symmetrical about the straight line containing the center of the pitch fixed wire wheel set 13 and the center of the driven gear 82.

[0082] Preferred, refer to Figure 11 The first yaw fixed wire wheel 11 and the second yaw fixed wire wheel group 12 are symmetrical about the straight line containing the center of the pitch fixed wire wheel group 13 and the center of the driven gear 82.

[0083] Preferred, refer to Figure 5 On the bottom surface of the instrument box base 6, the transition wheel group 2 and the pitch wire fixing wheel group 13 are respectively arranged on the line connecting the midpoints of the two widths of the rectangular bottom surface of the instrument box base 6, and are respectively close to the two sides of the two widths.

[0084] Reference Figure 5When the length and width of the bottom surface of the instrument box base 6 are fixed, the transition wheel assembly is set on one wide side of the bottom surface of the instrument box base 6. The transition wheel assembly 2, the first yaw wire fixing wheel assembly 11, and the second yaw wire fixing wheel assembly 12 are set at the two corners of the rectangle away from the transition wheel assembly 2. The pitch wire fixing wheel assembly 13 is set at the midpoint of one wide side of the instrument box base 6, so that the distance between each wire fixing wheel assembly and the corresponding transition wheel can be maximized.

[0085] Figure 12 This is a schematic diagram of the winding groove structure in some embodiments of the present invention. (Refer to...) Figure 12 Taking the first yaw traction coil as an example, this invention illustrates the beneficial effect of setting a greater distance between the fixed wire wheel group and the corresponding transition wheel. When the wire bundle of the first yaw traction coil 41 enters the first yaw fixed wire wheel group 11, it forms an angle γ with the horizontal line. This angle γ is the helix angle of the winding groove 102 of the fixed wire wheel group. When the fixed wire wheel group rotates to take in or release the wire bundle, since the pulley is fixed, the angle between the wire bundle of the traction coil and the winding groove 102 of the fixed wire wheel group is no longer an angle γ. At this time, the wire bundle and the winding groove 102 are no longer tangent, which will increase wear. The greater the distance between the fixed wire wheel group and the transition wheel, the smaller this effect will be. Therefore, the layout of the rotating shaft of this invention can reduce the friction between the wire bundle and the fixed wire wheel group and improve the life of the wire bundle.

[0086] In some embodiments, the bottom surface of the instrument box base is rectangular, the sum of the diameter of the driving gear and the diameter of the driven gear is a first data, the difference between half the width of the rectangle and half the diameter of the driven gear is a second data, the quotient of the second data divided by the first data is a third data, and the angle formed between the straight line passing through the center of the driving gear and the center of the driven gear and the length of the rectangle in the direction toward the fixed wire wheel set is less than or equal to the value of the arcsine function of the third data.

[0087] Reference Figure 11The diameter of the drive gear 81 is d2, the diameter of the driven gear 82 is d1, and the length of half the width m of the instrument box base 6 is L1. The driven gear 82 is located on the perpendicular y of the width m of the rectangular bottom surface of the instrument box base 6 and is close to the edge of the bottom surface of the instrument box base 6. The drive gear 72 is closer to the center of the instrument box base 6 than the driven gear 71. The drive gear 81 is configured on the instrument box base 6 such that the angle formed between the straight line PQ passing through the center P of the drive gear 72 and the center Q of the driven gear and the length n of the instrument box base, in the direction towards the fixed wire wheel assembly, that is, the angle α formed between the straight line PQ and the perpendicular y of the instrument box base in the direction towards the fixed wire wheel assembly, satisfies that α≤arcsin[(L1-d2 / 2) / (d1+d2)]. Since the drive gear 81 is located on the instrument box base, the diameter length d2 of the drive gear 81 is limited by L1, and the diameter length d2 of the drive gear 81 is less than or equal to L1.

[0088] Preferably, 1 ≤ d2 / d1 ≤ 2. More preferably, d2 / d1 = 1.8.

[0089] The spin freedom of the operating components is usually achieved through gear transmission. Typically, the drive gear rotates at ±180°, but in practice, due to the thickness of the limiting stop, the actual rotation angle is less than ±180°. To achieve a pliers head freedom of ±270°, other instruments using a rectangular shaft layout cannot achieve this effect by adjusting the gear ratio due to space constraints, making the structure complex. This invention, by adjusting the angle formed between the straight line PQ of the center P of the drive gear 81 and the center Q of the driven gear 82 and the length n of the instrument box base, pointing towards the fixed wire wheel assembly, and the proportional relationship between the diameter d2 of the drive gear 81 and the diameter d1 of the driven gear 82, can increase the end effector head freedom range without changing the overall dimensions of the instrument box. This is achieved by increasing the number of teeth on the spin drive gear 81 and adjusting the gear ratio. The structure is simple and compact.

[0090] In some embodiments, reference is made to Figure 10 The straight line connecting the center of the drive gear 81, the center of the driven gear 82, and the center of the pitch wire assembly 13 is the perpendicular bisector y of the width of the rectangle. The range of d2 / d1 is 1 ≤ d2 / d1 ≤ 2. Without changing the external dimensions of the instrument box, the number of teeth on the spin drive gear 81 can be increased, and the gear ratio adjusted to achieve an increased range of degrees of freedom for the end effector. The structure is simple and compact. In this embodiment, the end effector achieves 270° of degree of freedom. 。

[0091] Reference Figure 1 and Figure 3The entry tangent point d3 of the third yaw transition wheel 221 ′ The angle between the wire harness portion between the connection point of the second yaw fixed wire wheel set 12 and the bottom surface of the instrument box base 6 is in the range of 0-10°, and in some embodiments, the angle is 0-8°. Similarly, the angle between the wire harness portion between the entry tangent point of the other transition wheels and the connection point of the corresponding fixed wire wheel set and the bottom surface of the instrument box base is in the range of 0-10°, and in some embodiments, the angle is 0-8°.

[0092] Figure 13 This is a schematic diagram of the structure of the operating components in some embodiments of the present invention, with reference to... Figure 13 The operating component 3 includes a pulley system (not shown in the figure), an actuator 32, a clamp head seat 33, and an actuator connecting seat 34. The actuator 32 includes a first actuator 321 and a second actuator 322. The pulley system includes a first pulley 311, a second pulley 312, and a third pulley 313. The first actuator 321 is fixedly connected to the first pulley 311, and the second actuator 322 is fixedly connected to the second pulley 312. The first pulley 311 and the second pulley 312 are hinged to one end of the actuator connecting seat 34 to form a first yaw degree of freedom of the first actuator 321 and a second yaw degree of freedom of the second actuator 322, respectively, thereby realizing the opening and closing motion of the actuator 32. The rotation axes of the first pulley 311 and the second pulley 312 coincide, and the radii of the first pulley 311 and the second pulley 312 are equal. The other end of the actuator connecting seat 43 is sleeved on the rotation axis of the third pulley 313 and fixedly connected to the rotation axis of the third pulley 313. The rotation axes of the first pulley 311 and the second pulley 312 are perpendicular to the rotation axis of the third pulley 313. The third pulley 313 is hinged to one end of the clamp head seat 33 to form the pitch degree of freedom of the actuator 32.

[0093] Reference Figure 2 and Figure 13 One end of the first yaw traction coil 41 is wound around the first pulley 311. The two wire bundles of the first yaw traction coil 41 pass through the first yaw transition wheel 211 and the second yaw transition wheel 212 respectively, and the other end is wound around the first yaw fixed wire wheel group 11. The rotation of the first yaw fixed wire wheel group 11 around its own axis drives the winding and unwinding of the two wire bundles of the first yaw traction coil 41, thereby driving the first pulley 311 to rotate around its own axis, realizing the first yaw degree of freedom movement of the first actuator 321. The first yaw degree of freedom movement is the left yaw degree of freedom movement.

[0094] Reference Figure 3 and Figure 13One end of the second yaw traction coil 42 is wound around the second pulley 312. The two wire bundles of the second yaw traction coil 42 pass through the third yaw transition wheel 221 and the fourth yaw transition wheel 222 respectively, and the other end is wound around the second yaw fixed wire wheel group 12. The rotation of the second yaw fixed wire wheel group 12 around its own axis drives the winding and unwinding of the two wire bundles of the second yaw traction coil 42, thereby driving the second pulley 312 to rotate around its own axis, realizing the second yaw degree of freedom movement of the second actuator 322. The second yaw degree of freedom movement is the right yaw degree of freedom movement.

[0095] Reference Figure 4 and Figure 13 One end of the pitch traction coil 43 is wound around the third pulley 313. The two wire bundles of the pitch coil 43 pass through the first pitch transition wheel 231 and the second pitch transition wheel 232 respectively, and the other end is wound around the pitch fixed wire wheel group 13. The rotation of the pitch fixed wire wheel group 13 around its own axis drives the winding and unwinding of the two wire bundles of the pitch traction coil 43, thereby driving the third pulley 313 to rotate around its own axis, realizing the pitch freedom movement of the actuator 32.

[0096] Reference Figure 1 and Figure 13 The other end of the clamp head seat 33 is cylindrical, and the axis z of the cylindrical end of the clamp head seat 33 is the axis of the clamp head seat 33. The clamp head seat 33 is fixedly connected to one end of the hollow cavity 5, and the other end of the hollow cavity 5 is fixedly connected to the bottom surface of the instrument box base 6. The first yaw traction coil 41, the second yaw traction coil 42 and the third yaw traction coil 43 are housed in the clamp head seat 33 and the hollow cavity 5.

[0097] Figure 14 This is a schematic diagram of the wire-fixing wheel assembly in some embodiments of the present invention. (Refer to...) Figure 14 The first yaw fixed wire wheel group 11, the second yaw fixed wire wheel group 12, and the pitch fixed wire wheel group 13 of the fixed wire wheel group each include two fixed wire wheels 101, a winding groove 102, and a fixed wire wheel shaft 103. In each fixed wire wheel group, the two fixed wire wheels 101 are disposed at both ends of the winding groove 102, and the two fixed wire wheels 101 and the winding groove 102 are disposed on the fixed wire wheel shaft 103.

[0098] Figure 15 This is a schematic diagram of the overall structure of the surgical robot instrument in some embodiments of the present invention. (Refer to...) Figure 15The surgical robot instrument also includes an instrument box cover 61, which is correspondingly disposed with the instrument box base (not shown in the figure). The instrument box cover 61 covers the instrument box base (not shown in the figure). The instrument box cover 61 is provided with a water inlet 62 and a water outlet 63. The inlet 74 of the rinsing tube 7 is inserted into the instrument box cover 61 through the water inlet 62 and extends into the hollow cavity 5. The operating component 3 is provided with a sealing gasket 35 and a fixing piece 36. The sealing gasket 35 is disposed between the end outlet 75 of the rinsing tube and the fixing piece 36 to separate the operating component 3 from the interior of the hollow cavity 5. When water enters from the inlet of the rinsing tube 7, water enters the hollow cavity 5 from the end outlet 75 of the rinsing tube, and water does not enter the operating component 3. When the interior of the hollow cavity 5 is filled with water, it flows into the instrument box, and the rinsed water flows out from the water outlet 63.

[0099] The surgical robot instrument of the present invention is used to be mounted on the end of a surgical robot arm, the robotic arm being used to adjust the position or orientation of the surgical instrument.

[0100] While embodiments of the present invention have been described in detail above, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations fall within the scope and spirit of the invention as set forth in the claims. Furthermore, the invention described herein may have other embodiments and can be implemented or carried out in various ways.

Claims

1. A surgical robot instrument, characterized in that, include: Operating components are used to perform surgical procedures; The fixed wire wheel assembly includes a first yaw fixed wire wheel assembly, a second yaw fixed wire wheel assembly, and a pitch fixed wire wheel assembly located between the first yaw fixed wire wheel assembly and the second yaw fixed wire wheel assembly; Transition wheel set; The first yaw traction coil, the second yaw traction coil, and the pitch traction coil are slidably sleeved on the operating component and then wound around the transition wheel group. After being reversed by the transition wheel group, they extend along the first direction, the second direction, and the third direction and are respectively sleeved on the first yaw fixed wire wheel group, the second yaw fixed wire wheel group, and the pitch fixed wire wheel group. The third direction is located between the first direction and the second direction. The first direction, the second direction, and the third direction extend away from the axis of the operating component, and the first direction and the second direction extend away from the third direction. The pitch fixing wheel set is further away from the transition wheel set relative to the first yaw fixing wheel set and the second yaw fixing wheel set.

2. The surgical robot instrument according to claim 1, characterized in that, The transition wheel set includes a first yaw transition wheel set disposed opposite to the first yaw fixed wire wheel set along the first direction, a second yaw transition wheel set disposed opposite to the second yaw fixed wire wheel set along the second direction, and a pitch transition wheel set disposed opposite to the pitch fixed wire wheel set along the third direction. The first yaw transition wheel set and the second yaw transition wheel set are disposed further away from the operating component than the pitch transition wheel set.

3. The surgical robot instrument according to claim 2, characterized in that, The first yaw transition wheel group includes a first yaw transition wheel and a second yaw transition wheel arranged sequentially in a direction away from the axis of the operating component. The second yaw transition wheel group includes a third yaw transition wheel and a fourth yaw transition wheel arranged sequentially in a direction away from the axis of the operating component. The pitch transition wheel group includes a first pitch transition wheel and a second pitch transition wheel. The first yaw transition wheel and the third yaw transition wheel are opposite to each other and are arranged independently. The second yaw transition wheel and the fourth yaw transition wheel are opposite to each other and are arranged independently. The first pitch transition wheel and the second pitch transition wheel are opposite to each other and are arranged independently.

4. The surgical robot instrument according to claim 3, characterized in that, The two wire bundles of the first yaw traction coil are respectively wound around the first yaw transition wheel and the second yaw transition wheel, the two wire bundles of the second yaw traction coil are respectively wound around the third yaw transition wheel and the fourth yaw transition wheel, and the two wire bundles of the pitch traction coil are respectively wound around the first pitch transition wheel and the second pitch transition wheel.

5. The surgical robot instrument according to claim 3, characterized in that, The axes of the first pitch transition wheel and the second pitch transition wheel are in the same plane, and the axes of the first yaw transition wheel, the second yaw transition wheel, the third yaw transition wheel and the fourth yaw transition wheel are in another plane.

6. The surgical robot instrument according to any one of claims 2-4, characterized in that, The transition wheel set also includes a transition fixed seat, which includes a first fixed seat and a second fixed seat disposed opposite to each other. The first yaw transition wheel set is disposed on one side wall of the first fixed seat, and the second yaw transition wheel set is disposed on the other side wall of the second fixed seat opposite to one side wall of the first fixed seat. The pitch transition wheel set is disposed on one side wall of the first fixed seat and the other side wall of the second fixed seat opposite to one side wall of the first fixed seat.

7. The surgical robot instrument according to claim 4, characterized in that, Among the points where the first yaw transition wheel, the second yaw transition wheel, the third yaw transition wheel, the fourth yaw transition wheel, the first pitch transition wheel, and the second pitch transition wheel contact the first yaw traction coil, the second yaw traction coil, and the pitch traction coil, respectively, the contact points closest to the operating component are arranged circumferentially around the axis of the operating component. The wiring harness portion of the first yaw traction coil located between the first yaw transition wheel and the operating component, and the wiring harness portion of the first yaw traction coil located between the second yaw transition wheel and the operating component... The six wire harnesses—the portion of the second yaw traction coil located between the third yaw transition wheel and the operating component, the portion of the second yaw traction coil located between the fourth yaw transition wheel and the second yaw fixed wire wheel group, the portion of the pitch traction coil located between the first pitch transition wheel and the operating component, and the portion of the pitch traction coil located between the second pitch transition wheel and the operating component—are distributed along the circumferential direction in the order of wire output from the operating component, and the distance between any point on one wire harness and any point on another wire harness is greater than 0.

8. The surgical robot instrument according to claim 7, characterized in that, In the first yaw traction coil, the wiring harness portion located between the first yaw transition wheel and the operating component; the wiring harness portion located between the second yaw transition wheel and the operating component; the wiring harness portion located between the third yaw transition wheel and the operating component; the wiring harness portion located between the fourth yaw transition wheel and the operating component; the wiring harness portion located between the first pitch transition wheel and the operating component in the pitch traction coil; and the wiring harness portion located between the second pitch transition wheel and the operating component in the pitch traction coil, the acute angle between any two wiring harnesses is 0-5°.

9. The surgical robot instrument according to claim 8, characterized in that, The included angle between any one of the first yaw traction coil, the second yaw traction coil, and the pitch traction coil and the rotation surface of the corresponding transition wheel groove is 0-0.2°.

10. The surgical robot instrument according to claim 1, characterized in that, It also includes a connection structure that connects the operating component and the transition wheel assembly at both ends, wherein the first yaw traction coil, the second yaw traction coil and the pitch traction coil pass through the connection structure and are configured to be able to move relative to the connection structure.

11. The surgical robot instrument according to claim 10, characterized in that, It also includes an instrument box base and a spin wheel assembly. The spin wheel assembly includes a drive gear and a driven gear that mesh with each other. The driven gear is fixedly connected to the connecting structure. The radius of the drive gear is larger than the radius of the driven gear. The first yaw wire wheel assembly, the second yaw wire wheel assembly, the pitch wire wheel assembly, and the spin wheel assembly are all fixedly mounted on the instrument box base.

12. The surgical robot instrument according to claim 11, characterized in that, The center of the drive gear, the center of the driven gear, and the center of the pitching fixed wire wheel assembly are located on a straight line.

13. The surgical robot instrument according to claim 12, characterized in that, The bottom surface of the instrument box base is symmetrical about the straight line containing the center of the drive gear, the center of the driven gear, and the center of the pitching fixed wire wheel assembly.

14. The surgical robot instrument according to claim 11, characterized in that, The first yaw fixed wire wheel set and the second yaw fixed wire wheel set are symmetrical about the straight line containing the center of the pitch fixed wire wheel set and the center of the driven gear.

15. The surgical robot instrument according to claim 11, characterized in that, The bottom surface of the instrument box base is rectangular. The sum of the diameters of the driving gear and the driven gear is the first data. The difference between half the width of the rectangle and half the diameter of the driven gear is the second data. The quotient of the second data divided by the first data is the third data. The angle formed between the straight line passing through the center of the driving gear and the center of the driven gear and the length of the rectangle, towards the fixed wire wheel assembly, is less than or equal to the arcsine function value of the third data.

16. The surgical robot instrument according to claim 10, characterized in that, The connection structure includes a hollow cavity, in which the first yaw traction coil, the second yaw traction coil, and the pitch traction coil are housed.

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