Surgical instrument, slave operating device and surgical robot

Abstract

The application provides a surgical instrument, an operating device and a surgical robot, and the surgical instrument comprises: an end effector, the end effector comprising a clamping end, a connecting seat and a support; the clamping end is rotationally connected with one end of the connecting seat around a first axis; the support is arranged at the other end of the connecting seat, and the two are rotationally connected around a second axis which is arranged perpendicularly to the first axis; a first pulley set and a second pulley set are arranged coaxially along the second axis at the rotationally connected position of the connecting seat and the support; when the extension section of a first cable and the extension section of a second cable arranged in any one of the first pulley set and the second pulley set are simultaneously driven to be elongated or contracted, the clamping end performs a second swing action of rotating around the first axis relative to the connecting seat. The application solves the technical problem that the current surgical instrument is mostly driven by six cables to realize the three-degree-of-freedom movement of the end of the surgical instrument, but the structure is complex, resulting in great difficulty in operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical instruments, in particular to a surgical instrument, a master operating device and a surgical robot. BACKGROUND

[0002] Compared with traditional endoscopic surgery, minimally invasive surgical robots have the advantage of small surgical trauma to the patient's internal and external organs, which can greatly reduce the patient's pain and recovery time. Currently, traditional endoscopic surgery such as laparoscopic surgery uses a rigid surgical instrument at the end of the instrument, which greatly lacks flexibility, increasing the difficulty of operation for the doctor and possibly causing damage to the patient's tissue.

[0003] Compared with traditional laparoscopic instruments, minimally invasive surgical robot-specific instruments have the advantages of multiple degrees of freedom and high flexibility, but they are controlled by the doctor remotely through the master operating hand to perform cutting, stripping, suturing and other operations, so the instruments need to have high precision and high sensitivity, so that the doctor has the feeling of operating the instrument by hand.

[0004] However, at least one of the following problems exists in the related art: Currently, most surgical instruments use six cable drives to achieve three degrees of freedom of the surgical instrument end, but the structure is complex, resulting in a large difficulty in operating it. SUMMARY

[0005] The technical problem solved by the present application is that most current surgical instruments use six cable drives to achieve three degrees of freedom of the surgical instrument end, but the structure is complex, resulting in a large difficulty in operating it.

[0006] To solve the above problems, the application provides a surgical instrument, comprising: an end effector, the end effector comprising a clamping end, a connecting seat and a support; the clamping end is rotationally connected with one end of the connecting seat around a first axis; the support is arranged at the other end of the connecting seat, and the two are rotationally connected around a second axis arranged perpendicularly to the first axis; a first pulley set and a second pulley set are arranged coaxially along the second axis at the rotationally connected position of the connecting seat and the support; a cable set, the cable set comprising a first cable and a second cable, a first intermediate section of the first cable being connected to a first actuator of the clamping end, and an extension section of the first cable being arranged around the first pulley set and the second pulley set at the same time; a second intermediate section of the second cable being connected to a second actuator of the clamping end, and an extension section of the second cable being arranged around the first pulley set and the second pulley set at the same time; a driving device, the driving device being used for driving the clamping end to perform a first swing action of rotation around the second axis relative to the support through the first cable or the second cable; when the extension section of the first cable and the extension section of the second cable arranged in any one of the first pulley set and the second pulley set are driven to be elongated or contracted at the same time, the clamping end performs a second swing action of rotation around the first axis relative to the connecting seat; wherein the second swing action comprises the first actuator and the second actuator rotating in the same direction or in opposite directions.

[0007] Compared with the prior art, the technical effects achieved by the technical scheme are: compared with the six-cable driving mode, the technical scheme reduces the number of cables, simplifies the structure of the surgical instrument, and further reduces the operation difficulty.

[0008] In an example of the application, the intermediate section of the first cable is defined as the first intermediate section, and the extension section thereof is defined as the first extension section; the intermediate section of the second cable is defined as the second intermediate section, and the extension section thereof is defined as the second extension section; the first actuator comprises a first clamping part and a first rope passing part connected to each other: the first rope passing part is provided with a first limiting cavity, and a first limiting structure arranged in the first limiting cavity, and the first extension section is arranged in a first rope passing channel formed between the first limiting cavity and the first limiting structure; wherein the first limiting structure is provided with a second shaft hole coaxially arranged with the first shaft hole on the connecting seat; the second actuator comprises a second clamping part and a second rope passing part connected to each other: the second rope passing part is provided with a second limiting cavity, and a second limiting structure arranged in the second limiting cavity, and the second extension section is arranged in a second rope passing channel formed between the second limiting cavity and the second limiting structure; wherein the second limiting structure is provided with a third shaft hole coaxially arranged with the first shaft hole on the connecting seat.

[0009] Compared with the prior art, the technical effects achieved by the technical scheme are as follows: in order to reduce the process difficulty and production cost, high friction is used for driving, the complex process such as a stop joint is avoided, and meanwhile, the reliability and zero return difference are ensured; the first limiting cavity and / or the second limiting cavity can be a patterned groove, and the first limiting structure and / or the second limiting structure are a patterned protrusion matched with the patterned groove, so that when the first intermediate section and the second intermediate section are arranged in the patterned groove and the patterned protrusion respectively, the cable generates a great friction force with the inner wall of the patterned groove, and then a torque required for rotating the clamping end is generated, and the matching mode is simple, reliable and low in cost.

[0010] In an example of the present application, the first rope passing channel comprises a first bending channel and a second bending channel arranged adjacently; when the first intermediate section is arranged in the first rope passing channel, the rope section arranged in the first bending channel and the rope section arranged in the second bending channel are arranged at an angle; and / or, the second rope passing channel comprises a third bending channel and a fourth bending channel arranged adjacently; when the second intermediate section is arranged in the second rope passing channel, the rope section arranged in the third bending channel and the rope section arranged in the fourth bending channel are arranged at an angle.

[0011] Compared with the prior art, the technical effects achieved by the technical scheme are as follows: the reliability of the cooperation between the cable group and the clamping end is further ensured, and in the process of driving the cable group, the clamping end can stably drive the corresponding rotating or swinging action to reduce the occurrence of relative slipping between the two.

[0012] In an example of the present application, the bracket is provided with a matching protrusion clamped between the first pulley set and the second pulley set, the matching protrusion is provided with a matching hole coaxially arranged with the connecting hole of the first pulley set and the second pulley set; the first pulley set comprises a first pulley member and a second pulley member coaxially arranged; the first cable comprises a first extension section one and a first extension section two arranged at two ends of the first intermediate section respectively; the second cable comprises a second extension section one and a second extension section two arranged at two ends of the second intermediate section respectively; the first extension section one is wound to the first pulley member and extends to the bracket and is connected with the driving device; the second extension section one is wound to the second pulley member and extends to the bracket and is connected with the driving device; wherein, the first extension section one and the second extension section one are respectively located on two sides of the first pulley set; if the driving device pulls the first extension section one and the second extension section one, the first actuator and the second actuator rotate in the same direction.

[0013] In an example of the present application, the second pulley set comprises a third pulley member and a fourth pulley member coaxially arranged; the first extension segment two is wound around the third pulley member and extends to the support and is connected with the driving device; the second extension segment two is wound around the fourth pulley member and extends to the support and is connected with the driving device; wherein the first extension segment two and the second extension segment two are respectively located on two sides of the second pulley set; if the driving device simultaneously pulls the first extension segment one and the second extension segment two, the first execution member and the second execution member are driven to rotate reversely; or, if the driving device simultaneously pulls the first extension segment two and the second extension segment one, the first execution member and the second execution member are driven to rotate reversely; if the driving device simultaneously pulls the first extension segment one and the first extension segment two, the clamping end is driven to perform a first swing action; or, if the driving device simultaneously pulls the second extension segment one and the second extension segment two, the clamping end is driven to perform a first swing action.

[0014] Compared with the prior art, the technical effects achieved by adopting the technical scheme are: the reasonable arrangement of the first cable and the second cable is ensured, the situation of mutual crossing is avoided, and the reliability of the driving device in realizing the movement of the clamping end is improved.

[0015] In an example of the present application, the winding mode of the first extension segment one on the first pulley member is the same as the winding mode of the first extension segment two on the third pulley member; and / or, the winding mode of the second extension segment one on the second pulley member is the same as the winding mode of the second extension segment two on the fourth pulley member.

[0016] In an example of the present application, the first cable is wound on the first pulley set and / or the second pulley set at least once; and / or, the second cable is wound on the first pulley set and / or the second pulley set at least once.

[0017] In an example of the present application, the support is further rotationally connected with a third pulley set and a fourth pulley set coaxially arranged, the axes of the third pulley set and the fourth pulley set are located on the side away from the first axis; the extension segment of the first cable further comprises a third extension segment wound around the third pulley set and the fourth pulley set at the same time and extending to the support and driven by the driving device; the extension segment of the first cable further comprises a fourth extension segment wound around the third pulley set and the fourth pulley set at the same time and extending to the support and driven by the driving device.

[0018] On the other hand, the present application further provides a slave operating device, which comprises a mechanical arm and a surgical instrument according to any one of the above examples, the surgical instrument being mounted on the mechanical arm, and the mechanical arm being used for manipulating the movement of the surgical instrument.

[0019] Compared with the prior art, the technical effects achieved by adopting the technical scheme are: the technical effects corresponding to any one of the above technical schemes can be realized, which will not be described here.

[0020] In still another aspect, the present application also provides a surgical robot, which comprises a master operating console and a slave operating device as in the above examples, and the slave operating device performs corresponding operations according to the instructions of the master operating console.

[0021] Compared with the prior art, the technical effects achieved by adopting the technical scheme are as follows: the technical effects of the slave operating device in the above examples can be achieved, and details are not repeated here.

[0022] After adopting the technical scheme of the present application, the following technical effects can be achieved:

[0023] (1) Compared with the six-cable driving mode, the technical scheme reduces the number of cables, simplifies the structure of the surgical instrument, and further reduces the operation difficulty;

[0024] (2) In order to reduce the process difficulty and production cost, high friction is used for driving, which avoids the use of complex processes such as stop joints, while ensuring reliability and zero return difference. The first limiting cavity and / or the second limiting cavity can be a patterned groove, and the first limiting structure and / or the second limiting structure are a patterned protrusion matched therewith. Thus, when the first intermediate section and the second intermediate section are respectively arranged therein, the corresponding patterned groove and patterned protrusion are matched, so that the cable generates a large friction force with the inner wall of the patterned groove, thereby generating the torque required for the clamping end to rotate. This matching method is simple, reliable, and low in cost. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings to be used in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings;

[0026] Figure 1 A structural schematic diagram of a surgical instrument provided for the embodiment of the present application.

[0027] Figure 2 A structural schematic diagram of a surgical instrument provided for the embodiment of the present application. Figure 1 A structural schematic diagram of a surgical instrument provided for the embodiment of the present application.

[0028] Figure 3 A structural schematic diagram of a surgical instrument provided for the embodiment of the present application. Figure 2 An exploded view in the embodiment of the present application.

[0029] Figure 4 A structural schematic diagram of a surgical instrument provided for the embodiment of the present application. Figure 3 A structural schematic diagram of a surgical instrument provided for the embodiment of the present application.

[0030] Figure 5 A structural schematic diagram of a surgical instrument provided for the embodiment of the present application.

[0031] Figure 6 For Figure 5 Partial structure schematic diagram in another state.

[0032] Reference signs:

[0033] 10, surgical instrument; 101, first axis; 102, second axis; 11, driving box; 12, instrument rod; 13, end effector; 14, support; 15, connecting seat; 16, first execution piece; 17, second execution piece; 18, first connecting pin shaft; 19, second connecting pin shaft; 20, matching boss; 21, first circular arc track; 22, second circular arc track; 23, first pulley piece; 24, third pulley piece; 25, second pulley piece; 26, fourth pulley piece; 27, waist-shaped hole; 28, through hole; 29, through hole; 30, matching hole; 31, second rope passing part; 32, second limiting cavity; 33, third pulley group; 34, fourth pulley group; 41, first cable; 411, first extension section one; 412, first extension section two; 42, second cable; 421, second extension section one; 422, second extension section two. DETAILED DESCRIPTION

[0034] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings.

[0035] Reference Figure 1 , which is a structural schematic diagram of a surgical instrument 10 provided by an embodiment of the present application. In combination with Figures 2-4 , the surgical instrument 10, for example, comprises an end effector 13, a cable group and a driving device. Specifically, the end effector 13 comprises a clamping end, a connecting seat 15 and a support 14; the clamping end is rotationally connected with one end of the connecting seat 15 around a first axis 101; the support 14 is arranged at the other end of the connecting seat 15, and the two are rotationally connected around a second axis 102 which is arranged perpendicularly to the first axis 101; a first pulley group and a second pulley group are arranged coaxially along the second axis 102 at the rotationally connected position of the connecting seat 15 and the support 14.

[0036] Further, the cable group comprises a first cable 41 and a second cable 42; a first intermediate section of the first cable 41 is connected to a first execution piece 16 of the clamping end, and an extension section of the first cable 41 is arranged around the first pulley group and the second pulley group at the same time; a second intermediate section of the second cable 42 is connected to a second execution piece 17 of the clamping end, and an extension section of the second cable 42 is arranged around the first pulley group and the second pulley group at the same time. The driving device is used to drive the clamping end to perform a first swinging action of rotation around the second axis 102 relative to the support 14 through the first cable 41 or the second cable 42.

[0037] When the extension section of the first cable 41 and the extension section of the second cable 42 of any one of the first pulley set and the second pulley set are simultaneously driven to be elongated or contracted, the clamping end performs a second swing action of rotating about the first axis 101 relative to the connecting seat 15; the second swing action includes the first actuating member 16 and the second actuating member 17 rotating in the same direction or in the opposite direction.

[0038] In one specific example, the driving device is arranged in the driving box 11, the instrument rod 12 is connected to the driving box 11, and the surgical instrument 10 is provided with the instrument rod 12 between the driving box 11, and the instrument rod 12 is provided with a cavity for the cable set to pass through, so that the cable set can be driven and connected with the driving device. Under the driving action of the driving device, the instrument rod 12 can also be driven to rotate about the axis in the length direction of the rod, and the rotation track can be represented by A.

[0039] Further, the first actuating member 16 is provided with a first circular arc track 21 for winding the first cable 41, and the second actuating member 17 is also provided with a second circular arc track 22 for winding the second cable 42.

[0040] Preferably, the middle section of the first cable 41 is defined as a first middle section, and the extension section thereof is a first extension section; the middle section of the second cable 42 is defined as a second middle section, and the extension section thereof is a second extension section; the first actuating member 16 includes a first clamping portion and a first cable passing portion connected to each other; the first cable passing portion is provided with a first limiting cavity and a first limiting structure arranged in the first limiting cavity, and the first extension section is arranged in a first cable passing channel formed between the first limiting cavity and the first limiting structure; the first limiting structure is provided with a second shaft hole coaxially arranged with the first shaft hole on the connecting seat 15; the second actuating member 17 includes a second clamping portion and a second cable passing portion 31 connected to each other; the second cable passing portion 31 is provided with a second limiting cavity 32 and a second limiting structure arranged in the second limiting cavity 32, and the second extension section is arranged in a second cable passing channel formed between the second limiting cavity 32 and the second limiting structure; the second limiting structure is provided with a third shaft hole coaxially arranged with the first shaft hole on the connecting seat 15.

[0041] Specifically, in order to reduce the process difficulty and production cost, high friction is used for driving, which avoids the use of complex processes such as stop joints, while ensuring reliability and zero return difference. The first limiting cavity and / or the second limiting cavity 32 can be a patterned groove, and the first limiting structure and / or the second limiting structure are a patterned protrusion that matches it. Thus, when the first intermediate section and the second intermediate section are respectively arranged therein, through the matching characteristics of the corresponding patterned groove and patterned protrusion, the cable generates a large friction force with the inner wall of the groove in the patterned groove, thereby generating the torque required for the clamping end to rotate. This matching method is simple, reliable, and low in cost. For example, the first shaft hole, the second shaft hole, and the third shaft hole are penetrated by the second connecting pin shaft 19.

[0042] Preferably, the first rope passing channel includes a first bending channel and a second bending channel arranged adjacent to each other; when the first intermediate section is arranged in the first rope passing channel, it is arranged at an angle between the rope section arranged in the first bending channel and the rope section arranged in the second bending channel; and / or, the second rope passing channel includes a third bending channel and a fourth bending channel arranged adjacent to each other; when the second intermediate section is arranged in the second rope passing channel, it is arranged at an angle between the rope section arranged in the third bending channel and the rope section arranged in the fourth bending channel.

[0043] Preferably, the bracket 14 is provided with a matching protrusion 20 clamped between the first pulley block and the second pulley block, the matching protrusion 20 is provided with a matching hole 30 coaxially arranged with the connecting hole of the first pulley block and the second pulley block; the first pulley block includes a first pulley member 23 and a second pulley member 25 coaxially arranged; the first cable 41 includes a first extension section one 411 and a first extension section two 412 respectively arranged at both ends of the first intermediate section; the second cable 42 includes a second extension section one 421 and a second extension section two 422 respectively arranged at both ends of the second intermediate section; the first extension section one 411 is wound to the first pulley member 23 and extends to the bracket 14 and is connected with the driving device; the second extension section one 421 is wound to the second pulley member 25 and extends to the bracket 14 and is connected with the driving device; wherein the first extension section one 411 and the second extension section one 421 are respectively located on both sides of the first pulley block; if the driving device pulls the first extension section one 411 and the second extension section one 421, the first actuator 16 and the second actuator 17 rotate in the same direction.

[0044] For example, the connecting hole and the matching hole are matched by the first connecting pin shaft 18.

[0045] Preferably, the second pulley set comprises a third pulley member 24 and a fourth pulley member 26 coaxially arranged; the first extension segment two 412 is arranged around the third pulley member 24 and extends to the support 14 and is connected with the driving device; the second extension segment two 422 is arranged around the fourth pulley member 26 and extends to the support 14 and is connected with the driving device; wherein the first extension segment two 412 and the second extension segment two 422 are respectively arranged on two sides of the second pulley set; if the driving device simultaneously pulls the first extension segment one 411 and the second extension segment two 422, the first execution member 16 and the second execution member 17 are driven to rotate reversely; or, if the driving device simultaneously pulls the first extension segment two 412 and the second extension segment one 421, the first execution member 16 and the second execution member 17 are driven to rotate reversely; if the driving device simultaneously pulls the first extension segment one 411 and the first extension segment two 412, the clamping end is driven to perform the first swing action; or, if the driving device simultaneously pulls the second extension segment one 421 and the second extension segment two 422, the clamping end is driven to perform the first swing action.

[0046] For example, the connecting seat 15 is provided with a waist-shaped hole 27 through which the first cable 41 and the second cable 42 pass, and the support 14 is provided with four through holes 28 through which the first extension segment one 411, the first extension segment two 412, the second extension segment one 421 and the second extension segment two 422 pass, and the connecting seat 15 is provided with a through hole 29 through which the first connecting pin 18 passes.

[0047] In a specific example, the first extension segment one 411 can be represented by L1, the first extension segment two 412 by L2, the second extension segment one 421 by L3, and the second extension segment two 422 by L4. When L1 is elongated or shortened, L2 is shortened or elongated by the same length, and the first execution member 16 can be controlled to rotate back and forth around the first axis 101, and the trajectory of the rotation is represented by D; similarly, when L3 is elongated or shortened, L4 is shortened or elongated by the same length, and the second execution member 17 can be controlled to rotate back and forth, and the trajectory of the rotation is represented by E. When the first execution member 16 and the second execution member 17 rotate in the same direction, the deflection around the first axis 101 can be realized, that is, the second swing action C; and correspondingly, the swing trajectory of the first swing action is represented by B.

[0048] Preferably, the winding mode of the first extension segment one 411 around the first pulley member 23 is the same as the winding mode of the first extension segment two 412 around the third pulley member 24; and / or, the winding mode of the second extension segment one 421 around the second pulley member 25 is the same as the winding mode of the second extension segment two 422 around the fourth pulley member 26.

[0049] Preferably, the first cable 41 is wound at least once on the first pulley set and / or the second pulley set; and / or, the second cable 42 is wound at least once on the first pulley set and / or the second pulley set.

[0050] Referring toFigures 5-6 Preferably, the support 14 is further rotationally connected with a third pulley set 33 and a fourth pulley set 34 coaxially arranged with each other, and the axes of the third pulley set 33 and the fourth pulley set 34 are located on the side of the second axis 102 away from the first axis 101; the first extension section one 411 and the second extension section two 422 of the first cable 41 are further wound around the third pulley set 33 and the fourth pulley set 34 at the same time, and extend to the support 14 and are driven by the driving device; correspondingly, the second extension section one 421 and the second extension section two 422 of the second cable 42 are further wound around the third pulley set 33 and the fourth pulley set 34 at the same time, and extend to the support 14 and are driven by the driving device.

[0051] In another aspect, the present application further provides a slave operating device, which comprises a mechanical arm and the surgical instrument 10 as in the above examples, and the surgical instrument 10 is installed on the mechanical arm, and the mechanical arm is used to manipulate the movement of the surgical instrument 10.

[0052] In still another aspect, the present application further provides a surgical robot, which comprises a master operating console and the slave operating device as in the above examples, and the slave operating device performs corresponding operations according to the instructions of the master operating console.

[0053] Although the present application is disclosed as above, the present application is not limited to this. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, and therefore the protection scope of the present application should be subject to the scope defined by the claims.

Claims

1. A surgical instrument, characterized in that, include: An end effector, comprising a clamping end, a connecting base, and a bracket; the clamping end is rotatably connected to one end of the connecting base about a first axis; the bracket is disposed at the other end of the connecting base, and the two are rotatably connected about a second axis perpendicular to the first axis. The connecting seat and the bracket are provided with a first pulley group and a second pulley group arranged coaxially along the second axis at the rotatable connection position. A cable assembly, comprising a first cable and a second cable, wherein a first intermediate section of the first cable is connected to a first actuator at the clamping end, and an extension of the first cable is wound around both the first pulley assembly and the second pulley assembly; a second intermediate section of the second cable is connected to a second actuator at the clamping end, and an extension of the second cable is wound around both the first pulley assembly and the second pulley assembly. A driving device is used to drive the clamping end to perform a first swinging motion about the second axis relative to the bracket via the first cable or the second cable. If the extensions of the first cable and the second cable in either the first pulley group or the second pulley group are simultaneously driven to extend or retract, the clamping end performs a second swinging motion about the first axis relative to the connecting seat. The second swing action includes the first actuator and the second actuator rotating in the same or opposite directions; The middle section of the first cable is defined as the first middle section, and its extension section is defined as the first extension section; the middle section of the second cable is defined as the second middle section, and its extension section is defined as the second extension section. The first actuator includes a first clamping part and a first rope-passing part that are connected to each other: The first rope passage portion is provided with a first limiting cavity and a first limiting structure disposed in the first limiting cavity, and the first extension is disposed in the first rope passage channel formed between the first limiting cavity and the first limiting structure. The first limiting structure is provided with a second shaft hole that is coaxially arranged with the first shaft hole on the connecting seat; The second actuator includes a second clamping part and a second rope-passing part that are interconnected: The second rope passage portion is provided with a second limiting cavity and a second limiting structure disposed in the second limiting cavity, and the second extension is disposed in the second rope passage channel formed between the second limiting cavity and the second limiting structure; The second limiting structure is provided with a third shaft hole that is coaxially arranged with the first shaft hole on the connecting seat; Specifically, the first rope passage and the second rope passage are configured as follows: The first rope passage includes a first bend passage and a second bend passage arranged adjacent to each other; when the first intermediate section is provided in the first rope passage, the rope segment corresponding to the first bend passage and the rope segment corresponding to the second bend passage are arranged at an angle between them; and / or, the second rope passage includes a third bend passage and a fourth bend passage arranged adjacent to each other; when the second intermediate section is provided in the second rope passage, the rope segment corresponding to the third bend passage and the rope segment corresponding to the fourth bend passage are arranged at an angle between them.

2. The surgical instrument according to claim 1, characterized in that, The bracket is provided with a mating boss sandwiched between the first pulley group and the second pulley group, and the mating boss is provided with a mating hole coaxially disposed with the connection hole of the first pulley group and the second pulley group; The first pulley assembly includes a first pulley component and a second pulley component arranged coaxially; The first cable includes a first extension section one and a first extension section two respectively located at both ends of the first intermediate section; the second cable includes a second extension section one and a second extension section two respectively located at both ends of the second intermediate section. The first extension section is wound around the first pulley member and extends to the bracket, and is connected to the driving device; the second extension section is wound around the second pulley member and extends to the bracket, and is connected to the driving device; wherein, the first extension section and the second extension section are respectively located on both sides of the first pulley group; If the driving device pulls the first extension segment 1 and the second extension segment 1, it drives the first actuator and the second actuator to rotate in the same direction.

3. The surgical instrument according to claim 2, characterized in that, The second pulley assembly includes a third pulley component and a fourth pulley component arranged coaxially; The first extension section 2 is wound around the third pulley member and extends to the bracket, and is connected to the driving device; the second extension section 2 is wound around the fourth pulley member and extends to the bracket, and is connected to the driving device; wherein, the first extension section 2 and the second extension section 2 are respectively located on both sides of the second pulley group; The drive device can be subjected to the following various traction conditions: If the driving device pulls the first extension segment one and the second extension segment two at the same time, so that the first actuator and the second actuator rotate in opposite directions; or, if the driving device pulls the first extension segment two and the second extension segment one at the same time, so that the first actuator and the second actuator rotate in opposite directions. If the driving device pulls the first extension segment one and the first extension segment two at the same time, the clamping end will perform the first swinging action; or, if the driving device pulls the second extension segment one and the second extension segment two at the same time, the clamping end will be driven to perform the first swinging action.

4. The surgical instrument according to claim 3, characterized in that, The first extension section one winds the rope in the first pulley member in the same way as the first extension section two winds the rope in the third pulley member; and / or, The second extension section one has the same rope winding method on the second pulley as the second extension section two has the same rope winding method on the fourth pulley.

5. The surgical instrument according to claim 1, characterized in that, The first cable is wound at least once on the first pulley block and / or the second pulley block; and / or The second cable is wound at least once on the first pulley block and / or the second pulley block.

6. The surgical instrument according to any one of claims 1-5, characterized in that, The bracket is also rotatably connected to a third pulley group and a fourth pulley group that are coaxially arranged with each other, and the axes of the third pulley group and the fourth pulley group are located on the side of the second axis away from the first axis; The extension section of the first cable also includes a third extension section that is simultaneously wound around the third pulley group and the fourth pulley group, and extends to the bracket, and is driven by the driving device; The extension of the first cable also includes a fourth extension that is simultaneously wound around the third pulley group and the fourth pulley group, and extends to the bracket and is driven by the drive device.

7. An operating device, characterized in that, The operating device includes a robotic arm and a surgical instrument as described in any one of claims 1-6, the surgical instrument being mounted on the robotic arm, the robotic arm being used to manipulate the movement of the surgical instrument.

8. A surgical robot, characterized in that, The surgical robot includes a main control console and a slave control device as described in claim 7, wherein the slave control device performs corresponding operations according to the instructions of the main control console.

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