Surgical instrument for transmitting wrist posture

Abstract

The invention relates to a surgical instrument for transmitting wrist postures. The surgical instrument comprises an execution assembly, a transmission assembly, a handle assembly and a frame assembly. The transmission assembly drives the execution assembly to complete deflection displacement and pitching displacement. The handle assembly is rotationally connected with the frame assembly, and the frame assembly drives the tail end execution part to rotate relative to the handle assembly along a first axis; a deflection control rotating wheel and a pitching control rotating wheel are arranged on the frame assembly, the handle assembly drives the deflection control rotating wheel to rotate along a second axis, power is transmitted to the transmission assembly through a deflection transmission steel wire to complete deflection displacement, and the handle assembly drives the pitching control rotating wheel to rotate along a third axis. Power is transmitted to the transmission assembly through a pitching transmission steel wire to complete pitching displacement; when the handle assembly is located at the neutral position, the extension lines of the first axis, the second axis and the third axis are orthogonal to one point. According to the surgical instrument, the forceps head end does not deviate during fixed-point autorotation, and the stability is better.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical instruments, and in particular to a surgical instrument for transmitting wrist posture. Background Art

[0002] Minimally invasive surgery, as the name implies, is surgery with minimal trauma. This surgical treatment method has the advantages of less bleeding, less trauma, fewer complications, safety and reliability, and quick recovery after surgery. It greatly reduces the harm of traditional surgery to the human body and reduces the inconvenience and pain caused by the disease to patients, making it the preferred treatment option for related diseases.

[0003] In the prior art, minimally invasive surgical instruments that can transmit wrist posture already exist. For the sake of surgical quality and patient safety, minimally invasive surgical instruments must meet very high requirements. However, current minimally invasive surgical instruments are large in size, complex to operate, and expensive.

[0004] For example, in the U.S. invention patent application with publication number: US20230040475A1, invention name: surgical tool and assembly, a handheld surgical tool assembly for minimally invasive surgery is disclosed. During operation, the surgical instrument has different pitch mechanical advantages and yaw mechanical advantages. During actual operation, it was found that the surgical instrument had the following problems:

[0005] 1. The yaw axis and the pitch axis are not orthogonal, which causes the end of the clamp head to deviate when the instrument rotates at a fixed point other than the neutral position (yaw angle = pitch angle = 0°). When the end of the operation deviates, it is easy to cause the failure of the operation;

[0006] 2. The mechanical efficiency of the yaw and pitch motions of surgical instruments is poor, resulting in poor operating feel. Summary of the invention

[0007] To this end, the technical problem to be solved by the present invention is to overcome the problems existing in the prior art of minimally invasive surgical instruments, and to provide a surgical instrument for transmitting wrist posture, in which the three rotation axes of the instrument are set to be orthogonal to one point, so that there is no offset when the forceps head end rotates at a fixed point, and the stability is better.

[0008] In order to solve the above technical problems, the present invention provides a surgical instrument for transmitting wrist posture, comprising: an end effector and an operation input part;

[0009] The end execution part includes: an execution component and a transmission component, wherein the execution component can complete the surgical action, and the transmission component can drive the execution component to complete the yaw displacement and pitch displacement;

[0010] The operation input part comprises: a handle assembly and a frame assembly, wherein the frame assembly is connected to the end execution part, the handle assembly is rotatably connected to the frame assembly, and the frame assembly drives the end execution part to rotate along a first axis relative to the handle assembly; a yaw control wheel and a pitch control wheel are arranged on the frame assembly, the handle assembly drives the yaw control wheel to rotate along a second axis, and transmits power to the transmission assembly through a yaw transmission wire to complete the yaw displacement, and the handle assembly drives the pitch control wheel to rotate along a third axis, and transmits power to the transmission assembly through a pitch transmission wire to complete the pitch displacement;

[0011] Wherein: when the handle assembly is in a neutral position, the extension lines of the first axis, the second axis and the third axis are orthogonal to one point.

[0012] In one embodiment of the present invention, the actuator assembly includes: a movable jaw, a fixed jaw and a metal wire. The movable jaw and the fixed jaw are hinged. One end of the metal wire is connected to the movable jaw, and the other end of the metal wire extends to the handle assembly. The metal wire is controlled on the handle assembly to drive the movable jaw to rotate relative to the fixed jaw.

[0013] In one embodiment of the present invention, the transmission assembly includes: a cross joint group, a clamp base and a sleeve group, one end of the cross joint group is connected to the actuator assembly, and the other end is connected to the clamp base, the yaw transmission steel wire and the pitch transmission steel wire are passed through the cross joint group, the yaw transmission steel wire is wound around the yaw control wheel, the yaw transmission steel wire drives the cross joint group to complete the yaw movement, the pitch transmission steel wire is wound around the pitch control wheel, the pitch transmission steel wire drives the cross joint group to complete the pitch movement, and the clamp base is connected to the frame assembly through the sleeve group.

[0014] In one embodiment of the present invention, the cross joint group includes: a cross axis and a cross joint inserted in the cross axis, the yaw transmission steel wire and the pitch transmission steel wire are inserted in the cross axis, the two yaw transmission steel wires are used to drive the cross joint to yaw and rotate in the cross axis, and the two pitch transmission steel wires are used to drive the cross joint to pitch and rotate in the cross axis.

[0015] In one embodiment of the present invention, a rotating cover is provided between the handle assembly and the frame assembly, one end of the rotating cover is rotatably connected to the handle assembly, and the other end of the rotating cover is fixedly connected to the frame assembly.

[0016] In one embodiment of the present invention, the frame assembly comprises:

[0017] A handle frame, wherein the handle frame is a U-shaped frame, one end of the handle frame is connected to the handle assembly, and two U-shaped arms of the handle frame are provided with a yaw control wheel, and the swing of the handle frame can drive the yaw control wheel to rotate;

[0018] A bracelet frame is hinged to the handle frame, the bracelet frame can rotate relative to the handle frame, and two pitch control wheels are arranged on the bracelet frame; the swing of the bracelet frame can drive the pitch control wheels to rotate;

[0019] A connecting frame, wherein the connecting frame is a U-shaped frame, one end of the connecting frame is connected to the end execution part, and two U-shaped arms of the connecting frame are connected to two pitch control wheels.

[0020] In one embodiment of the present invention, the yaw control rotating wheel and the pitch control rotating wheel are both rotatably connected via bearing screws and bearings.

[0021] In one embodiment of the present invention, two pitch control wires are symmetrically arranged on both sides of the connecting frame and are respectively wound around the two pitch control rotating wheels;

[0022] The two yaw control steel wires extend from one side of the connecting frame to the bracelet frame, and are symmetrically arranged on the bracelet frame and respectively wound around the two yaw control rotating wheels.

[0023] In one embodiment of the present invention, both the bracelet frame and the connecting frame are provided with a wiring groove, and a wire guide tube is provided in the wiring groove.

[0024] In one embodiment of the present invention, the yaw transmission steel wire and the pitch transmission steel wire are covered with steel wire aluminum sleeves when the fastening ends are pre-tightened and fixed.

[0025] The above technical solution of the present invention has the following advantages compared with the prior art:

[0026] The present invention provides a surgical instrument for transmitting wrist posture. Compared with existing surgical instruments, the three rotation axes of the instrument are arranged to be orthogonal to one point when performing action transmission, so that the yaw or pitch action of the end execution part is consistent with the yaw or pitch action of the operation input part, so that there is no offset when the clamp head end rotates at a fixed point, and the stability is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein:

[0028] Figure 1 is a schematic diagram of the overall structure of the surgical instrument for transmitting wrist posture of the present invention;

[0029] Figure 2 is a schematic diagram of the structure of the surgical instrument of the present invention in which three rotation axes are orthogonal to one point;

[0030] Figure 3 It is an analysis of the deviation that exists when the pitch rotation axis and the yaw rotation axis of the prior art surgical instrument are perpendicular but not orthogonal;

[0031] Figure 4 The table is a comparison of the movement trajectories of the forceps head end when the surgical instrument of the present invention is used with the surgical instrument of the prior art.

[0032] Figure 5 It is a schematic diagram of the exploded structure of the end execution part of the present invention;

[0033] Figure 6 It is a schematic diagram of the exploded structure of the operation input part of the present invention;

[0034] Explanation of the reference numerals in the specification: 1. end execution part; 11. execution assembly; 111. movable clamp; 112. fixed clamp; 113. metal wire; 12. transmission assembly; 121. cross shaft; 122. cross joint; 123. clamp base; 124. outer sleeve; 125. square tube; 126. spacer; 127. spring tube; 2. operation input part; 21. handle assembly; 211. rotating cover; 22. frame assembly; 221. yaw control wheel; 222. pitch control wheel; 223. rod fixing seat; 224. bellows; 225. handle frame; 226. bracelet frame; 227. connecting frame; 228. bearing screw; 229. bearing; 230. wire guide tube; 3. yaw transmission wire; 4. pitch transmission wire; 5. first axis; 6. second axis; 7. third axis. DETAILED DESCRIPTION

[0035] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0036] Reference Figure 1 and Figure 2 As shown, the present invention discloses a surgical instrument for transmitting wrist posture, comprising: an end execution part 1 and an operation input part 2. When in use, the operation input part 2 is controlled to transmit power to the end execution part 1 to complete the corresponding operation action, thereby realizing the application in surgery;

[0037] Wherein: the end execution part 1 includes: an execution component 11 and a transmission component 12, the execution component 11 can complete the surgical action, the transmission component 12 can receive the action output of the operation input part 2, and drive the execution component 11 to complete the yaw displacement and pitch displacement;

[0038] The operation input part 2 includes: a handle assembly 21 and a frame assembly 22. The frame assembly 22 is connected to the end execution part 1. The handle assembly 21 is rotatably connected to the frame assembly 22. The frame assembly 22 drives the end execution part 1 to rotate along the first axis 5 relative to the handle assembly 21. During actual operation, a rotational force driving the frame assembly 22 is input to the handle assembly 21, so that the frame assembly 22 can rotate relative to the handle assembly 21. At this time, the end execution part 1 will also rotate accordingly, thereby completing the rolling action of the end execution part 1. The frame assembly 22 is provided with a yaw control wheel 221 and a pitch control wheel 222. During actual operation: the handle assembly 21 is controlled to transmit power to the yaw control wheel 221, driving the yaw control wheel 221 to rotate along the second axis 6, the second axis 6 is the yaw rotation axis of the end execution part 1, the yaw control wheel 221 transmits power to the transmission assembly 12 through the yaw transmission wire 3 to complete the yaw displacement, the handle assembly 21 is controlled to transmit power to the pitch control wheel 222, driving the pitch control wheel 222 to rotate along the third axis 7, the third axis 7 is the pitch rotation axis of the end execution part 1, and the pitch control wheel 222 transmits power to the transmission assembly 12 through the pitch transmission wire 4 to complete the pitch displacement;

[0039] With the surgical instrument of the present invention, the operation input part 2 controls the handle assembly 21 to complete the flipping, yaw and pitching actions, and the corresponding execution assembly 11 of the end execution part 1 can also synchronously complete the execution action, so that the power transmission between the end execution part 1 and the operation input part 2 can be realized, and the end execution part 1 has the function of arbitrary positioning and arbitrary rotation within a certain range, and can complete the surgical action; refer to Figure 2 As shown, in the present embodiment, the extension lines of the first axis 5, the second axis 6 and the third axis 7 are arranged to be orthogonal to one point, that is, in the neutral position (yaw angle = pitch angle = 0°), the three rotation axes of the roll action input, the yaw action input and the pitch action input of the end execution part 1 are orthogonal to one point at the handle. Compared with the existing surgical instruments, the three rotation axes of the instrument are arranged to be orthogonal to one point when executing the action transmission, so that the yaw or pitch action of the end execution part 1 is consistent with the yaw or pitch action of the operation input part 2, so that there is no offset when the forceps head end rotates at a fixed point, and the stability is better.

[0040] To further verify, the surgical instrument disclosed in the present invention has three rotation axes of roll action input, yaw action input and pitch action input that are orthogonal to a point at the handle, and has a technical effect of no offset and better stability compared to the prior art. In this embodiment, the inventor analyzed the surgical instruments in the prior art in which the pitch rotation axis and the yaw rotation axis are perpendicular but not orthogonal, and compared the motion trajectory of the end execution part 1 of the surgical instrument of the present invention with the motion trajectory of the end execution part 1 of the surgical instrument in the prior art.

[0041] Reference Figure 3 As shown, the inventors analyzed the surgical instrument in the prior art in which the pitch rotation axis and the yaw rotation axis are perpendicular but not orthogonal. As shown in the figure, the distance between the pitch rotation axis and the yaw rotation axis in the surgical instrument is δ. When the farthest end of the handle assembly 21 leaves the neutral position axis and the fixed distance is r, the angle through which the yaw control wheel 221 rotates, that is, the yaw angle is α yaw The angle of the pitch control wheel 222, that is, the pitch angle is α pitch ; Due to the existence of δ, we know that α yaw >α pitch , that is, the wire stroke of the yaw motion control is greater than the wire stroke of the pitch motion control. This will result in the execution action of the end execution part 1 being inconsistent with the input action of the operation input part 2 when the actual action is transmitted.

[0042] Reference Figure 4 As shown, the motion trajectory of the end effector 1 of the surgical instrument of the present invention is compared with the motion trajectory of the end effector 1 of the surgical instrument of the prior art. The yaw rotation axis and the pitch rotation axis of the surgical instrument of the present invention are orthogonally arranged, and the yaw rotation axis and the pitch rotation axis of the surgical instrument of the prior art are arranged to be perpendicular but not intersecting. The states of the end effector 1 of the two surgical instruments without self-rotation and self-rotation are analyzed below:

[0043] When the end effector 1 of the two surgical instruments does not rotate, the wrist can make a circular motion with a radius of r around the neutral position axis. At this time, the end effector 1 of the surgical instrument of the present invention will make a circular motion with a radius of r'; while the maximum deflection displacement of the end effector 1 of the surgical instrument of the prior art is r yaw > Maximum pitch displacement r pitch , performs elliptical motion, and r>r yaw >r pitch=r', thus it can be seen that, when the end execution part 1 has no self-rotation, when realizing power transmission, the surgical instrument of the present invention has no deviation in power transmission, while the power transmission of the prior art has deviation. Simply put: when the surgical instrument of the present invention controls the operation input part 2 to make a circular motion, the end execution part 1 also makes a circular motion. However, when the surgical instrument of the prior art controls the operation input part 2 to make a circular motion, the end execution part 1 will execute an elliptical motion trajectory, which deviates from the actual operation input.

[0044] When the end effector parts 1 of the two surgical instruments are in the self-rotating state, the end effector parts 1 of the two surgical instruments are controlled to rotate when they have reached the maximum pitch displacement. The end effector part 1 of the instrument of the present invention will keep its pitch displacement at r' and not move; while in the surgical instruments of the prior art, the pitch displacement and yaw displacement that alternately appear during the self-rotation of the end effector part 1 are different, and the end effector part 1 will deviate up and down, reducing the stability of the instrument during operation.

[0045] Reference Figure 5 As shown, in the present embodiment, in order to set the execution component 11 of the end execution part 1 to be able to complete the surgical action, the execution component 11 includes: a movable forceps 111, a fixed forceps 112 and a metal wire 113. The movable forceps 111 and the fixed forceps 112 are hinged, and the movable forceps 111 and the fixed forceps 112 can rotate relative to each other to complete the opening and closing and clamping actions. One end of the metal wire 113 is connected to the movable forceps 111, and the other end of the metal wire 113 extends to the handle assembly 21. The metal wire 113 is controlled separately on the handle assembly 21 to drive the movable forceps 111 to rotate relative to the fixed forceps 112.

[0046] In this embodiment, in order to set up the transmission component 12 to transmit power to the actuator component 11, the transmission component 12 includes: a cross joint group, a clamp base 123 and a sleeve group, one end of the cross joint group is connected to the actuator component 11, and the other end is connected to the clamp base 123, the yaw transmission wire 3 and the pitch transmission wire 4 are inserted in the cross joint group, as shown in the figure, the cross joint group includes: a cross shaft 121 and a cross joint 122 inserted in the cross shaft 121, the yaw transmission wire 3 and the pitch transmission wire 4 are inserted in the cross shaft 121, the cross The shaft 121 is provided with four through holes for the yaw transmission steel wires 3 and the pitch transmission steel wires 4 to pass through, wherein two of the yaw transmission steel wires 3 pass through the left and right through holes, and the cross joint 122 is driven to yaw and rotate in the cross shaft 121 through the two yaw transmission steel wires 3, wherein two of the pitch transmission steel wires 4 pass through the upper and lower through holes, and the cross joint 122 is driven to pitch and rotate in the cross shaft 121 through the two pitch transmission steel wires 4, and the yaw transmission steel wires 3 are wound around the yaw control wheel 221, and when the yaw control wheel 221 rotates, The yaw transmission wire 3 drives the cross joint 122 group to complete the yaw action, and the pitch transmission wire 4 is wound around the pitch control wheel 222. When the yaw control wheel 221 rotates, the pitch transmission wire 4 drives the cross joint 122 group to complete the pitch action. The clamp base 123 is connected to the frame assembly 22 through the sleeve group. The sleeve group includes: an outer sleeve 124, a square tube 125 arranged in the outer sleeve 124, and a spacer 126 arranged at the end of the square tube 125. The metal wire 113, the yaw transmission wire 3 and the pitch transmission wire 4 all pass through the square tube 125, the spacer 126 is used to connect with the frame assembly 22, the length of the sleeve group determines the overall length of the surgical instrument, and sleeve groups of different lengths are set under different surgical requirements. The sleeve group is connected to the frame assembly 22 through a rod fixing seat 223, and the rod fixing seat 223 is provided with a through groove for the metal wire 113, the yaw transmission wire 3 and the pitch transmission wire 4 to pass through. The metal wire 113 is guided to the handle assembly 21 through a bellows 224, and the yaw transmission wire 3 and the pitch transmission wire 4 are connected to the frame assembly 22.

[0047] Specifically, the transmission assembly 12 also includes: a spring tube 127 inserted into the cross joint 122 group. When the cross joint 122 group is subjected to yaw and pitch movements, the spring tube 127 is compressed and deformed. When the cross joint 122 group is not subjected to external force, the spring tube 127 releases elastic force to drive the cross joint 122 group to reset.

[0048] Reference Figure 6As shown, in order to realize the relative rotation between the handle assembly 21 and the frame assembly 22, a rotating cover 211 is arranged between the handle assembly 21 and the frame assembly 22, one end of the rotating cover 211 is rotatably connected to the handle assembly 21, and the other end of the rotating cover 211 is fixedly connected to the frame assembly 22. In actual operation, the rotating cover 211 can be manually rotated to drive the frame assembly 22 to rotate, thereby realizing the rotation of the end execution part 1.

[0049] Specifically, in order to realize the power transmission between the handle assembly 21 and the frame assembly 22, the frame assembly 22 includes: a handle frame 225, a bracelet frame 226 and a connecting frame 227, wherein the handle frame 225 and the connecting frame 227 are both U-shaped frames, the bracelet frame 226 is a square frame, and the bracelet frame 226 realizes the transfer of the handle frame 225 and the connecting frame 227, and the two U-shaped arms of the handle frame 225 and the connecting frame 227 are respectively connected to the two symmetrical side walls of the connecting frame 227, one end of the handle frame 225 is connected to the handle assembly 21, and the two U-shaped arms of the handle frame 225 are both provided with a yaw control wheel 221, and the swing of the handle frame 225 can drive the yaw control wheel 221 to rotate, and the bracelet frame 2 26 is hinged to the handle frame 225, the bracelet frame 226 can rotate relative to the handle frame 225, and two pitch control wheels 222 are arranged on the bracelet frame 226; the swing of the bracelet frame 226 can drive the pitch control wheel 222 to rotate, one end of the connecting frame 227 is connected to the end execution part 1, and the two U-shaped arms of the connecting frame 227 are connected to the two pitch control wheels 222. When the frame assembly 22 of this embodiment is adopted, when performing an action, the power can be transmitted to the yaw control wheel 221 and the pitch control wheel 222 respectively by holding the handle assembly 21 up, down, left and right and moving the wrist when performing an action, and the yaw transmission wire 3 and the pitch transmission wire 4 are controlled by the rotation of the wheels, so that the power is transmitted to the end execution part 1.

[0050] Specifically, the yaw control wheel 221 and the pitch control wheel 222 are both rotatably connected via a bearing screw 228 and a bearing 229. In the present embodiment, a bearing 229 is provided to support the rotation of the wheel, so that the rotation of the yaw control wheel 221 and the pitch control wheel 222 is more flexible. The yaw control wheel 221 and the pitch control wheel 222 have a small moment of inertia, a balanced structure, and are easier to operate, thereby improving the corresponding sensitivity of the surgical instrument.

[0051] Specifically, when setting the routing of the pitch control wire and the yaw control wire, in order to ensure the consistency of the rotation of the two yaw control wheels 221 and the two pitch control wheels 222, it is necessary to control the routing path between the pitch control wire and the two pitch control wheels 222, and the routing path between the yaw control wire and the two yaw control wheels 221 to be consistent. Therefore, in this embodiment, two pitch control wires are symmetrically arranged on both sides of the connecting frame 227, respectively wound around the two On the pitch control wheel 222, two yaw control wires are arranged at the same time, extending from one side of the connecting frame 227 to the bracelet frame 226, and are symmetrically arranged on the bracelet frame 226, and are respectively wound around the two yaw control wheels 221. When the two pitch control wheels 222 and the two yaw control wheels 221 rotate synchronously, the consistency of power transmission by the wires can be ensured, and the wires will not be tight or loose, so that the mechanical efficiency difference between the yaw motion and the pitch motion is reduced, and the operating feel is better.

[0052] Specifically, a wiring groove is provided on the bracelet frame 226 and the connecting frame 227, and a wire guide tube 230 is provided in the wiring groove. The pitch control wire and the yaw control wire are both arranged in the wire guide tube 230. On the one hand, the wire can be protected, and on the other hand, the friction of the wire can be reduced, so that the control is more flexible and the wire will not get stuck.

[0053] Specifically, the yaw transmission steel wire 3 and the pitch transmission steel wire 4 are covered with steel wire aluminum sleeves when the fastening ends are pre-tightened and fixed, which can prevent the steel wires from breaking.

[0054] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the present invention.

Claims

1. A surgical instrument for transmitting wrist posture, characterized in that: include: The terminal execution part and the operation input part; The end execution part includes: an execution component and a transmission component, wherein the execution component can complete the surgical action, and the transmission component can drive the execution component to complete the yaw displacement and pitch displacement; The operation input part comprises: a handle assembly and a frame assembly, wherein the frame assembly is connected to the end execution part, the handle assembly is rotatably connected to the frame assembly, and the frame assembly drives the end execution part to rotate along a first axis relative to the handle assembly; a yaw control wheel and a pitch control wheel are arranged on the frame assembly, the handle assembly drives the yaw control wheel to rotate along a second axis, and transmits power to the transmission assembly through a yaw transmission wire to complete the yaw displacement, and the handle assembly drives the pitch control wheel to rotate along a third axis, and transmits power to the transmission assembly through a pitch transmission wire to complete the pitch displacement; Wherein: when the handle assembly is in a neutral position, the extension lines of the first axis, the second axis and the third axis are orthogonal to one point.

2. The surgical instrument for transmitting wrist posture according to claim 1, characterized in that: The actuator assembly includes: a movable jaw, a fixed jaw and a metal wire. The movable jaw and the fixed jaw are hinged. One end of the metal wire is connected to the movable jaw, and the other end of the metal wire extends to the handle assembly. The metal wire is controlled on the handle assembly to drive the movable jaw to rotate relative to the fixed jaw.

3. The surgical instrument for transmitting wrist posture according to claim 1, characterized in that: The transmission assembly includes: a cross joint group, a clamp base and a sleeve group, one end of the cross joint group is connected to the actuator assembly, and the other end is connected to the clamp base, the yaw transmission steel wire and the pitch transmission steel wire are passed through the cross joint group, the yaw transmission steel wire is wound around the yaw control wheel, the yaw transmission steel wire drives the cross joint group to complete the yaw action, the pitch transmission steel wire is wound around the pitch control wheel, the pitch transmission steel wire drives the cross joint group to complete the pitch action, and the clamp base is connected to the frame assembly through the sleeve group.

4. The surgical instrument for transmitting wrist posture according to claim 3, characterized in that: The cross joint group includes: a cross shaft and a cross joint inserted in the cross shaft, the yaw transmission steel wire and the pitch transmission steel wire are inserted in the cross shaft, the two yaw transmission steel wires are used to drive the cross joint to yaw and rotate in the cross shaft, and the two pitch transmission steel wires are used to drive the cross joint to pitch and rotate in the cross shaft.

5. The surgical instrument for transmitting wrist posture according to claim 1, characterized in that: A rotating cover is arranged between the handle assembly and the frame assembly, one end of the rotating cover is rotatably connected to the handle assembly, and the other end of the rotating cover is fixedly connected to the frame assembly.

6. The surgical instrument for transmitting wrist posture according to claim 1, characterized in that: The frame assembly comprises: A handle frame, wherein the handle frame is a U-shaped frame, one end of the handle frame is connected to the handle assembly, and two U-shaped arms of the handle frame are provided with a yaw control wheel, and the swing of the handle frame can drive the yaw control wheel to rotate; A bracelet frame is hinged to the handle frame, the bracelet frame can rotate relative to the handle frame, and two pitch control wheels are arranged on the bracelet frame; the swing of the bracelet frame can drive the pitch control wheels to rotate; A connecting frame, wherein the connecting frame is a U-shaped frame, one end of the connecting frame is connected to the end execution part, and two U-shaped arms of the connecting frame are connected to two pitch control wheels.

7. The surgical instrument for transmitting wrist posture according to claim 6, characterized in that: The yaw control rotating wheel and the pitch control rotating wheel are both rotatably connected via bearing screws and bearings.

8. The surgical instrument for transmitting wrist posture according to claim 6, characterized in that: The two pitch control steel wires are symmetrically arranged on both sides of the connecting frame and are respectively wound around the two pitch control rotating wheels; The two yaw control steel wires extend from one side of the connecting frame to the bracelet frame, and are symmetrically arranged on the bracelet frame and respectively wound around the two yaw control rotating wheels.

9. The surgical instrument for transmitting wrist posture according to claim 6, characterized in that: The bracelet frame and the connecting frame are both provided with a wiring groove, and a wire guide tube is provided in the wiring groove.

10. The surgical instrument for transmitting wrist posture according to claim 1, characterized in that: The yaw transmission steel wire and the pitch transmission steel wire are covered with steel wire aluminum sleeves when the fastening ends are pre-tightened and fixed.

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