Surgical instrument and winding mechanism thereof

Abstract

The invention relates to a surgical instrument and a winding mechanism thereof. The winding mechanism comprises a rotating shaft, a sealing assembly and a plurality of separators. The rotating shaft is used for winding cables. The sealing assembly sleeves the outer side of the rotating shaft, and the sealing assembly and the rotating shaft are mutually spaced to form a sealing cavity which is used for arranging a cable. The first end of each separator is arranged on the rotating shaft, the second end of each separator abuts against the inner wall of the sealing part, and the plurality of separators are used for enabling the sealing cavity to form a plurality of subareas in the axial direction, so that the plurality of circles of cables are separated from one another through the plurality of subareas. Therefore, mutual winding among the multiple circles of cables when the multiple circles of cables are loosened or tightened at the same time is prevented. In addition, the closing assembly can limit the take-up and pay-off boundary of the cable, so that the cable is located in the closing assembly when being tightened and loosened, and the situation that the cable is exposed, and potential safety hazards are caused is prevented.

Description

Technical Field

[0001] The present application relates to the technical field of medical instruments, and in particular to surgical instruments and winding mechanisms thereof. Background Art

[0002] With the development of medical device technology, there has emerged a technology that uses surgical instruments to assist doctors in performing minimally invasive surgeries. Surgical instruments generally include a multi-degree-of-freedom robotic arm, a detection mechanism mounted on the robotic arm, and an end effector mounted at the end of the robotic arm. In order to facilitate the electrical connection between the detection mechanism and the end effector, one end of the cable is connected to the detection mechanism and the other end is connected to the end effector.

[0003] However, when the end effector rotates, the end effector drives one end of the cable to rotate, thereby tightening or loosening the cable, which easily causes the cables to become entangled with each other. Summary of the invention

[0004] Based on this, it is necessary to provide a surgical instrument and a winding mechanism thereof to address the problem that the cables of surgical instruments are prone to entanglement.

[0005] A winding mechanism, comprising:

[0006] A rotating shaft for winding cables;

[0007] A closing component is sleeved on the outside of the rotating shaft, the closing component and the rotating shaft are spaced apart from each other to form a closing cavity, and the closing cavity is used to arrange the cable;

[0008] A plurality of partitions are provided, wherein the first end of each of the partitions is arranged on the rotating shaft, and the second end abuts against the inner wall of the closing component. The plurality of partitions are used to form a plurality of partitions in the closing cavity along the axial direction, so as to separate a plurality of turns of cables from each other through the plurality of partitions.

[0009] In one embodiment, a plurality of the separators are sequentially spaced apart along the axial direction of the rotating shaft, so that two adjacent partitions are separated by one separator, and two adjacent separators are away from each other.

[0010] In one embodiment, the surface of the separator for supporting the cables is an arc-shaped structure.

[0011] In one embodiment, a plurality of connecting holes are provided on the rotating shaft, the partition can be selectively arranged in the connecting holes, and the size of the connecting holes is adapted to the cross-sectional size of the partition, and the cross-sectional size of the partition refers to the radial cross-sectional size of the partition along the rotating shaft.

[0012] In one embodiment, the closure assembly includes a plurality of closure members, which are connected end to end in sequence to form a closed structure, and at least one pair of adjacent closure members is hinged.

[0013] In one embodiment, the number of the closure members is two, and the closure members are semicircular in structure. The ends of the two closure members that are close to each other are hinged to each other, and the other ends of the two closure members that are close to each other are detachably connected.

[0014] In one embodiment, the winding mechanism also includes a closed base and a closed end cover, and the closed base and the closed end cover are both fixedly connected to the rotating shaft, and one end of the closed component is rotatably connected to the closed base, and the other end is rotatably connected to the closed end cover.

[0015] In one embodiment, the winding mechanism further comprises a wire member, one end of which is connected to the closing component, and the other end of which is used to connect to the detection mechanism;

[0016] The winding mechanism is used to be connected to the end effector, so that the winding mechanism can be driven by the end effector to swing the detection mechanism through the wire member.

[0017] A surgical instrument comprises a cable, a robotic arm, an end effector and the above-mentioned winding mechanism, wherein the robotic arm and the end effector are rotationally connected via a rotating shaft of the winding mechanism, and the cable is connected to the end effector after being wound around the rotating shaft.

[0018] In one embodiment, the surgical instrument further includes a detection mechanism and a swing arm. The detection mechanism is rotatably arranged on the robotic arm around the axis of the swing arm. The winding mechanism is rotatably connected to the robotic arm through the swing arm. When the winding mechanism rotates, it is used to drive the detection mechanism to swing through the wire guide.

[0019] In one embodiment, a wire groove is provided in the wire member, a wire entry hole is provided on a side of the detection mechanism close to the robot arm, and a wire exit hole is provided on a side of the end effector close to the closing component. The cable passes through the wire entry hole, the wire groove, the closing component, and the wire exit hole in sequence and enters the end effector.

[0020] The above-mentioned surgical instrument and its winding mechanism, the closing component is sleeved on the outside of the rotating shaft, the closing component and the rotating shaft are spaced apart to form a closed cavity, the cable is wound on the rotating shaft, and the first end of the partition is arranged on the rotating shaft, and the second end is in contact with the inner wall of the closing component. The multiple partitions are used to form multiple partitions in the closed cavity along the axial direction, so as to separate multiple turns of cables from each other through multiple partitions, thereby reducing the number of turns of cables in each partition, and thus preventing the multiple turns of cables from being entangled with each other when the multiple turns of cables are loosened or tightened at the same time. In addition, the closing component can also limit the retraction and release boundary of the cable, so that the cable is located in the closing component when tightening and loosening, so as to prevent the cable from being exposed and causing unsafe hidden dangers. The surgical instrument includes a cable, a robot arm, a winding mechanism and an end effector, the robot arm and the end effector are connected by the rotating shaft of the winding mechanism, the cable is connected to the end effector after being wound on the rotating shaft, that is, when the end effector drives the cable to rotate, the winding mechanism can prevent the cables from being entangled with each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of the structure of the surgical instrument when the sealing component is closed in one embodiment.

[0022] Figure 2 Schematic diagram of the structure of the surgical instrument when the sealing component is opened in one embodiment.

[0023] Figure 3 Schematic diagram of the structure of a detection mechanism in one embodiment.

[0024] Reference numerals: 10, winding mechanism; 11, wire guide; 20, mechanical arm; 30, end effector; 31, wire outlet; 40, detection mechanism; 41, wire inlet; 42, base; 43, rotating base; 44, camera body; 45, bearing; 50, swing arm;

[0025] 100, rotating shaft; 110, connecting hole;

[0026] 200, closure assembly; 210, closure member;

[0027] 300, separator;

[0028] 400, closed base;

[0029] 500. Closed end cap. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0031] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0032] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0033] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0034] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0035] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0036] See also Figure 1 and Figure 2 , a winding mechanism 10 provided in one embodiment of the present application, the winding mechanism 10 includes a rotating shaft 100, a closing component 200 and a plurality of partitions 300. The rotating shaft 100 is used to wind the cable. The closing component 200 is sleeved on the outside of the rotating shaft 100, and the closing component 200 and the rotating shaft 100 are spaced from each other to form a closed cavity, and the closed cavity is used to set the cable. The first end of each partition 300 is set on the rotating shaft 100, and the second end abuts against the inner wall of the closing component 210. The plurality of partitions 300 are used to form a plurality of partitions in the closed cavity along the axial direction of the rotating shaft, so as to separate multiple turns of cable from each other through the plurality of partitions.

[0037] In this embodiment, the closing component 200 is sleeved on the outside of the rotating shaft 100, and the closing component 200 and the rotating shaft 100 are spaced apart from each other to form a closed cavity. The cable is wound on the rotating shaft 100, and the first end of the partition 300 is arranged on the rotating shaft 100, and the second end is in contact with the inner wall of the closing component 210. The multiple partitions 300 are used to form multiple partitions in the closed cavity along the axial direction of the rotating shaft, so as to separate multiple turns of cables from each other through multiple partitions, thereby reducing the number of turns of cables in each partition, thereby preventing the multiple turns of cables from being entangled with each other when the multiple turns of cables are loosened or tightened at the same time. In addition, the closing component 200 can also limit the retractable boundary of the cable, so that the cable is located in the closing component 200 when tightened and loosened, so as to prevent the cable from being exposed and causing unsafe hidden dangers.

[0038] In some embodiments, a plurality of partitions 300 are sequentially spaced apart along the axial direction of the rotating shaft 100 , so that two adjacent partitions are separated by one partition 300 , and two adjacent partitions 300 are away from each other.

[0039] In this embodiment, two adjacent partitions 300 face away from each other, that is, the extension lines of the two adjacent partitions 300 are parallel to each other, which can prevent the entanglement of multiple turns of cables on the other side of the circumferential direction of the rotating shaft 100 caused by multiple partitions 300 being located on the same side of the circumferential direction of the rotating shaft 100 at the same time.

[0040] It should be noted that two adjacent partitions may be separated from each other by at least two partitions 300, and at least two partitions 300 are located on the same circumference of the rotating shaft 100. For example, two adjacent partitions are separated from each other by two partitions 300, or two adjacent partitions are separated from each other by three partitions 300. The more the number of partitions 300 located on the same circumference, the less likely the cables are to get tangled.

[0041] In one embodiment, a plurality of partitions 300 are arranged in sequence along the axial direction of the rotating shaft 100 at intervals, so as to form a plurality of partitions along the axial direction of the rotating shaft 100, and a circle of winding can exist independently in each partition, so that each circle of winding is separated from each other, and further, the windings are in their respective partitions whether being tightened or loosened, and will not be entangled with each other.

[0042] In another embodiment, multiple turns of cables may be arranged in each partition, such as two turns or three turns, as long as the cables in the same partition are not entangled with each other.

[0043] In some embodiments, the surface of the separator 300 for supporting the cables is an arc-shaped structure.

[0044] In this embodiment, the cross-section of the separator 300 along the radial direction of the rotating shaft 100 can be circular or elliptical. The separator 300 can be a linear or curved structure along the radial direction of the rotating shaft 100, for example, a cylindrical structure. Here, the separator 300 is taken as an example of a cylindrical structure. One end of the cylindrical structure is arranged on the rotating shaft 100, and the other end abuts against the inner wall of the closure 210, so that the cable contacts the arc-shaped side wall of the cylindrical structure. Compared with the contact between the cable and the planar structure, the arc-shaped structure is used to reduce the friction between the cable and the separator 300, which is beneficial to extend the service life of the cable.

[0045] In some embodiments, a plurality of connection holes 110 are provided on the rotating shaft 100 , and the partition 300 can be selectively disposed in the connection hole 110 . The size of the connection hole 110 is adapted to the cross-sectional size of the partition 300 . The cross-sectional area of ​​the partition 300 refers to the radial cross-sectional area of ​​the partition 300 along the rotating shaft 100 .

[0046] In this embodiment, a plurality of connection holes 110 are provided on the side wall of the rotating shaft 100, and the separator 300 can be selectively provided in the connection hole 110. That is, the separator 300 can be installed in a suitable connection hole 110 according to the diameter of the cable and the number of cables wound, and the position of the separator 300 can be flexibly changed to adapt to cables of different sizes.

[0047] Specifically, when the separator 300 is a cylindrical structure, the connecting hole 110 is a circular hole that matches the cylindrical structure.

[0048] In some embodiments, the closure assembly 200 includes a plurality of closure members 210 , which are connected end to end in sequence to form a closed structure, and at least one pair of adjacent closure members 210 are connected by a hinge.

[0049] For example, the closure assembly 200 includes a first closure member, a second closure member, a third closure member, and a fourth closure member connected end to end in sequence, wherein the first closure assembly 200 and the second closure member 210 are connected by a hinge, the second closure assembly 200 and the third closure member 210 are connected by a hinge, the third closure member and the fourth closure member are fixedly connected, and the fourth closure member and the first closure member are connected by screws. After removing the screws between the fourth closure member and the first closure member, the closure member 210 connected by the hinge can open the closure assembly 200 at a larger angle, thereby facilitating the assembly and replacement of the cable.

[0050] For further information, see Figure 2 There are two closure members 210, and the closure members 210 are semicircular in structure. One end of the two closure members 210 close to each other is hinged to each other, and the other end of the two closure members 210 close to each other is detachably connected.

[0051] In this embodiment, since the closing piece 210 is a semicircular structure, when the other ends of the two semicircular structures are connected to each other, the two closing pieces 210 are combined to form a closed circular structure, so that when the rotating shaft 100 drives the partition 300 to rotate, the other end of the partition 300 can always abut against the closing component 200, thereby preventing multiple turns of cable from getting entangled when the cable falls out of the gap between the partition 300 and the closing component 200.

[0052] Combination Figure 2 In some embodiments, the winding mechanism 10 also includes a closed base 400 and a closed end cover 500, both of which are fixedly connected to the rotating shaft 100, and one end of the closed component 200 is rotatably connected to the closed base 400, and the other end is rotatably connected to the closed end cover 500.

[0053] In this embodiment, the closed component 200, the closed base 400 and the closed end cap 500 form a closed cavity, and the cable is arranged in the closed cavity. The closed base 400 includes a first-layer base (not marked in the figure) and a second-layer base (not marked in the figure), the second-layer base is arranged on the side of the first-layer base close to the closed end cap 500, and the diameter of the second-layer base is smaller than the diameter of the first-layer base. The closed end cap 500 includes a first-layer end cap (not marked in the figure) and a second-layer end cap (not marked in the figure), the second-layer end cap is arranged on the side of the first-layer end cap close to the closed base 400, and the diameter of the second-layer end cap is smaller than the diameter of the first-layer end cap. The diameters of the second-layer base and the second-layer end cap are the same, so that one end of the closed component 200 is sleeved outside the second-layer base, and the other end is sleeved outside the second-layer end cap, and the closed component 200 is located between the first-layer base and the first-layer end cap. That is, the installation of the closed component 200 can be achieved through the closed base 400 and the closed end cover 500, but because the closed component 200 is not directly connected to the closed base 400 or the closed end cover 500, the closed component 200 can rotate relative to the closed base 400 and the closed end cover 500. When the rotating shaft 100 drives the closed base 400 and the closed end cover 500 to rotate, the closed component 200 may not rotate.

[0054] Specifically, there are two partitions 300 , and the two partitions 300 are used to divide the closed cavity into three partitions. Each partition is used to wind a circle of cables, thereby effectively preventing the cables from being entangled with each other.

[0055] In some other embodiments, the closing component includes a closing base, a closing end cover and a closing member, and the closing component and the rotating shaft are spaced apart from each other to form a closing cavity, and the cable is disposed in the closing cavity.

[0056] In other embodiments, the closed base can be arranged on the shaft, or can also be a part of the closed assembly, and the end effector is arranged at one end of the shaft away from the closed base, so that the end effector can be used as a closed end cover, that is, the end effector, the closed assembly and the closed base can form a closed cavity, so that the cable is arranged in the closed cavity. The end effector directly serves as a closed end cover, and the structure is simple.

[0057] In some embodiments, the winding mechanism further includes a wire member, one end of which is connected to the closing assembly, and the other end of which is used to connect to the detection mechanism. The winding mechanism is used to connect to the end effector so that the winding mechanism can be driven by the end effector to drive the detection mechanism to rotate through the wire member.

[0058] Combination Figure 1 and Figure 2An embodiment of the present application further provides a surgical instrument, which includes a cable, a robotic arm 20, a winding mechanism 10, and an end effector 30. The robotic arm 20 and the end effector 30 are rotatably connected via a rotating shaft 100 of the winding mechanism 10, and the cable is wound around the rotating shaft 100 and connected to the end effector 30.

[0059] The end effector 30 is rotatably connected to the robot arm 20 via the rotating shaft 100 , that is, when the end effector 30 drives the cable to rotate, the cable has a tightening and loosening action, and when the cable switches from a relaxed state to a tightened state, it is easy to get entangled.

[0060] In this embodiment, the robot arm 20 and the end effector 30 are rotatably connected via the rotating shaft 100 of the winding mechanism 10, so that the cables pass through the partition of the closure member 210 in the closure assembly 200 and then enter the end effector 30, thereby avoiding mutual entanglement of the cables.

[0061] The end effector 30 includes a sensor, and the robot arm 20 and the sensor are directly connected in rotation via the rotating shaft 100 of the winding mechanism 10. The sensor is used to detect the force applied to the end effector 30.

[0062] Furthermore, the surgical instrument further includes a detection mechanism 40 and a swing arm 50, wherein the detection mechanism 40 is rotatably arranged on the mechanical arm 20 around the axis of the swing arm 50, and the winding mechanism 10 is rotatably connected to the mechanical arm 20 via the swing arm 50. The winding mechanism 10 further includes a wire guide 11, one end of which is connected to the closing assembly 200, and the other end is connected to the detection mechanism 40, and when the winding mechanism 10 rotates, it is used to drive the detection mechanism 40 to swing via the wire guide 11.

[0063] The detection mechanism 40 may be a structured light camera, which is used to detect obstacles at the end of the robot arm 20 (the end close to the end effector 30) to prevent the end of the robot arm 20 from hitting obstacles during movement. The robot arm 20 is a standard part, and when the detection mechanism 40 is installed at the end of the robot arm 20, the structure of the robot arm 20 itself cannot provide the rotation of the structured light camera.

[0064] Specific, combined Figure 3 The structured light camera includes a base 42 , a rotating base 43 and a camera body 44 . The base 42 is fixed on the robot arm 20 . The rotating base 43 is rotatably connected to the base 42 through a bearing 45 . The camera body 44 is disposed on the rotating base 43 .

[0065] The detection mechanism 40 is rotatably arranged on the mechanical arm 20 around the axis of the swing arm 50, that is, the detection mechanism 40 can rotate relative to the mechanical arm 20. At the same time, since one end of the swing arm 50 is rotatably connected to the mechanical arm 20, and the other end is connected to the rotating shaft 100. One end of the wire member 11 is connected to the closing component 200, and the other end is connected to the detection mechanism 40, that is, when the swing arm 50 swings, the closing component 200 can be driven to swing through the rotating shaft 100, and at the same time, the closing component 200 drives the detection mechanism 40 to rotate around the axis of the swing arm 50 through the wire member 11. Therefore, on the basis of not changing the structure of the mechanical arm 20 itself, the detection mechanism 40 can also be driven to swing through the closing component 200, so as to increase the detection accuracy of the detection mechanism 40. At the same time, the closing component 200 is rotatably connected to the closing base 400 and the closing end cover 500, that is, when the rotating shaft 100 drives the closing base 400 and the closing end cover 500 to rotate, the closing component 200 may not rotate under the traction of the wire guide 11, so when the detection mechanism 40 swings, it will not affect the rotation of the end actuator 30.

[0066] In some embodiments, a wire groove is provided in the wire member 11, a wire entry hole 41 is provided on the side of the detection mechanism 40 close to the robot arm 20, and a wire exit hole 31 is provided on the side of the end effector 30 close to the closing component 200. The cable passes through the wire entry hole 41, the wire groove, the closing component 200, the wire exit hole 31 in sequence, and is connected to the wiring port of the end effector 30.

[0067] The cable needs to be electrically connected to the detection mechanism 40 and the end effector 30 at the same time. The cable enters the detection mechanism 40 from the cable entry hole 41, and then enters the closed component 200 through the wire groove in the wire member 11, so that the cable is not exposed, which increases the aesthetics and avoids the unsafe hidden danger of the cable being exposed. In actual use, the cable can be compressed and fixed in the wiring groove to prevent the cable from moving in the wiring groove when the cable is tightened or loosened in the closed component 200.

[0068] Specifically, one end of the wire guide 11 is hinged to the detection mechanism 40, and the other end is fixedly connected to the position where the first closure member 210 and the second closure member 210 are connected to each other. A screw can be passed through the first closure member 210, the wire guide 11 and the second closure member 210 in sequence, so that the three can be fixed at the same time. When it is necessary to open the closure assembly 200, the screws connecting the first closure member 210, the wire guide 11 and the second closure member 210 can be removed.

[0069] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0070] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A winding mechanism (10), characterized in that: The winding mechanism (10) comprises: A rotating shaft (100) for winding cables; A closing component (200) is sleeved on the outside of the rotating shaft (100), the closing component (200) and the rotating shaft (100) are spaced apart from each other to form a closing cavity, and the closing cavity is used to arrange cables; A plurality of partitions (300), each of which has a first end disposed on the rotating shaft (100) and a second end abutting against an inner wall of the closing component (200), and the plurality of partitions (300) are used to form a plurality of partitions in the closing cavity along the axial direction of the rotating shaft (100), so as to separate a plurality of turns of cable from each other through the plurality of partitions.

2. The winding mechanism (10) according to claim 1, characterized in that: The plurality of separators (300) are sequentially spaced apart along the axial direction of the rotating shaft (100), so that two adjacent partitions are separated by one separator (300), and two adjacent separators (300) are away from each other.

3. The winding mechanism (10) according to claim 1, characterized in that: The surface of the separator (300) used for supporting the cables is an arc-shaped structure.

4. The winding mechanism (10) according to claim 1, characterized in that: The rotating shaft (100) is provided with a plurality of connecting holes (110), the partition (300) can be selectively arranged in the connecting hole (110), and the size of the connecting hole (110) is adapted to the cross-sectional size of the partition (300), and the cross-sectional size of the partition (300) refers to the radial cross-sectional size of the partition (300) along the rotating shaft (100).

5. The winding mechanism (10) according to claim 1, characterized in that: The closure assembly (200) comprises a plurality of closure members (210), wherein the plurality of closure members (210) are connected end to end in sequence to form a closed structure, and at least one pair of adjacent closure members (210) are hinged.

6. The winding mechanism (10) according to claim 5, characterized in that: The number of the closing pieces (210) is two, and the closing pieces (210) are of a semicircular structure. The ends of the two closing pieces (210) that are close to each other are hinged to each other, and the other ends of the two closing pieces (210) that are close to each other are detachably connected.

7. The winding mechanism (10) according to claim 1, characterized in that: The winding mechanism (10) further comprises a closed base (400) and a closed end cover (500), wherein the closed base (400) and the closed end cover (500) are both fixedly connected to the rotating shaft (100), and one end of the closed component (200) is rotatably connected to the closed base (400), and the other end is rotatably connected to the closed end cover (500).

8. The winding mechanism (10) according to claim 7, characterized in that: The winding mechanism (10) further comprises a wire guide (11), one end of the wire guide (11) being connected to the closing assembly (200), and the other end of the wire guide (11) being connected to the detection mechanism (40); The winding mechanism (10) is used to be connected to the end effector (30), so that the winding mechanism (10) can be driven by the end effector (30) and further drive the detection mechanism (40) to rotate through the wire guide (11).

9. A surgical instrument, comprising a cable, a robotic arm (20), an end effector (30), and a winding mechanism (10) as described in any one of claims 1 to 7, wherein the robotic arm (20) and the end effector (30) are rotatably connected via a rotating shaft (100) of the winding mechanism (10), and the cable is connected to the end effector (30) after being wound around the rotating shaft (100).

10. The surgical instrument according to claim 9, characterized in that: The surgical instrument further comprises a detection mechanism (40) and a swing arm (50); the detection mechanism (40) is rotatably arranged on the mechanical arm (20) around the axis of the swing arm (50); the winding mechanism (10) is rotatably connected to the mechanical arm (20) via the swing arm (50); The winding mechanism (10) further comprises a wire guide (11), one end of the wire guide (11) being connected to the closing assembly (200), and the other end of the wire guide (11) being connected to the detection mechanism (40), and when the winding mechanism (10) swings, the detection mechanism (40) is driven to swing via the wire guide (11).

11. The surgical instrument according to claim 10, characterized in that: A wire groove is provided in the wire guide (11); a wire entry hole (41) is provided on a side of the detection mechanism (40) close to the mechanical arm (20); a wire exit hole (31) is provided on a side of the end effector (30) close to the closing component (200); the cable passes through the wire entry hole (41), the wire groove, the closing component (200), the wire exit hole (31) in sequence, and is connected to the wiring port of the end effector (30).

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