Cable tensioning device, instrument box and surgical instrument

Abstract

The invention relates to a cable tensioning device, an instrument box and a surgical instrument. The cable tensioning device comprises a base, a jacking piece and a guide wheel, and the jacking piece is arranged on the base; the guide wheel is rotatably arranged on the jacking piece around the axis of the guide wheel, and the guide wheel is used for tensioning the cable. The fixed end of the jacking piece is connected with the base, and the movable end of the jacking piece is connected with the guide wheel; the movable end of the jacking piece can move relative to the base and push the guide wheel to move in the direction in which the cable is tensioned so that the cable can be tensioned. According to the mooring rope tensioning device, when the mooring rope is in the tensioning state, the jacking piece can prevent the mooring rope from extruding the guide wheel, so that the mooring rope is in the tensioning state all the time, and when the mooring rope is loosened and tends to be separated from the guide wheel, the jacking piece can drive the guide wheel to move in the direction of the mooring rope till the mooring rope is tensioned. According to the device, the mooring rope can be in a tensioned state all the time and is located in the rope groove of the guide wheel, so that the precision of surgical instruments is guaranteed, and the safety in the surgical process is also guaranteed.

Description

Technical Field

[0001] The present application relates to the field of medical instruments, and in particular to a cable tensioning device, an instrument box and a surgical instrument. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

[0003] The transmission structure of reusable laparoscopic surgical instruments is generally rope-driven. Specifically, the cable is driven (pulled or loosened) by a driving unit to cause the end effector in the human body to produce corresponding movement. Usually, the cable requires a guide wheel to change direction. Since the cable is made of flexible material, it needs to be kept taut at all times.

[0004] However, current cables suffer from poor accuracy after repeated use, which adversely affects surgical precision. Summary of the invention

[0005] Based on this, it is necessary to provide a cable tensioning device to solve the problem of poor accuracy or even wheel derailment caused by cable slack, which is characterized by comprising:

[0006] Pedestal;

[0007] A lifting member is arranged on the base;

[0008] A guide wheel is rotatably arranged on the jacking member around its own axis, and the guide wheel is used for tensioning the cable;

[0009] The fixed end of the lifting member is connected to the base, and the movable end of the lifting member is connected to the guide wheel; the lifting member is configured so that the movable end can move relative to the base and push the guide wheel to move in the direction of tightening the cable to tighten the cable.

[0010] In one embodiment, the cable tensioning device further comprises a guide member disposed on the base, one end of the guide member is connected to the base, and the other end of the guide member extends toward the guide wheel, and the lifting member is disposed on the guide member.

[0011] In one embodiment, the lifting member is an elastic member, and the elastic member is deformed along the extension direction of the guide member.

[0012] In one embodiment, the guide wheel comprises:

[0013] A connecting shaft, a movable end of the lifting member is connected to the connecting shaft;

[0014] The wheel body is rotatably sleeved on the connecting shaft.

[0015] In one of the embodiments, at least one rope groove is provided on the circumferential side wall of the wheel body.

[0016] In one embodiment, the base is provided with a limiting portion, the limiting portion includes a first blind hole, a second blind hole and a rotation groove, and the first blind hole and the second blind hole are provided on both sides of the rotation groove along the first direction;

[0017] There are two lifting members, which are respectively placed in the first blind hole and the second blind hole, and the first guide wheel is placed in the rotating groove;

[0018] The first direction is parallel to the axial direction of the guide wheel.

[0019] The present application provides an instrument box, characterized in that it includes the cable tensioning device in any of the above embodiments.

[0020] In one embodiment, the instrument box further comprises:

[0021] frame,

[0022] The driving unit and the cable tensioning device are arranged on the same side surface of the frame; the driving unit comprises a hinge rod and a cable arranged on the hinge rod; the cable passes through the frame after passing through the cable tensioning device.

[0023] In one embodiment, there are two cables on a hinge rod, and each cable is tensioned on a guide wheel of a cable tensioning device.

[0024] The present application also provides a surgical instrument, comprising the instrument box in any of the above embodiments.

[0025] Since the cable will always give pressure to the guide wheel in the tensioned state until the cable becomes loose (this situation will not occur in the prior art because the guide wheel is limited), when the cable is loose, the pressure will disappear. The cable tensioning device provided by the present application, when the cable is in the tensioned state, the lifting member will replace the limiting member in the prior art to prevent the cable from squeezing the guide wheel, so that the cable is always in the tensioned state. When the cable is loose and tends to be separated from the guide wheel, the lifting member will drive the guide wheel to move in the direction of the cable until the cable is tensioned. Therefore, the cable tensioning device provided by the present application can always keep the cable in the tensioned state and in the rope groove of the guide wheel, thereby ensuring the accuracy of the surgical instrument and the safety during the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the end effector in the related technology.

[0027] Figure 2 This is a schematic diagram of the structure of the instrument box of this application.

[0028] Figure 3 This is the schematic diagram of the cable tensioning device.

[0029] Figure 4 for Figure 2 A top view of the instrument box in an embodiment.

[0030] Figure 5 A schematic diagram of the structure of the base.

[0031] Figure 6 A front view of the surgical instrument.

[0032] Figure numerals: cable tensioning device 100; base 110; first blind hole 111; second blind hole 112; rotating groove 113; lifting member 120; guide wheel 130; rope groove 131; connecting shaft 132; wheel body 133; instrument box 200; frame 210; drive unit 220; twist rod 221; cable 222; end effector 300. DETAILED DESCRIPTION

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] Figure 1 The structure of the existing end effector 300 is shown, and the opening and closing movement of the clamp and the other two rotational degrees of freedom movement except the rotation around its own rotation axis are realized through three cables 222. In the related reusable laparoscopic robot technology, the surgical instrument of the reusable laparoscopic robot includes a proximal operating device, an instrument box and a distal end effector 300. There are two sections of cables 222 to control the rotational movement of the end effector 300. The first section is responsible for stretching the end effector 300 to rotate it, and the second section is responsible for relaxing when the first section is stretched to allow the end effector 300 to be pulled and rotated by the first section of the cable 222. If the end effector 300 rotates in the opposite direction, the stretching and relaxing functions of the two sections of the cable are reversed.

[0040] Since the end effector 300 is far away from the doctor and close to the patient, the position where the end effector 300 is located is called the distal end, and the position close to the doctor is called the proximal end.

[0041] The end effector 300 is used to extend into the human body to perform various surgeries through rotation or displacement. The rotation and displacement are completed through the instrument box. The instrument box is equipped with a drive unit. The drive unit has a cable 222. The cable 222 is bound to the end effector 300. The drive unit drives the rotation of the end effector 300 by stretching the cable 222. The linear motion can be directly pulled by a hard object between the two. The operating device is a combination of various software and the doctor's operating equipment.

[0042] In order to rotate the end effector 300 during the operation, the cable 222 in the direction of rotation is pulled toward the proximal end by the driving unit 220, and the cable in the opposite direction of rotation is relaxed by the driving unit 220 to compensate for the length of the path of rotation of the end effector 300. The remaining cables 222 also need to be compensated or stretched toward the proximal end for a certain path due to the rotation of the end effector 300. The specific movement rules have been precisely calculated by mathematics and controlled by a computer, so this point is not within the scope of discussion of this application.

[0043] The present application is directed to: the service life of existing reusable laparoscopic robotic surgical instruments is generally 10 times, and they will be tensioned once before use to ensure that the instrument will not fall out of the rope groove 131 during the driving process and cause failure, and the remote position accuracy will not fail to meet the requirements due to excessive rope slack. However, during use, it is often necessary to continue the last state. For example, the end effector 300 rotated 6° along a certain angle last time, and it needs to be used at 6° this time. However, pre-tensioning is required for accuracy requirements, which will destroy the 6° state and thus the surgical accuracy. In addition, during the tensioning process, the relaxation of the other end cable 222 may cause the guide wheel 130 to fall out and damage the surgical instrument.

[0044] So refer to Figure 2 The present application provides a cable tensioning device 100 (hereinafter referred to as the device), which can keep the angle unchanged after the last use, and prevent the cable 222 of the surgical instrument from slipping off the guide wheel 130 when the surgical instrument is in use or in a pre-tensioned state. The device is used in the instrument box 200 and is an auxiliary device of the drive unit 220.

[0045] See also Figures 2 to 4 ,in Figure 2 is a schematic diagram of the structure on the instrument box, including a cable tensioning device 100, Figure 3 The working principle diagram of the cable tensioning device 100 is shown. Figure 4 Shown Figure 2Schematic diagram of a top view in FIG. The cable tensioning device 100 provided in the present application includes three components: a base 110, a lifting member 120 and a guide wheel 130. The shape and specific structure of the base 110 are not limited, and are subject to specific requirements. The lifting member 120 is arranged on the base 110, and the guide wheel 130 is rotatably arranged on the lifting member 120 around its own axis. The guide wheel 130 is used to tension the cable 222. The guide wheel 130 is provided with a circle of rope grooves 131 along its circumference. The rope grooves 131 have two groove walls and a groove bottom. Generally, the groove bottom is in an arc shape to fit the cable 222 in the rope groove 131 as much as possible.

[0046] The connection relationship between the lifting member 120 and the base 110 is that the fixed end of the lifting member 120 is connected to the base 110, and the movable end of the lifting member 120 is connected to the guide wheel 130. Please note that the guide wheel 130 rotates around its own axis, and the axis of the guide wheel 130 does not coincide with the axis of the free end of the lifting member 120, so the guide wheel 130 and the lifting member 120 are movably connected, for example, there is only lubricating oil or bearings to achieve rotational connection or the guide wheel 130 rotates on an axis, and the axis is fixedly connected to the free end of the lifting member 120. The movable end can move relative to the base 110 and push the guide wheel 130 to move in the direction of tightening the cable 222, so that the cable 222 is tightened.

[0047] The cable 222 fits in the rope groove 131, and the fitting length depends on the change angle of the direction of the cable 222. When the cable 222 turns 90° from the guide wheel 130, the fitting length is one quarter of the circumference of the rope groove 131. When the cable 222 turns 180° from the guide wheel 130, the fitting length is one half of the circumference of the rope groove 131, that is, the larger the angle, the longer the fitting length. The lifting member 120 can push the guide wheel 130 to move in the direction of the tensioning of the cable 222, that is, in a static state, the positional relationship of the three is: the free end of the lifting member 120-the guide wheel 130-the fitting point of the cable 222, so when the free end of the lifting member 120 pushes the guide wheel 130 to move in the direction of the fitting point of the cable 222, it will increase the turning angle of the cable 222 in disguised form, so that the length of the cable 222 fitting the rope groove 131 in the direction of movement of the guide wheel 130 becomes longer, thereby achieving the tensioning effect of the cable 222.

[0048] The lifting member 120 in the present application can be an elastic member, such as a coil spring or a spring, or can be a driving member such as a small pneumatic cylinder. The lifting member 120 used in the present application is a coil spring among the elastic members. In other embodiments, a spring or a small pneumatic cylinder can also be used.

[0049] See also Figure 3 The coil spring has two ends, wherein the first end is connected to the base 110 ( Figure 3The first end is fixedly connected to the base 110 (not shown in the figure), so the first end is a fixed end. The second end is rotatably connected to the guide wheel 130. Since the spiral spring has elastic force in the tension or compression state, the second end will move, so the second end is a free end.

[0050] Since the cable 222 will always give pressure to the guide wheel 130 in the tensioned state until the cable 222 becomes loose (since the guide wheel 130 is limited, the loosening caused by this situation will not occur), when the cable 222 is loose, the pressure will disappear. In the cable tensioning device 100 provided by the present application, when the cable 222 is in the tensioned state, the lifting member 120 will replace the limiting member in the related art to prevent the cable 222 from squeezing the guide wheel 130, so that the cable 222 is always in the tensioned state. When the cable 222 is loose and tends to be separated from the guide wheel 130, the lifting member 120 will drive the guide wheel 130 to move in the direction of the cable 222 until the cable 222 is tensioned. Therefore, the cable tensioning device 100 provided by the present application can always keep the cable 222 in the tensioned state and in the rope groove 131 of the guide wheel 130, thereby ensuring the accuracy of the surgical instrument and the safety during the operation.

[0051] Specifically, the free end of the lifting member 120 will continuously lengthen the length of the cable 222 in the surgical instrument during the process of driving the guide wheel 130 to move, but the rotation angle in the end effector 300 will not change at all, which may cause the software to miscalculate and think that the end effector 300 has rotated to a certain angle. Or when the cable 222 is tightened, pressure is applied to the guide wheel 130, causing the guide wheel 130 to move, so that the original tightened length of the cable 222 is reduced to complete the preset rotation angle, but the tightening is too much, resulting in an excessive rotation angle, which may also cause software miscalculation. Since the bearing force during the operation is about tens of Newtons, which is a very small force, no matter whether the lifting member 120 is a cylinder or a coil spring, it will not cause irreversible deformation of the lifting member 120 itself, so when using the lifting member 120, the function of the displacement of the guide wheel 130 and the deviation length of the cable 222 can be calculated, and then variable control can be achieved through computer software to offset this error.

[0052] See also Figure 2 The present application also provides an instrument box 200 , including the cable tensioning device 100 , and also including: a frame 210 and a driving unit 220 .

[0053] The proximal ends of the two cable sections 222 can be wrapped around two drive units 220 and controlled separately, or they can be wrapped around one drive unit 220. However, when wrapped around one drive unit 220, the winding directions need to be opposite. In this way, when the drive unit 220 rotates, one of the cable sections 222 can be stretched to a certain length and the other end of the cable 222 can be relaxed to the same length, thereby realizing the rotational movement of the end effector 300.

[0054] See also Figure 2 The frame 210 and the base 110 in the instrument box 200 can be the same component or components that are fixedly connected. The frame 210 and the base 110 play a bearing role, so they can be manufactured according to specific needs without limitation.

[0055] The driving unit 220 and the cable tensioning device 100 are arranged on the same side surface of the frame 210. The driving unit 220 includes a hinge rod and a cable 222 arranged on the hinge rod. The cable 222 passes through the cable tensioning device 100 and then passes through the frame 210. Arranging them on the same side surface can save space and volume of the instrument box, and is easy to disassemble and repair.

[0056] Specifically, the driving unit 220 further includes a power member (not shown), such as a motor, to drive the twisted rod 221 to rotate around its own axis. The cable 222 passes through the rope groove 131 of the guide wheel 130 and then passes through the frame 210 to extend to the end effector 300 .

[0057] In the present application, two sections of cables 222 are wound around a hinge rod, and each cable 222 is tensioned on a guide wheel 130 of a cable tensioning device 100 .

[0058] In the related art, the rope groove 131 of the guide wheel 130 is usually made very wide to facilitate multiple cables 222 to bypass the guide wheel 130 at the same time to achieve the purpose of changing direction. However, there are two disadvantages in doing so. First, when the guide wheel 130 rotates with a certain cable 222, sliding friction will occur with other cables 222; second, since the rope groove 131 is very wide, the extension directions of the multiple cables 222 are inconsistent. Therefore, during the movement, since the rope groove 131 is not limited by the groove wall, the cable 222 will move toward the groove wall when stretched, resulting in the accumulation of multiple cables 222 on both sides of the rope groove 131. Even the upper cable 222 will be affected by the lower cable 222 and will be separated from the rope groove 131.

[0059] See also Figure 2Each cable tensioning device 100 provided in the present application corresponds to a cable 222. If the end effector 300 has two rotational degrees of freedom and one opening and closing motion, six cables 222 are required. Of course, the six cables 222 can be six independent cables 222, or three independent cables 222 folded in half. The folded part is naturally the fixed connection of the end effector 300. Each guide wheel 130 can fit the direction of the cable 222. The direction of movement of the cable 222 always belongs to the tangent direction of the rope groove 131, so the friction between the groove wall of the rope groove 131 and the cable 222 can be avoided. In addition, the lifting member 120 of the cable tensioning device 100 can tension the cable 222. Therefore, in the instrument box provided in the present application, the safety and service life of the cable 222 are greatly improved compared with the prior art.

[0060] In one embodiment, the cable tensioning device 100 further includes a guide member (not shown) disposed on the base 110, one end of the guide member is connected to the base 110, and the other end extends toward the guide wheel 130, and the elastic member is deformed along the extension direction of the guide member.

[0061] Specifically, the shape of the guide member matches the shape of the elastic member so as to enable the elastic member to move in a certain direction without obvious bending. For example, when the elastic member is a coil spring, the guide member can be a long rod, and the coil spring is mounted on the long rod. In this way, the coil spring will deform along the length direction of the long rod without bending in other directions.

[0062] See also Figure 3 In one embodiment, the guide wheel 130 includes a connecting shaft 132 and a wheel body 133, and the movable end of the lifting member 120 is connected to the connecting shaft 132; the wheel body 133 is rotatably sleeved on the connecting shaft 132. In this way, the guide wheel 130 rotates on an axis, which is fixedly connected to the free end of the lifting member 120. However, the guide wheel 130 and the axis mentioned above are independent, and in this embodiment, the connecting shaft 132 is a part of the guide wheel 130.

[0063] In essence, the wheel body 133 and the connecting shaft 132 can also be fixedly connected, and both ends of the connecting shaft 132 are rotatably connected to the free end of the lifting member 120, such as using bearings or applying lubricants.

[0064] Therefore, in the instrument box provided in the present application, each section of cable 222 has a cable tensioning device 100 , and the guide wheel 130 in each cable tensioning device 100 includes a connecting shaft 132 and a wheel body 133 .

[0065] See also Figure 3In one embodiment, at least one rope groove 131 is provided on the circumferential side wall of the wheel body 133. A rope groove 131 can be used to place a section of cable 222 so that the groove wall of the rope groove 131 of the wheel body 133 does not generate friction with the cable 222.

[0066] In other embodiments, when the space in the instrument box is limited or the two cable sections 222 control the same rotational motion of the end effector 300, the angle between the two cable sections 222 is small, and two rope grooves 131 can be opened on a wheel body 133. The angle between the two rope grooves 131 is the same as the angle between the two cable sections 222, and the two cable sections 222 are placed separately to save space.

[0067] See also Figure 5 In one embodiment, the base 110 is provided with a limiting portion, which includes a first blind hole 111, a second blind hole 112 and a rotation groove 113, and the first blind hole 111 and the second blind hole 112 are provided on both sides of the rotation groove 113 along the first direction. There are two lifting members 120, and the two lifting members 120 are respectively placed in the first blind hole 111 and the second blind hole 112, and the first guide wheel 130 is placed in the rotation groove 113, wherein the first direction is parallel to the axis direction of the guide wheel 130.

[0068] Providing blind holes and grooves inside the base 110 can reduce the volume of the instrument box and reduce the complexity of the internal surface distribution of the instrument box, and is also beneficial to the arrangement of the cable 222 .

[0069] See also Figure 6 The present application also provides a surgical instrument. As described above, the surgical instrument includes an instrument box 200 and an end effector 300. A cable tensioning device 100 is provided in the instrument box 200, and the cable tensioning device 100 is used to tension the cable. The surgical instrument provided by the present application has higher precision and longer service life, and can continue the state of the end effector 300 unchanged after the last use, so that the next operation can be performed.

[0070] 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.

[0071] 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 cable tensioning device, characterized in that: include: Base (110); A lifting member (120) is disposed on the base (110); A guide wheel (130) is rotatably disposed on the lifting member (120) around its own axis, and the guide wheel (130) is used to tension the cable (222); The fixed end of the lifting member (120) is connected to the base (110), and the movable end of the lifting member (120) is connected to the guide wheel (130); the lifting member (120) is configured such that the movable end can move relative to the base (110) and push the guide wheel (130) to move in a direction to tighten the cable (222), so as to tighten the cable (222).

2. The cable tensioning device according to claim 1, characterized in that: The cable tensioning device also includes a guide member arranged on the base (110), one end of the guide member is connected to the base (110), and the other end extends toward the guide wheel (130), and the lifting member (120) is arranged on the guide member.

3. The cable tensioning device according to claim 2, characterized in that: The lifting member (120) is an elastic member, and the elastic member is deformed along the extension direction of the guide member.

4. The cable tensioning device according to claim 1, characterized in that: The guide wheel (130) comprises: A connecting shaft (132), the movable end of the lifting member (120) being connected to the connecting shaft (132); The wheel body (133) is rotatably sleeved on the connecting shaft (132).

5. The cable tensioning device according to claim 4, characterized in that: At least one rope groove (131) is provided on the circumferential side wall of the wheel body (133).

6. The cable tensioning device according to claim 4, characterized in that: The base (110) is provided with a limiting portion, the limiting portion comprising a first blind hole (111), a second blind hole (112) and a rotation groove (113), the first blind hole (111) and the second blind hole (112) being arranged on both sides of the rotation groove (113) along a first direction; The number of the lifting members (120) is two, and the two lifting members (120) are respectively placed in the first blind hole (111) and the second blind hole (112), and the first guide wheel (130) is placed in the rotating groove (113); Wherein, the first direction is parallel to the axial direction of the guide wheel (130).

7. An instrument box, characterized in that: The invention comprises a cable tensioning device as claimed in any one of claims 1 to 6.

8. The instrument box according to claim 7, characterized in that: The instrument box also includes: Frame (210), A driving unit (220) is provided, wherein the driving unit (220) and the cable tensioning device are arranged on the same side surface of the frame (210); the driving unit (220) comprises a hinge rod (221) and a cable (222) arranged on the hinge rod (221); the cable (222) passes through the frame (210) after passing through the cable tensioning device.

9. The instrument box according to claim 8, characterized in that: There are two cables (222) on one hinge rod (221), and each cable (222) is correspondingly tensioned on the guide wheel (130) of the cable tensioning device.

10. A surgical instrument, characterized in that: An instrument box comprising any one of claims 8-9.

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