Ball wrist joint for surgical instrument, surgical instrument and surgical robot

Abstract

This application provides a ball-and-arm joint for surgical instruments, a surgical instrument, and a surgical robot. The ball-and-arm joint includes an end effector and a ball-and-arm actuator. The ball-and-arm actuator includes a rotor, a connecting assembly, a driving assembly, and a stator. The rotor and stator are movably connected via the connecting assembly, allowing the rotor to have two rotational degrees of freedom relative to the stator. The driving assembly drives the rotor to rotate relative to the stator. The rotor is fixedly connected to the end effector. The ball-and-arm joint provided by this invention achieves multiple degrees of freedom through spatial rotation using a ball-and-arm actuator. This not only reduces the number of components used but also solves the problem of decoupling the transmission structure controlling one degree of freedom when the end effector rotates, which requires the transmission structure controlling another degree of freedom. The structure is simple and easy to operate. For the same effect, compared to multiple transmission structures, the ball-and-arm actuator is smaller, thus significantly reducing the space required, which is beneficial for minimally invasive surgical procedures.

Description

Technical Field

[0001] This application relates to the field of surgical instrument technology, specifically to a ball wrist joint for surgical instruments, surgical instruments, and surgical robots. Background Technology

[0002] Laparoscopic surgery involves inserting an endoscope and a slender end effector into the patient's body through a minimally invasive incision in the skin. During the procedure, the surgeon manually manipulates the end effector within the confined space of the body, observing the images transmitted back from the endoscope. Therefore, the design of the end effector's flexible joints, its ability to expand the maneuvering space, and its ability to reduce the surgeon's workload are all crucial.

[0003] Existing multi-degree-of-freedom joints often employ wire drives, linkage drives, and gear drives for transmission, resulting in multiple transmission structures that realize the degrees of freedom. These structures present the following problems: In terms of structural design, the multiple transmission structures controlling the various degrees of freedom of the end effector need to be decoupled during rotation. This decoupling can easily lead to mutual interference between displacement and attitude commands. Furthermore, the movements of multiple transmission structures are prone to interfering with each other, resulting in a complex overall structure and significantly increased spatial volume, which is detrimental to minimally invasive surgical procedures. Summary of the Invention

[0004] Therefore, it is necessary to address the problem of complex multi-joint structures by providing a ball-and-wrist joint (hereinafter referred to as ball-and-wrist joint) for surgical instruments, including:

[0005] An end effector and a ball joint actuator; the ball joint actuator includes: a rotor, a connecting assembly, a drive assembly, and a stator, the rotor and the stator being movably connected by the connecting assembly, such that the rotor has two rotational degrees of freedom relative to the stator; the drive assembly drives the rotor to rotate relative to the stator; the rotor is fixedly connected to the end effector.

[0006] In one embodiment, the rotor is a spherical shell and is fitted onto the outside of the stator.

[0007] In one embodiment, the drive assembly includes a conductive coil and a permanent magnet. The conductive coil is arranged on the stator, and the permanent magnet is arranged on the rotor. The magnetic field generated by the conductive coil being energized can drive the permanent magnet to rotate the rotor.

[0008] In one embodiment, the ball joint actuator further includes a rotating frame, a stator having a stator shaft, the stator being rotatably connected to the rotating frame via the stator shaft; and a rotor having a rotor shaft, the rotor being rotatably connected to the rotating frame via the rotor shaft.

[0009] In one embodiment, the rotating frame is fitted onto the outside of the rotor, the rotor shaft extends relative to the rotor toward the rotating frame, and the stator shaft extends relative to the stator toward the rotating frame.

[0010] In one embodiment, the stator shaft and the rotor shaft are orthogonally arranged.

[0011] In one embodiment, the rotor is provided with a rotating slot, and the stator shaft can reciprocate in the rotating slot when the rotor rotates relative to the rotating frame.

[0012] In one embodiment, the connecting assembly includes a ball and a fixing rod. The ball is located inside the stator and mates with the spherical surface of the stator. One end of the fixing rod is fixedly connected to the ball, and the other end extends out of the stator and is fixedly connected to the rotor.

[0013] This application also provides a surgical instrument, including any of the ball-and-wrist joints for surgical instruments described in the above embodiments.

[0014] This application also provides a surgical robot, including the surgical instruments provided in the above embodiments.

[0015] Compared to existing technologies that use rope-driven methods to achieve multiple degrees of freedom through the superposition of vectors along three axes, the ball joint wrist joint provided by this invention achieves multiple degrees of freedom through spatial rotation using a ball joint actuator. This not only reduces the number of components used but also solves the problem of decoupling the transmission structure controlling one degree of freedom from the transmission component controlling another degree of freedom when the end effector rotates. This invention achieves rotation of two degrees of freedom through a single transmission mechanism using a ball joint actuator. The structure is simple and easy to operate. Furthermore, because the ball joint actuator does not require a large volume, it occupies significantly less space compared to existing multiple transmission structures, which is beneficial for minimally invasive surgical procedures. Attached Figure Description

[0016] Figures 1a to 1d This diagram shows the connection relationships between different types of end effectors and ball joint actuators.

[0017] Figure 2 for Figures 1a to 1c A cross-sectional view of the ball-and-wrist joint in the embodiment.

[0018] Figure 3 for Figure 2 An external view of the ball-and-wrist joint in the embodiment.

[0019] Figure 4 for Figure 2 A cross-sectional view of the ball-and-arm joint from the bottom of the embodiment.

[0020] Figure 5 for Figure 1d A cross-sectional view of the ball-and-wrist joint in the embodiment.

[0021] Reference numerals: Connecting end 10; Fixed end 20; Ball joint actuator 30; Rotating rod 40; Stator 100; Conductive coil 110; Stator shaft 120; Sphere 130; Fixed rod 140; Rotor 200; Permanent magnet 210; Rotor shaft 220; Rotating slot 230; End effector 300; Rotating frame 400. Detailed Implementation

[0022] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0023] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0024] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0025] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0026] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0027] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, 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 possible implementation.

[0028] Laparoscopic surgery involves inserting an endoscope and slender tubular surgical instruments into the patient's body through a minimally invasive incision in the skin. During the procedure, the surgeon manually manipulates the instruments within the confined space of the body, observing the images transmitted back by the endoscope, to complete the surgical procedure. Therefore, the design of dexterous joints for surgical instruments (end-effector 300) is crucial to improving the flexibility, expanding the execution space, and reducing the difficulty of operation for surgeons. However, existing dexterous joints suffer from the following problems: In terms of structural design, existing end-effector joint transmission methods are complex, have low reliability, and accumulate large motion errors. Existing multi-degree-of-freedom joints often employ cable drives, linkage drives, and gear drives. These mechanical transmission schemes have many parts, complex assembly structures, limited cascading capabilities, and high requirements for manufacturing and assembly precision. Furthermore, their motion errors accumulate with wear and tear, leading to reduced instrument reliability. In terms of force sensing and real-time feedback, the integration of relevant sensors within a limited space is difficult, limiting the measurement dimensions, accuracy, and speed. While existing capacitive, strain gauge, and fiber optic force feedback sensors have achieved force measurement within size constraints, their harsh operating environments mean that many devices cannot meet the actual needs of high-temperature sterilization of surgical instruments.

[0029] Taking the cable-driven method as an example, the driving component that drives the cable movement is located far from the end effector 300 and closer to the surgeon. Because there are multiple cables, the number of driving components is also relatively large, and the instrument box carrying the driving components occupies a significant volume. Furthermore, since the cables are flexible components, their tension gradually decreases over time and during decoupling processes, meaning they loosen. This can affect the movement of the distal end effector 300, potentially leading to misjudgments by the surgeon and impacting surgical safety.

[0030] See Figures 1a to 1d This application provides a ball joint for surgical instruments (hereinafter referred to as a ball joint), including an end effector 300 and a ball joint actuator 30. The ball joint actuator 30 includes a rotor 200, a connecting assembly, a driving assembly, and a stator 100. The rotor 200 and the stator 100 are movably connected by the connecting assembly, such that the rotor 200 has two rotational degrees of freedom relative to the stator 100. The driving assembly drives the rotor 200 to rotate relative to the stator 100. The rotor 200 is fixedly connected to the end effector 300.

[0031] Specifically, the rotor 200 is provided with a connecting end 10 for fixed connection to the end actuator 300, and the stator 100 is provided with a fixing end 20 for fixed connection to external equipment.

[0032] from Figures 1a to 1d In this context, the end effectors 300 include various types such as driven clamps, driven hooks, driven bipolar forceps for opening windows, and driven bipolar forceps for opening windows. Different types of end effectors 300 can be used to perform specific surgical procedures, such as grasping foreign objects, cleaning tissue, and dissecting blood vessels or nerves. Utilizing the multi-degree-of-freedom rotation of the wrist joint, the gripping instruments can be easily steered, and corresponding forces can be applied to complete complex surgical procedures. Understandably, due to the variety of end effectors 300, the connection between them and the rotor 200 also differs, but ultimately, the fixed end of the end effector 300 is fixedly connected to the rotor 200.

[0033] Compared to existing technologies that use rope-driven methods to achieve multiple degrees of freedom through the vector superposition of three axes, the ball joint wrist joint provided by this invention achieves multiple degrees of freedom through spatial rotation using a ball joint actuator 30. This not only reduces the number of components used but also solves the problem of decoupling the transmission component controlling a single degree of freedom when the end effector 300 achieves another degree of freedom. This invention achieves rotation of two rotational degrees of freedom through a single transmission mechanism, the ball joint actuator 30. Its structure is simple and easy to operate. Furthermore, because the ball joint actuator 30 is a single transmission structure, it does not require a large volume compared to the multiple transmission structures in existing related technologies, significantly reducing its space occupation and facilitating surgical operations in the minimally invasive field.

[0034] See Figures 1a to 5In one embodiment, the rotor 200 is a spherical shell and is fitted onto the outside of the stator 100. Specifically, the rotor 200 is spherical in shape, and its volume remains constant during rotation, whereas a prismatic body would occupy more space with its edges and corners when rotating. Therefore, the spherical shape allows the ball joint actuator 30 to extend into human tissue, thereby meeting the size requirements of minimally invasive surgery.

[0035] In other embodiments, a structure similar to a universal joint can also be used to achieve spatial rotation.

[0036] See Figure 2 In one embodiment, the drive assembly includes multiple conductive coils 110 and multiple permanent magnets 210. The conductive coils 110 are evenly distributed on the outer surface of the stator 100, and the permanent magnets 210 are distributed on the inner surface of the rotor 200. The stator 100 is disposed inside the spherical rotor 200. After a corresponding current is passed through the conductive coils 110 at different positions, electromagnetic force and magnetic field are generated between the conductive coils 110 and the permanent magnets 210, thereby driving the permanent magnets 210 to rotate the rotor 200. In this way, the drive assembly can be evenly disposed inside the rotor 200, greatly reducing the space occupied. At the same time, the electromagnetic force drive is not only suitable for the power requirements of the ball joint actuator 30, but also provides more accurate and efficient control of the spatial rotation direction and angle of the end effector 300 on the rotor 200 than mechanical drive methods such as rope drive.

[0037] In the above embodiments, the stator 100 is preferably spherical, which is also due to the advantage of the smaller volume occupied by the sphere. However, if the overall volume meets the requirements, the stator 100 can also be a cube or other shape.

[0038] Figures 2 to 4 The first embodiment of this application is shown, in which the ball joint actuator 30 further includes a rotating frame 400, a stator 100 is provided with a stator shaft 120, and the stator 100 is rotatably connected to the rotating frame 400 through the stator shaft 120; and a rotor 200 is provided with a rotor shaft 220, and the rotor 200 is rotatably connected to the rotating frame 400 through the rotor shaft 220.

[0039] As shown in the figure, the stator 100 has a stator shaft 120 at each end along the diameter direction, and the rotor 200 has a rotor shaft 220 at each end along the diameter direction. (See also...) Figure 3When the rotor 200 rotates relative to the rotating frame 400, the stator 100 and the rotating frame 400 remain stationary. At this time, the axis of rotation is the axis of the rotor shaft 220. When the rotor 200 and the rotating frame 400 remain relatively stationary and rotate together around the stator 100, the axis of rotation is the axis of the stator shaft 120. Of course, when they rotate together around the stator 100, the rotor 200 can also rotate around the rotating frame 400 at the same time, thereby realizing the rotation of the rotor 200 in two directions relative to the stator 100.

[0040] Specifically, the stator shaft 120 can be fixedly connected to the stator 100 and rotatably connected to the rotating frame 400, or it can be rotatably connected to the stator 100 and fixedly connected to the rotating frame 400. The connection between the stator shaft 120 and the stator 100 and the rotating frame 400 can be either fixed or rotatably connected. Similarly, the connection between the rotor shaft 220 and the rotor 200 and the rotating frame can be either fixed or rotatably connected. Therefore, there are a total of four possible configurations. As long as the stator 100 has one rotational degree of freedom relative to the rotating frame 400, and the rotating frame 400 has one rotational degree of freedom relative to the rotor 200, then the stator 100 and rotor 200 will have two rotational degrees of freedom, thus enabling position control of the end effector 300 on the rotor 200. Preferably, in this application, the rotor 200 and the rotor shaft 220 are rotatably connected, the rotor shaft 220 and the rotating frame 400 are fixedly connected, the stator 100 and the stator shaft 120 are fixedly connected, and the stator shaft 120 and the rotating frame 400 are rotatably connected, so that the entire device is subjected to relatively balanced forces.

[0041] Preferably, in one embodiment, the rotating frame 400 is fitted outside the rotor 200. In this case, the order from the outside to the inside is rotating frame 400, rotor 200, and stator 100. The rotor shaft 220 extends relative to the rotor 200 towards the rotating frame 400, and the stator shaft 120 also extends relative to the stator 100 towards the rotating frame 400. Obviously, the stator shaft 120 passes through the rotor 200. The rotating frame 400 being located outside the rotor 200 facilitates the arrangement of the permanent magnets 210 and conductive coils 110 within the internal space of the rotor 200, allowing for a greater number of permanent magnets 210 and conductive coils 110, thereby increasing the torque control range and improving the precision of surgical operation control. Although the rotating frame 400 occupies some peripheral space, compared to the traditional ball joint actuator 30 that connects the stator 100 and the rotor 200 via ball bearings, the rotating frame 400 eliminates the space occupied by the ball bearings and the connecting rods that connect the ball bearings to the rotor 200. Therefore, it can still significantly reduce the overall volume of the ball joint actuator 30, making the ball joint actuator 30 occupy less space and more suitable for the miniaturization requirements of surgical robot instruments, thus facilitating the surgical operation of the surgical robot.

[0042] In another embodiment of this application, when the demand for electromagnetic force is low, such as when the application scenario does not require the end effector 300 to perform overly complex movements, or when the application scenario of the end effector 300 is subject to less resistance, or when the operation time is short, the number of permanent magnets 210 and conductive coils 110 can also be reduced. In this case, it is not necessary to install too many permanent magnets 210 and conductive coils 110. The rotating frame 400 can also be set inside the rotor 200 to reduce the peripheral space occupied by the rotating frame 400. In this case, the rotating frame 400 is located between the rotor 200 and the stator 100, and the rotor shaft 220 is located between the rotating frame 400 and the rotor 200.

[0043] In one embodiment, the stator shaft 120 and the rotor shaft 220 are orthogonally arranged, that is, the included angle between them is 90°. This makes it easier for the software to calculate the position of the end effector 300 in space, which can reduce the complexity of the software algorithm. At the same time, it can make the force between the stator 100 and the rotor 200 more balanced and stable.

[0044] In this application, there are two stator shafts 120 and two rotor shafts 220, and the two stator shafts 120 are at an angle of 180° along their length. The two rotor shafts 220 are also arranged in the same way, and the angle between any rotor shaft 220 and any stator shaft 120 is 90°, and the vertex of the angle is the center of the stator 100.

[0045] To avoid interference between the stator shaft 120 and the rotor 200 when the rotor 200 rotates relative to the stator 100, refer to Figure 3 In one embodiment, the rotor 200 is provided with a rotating groove 230, and when the rotor 200 rotates relative to the rotating frame 400, the stator shaft 120 can reciprocate in the rotating groove 230. Figure 3 The rotor 200 is a hemispherical shell, and the rotating slot 230 is an open arc-shaped slot. If the rotor 200 is a complete spherical shell, then the rotating slot 230 is a closed arc-shaped slot. The stator shaft 120 passes through the closed arc-shaped slot. When the rotor 200 rotates back and forth relative to the stator 100, the stator shaft 120 moves back and forth in the closed arc-shaped slot.

[0046] By connecting the stator 100 to the rotating rod 40 in the surgical instrument, the third rotational degree of freedom of the rotor 200 can be realized, and the end effector 300 can appear at any angle in any position in space, which greatly facilitates the surgical operation.

[0047] Figure 5A second embodiment of this application is shown. In this embodiment, the connecting assembly of the ball joint actuator includes a ball 130 and a fixing rod 140. The ball 130 is located inside the stator 100 and mates with the spherical surface of the stator 100. One end of the fixing rod 140 is fixedly connected to the ball 130, and the other end extends out of the stator 100 and is fixedly connected to the rotor 200. The stator 100 is not necessarily spherical and can be of any shape.

[0048] For details, please refer to Figure 5 The ball 130 is a ball bearing, which is installed at the center of the stator 100 and fixedly connected to the rotor 200 by the fixing rod 140. The ball 130 has three rotational degrees of freedom relative to the stator 100, so the rotor 200 can also have three rotational degrees of freedom relative to the stator 100. Similarly, the driving force is provided by electromagnetic force. When electromagnetic force is generated between the conductive coil 110 and the permanent magnet 120, the rotor 200 rotates relative to the stator 100. The ball 130 serves to fix the distance between the rotor 200 and the stator 100.

[0049] It is understandable that, regardless of whether the ball joint actuator 30 provided in the first embodiment or the ball joint actuator 30 provided in the second embodiment is used, although the end effector 300 has three rotational degrees of freedom relying on the rotor 200, due to physical obstructions, such as the obstruction of the rotating rod 40 and the obstruction of the stator 100, 360° rotation cannot be achieved by relying on two of the rotational degrees of freedom of the rotor 200, while the third rotational degree of freedom provided by the rotating rod 40 can achieve 360° rotation.

[0050] This application also provides a surgical instrument, including any of the ball-and-wrist joints for surgical instruments in the above embodiments. The surgical instrument includes not only the ball-and-wrist joint but also some operating components, such as... Figures 1a to 1d The rotating rod 40 appears in the middle to realize the third rotational degree of freedom of the rotor 200, and the three translational degrees of automation of the rotor 200 are realized by the translation of the rotating rod 40 in space. This allows the end effector 300 to maintain a fully active state in space. For example, if the end effector 300 is a clamp-like instrument that needs to perform opening and closing movements, and the opening and closing movements are still driven by rope, then the operating components include components such as drive cables and drive motors.

[0051] The rotor 200 and rotating frame 400 of the ball-and-wrist joint provided in this application are both made of low-density materials, such as plastic and carbon fiber, to reduce the weight of the ball-and-wrist joint actuator 30, thereby reducing the load and improving the electromagnetic force driving capability. The overall size of the ball-and-wrist joint provided in this application is as small as about 10mm, which can be inserted into the human body through most minimally invasive incisions.

[0052] This application also provides a surgical robot, including the surgical instruments provided in the above embodiments, a main handle, and related operating software, including data processing software, to calculate the magnitude of electromagnetic force and facilitate the surgeon's operation. The surgical robot can assist the surgeon in performing a complete surgical procedure.

[0053] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above 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.

[0054] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A ball-and-arm joint for surgical instruments, characterized in that, The ball joint for surgical instruments includes an end effector (300) and a ball joint actuator (30); the ball joint actuator (30) includes a rotor (200), a connecting assembly, a drive assembly, and a stator (100), the rotor (200) and the stator (100) being movably connected by the connecting assembly, such that the rotor (200) has two rotational degrees of freedom relative to the stator (100); the drive assembly drives the rotor (200) to rotate relative to the stator (100). The rotor (200) is fixedly connected to the end effector (300); the ball joint actuator (30) also includes a rotating frame (400); the stator (100) is provided with a stator shaft (120); the stator (100) is rotatably connected to the rotating frame (400) through the stator shaft (120); the rotor (200) is provided with a rotor shaft (220); the rotor (200) is rotatably connected to the rotating frame (400) through the rotor shaft (220).

2. The ball-and-arm joint for surgical instruments according to claim 1, characterized in that, The rotor (200) is a spherical shell and is sleeved on the outside of the stator (100).

3. The ball-and-arm joint for surgical instruments according to claim 1, characterized in that, The drive assembly includes a conductive coil (110) and a permanent magnet (210). The conductive coil (110) is arranged on the stator (100), and the permanent magnet (210) is arranged on the rotor (200). The magnetic field generated by the conductive coil (110) when energized can drive the permanent magnet (210) to rotate the rotor (200).

4. The ball-and-arm joint for surgical instruments according to claim 1, characterized in that, The rotating frame (400) is sleeved on the outside of the rotor (200), the rotor shaft (220) extends relative to the rotor toward the rotating frame (400), and the stator shaft (120) extends relative to the stator (100) toward the rotating frame (400).

5. The ball-and-arm joint for surgical instruments according to claim 1, characterized in that, The stator shaft (120) and the rotor shaft (220) are orthogonally arranged.

6. The ball-and-arm joint for surgical instruments according to claim 5, characterized in that, The rotor (200) is provided with a rotating groove (230). When the rotor rotates relative to the rotating frame, the stator shaft (120) can reciprocate in the rotating groove (230).

7. A surgical instrument, characterized in that, Including the ball-and-wrist joint for surgical instruments as described in any one of claims 1-6.

8. A surgical robot, characterized in that, Includes the surgical instrument as described in claim 7.

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