Surgical instrument and surgical robot

Abstract

The embodiment of the invention provides a surgical instrument and a surgical robot applying the surgical instrument, the surgical instrument comprises a long shaft, a joint assembly and a tail end device, the joint assembly is connected between the long shaft and the tail end device, the joint assembly at least comprises a first parallel joint assembly and a second parallel joint assembly, the first parallel joint assembly and the second parallel joint assembly are both used for changing the position of the tail end device without changing the posture of the tail end device, the two parallel joint assemblies can reduce the position error of the tail end device, and the motion range of the tail end device can be larger.

Description

Technical Field

[0001] The present application relates to the field of medical instruments, and in particular to an instrument used for surgery and a surgical robot using the 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] With the advancement of science and technology, minimally invasive surgical robot technology has gradually matured and has been widely used. Minimally invasive surgical robots usually include a main control console and a slave operating device. The main control console is used to send control commands to the slave operating device according to the doctor's operation to control the slave operating device. The slave operating device is used to respond to the control commands sent by the main control console and perform corresponding surgical operations. The instrument is connected to the drive device of the slave operating device and is used to perform surgical operations. The distal end of the instrument includes an end device for performing surgical operations and a joint assembly connected to the end device that can move with multiple degrees of freedom.

[0004] The joint assembly provides a range of motion for the end device. The motion error of the existing joint assembly is relatively large, resulting in low motion accuracy of the end device. Summary of the invention

[0005] Based on this, in order to solve the above problems, the present application provides a surgical instrument in the first aspect, which comprises a long axis, a joint assembly and an end device, wherein the joint assembly is connected between the long axis and the end device, and the joint assembly comprises at least a first parallel joint assembly and a second parallel joint assembly, wherein the first parallel joint assembly and the second parallel joint assembly are both used to change the position of the end device without changing the posture of the end device, wherein the second parallel joint assembly is configured such that when the first parallel joint assembly moves in a first direction, the second parallel joint assembly moves in a second direction, wherein the angle between the first direction and the second direction is greater than 90 degrees and less than 270 degrees.

[0006] In a specific embodiment, the angle between the first direction and the second direction is greater than 90 degrees and less than 180 degrees.

[0007] In a specific embodiment, the first parallel joint assembly includes a first proximal joint, a first middle section and a first distal joint connected in sequence, the second parallel joint assembly includes a second proximal joint, a second middle section and a second distal joint connected in sequence, the first distal joint is connected to the second proximal joint, wherein, when the first parallel joint assembly moves, the first proximal joint and the first distal joint have opposite rotation directions, the first proximal joint and the second proximal joint have opposite rotation directions, and the second proximal joint and the second distal joint have opposite rotation directions.

[0008] In a specific embodiment, the first parallel joint assembly further includes a first drive cable and a second drive cable, wherein the distal ends of the first drive cable and the second drive cable are fixed to the first proximal joint; or the distal ends of the first drive cable and the second drive cable are fixed to the first distal joint, and the first drive cable and the second drive cable cross in the first middle section.

[0009] In a specific embodiment, the second parallel joint assembly further comprises a third drive cable and a fourth drive cable, wherein the distal ends of the third drive cable and the fourth drive cable are fixed to the second proximal joint; or the distal ends of the third drive cable and the fourth drive cable are fixed to the second distal joint, and the third drive cable and the fourth drive cable cross in the second middle section.

[0010] In a specific embodiment, the third drive cable and the fourth drive cable pass through the first intermediate section in parallel.

[0011] In a specific embodiment, the third drive cable crosses the fourth drive cable in the first intermediate section.

[0012] In a specific embodiment, the surgical instrument further includes a first U-shaped clamp and a second U-shaped clamp, the first U-shaped clamp is fixedly connected to the second distal joint, the second U-shaped clamp is rotatably connected to the first U-shaped clamp, and the end device is rotatably connected to the second U-shaped clamp.

[0013] In a specific embodiment, the surgical instrument also includes a first pulley group and a second pulley group, and the first pulley group and the second pulley group are arranged side by side and in parallel on the first U-shaped clamp; or the first pulley group is arranged on the second U-shaped clamp, and the second pulley group is arranged on the first U-shaped clamp.

[0014] In a specific embodiment, the surgical instrument also includes a drive winch, which includes a coaxially arranged first winch and a second winch, the first drive cable and the second drive cable are connected to the first winch, and the third drive cable and the fourth drive cable are connected to the second winch.

[0015] In a specific embodiment, the diameter of the first capstan is smaller than the diameter of the second capstan.

[0016] In a second aspect, the present application provides a surgical instrument, which includes an end device and a joint assembly, wherein the joint assembly includes at least a first parallel joint assembly and a second parallel joint assembly, wherein the first parallel joint and the second parallel joint are both used to change the position of the end device without changing the posture of the end device, wherein a driving cable for driving the second parallel joint assembly to move passes through the first parallel joint assembly in parallel.

[0017] In a specific embodiment, the driving cable for driving the second parallel joint assembly to move and the driving cable for driving the first parallel joint assembly to move are connected to different driving winches.

[0018] The present application provides a surgical robot in a third aspect, the surgical robot comprising a master operating device and a slave operating device, the slave operating device receiving instructions from the master operating device to perform corresponding actions, the slave operating device comprising the above-mentioned surgical instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of a main control console of a surgical robot according to an embodiment of the present application;

[0020] Figure 2 A schematic diagram of a slave operating device of a surgical robot according to an embodiment of the present application;

[0021] Figure 3 This is a schematic diagram of an instrument used for surgery according to one embodiment of the present application;

[0022] Figure 4 A schematic diagram of a joint assembly of an apparatus according to an embodiment of the present application;

[0023] Figure 5 for Figure 4 Schematic diagram of the parallel joint translation state of the joint assembly shown;

[0024] Fig. 6A A schematic diagram of an instrument joint assembly, a transmission device and a drive device according to another embodiment of the present application;

[0025] Figure 6B for Fig. 6AA schematic diagram of the instrument joint assembly after being rotated 90 degrees around its axis;

[0026] Fig. 7A It is a top view of the joint segment 452 of the parallel joint 400 and shows that the first and fourth drive cables are retracted;

[0027] Figure 7B It is a schematic diagram of the longitudinal movement state of the parallel joint 400;

[0028] Figure 7C It is a top view of the joint segment 452 of the parallel joint 400 and shows that the first and third drive cables are retracted;

[0029] Fig.7D It is a schematic diagram of the lateral movement device of the parallel joint 400;

[0030] Fig. 8A A surgical instrument having two parallel joint assemblies according to one embodiment of the present application;

[0031] Figure 8B A schematic diagram of the relationship between a first movement direction of a first parallel joint assembly and a second movement direction of a second parallel joint assembly according to an embodiment of the present application;

[0032] Figure 8C A driving winch in an instrument box according to an embodiment of the present application is used to drive Fig. 8A The surgical instrument movements shown;

[0033] Fig. 9A and Fig. 9B Different arrangements of drive cables for a surgical instrument having two parallel joints are shown;

[0034] Fig.10 A schematic diagram of an operating device and a power device of a surgical robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present application are given in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thoroughly and comprehensively understood.

[0036] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centered element at the same time. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be a centered element at the same time. The terms "vertical", "horizontal", "left", "right", "above", "below" and similar expressions used herein are only for illustrative purposes and are not intended to be the only implementation method. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or in operation in addition to the orientations depicted in the drawings. For example, if the device is flipped in the drawings, the elements or features described as "below" or "below" other elements or features will be oriented as "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0037] The terms "distal end" and "proximal end" used herein are directional terms, which are commonly used in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery. "Coupling" used herein can be broadly understood as any event in which two or more objects are connected in a way, and can also be understood as a dynamic connection relationship between two objects.

[0038] The term "instrument" is used herein to describe a medical device that is inserted into a patient's body and used to perform a surgical or diagnostic procedure, the instrument including a terminal device, which may be a surgical tool for performing a surgical procedure, such as an electrocautery, a clamp, a stapler, a shear, an imaging device (such as an endoscope or an ultrasound probe), and the like. Some instruments used in embodiments of the present application further include providing an articulated component (such as a joint assembly) for the terminal device so that the position and orientation of the terminal device can be manipulated and moved with one or more mechanical degrees of freedom relative to the instrument axis. Further, the terminal device also includes functional mechanical degrees of freedom, such as opening and closing clamps. The instrument may also include storage information that can be updated by the surgical system, whereby the storage system can provide one-way or two-way communication between the instrument and one or more system elements.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "and / or" and "and / or" used herein include any and all combinations of one or more related listed items.

[0040] The surgical robot of one embodiment of the present application is as follows: Figure 1 and Figure 2 As shown, the surgical robot includes a main console 10 and a slave operating device 20. The main console 10 is located on the operator's side. The main console 10 is used to send control commands to the slave operating device 20 and display the images obtained from the slave operating device 20 according to the operator's operation. The operator can observe the three-dimensional stereoscopic imaging of the patient's body provided by the imaging system through the main console 10. By observing the three-dimensional images in the patient's body, the operator can control the slave operating device 10 to perform related operations (such as performing surgery or obtaining images in the patient's body) in an immersive way. The main console 10 includes a display device, an armrest, a control signal processing system, an input device 11 and an observation device 12, wherein the display device is used to display the images obtained by the above-mentioned imaging system. The armrest is used to place the operator's arm and / or hand so that the operator can operate the input device 11 more comfortably, and the observation device 12 is used to observe the image displayed by the display device. According to actual needs, the armrest can also be omitted; or the observation device 12 can be omitted, and direct observation can be performed in this case. The operator controls the movement of the instrument of the slave operating device 10 by operating the input device 11. The control signal processing system of the main console 10 processes the input signal of the input device 11 and sends a control command to the slave operating device. The slave operating device 20 responds to the control command of the main console 10 and performs corresponding operations. In some embodiments, the control signal processing system can also be set in the slave operating device 20, for example, in the base of the slave operating device 20.

[0041] The slave operation device 20 is located on the patient's side for performing surgical operations, wherein the slave operation device 20 includes a base 25, a mechanical arm 21, a sleeve 23, a drive device 22, and one or more instruments 30 detachably connected to the drive device 22, the mechanical arm 21 is connected to the base 25, the sleeve 23 enters the human body through an incision on the human body, and the distal end of one or more instruments 30 passes through the sleeve 23 into the human body, and the instrument 30 can be an electric cauterizer, a clamp, an anastomosis device, an ultrasonic scalpel, etc. for performing surgical operations, or a camera (such as an endoscope) or other surgical instruments for acquiring images. In some embodiments, the sleeve 23 can also be omitted, for example, in surgical operations that do not require gas injection. In some embodiments, the base 25 can also be omitted, and the mechanical arm 21 of the slave operation device 20 can be mounted on a wall, a ceiling, or an operating bed.

[0042] The robotic arm 21 has two motion modes: the first motion mode: the movement of the robotic arm 21 can drag the remote center of motion 24 (Remote Center of Motion), thereby changing the relative position of the remote center of motion 24 and the base 25; the second motion mode: through algorithm control, the movement of the robotic arm 21 can make the sleeve 23 or the multi-surgical machine 30 move around the remote center of motion 24, and the position of the remote center of motion 24 relative to the base 25 is fixed.

[0043] The robot arm 21 includes multiple joints 211, 212, 213, 214, 215, where joint 211 is a vertical linear motion joint, and joints 212, 213, 214, 215 are rotational motion joints. The rotation axes of joints 212, 213, 214 are perpendicular to the horizontal plane, and joint 215, in the second motion mode, multiple joints 211, 212, 213, 214, 215 are linked to realize the movement of the sleeve 23 or multiple instruments around the remote motion center 24, and the position of the remote motion center 24 relative to the base 25 is fixed.

[0044] In some embodiments, the robotic arm may also be in another form, and the robotic arm may define a remote motion center through a mechanical device, so that the sleeve or the instrument rotates around the remote motion center. For example, the robotic arm includes a parallelogram linkage device, and the instrument is detachably mounted on the distal end of the parallelogram linkage device. The parallelogram linkage device may allow the instrument to move or multiple mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). The parallelogram linkage device is used to constrain the movement of the instrument near the remote motion center on the surgical instrument that remains stationary relative to the patient.

[0045] The surgical robot also typically includes an imaging system portion (not shown) that enables the operator to observe the surgical site from outside the patient's body. The imaging system typically includes a video image acquisition function (e.g., an instrument 30 with an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the instrument 30 with image acquisition capability includes an optical device of one or more imaging sensors (e.g., CCD or CMOS sensors) that will acquire images inside the patient's body. The one or more imaging sensors can be placed at the distal end of the instrument 30 with image acquisition capability, and the signals generated by the one or more sensors can be transmitted along a cable or wirelessly to be processed and displayed on a video display device.

[0046] like Figure 3As shown, the instrument 30 includes an instrument box 31, a long shaft 32, a joint assembly 33, a plurality of cables and an end device 34. The instrument 30 is detachably mounted on the power device 22. The power device 22 has a plurality of driving devices (not shown in the figure). The instrument box 31 has a transmission device (not shown in the figure). The transmission device includes a plurality of transmission units (such as winches). The transmission units are connected to the joint assembly 33 and the end device 34 through a plurality of cables. The plurality of transmission units are respectively coupled to a plurality of driving units (such as motors) of the driving device and driven by the driving units. The driving unit receives a control instruction from the control system, and drives the joint assembly 33 and the end device 34 to move by driving the transmission unit according to the control instruction. The control system can be set in the main console 10 or in the slave operating device 20. For example, the driving unit drives the transmission unit to rotate so as to retract / pull the cable to control the movement of the joint assembly and the end device. The end device 34 can perform multiple Cartesian degrees of freedom through the joint assembly 3, such as translation (including lateral and / or longitudinal movement), pitch, yaw, etc. It can be understood that translation and pitch, translation and yaw can move independently or simultaneously. The end device 34 is used to perform operations related to surgical operations. Depending on the requirements of the surgical operation, the end device 34 can be an electric cauterizer, a clamp, a stapler, scissors, an ultrasonic scalpel, a camera, an imaging device, etc., wherein the camera or imaging device is used to obtain images of the inside of the human body.

[0047] In one embodiment of the present invention, Figure 4 As shown, the joint assembly 33 of the instrument includes a parallel joint assembly 200 and a wrist joint 300, the proximal end of the parallel joint assembly 200 is connected to the distal end of the long axis 32, the distal end of the parallel joint 200 is connected to the proximal end of the wrist joint 300, the distal end of the wrist joint 300 is connected to the end device 34, and the wrist joint 300 is used to perform pitch and / or yaw movements.

[0048] Specifically, the parallel joint assembly 200 includes a proximal joint 210, an intermediate section 220, a distal joint 230 and a cable group. The proximal joint 210 includes a first proximal joint section 211 and a second proximal joint section 212 which are respectively located at the proximal and distal ends of its rotation axis 213. The first proximal joint section 211 is connected to the long axis 32, the second proximal joint section 212 is connected to the intermediate section 220, the first proximal joint section 211 is pivotally connected to the second proximal joint section 212, and the first proximal joint section 211 and the second proximal joint section 212 can rotate relative to each other around the rotation axis 213.

[0049] The distal joint 230 includes a first distal joint segment 231 and a second distal joint segment 232 which are respectively located at the proximal and distal ends of its rotation axis 233. The first distal joint segment 231 is connected to the middle segment 220, and the second distal joint segment 232 is connected to the wrist joint 300. The first distal joint segment 231 and the second distal joint segment 232 are pivotally connected and can rotate relative to each other around the rotation axis 233. The rotation axes 213 and 233 are perpendicular to the paper plane.

[0050] The cable group includes a first cable pair and a second cable pair, one end of the first cable pair is fixedly connected to the proximal end of the proximal joint 210 or the long axis 32, and the other end is connected to the second distal joint segment 232, and one end of the second cable pair is connected to the transmission device in the instrument box 31, and the other end is fixedly connected to the second distal joint segment 232. Among them, the first cable pair is a constant length cable, which means that the total length of the parallel joint 220 in the joint assembly 33 remains basically unchanged when the parallel joint 220 moves. Specifically, the first cable pair includes a first constant length cable 131 and a second constant length cable 132, and the first constant length cable 131 and the second constant length cable 132 are respectively located on both sides of the central axis a of the middle segment 220. The second cable pair includes a first drive cable 110 and a second drive cable 120 , which cross in the middle section 220 , ie, the cable segment 111 of the first drive cable 110 and the cable segment 121 of the second drive cable 120 cross.

[0051] The distal end of the first driving cable 110 is fixed to the second distal joint segment 232 through the first fixing portion 110a, and the proximal end thereof is fixed to the transmission device in the instrument box 31. The cable segment 111 of the first driving cable 110 crosses the central axis a in the middle segment 220. Figure 4 When the parallel joint 200 shown is not translated, the first fixing portion 110a and the cable segment 113 of the first driving cable 110 in the proximal joint 210 are located on the opposite sides of the central axis a.

[0052] The distal end of the first constant length cable 131 is fixed to the second distal joint segment 232 through the second fixing portion 131a, and the proximal end thereof is fixed to the first proximal joint segment 211 through the third fixing portion 131b. When the parallel joint 200 does not translate, the first fixing portion 110a and the second fixing portion 131a are located on the same side of the central axis a of the middle segment 220, and the first fixing portion 110a and the third fixing portion 131b are also located on the same side of the central axis a. Figure 4 As shown, the first fixing portion 110 a , the second fixing portion 131 a and the third fixing portion 131 b are all located on the left side of the central axis a of the middle section 220 .

[0053] The distal end of the second drive cable 120 is fixed to the second distal joint segment 232 via the fourth fixing portion 120a, and the cable segment 121 in the middle segment 220 crosses the central axis a. The proximal end of the second drive cable 120 is fixed to the transmission device in the instrument box 31, and the first fixing portion 110a and the fourth fixing portion 120a are located on opposite sides of the central axis a.

[0054] The distal end and the proximal end of the second constant length cable 132 are fixed to the second distal joint segment 232 and the first proximal joint segment 211 respectively through the fifth fixing portion 132a and the sixth fixing portion 132b, and the fourth fixing portion 120a, the fifth fixing portion 132a and the sixth fixing portion 132b are located on the same side of the central axis a of the middle segment 220. When the parallel joint 200 moves, the total length of the first and second constant length cables 131 and 132 in the joint assembly 33 remains substantially unchanged, and the length in the middle segment 220 remains substantially unchanged. The movement of the parallel joint 200 is described in detail below.

[0055] like Figure 5 As shown, when the transmission device of the instrument box 31 is actuated by the external first driving device to translate the end device 34 according to the desired purpose, the transmission device moves (for example, rotates) to retract the first driving cable 110 and release the second driving cable 120. Since the first driving cable 110 is retracted, the length of the cable segment 112 of the first driving cable 110 in the distal joint 230 and the length of the cable segment 113 in the proximal joint 210 are shortened, and the distal joint 210 is actuated by the first driving cable 110, so that the first distal joint segment 231 and the second distal joint segment 232 rotate around the rotation axis 233 as follows The two ends of the first and second distal joint segments 231 and 232 rotate relative to each other in the following manner: the left sides of the first distal joint segment 231 and the second distal joint segment 232 approach each other, thereby shortening the length of the cable segment 131c of the first constant-length cable 131 in the distal joint 230; the right sides of the first and second distal joint segments 231 and 232 move away from each other, so that the distal joint 230 is in the shape of “<”, and since the second drive cable 120 is released, the length of the cable segment 122 of the second drive cable 120 in the distal joint 230 becomes longer, and the change in the length of the cable segment 122 is equal to the change in the length of the cable segment 112 of the first drive cable 110.

[0056] Due to the above movement of the distal joint 210, the distal second constant length cable 132 will be actuated by the distal joint 210, so that the cable segment 132c of the second constant length cable 132 in the first distal joint segment 230 becomes longer, and since the length of the second constant length cable 132 in the joint assembly 33 is unchanged, the length of the cable segment 132d of the second constant length cable 132 in the proximal joint 210 becomes shorter. Due to the shortening of the length of the cable segment 132d, the proximal joint 210 will be actuated by the second constant length cable 132, so that the first proximal joint segment 211 and the second The proximal joint segment 212 rotates relative to each other around the rotation axis 213 in the following manner: the right sides of the first proximal joint segment 211 and the second proximal joint segment 212 approach each other, and the left sides of the two move away from each other, and the proximal joint 210 is in the shape of a “>”, thereby lengthening the cable segment 131d of the first constant-length cable 131 in the proximal joint 210, lengthening the cable segment 123 of the second drive cable 120 in the proximal joint 210, and the length change of the cable segment 123 is equal to the length change of the cable segment 113 of the first drive cable 110.

[0057] Due to the opposite movement of the distal joint 230 and the proximal joint 210, the axis b of the end device 34 is transversely displaced relative to the axis c of the long axis 32, thereby achieving the transverse displacement of the end device 34 (i.e. Figure 5 The end device 34 shown in the figure moves to the right side), and the middle section 220 deflects relative to the long axis 32 during the movement, that is, the central axis a of the middle section 220 forms a non-zero angle with the axis of the long axis 32, and the axis b of the end device 34 after the movement and the axis c of the long axis 32 remain parallel, and the parallel joint 200 does not change the pitch or yaw angle of the end device after the end device 34 is moved sideways. It can be understood that in some embodiments, the axis b of the end device 34 and the axis of the wrist joint 300 are coincident when the joint assembly is in a zero-position straight state without action.

[0058] If the transmission device moves in the opposite manner, thereby releasing the first drive cable 110 and pulling the second drive cable 120, the parallel joint 200 will move in the opposite manner to the above, that is, the distal joint 230 rotates in a “>” shape, and the proximal joint 210 rotates in a “<” shape, so that the end device 34 moves laterally to the left. The lateral movement of the parallel joint 200 can provide a larger range of motion for the end device 34.

[0059] Compared with the structure in which the distal ends of the first and second driving cables 110 and 120 are fixed to the proximal joint to drive the parallel joint movement, the distal ends of the first driving cable 110 and the second driving cable 120 of this embodiment are fixed to the distal joint 230. When driving the parallel joint movement, the movement stroke of the first driving cable 110 and the second driving cable 120 is twice the stroke of fixing them to the proximal joint, so that the parallel joint movement can be driven with half the driving force. In addition, since the required driving force is reduced, the deformation of the first driving cable 110 and the second driving cable 120 is also reduced, thereby improving the accuracy of the parallel joint movement.

[0060] In some embodiments, the first drive cable 110 and the first constant length cable 131 are formed by the same cable, that is, the first drive cable 110 and the first constant length cable 131 are a continuous cable, the first fixing portion 110a and the second fixing portion 131a are clamps with a diameter greater than the diameter of the cable, and the clamps are crimped into the second distal joint segment 232, so as to fix the distal ends of the first drive cable 110 and the first constant length cable 131 on the second distal joint segment 232. Similarly, the second drive cable 120 and the second constant length cable 132 can also be formed by one cable. It can be understood that the fixing method of the first drive cable pair and the first constant length cable pair is not limited to the clamp, for example, welding can be used.

[0061] In some embodiments, the parallel joint 200 may also have only one driving cable whose distal end is fixed at the distal joint of the parallel joint, and the other driving cable is replaced by other means (such as spring reset), or the distal end of the other driving cable is fixed at the proximal joint of the parallel joint.

[0062] In some embodiments, for an instrument that only requires translational movement of a horizontal end device but not pitch or yaw movement of the end device (such as an endoscope whose end device is a camera), the joint assembly 33 of the instrument may also only include a parallel joint 200 without a wrist joint 300.

[0063] In one embodiment, Fig. 6A and Figure 6B As shown, Figure 6B for Fig. 6AThe long axis 32 and the joint assembly 43 are rotated 90 degrees around the axis of the long axis. In this embodiment, the parallel joint 400 includes a proximal joint group, a distal joint group, an intermediate section 420, and at least four cable pairs. The proximal joint group includes two first proximal joints 410 and 440, and the distal joint group includes two first distal joints 430 and 450. The first proximal joint 410 is connected between the proximal end of the intermediate section 420 and the distal end of the first proximal joint 440, the first proximal joint 440 is connected between the proximal end of the first proximal joint 410 and the distal end of the long axis 32, the first distal joint 430 is connected between the distal end of the intermediate section 420 and the proximal end of the first distal joint 450, and the first distal joint 450 is connected between the proximal end of the wrist joint 300 and the distal end of the first distal joint 430.

[0064] The rotation axis 411 of the first proximal joint 410 and the rotation axis 441 of the first proximal joint 440 are perpendicular to each other, the rotation axis 431 of the first distal joint 430 and the rotation axis 451 of the first distal joint 450 are perpendicular to each other, and the rotation axes 411 and 431 are perpendicular to the paper.

[0065] The four cable pairs of the parallel joint 400 include a second pair of constant-length cable pairs and two pairs of drive cable pairs, wherein the first drive cable pair of the two pairs of drive cable pairs includes a first drive cable 310 and a second drive cable 320, the distal ends of the first and second drive cables 310, 320 are fixed on the distal joint segment 453 of the first distal joint 450, and the proximal ends thereof extend through the long axis 32 to be connected to the first transmission unit 1101 on the transmission device in the instrument box 31, and the first drive cable 310 and the second drive cable 320 cross in the middle segment 220.

[0066] The first constant length cable pair among the two pairs of constant length cable pairs includes a first constant length cable 133 and a second constant length cable 134, the distal ends of the first and second constant length cables 133 and 134 are fixed to the distal joint segment 452 of the first distal joint 450, and the proximal ends thereof are fixed to the proximal joint segment 442 of the first proximal joint 440, and the first constant length cable 133 and the second constant length cable 134 are parallel in the middle segment 420.

[0067] like Figure 6B As shown, the second pair of the two pairs of drive cable pairs includes a third drive cable 330 and a fourth drive cable 340, the distal ends of the third and fourth drive cables 330, 340 are fixed to the distal joint segment 453 of the first distal joint 450, and the proximal ends thereof extend through the long axis 32 to be connected to the second transmission unit 1102 of the transmission device in the instrument box 31, and the third drive cable 330 and the fourth drive cable 340 cross in the middle segment 220.

[0068] The second pair of constant length cables of the two pairs of constant length cables includes a third constant length cable 135 and a fourth constant length cable 136. The distal ends of the third and fourth constant length cables are fixed to the distal joint segment 453 of the first distal joint 450, and the proximal ends thereof are fixed to the proximal joint segment 442 of the first proximal joint 440. The third constant length cable 330 and the fourth constant length cable 340 are parallel in the middle segment 420. In other embodiments, the proximal ends of the four constant length cables 133, 134, 135, 136 can also be fixed to the distal end of the long axis 32. In order to more clearly show the cables of the parallel joint 400, in Fig. 6A The third and fourth constant length cables 135 and 136 are not shown, nor are the third and fourth drive cables 330 and 340 in the joint assembly. Figure 6B The first and second constant-length cables 133 and 134 are not shown, nor are the first and second driving cables 310 and 320.

[0069] The longitudinal and lateral movements of the parallel joint 400 are described in detail below. Fig. 7A As shown, Fig. 7A FIG. 4 is a top view of the distal joint segment 453 of the first distal joint 450, as shown in FIG. Fig. 7A As shown, each cable 310, 320, 330, 340, 134, 135, 136 is not arranged near the rotation axis 431 of the first distal joint 430 and the rotation axis 451 of the first distal joint 450. Each cable 310, 320, 330, 340, 134, 135, 136 is approximately 45 degrees away from the rotation axis 431, 451, so that installation space can be reserved for the rotation axis components of each joint.

[0070] See again Fig. 6A The first drive device 2000 is coupled to the transmission device 1000, and the first drive device 2000 receives a control signal sent by the control system. Specifically, the first drive unit 2101 of the first drive device 2000 is coupled to the first transmission unit 1101 of the transmission device 1000, and the second drive unit 2102 of the first drive device 2000 is coupled to the second transmission unit 1102. The first drive device 2000 can be coupled to the transmission device 1000 through an intermediary component (such as a sterile adapter) or directly coupled.

[0071] When the first driving device 2000 responds to the first control signal sent by the control system, the first driving unit 2101 and the second driving unit 2102 both move in the same direction. For example, when the first driving unit 2101 and the second driving unit 2102 both rotate clockwise, the clockwise rotation of the first driving unit 2101 drives the first transmission unit 1101 to rotate clockwise, thereby retracting the first driving cable 310 and releasing the second driving cable 320 at the same time, and the clockwise rotation of the second driving unit 2102 drives the second transmission unit to rotate clockwise, thereby releasing the third driving cable 330 and retracting the fourth driving cable 340 at the same time. Fig. 7A As shown, F1 represents the retraction of the first driving cable 310, and F2 represents the retraction of the fourth driving cable 340. The combined force of the first driving cable 310 and the fourth driving cable 340 applied to the distal joint segment 453 will cause the distal joint segment 453 of the first distal joint 450 to rotate counterclockwise around the rotation axis 451 (as shown in FIG. Figure 7B As shown in the figure, since the direction of the resultant force coincides with the direction of the rotation axis 431 , the proximal and distal joint segments 433 , 432 of the first distal joint 430 do not rotate relative to the rotation axis 431 .

[0072] Due to the rotation of the second distal joint 450, the four constant-length cables 133, 134, 135, 136 will actuate the first proximal joint 440, and the distal joint segment 443 of the first proximal joint 440 will rotate clockwise relative to the rotation axis 441, and the proximal and distal joint segments 412, 413 of the first proximal joint 410 will not rotate relative to the rotation axis 413, so that the parallel joint 400 is realized as shown in FIG. Fig. 6A and Figure 6B The state shown is shifted longitudinally along the d direction to Figure 7B In the state shown, it can be understood that when the first drive unit and the second drive unit both rotate counterclockwise, the parallel joint 400 is driven to move longitudinally in the direction opposite to d. After the longitudinal movement, the axis b of the end device 34 is parallel to the axis c of the long axis 32, and the central axis a of the middle section 420 is orthogonal to the first and second rotation axes 431 and 451.

[0073] When the first driving device 2000 responds to the second control signal sent by the control system, the first driving unit 2101 and the second driving unit 2102 move in opposite directions. For example, when the first driving unit 2101 rotates clockwise and the second driving unit 2102 rotates counterclockwise, the first driving unit 2101 drives the first transmission unit 1101 to rotate clockwise, thereby retracting the first driving cable 310 and releasing the second driving cable 320, while the counterclockwise rotation of the second driving unit 2102 drives the second transmission unit 1102 to rotate counterclockwise, thereby retracting the third driving cable 330 and releasing the fourth driving cable 340. Figure 7CAs described above, F1 represents the retraction of the first drive cable 310, and F3 represents the retraction of the third drive cable 330. The combined force of the first and third drive cables 310, 330 applied to the distal joint segment 453 of the first distal joint 450 causes the distal joint segment 433 of the first distal joint 430 to rotate counterclockwise around the rotation axis 431. Since the direction of the combined force is the same as the direction of the rotation axis 451, the proximal and distal joint segments 452, 453 of the first distal joint 450 do not rotate relative to the rotation axis 451.

[0074] Due to the rotation of the first distal joint 430, the four constant length cables 133, 134, 135, 136 will actuate the first proximal joint 410, causing the distal joint segment 413 of the first proximal joint 410 to rotate clockwise relative to its rotation axis 411, so that the parallel joint 400 is realized as shown in FIG. Fig. 6A and Figure 6B The state shown is shifted along the e direction. Fig.7D It can be understood that when the first drive unit 2101 rotates counterclockwise and the second drive unit 2102 rotates clockwise, the parallel joint 400 is driven to move laterally in the direction opposite to the direction e. After the lateral movement, the first rotation axis 431 is orthogonal to the central axis a of the middle section 420, and the second rotation axis 451 is deflected relative to the central axis a of the middle section 420, that is, the second rotation axis 451 forms a non-zero angle with the central axis a.

[0075] Since the rotation axes 441 and 411 are perpendicular to each other, and the rotation axes 451 and 431 are perpendicular to each other, the longitudinal and lateral directions of the parallel joint 400 are perpendicular in space, that is, the direction e and the direction d are perpendicular to each other in space. For example, lateral movement is the translational movement of the parallel joint along the Y-axis in the Cartesian space coordinate system, and longitudinal movement is the translational movement in the Z-axis. The parallel joint 400 will not change the pitch or yaw movement of the end device 400 during longitudinal and lateral movement, so that the parallel joint 400 can increase the range of motion of the end device 400.

[0076] It can be understood that in some embodiments, the apparatus may not be provided with a transmission device, and the first driving device directly drives the driving cables of the apparatus.

[0077] In some embodiments, the distal ends of the first drive cable pair 310 , 320 are connected to the first distal joint 430 , while the distal ends of the second drive cable pair 330 , 340 are connected to the first distal joint 450 .

[0078] In some embodiments, the distal ends of the first actuation cable pairs 310 , 320 are connected to the second proximal joint segment 410 or the intermediate segment 420 , while the distal ends of the second actuation cable pairs 330 , 340 are connected to the first distal joint 450 .

[0079] In some embodiments, the distal ends of the first and second driving cable pairs may also be connected to the second proximal joint segment 410 or the middle segment 420 .

[0080] In one embodiment, Fig. 8A As shown, the surgical instrument 100 includes a double parallel joint assembly 110 composed of a first parallel joint assembly 1100 and a second parallel joint assembly 1200, wherein the first parallel joint assembly 1100 includes a first proximal joint 1110, a first distal joint 1120, a first middle section 1130, and a plurality of cables 1141, 1142, 1143, 1144. The second parallel joint assembly 1200 includes a second proximal joint 1210, a second distal joint 1220, a second middle section 1230, and a plurality of cables 1241, 1242, 1243, 1244. The first distal joint 1120 and the second proximal joint 1210 can be directly connected or indirectly connected. When the first distal joint 1120 and the second proximal joint 1210 are indirectly connected, there are multiple joints between the first distal joint 1120 and the second proximal joint 1210.

[0081] The distal ends of the first driving cable 1141 and the second driving cable 1142 are fixed to the distal section 1112 of the first proximal joint 1110 to drive the first proximal joint 1110 to rotate. The proximal ends of the first constant length cable 1143 and the second constant length cable 1144 are fixed to the proximal section 1111 of the first proximal joint 1110, and the distal ends thereof are fixed to the distal section 1122 of the first distal joint 1120. When the first proximal joint 1110 rotates, the first and second constant length cables 1143 and 1144 drive the first distal joint 1120 to rotate in the opposite direction to the rotation direction of the first proximal joint 1110, thereby translating the terminal device 1140 (longitudinally or laterally) along the first direction, that is, the first parallel joint assembly 1100 changes the position of the terminal device 1140 while maintaining the posture of the terminal device 1140 unchanged.

[0082] The distal ends of the third driving cable 1241 and the fourth driving cable 1242 are fixed to the distal segment 1212 of the second proximal joint 1210 to drive the second proximal joint 1210 to rotate. The proximal ends of the third constant length cable 1243 and the fourth constant length cable 1244 are fixed to the proximal segment 1211 of the second proximal joint 1210, and the distal ends are fixed to the distal segment 1222 of the second distal joint 1220. When the second proximal joint 1210 rotates, the third constant length cable 1243 and the fourth constant length cable 1244 drive the second distal joint 1220 to rotate in the opposite direction to the rotation direction of the second proximal joint 1210, so as to translate the end device 1140 in the second direction (longitudinal or lateral), that is, the second parallel joint assembly 1200 changes the position of the end device 1140 while maintaining the posture of the end device 1140 unchanged. In some embodiments, the first direction and the second direction are opposite.

[0083] In one embodiment, the first driving cable 1141 and the second driving cable 1142 do not cross in the first middle section 1130, the third driving cable 1241 and the fourth driving cable 1242 cross in the first middle section 1130, and the third driving cable 1241 and the fourth driving cable 1242 do not cross in the second middle section 1230. Specifically, if the third driving cable 1241 passes through the left side of the first proximal joint 1110, the distal end of the third driving cable 1141 passes through the right side of the first distal joint 1120 and the second proximal joint 1210 and is fixed to the distal section 1212 of the second proximal joint 1210; if the fourth driving cable 1242 passes through the right side of the first proximal joint 1110, the distal end of the fourth driving cable 1242 passes through the left side of the first distal joint 1120 and the second proximal joint 1210 and is fixed to the distal section 1212 of the second proximal joint 1210.

[0084] In this way, if the first driving cable 1141 and the third driving cable 1241 are released at the same time, and the second driving cable 1142 and the fourth driving cable 1242 are pulled at the same time, the first parallel joint assembly 1100 can be translated along the first direction A, and the second parallel joint assembly 1220 can be translated along the second direction B. Conversely, the first parallel joint assembly 1100 is translated along the second direction B, and the second parallel joint assembly 1200 is moved along the first direction A, wherein the first direction A is opposite to the second direction B. In this way, the first parallel joint assembly 1100 and the second parallel joint assembly 1200 can be translated in opposite directions. For example, when the first parallel joint assembly 1100 translates the end device 1400 along the first direction A, the second parallel joint assembly 1200 translates the end device 1400 along the second direction B; when the first parallel joint assembly 1100 translates the end device 1400 along the second direction B, the second parallel joint assembly 1200 translates the end device 1400 along the first direction A.

[0085] Due to the existence of the transmission chain, such as the cable tension, the configuration of the joint assembly, etc., there will be an error between the target position sent by the control signal processing system of the main control console 10 and the position actually reached by the end device. The joint assembly 110 with the double parallel joint configuration can eliminate this error. Specifically, since the first parallel joint assembly 1100 and the second parallel joint assembly 1200 move in opposite directions, the errors generated by the first parallel joint assembly 1110 and the second parallel joint assembly 1120 are just offset, thereby reducing the position error of the end device 1400 caused by the transmission chain. For example, the position error generated by the translation of the first parallel joint assembly 1100 along the first direction A is 0.5 mm. Since the second parallel joint assembly 1200 has the same configuration as the first parallel joint assembly 1100, only the movement directions of the two are opposite, the position error generated by the translation of the second parallel joint assembly 1200 along the second direction B is -0.5 mm, so that the position errors generated by the first parallel joint assembly 1100 and the second parallel joint assembly 1200 on the end device 1400 offset each other, and finally reduce the position error of the end device 1400.

[0086] In some embodiments, the first direction A of the first parallel joint assembly 1100 and the second direction B of the second parallel joint assembly 1200 do not need to be limited to be completely opposite, as long as the angle between the second direction B and the first direction A is greater than 90 degrees and less than 270 degrees, so that the projection of the second direction B in the direction A is opposite to the direction A. In some embodiments, the angle between the second direction B and the first direction A is greater than 90 degrees and less than 180 degrees. Figure 8B As shown, the angle between the second directions B1, B2 and the first direction A is greater than 90 degrees, so that the second parallel joint assembly 1200 can generate a position error opposite to the first parallel joint assembly 1100 in the B3 direction, which can also reduce the error of the end device 1400. Therefore, the opposite directions in this application do not mean 180 degrees opposite, but the angle between the two is greater than 90 degrees, and the second directions B1, B2, and B3 are all opposite to the first direction A. In one embodiment, the first direction A and the second direction B differ by 180 degrees, so that the errors generated by the first parallel joint assembly 1100 and the second parallel joint assembly 1200 are completely offset.

[0087] In one embodiment, the length of the first middle section 1130 is greater than the length of the second middle section 1230 , or the second middle section 1230 is greater than the length of the first middle section 1130 .

[0088] In one embodiment, Figure 8CAs shown, the driving winch 710 in the instrument box is used to drive the first to fourth driving cables 1141, 1142, 1241, 1242 to move, and the driving winch 710 includes a first winch 711 and a second winch 712. The first winch 711 and the second winch 712 rotate coaxially, the diameter of the first winch 711 is smaller than the diameter of the second winch 712, the first driving cable 1141 and the second driving cable 1142 are wound around the first winch 711 in opposite ways, and the third driving cable 1241 and the fourth driving cable 1242 are wound around the second winch 712 in opposite ways. When the driving winch 710 rotates, the first to fourth driving cables 1141, 1142, 1241, 1242 drive the first parallel joint assembly 1100 and the second parallel joint assembly 1200 to move. In some embodiments, the first capstan 711 and the second capstan 712 are non-coaxially arranged, and the movement of the first capstan 711 or the second capstan 712 is detected by a detection device (such as an encoder), and the control system controls the first capstan 711 and the second capstan 712 to rotate synchronously through the detection signal of the detection device.

[0089] In one embodiment, Fig. 9A As shown, Fig. 9A The surgical instruments shown are Fig. 8A The driving cable wiring method of the surgical instrument shown is different. Specifically, the first driving cable 2141 and the second driving cable 2142 cross in the first middle section 1130 of the first parallel joint assembly 1110, and the distal ends of the first driving cable 2141 and the second driving cable 2142 are fixed to the distal section 1122 of the first distal joint 1120. The third driving cable 2241 and the fourth driving cable 2242 cross in the first middle section 1130 and the second middle section 1230, and the distal ends of the third driving cable 2241 and the fourth driving cable 2242 are fixed to the distal section 1121 of the second distal joint 1220. In this way, the first parallel joint assembly 1100 and the second parallel joint assembly 1200 can also achieve opposite translational movements by simultaneously pulling / releasing the first driving cable 2241 and the third driving cable 2141, and simultaneously releasing / pulling the second driving cable 2242 and the fourth driving cable 2142.

[0090] In one embodiment, Fig. 9B As shown, the distal ends of the first driving cable 1141 and the second driving cable 1142 are fixed at the distal end of the first proximal joint 1110, and the distal ends of the third driving cable 1243 and the fourth driving cable 1244 are fixed at the distal end of the second proximal joint 1210, and the third driving cable 1243 and the fourth driving cable 1244 do not cross each other in the first middle section 1130 and the second middle section 1230. In other words, the third driving cable 1243 and the fourth driving cable 1244 pass through the first parallel joint assembly 1110 in parallel. In the first parallel joint assembly as shown in FIG. Fig. 9B As shown, when translating along the A direction, the increase in the length of the third driving cable 1241 on the first proximal joint 1110 and the decrease in the length on the first distal joint 1120 are the same; at the same time, the decrease in the length of the fourth driving cable 1242 on the first proximal joint 1110 and the increase in the length on the first distal joint 1120 are equal, so that the movement of the first parallel joint assembly 1100 will not affect the movement of the second parallel joint assembly 1200, so that the movement of the first parallel joint assembly 1100 and the movement of the second parallel joint assembly 1200 are independent of each other. In addition, the diameters of the first capstan 711 used to actuate the first and second driving cables 1141, 1142 and the second capstan 712 used to actuate the third and fourth driving cables 1241, 1242 can be the same, and the first capstan 711 and the second capstan 712 can move non-coaxially and non-synchronously.

[0091] Without considering the compensation error, the first parallel joint 1100 and the second parallel joint assembly 1200 move independently of each other, and the first parallel joint 1100 can be moved as an independent joint component, so that the end device 1400 can have a larger range of motion and be more flexible. The first parallel joint 1100 and the second parallel joint assembly 1200 move independently of each other, regardless of the drive cable and the constant length cable of the first parallel joint assembly 1100, as long as the third and fourth drive cables 1241, 1242 of the second parallel joint assembly 1200 pass through the first parallel joint assembly 1100 in parallel, regardless of whether the first and second drive cables 1141, 1142 cross in the first middle section 1130.

[0092] In some embodiments, the third drive cables 1241, 2241 and the fourth drive cables 1242, 2242 can be crossed or non-crossed (arranged in parallel) in the first middle section 1130 and the second middle section 1230, and whether the third drive cables 2141 and the fourth drive cables 2142 are crossed or non-crossed in the first middle section 1130 and the second middle section 1230 is irrelevant to whether the first drive cables 1141, 2141 and the second drive cables 1142, 2142 are crossed in the first middle section 1130. Regardless of how the first to fourth driving cables are connected, if the error is to be eliminated, the rotation direction of the first proximal joint 1110 and the second distal joint 1220 must be the same, the first distal joint 1120 and the second proximal joint 1210 must be the same, and the rotation directions of the first proximal joint 1110 and the first distal joint 1120 must be opposite, and the rotation directions of the second proximal joint 1210 and the second distal joint 1220 must be opposite. Fig. 8ADuring the process, the first proximal joint 1110 and the second distal joint 1220 rotate clockwise, and the first distal joint 1120 and the second proximal joint 1120 rotate counterclockwise.

[0093] The cable crossing may be a spiral crossing, that is, the first drive cable and the second drive cable are spirally crossed in the first middle section, and the third drive cable and the fourth drive cable are spirally crossed in the first middle section and the second middle section.

[0094] In some embodiments, the first parallel joint assembly 1100 has two first proximal joints 1100, the rotation axes of the two first proximal joints 1100 are perpendicular to each other, two first distal joints 1120, the two first distal joints 1120 are perpendicular to each other, and driving cables and constant-length cables for driving the extra pair of proximal joints and distal joints to achieve the movement of the first parallel joint assembly 1110 with two translational degrees of freedom, similar to Fig. 6A and Figure 6B Similarly, the second joint assembly also has two second proximal joints 1210 with mutually perpendicular rotation axes and two second distal joints 1220 with mutually perpendicular rotation axes, thereby achieving two translational degrees of freedom of the second joint parallel to the joint assembly. In this way, the surgical instrument will have four translational degrees of freedom, which can achieve a larger range of motion of the surgical instrument.

[0095] In some embodiments, Fig. 8A As shown, the joint assembly 110 further includes a first U-shaped clip 1510 and a second U-shaped clip 1520. The first U-shaped clip 1510 is fixedly connected to the second distal joint 1220 of the second parallel joint assembly 1200, and the second U-shaped clip 1520 is rotationally connected to the first U-shaped clip 1520. When the second U-shaped clip 1520 rotates around the rotation axis Y1, the pitch motion of the end device 1400 is realized. The end device 1400 is rotationally connected to the second U-shaped clip 1530. The end device 1400 rotates around the second U-shaped clip 1530, and the rotation axis is perpendicular to the paper plane, so as to realize the opening and closing and yaw motion of the end device 1400. Since the second U-shaped clamp 1520 is rotatably connected to the first U-shaped clamp 1520 via a pin fixed on the first U-shaped clamp, the single-sided rotation angle of the second U-shaped clamp 1520 relative to the first U-shaped clamp 1510 can exceed 90 degrees, so that the end device 1400 has a larger pitch angle. Similarly, the single-sided rotation angle of the end device 1400 relative to the second U-shaped clamp 1520 can exceed 90 degrees, which can make the end device 1400 have a larger yaw angle.

[0096] In one embodiment, Fig. 8AAs shown, the surgical instrument 100 further includes a first pulley set 1511 and a second pulley set 1512, which are arranged side by side and in parallel on the first U-shaped clamp 1510. The first and second pulley sets 1511 and 1522 are used to guide the cable of the driving end device 1400. In some embodiments, the first pulley set 1511 is arranged on the second U-shaped clamp 1520, and the second pulley set 1512 is arranged on the first U-shaped clamp 1510. In one embodiment, as Fig.10 As shown, the sleeve 23 and the power device 22 of the slave operating device 40 are fixedly connected, and the joint assembly 501 and the end device 502 of the instrument 500 extend to a distant place (for example, to the lesion) through the channel 23a of the sleeve 23, and the joint assembly 501 includes a parallel joint and / or a wrist joint. The control system 2301 of the surgical robot is used to control the linkage of the five joints 211, 212, 213, 214, and 215 of the mechanical arm of the slave operating device 40 to rotate the sleeve 23 around the remote center of motion RCM (Remote of Motion). In some other embodiments, the mechanical arm of the operating device 40 can also be a mechanical arm of other configurations, such as a mechanical arm of a parallelogram configuration.

[0097] The power device 22 includes a first drive device 2201, 2202 and a second drive device 2213, 2214, and the control system 2301 is coupled to the first drive device 2201, 2202 and the second drive device 2213, 2214. The control system 2301 controls the movement of the joint assembly 501 and the end device 502 of the instrument 500 through the first drive device 2201, and the control system 2301 controls the movement of the camera 601 of the instrument 600 through the first drive device 2202.

[0098] The frame of the power device 22 is provided with slide rails 2211, 2212, the first drive device 2201 and the second drive device 2202 are slidably mounted on the slide rails 2211 and the slide rails 2212 respectively, the control system 2301 drives the first drive devices 2201, 2202 to move along the slide rails by controlling the second drive devices 2213, 2214, the instrument 500 and the instrument 600 are detachably mounted on the first drive devices 2201, 2202 respectively, when the first drive devices 2201, 2202 slide on the slide rails 2211, 2202, they can drive the instruments 500, 600 to perform feeding movement along the f direction, that is, the control system 2301 controls the feeding movement of the instruments 500, 600 by controlling the second drive devices 2213, 2214, so that the long axes 511, 611 of the instruments move linearly along the axial direction of the channel 23a of the sleeve 23. In this embodiment, the instrument 500 is a clamp surgical instrument, and the instrument 600 is an endoscope. In some other embodiments, the instruments 500, 600 may be other types of instruments, such as an ultrasonic scalpel, a stapler, etc.

[0099] In response to the control command of the control system 2301, the multiple joints of the robot arm are linked to rotate the sleeve 23 around the remote motion center RCM to control the long axis of the instrument 500, 600 to move around the remote motion center RCM. When the control system 2301 controls the sleeve 23 to rotate around the remote motion center RCM, in response to the first control command of the control system 2301, the first driving device 2201 drives the joint assembly 501 of the instrument 500 to move to maintain the position and / or posture of the end device 502 of the instrument 500 unchanged, for example, to maintain the position and / or posture of the end device 502 unchanged relative to the coordinate system of the base 210 of the slave manipulation device 40, or unchanged relative to the coordinate system of the patient's operating table.

[0100] In one embodiment, when the sleeve 23 rotates around the remote center of motion RCM, in response to the first control command of the control system 2301, the first drive device 2201 drives the lateral and / or longitudinal movement of the parallel joints of the joint assembly 501, thereby maintaining the position and / or posture of the end device 502 of the instrument 500 unchanged.

[0101] In one embodiment, when the sleeve 23 rotates around the remote center of motion RCM, in response to the second control command of the control system 2301, the first drive device 2201 drives the wrist joint of the joint assembly 501 to pitch and yaw, thereby maintaining the position and / or posture of the end device 502 of the instrument 500 unchanged.

[0102] In one embodiment, when the movable sleeve 23 rotates around the remote center of motion RCM, in response to a second control command of the control system 2301, the second drive device 2201 drives the long axis 511 of the instrument 500 to move axially along the channel 23a of the sleeve 23, thereby maintaining the position and / or posture of the end device 502 of the instrument 500 unchanged.

[0103] 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.

[0104] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. 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 of the present application shall be subject to the attached claims.

Claims

1. A surgical instrument, characterized in that: The surgical instrument includes a long axis, a joint assembly and an end device, wherein the joint assembly is connected between the long axis and the end device, and the joint assembly includes at least a first parallel joint assembly and a second parallel joint assembly, wherein the first parallel joint assembly and the second parallel joint assembly are both used to change the position of the end device without changing the posture of the end device, wherein the second parallel joint assembly is configured to move in a second direction when the first parallel joint assembly moves in a first direction, wherein the angle between the first direction and the second direction is greater than 90 degrees and less than 270 degrees.

2. The surgical instrument according to claim 1, characterized in that: The angle between the first direction and the second direction is greater than 90 degrees and less than 180 degrees.

3. The surgical instrument according to claim 1, characterized in that: The first parallel joint assembly includes a first proximal joint, a first middle section and a first distal joint connected in sequence; the second parallel joint assembly includes a second proximal joint, a second middle section and a second distal joint connected in sequence; the first distal joint is connected to the second proximal joint; wherein, when the first parallel joint assembly moves, the first proximal joint and the first distal joint have opposite rotation directions, the first proximal joint and the second proximal joint have opposite rotation directions, and the second proximal joint and the second distal joint have opposite rotation directions.

4. The surgical instrument according to claim 3, characterized in that: The first parallel joint assembly also includes a first drive cable and a second drive cable, wherein the distal ends of the first drive cable and the second drive cable are fixed to the first proximal joint; or the distal ends of the first drive cable and the second drive cable are fixed to the first distal joint, and the first drive cable and the second drive cable cross in the first middle section.

5. The surgical instrument according to claim 4, characterized in that: The second parallel joint assembly also includes a third drive cable and a fourth drive cable, wherein the distal ends of the third drive cable and the fourth drive cable are fixed to the second proximal joint; or the distal ends of the third drive cable and the fourth drive cable are fixed to the second distal joint, and the third drive cable and the fourth drive cable cross in the second middle section.

6. The surgical instrument according to claim 5, characterized in that: The third drive cable passes through the first intermediate section in parallel with the fourth drive cable.

7. The surgical instrument according to claim 5, characterized in that: The third drive cable crosses the fourth drive cable in the first intermediate section.

8. The surgical instrument according to claim 3, characterized in that: The surgical instrument further comprises a first U-shaped clamp and a second U-shaped clamp, wherein the first U-shaped clamp is fixedly connected to the second distal joint, the second U-shaped clamp is rotationally connected to the first U-shaped clamp, and the end device is rotationally connected to the second U-shaped clamp.

9. The surgical instrument according to claim 8, characterized in that: The surgical instrument further includes a first pulley group and a second pulley group, wherein the first pulley group and the second pulley group are arranged side by side and in parallel on the first U-shaped clamp; or the first pulley group is arranged on the second U-shaped clamp, and the second pulley group is arranged on the first U-shaped clamp.

10. The surgical instrument according to claim 5, characterized in that: The surgical instrument further includes a driving capstan, which includes a first capstan and a second capstan arranged coaxially, the first driving cable and the second driving cable are connected to the first capstan, and the third driving cable and the fourth driving cable are connected to the second capstan.

11. The surgical instrument according to claim 10, characterized in that: The diameter of the first capstan is smaller than the diameter of the second capstan.

12. A surgical instrument, characterized in that: The surgical instrument includes an end device and a joint assembly, wherein the joint assembly includes at least a first parallel joint assembly and a second parallel joint assembly, wherein the first parallel joint and the second parallel joint are both used to change the position of the end device without changing the posture of the end device, wherein a driving cable for driving the second parallel joint assembly to move passes through the first parallel joint assembly in parallel.

13. The surgical instrument according to claim 12, characterized in that: The driving cable for driving the second parallel joint assembly to move and the driving cable for driving the first parallel joint assembly to move are connected to different driving winches.

14. A surgical robot, characterized in that: The surgical robot comprises a master operating device and a slave operating device, wherein the slave operating device receives instructions from the master operating device to perform corresponding actions, and the slave operating device comprises a plurality of surgical instruments according to claims 1-13.

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