Surgical instrument guide seat and end effector device

Abstract

The invention relates to a surgical instrument guide seat and an end effector device. The end effector device comprises a surgical instrument and the surgical instrument guide seat. The surgical instrument guiding seat comprises a supporting structure and a guiding structure. The support structure has a guide rail. The guide structure is provided with a sliding block assembly which can be installed on the guide rail in an up-down moving mode and used for arranging the positioning marking piece. The sliding block assembly can be pushed by the surgical instrument to synchronously drive the positioning marking piece to move in the extending direction of the guide rail so as to control the feeding depth of the surgical instrument. Therefore, the position of the surgical instrument relative to the positioning marking piece can be fixed when the surgical instrument is installed every time, the position of the surgical instrument relative to the positioning marking piece is kept unchanged when the surgical instrument is operated to execute an operation, the surgical instrument is accurately positioned, and then the surgical accuracy is improved.

Description

Technical Field

[0001] The present invention relates to a surgical instrument guide seat and an end effector device, and particularly to a surgical instrument guide seat for guiding a surgical instrument to a surgical position, and an end effector device having a surgical instrument and a surgical instrument guide seat. Background Art

[0002] With the progress of medical technology, in order to increase the success rate of surgeries, physicians usually perform surgeries assisted by surgical robots, which shortens the surgical time and improves surgical accuracy. General surgical robots include robotic arms that can be controlled to move to designated positions, and end effectors installed at the ends of the robotic arms that can be controlled to perform surgical actions. Usually, surgical robots cooperate with navigation systems to allow physicians to select surgical approaches so that the surgical robots can accurately reach the lesion site. Physicians or medical staff must install positioning markers on the surgical instruments, and the navigation system must sense the positioning markers to confirm the location of the surgical instruments. However, existing positioning markers are usually large-sized bracket structures, and there are special restrictions on the positions where they are installed on surgical instruments. Therefore, they often obscure or interfere with the physician's view during surgery, making them extremely inconvenient to use. In addition, the differences in the shapes of each surgical instrument and the differences in the positions where physicians or medical staff install the positioning markers on the surgical instruments will cause errors in the navigation map information, thereby affecting surgical accuracy. Summary of the Invention

[0003] The purpose of the present invention is to provide a surgical instrument guide seat that can solve at least one of the foregoing problems.

[0004] The surgical instrument guide seat of the present invention is used to connect to a robotic arm. The surgical instrument guide seat includes a support structure and a guiding structure.

[0005] The support structure has a guide rail.

[0006] The guiding structure has a slider assembly that is movably mounted on the guide rail in the up and down direction and is provided with a positioning marker. The slider assembly has a positioning hole that penetrates the upper and lower surfaces of the slider assembly. The positioning hole is adapted to allow a surgical instrument to pass through.

[0007] Wherein, the slider assembly can be pushed by the surgical instrument to synchronously drive the positioning marker to move along the extension direction of the guide rail, so as to control the feeding depth of the surgical instrument.

[0008] For the surgical instrument guiding seat according to the present invention, the surgical instrument has a holding portion and an operating portion with an outer diameter smaller than that of the holding portion. The guide rail is strip-shaped and extends longitudinally. The top surface of the slider assembly is adapted to abut against the holding portion of the surgical instrument. The positioning hole is adapted to allow the operating portion of the surgical instrument to pass through from top to bottom. The slider assembly can be pushed by the surgical instrument to synchronously drive the positioning marking member to move downward along the extending direction of the guide rail, so as to control the feeding depth of the surgical instrument.

[0009] For the surgical instrument guiding seat according to the present invention, the guiding structure further has a fixing block located below the slider assembly and mounted on the bottom of the guide rail. The fixing block has a guiding hole penetrating through the upper and lower surfaces of the fixing block. The positioning hole and the guiding hole are adapted to allow the operating portion of the surgical instrument to pass through in sequence from top to bottom. The fixing block can limit the slider assembly so that the slider assembly cannot continue to move downward.

[0010] For the surgical instrument guiding seat according to the present invention, the surgical instrument guiding seat further includes an instrument fixing bolt. The slider assembly has a first connecting through hole formed on the outer surface of the slider assembly and penetrating through to the positioning hole. The first connecting through hole allows the instrument fixing bolt to movably pass through and press against the surgical instrument, so that the surgical instrument is restricted by the instrument fixing bolt and cannot move up and down relative to the slider assembly.

[0011] For the surgical instrument guiding seat according to the present invention, the guide rail has a guide rail main body portion and a guide rail front embedding portion that protrudes forward from the front side of the guide rail main body portion and whose left and right widths gradually expand. The slider assembly further has a first sliding groove formed on the rear side surface of the slider assembly and recessed forward with a gradually expanding inner diameter. The first sliding groove allows the guide rail front embedding portion to be inserted therein for relatively moving up and down, so that the slider assembly can slide up and down relative to the guide rail.

[0012] The surgical instrument guiding seat of the present invention, the guide rail has a guide rail main body portion, a guide rail rear fitting portion that protrudes backward from the rear side of the guide rail main body portion and whose left and right widths gradually expand, and at least one guide rail locking hole formed on the rear side surface of the guide rail rear fitting portion. The support structure further has an extension rod extending forward from the robotic arm, a support member connected to one end of the extension rod away from the robotic arm, and at least one guiding seat steel ball spring capable of being compressed or restoring its length. The support member has a second sliding groove formed on the front side surface of the support member and recessed backward with a gradually expanding inner diameter. The guide rail rear fitting portion is inserted into the second sliding groove in a relatively vertically movable manner. The guiding seat steel ball spring is installed on the front side surface of the support member and is located in the second sliding groove. When the guide rail rear fitting portion is inserted into the second sliding groove from top to bottom and the guiding seat steel ball spring is misaligned with the guide rail locking hole, the guiding seat steel ball spring is compressed; when the guide rail rear fitting portion is inserted into the second sliding groove from top to bottom and the guiding seat steel ball spring is aligned with the guide rail locking hole, the guiding seat steel ball spring restores its length and penetrates into the guide rail locking hole to restrict the guide rail, so that the guide rail cannot continue to move downward.

[0013] The surgical instrument guiding seat of the present invention, the support member further has a slot formed on the rear side surface of the support member for the extension rod to be detachably inserted. The support structure further has a locking member. The locking member can be detachably screwed from front to back to the support member and the extension rod, so that the support member and the extension rod are firmly connected.

[0014] The surgical instrument guiding seat of the present invention, the guide rail further has a positioning convex block protruding backward from the guide rail rear fitting portion. During the process of the guide rail rear fitting portion being inserted into the second sliding groove from top to bottom, the positioning convex block will be restricted by the top of the support member, so that the guide rail cannot continue to move downward.

[0015] The surgical instrument guiding seat of the present invention, the surgical instrument guiding seat further includes a slider fixing bolt. The guide rail has a second connecting through hole penetrating the front and rear surfaces of the top of the guide rail. The second connecting through hole allows the slider fixing bolt to pass through to the slider assembly in a relatively front-back movable manner, so that the slider assembly is restricted by the slider fixing bolt and cannot move vertically relative to the guide rail.

[0016] The surgical instrument guiding seat of the present invention, the slider assembly has a slider main body provided with the positioning hole, and a positioning marking seat portion extending horizontally from one of the left and right sides of the slider main body. The positioning marking seat portion allows the positioning marking member to be detachably arranged, so that the positioning marking member is separated from the surgical instrument.

[0017] Another object of the present invention is to provide an end effector device capable of solving at least one of the foregoing problems.

[0018] The end effector device of the present invention includes the aforementioned surgical instrument guide seat and the surgical instrument.

[0019] The surgical instrument has a holding portion and an operating portion with an outer diameter smaller than that of the holding portion. The holding portion abuts against the top surface of the slider assembly, and the operating portion passes through the positioning hole and is limited.

[0020] In the end effector device of the present invention, the operating portion is in the shape of a rod, and the outer diameter of one end of the operating portion adjacent to the holding portion is reduced. The surgical instrument guide seat further includes an instrument fixing bolt. The slider assembly has a first connecting through hole formed on the outer surface of the slider assembly and communicating with the positioning hole. The first connecting through hole allows the instrument fixing bolt to movably pass through and press against the portion where the outer diameter of the operating portion is reduced, so that the surgical instrument is restricted by the instrument fixing bolt and cannot move up and down relative to the slider assembly.

[0021] The beneficial effect of the present invention is that: by separating the positioning marking member from the surgical instrument through the slider assembly and enabling synchronous movement, the position of the surgical instrument relative to the positioning marking member can be fixed each time the surgical instrument is installed, and the position of the surgical instrument relative to the positioning marking member remains unchanged when the surgical instrument is operated to perform surgery, so that the surgical instrument is accurately positioned, thereby improving the surgical accuracy. In addition, by separating the positioning marking member from the surgical instrument through the slider assembly, the positioning marking member can be prevented from obscuring the operator's surgical field of view, which is convenient for use. Description of the Drawings

[0022] Figure 1 is a perspective view showing the connection relationship between the embodiment of the end effector device of the present invention and the robotic arm;

[0023] Figure 2 is a perspective view showing the implementation details of the surgical instrument guide seat of the embodiment;

[0024] Figure 3 is different from Figure 2 is a perspective view from a different perspective showing the implementation details of the surgical instrument guide seat;

[0025] Figure 4 is corresponding to Figure 2 is an exploded perspective view showing the implementation details of the surgical instrument guide seat;

[0026] Figure 5 is corresponding to Figure 3 is an exploded perspective view showing the implementation details of the surgical instrument guide seat;

[0027] Figure 6 is a side view, illustrating the implementation manner of the surgical instrument guide base and the surgical instrument of the embodiment at a predetermined position;

[0028] Figure 7 is a side view, illustrating the implementation manner of the surgical instrument guide base and the surgical instrument at the surgical execution position;

[0029] Figure 8 is a side view, illustrating the variant implementation manners of the guide rail and the support member of the surgical instrument guide base at different connection positions. Detailed implementation manners

[0030] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0031] Refer to Figures 1 to 3 , which is an embodiment of the end effector device of the present invention. The end effector device is adapted to be mounted on a robotic arm 300 and for a positioning marker 4 to be provided. The positioning marker 4 is presented as a multi-faceted sphere but is not limited thereto, and can be sensed by a device controlling the robotic arm 300 to confirm the location of the surgical instrument 200. The robotic arm 300 can be controlled to move to a predetermined position. The end effector device includes a surgical instrument guide base 102 and a surgical instrument 200 that can be detachably mounted on the surgical instrument guide base 102.

[0032] The surgical instrument 200 is, for example, a surgical instrument such as a positioning nail, a positioning nail gripper, a soft tissue probe, a spinal locator, a bone nail device, etc., and is used to perform surgical actions such as drilling and cutting. The surgical instrument 200 has a gripping portion 201 and an execution portion 202 that extends downward from the end face of the gripping portion 201 and has an outer diameter smaller than that of the gripping portion 201.

[0033] Refer to Figures 1 to 3 , the surgical instrument guide base 102 is adapted to be detachably connected to the robotic arm 300 to position the surgical instrument 200 on the robotic arm 300. The surgical instrument guide base 102 includes a support structure 3 and a guiding structure 5. The support structure 3 can be detachably connected to the robotic arm 300 and has a guide rail 31 that is elongated and extends longitudinally.

[0034] Refer to Figures 2 to 6, the guiding structure 5 is used to guide the traveling direction of the surgical instrument 200 during the operation. The guiding structure 5 has a slider assembly 51 that is movably mounted up and down on the guide rail 31 and on which the positioning marker 4 is arranged. The slider assembly 51 is provided with the positioning marker 4 and the surgical instrument 200, so that the positioning marker 4 and the surgical instrument 200 are separated from each other. The top surface of the slider assembly 51 is adapted to be abutted by the holding portion 201 of the surgical instrument 200. The slider assembly 51 has a positioning hole 513 that penetrates the upper and lower surfaces of the slider assembly 51 and is adapted to allow the surgical instrument 200 to pass through. The positioning hole 513 is adapted to allow the execution portion 202 of the surgical instrument 200 to pass through from top to bottom, so that the surgical instrument 200 is positioned on the slider assembly 51.

[0035] Refer to Figure 1 , Figure 6 and Figure 7 , the slider assembly 51 can be pushed by the surgical instrument 200 to synchronously drive the positioning marker 4 to move downward along the extending direction of the guide rail 31, so as to control the downward feeding depth of the surgical instrument 200. The surgical instrument 200 is positioned on the slider assembly 51 through the positioning hole 513 of the slider assembly 51, and the surgical instrument 200 and the positioning marker 4 will move synchronously, so that the position of the positioning marker 4 relative to the surgical instrument 200 remains unchanged, thereby improving the surgical accuracy.

[0036] Hereinafter, the usage method of the surgical instrument guiding seat 102 applied to guide the surgical instrument 200 will be specifically described. First, select the surgical instrument 200 required for the operation to be performed and the surgical instrument guiding seat 102 corresponding to the surgical instrument 200. Next, install the surgical instrument guiding seat 102 on the robotic arm 300. Then, the surgical instrument guiding seat 102 will be driven by the robotic arm 300 and navigated to the predetermined position. Next, the operator inserts the execution portion 202 of the previously selected surgical instrument 200 into the positioning hole 513 from top to bottom, so that the surgical instrument 200 is positioned on the slider assembly 51. Then, the operator grasps the holding portion 201 of the surgical instrument 200 and applies a downward force, so that the holding portion 201 presses against the slider assembly 51, and drives the slider assembly 51 to move downward in the same direction. Finally, as Figure 6 , Figure 7 shown, the slider assembly 51 is pushed by the surgical instrument 200 to drive the positioning marker 4 to move downward from the predetermined position as shown in Figure 6 shown to the position as shown in Figure 7A surgical execution position is shown, such that the surgical instrument 200 and the positioning marker 4 move downward synchronously. By measuring the displacement of the positioning marker 4 moving downward between the predetermined position and the surgical execution position, the depth (such as the drilling depth in orthopedic surgery) by which the surgical instrument 200 is pushed and moved by the operator can be known, thereby assisting the operator to perform the surgery accurately.

[0037] Refer to Figure 2 、 Figure 4 and Figure 6 , preferably, the guiding structure 5 further has a fixing block 52 located below the slider assembly 51 and mounted on the bottom of the guide rail 31. The fixing block 52 has a guiding hole 521 penetrating the upper and lower surfaces of the fixing block 52. The positioning hole 513 and the guiding hole 521 are vertically aligned with each other and are adapted to allow the execution part 202 of the surgical instrument 200 to pass through from top to bottom in sequence. The guiding hole 521 is used to guide the execution part 202 of the surgical instrument 200 to move vertically. The fixing block 52 can limit the slider assembly 51, such that the slider assembly 51 cannot continue to move downward. When the slider assembly 51 is pushed by the surgical instrument 200 and drives the positioning marker 4 to move downward synchronously, the slider assembly 51 will be restricted by the fixing block 52 and cannot continue to move downward, such that the slider assembly 51 can only be operated to move a predetermined distance, and the predetermined distance is equivalent to the distance between the bottom surface of the slider assembly 51 and the top surface of the fixing block 52 at the predetermined position. By restricting the top end of the execution part 202 through the positioning hole 513 and restricting the lower half of the execution part 202 through the guiding hole 521, the surgical instrument 200 can be prevented from shaking back and forth and left and right, and has good stability.

[0038] Continue to refer to Figure 1 、 Figure 2 、 Figure 4 and Figure 6, preferably, the surgical instrument guiding seat 102 further includes an instrument fixing bolt 6. The slider assembly 51 has a first connecting through hole 514 formed on the outer surface of the slider assembly 51 and penetrating through to the positioning hole 513. The first connecting through hole 514 allows the instrument fixing bolt 6 to movably pass through and press against the surgical instrument 200, so that the surgical instrument 200 is restricted by the instrument fixing bolt 6 and cannot move up and down relative to the slider assembly 51. When the operator wants to install the surgical instrument 200 on the surgical instrument guiding seat 102, first loosen the instrument fixing bolt 6, then insert the execution part 202 of the surgical instrument 200 into the positioning hole 513 and the guiding hole 521 in sequence, and then lock the instrument fixing bolt 6 to firmly install the surgical instrument 200 on the guiding structure 5, so that the surgical instrument 200 will not move relative to the guiding structure 5 during operation, and the stability is improved during use. Further, the execution part 202 is in a rod shape, and the outer diameter of one end of the execution part 202 adjacent to the holding part 201 is reduced. The first connecting through hole 514 allows the instrument fixing bolt 6 to movably pass through and press against the position where the outer diameter of the execution part 202 is reduced, so that the surgical instrument 200 is restricted by the instrument fixing bolt 6 and cannot move up and down relative to the slider assembly 51, so that the surgical instrument 200 can be more firmly fixed to the slider assembly 51.

[0039] Refer to Figure 3 and Figure 5 , preferably, the guide rail 31 has a guide rail main body 311 and a guide rail front fitting part 312 that protrudes forward from the front side of the guide rail main body 311 and whose left and right widths gradually expand. The slider assembly 51 further has a first chute 515 formed on the rear side surface of the slider assembly 51 and recessed forward with a gradually expanding inner diameter. The first chute 515 allows the guide rail front fitting part 312 to be inserted so as to be able to move up and down relatively, so that the slider assembly 51 can slide up and down relative to the guide rail 31. By the complementary shapes of the first chute 515 and the guide rail front fitting part 312 and the ability to slide up and down relatively, the slider assembly 51 will not shake relative to the guide rail 31, and the stability is good.

[0040] Refer to Figure 1 and Figures 2 to 5, preferably, the guide rail 31 has a guide rail main body portion 311, a guide rail rear fitting portion 313 that protrudes backward from the rear side of the guide rail main body portion 311 and whose left and right widths gradually expand, and two guide rail locking holes 314 formed on the rear side surface of the guide rail rear fitting portion 313 and arranged at intervals up and down. The support structure 3 also has an extension rod 32 extending forward from the robotic arm 300, a support member 33 connected to one end of the extension rod 32 away from the robotic arm 300, and two guide seat ball springs 34. One end of each of the guide seat ball springs 34 is a ball, and the other end is a spring that can be compressed or restored in length. The support member 33 has a second chute 331 formed on the front side surface of the support member 33 and recessed backward with a gradually expanding inner diameter. The guide rail rear fitting portion 313 is inserted into the second chute 331 so as to be able to move relatively up and down, such that the guide rail 31 and the support member 33 can move relatively up and down. In this embodiment, the number of the guide seat ball springs 34 corresponds to the number of the guide rail locking holes 314, both of which are exemplified by two, and the guide seat ball springs 34 are respectively installed in the guide rail locking holes 314. However, the number of the guide rail locking holes 314 and the guide seat ball springs 34 can also be one or more than three, depending on the usage requirements. In addition, the extension rod 32, the support member 33 and the guide seat ball springs 34 of the support structure 3 can be omitted, and the guide rail 31 can also be directly installed on the robotic arm 300.

[0041] The guide seat ball springs 34 are installed on the front side surface of the support member 33 and located in the second chute 331. When the guide rail rear fitting portion 313 is inserted into the second chute 331 from top to bottom and the guide seat ball springs 34 are misaligned with the guide rail locking holes 314, the guide seat ball springs 34 are compressed; when the guide rail rear fitting portion 313 is inserted into the second chute 331 from top to bottom and the guide seat ball springs 34 are aligned with the guide rail locking holes 314, the guide seat ball springs 34 restore their length and penetrate into the guide rail locking holes 314 to restrict the guide rail 31, so that the guide rail 31 cannot continue to move downward. In this way, when the operator installs the guide rail 31 on the support member 33, it can be quickly installed in the correct position and has the effect of fixing the guide rail 31 to the support member 33.

[0042] Refer to Figure 3 , Figure 5 , Figure 7 and Figure 8, preferably, the support member 33 further has a slot 332 formed on the rear side surface of the support member 33 for the extension rod 32 to be detachably inserted. The support structure 3 further has a locking member 35. The locking member 35 can be detachably screwed from the front to the rear to the support member 33 and the extension rod 32, so that the support member 33 and the extension rod 32 are firmly connected. Further, the guide rail 31 further has a positioning convex block 315 protruding backward from the rear embedding portion 313 of the guide rail. When the rear embedding portion 313 of the guide rail is inserted into the second chute 331 from top to bottom, the positioning convex block 315 will be restricted by the top of the support member 33, so that the guide rail 31 cannot continue to move downward. Similarly, when the operator installs the guide rail 31 on the support member 33, it can be quickly installed in the correct position.

[0043] Further, the surgical instrument guiding seat 102 further includes a slider fixing bolt 7. The guide rail 31 has a second connecting through hole 316 penetrating the front and rear surfaces of the top of the guide rail 31. The second connecting through hole 316 allows the slider fixing bolt 7 to pass through to the slider assembly 51 in a front-back movable manner, so that the slider assembly 51 is restricted by the slider fixing bolt 7 and cannot move up and down relative to the guide rail 31. When the operator wants to install the slider assembly 51 on the guide rail 31, first pull the slider fixing bolt 7 backward, then align the first chute 515 of the slider assembly 51 with the front embedding portion 312 of the guide rail, and let the slider assembly 51 move downward to be movably inserted into the guide rail 31. Then, when the slider fixing bolt 7 is aligned with the slider assembly 51, release the slider fixing bolt 7, so that the slider fixing bolt 7 is inserted into the slider assembly 51 through the second connecting through hole 316, and the slider assembly 51 can be firmly installed on the guide rail 31, which is convenient for installation and has good stability.

[0044] Preferably, the slider assembly 51 has a slider main body 511 provided with the positioning hole 513, and a positioning mark seat portion 512 extending laterally from one of the left and right sides of the slider main body 511. The positioning mark seat portion 512 allows the positioning mark member 4 to be detachably provided, and increases the separation distance between the positioning mark member 4 and the surgical instrument 200, which can avoid interference between the positioning mark member 4 and the surgical instrument 200, so as to improve the surgical accuracy.

[0045] In summary, by separating the positioning marker 4 from the surgical instrument 200 through the slider assembly 51 and enabling synchronous movement, the position of the surgical instrument 200 relative to the positioning marker 4 can be fixed each time the surgical instrument 200 is installed, and the position of the surgical instrument 200 relative to the positioning marker 4 also remains unchanged during the operation of the surgical instrument 200 to perform surgery, so that the surgical instrument 200 can be accurately positioned, thereby improving the surgical accuracy. In addition, by separating the positioning marker 4 from the surgical instrument 200 through the slider assembly 51, the positioning marker 4 can be prevented from obscuring the operator's surgical field of view, which is convenient for use. Therefore, the object of the present invention can indeed be achieved.

Claims

1. A surgical instrument guiding seat for connecting to a robotic arm; Characterized in that: The surgical instrument guiding seat includes: A support structure having a guide rail; and A guiding structure having a slider assembly that is movably mounted on the guide rail up and down and is provided with a positioning marker, the slider assembly having a positioning hole that penetrates the upper and lower surfaces of the slider assembly, and the positioning hole is adapted for a surgical instrument to pass through; Wherein, the slider assembly can be pushed by the surgical instrument to synchronously drive the positioning marker to move along the extension direction of the guide rail to control the feeding depth of the surgical instrument.

2. The surgical instrument guiding seat according to claim 1, Characterized in that: The surgical instrument has a holding portion and an execution portion with an outer diameter smaller than that of the holding portion. The guide rail is strip-shaped and extends longitudinally. The top surface of the slider assembly is adapted for the holding portion of the surgical instrument to abut against. The positioning hole is adapted for the execution portion of the surgical instrument to pass through from top to bottom. The slider assembly can be pushed by the surgical instrument to synchronously drive the positioning marker to move from top to bottom along the extension direction of the guide rail to control the feeding depth of the surgical instrument.

3. The surgical instrument guiding seat according to claim 2, Characterized in that: The guiding structure further has a fixing block located below the slider assembly and mounted on the bottom of the guide rail. The fixing block has a guiding hole that penetrates the upper and lower surfaces of the fixing block. The positioning hole and the guiding hole are adapted for the execution portion of the surgical instrument to pass through from top to bottom in sequence. The fixing block can limit the slider assembly so that the slider assembly cannot continue to move downward.

4. The surgical instrument guiding seat according to claim 1, Characterized in that: The surgical instrument guiding seat further includes an instrument fixing bolt. The slider assembly has a first connecting through hole formed on the outer surface of the slider assembly and penetrating through to the positioning hole. The first connecting through hole allows the instrument fixing bolt to movably pass through and press against the surgical instrument, so that the surgical instrument is restricted by the instrument fixing bolt and cannot move up and down relative to the slider assembly.

5. The surgical instrument guiding seat according to claim 1, Characterized in that: The guide rail has a guide rail main body portion and a guide rail front embedding portion that protrudes forward from the front side of the guide rail main body portion and has a gradually increasing left and right width. The slider assembly further has a first chute formed on the rear side surface of the slider assembly and recessed forward with a gradually increasing inner diameter. The first chute allows the guide rail front embedding portion to be inserted and move relative to each other up and down, so that the slider assembly can slide up and down relative to the guide rail.

6. The surgical instrument guiding seat according to claim 1, Characterized in that: The guide rail has a guide rail main body portion, a guide rail rear fitting portion that protrudes backward from the rear side of the guide rail main body portion and whose left and right widths gradually expand, and at least one guide rail locking hole formed on the rear side surface of the guide rail rear fitting portion. The support structure further has an extension rod that extends forward from the robotic arm, a support member connected to the end of the extension rod away from the robotic arm, and at least one guide seat ball spring that can be compressed or restored in length. The support member has a second chute formed on the front side surface of the support member and recessed backward with a gradually expanding inner diameter. The guide rail rear fitting portion is inserted into the second chute so as to be able to move relatively up and down. The guide seat ball spring is installed on the front side surface of the support member and is located in the second chute. When the guide rail rear fitting portion is inserted into the second chute from top to bottom and the guide seat ball spring is misaligned with the guide rail locking hole, the guide seat ball spring is compressed; when the guide rail rear fitting portion is inserted into the second chute from top to bottom and the guide seat ball spring is aligned with the guide rail locking hole, the guide seat ball spring restores its length and penetrates into the guide rail locking hole to restrict the guide rail, so that the guide rail cannot continue to move downward.

7. The surgical instrument guide seat according to claim 6, wherein: The support member further has a slot formed on the rear side surface of the support member for the extension rod to be detachably inserted. The support structure further has a locking member, and the locking member can be detachably screwed from front to back to the support member and the extension rod, so that the support member and the extension rod are firmly connected.

8. The surgical instrument guide seat according to claim 6, wherein: The guide rail further has a positioning convex block protruding backward from the guide rail rear fitting portion. When the guide rail rear fitting portion is inserted into the second chute from top to bottom, the positioning convex block will be restricted by the top of the support member, so that the guide rail cannot continue to move downward.

9. The surgical instrument guide seat according to claim 1, wherein: The surgical instrument guide seat further includes a slider fixing bolt. The guide rail has a second connecting through hole penetrating the front and rear surfaces of the top of the guide rail. The second connecting through hole allows the slider fixing bolt to pass through and move back and forth to the slider assembly, so that the slider assembly is restricted by the slider fixing bolt and cannot move up and down relative to the guide rail.

10. The surgical instrument guide seat according to claim 1, wherein: The slider assembly has a slider main body provided with the positioning hole, and a positioning mark seat portion extending laterally from one of the left and right sides of the slider main body. The positioning mark seat portion allows the positioning mark member to be detachably arranged, so that the positioning mark member is separated from the surgical instrument.

11. An end effector device, wherein: The end effector device includes: The surgical instrument guide seat according to any one of claims 1 to 10; and A surgical instrument having a holding portion and an operating portion with an outer diameter smaller than that of the holding portion. The holding portion abuts against the top surface of the slider assembly, and the operating portion passes through the positioning hole and is limited.

12. The end effector device according to claim 11, characterized in that: the actuator portion is in a rod shape, and the outer diameter of one end of the actuator portion adjacent to the holding portion is reduced. The surgical instrument guiding seat further includes an instrument fixing bolt. The slider assembly has a first connecting through hole formed on the outer surface of the slider assembly and penetrating through to the positioning hole. The first connecting through hole allows the instrument fixing bolt to movably pass through and press against the position where the outer diameter of the actuator portion is reduced, so that the surgical instrument is restricted by the instrument fixing bolt and cannot move up and down relative to the slider assembly.

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