Surgical instrument, slave operation equipment and surgical robot

Abstract

The invention provides a surgical instrument, slave operating equipment using the surgical instrument and a surgical robot with the slave operating equipment. The surgical instrument comprises a driving device which comprises a plurality of guide mechanisms for guiding a plurality of cables, the cables are distributed in the driving device in the form of a wire harness device after being guided by the plurality of guide mechanisms, and finally are led out from the edge of the driving device to extend to the wrist and the end effector of the surgical instrument, and the plurality of cables have a larger wiring space in the driving device through a wiring mode in a wire harness state; and mutual interference does not exist among a plurality of cables.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical devices, in particular to a surgical instrument, a slave operating device using the surgical instrument and a surgical robot having the slave operating device. BACKGROUND

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the body cavity using a laparoscope, thoracoscope and other modern medical devices and related equipment. Compared with the traditional surgical method, minimally invasive surgery has the advantages of less trauma, less pain and faster recovery.

[0003] With the progress of science and technology, minimally invasive surgical robot technology has gradually matured and is widely used. Minimally invasive surgical robots usually include a master operating console and a slave operating device. The master operating console is used to send control commands to the slave operating device according to the operation of the doctor to control the slave operating device. The slave operating device is used to respond to the control commands sent by the master operating console and perform corresponding surgical operations.

[0004] The slave operating device is connected with a surgical instrument that can be detached from the slave operating device. The surgical instrument includes a driving device, an end effector for performing surgery, and a long shaft for connecting the end effector and the driving device. The driving device is used to connect the surgical instrument to the slave operating device and receive driving force from the slave operating device to drive the end effector to move. The driving device is connected to the end effector through a cable, and the driving device drives the movement of the end effector through the cable. The driving device includes a plurality of driving units, the plurality of driving units are engaged with a plurality of actuators on the slave operating device, the proximal end of the cable is wound around the driving unit, and the distal end of the cable is connected to the end effector. The driving unit drives the movement of the end effector through the cable. The more the number of driving units and cables, the more degrees of freedom the end effector can move, i.e. the more flexible the end effector is. However, due to the limited space in the driving device, the more cables, the more complex the wiring of the cables in the driving device will be. Complex wiring not only makes the assembly process of the driving device difficult and the structure of the entire driving device complex, but also increases the risk of mutual interference between the cables. SUMMARY

[0005] To solve the above problems, the present application provides a surgical instrument, which includes a driving device, a plurality of cables, a long shaft and an end effector located at the distal end of the long shaft. The plurality of cables are connected between the driving device and the end effector. The driving device includes: a plurality of driving units, one end of the plurality of cables being connected to the plurality of driving units; a first guide mechanism, a second guide mechanism and a third guide mechanism, the plurality of cables form a cable bundle after being guided by the first guide mechanism, the cable bundle comprises a first cable bundle segment between the first guide mechanism and the second guide mechanism, and a second cable bundle segment between the second guide mechanism and the third guide mechanism, the first cable bundle segment extends to the second guide mechanism along a first direction, and the second cable bundle segment extends to the third guide mechanism along a second direction different from the first direction; a proximal end of the long axis is located at an edge of a housing of the driving device, and the third guide mechanism is located at the edge of the housing; the cable bundle extends a third cable bundle segment from the third guide mechanism into the long axis, the third cable bundle segment extends into the long axis along a third direction different from the first direction, and the third guide mechanism comprises a plurality of pulley sets for guiding the plurality of cables, the plurality of pulley sets are respectively located on a plurality of first planes parallel to each other.

[0006] In a specific embodiment, the second guide mechanism is located at a proximal end or a distal end of the first guide mechanism.

[0007] In a specific embodiment, the first cable bundle segment is substantially perpendicular to the cable segments of the plurality of cables between the plurality of driving units and the first guide mechanism.

[0008] In a specific embodiment, the first direction is non-parallel to the second direction.

[0009] In a specific embodiment, the first guide mechanism comprises a plurality of first pulleys, the first pulleys comprise first shafts and first guide portions for guiding one of the plurality of cables, the first guide portions are rotationally arranged on the first shafts, and the first shafts of the plurality of first pulleys are substantially perpendicular to the rotation axes of the plurality of driving units.

[0010] In a specific embodiment, the second guide mechanism comprises a plurality of second pulleys, the second pulleys comprise second shafts and second guide portions for guiding one of the first cable bundle segments, the second guide portions are rotationally arranged on the second shafts, and the second shafts of the plurality of second pulleys are substantially perpendicular to the rotation axes of the plurality of driving units.

[0011] In a specific embodiment, the third guide mechanism comprises a plurality of third pulleys, the third pulleys comprise third shafts and third guide portions for guiding one of the second cable bundle segments, the third guide portions are rotationally arranged on the third shafts, and the third shafts of the plurality of third pulleys are substantially perpendicular to the rotation axes of the plurality of driving units.

[0012] In one embodiment, the plurality of cables includes a first cable, and an included angle between a first axle of a pulley in the plurality of first pulleys that guides the first cable and a second axle of a pulley in the plurality of second pulleys that guides the first cable is an acute angle.

[0013] In one embodiment, the plurality of cables further includes a second cable, and a first axle of a pulley in the plurality of first pulleys that guides the second cable is substantially perpendicular to a second axle of a pulley in the plurality of second pulleys that guides the second cable.

[0014] In one embodiment, the plurality of cables further includes a third cable, and a first axle of a pulley in the plurality of first pulleys that guides the third cable is substantially parallel to a second axle of a pulley in the plurality of second pulleys that guides the third cable.

[0015] In one embodiment, a cable segment of the first cable between the plurality of driving units and the first guide mechanism and a cable segment in the first cable bundle are located on a first plane, and the cable segment of the first cable in the first cable bundle and a cable segment in the second cable bundle are located on a second plane, and the first plane intersects the second plane.

[0016] In one embodiment, a cable segment of the second cable between the plurality of driving units and the first guide mechanism and a cable segment in the first cable bundle are located on a third plane, and the cable segment of the first cable in the first cable bundle and a cable segment in the second cable bundle are located on a fourth plane, and the third plane is substantially perpendicular to the fourth plane.

[0017] In one embodiment, a cable segment of the third cable between the plurality of driving units and the first guide mechanism and a cable segment in the first cable bundle are located on a fifth plane, and the cable segment of the third cable in the first cable bundle and a cable segment in the second cable bundle are located on a sixth plane, and the fifth plane is substantially parallel to the sixth plane.

[0018] In one embodiment, the plurality of cables forms a plurality of first cable segments between the plurality of driving units and the first guide mechanism, and a length direction of any cable segment in the plurality of first cable segments is substantially perpendicular to a length direction of the first cable bundle.

[0019] In one embodiment, the plurality of cables are substantially parallel to each other in the first cable bundle.

[0020] In one embodiment, the length direction of the second cable bundle is substantially perpendicular to the length direction of the first cable bundle.

[0021] In one embodiment, the cable segments of the plurality of cables in the second cable bundle are substantially parallel to each other.

[0022] In one embodiment, the length direction of the third cable bundle is substantially parallel to the length direction of the first cable bundle.

[0023] In one embodiment, the length direction of the third cable bundle is substantially perpendicular to the length direction of the second cable bundle.

[0024] In one embodiment, the cable segments of the plurality of cables in the third cable bundle are substantially parallel to each other.

[0025] In one embodiment, at least one of the plurality of first pulleys of the first guide mechanism is adjustable to be located at different horizontal levels within the driving device.

[0026] In one embodiment, at least one of the plurality of second pulleys of the second guide mechanism is adjustable to be located at different horizontal levels within the device.

[0027] In one embodiment, the plurality of driving units are located at the vertices of a polygon.

[0028] In one embodiment, the first guide mechanism is located in the middle region of the plurality of driving units.

[0029] In one embodiment, the first guide mechanism and / or the second guide mechanism comprises a conduit for guiding the plurality of cables.

[0030] In one aspect, the present application also provides a slave operating device, which comprises a mechanical arm and a surgical instrument as described above, the surgical instrument being mounted on the mechanical arm, the mechanical arm being used to manipulate the movement of the surgical instrument.

[0031] In another aspect, the present application also provides a surgical robot, which comprises a master operating device and a slave operating device as described above, the slave operating device performing corresponding operations according to the instructions of the master operating device.

[0032] The surgical instrument of the present invention has multiple drive units that can be flexibly arranged in the drive device. Multiple cables of the surgical instrument are guided by guide mechanisms located at different spatial positions, so that the multiple cables extend and are arranged in the drive device in the form of a wire bundle. The wiring of the cables is neat and occupies little space, which simplifies the assembly process of the drive device and eliminates the risk of mutual interference between the cables. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the main control console of a surgical robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the operating device of a surgical robot according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a surgical instrument according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a surgical instrument according to an embodiment of the present invention; Figure 5 This is a top view of a driving device according to an embodiment of the present invention; Figure 6 This is a schematic diagram showing the long axes of multiple surgical instruments in a convergent state according to an embodiment of the present invention. Figure 7 This is a schematic diagram of the structure of a surgical instrument according to another embodiment of the present invention; Figure 8 This is a top view of the cable wiring of a drive device according to an embodiment of the present invention; Figure 9 This is a top view of the cable wiring of a drive device according to an embodiment of the present invention; Figure 10 This is a schematic diagram of the structure of the first guide mechanism and the second guide mechanism of the driving device according to an embodiment of the present invention; Figure 11 and Figure 12 For the present invention Figure 3 A schematic diagram of the cable routing for the surgical instruments in the illustrated embodiment; Figure 13A for Figure 11 A top view of the cable routing in the illustrated embodiment; Figure 13B This is a schematic diagram showing the distribution of multiple contact points between the cable and the second guide mechanism in the embodiment shown in Figure 13A of the present invention; Figures 14A-14D This is a schematic diagram showing the distribution of other contact points between the cable and the second guide mechanism according to an embodiment of the present invention; Figure 15 This is a side view of cable routing according to an embodiment of the present invention; Figure 16 for Figure 15Cable routing schematic of the illustrated embodiment at the fourth guide mechanism; Figure 17 For Figure 15 Fourth guide mechanism in the illustrated embodiment; Figure 18 For Figure 15 Schematic of the cable passing through the fourth guide mechanism in the illustrated embodiment; Figures 19A-19D Schematic of the fourth guide mechanism in some other embodiments of the application; Figure 20 Schematic of the first tensioning mechanism in one embodiment of the application in connection with the cable; Figure 21 Schematic of the first tensioning mechanism in one embodiment of the application; Figure 22 For Figure 21 Exploded view of the first tensioning mechanism in the illustrated embodiment; Figure 23 Schematic of the first tensioning mechanism in another embodiment of the application; Figures 24A-24C Schematic of the wrist in the process of being straightened by the first tensioning mechanism in one embodiment of the application; Figure 25 Schematic of the second tensioning mechanism in one embodiment of the application; Figure 26 Schematic of the drive device housing and guide assembly installation in one embodiment of the application; Figure 27 Exploded view of the guide assembly in one embodiment of the application; Figure 28 For Figure 26 First housing of the guide assembly in the illustrated embodiment; Figure 29 For Figure 26 Bottom view of the housing of the illustrated embodiment. DETAILED DESCRIPTION

[0034] In order to facilitate the understanding of the present application, a more comprehensive description of the present application will be given below with reference to the relevant drawings. The preferred embodiments of the present application are shown in the drawings. However, the present application can be realized 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 thorough and comprehensive.

[0035] It is to be understood that when an element such as a layer, region or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. In contrast, when an element is referred to as being "connected" or "coupled" to another element, it is not necessarily directly connected or coupled to the other element but can be connected or coupled thereto via other elements. As used herein the term "vertical", "horizontal", "left", "right", and the like are merely for purposes of illustration and are not intended to be limiting. As used herein, the terms "distal", "proximal" are directional terms used in the context of interventional medical devices, wherein "distal" refers to the end of the device that is farthest from the operator during a procedure and "proximal" refers to the end of the device that is closest to the operator during a procedure.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. As used herein, the term "cable bundle" refers to a group of cables that are relatively close to each other and extend in substantially the same direction. Unless otherwise specified, the term "cable bundle direction" or "cable direction" as used herein refers to the direction along the length of the cable bundle or cable.

[0037] A minimally invasive surgical robot generally includes a slave operating device and a master operating console, Figure 1 A master operating console 100 according to an embodiment of the present application is shown, Figure 2 A slave operating device 200 according to an embodiment of the present application is shown. A surgeon performs relevant control operations on the slave operating device 200 at the master operating console 100, and the slave operating device 200 performs a surgical operation on a human body according to input instructions from the master operating console 100. The master operating console 100 and the slave operating device 200 can be placed in the same operating room, or can be placed in different rooms, or even can be far apart from each other, for example, the master operating console 100 and the slave operating device 200 are located in different cities. The master operating console 100 and the slave operating device 200 can transmit data in a wired manner or in a wireless manner. For example, the master operating console 100 and the slave operating device 200 are located in the same operating room and transmit data in a wired manner. For another example, the master operating console 100 and the slave operating device 200 are located in different cities and transmit data in a 5G wireless signal.

[0038] The surgical instrument 300 for performing surgical operation is connected to the actuating device 220, which is included in the operating device 200 and comprises a mechanical arm 210 and an actuating device 220 arranged at the distal end of the mechanical arm 210, and the actuating device 220 drives the surgical instrument to move through a plurality of actuators inside the actuating device 220. A plurality of surgical instruments 300 can be connected to one actuating device 220, and the distal ends of the plurality of surgical instruments 300 enter the human body through one incision, thereby reducing the number of surgical incisions and making the postoperative recovery faster.

[0039] The surgical instrument according to an embodiment of the present application is shown in FIG. 2, which comprises a driving device 310, a long shaft 320, and a terminal instrument at the distal end of the long shaft 320, wherein the terminal instrument comprises a wrist 330 and / or a terminal actuator 340, the driving device 310 is connected to the actuating device 220 through a joint 390, a plurality of driving units inside the driving device 310 are connected to the wrist 330 and the terminal actuator 340 through a plurality of cables, the driving units drive the wrist 330 and / or the terminal actuator 340 to move by manipulating the plurality of cables, the cables can be flexible or can comprise a flexible section and a rigid segmented long body, and the terminal actuator 340 can be an electric cauter, scissors, forceps, an imaging device, etc. Figure 3 The surgical instrument according to an embodiment of the present application is shown in FIG. 2, which comprises a driving device 310, a long shaft 320, and a terminal instrument at the distal end of the long shaft 320, wherein the terminal instrument comprises a wrist 330 and / or a terminal actuator 340, the driving device 310 is connected to the actuating device 220 through a joint 390, a plurality of driving units inside the driving device 310 are connected to the wrist 330 and the terminal actuator 340 through a plurality of cables, the driving units drive the wrist 330 and / or the terminal actuator 340 to move by manipulating the plurality of cables, the cables can be flexible or can comprise a flexible section and a rigid segmented long body, and the terminal actuator 340 can be an electric cauter, scissors, forceps, an imaging device, etc.

[0040] The surgical instrument according to an embodiment of the present application is shown in FIG. 2, which comprises a driving device 310, a long shaft 320, and a terminal instrument at the distal end of the long shaft 320, wherein the terminal instrument comprises a wrist 330 and / or a terminal actuator 340, the driving device 310 is connected to the actuating device 220 through a joint 390, a plurality of driving units inside the driving device 310 are connected to the wrist 330 and the terminal actuator 340 through a plurality of cables, the driving units drive the wrist 330 and / or the terminal actuator 340 to move by manipulating the plurality of cables, the cables can be flexible or can comprise a flexible section and a rigid segmented long body, and the terminal actuator 340 can be an electric cauter, scissors, forceps, an imaging device, etc. Figure 4 The surgical instrument according to an embodiment of the present application is shown in FIG. 2, which comprises a driving device 310, a long shaft 320, and a terminal instrument at the distal end of the long shaft 320, wherein the terminal instrument comprises a wrist 330 and / or a terminal actuator 340, the driving device 310 is connected to the actuating device 220 through a joint 390, a plurality of driving units inside the driving device 310 are connected to the wrist 330 and the terminal actuator 340 through a plurality of cables, the driving units drive the wrist 330 and / or the terminal actuator 340 to move by manipulating the plurality of cables, the cables can be flexible or can comprise a flexible section and a rigid segmented long body, and the terminal actuator 340 can be an electric cauter, scissors, forceps, an imaging device, etc.

[0041] The proximal ends of the plurality of cables 412, 422, 432, 442, and 452 are wound around the plurality of driving units 411, 421, 431, 441, and 451, respectively, and the distal ends of the plurality of cables 412, 422, 432, 442, and 452 pass through the long shaft 420 and are connected to the wrist 430 and the terminal actuator 440 of the terminal instrument, and the plurality of driving units 411, 421, 431, 441, and 451 rotate around their axes to collect or release the plurality of cables 412, 422, 432, 442, and 452 to drive the wrist 430 and the terminal actuator 440 to move.

[0042] The plurality of cables 412, 422, 432, 442, 452 extend into the elongated shaft 420 after being guided by a plurality of guide mechanisms, including a first guide mechanism 471, a second guide mechanism 472, and a third guide mechanism 473. The first guide mechanism 471 is located in a middle region of a polygon formed by the plurality of drive units 411, 421, 431, 441, 451. The second guide mechanism 472 is located closer to the proximal end of the drive device 410 than the first guide mechanism 471. The third guide mechanism 473 is located at the proximal end of the elongated shaft 420. One end of the cable 462 is wound around the drive unit 461, and the other end of the cable 462 is wound around the proximal end of the elongated shaft 420. The drive unit 461 rotates around its rotation axis to pull or release the cable 462, thereby driving the elongated shaft 420 to rotate around the elongated shaft 420. In other embodiments, the second guide mechanism 472 can be located closer to the distal end of the drive device 410 than the first guide mechanism 471.

[0043] The plurality of cables 412, 422, 432, 442, 452 converge into a cable bundle after being guided by the first guide mechanism 471 and extend to the distal instrument in the form of the cable bundle. The cable bundle includes a first cable bundle segment Z1, a second cable bundle segment Z2, and a third cable bundle segment Z3. The first cable bundle segment Z1 extends in a first direction to the second guide mechanism 472 and forms the second cable bundle segment Z2 after being guided by the second guide mechanism 472. The second cable bundle segment Z2 extends in a second direction that is substantially non-parallel to the first direction to the third guide mechanism 473 and forms the third cable bundle segment Z3 after being guided by the third guide mechanism 473. The third cable bundle segment Z3 passes through the elongated shaft 420 and extends to the wrist 430 and the distal instrument 440.

[0044] The first guide mechanism 471 is located in a middle position of the polygon formed by the plurality of drive units 411, 421, 431, 441, 451. The plurality of cables 412, 422, 432, 442, 452 extend to the first guide mechanism 471 in a manner converging from the periphery of the polygon to the middle, and then converge to form the first cable bundle segment Z1 after being guided by the first guide mechanism 471. Specifically, the plurality of cables 412, 422, 432, 442, 452 form a plurality of first cable segments 4121, 4221, 4321, 4421, 4521 between the plurality of drive units 411, 421, 431, 441, 451 and the first guide mechanism 471. The projection lines of the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 onto the projection plane S1 perpendicular to the rotation axis of any one of the plurality of drive units 411, 421, 431, 441, 451 do not intersect.

[0045] As Figure 5As shown, the plurality of projection line segments 4121a, 4221a, 4321a, 4421a, 4521a of the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 on the projection plane S1 do not intersect with each other, and the plurality of first angles x1, x2, x3, x4, x5 are formed between the plurality of first cable segments 4121, 4221, 4321, 4421, 4521, the center of the first guide mechanism 471 is the vertex of the plurality of first angles x1, x2, x3, x4, x5, the edges of the plurality of first angles x1, x2, x3, x4, x5 pass through the plurality of projection line segments 4121a, 4221a, 4321a, 4421a, 4521a, and the plurality of first angles x1, x2, x3, x4, x5 are the smaller angles formed by two adjacent projection line segments 4121a, 4221a, 4321a, 4421a, 4521a, i.e., the plurality of first angles x1, x2, x3, x4, x5 are all less than or equal to 180°. Since the first guide mechanism 471 is located in the middle of the plurality of driving units 411, 421, 431, 441, 451, the sum of the plurality of first angles x1, x2, x3, x4, x5 is equal to 360°, so that each of the plurality of first angles x1, x2, x3, x4, x5 is as large as possible, so that there is more space for wiring between the plurality of cables 412, 422, 432, 442, 452, and the mutual interference between the plurality of cables 412, 422, 432, 442, 452 is avoided.

[0046] Again, referring to Figure 4 , the first cable bundle Z1 is located between the first guide mechanism 471 and the second guide mechanism 472, and the first cable bundle Z1 includes a plurality of second cable segments 4122, 4222, 4322, 4422, 4522 of the plurality of cables 412, 422, 432, 442, 452 in the length direction, which are substantially parallel to each other and close to each other, so that the space occupied by the second cable bundle Z1 is as small as possible, so as to fully utilize the space in the driving device 410 to set other mechanisms, such as a cable tensioning mechanism. In other embodiments, the plurality of second cable segments in the second cable bundle Z1 can not all be parallel, but the directions of the plurality of second cable segments are substantially consistent.

[0047] Multiple first cable segments 4121, 4221, 4321, 4421, and 4521 are arranged in a state of divergence from the first guide mechanism 471 to multiple drive units 411, 421, 431, 441, and 451. Therefore, the multiple first cable segments 4121, 4221, 4321, 4421, and 4521 occupy the first horizontal space located at the far end of the drive device 470. The direction of the first cable bundle Z1 is perpendicular to the direction of any one of the multiple first cable segments 4121, 4221, 4321, 4421, and 4521. The second guide mechanism 472 is located near the first guide mechanism 471. Therefore, the first cable bundle Z1 located between the first guide mechanism 471 and the second guide mechanism 472 occupies a second space in the vertical direction in the middle area of ​​the drive device 470. The first space and the second space are basically perpendicular and intersect only at the first guide mechanism 471. However, the first space and the second space do not overlap. Therefore, the first cable bundle Z1 will not affect the wiring of the multiple first cable segments 4121, 4221, 4321, 4421, and 4521, nor will it interfere with the multiple first cable segments 4121, 4221, 4321, 4421, and 4521. In some other embodiments, the first cable bundle Z1 may not be perpendicular to the multiple first cable segments 4121, 4221, 4321, 4421, 4521, or the cable segments in the first cable bundle Z1 may be perpendicular to the multiple first cable segments 4121, 4221, 4321, 4421, 4521. Thus, the second space where the first cable bundle Z1 is located has a certain angle with the first space where the multiple first cable segments 4121, 4221, 4321, 4421, 4521 are located. However, since the two spaces do not overlap, the first cable bundle Z1 will still not affect the wiring of the multiple first cable segments 4121, 4221, 4321, 4421, 4521, nor will it interfere with the multiple first cable segments 4121, 4221, 4321, 4421, 4521.

[0048] The second cable bundle Z2 is located between the second guide mechanism 472 and the third guide mechanism 473. The second cable bundle Z2 includes multiple third cable segments 4123, 4223, 4323, 4423, and 4523 of multiple cables 412, 422, 432, 442, and 4522. The multiple third cable segments 4123, 4223, 4323, 4423, and 4523 are oriented in roughly the same direction and are relatively close to each other, so as to minimize the third space occupied by the second cable bundle Z2. In some other embodiments, at least two or more cable segments of the multiple third cable segments of the second cable bundle Z2 are parallel to each other, so as to further reduce the third space occupied by the second cable bundle Z2.

[0049] The second cable bundle Z2 extends towards the position where the proximal end of the long axis 420 is located, and the direction (first direction) of the first cable bundle Z1 is substantially perpendicular to the direction (second direction) of the second cable bundle Z2. Since the second guide mechanism 472 separates the second cable bundle Z2 from the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 on different horizontal planes in the drive device 410, i.e., the second cable bundle Z2 is located at the proximal end of the drive device 410, while the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 are located at the distal end of the drive device 410, the third space where the second cable bundle Z2 is located does not overlap with the first space where the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 are located, so that the second cable bundle Z2 does not affect the wiring of the plurality of first cable segments 4121, 4221, 4321, 4421, 4521, and the second cable bundle Z2 does not interfere with the plurality of first cable segments 4121, 4221, 4321, 4421, 4521. In addition, the third space where the second cable bundle Z2 is located does not overlap with the second space where the first cable bundle Z1 is located, so that the second cable bundle Z2 does not affect the wiring of the first cable bundle Z1. In other embodiments, the second cable bundle Z2 can also be perpendicular to the first cable bundle Z1. Since the third guide mechanism 473 is not located in the first space where the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 are located, even if the second cable bundle Z2 is not perpendicular to the first cable bundle Z1, the third space where the second cable bundle Z2 is located does not overlap with the first space where the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 are located, so that the second cable bundle Z2 does not affect the wiring of the plurality of first cable segments 4121, 4221, 4321, 4421, 4521, and the third space where the second cable bundle Z2 is located does not overlap with the second space where the first cable bundle Z1 is located, so that the second cable bundle Z2 does not affect the wiring of the first cable bundle Z1.

[0050] The first guide mechanism 471 includes a plurality of first pulleys 413, 423, 433, 443, 453, and the second guide mechanism 472 includes a plurality of second pulleys 414, 424, 234, 444, 454. Each of the plurality of first pulleys 413, 423, 433, 443, 453 and the plurality of second pulleys 414, 424, 234, 444, 454 includes an axle and a guide portion for guiding the plurality of cables 412, 422, 432, 442, 452. The guide portion is rotatably mounted on the axle. In other embodiments, the guide portion and the axle of the pulley can also be fixedly connected, so that the guide portion and the axle of the pulley rotate together.

[0051] The wheel shafts of the plurality of first pulleys 413, 423, 433, 443, 453 are substantially perpendicular to the rotation shaft of any one of the plurality of driving units 411, 421, 431, 441, 451, and the length direction of the first cable bundle Z1 is the same as or substantially the same as the rotation shaft of the plurality of driving units 411, 421, 431, 441, 451. Adjusting the height of the first guide mechanism 471 and the tensioning mechanism (not shown in the figure) in the driving device 410, i.e. adjusting the position of the first guide mechanism 471 along the proximal end or the distal end of the driving device 410, will not affect the wiring of the plurality of first cable segments 4121, 4221, 4321, 4421, 4521 and the direction of the first cable bundle Z1, and will not affect the efficiency of the first cable bundle Z1 in transmitting driving force. Therefore, the height of the first guide mechanism 471 can be adjusted according to different cable wiring needs or the layout needs of the components of the driving device 410.

[0052] Taking the wiring of the first cable 412 as an example, after being guided by the first pulley 413 of the first guide mechanism 471, the first cable 412 extends to the second guide mechanism 472. The wheel shaft of the first pulley 413 is perpendicular to the rotation shaft D1 of the driving unit 411. The first cable 412 enters the groove for accommodating the first cable 412 along the tangent direction of the guiding portion of the pulley 413. No matter how the height of the first pulley 413 in the driving device 410 is adjusted, the first cable 412 can enter or exit the groove of the first pulley 413 along the tangent direction of the groove of the first pulley 413, so that adjusting the height of the first pulley 413 will not affect the direction of the first cable 412 entering the groove of the first pulley 413, and will not affect the efficiency of the first cable 412 in transmitting driving force. Therefore, the height of the first pulley 413, i.e. the height of the first guide mechanism 471, can be adjusted.

[0053] The wheel shafts of the plurality of second pulleys 414, 424, 234, 444, 454 are also substantially perpendicular to the rotation shaft of any one of the plurality of driving units 411, 421, 431, 441, 451. Therefore, adjusting the height of the second guide mechanism 472 and / or the tensioning mechanism will not affect the efficiency of the first cable bundle Z1 and the second cable bundle Z3 in transmitting driving force. Taking the first cable 412 as an example, after being guided by the second pulley 414 of the second guide mechanism 472, the first cable 412 extends to the third guide mechanism 473. Since the wheel shaft of the second pulley 414 is perpendicular to the rotation shaft D1 of the driving unit 411, no matter how the height of the pulley 414 in the driving device 410 is adjusted, the second cable segment 4122 and the third cable segment 4123 of the first cable 412 can enter or exit the groove of the second pulley 414 along the tangent direction of the groove on the guiding portion of the second pulley 412. Therefore, the height of the second guide mechanism 472 in the driving device 410 can be adjusted like the first guide mechanism 471.

[0054] The proximal end of the long shaft 420 is located at the edge of the housing 410a of the drive device 410 (the so-called edge refers to the vicinity of the periphery of the housing, i.e. the vicinity of the intersection of two or three sides of the housing), which can allow the long shafts 420 of multiple surgical instruments to be brought together so that the distal ends of the long shafts 420 of the multiple long shafts 420 can be brought together to enter the human body from one incision, reducing the number of surgical incisions. As shown in Figure 6 The top view of the multiple surgical instruments 300 is shown, and the long shafts 320 of the surgical instruments 300 are located at the edges of the surgical instruments 300, so that the surgical long shafts 320 of the multiple surgical instruments 300 can be brought together, and the distal end of the multiple long shafts 320 can enter the human body from one incision.

[0055] Again referring to Figure 4 , the third cable bundle Z3 includes multiple third cable segments 4124, 4224, 4324, 4424, 4524 of the multiple cables 412, 422, 432, 442, 452, the third cable segments 4124, 4224, 4324, 4424, 4524 are substantially parallel to each other, and the third guide mechanism 473 is located at the edge of the surgical instrument 400 and is located near the proximal end of the long shaft 420.

[0056] The third guide mechanism 473 includes multiple third pulleys for guiding the multiple cables 412, 422, 432, 442, 452, and each pulley in the multiple third pulleys of the third guide mechanism 473 is relatively close to each other, so that each cable segment in the multiple third cable segments 4124, 4224, 4324, 4424, 4524 of the third cable bundle Z3 is closer to each other, so that the third cable bundle Z3 can extend through the long shaft 420 with a smaller space to the wrist 430 and the end effector 440.

[0057] In an embodiment, the wheel axes of the multiple third pulleys and the wheel axes of the multiple first pulleys and the wheel axes of the multiple second pulleys are the same as the rotation axes of any one of the multiple drive units 411, 421, 431, 441, 451, and therefore, the height of the third guide mechanism 473 in the drive device 410 can be adjusted, just like the first guide mechanism 471 and the second guide mechanism 472.

[0058] The first guide mechanism 471, the second guide mechanism 472 and the third guide mechanism 473 are adjustable in height in the drive device 410. Not only the first guide mechanism 471 or the second guide mechanism 472 or the third guide mechanism 473 as a whole can be adjusted in height in the drive device 410, but also a part of the first guide mechanism 471 or the second guide mechanism 472 or the third guide mechanism 473 can be adjusted in height in the drive device 410. For example, the first guide mechanism 471 as a whole can be adjusted in height in the drive device 410, and one or more of the plurality of first pulleys 413, 423, 433, 443, 453 of the first guide mechanism 471 can be adjusted in height in the drive device 410.

[0059] By adjusting the height of the first guide mechanism 471 and / or the second guide mechanism 472 and / or the third guide mechanism 473 in the drive device 410, the tension of the plurality of cables 412, 422, 432, 442, 452 and the arrangement of the plurality of cables 412, 422, 432, 442, 452 in the drive device 410 can be adjusted.

[0060] The first cable 412 of the plurality of cables 412, 422, 432, 442, 452 extends through the first pulley 413 of the first guide mechanism 471 and then through the second pulley 414 of the second guide mechanism 472 and then to the third guide mechanism 473. The first cable 412 has a first cable segment 4121 between the drive unit 411 and the first pulley 413, a second cable segment 4122 between the first pulley 413 and the second pulley 423, and a third cable segment 4223 between the second pulley 423 and the third guide mechanism 473. The first cable segment 4121 and the second cable segment 4122 are located on a first plane, and the second cable segment 4122 and the third cable segment 4123 are located on a second plane. The angle between the axis of the first pulley 413 and the axis of the second pulley 414 is an acute angle, i.e. the axis of the first pulley 413 and the axis of the second pulley 414 are not perpendicular to and not parallel to the first plane, so that the first plane and the second plane intersect and do not overlap.

[0061] In an embodiment of the present application, the first cable segment 4221 of the second cable 422 and the second cable segment 4222 of the second cable 422 are located on a third plane, and the second cable segment 4222 and the third cable segment 4223 of the second cable 422 are located on a fourth plane. The axis of the first pulley 423 for guiding the second cable 422 is substantially perpendicular to the axis of the second pulley 424 for guiding the second cable 422, so that the third plane is substantially perpendicular to the fourth plane.

[0062] In one embodiment of the present invention, the first cable segment 4321 and the second cable segment 4322 of the third cable 432 of the plurality of cables 412, 422, 432, 442, 452 are located on a fifth plane, and the second cable segment 4322 and the third cable segment 4323 of the second cable 432 are located on a sixth plane. The axle of the first pulley 433 guiding the third cable 432 is substantially parallel to the axle of the second pulley 434 guiding the third cable 432, so that the fifth plane is substantially parallel to the sixth plane.

[0063] It is understood that the multiple cables 412, 422, 432, 442, and 452 in the drive device 400 can all be wired in the same way as the first cable 412; or some of the multiple cables 412, 422, 432, 442, and 452 can be wired in the same way as the first cable 412, while other parts can be wired in the same way as the second cable 422 or the third cable 432; or some of the multiple cables 412, 422, 432, 442, and 452 can be wired in the same way as the second cable 422, while other parts can be wired in the same way as the third cable 432.

[0064] After the multiple cables 412, 422, 432, 442, and 452 in the drive device 400 are wired in the manner described above, at least one of the multiple cables 412, 422, 432, 442, and 452 is re-faced after being guided by the second guide mechanism 472. That is, the plane on which the cable segment of at least one of the multiple cables 412, 422, 432, 442, and 452 is located on both sides of the first guide mechanism 471 intersects but does not overlap with the plane on which the cable segment is located on both sides of the second guide mechanism 472. Thus, the second cable bundle Z2 formed by multiple cables 412, 422, 432, 442, and 452 after being guided by the second guide mechanism 472 extends along the edge of the drive device 410. After being guided by the second guide mechanism 472, the multiple cables 412, 422, 432, 442, and 452 can enter the long shaft 472 from the edge of the drive device 472, so that the long shaft 420 can be set at the edge of the drive device 410.

[0065] like Figure 4 In the illustrated embodiment, the second cable bundle Z2, after being guided by the third guide mechanism 473, enters the long shaft 420 located at the edge of the drive device 410. The axis of the long shaft 420 is perpendicular to the engagement portion 490, thereby engaging the proximal end of the actuating device 220 with the engagement portion 490 of the drive device 410. In other embodiments, the engagement portion 490 of the drive device 410 is located near the proximal end of the drive device 470, thereby engaging the distal end of the actuating device 220 with the engagement portion 490 of the drive device 140.

[0066] A surgical instrument according to an embodiment of the present invention, such as Figure 7 As shown, the proximal ends of multiple cables 512, 522, 532, 542, and 552 are fixed to multiple drive units 511, 521, 531, 541, and 551. The distal ends of the multiple cables 512, 522, 532, 542, and 552, after being guided by the first guide mechanism 571 and the second guide mechanism 572, extend in the form of cable bundles to the edge of the drive device 410, then directly into the long shaft 520, and finally extend to the wrist 530 and the end effector 540. Compared to... Figure 4 The illustrated embodiment uses three guiding mechanisms to guide multiple cables, while this embodiment uses only two guiding mechanisms. Using fewer guiding mechanisms reduces friction between the cables and the guiding mechanisms, resulting in less driving force consumption and higher transmission efficiency. However, because the connecting portion 590 of the drive device 510 is parallel to the axis of the long shaft 520, the side of the actuator 220 engages with the connecting portion 590 of the drive device 510, making the installation of the surgical instrument 510 onto the actuator 220 inconvenient.

[0067] A driving device for a surgical instrument according to an embodiment of the present invention, such as Figure 8 As shown, Figure 8 This is a top view of the drive unit 610. Multiple drive units 611, 621, 631, 641, and 651 of the drive unit 610 are arranged in a row. A first guide mechanism 671 is located on one side of the multiple drive units 611, 621, 631, 641, and 651. Multiple cables 612, 622, 632, 642, and 652 are led out from the multiple drive units 611, 621, 631, 641, and 651, and after being guided by the first guide mechanism 671, they converge into a first cable bundle Z1. Z1 then passes through a second guide mechanism (not shown in the figure). After being guided by the first guide mechanism, the cables converge into a second cable bundle Z2. The second cable bundle Z2 extends to the edge of the drive unit 610 and then directly enters or is guided by the third guide mechanism before entering the long shaft. In this embodiment, although the first guide mechanism 671 is not located between the multiple drive units 611, 621, 631, 641, and 651, and the included angles between the cable segments of the multiple cables 612, 622, 632, 642, and 652 between the multiple drive units 611, 621, 631, 641, and 651 and the first guide mechanism 671 are not... Figure 5 The angle shown is large, but it is still larger than similar angles in the prior art.

[0068] A driving device for a surgical instrument according to an embodiment of the present invention, such as Figure 9 As shown, Figure 9As shown in the top view of the driving device 710, the driving device 710 includes a plurality of driving units 701, 711, 721, 731, 741, 751, 761, 771, 781, 791, two first guide mechanisms and two second guide mechanisms (not shown) within a polygon formed by the plurality of driving units 701, 711, 721, 731, 741, 751, 761, 771, 781, 791, a plurality of cables 702, 712, 722, 732, 742 are drawn out from the plurality of driving units 701, 711, 721, 731, 741, guided by the first guide mechanisms, and then gathered into a first cable bundle Z1, the first cable bundle Z1 is guided by the second guide mechanisms, and then gathered into a second cable bundle Z2, a plurality of cables 752, 762, 772, 782, 792 are drawn out from the plurality of driving units 751, 761, 771, 781, 791, guided by another first guide mechanism, and then gathered into a first cable bundle Z1', the first cable bundle Z1' is guided by another second guide mechanism, and then gathered into a second cable bundle Z2', the second cable bundles Z2 and Z2' extend to the edge of the driving device 710, and then directly enter or are guided by a third guide mechanism and then enter into the long shaft of the surgical instrument, since the driving device 710 has a larger number of driving units, more degrees of freedom of movement of the wrist and the end instrument of the surgical instrument can be driven.

[0069] The guide mechanisms of the driving device of an embodiment of the present application are shown in Figure 10 The first guide mechanism 871 and the second guide mechanism 872 are both in the form of a pipe, the first guide mechanism 871 includes a plurality of guide pipes 871a, 871b, 871c, 871d, 871e in a scattered state, and a plurality of cables 812, 822, 832, 842, 852 are guided by the plurality of guide pipes 871a, 871b, 871c, 871d, 871e and then gathered into a first cable bundle Z1, the first cable bundle Z1 is guided by the second guide mechanism 872 and then forms a second guide bundle Z2. The plurality of guide pipes 871a, 871b, 871c, 871d, 871e of the first guide mechanism 871 can be located at different heights to receive cables from driving units at different heights. The guide mechanism in the form of a pipe has a simpler structure without a complex pulley layout for guiding cables. In other embodiments, the first guide mechanism can be in the form of a pipe as shown in Figure 10 The second guide mechanism can be in the form of a plurality of pulleys as shown in Figure 4 The first guide mechanism can be in the form of a plurality of pulleys as shown in Figure 4 The second guide mechanism can be in the form of a pipe as shown in Figure 10 The first guide mechanism can be in the form of a pipe as shown in

[0070] Figure 3 The internal structure of the driving device 310 of the surgical instrument 300 in the embodiment shown in Figure 11As shown, the drive device 310 has a plurality of drive units, a first guide mechanism 371, a second guide mechanism 372 and a third guide mechanism 373. The plurality of drive units includes a plurality of first drive units 311, 321 and a plurality of second drive units 331, 341, 351. The first guide mechanism 371 is located at the central region of the plurality of drive units. The second guide mechanism 372 is located at the proximal end of the first guide mechanism 371. The third guide mechanism 373 is located at the edge of the housing 310a.

[0071] One end of the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d is wound around the first drive units 311, 321. One end of the plurality of cables 332a, 332b, 342a, 342b, 351a, 351b is wound around the second drive units 331, 341, 351. The plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b extends in the form of a cable bundle after being guided by the first guide mechanism 371. The cable bundle has a plurality of layers of sub-cable bundles. The sub-cable bundles in each layer are substantially parallel to each other.

[0072] The cable bundle includes a first segment cable bundle Z1, a second segment cable bundle Z2 and a third segment cable bundle Z3. The cables in the first segment cable bundle Z1 are substantially parallel to each other. The first segment cable bundle Z1 extends along a first direction (indicated by B1) to the second guide mechanism 372 and forms the second segment cable bundle Z2 after being guided by the second guide mechanism 372. At least two cables in the second segment cable bundle Z2 are parallel to each other. The second segment cable bundle Z2 extends along a second direction (indicated by B2) to the third guide mechanism 373 and forms the third segment cable bundle Z3 after being guided by the third guide mechanism 373. The cables in the third segment cable bundle Z3 are also substantially parallel to each other. The third segment cable bundle Z3 passes through the long shaft 320 and is connected to the wrist 330 and the end effector 340. Figure 12 The second segment cable bundle Z2 directly enters the long shaft 320 in the embodiment shown. Figure 12 The third segment cable bundle Z3 extends along a third direction (indicated by B3) to the third guide mechanism 373 and forms the third segment cable bundle Z3 after being guided by the third guide mechanism 373. The cables in the third segment cable bundle Z3 are also substantially parallel to each other. The third segment cable bundle Z3 passes through the long shaft 320 and is connected to the wrist 330 and the end effector 340. Figure 12 In other embodiments, the drive device 310 only has the first guide mechanism 371 and the second guide mechanism 372. Thus, the second segment cable bundle Z2 directly enters the long shaft 320 in the same way as in the embodiment shown. Figure 7

[0073] ​The first driving unit 311 includes a main shaft 311a, a first winch 316a, a second winch 316b, a first fixing block 317a, a second fixing block 317b and a third fixing block 317c which are integrally formed. The second fixing block 317b is arranged at the proximal end of the main shaft 311a, and the third fixing block 317c is arranged at the distal end of the main shaft 311a. The first winch 316a and the second winch 316b have different diameters. The first winch 316a is arranged between the first fixing block 317a and the second fixing block 317b, and the second winch 316b is arranged between the second fixing block 317b and the third fixing block 317c. The first driving unit 311 is integrally formed, so that the manufacturing and assembly of the first driving unit 311 are relatively convenient. In other embodiments, the first driving unit can not be integrally formed, i.e., the first winch and the second winch of the first driving unit are independently mounted on the main shaft and can rotate relative to the main shaft, respectively.

[0074] The first end of the cable 312a is fixed on the first fixing block 317a. The cable 312a is wound on the first winch 316a in a first winding manner (e.g., counterclockwise). The first end of the cable 312b is fixed on the second fixing block 317b. The cable 312b is wound on the first winch 316a in a second winding manner (e.g., clockwise) opposite to the first winding manner. The first ends of the cables 312c and 312d are fixed on the third fixing block 317c, and are wound on the second winch 316b in the first winding manner and the second winding manner, respectively. The cables 312a, 312b, 312c and 312d extend from the first driving unit 311 to the first pulley set 313 of the first guide mechanism 371 in a substantially parallel manner to each other, and still extend to the second guide mechanism 372 in a substantially parallel manner to each other after being guided by the first pulley set 313.

[0075] When the main shaft 311a of the first driving unit 311 rotates around the rotation axis D1, the first driving unit 311 can drive the movement of two joints on the wrist 330 which are different in distance from the end effector 340 by manipulating the cables 312a, 312b, 312c and 312d. The first driving unit 321 has substantially the same structure as the first driving unit 311. The same cables 322a, 322b, 322c and 322d also extend from the first driving unit 311 to the first pulley 323 of the first guide mechanism 370 in a substantially parallel manner to each other, and still extend to the second guide mechanism 372 in a substantially parallel manner to each other after being guided by the first pulley 323.

[0076] The second driving unit 341 is also integrally formed, and includes a first fixed block 347a and a second fixed block 347b disposed at the distal end and the proximal end of the main shaft 341a respectively, and a first winch 346 disposed between the first fixed block 347a and the second fixed block 347b. One end of the cable 342a is fixed to the first fixed block 347a, and one end of the cable 342b is fixed to the second fixed block 347b. The cables 342a, 342b extend from the second driving unit 341 to the first pulley block 343 of the first guide mechanism 371 in a substantially parallel manner with respect to each other, and extend to the second guide mechanism 372 in a substantially parallel manner with respect to each other after being guided by the first pulley block 343. The second driving unit 341 drives the joints of the wrist 330 or the movement of the end effector 340 by manipulating the cables 342a, 342b. The second driving units 331, 351 and the second driving unit 341 have substantially the same structure. The cables 332a and 332b extend from the second driving unit 331 to the second guide mechanism 372 in a substantially parallel manner with respect to each other via the first pulley 333. The cables 352a and 352b extend from the second driving unit 351 to the second guide mechanism 372 in a substantially parallel manner with respect to each other via the first pulley 333. In some other embodiments, the plurality of driving units of the driving device can all be first driving units or all be second driving units.

[0077] and Figure 4 Similar to the embodiment shown in FIG. 12, the plurality of first included angles between adjacent two cables drawn from different driving units are 360°, so that the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b obtain more wiring space. FIG. 13 is a top view of the robot arm 300, and the second guide mechanism 372 is hidden in FIG. 13 to more clearly show the wiring of the cables. As shown in FIG. 13, the cable segments between the driving units and the first guide mechanism 371 of the plurality of cables drawn from the same driving unit are substantially parallel with respect to each other, so that the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b do not interfere with each other in the first space between the driving units 311, 321, 331, 341, 351 and the first guide mechanism 371. Figure 11

[0078] ​The first pulley groups 313, 323, 333, 343, 353 of the first guide mechanism 371 are located at three different horizontal planes, wherein two adjacent first pulley groups are located at different horizontal planes so as to occupy a smaller volume in the horizontal direction of the first guide mechanism 371 under the premise that the cables in the first cable bundle Z1 do not interfere with each other. Specifically, the first pulley group 313 and the first pulley group 323 are located at the same horizontal plane proximal to the driving device 310, the first pulley group 333 and the first pulley group 353 are located at the same horizontal plane distal to the driving device 310, and the first pulley group 343 is located at a horizontal plane between the first pulley group 313 and the first pulley group 333.

[0079] The second guide mechanism 372 includes a plurality of second pulley groups 372a, 372b, 372c, 372d for guiding the first cable bundle Z1, each pulley group of the plurality of second pulley groups 372a, 372b, 372c, 372d shares an axle, the axles of the plurality of second pulley groups 372a, 372b, 372c, 372d are substantially parallel to each other, and each second pulley group is located on a first plane C1, C2, C3, C4, and can guide a plurality of cables, wherein one second pulley group can guide a plurality of cables from the same driving unit or a plurality of cables from different driving units.

[0080] As shown in Figure 12 The second pulley group 372a of the second guide mechanism 372 includes an axle 3721 and a plurality of pulley guide portions 3722, 3723, 3724 arranged on the axle 3721, and the guide portions 3722, 3723, and 3724 guide the cable 322c from the second driving unit 321, the cable 342a from the first driving unit 341, and the cable 312d from the second driving unit 311, respectively.

[0081] As shown in Figure 15As shown, the plurality of third pulley sets 373a, 373b, 373c, 373d of the third guide mechanism 373 are also respectively located on the plurality of first planes C1, C2, C3, C4 on which the plurality of second pulley sets 372a, 372b, 372c, 372d are located, so that the third pulley sets 373a, 373b, 373c, 373d and the plurality of second pulley sets 372a, 372b, 372c, 372d are alternately arranged on the plurality of first planes C1, C2, C3, C4, that is, the second pulley set 372a and the third pulley set 373a are substantially located on the first plane C1, the second pulley set 372b and the third pulley set 373b are substantially located on the first plane C2, the second pulley set 372c and the third pulley set 373c are substantially located on the first plane C3, and the second pulley set 372d and the third pulley set 373d are substantially located on the first plane C4. The plurality of first planes C1, C2, C3, C4 are substantially parallel to each other.

[0082] After the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b are routed in the above manner, the number of guide portions of each pulley set of the plurality of second pulley sets 372a, 372b, 372c, 372d of the second guide mechanism 372 is substantially the same as the number of guide portions of the third pulley set on the same first plane, and at least one of the guide portions of the second pulley set has the same number of guide portions as the third pulley set on the same first plane, so that the cables of the second cable bundle Z2 are distributed in layers, as shown in Figure 12 and Figure 15 As shown, the second cable bundle Z2 is divided into a plurality of layers of sub-cable bundles Z2a, Z2b, Z2c, Z2d, and the sub-cable bundles Z2a, Z2b, Z2c, Z2d in different layers are substantially parallel to each other, so that the sub-cable bundles Z2a, Z2b, Z2c, Z2d in different layers do not interfere with each other.

[0083] The distance between the second pulley set and the third pulley set on the same first plane decreases from the distal end to the proximal end of the driving device, so that the first cable bundle Z1 and the third cable bundle Z3 are located on the outer side of the second guide mechanism 372 and the third guide mechanism 373, the first cable bundle Z1 and the third cable bundle Z3 are substantially parallel to each other, the second cable bundle Z2 is located between the second guide mechanism 372 and the third guide mechanism 372, and the second cable bundle Z2 is substantially perpendicular to the first cable bundle Z1 and the third cable bundle Z3, so that the first cable bundle Z1 and the third cable bundle Z3 do not cross the sub-cable bundles Z2a, Z2b, Z2c, Z2d in different layers of the second cable bundle Z2, and the first cable bundle Z1 and the third cable bundle Z3 do not affect the routing of the second cable bundle Z2.

[0084] and Figure 4 As shown in the embodiment, after the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b are guided through the second guide mechanism, each cable is routed with a new facing, for example, the cable segment of the first cable 312a between the first pulley 313 and the driving unit 311 and the cable segment of the first cable 312a between the first pulley 313 and the second pulley 372d are located on the second plane, the cable segment of the first cable 312a between the first pulley 313 and the second pulley 372d and the cable segment of the first cable 312a between the second pulley 372d and the third pulley 373c are located on the third plane, the second plane and the third plane intersect and do not overlap. Thus, the second cable bundle Z2 formed after the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b are guided through the second guide mechanism 372 extends along the edge of the driving device 310, so that the long axis 320 can be arranged at the edge of the driving device 310.

[0085] The plurality of first pulley sets 313, 323, 333, 343, 353 includes a plurality of first coaxial pulleys 313, 323, 343 and a plurality of first split-axis pulleys 353, 333, each pulley in the plurality of first coaxial pulleys 313, 323, 343 shares an axle, i.e., the axle has a plurality of guide portions, and each pulley in the plurality of first split-axis pulleys 353, 333 includes an axle and a guide portion, i.e., each guide portion is separately mounted on an axle.

[0086] When the axle of the first coaxial pulley is not parallel to the axle of the plurality of second pulleys 372a, 372b, 372c, 372d of the second guide mechanism 372, the cable guided through the same first coaxial pulley is guided by different second pulleys, such as Figure 12As shown, the axles of the multiple first coaxial pulleys 313, 323, and 343 are not parallel to the axles of the multiple second pulleys 372a, 372b, 372c, and 372d. The axle of the first coaxial pulley 343 forms an acute angle with the axles of the multiple second pulleys 372a, 372b, 372c, and 372d. The axles of the first coaxial pulleys 313 and 323 are substantially perpendicular to the axles of the multiple second pulleys 372a, 372b, 372c, and 372d. The first coaxial pulley 313 has guide parts 3132, 3133, 3134, and 3135 on its axle 3131. The cables 312d, 312b, 312a, and 312c, guided by the guide parts 3132, 3133, 3134, and 3135, are respectively guided by the second pulleys 372a, 372b, 372c, and 372d of the second guide mechanism 372 and extend to the third pulleys 373a, 373b, 373c, and 373d of the third guide mechanism 373.

[0087] like Figure 12 and Figure 13A As shown, when the first cable bundle Z1 enters the grooves of the multiple guide portions 3722, 3723, 3724 on the second pulley group 372a of the second guide mechanism 372, it contacts the grooves of the multiple guide portions 3722, 3723, 3724. The multiple contact points of the first cable bundle Z1 with the multiple guide portions 3722, 3723, 3724 are located on a straight line r1. Similarly, when the first cable bundle Z1 initially contacts the second pulley groups 372b, 372c, 372d, it also has multiple contact points. There are several contact points, as shown by the black dots in Figure 13. The multiple square black dots represent fixed contact points P1, which are the contact points between the cable guided by the first coaxial pulleys 313, 323, and 343 and the second pulley group. The multiple circular black dots represent adjustable contact points P2, which are the contact points between the cable guided by the first split-axis pulleys 333 and 353 and the second pulley group. The multiple contact points P1 and P2 are located on the basically parallel straight lines r2, r3, and r4, respectively.

[0088] The positions of the plurality of second pulley sets 372a, 372b, 372c, 372d are fixed, so the distances between the straight lines r1, r2, r3, r4 are also fixed, and the positions of the first coaxial pulleys 313, 323, 343 relative to the straight lines r1, r2, r3, r4 are also fixed. If the positions of the first coaxial pulleys 313, 323, 343 relative to the straight lines r1, r2, r3, r4 change, the cable segments in the first cable bundle Z1 may not be parallel to each other. For example, the angle between the axis of the first coaxial pulley 343 and the straight line r1 is about 45°. The cable 342a extends to the second pulley 372a after being guided by a guide portion of the first coaxial pulley 343, and the contact point of the cable 342a with the second pulley 372a is on the straight line r1. The cable 342b extends to the second pulley 372b after being guided by another guide portion of the first coaxial pulley 343, and the contact point of the cable 342b with the second pulley 372b is on the straight line r2. If the position of the first coaxial pulley 343 changes, the contact point of the cable 342a with the second pulley 372a may deviate from the straight line r1, or the contact point of the cable 342b with the second pulley 372b may deviate from the straight line r2. Either of the above situations will cause the cable 342a or the cable 342a to be non-parallel to other cables in the first cable bundle Z1, thereby affecting the efficiency of the cable transmission driving force.

[0089] The relative positions of the sub-pulleys of the plurality of first sub-axis pulleys 333, 353 can be adjusted to change the above-described rigid wiring mode. By adjusting the relative positions of the sub-pulleys of the plurality of first sub-axis pulleys 333, 353, the cables can be flexibly selected to be guided by which second pulley set of the second guide mechanism 372. In other words, by adjusting the relative positions of the sub-pulleys of the plurality of first sub-axis pulleys 333, 353, the cables can be adapted to second pulley sets having different numbers of guide portions, so that the number of cables guided by each pulley on the second pulley 372a, 372b, 372c, 372d can be flexibly configured. For example, the first sub-axis pulley 353 includes sub-pulleys 353a and 353b, which do not share an axis, so that the sub-pulleys 353a and 353b can move relative to each other in the horizontal plane, thereby enabling the cables 352a and 352b guided by the first sub-axis pulley 353 to be guided by the second pulley set 372b of the second guide mechanism 372, rather than requiring the plurality of cables guided by the coaxial pulley to be guided by different second pulley sets.

[0090] The first sub-shaft pulley 333, 353 is arranged at the most distal end of the first guide mechanism 371, so that when the sub-pulleys of the first sub-shaft pulley 333, 353 are adjusted, the sub-pulleys of the first sub-shaft pulley 333, 353 will not interfere with the cables in the first cable bundle Z1.

[0091] Figure 13B For Figure 13A The enlarged view at the contact point is shown in FIG. 6. As shown, after the cables 322c, 342a, 352a are guided by the first guide mechanism 371, they extend to the second pulley 372a of the second guide mechanism 372 and are guided by the second pulley 372a to the third pulley set 373a of the third guide mechanism, so that there are three fixed contact points P1 on the straight line r1. Figure 13B

[0092] After the cables 322a, 342b, 352b, 352a, 312b are guided by the first guide mechanism 371, they extend to the second pulley set 372b of the second guide mechanism 372 and are guided by the second pulley set 372b to the third pulley set 373b of the third guide mechanism 373, so that there are five contact points on the straight line r2, including three fixed contact points P1 and two adjustable contact points P2.

[0093] After the cables 322b, 332a, 332b, 312a are guided by the first guide mechanism 371, they extend to the second pulley 372c of the second guide mechanism 372 and are guided by the second pulley set 372c to the third pulley set 373c of the third guide mechanism 373, so that there are four contact points on the straight line r3, including two fixed contact points P1 and two adjustable contact points P2.

[0094] After the cables 322d, 312c are guided by the first guide mechanism 371, they extend to the second pulley set 372d of the second guide mechanism 372 and are guided by the second pulley set 372d to the third pulley set 373d of the third guide mechanism 373, so that there are two fixed contact points P1 on the straight line r4. By adjusting the first sub-shaft pulley 333, 353, a plurality of adjustable contact points P2 can be positioned at any position on the straight line r1 to the straight line r4.

[0095] By adjusting the first sub-shaft pulley 333, 353, some other cable routing contact point distributions can be obtained. As shown in FIG. 8, by adjusting the sub-pulleys of the first sub-shaft pulley 333 to adapt to the case where the second pulley set 372c and the second pulley set 372d have three guide portions, i.e., the case where there are 3 contact points on the straight line r3 and the straight line r4. Figure 14A

[0096] As shown in FIG. 9, by adjusting the sub-pulleys of the first sub-shaft pulley 333 to adapt to the case where the second pulley set 372c and the second pulley set 372d have two guide portions, i.e., the case where there are 2 contact points on the straight line r3 and the straight line r4. Figure 14B ​​As shown, by adjusting each sub-pulley of the first split-axis pulley 353 to adapt to the situation where the second pulley group 372a has five guide parts and the second pulley group 372b has three guide parts, that is, there are five contact points on the straight line r1 and three contact points on the straight line r2.

[0097] like Figure 14C As shown, by adjusting each sub-pulley of the first split-axis pulley 333 to adapt to the situation where the second pulley group 372c has two guide parts and the second pulley group 372d has four guide parts, that is, r3 has 2 contact points and r4 has 4 contact points.

[0098] like Figure 14D As shown, by adjusting the sub-pulleys of the first split-axis pulley 333 and the first split-axis pulley 353, they are adapted to the situation where the second pulley group 372b has 4 guide parts and the second pulley group 372d has 3 guide parts, that is, there are 4 contact points on the straight line r2 and 3 contact points on the straight line r4.

[0099] In some other embodiments, the drive unit 310 can be as follows: Figure 7 Similar to the embodiment shown, only the first guide mechanism 371 and the second guide mechanism 372 are included, but the third guide mechanism 373 is not included, so that the long axis 320 extends in a direction perpendicular to the rotation direction of the drive unit.

[0100] Figure 15 for Figure 12 The side view is provided to more clearly show the cable routing of the drive unit 310. Figure 15 Some drive units have been hidden and some have been shown. Figure 12 Components not present in the standard. For example... Figure 15 As shown, after the first cable bundle Z1 is guided and routed by the first guide mechanism 371, the cables in the first cable bundle Z1 are basically parallel to each other, and the first cable bundle Z1 forms a multi-layer cable bundle structure, that is, the first cable bundle Z1 includes multiple sub-cable bundles Z1a, Z1b, Z1c, Z1d. After the multiple sub-cable bundles Z1a, Z1b, Z1c, Z1d are guided by multiple second pulleys 372a, 372b, 372c, 372d of the second guide mechanism 372, they form multiple sub-cable bundles Z2a, Z2b, Z2c, Z2d.

[0101] like Figure 16 and Figure 17As shown, the second cable bundle Z2 forms a third cable bundle Z3 after being guided by the third guide mechanism 373, the third cable bundle Z3 forms a fourth cable bundle Z4 after being guided by the fourth guide mechanism 374, the fourth cable bundle Z4 extends through the long shaft 320 to the wrist 330 and the end effector 340, the fourth guide mechanism 374 includes a body 3741, the body 3741 extends two fixed seats 3742 into the housing 310a, the fixed seats are used to fix the body 3741 on the housing 310a, and the body 3741 also has a plurality of guide holes 312a', 312b', 312c', 312d', 322a', 322b', 322c', 322d', 332a', 332b', 342a', 342b', 351a', 351b' for the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b to pass through.

[0102] The plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b exit the plurality of contact points of the plurality of third pulley sets 373a, 373b, 373c, 373d after being guided by the plurality of third pulley sets 372a, 372b, 372c, 372d of the third guide mechanism 373, the plurality of contact points are located on the plurality of second straight lines r5, r6, r7, r8 respectively, the plurality of second straight lines r5, r6, r7, r8 project onto the fourth guide mechanism 3741 to form a plurality of third straight lines j1, j2, j3, j4, the plurality of third straight lines j1, j2, j3, j4 are substantially parallel to the wheel axes of the plurality of second pulleys 372a, 372b, 372c, 372d, and the plurality of guide holes 312a', 312b', 312c', 312d', 322a', 322b', 322c', 322d', 332a', 332b', 342a', 342b', 351a', 351b' are arranged on the plurality of third straight lines j1, j2, j3, j4 respectively, that is, the number of the plurality of guide holes is the same as the number of the plurality of third pulley sets.

[0103] The arrangement of the guide holes on each of the third straight lines j1, j2, j3, j4 is basically the same as the arrangement of the guide portions on each of the second straight lines r5, r6, r7, r8, that is, the number of guide holes on each of the third straight lines j1, j2, j3, j4 is the same as the number of guide portions on each of the second straight lines r5, r6, r7, r8, and the distance between the guide holes on each of the third straight lines j1, j2, j3, j4 is basically the same as the distance between the guide portions on each of the second straight lines r5, r6, r7, r8, so that the third cable bundle Z3 is still a layered wiring mechanism, and the number of layers of the third cable bundle Z3 is the same as the number of layers of the second cable bundle Z2, and the number of cables on the corresponding layers of the third cable bundle Z3 and the second cable bundle Z2 is the same.

[0104] Specifically, as shown in Figure 15 , the third cable bundle Z3 includes multiple layers of sub-cable bundles Z3a, Z3b, Z3c, Z3d, which are basically parallel to each other. As shown in Figure 16 and Figure 18 , the three cables 322d, 342b, 312c in the sub-cable bundle Z3a pass through the three guide portions on the third pulley 373a of the third guide mechanism 373, and then pass through the guide holes 322d', 342b', 312c' arranged on the third straight line J1, the four cables 322b, 332a, 332b, 312a in the sub-cable bundle Z3b pass through the four guide portions on the third pulley 373b, and then pass through the guide holes 322b', 332a', 332b', 312a' arranged on the third straight line J2, the four cables 322a, 352b, 352a, 312b in the sub-cable bundle Z3c pass through the four guide portions on the third pulley 373c, and then pass through the guide holes 322a', 352b', 352a', 312b' arranged on the third straight line J3, the three cables 322c, 342a, 312d in the sub-cable bundle Z3d pass through the four guide portions on the third pulley 373c, and then pass through the guide holes 322c', 342a', 312d' arranged on the third straight line J4, and the multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b pass through the multiple guide holes 312a', 312b', 312c', 312d', 322a', 322b', 322c', 322d', 332a', 332b', 342a', 342b', 351a', 351b' and then enter the long shaft 320, and finally extend to the wrist 330 and the end effector 340.

[0105] Since the number of guide holes on each of the plurality of third straight lines j1, j2, j3, j4 is the same as the number of guide portions on each of the plurality of second straight lines r5, r6, r7, r8, the cable passing through the plurality of guide holes on one of the plurality of third straight lines j1, j2, j3, j4 can be one-to-one corresponding to the third pulley, so that the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b can be conveniently assembled to the plurality of driving units 311, 321, 331, 341, 351 after being guided from the fourth guide mechanism 374 to the third guide mechanism 373, the second guide mechanism 372 and the first guide mechanism 371 in turn.

[0106] Specifically, when assembling the cable 322c, 342a, 312d, the proximal end of the cable 322c, 342a, 312d passes through the guide hole 322c', 342a', 312d' on the third straight line j1 at the edge of the main body 374 away from the mounting seat 3742 and extends to the third pulley set 373a of the third guide mechanism 373. Since the position of the guide hole 322c', 342a', 312d' on the main body 374 is obviously different from the positions of other guide holes, the cable 322c, 342a, 312d passing through the guide hole 322c', 342a', 312d' will not be confused with other cables during assembly. When the cable 322c, 342a, 312d is assembled to the corresponding third pulley set 373a of the third guide mechanism 373, since the position of the third pulley 373a and the number of guide portions thereof are uniquely corresponding to the guide hole 322c', 342a', 312d', the cable 322c, 342a, 312d can be accurately assembled to the third pulley set 373a, avoiding the error of assembling the cable 332d, 342b, 312c to other pulleys.

[0107] Since the second pulley set 372a on the second guide mechanism 372 and the third pulley set 373a are located on the same first plane and have the same number of guide wheels, their corresponding relationship is unique, so the cable 322c, 342a, 312d can be very conveniently and accurately assembled from the third pulley 373a to the second pulley 372a. In this process, the error of assembling a cable 322c, 342a, 312d to other second pulley sets can be avoided.

[0108] In the process of assembling the cable 322c, 342a, 312d from the second pulley 372a to the first guide mechanism 371, as Figure 13AAs shown, since 322c, 342a, 312d is located at the outermost layer of the first cable bundle, only the cable 322c, 342a, 312d is assembled to the farthest guide part of the first pulley block 323, 343, 313 of the first guide mechanism 371 from the third guide mechanism 373, that is, the sub-cable bundle Z1a is formed, thereby avoiding the error of assembling the cable 322c, 342a, 312d to other first pulley blocks, and the cable assembly method of other layers is the same and is not repeated here. The layered cable bundle structure and the method of installing the cable by layer can improve the accuracy and efficiency of the cable assembly.

[0109] The fourth guide mechanism 374 also has a plurality of through holes 374a with different diameters from the guide holes on the main body 3741, and the plurality of through holes 374a are used for other forms of wires that are not cables, such as power lines or image data transmission lines. The plurality of through holes 374a and the plurality of guide holes 312a', 312b', 312c', 312d', 322a', 322b', 322c', 322d', 332a', 332b', 342a', 342b', 351a', 351b' together and in parallel are distributed in a plurality of rows on a circular area 320a on the main body 3741, and the area of the circular area 320a is substantially equal to the area of the proximal opening of the long axis 320, so that the plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b are concentrated in the circular area 320a and straightly pass through the plurality of guide holes into the long axis 320.

[0110] As shown, Figure 18 The plurality of through holes 374a are arranged at the edge of the main body 3741 away from the mounting seat 3742, and the diameter of the through hole 374a is generally larger than the radius of the guide hole, and the space occupied by one of the through holes 374a on the main body 3741 is larger than the space occupied by one of the guide holes, and arranging the through holes 374a at the edge of the main body 3741 can reduce the position required by the through holes 374a to occupy the guide holes. The space is larger in the middle of the circular area 320a, that is, near the third straight line j2, and the space is smaller at the edge of the circular area 320a, that is, near the third straight lines j1 and j4, so that 4 guide holes are arranged on the third straight line j2 and the third straight line j3, and 3 guide holes are arranged on the third straight line j1 and the third straight line j4, so that more space can be provided for two through holes 374a on the main body 3741.

[0111] The distribution of the through holes 374a and the guide holes of the fourth guide mechanism 374 of an embodiment of the present application is as shown in Figure 19AAs shown, the third straight line j1, j2, j3 are all distributed with four guide holes, while the third straight line j4 at the edge of the main body of the fourth guide mechanism 374 is only distributed with two guide holes, so that the guide holes on j4 can be offset more towards the edge of the main body of the fourth guide mechanism, so that there is more space at the edge of the other side of the main body to provide two through holes 374a, so that the through holes 374a can have a larger diameter, thereby allowing a larger diameter wire or data line to pass through.

[0112] The distribution of the through holes 374a and the guide holes of the fourth guide mechanism 374 of an embodiment of the present application is as shown in Figure 19B As shown, the number of guide holes arranged on the third straight line j1, j2, j3, j4 are 3, 5, 4, 2 respectively, compared with Figure 19A As shown in the embodiment, the number of guide holes on the third straight line j1 in this embodiment is less, so that the two through holes 374a can have a larger diameter.

[0113] The distribution of the through holes 374b and the guide holes of the fourth guide mechanism 374 of some other embodiments of the present application is as shown in Figure 19C and Figure 19D As shown, Figure 19C and Figure 19D The through hole 374b in Figure 19C As shown, the number of guide holes arranged on the third straight line j1, j2, j3, j4 are 4, 5, 4, 1 respectively, since there is only one guide hole distributed on the third straight line j4, so that the main body of the fourth guide mechanism can have more space at the edge of the side away from the third straight line j74 to provide the through hole 374b, so that the through hole 374b can have a larger cross-sectional area. As shown, Figure 19D As shown, the number of guide holes arranged on the third straight line j1, j2, j3, j4 are 2, 5, 4, 3 respectively, and the through hole 374b is located between the two guide holes on the third straight line j1, so that the through hole 374b can have a larger cross-sectional area.

[0114] A plurality of driving units 311, 321, 331, 341, 351 and the first guide mechanism 317 are provided with a tensioning device for tensioning a plurality of cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, 351b, the tensioning device comprising a housing and a plurality of first tensioning mechanisms 380 and / or a plurality of second tensioning mechanisms 390 installed in the housing, the plurality of first tensioning mechanisms 380 being arranged between the first driving unit 311, 321 and the first guide mechanism 317, and the plurality of second tensioning mechanisms being arranged between the second driving unit 331, 341, 351 and the first guide mechanism 317.

[0115] The first tensioning mechanism of an embodiment of the present application is shown in Figures 20-22 The first tensioning mechanism 380 is arranged between the first driving unit 311 and the first pulley block 313 of the first guide mechanism 317, and is used for tensioning the first cable 312a, 312b and the second cable 312c and the third cable 312d. The first tensioning mechanism 380 comprises a first tensioning piece 3821, a second tensioning piece 3811, a third tensioning piece 3831 and a stop portion, the second tensioning piece 3811 being used for simultaneously tensioning the first cable 312a and the first cable 312b, and the first tensioning piece 3821 and the third tensioning piece 3831 being used for respectively tensioning the second cable 312c and the third cable 312d. In other embodiments, the first tensioning mechanism 380 can only comprise the first tensioning piece 3821 and the second tensioning piece 3811, or only comprise the first tensioning piece 3821, without the need to tension more cables.

[0116] The first tensioning piece 3821 comprises a first tensioning block 3822 and a first push rod 3823, the first tensioning block 3822 being provided with a first guide portion 3824 on a first side surface thereof, the second cable 312c extending to the first pulley block 313 after being guided by the holding mechanism 314 and the first guide portion 3824, the first guide portion 3824 being located between the cable segment of the second cable 312c between the holding mechanism 314 and the first pulley block 313 and the stop portion, and the first push rod 3823 being threadedly connected with the first tensioning block 3822 and abutting against the stop portion, rotating the first push rod 3823 can drive the first tensioning block 3822 to move in a first direction (Z direction shown) or in a second direction opposite to the first direction, so that the first guide portion 3824 on the first tensioning block 3822 drives the cable segment of the cable 312c between the holding mechanism 314 and the first pulley block 313 to move between the distal end and the proximal end of the driving device 310, thereby tensioning or relaxing the cable 312c. Figure 20

[0117] ​The second tensioning member 3811 includes a second tensioning block 3812 and a second push rod 3813, the first push rod 3823 is arranged opposite to the second push rod 3813, and a resisting portion is arranged between the first push rod 3823 and the second push rod 3813. The second tensioning block 3812 is provided with a second guide portion 3814 and a third guide portion 3815 on two first side surfaces respectively. The first cable 312a and the first cable 312b are guided by the retaining mechanism 314, and then guided by the second guide portion 3814 and the third guide portion 3815 respectively, and then guided by the first pulley set 313 of the first guide mechanism 317. In some other embodiments, the second tensioning member can also include only one guide portion for guiding one cable, and the second tensioning member is used for tensioning one cable.

[0118] The sleeve 3813b is mounted on the housing of the first tensioning mechanism 380, and the sleeve 3813b is threadedly connected with the second push rod 3813. The second tensioning block 3812 has a first end 3812a away from the first tensioning block 3822 and a second end 3812b opposite to the first end 3812a and close to the first tensioning block 3822. The end of the second push rod 3813 abuts against the first end 3812a of the second tensioning block 3812. Rotating the adjusting end 3813a of the second push rod 3813 opposite to the end thereof in the tensioning direction makes the second push rod 3813 push the second tensioning block 3812 to move in the first direction, so that the second guide portion 3814 and the third guide portion 3815 on the second tensioning block 3812 drive the cable segments of the first cable 312a and the first cable 312b between the retaining mechanism 314 and the first pulley set 313 to move in the first direction, so as to tension the first cable 312a and the first cable 312b. The above-mentioned tensioning direction refers to rotating the push rod in the direction to make the tensioning block driven by the push rod tension the cable. In some other embodiments, the second push rod can be threadedly connected with the second tensioning block.

[0119] When the adjusting end 3813a is rotated in the direction opposite to the tensioning direction, the second push rod 3813 moves in the second direction opposite to the first direction, so as to release the second tensioning block 3812. Since the first cable 312a and the first cable 312b themselves have a certain tensioning force, the second tensioning block 3812 is driven to move in the second direction by the tensioning force of the first cable 312a and the first cable 312b themselves, so that the first cable 312a and the first cable 312b are relaxed.

[0120] The third tensioning member 3831 comprises a third tensioning block 3832 and a third push rod 3833, the first side of the third tensioning block 3832 is provided with a fourth guide portion 3834, which is arranged between the resisting portion on the opposite side of the first guide portion 3824 and the third cable 312d after being guided by the holding mechanism 314, and the third cable 312d extends to the first pulley set 313 after being guided by the fourth guide portion 3834. The third push rod 3833 is threadedly connected with the third tensioning block 3832 and abuts against the resisting portion through the third tensioning block 3823. Rotating the third push rod 3833 can drive the third tensioning block 3832 to move in the first direction or the second direction, so that the first guide portion 3834 on the third tensioning block 3832 drives the cable segment between the holding mechanism 314 and the first pulley set 313 to move between the distal end and the proximal end of the driving device 310, thereby tensioning or relaxing the cable 312d.

[0121] The first tensioning mechanism 380 further comprises a guide protrusion 386 and a guide column 3841 for guiding the movement of the first tensioning block 3822, the second tensioning block 3812 and the third tensioning block 3833. The guide protrusion 386 comprises a second protrusion 3816, a first protrusion 3826 and a third protrusion 3836 arranged on the second side of the second tensioning block 3812, the first tensioning block 3822 and the third tensioning block 3833 respectively, and a groove arranged in the housing of the first tensioning mechanism 380 and matched with the second protrusion 3816, the first protrusion 3826 and the third protrusion 3836. When the second tensioning block 3812, the first tensioning block 3822 and the third tensioning block 3833 move in the first direction or the second direction, the second protrusion 3816, the first protrusion 3826 and the third protrusion 3836 slide in the groove to guide the movement of the second tensioning block 3812, the first tensioning block 3822 and the third tensioning block 3833.

[0122] The guide column 3841 passes through the through holes in the first tensioning block 3822, the second tensioning block 3812 and the third tensioning block 3833. During the movement of the second tensioning block 3812, the first tensioning block 3822 and the third tensioning block 3833 at the proximal end and the distal end of the tensioning device, the second tensioning block 3812, the first tensioning block 3822 and the third tensioning block 3833 slide up and down along the guide column 3841.

[0123] As Figure 22As shown, the first tensioning block 3822, the second tensioning block 3812 and the third tensioning block 3833 have a plurality of holes, and the second end 3812b of the second tensioning block 3812 is used as the stop portion. The second end 3812b of the second tensioning block 3812 is used as the stop portion, so that the first tensioning mechanism 380 is more compact. The distal end of the first push rod 3823 passes through the first hole 382a of the third tensioning block 3823 and the second hole 382b of the first tensioning block 3822, and abuts against the second end 3812b of the second tensioning block 3811. The proximal end of the third push rod 3833 passes through the third hole 383a of the third tensioning block 3823 and the fourth hole 383b of the first tensioning block 3822, and abuts against the second end 3812b of the second tensioning block 3811. The guide column 3841 passes through the fifth hole 381a of the second tensioning block 3811, the sixth hole 381b of the first tensioning block 3822 and the seventh hole 381c of the third tensioning block 3832, so that the second tensioning block 3811, the first tensioning block 3822 and the third tensioning block 3832 can slide up and down along the guide column 3841.

[0124] The second hole 382b of the first tensioning member 3821 has an internal thread to cooperate with the external thread of the first push rod 3823. When the cable 312c is tensioned, the adjustment end 3823a of the distal end of the first push rod 3823 is rotated in the tensioning direction. Since the distal end of the first push rod 3823 abuts against the second end 3812b of the second tensioning block 3811, the first push rod 3823 cannot move in the second direction, so that the first tensioning block is forced to move in the first direction, thereby tensioning the cable 312c.

[0125] Since the second cable 312c itself has a certain tensioning force, when the adjustment end 3823a of the distal end of the first push rod 3823 is rotated in the direction opposite to the tensioning direction, the first tensioning block 3822 moves in the second direction under the driving of the tensioning force of the second cable 312c, so that the second cable 312c is relaxed.

[0126] During the movement of the first tensioning block 3822 in the first direction or the second direction, the first tensioning block 3822 is double-guided, i.e., the first protrusion 3826 of the first tensioning block 3822 moves in the groove in the housing, and the first tensioning block 3822 moves up and down along the guide column 3841, so that the first tensioning block 3822 does not deviate from the movement track during the movement in the first direction or the second direction.

[0127] The third hole 383a of the third tensioning member 3833 has an internal thread to match the external thread on the third push rod 3833, the end of the third push rod 3833 abuts against the second end 3812b of the second tensioning block 3811, when tensioning or relaxing the cable 312d is needed, rotating the adjusting end 3833a of the distal end of the third push rod 3833 can make the third protrusion 3836 of the third tensioning block 3833 move in the groove in the housing, the third tensioning block 3822 moves up and down along the guide column 3841, thereby tensioning or relaxing the third cable 312d, the method of tensioning or relaxing the third cable 312d by the third tensioning member 3833 is the same as the method of tensioning or relaxing the second cable 312c by the first tensioning member 3823, which will not be repeated here.

[0128] Since the adjusting ends of the second tensioning member 3811, the first tensioning member 3821 and the third tensioning member 3823 are oppositely arranged, that is, the adjusting end 3813a of the second tensioning member 3811 is located on the side of the first end 3812a of the second tensioning block 3812, the adjusting end 3823a of the first tensioning member 3821 and the adjusting end 3833a of the third tensioning member 3831 are located on the side of the second end 3812b of the second tensioning block 3812, the second push rod 3813 is staggered with the first push rod 3823 and the third push rod 3833, so that the entire first tensioning mechanism 380 is arranged along the axial direction of the push rod, the space occupied by the first tensioning mechanism 380 in the longitudinal direction (the axial direction of the push rod) is greater than the space occupied in the transverse direction, which can make the transverse volume of the entire driving device 380 smaller, so that when a plurality of surgical instruments 300 such as Figure 6 are gathered together, the overall volume in the transverse direction is smaller.

[0129] The first tensioning mechanism of another embodiment of the present application is shown in Figure 23 The first tensioning mechanism 480 in this embodiment is different from the first tensioning mechanism 380 shown in Figure 21 The difference between the first tensioning mechanism 480 in this embodiment and the first tensioning mechanism 380 shown in is that the blocking part in this embodiment is a baffle plate 485 arranged between the first tensioning member 3821 and the second tensioning member 3811, the baffle plate 485 is fixedly connected with the housing of the first tensioning mechanism 480. The ends of the first push rod 3823 and the third push rod 3833 abut against the baffle plate 485, when tensioning the second cable 312c and the third cable 312d, since the baffle plate 485 prevents the first push rod 3823 and the third push rod 3833 from moving in the second direction, the first tensioning block 3822 and the third tensioning block 3832 will move in the first direction to tension the second cable 312c and the third cable 312d. Since the ends of the first push rod 3823 and the third push rod 3833 do not abut against the second tensioning block 3812, adjusting the movement of the second tensioning block 3812 will not affect the first tensioning block 3822 and the third tensioning block 3823, the movements of the three tensioning members are independent of each other, so that the cables tensioned by the three tensioning members are also independently tensioned.

[0130] The tensioning device further comprises a plurality of second tensioning mechanisms, the second tensioning mechanism 390 is used for simultaneously tensioning two cables, the second tensioning mechanism 390 is equivalent to the second tensioning piece 3811 of the first tensioning mechanism 380, as shown in the figure, the second tensioning mechanism 390 comprises a fourth tensioning block 3911 and a fourth push rod 3912, the end of the fourth push rod 3912 abuts to the fourth tensioning block 3911, the second tensioning block 3911 is matched with the inner groove of the shell of the tensioning device through the guide protrusion 396 and the guide column 3914, and the movement of the fourth tensioning block 3911 is guided. Figure 25

[0131] The fourth tensioning block 3911 is provided with a fifth guide part 3913 and a sixth guide part 3914 for guiding the cables 352a and 352b respectively, the tensioning or relaxation of the cables 352a and 352b is realized by rotating the adjusting end 3912a of the fourth push rod 3912, and the tensioning process is the same as that of the second tensioning piece 3811 of the first tensioning mechanism 380, which will not be repeated here.

[0132] As shown in the figure, the distal ends of the first cables 312a and 312b are connected to the first joint 330a of the wrist part 330, the first driving unit 311 controls the rotation of the first joint 330a through the first cables 312a and 312b, and the distal ends of the second cable 312c and the third cable 312d are respectively connected to the two sides of the second joint 330b, and the first driving unit 311 controls the rotation of the second joint 330b through the second cable 312c and the third cable 312d. Figure 24A In the process of assembling the surgical instrument 300, it may appear that after adjusting the tension of the first cables 312a and 312b, the second cable 312c and the third cable 312d, the first joint 330a and the second joint 330b are not in a straight posture (i.e. zero posture).

[0133] As shown in the figure, the third joint 330c of the wrist part 330 is in a straight posture, the first joint 330a and the second joint 330b are in a relatively straight posture and are rotated by a certain angle to be in a deflection posture, so it is necessary to adjust the first joint 330a and the second joint 330b to return to the straight posture after tensioning the cables, so that before operating the surgical instrument 300, the wrist part 330 and the end effector 340 of the surgical instrument 300 are in a zero position, and the control of the surgical instrument 300 is more accurate.

[0134] Figure 24A Therefore, the present application also provides a tensioning method, which is suitable for the first tensioning mechanism 380 to tension the four cables 321a, 312b, 312c and 312d from the first driving unit 311, and the tensioning method is as follows:

[0135] Therefore, the present application also provides a tensioning method, which is suitable for the first tensioning mechanism 380 to tension the four cables 321a, 312b, 312c and 312d from the first driving unit 311, and the tensioning method is as follows: ​​First, the second push rod 3813, the first push rod 3823 and the third push rod 3833 are adjusted so that the second tension block 3811 simultaneously tensions the first cable 312a and the first cable 312b, and the first tension block 3821 and the third tension block 3831 respectively tension the second cable 312c and the third cable 312d.

[0136] Then, the first driving unit 311 is rotated to adjust the first joint 330a to a straight posture by the first cables 312a, 312b. Finally, the first tension block 3821 is tensioned or relaxed by separately adjusting the first push rod 3823, and / or the first tension block 3821 is tensioned or relaxed by separately adjusting the third push rod 3833, so that the second joint 330b is adjusted to a straight posture.

[0137] Specifically, the first driving unit 311 is first rotated to adjust the first joint 330a to a straight posture by winding up the first cable 312a and simultaneously releasing the first cable 312b, i.e. the first joint 330a is rotated from the position shown in Figure 24A to the position shown in Figure 24B which is aligned with the third joint 330c, i.e. the first joint 330a is adjusted to a straight posture.

[0138] Although the first joint 330a has been adjusted to a straight posture through the above step, the second joint 330b has not been adjusted to a straight posture at this time. Since the first winch 316a and the second winch 316b are integrally formed, the posture of the joint 330b cannot be adjusted by rotating the first driving unit 311 again, because if the first driving unit 311 is rotated again, the first cables 312a, 312b will be wound up or released again at the same time as the second cable 312c and the third cable 312d are wound up or released, so that the first joint 330a which has been adjusted to a straight posture is rotated to a non-straight posture again.

[0139] To solve this problem, after the first joint 330a is adjusted to a straight posture by adjusting the first driving unit 311, the second joint 330b is adjusted to a straight posture by adjusting the first tension block 3821 and / or the third tension block 3831. Specifically, the second joint 330b can be adjusted to a straight posture in the following three ways: (1) The first push rod 3823 is separately rotated to move the first tension block 3822 in a first direction, and the first tension block further tensions the second cable 312c, so that the tensioning force of the second cable 312c is greater than that of the third cable 312d, thereby the second cable 312c pulls the second joint 330b to rotate leftward, so that the second joint 330b is rotated leftward from the yawing posture shown in Figure 24B to the position shown inFigure 24C the straight posture shown.

[0140] (2) Rotating the third push rod 3833 alone to move the third tension block 3832 in a second direction opposite to the first direction, so that the third tension block 3832 loosens the third cable 312d, and since the third cable 312d is loosened, the tension of the second cable 312c is greater than that of the third cable 312d, so the second cable 312c pulls the second joint 330b to rotate left, so that the second joint 330b rotates left from the Figure 24B the leftward tilted posture shown to the Figure 24C straight posture shown.

[0141] (3) Rotating the first push rod 3823 to move the first tension block 3822 in the first direction, so that the first tension block 3822 further tightens the second cable 312c, and rotating the third push rod 3833 to move the third tension block 3832 in the second direction, so that the third tension block 3832 loosens the third cable 312d, so that the tension of the second cable 312c is greater than that of the third cable 312d, so that the second cable 312c pulls the second joint 330b to rotate left, so that the second joint 330b rotates left from the Figure 24B the leftward tilted posture shown to the Figure 24C straight posture shown.

[0142] The driving device of an embodiment of the present application is shown in Figure 26 the driving device 310 includes a base 3110 and a guide assembly 3120, the base 3110 includes a base body 3111 and a mounting portion 3112 extending from the base body 3111, a plurality of driving units 311, 321, 331, 341, 351 are installed in the mounting portion 3112, and a receiving cavity 3114 is formed in the middle region of the mounting portion 3112, and the guide assembly 3120 is installed in the receiving cavity 3114.

[0143] The guide assembly 3120 includes a housing and a first guide mechanism 370, a holding mechanism 314, and multiple tensioning mechanisms installed inside the housing. Multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, and 351b are first guided by the holding mechanism 314, then by the tensioning device, and finally by the first guide mechanism 371 before converging into the first cable bundle Z1. Since the first guiding mechanism 370, the holding mechanism 314, and the aforementioned multiple tensioning mechanisms are integrated into a guiding assembly 3120, multiple cables 312a, 312b, 312c, 312d, 322a, 322b, 322c, 322d, 332a, 332b, 342a, 342b, 351a, and 351b can be tensioned and guided into cable bundles after passing through the guiding assembly 3120, saving space in the drive device 310 and making the entire drive device 310 more compact.

[0144] To facilitate the demonstration of the internal structure of the guide component 3120, Figure 26 Some components of the first guiding mechanism 370, the tensioning mechanism, and the retaining mechanism 314 are not shown. For example... Figure 26 As shown, the housing of the guide assembly 3120 includes a first housing 3150 and a second housing 3140. The second housing 3140 is embedded within the first housing 3130. The first housing 3150 includes a first body 3151, sidewalls 3152, and a top 3153. The sidewalls 3152 extend proximally from the first body 3151, and the proximities of each sidewall 3152 are connected through the top 3153. Multiple sidewalls 3152 are spaced apart, and there are notches 3158 between the spaced sidewalls 3152. The tensioning mechanism is mounted onto the housing of the guide assembly 3120 through the notches 3158. In some other embodiments, the first housing 3150 and the second housing 3140 are integrally formed.

[0145] The second housing 3140 includes a second body 3140 and a central post 3142 extending from the second body 3140 toward the proximal end. The central post 3142 is embedded in the cavity formed by the side wall 3132 and the top 3133 of the first housing 3130. The edge of the second body 3140 abuts against the first body 3131.

[0146] The first pulley set 323, 313 at the distal end of the first guide mechanism 370 is installed in the top 3153 of the first housing 3150, the first pulley set 333, 353 at the proximal end of the first guide mechanism 370 is installed in the center column 3142 of the second housing 3140, and the first pulley set 343 at the middle position of the first guide mechanism 370 is installed in the middle position of the first pulley set 323 and the first sub-shaft pulley set 333 on the center column 3142, so that the plurality of first pulleys 313, 323, 333, 343, 353 are located at three different horizontal planes, wherein adjacent two of the plurality of first pulleys 313, 323, 333, 343, 353 are located at different horizontal planes.

[0147] The holding mechanism 314 is installed on the side wall 3132 of the first housing 3150, and the holding mechanism 314 is used to keep the cable between the driving unit and the holding mechanism in a constant length during the process of tensioning the cable, that is, the direction of the cable between the driving unit and the holding mechanism is kept unchanged during the process of tensioning the cable. In the embodiment, the holding mechanism 314 is a plurality of pulley sets 314, and in other embodiments, the holding mechanism 314 can also be other holding elements, such as a plurality of shafts. In some other embodiments, the guide assembly 3120 can only include the first guide mechanism 371 and the tensioning device, and at this time the push rod of the tensioning device is perpendicular to the axis of the driving unit, and at this time the holding mechanism can not be provided.

[0148] The tensioning device is installed between the side wall 3132 of the first housing 3150 and the center column 3142 of the second housing 3140, the inner side of the side wall 3152 of the first housing 3150 has a first groove 3156 and a second groove 3157, and the outer side wall of the center column 3142 of the second housing 3140 has a plurality of center grooves 3146 matched with the first groove 3156 and the second groove 3157, the guide protrusion 386 of the first tensioning mechanism 380 of the tensioning device is accommodated in the center groove 3146 and the first groove 3156, and when the first tensioning mechanism 380 is tensioning the cable, the guide protrusion 386 of the first tensioning mechanism 380 slides in the first groove 3156 and the center groove 3146.

[0149] The guide protrusion 396 of the second tensioning mechanism 390 is accommodated in the second groove 3157 and the center groove 3146, and when the second tensioning mechanism 390 is tensioning the cable, the guide protrusion 396 of the second tensioning mechanism 390 slides in the second groove 3157 and the center groove 3146.

[0150] The top 3153 of the first housing 3150 has a plurality of tensioning holes 3154 and a plurality of wire holes 3155, and the proximal end of the central column 3142 has a plurality of wire holes 3144. The cables guided by the first guide mechanism 371 pass through the plurality of wire holes 3144 and 3155 and then converge into the first cable bundle Z1.

[0151] The guide assembly 3120 has grooves 3147 on both sides of the central groove 3146, which are used to guide the cables to extend from the first pulley set to the second guide mechanism 372. The groove bottoms of the grooves 3147 have a certain slope from the distal end to the proximal end of the central column 3142, that is, the groove bottoms near the proximal end of the central column 3120 have a certain angle with the central axis of the central column 3142, so that the cables passing through the grooves 3147 are close to the central axis of the central column 3142, thereby making the cable segments in the first cable bundle Z1 close to each other.

[0152] In an embodiment, a baffle plate extends from the side wall and / or the side of the central column of the abutting part of the first tensioning mechanism, and is arranged between the second tensioning member and the first tensioning member. The end of the first push rod abuts against the baffle plate to prevent the second push rod and the first push rod from moving in the second direction when the cable is tensioned.

[0153] As shown in Figure 28 The bottom of the machine base body 311 has a tensioning hole 3113, and the first groove 3156 and the central groove 3146 of the guide assembly 3120 extend through the tensioning hole 3113 to the distal end of the machine base body 311, so that the first tensioning block 3822 and the third tensioning block 3823 of the first tensioning mechanism 380 can move a greater distance along the first groove 3156 and the central groove 3146 towards the distal end of the guide assembly 3120. The first push rod 3823 and the third push rod 3833 pass through the tensioning hole 3113 and are connected to the first tensioning block 3822 and the third tensioning block 3823, respectively, and the second adjustment end 3823a and the third adjustment end 3833a are located at the bottom of the machine base body 3111.

[0154] The second push rod 3813 of the first tensioning mechanism 380 and the second tensioning mechanism 390 opposite to the first push rod 3823 and the third push rod 3833 abuts to the second tensioning block 3812 through the tensioning hole 3154, and the adjusting end 3813a of the second push rod 3813 is located on the top 3153 of the first shell 3150, so that the first tensioning mechanism 380 is oppositely arranged, that is, the adjusting end 3813a of the second push rod 3813 is arranged on the top of the guide assembly 3120, and the adjusting ends 3823a, 8833a of the first push rod 3823 and the third push rod 3833 are arranged on the bottom of the guide assembly 3120, so that the first tensioning mechanism 380 and the second tensioning mechanism 390 are in a strip shape, the transverse volume of the entire guide assembly 3120 is reduced, and the tensioning mechanism can be adjusted from the bottom of the base, avoiding adjusting three tensioning members from one side, and increasing the convenience of tensioning adjustment.

[0155] The above-described embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as limiting the scope of the patent. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A surgical instrument comprising a drive mechanism, at least two cables, a long shaft, and an end effector located at the distal end of the long shaft, wherein the cables connect the drive mechanism and the end effector, characterized in that, The driving device includes: At least one drive unit, with one end of the cable connected to the drive unit; The system comprises a first guiding mechanism, a second guiding mechanism, and a third guiding mechanism. The cable, after being guided by the first guiding mechanism, forms a cable bundle. The cable bundle includes a first segment of the cable bundle located between the first and second guiding mechanisms, and a second segment of the cable bundle located between the second and third guiding mechanisms. The first segment of the cable bundle extends along a first direction to the second guiding mechanism, and the second segment of the cable bundle extends along a second direction different from the first direction toward the third guiding mechanism. The proximal end of the long shaft is located at the edge of the housing of the drive device, and the third guide mechanism is located at the edge of the housing; The cable bundle extends a third segment of the cable bundle from the third guide mechanism toward the long axis. The third segment of the cable bundle extends toward the long axis in a third direction different from the first direction. The third guide mechanism includes a plurality of pulley groups for guiding the plurality of cables. The plurality of pulley groups are respectively located on a plurality of mutually parallel first planes.

2. The surgical instrument as described in claim 1, characterized in that, The second guide mechanism is located at the proximal or distal end of the first guide mechanism.

3. The surgical instrument as described in claim 2, characterized in that, The first cable bundle is substantially perpendicular to the cable segment of the plurality of cables between the plurality of drive units and the first guide mechanism.

4. The surgical instrument as described in claim 2, characterized in that, The first direction is not parallel to the second direction.

5. The surgical instrument as described in claim 1, characterized in that, The first guiding mechanism includes a plurality of first pulleys, each first pulley including a first axle and a first guide portion for guiding one of the plurality of cables. The first guide portion is rotatably mounted on the first axle, and the first axle of the plurality of first pulleys is substantially perpendicular to the rotation axis of the plurality of drive units.

6. The surgical instrument as described in claim 5, characterized in that, The second guiding mechanism includes a plurality of second pulleys, each second pulley including a second axle and a second guide portion for guiding a cable segment in the first cable bundle. The second guide portion is rotatably mounted on the second axle, and the second axles of the plurality of second pulleys are substantially perpendicular to the rotation axis of the plurality of drive units.

7. The surgical instrument as described in claim 6, characterized in that, The third guiding mechanism includes a plurality of third pulleys, each third pulley including a third axle and a third guide portion for guiding one cable segment in the second cable bundle. The third guide portion is rotatably mounted on the third axle, and the third axles of the plurality of third pulleys are substantially perpendicular to the rotation axis of the plurality of drive units.

8. The surgical instrument as described in claim 6, characterized in that, The plurality of cables includes a first cable, and the angle between the first axle of the pulley guiding the first cable and the second axle of the pulley guiding the first cable among the plurality of second pulleys is an acute angle.

9. The surgical instrument as described in claim 8, characterized in that, The plurality of cables also includes a second cable, and the first axle of the pulley that guides the second cable in the plurality of first pulleys is substantially perpendicular to the second axle of the pulley that guides the second cable in the plurality of second pulleys.

10. The surgical instrument as described in claim 9, characterized in that, The plurality of cables also includes a third cable, and the first axle of the pulley that guides the third cable in the plurality of first pulleys is substantially parallel to the second axle of the pulley that guides the third cable in the plurality of second pulleys.

11. The surgical instrument as claimed in claim 10, characterized in that, The cable segment of the first cable between the plurality of drive units and the first guide mechanism and the cable segment in the first cable bundle are located on a first plane, and the cable segment of the first cable in the first cable bundle and the cable segment in the second cable bundle are located on a second plane, and the first plane and the second plane intersect.

12. The surgical instrument as described in claim 10, characterized in that, The cable segment of the second cable between the plurality of drive units and the first guide mechanism and the cable segment in the first cable bundle are located on a third plane, and the cable segment of the first cable in the first cable bundle and the cable segment in the second cable bundle are located on a fourth plane, the third plane being substantially perpendicular to the fourth plane.

13. The surgical instrument as described in claim 10, characterized in that, The third cable segment between the plurality of drive units and the first guide mechanism and the cable segment in the first cable bundle are located on a fifth plane, and the cable segment of the third cable in the first cable bundle and the cable segment in the second cable bundle are located on a sixth plane, and the fifth plane is substantially parallel to the sixth plane.

14. The surgical instrument as claimed in claim 1, characterized in that, The plurality of cables form a plurality of first cable segments between the plurality of drive units and the first guide mechanism, wherein the length direction of any one of the plurality of first cable segments is substantially perpendicular to the length direction of the first cable bundle.

15. The surgical instrument as described in claim 14, characterized in that, The cable segments of the plurality of cables in the first cable bundle are substantially parallel to each other.

16. The surgical instrument as claimed in claim 1, characterized in that, The length direction of the second cable bundle is substantially perpendicular to the length direction of the first cable bundle.

17. The surgical instrument as claimed in claim 16, characterized in that, At least two of the plurality of cables are substantially parallel to each other in the cable segments of the second cable bundle.

18. The surgical instrument as claimed in claim 1, characterized in that, The length direction of the third cable bundle is substantially parallel to the length direction of the first cable bundle.

19. The surgical instrument as claimed in claim 18, characterized in that, The length direction of the third cable bundle is substantially perpendicular to the length direction of the second cable bundle.

20. The surgical instrument as claimed in claim 19, characterized in that, The cable segments of the plurality of cables in the third cable bundle are substantially parallel to each other.

21. The surgical instrument as claimed in claim 5, characterized in that, At least one of the plurality of first pulleys of the first guide mechanism can be adjusted to be located on different horizontal planes within the drive device.

22. The surgical instrument as described in claim 6, characterized in that, At least one of the multiple second pulleys of the second guide mechanism can be adjusted to be located on different horizontal planes within the device.

23. The surgical instrument as claimed in claim 1, characterized in that, The plurality of driving units are located at the vertices of a polygon.

24. The surgical instrument as claimed in claim 1, characterized in that, The first guide mechanism is located in the middle region of the plurality of drive units.

25. The surgical instrument as claimed in claim 1, characterized in that, The first guide mechanism and / or the second guide mechanism include conduits for guiding the plurality of cables.

26. An operating device, characterized in that, The operating device includes a robotic arm and a surgical instrument as described in any one of claims 1-27, the surgical instrument being mounted on the robotic arm, the robotic arm being used to manipulate the movement of the surgical instrument.

27. A surgical robot, characterized in that, The surgical robot includes a master operating device and a slave operating device as described in claim 26, wherein the slave operating device performs corresponding operations according to the instructions of the master operating device.

Images