Surgical instrument and microsurgical robot

Abstract

The application provides a surgical instrument and a microsurgery robot, the surgical instrument comprising an instrument box, an instrument tip, an instrument rod and a plurality of cable structures; the cable structures comprising a proximal cable and a distal cable, the proximal end of the proximal cable being connected with the instrument box, the distal end of the proximal cable being connected with the proximal end of the distal cable, and the distal end of the distal cable being connected with the instrument tip; the proximal cable comprising a first inner cable layer and a first outer cable layer, the first outer cable layer comprising a plurality of first outer strands, the distal cable comprising a second inner cable layer and a second outer cable layer, and the second outer cable layer comprising a plurality of second outer strands; the twist direction of the first outer cable layer being different from that of the second outer cable layer, so as to alleviate the influence of the self-rotation of the instrument tip on the tension of the cable structures. The application can effectively alleviate the asymmetry of the end joint movement friction when the instrument tip self-rotates to the left and right limit positions, so that the friction fluctuation of the surgical instrument during use is smaller, and the control precision of the surgical instrument is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a surgical instrument and a microsurgery robot. BACKGROUND

[0002] In recent years, with the application and development of robot-related technologies, especially the development of computer technologies, medical surgical robots have been increasingly valued in clinical applications, especially in the field of microsurgery. Among them, minimally invasive surgical robot systems can reduce the physical labor of doctors during surgery through interventional therapy, achieve precise surgery, and improve the requirements of microsurgery for high precision and high stability, so as to reduce the trauma, blood loss, postoperative infection, and postoperative recovery of patients. However, the design of surgical instruments for surgical robots directly determines the success or failure of minimally invasive surgical robot systems. A well-designed surgical instrument can better help doctors complete microsurgery operations. Therefore, the performance of surgical instruments is a key factor affecting the performance level of minimally invasive surgical robot systems.

[0003] Among them, surgical instruments for robots are usually designed with multiple cable structures to achieve the actions of pitching, yawing, and clamping at the end of the instrument by pulling back and forth. The instrument rod usually needs to rotate to complete the surgical operation more flexibly. However, when the instrument rod rotates left and right, such as 360° rotation in both directions, the multiple strands of the outer layer of the cable structure usually have the same braided rotation direction, which causes the single cable structure to rotate itself. The cable structure will change the cable tension due to the rotation, and the cable structure will have significant asymmetry when rotating to the left and right limit positions, thereby affecting the friction consistency of the surgical instrument and the control accuracy of the surgical instrument, and further affecting the high precision required by microsurgery. SUMMARY

[0004] The purpose of the present application is to provide a surgical instrument and a microsurgery robot, which can effectively alleviate the asymmetry of the end joint movement friction when the end of the instrument rotates to the left and right limit positions, so that the friction fluctuation of the surgical instrument during use is smaller, and the control accuracy of the surgical instrument is effectively improved.

[0005] To achieve the above object, the present application provides a surgical instrument, which comprises an instrument box, an instrument tip, an instrument rod and a plurality of cable structures, the cable structures are arranged in the instrument rod and can move along the axial direction of the instrument rod, the cable structures comprise a proximal cable and a distal cable, the proximal end of the proximal cable is connected with the instrument box, the distal end of the proximal cable is connected with the proximal end of the distal cable, and the distal end of the distal cable is connected with the instrument tip, the proximal cable comprises a first inner cable layer and a first outer cable layer, the first outer cable layer is arranged around the first inner cable layer, the first outer cable layer comprises a plurality of first outer cable strands twisted with each other, the distal cable comprises a second inner cable layer and a second outer cable layer, the second outer cable layer is arranged around the second inner cable layer, and the second outer cable layer comprises a plurality of second outer cable strands twisted with each other, and the twist direction of the first outer cable layer is different from that of the second outer cable layer, so as to alleviate the influence of the rotation of the instrument tip on the tension of the cable structures.

[0006] Optionally, the cable structures further comprise a connecting member arranged along the axial direction of the instrument rod, the distal end of the proximal cable is connected with the proximal end of the connecting member, and the proximal end of the distal cable is connected with the distal end of the connecting member.

[0007] Optionally, the first outer cable strand is twisted by a plurality of first elementary wire units, the twist direction of the first outer cable strand is different from that of the first outer cable layer, the second outer cable strand is twisted by a plurality of second elementary wire units, and the twist direction of the second outer cable strand is different from that of the second outer cable layer.

[0008] Optionally, the proximal cable and the distal cable are provided with an anti-rotation assembly.

[0009] Optionally, the anti-rotation assembly comprises a first connecting rod, an outer connecting sleeve and a second connecting rod connected in sequence, the proximal end of the first connecting rod is connected with the distal end of the proximal cable, the distal end of the second connecting rod is connected with the proximal end of the distal cable, the distal end of the first connecting rod is rotationally connected with the proximal end of the outer connecting sleeve, and / or the proximal end of the second connecting rod is rotationally connected with the distal end of the outer connecting sleeve.

[0010] Optionally, the distal end of the first connecting rod is provided with a plurality of first rollers along the outer periphery thereof, the proximal end of the outer connecting sleeve is provided with a first roller blocking platform for preventing the first rollers from slipping off along the inner periphery thereof, and / or the proximal end of the second connecting rod is provided with a plurality of second rollers along the outer periphery thereof, and the distal end of the outer connecting sleeve is provided with a second roller blocking platform for preventing the second rollers from slipping off along the inner periphery thereof.

[0011] Optionally, a first rotary head is arranged at a distal end of the first connecting rod, and a first rotary recess is arranged at an inner periphery of the proximal end of the outer connecting sleeve and adapted to the first rotary head; and / or a second rotary head is arranged at a proximal end of the second connecting rod, and a second rotary recess is arranged at an inner periphery of the distal end of the outer connecting sleeve and adapted to the second rotary head.

[0012] Optionally, the outer connecting sleeve comprises a first sub-outer connecting sleeve and a second sub-outer connecting sleeve which are separated from each other, and the anti-rotation assembly further comprises a connecting seat, an outer periphery of the connecting seat is provided with a boss which protrudes radially outward, the first sub-outer connecting sleeve is arranged at the proximal end of the connecting seat, and a distal end surface of the first sub-outer connecting sleeve is connected to a proximal end surface of the boss, the second sub-outer connecting sleeve is arranged at the distal end of the connecting seat, and a proximal end surface of the second sub-outer connecting sleeve is connected to a distal end surface of the boss.

[0013] Optionally, the anti-rotation assemblies in the plurality of cable structures are arranged staggered along the axial direction of the instrument rod.

[0014] Optionally, the length of the proximal cable is equivalent to the length of the distal cable, and / or the number of helical turns of the proximal cable is equivalent to the number of helical turns of the distal cable.

[0015] Optionally, the instrument box comprises a plurality of wire winding wheels, the wire winding wheels are arranged one-to-one corresponding to the cable structures, the proximal end of the proximal cable is wound on the corresponding wire winding wheel, the proximal end of the proximal cable is provided with a proximal crimping head, the proximal crimping head is fixedly connected to the corresponding wire winding wheel, and the winding direction of the proximal end of the proximal cable on the wire winding wheel is different from the twisting direction of the first outer cable layer.

[0016] To achieve the above object, the application further provides a microsurgery robot, which comprises the surgical instrument described above.

[0017] Compared with the prior art, the surgical instrument and the microsurgery robot provided by the application have the following beneficial effects: the surgical instrument provided by the application comprises an instrument box, an instrument tip, an instrument rod and a plurality of cable structures, the cable structures are arranged in the instrument rod, and the cable structures can move reciprocatingly along the axial direction of the instrument rod; the cable structures comprise a proximal cable and a distal cable, the proximal end of the proximal cable is connected with the instrument box, the distal end of the proximal cable is connected with the proximal end of the distal cable, and the distal end of the distal cable is connected with the instrument tip; the proximal cable comprises a first inner cable layer and a first outer cable layer, the first outer cable layer is arranged around the first inner cable layer, the first outer cable layer comprises a plurality of first outer cable strands that are twisted with each other, the distal cable comprises a second inner cable layer and a second outer cable layer, the second outer cable layer is arranged around the second inner cable layer, and the second outer cable layer comprises a plurality of second outer cable strands that are twisted with each other; the twist directions of the first outer cable layer and the second outer cable layer are different, so as to alleviate the influence of the self-rotation of the instrument tip on the tension of the cable structures. Thus, by setting the twist directions (spiral directions) of the first outer cable layer of the proximal cable and the second outer cable layer of the distal cable to be different, when the proximal cable and the distal cable rotate by the same angle due to the self-rotation of the instrument tip, one of them can be lengthened, and the other can be shortened, so that the "towel twisting effect" caused by the self-rotation of the cable structures can be avoided, the influence of the self-rotation of the instrument tip on the tension of the cable structures can be effectively alleviated, and then the tension of the cable structures can be ensured not to change greatly during the self-rotation process, the asymmetry of the joint movement friction of the instrument tip when the instrument tip is rotated to the left and right limit positions can be effectively alleviated, the friction torque of the instrument tip when the instrument tip is at the left and right limit positions can be more symmetrical, the friction fluctuation of the surgical instrument during use can be effectively reduced, and the control accuracy of the surgical instrument can be higher. In addition, the proximal cable and the distal cable have high tensile strength and good flexibility, the durability and fatigue resistance of the proximal cable and the distal cable can be effectively improved, and then the service life of the surgical instrument can be improved.

[0018] Since the microsurgery robot provided by the application belongs to the same inventive concept as the surgical instrument provided by the application, the microsurgery robot provided by the application at least has all the beneficial effects of the surgical instrument provided by the application, and specific descriptions can be referred to the related description in the foregoing, so the beneficial effects of the microsurgery robot provided by the application will not be described one by one here. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 The overall structure schematic view of the surgical instrument provided by the first embodiment of the application.

[0020] Figure 2 The exploded structure schematic view of the surgical instrument provided by the first embodiment of the application.

[0021] Figure 3 Overall structure schematic diagram of the rope structure in the surgical instrument provided by the first embodiment of the present application.

[0022] Figure 4 Provided is Figure 3 Enlarged structure schematic diagram of A part in the rope structure shown.

[0023] Figure 5 Provided is Figure 3 Enlarged structure schematic diagram of B part in the rope structure shown.

[0024] Figure 6 Cross-sectional schematic diagram of the proximal end rope provided by an embodiment of the present application.

[0025] Figure 7 Cross-sectional schematic diagram of the 7×7×7 rope.

[0026] Figure 8 Cross-sectional schematic diagram of the 19×19 rope.

[0027] Figure 9 Cross-sectional schematic diagram of the 7×39 rope.

[0028] Figure 10 End twist schematic diagram of the surgical instrument provided by the first embodiment of the present application.

[0029] Figure 11 Schematic diagram of the wire transmission system of the surgical instrument provided by the first embodiment of the present application.

[0030] Figure 12 Schematic diagram of the state of the surgical instrument provided by the first embodiment of the present application when the end of the instrument is at zero position.

[0031] Figure 13 Schematic diagram of the twist state of the surgical instrument provided by the first embodiment of the present application when the end of the instrument self-rotates to the left limit position.

[0032] Figure 14 Schematic diagram of the twist state of the surgical instrument provided by the first embodiment of the present application when the end of the instrument self-rotates to the right limit position.

[0033] Figure 15 Overall structure schematic diagram of the rope structure in the surgical instrument provided by the second embodiment of the present application.

[0034] Figure 16 Schematic diagram of the anti-self-rotation assembly provided by the first embodiment of the present application.

[0035] Figure 17 Sectional view of the anti-self-rotation assembly provided by the first embodiment of the present application.

[0036] Figure 18 The exploded view of the anti-rotation assembly provided by the first embodiment of the present application.

[0037] Figure 19 The cross-sectional view of the anti-rotation assembly provided by the second embodiment of the present application.

[0038] Figure 20 The perspective view of the anti-rotation assembly provided by the third embodiment of the present application.

[0039] Figure 21 The cross-sectional view of the anti-rotation assembly provided by the third embodiment of the present application.

[0040] Figure 22 The exploded view of the anti-rotation assembly provided by the third embodiment of the present application.

[0041] Figure 23 The schematic diagram of the wire transmission system of the surgical instrument provided by the second embodiment of the present application.

[0042] Figure 24 The schematic diagram of the arrangement of the anti-rotation assembly in the surgical instrument provided by the second embodiment of the present application.

[0043] Figure 25 The schematic diagram of the friction torque comparison between the surgical instrument provided by the present application and the surgical instrument provided by the conventional cable structure during the rotation of the instrument rod.

[0044] Wherein, the reference signs are explained as follows: surgical instrument-1; instrument tip-10; pitch base-101; wrist base-102; first tool jaw-103; second tool jaw-104; instrument rod-11; cable structure-110; connecting member-111; distal cable-112; second outer cable layer-1121; second outer cable strand-11211; proximal cable-113; first inner cable layer-1131; first inner cable strand-11311; first outer cable layer-1132; first outer cable strand-11321; first elementary wire unit-113211; elementary wire-132111; anti-rotation assembly-114; first connecting rod-1141; first roller groove-11411; first swivel head-11412; outer connecting sleeve-1142; first roller stop-11421; second roller stop-11422; first sub connecting sleeve-1142a; second sub connecting sleeve-1142b; first swivel recess-11423; second swivel recess-11424; opening-11425; second connecting rod-1143; second roller groove-11431; second swivel head-11432; first roller-1144; second roller-1145; integrated seat-1146; boss-11461; distal compression joint-115; proximal compression joint-116; instrument box-12; drive shaft-1201; first guide bracket-1202; second guide bracket-1203; guide wheel-1204; instrument box base-1205; wire winding wheel-1206; rotation drive shaft-201; instrument rod mounting base-202. DETAILED DESCRIPTION

[0045] The surgical instrument and microsurgical robot disclosed in the present application are further described in detail below in combination with the accompanying drawings and specific embodiments. It should be understood that the structures, proportions, sizes, etc. shown in the drawings attached to the present specification are only used to illustrate the content disclosed in the present specification for the understanding and reading of those skilled in the art, and are not used to limit the implementation of the present application. Any modification of the structure, change of the proportional relationship or adjustment of the size, as long as it is the same or similar to the effect and purpose that can be achieved by the present application, should still fall within the scope of the technology disclosed by the present application.

[0046] It should be noted that the relative terms, such as first and second, and the like are used herein only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between such entities or operations, and cannot be understood as indicating or implying a relative importance or specifying the number of technical features indicated. In addition, in the description of the present application, unless otherwise specified and limited, the terms "mounting", "connecting", "connecting", "fixing" should be understood broadly, for example, can be fixedly connected, or can be detachably connected, or integrated; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium.

[0047] The core idea of the present application is to provide a surgical instrument and a microsurgery robot to alleviate the inconsistency of the end joint movement friction when the surgical instrument self-rotates to the left and right limit positions, so that the friction movement of the surgical instrument during use is smaller, and the control accuracy of the surgical instrument is effectively improved. It should be noted that, as understood by those skilled in the art, the "proximal end" referred to in the present application refers to the end close to the operator, and the "distal end" refers to the end away from the operator.

[0048] To achieve the above idea, the present application provides a surgical instrument, please refer to Figures 1 to 6 , wherein, Figure 1 The overall structure schematic diagram of the surgical instrument provided by the first embodiment of the present application is shown in the figure; Figure 2 The exploded structure schematic diagram of the surgical instrument provided by the first embodiment of the present application is shown in the figure; Figure 3 The overall structure schematic diagram of the rope cable structure in the surgical instrument provided by the first embodiment of the present application is shown in the figure; Figure 4 The overall structure schematic diagram of the rope cable structure provided by the first embodiment of the present application is shown in the figure; Figure 3 The enlarged structure schematic diagram of A part in the rope cable structure shown in the figure is shown in the figure; Figure 5 The enlarged structure schematic diagram of B part in the rope cable structure shown in the figure is shown in the figure; Figure 3 The cross-sectional schematic diagram of the proximal end rope cable provided by an embodiment of the present application is shown in the figure. As Figure 6 The cross-sectional schematic diagram of the proximal end rope cable provided by an embodiment of the present application is shown in the figure. As Figures 1 to 6As shown, the surgical instrument 1 provided by the embodiment includes an instrument box 12, an instrument tip 10, an instrument rod 11, and a plurality of cable structures 110, the cable structures 110 are arranged in the instrument rod 11 and can reciprocate along the axial direction of the instrument rod 11; the cable structures 110 include a proximal cable 113 and a distal cable 112, the proximal end of the proximal cable 113 is connected with the instrument box 12, the distal end of the proximal cable 113 is connected with the proximal end of the distal cable 112, and the distal end of the distal cable 112 is connected with the instrument tip 10; the proximal cable 113 includes a first inner cable layer 1131 and a first outer cable layer 1132, the first outer cable layer 1132 is arranged around the first inner cable layer 1131, and the first outer cable layer 1132 includes a plurality of first outer cable strands 11321 twisted with each other; the distal cable 112 includes a second inner cable layer and a second outer cable layer 1121, the second outer cable layer 1121 is arranged around the second inner cable layer, and the second outer cable layer 1121 includes a plurality of second outer cable strands 11211 twisted with each other; the twist directions of the first outer cable layer 1132 and the second outer cable layer 1121 are different, so as to alleviate the influence of the self-rotation of the instrument tip 10 on the tension of the cable structures 110.

[0049] Therefore, by setting the twist directions (helicities) of the first outer cable layer 1132 of the proximal cable 113 and the second outer cable layer 1121 of the distal cable 112 to be different, when the proximal cable 113 and the distal cable 112 rotate by the same angle due to the self-rotation of the instrument tip 10, one of them can become longer and the other can become shorter, so that the "towel twisting effect" caused by the self-rotation of the cable structures 110 can be avoided, the influence of the self-rotation of the instrument tip 10 on the tension of the cable structures 110 can be effectively alleviated, and the tension of the cable structures 110 during the self-rotation process can be effectively prevented from changing greatly, the asymmetry of the joint movement friction of the instrument tip 10 when the instrument tip 10 rotates to the left and right limit positions can be effectively alleviated, the friction torque of the instrument tip 10 at the left and right limit positions can be more symmetrical, the friction fluctuation of the surgical instrument 1 during use can be effectively reduced, and the control accuracy of the surgical instrument 1 can be higher. In addition, the proximal cable 113 and the distal cable 112 have high tensile strength and good flexibility, which can effectively improve the durability and fatigue resistance of the proximal cable 113 and the distal cable 112, and thus can help to improve the service life of the surgical instrument 1.

[0050] It should be noted that the instrument rod 11 can rotate relative to the instrument box 12. It should also be noted that, as can be understood by those skilled in the art, the twist directions of the first outer cable layer 1132 of the proximal cable 113 and the second outer cable layer 1121 of the distal cable 112 are different, which means that the weaving spiral direction (twist direction) between the first outer cable strand 11321 and the first outer cable strand 11321 of the first outer cable layer 1132 of the proximal cable 113 is different from the weaving spiral direction (twist direction) between the second outer cable strand 11211 and the second outer cable strand 11211 of the second outer cable layer 1121 of the distal cable 112. The distal cable 112 and the proximal cable 113 with different twist directions (twist directions) each have their own "towel twisting effect", that is, when the instrument tip 10 rotates, the distal cable 112 is tightened while the proximal cable 113 is loosened, and vice versa. Thus, the tension on the cable structure 110 can be prevented from changing greatly, thereby preventing the normal pressure of the joint (end joint) of the instrument tip 10 from fluctuating greatly, and further reducing the friction torque during the movement of the end joint.

[0051] Please refer to Figure 6 As Figure 6 shown, in some exemplary embodiments, the first outer cable strand 11321 is twisted by a plurality of first elementary wire units 113211, and the twist direction R02 of the first outer cable strand 11321 is different from the twist direction R01 of the first outer cable layer 1132. Thus, by setting the twist direction R02 of the first outer cable strand 11321 and the twist direction R01 of the first outer cable layer 1132 to be different, the torsional properties of the proximal cable 113 can be optimized, so that the entire proximal cable 113 hardly rotates when subjected to a load, thereby further improving the control accuracy of the surgical instrument 1.

[0052] Please refer to Figure 6 As Figure 6 shown, in some exemplary embodiments, the first inner cable layer 1131 includes a plurality of first inner cable strands 11311 twisted with each other. Thus, such a configuration can further ensure that the proximal cable 113 has high tensile strength and good flexibility. It should be noted that, as can be understood by those skilled in the art, the present application does not limit the twist direction of the first inner cable layer 1131, and the twist direction R03 of the first inner cable layer 1131 can be the same as or different from the twist direction R01 of the first outer cable layer 1132.

[0053] It should be noted that, although Figure 6is taken as an example for illustration, but as can be appreciated by those skilled in the art, the present application does not limit the specific cross-sectional form of the proximal cable 113, and the proximal cable 113 can also adopt the commonly used cable cross-sectional form in the surgical instrument 1 of the surgical robot, including but not limited to a 7x7x7 cable cross-sectional form (please refer to Figure 7 , which is a schematic diagram of a 7x7x7 cable cross-section), a 19x19 cable cross-sectional form (please refer to Figure 8 , which is a schematic diagram of a 19x19 cable cross-section), and a 7x39 cable cross-sectional form (please refer to Figure 9 , which is a schematic diagram of a 7x39 cable cross-section). It should also be noted that, as can be appreciated by those skilled in the art, in some embodiments, the first filament unit 113211 can include a single filament (as shown in Figure 6 , Figure 8 and Figure 9 ), and in other embodiments, the first filament unit 113211 can include a plurality of filaments 132111 twisted with each other (as shown in Figure 7 ).

[0054] In some exemplary embodiments, the second outer cable strand 11211 is twisted by a plurality of second filament units, and the twist direction of the second outer cable strand 11211 is different from the twist direction of the second outer cable layer 1121. In this way, by setting the twist direction of the second outer cable strand 11211 to be different from the twist direction of the second outer cable layer 1121, the torsional characteristics of the distal cable 112 can be optimized, so that the entire distal cable 112 hardly rotates when subjected to a load, thereby further improving the control accuracy of the surgical instrument 1.

[0055] It should be noted that, as can be appreciated by those skilled in the art, the present application does not limit the specific cross-sectional form of the distal cable 112, and in some embodiments, the cross-sectional form of the distal cable 112 can be the same as the cross-sectional form of the proximal cable 113 (the spiral directions of the outer cable layers of the two are different); in other embodiments, the cross-sectional form of the distal cable 112 can also be different from the cross-sectional form of the proximal cable 113. More details about the cross-sectional form of the distal cable 112 can be adaptively understood with reference to the relevant description of the cross-sectional form of the proximal cable 113 above.

[0056] In some exemplary embodiments, the length of the proximal cable 113 is equivalent to the length of the distal cable 112. In this way, by setting the length of the proximal cable 113 to be equivalent to the length of the distal cable 112 (equal or within a first preset range), it can be ensured that when the proximal cable 113 and the distal cable 112 rotate by the same angle, one of the proximal cable 113 and the distal cable 112 becomes longer, and the other becomes shorter, and the length change of the two is equivalent, so that the total length of the cable structure 110 can be ensured to be almost unchanged during rotation, so that the tension of the cable structure 110 can be kept stable.

[0057] In some exemplary embodiments, the number of turns of the proximal cable 113 is equivalent to the number of turns of the distal cable 112. In this way, by setting the number of turns of the proximal cable 113 to be equivalent to the number of turns of the distal cable 112 (equal or within a second preset range), it can be ensured that the torsional stiffness of the proximal cable 113 and the distal cable 112 is equivalent, so that the torsional mechanical properties of the proximal cable 113 and the distal cable 112 can be completely matched, and the influence of the rotation of the instrument tip 10 on the tension of the cable structure 110 can be further effectively alleviated, so that the tension of the cable structure 110 can be ensured to be almost unchanged during rotation.

[0058] Please continue to refer to Figure 3 As Figure 3 shown, in some exemplary embodiments, the cable structure 110 provided by the application further comprises a connecting member 111, which is arranged along the axial direction of the instrument rod 11, the distal end of the proximal cable 113 is connected to the proximal end of the connecting member 111, and the proximal end of the distal cable 112 is connected to the distal end of the connecting member 111. In this way, by using the connecting member 111 to connect the proximal cable 113 and the distal cable 112, the smoothness of the entire cable structure 110 when moving in the instrument rod 11 can be ensured, unnecessary friction and interference can be reduced, and the control accuracy of the surgical instrument 1 can be further improved. Specifically, the proximal end of the connecting member 111 and the distal end of the proximal cable 113 can be fixedly connected by cold pressure bonding, laser welding, screw locking and pressure bonding, and the distal end of the connecting member 111 and the proximal end of the distal cable 112 can be fixedly connected.

[0059] It should be noted that, as can be understood by those skilled in the art, the application does not limit the specific structure of the connecting member 111, which can be but is not limited to a steel pipe, a flat band or the like. It should be noted that, as can be understood by those skilled in the art, in other embodiments, the distal cable 112 and the proximal cable 113 can also be connected to each other by knotting.

[0060] Please continue to refer toFigure 10 and Figure 11 wherein, Figure 10 a schematic diagram of the end of the surgical instrument provided in the first embodiment of the present application; Figure 11 a schematic diagram of the wire transmission system of the surgical instrument provided in the first embodiment of the present application. As shown in Figure 10 and Figure 11 , the end of the instrument 10 comprises a pitch base 101, a wrist base 102, a first tool jaw 103 and a second tool jaw 104, wherein the pitch base 101 is fixedly connected with the distal end of the instrument rod 11, the wrist base 102 can perform a flipping motion relative to the pitch base 101, and the first tool jaw 103 and the second tool jaw 104 can independently rotate relative to the wrist base 102.

[0061] Please continue to refer to Figure 10 and Figure 11 , as shown in Figure 10 and Figure 11 , the instrument rod 11 has 6 cable structures 110 therein, wherein the distal cable 112 of 2 cable structures 110 is fixedly connected with the wrist base 102 of the end of the instrument 10 respectively to drive the wrist base 102 to move relative to the pitch base 101; the distal cable 112 of 2 cable structures 110 is fixedly connected with the first tool jaw 103 of the end of the instrument 10 respectively to drive the first tool jaw 103 to move relative to the wrist base 102; the distal cable 112 of 2 cable structures 110 is fixedly connected with the second tool jaw 104 of the end of the instrument 10 respectively to drive the second tool jaw 104 to move relative to the wrist base 102. It should be noted that, as can be understood by those skilled in the art, the present application does not limit the specific number of cable structures 110 in the instrument rod 11, and the specific number of cable structures 110 in the instrument rod 11 can be selected according to the category of the surgical instrument 1 and the influence of self-rotation on the joint (which can be more than 6 or less than 6).

[0062] Please continue to refer to Figure 10 and Figure 11 , as shown in Figure 10 and Figure 11As shown, the instrument box 12 comprises driving shafts 1201, a first guide frame 1202, a second guide frame 1203, guide wheels 1204, an instrument box base 1205, wire winding wheels 1206, a self-rotation driving shaft 201 and an instrument rod mounting seat 202. Specifically, the instrument box base 1205 is rotatably mounted with three driving shafts 1201, and each driving shaft 1201 is fixedly mounted with two wire winding wheels 1206; the first guide frame 1202 and the second guide frame 1203 are fixedly mounted on the instrument box base 1205, and the first guide frame 1202 and the second guide frame 1203 are rotatably mounted with guide wheels 1204; the instrument box base 1205 is further rotatably mounted with one self-rotation driving shaft 201 and the instrument rod mounting seat 202, the self-rotation driving shaft 201 can drive the instrument rod mounting seat 202 to rotate relative to the instrument box base 1205, and the proximal end of the instrument rod 11 is fixedly connected with the instrument rod mounting seat 202.

[0063] Further, the proximal end of the two cable structures 110 for driving the wrist base 102 to move is wound on the wire winding wheel 1206 on one of the driving shafts 1201 via the two guide wheels 1204 on the first guide frame 1202 and the second guide frame 1203; the proximal end of the two cable structures 110 for driving the first tool jaw 103 to move is wound on the wire winding wheel 1206 on the other one of the driving shafts 1201 via the other two guide wheels 1204 on the first guide frame 1202 and the second guide frame 1203; the proximal end of the two cable structures 110 for driving the second tool jaw 104 to move is wound on the wire winding wheel 1206 on the remaining one of the driving shafts 1201 via the remaining two guide wheels 1204 on the first guide frame 1202 and the second guide frame 1203.

[0064] Preferably, the winding direction of the proximal end of the proximal end cable 113 on the wire winding wheel 1206 is different from the twist direction of the first outer cable layer 1132 of the proximal end cable 113. Thus, such a setting can reduce the torsional stress of the proximal end cable 113 during winding, avoid excessive torsion caused by same direction superposition, thereby reducing the fatigue damage of the proximal end cable 113, and effectively prolonging the service life of the proximal end cable 113.

[0065] Please continue to refer to the examination Figures 12 to 14 , wherein, Figure 12 a state schematic diagram of the surgical instrument provided by the first embodiment of the present application when the instrument end is at zero position; Figure 13 a torsion state schematic diagram of the surgical instrument provided by the first embodiment of the present application when the instrument end self-rotates to the left limit position; Figure 14 a torsion state schematic diagram of the surgical instrument provided by the first embodiment of the present application when the instrument end self-rotates to the right limit position. As Figures 12 to 14As shown, in the case of the rotation of the instrument tip 10 relative to the instrument box 12 (for example, the positive and negative rotation of 360°), the single cable structure 110 will also rotate 360°, and due to the different twist directions (i.e., different rotation directions) of the first outer cable layer 1132 of the proximal cable 113 and the second outer cable layer 1121 of the distal cable 112, the cable tension will not change significantly when the cable structure 110 rotates, and the cable structure 110 has significant symmetry when it rotates to the left and right limit positions, thereby ensuring that the control of the surgical robot on the force and position of the surgical instrument 1 is more accurate.

[0066] Please continue to refer to Figure 15 , which is a schematic diagram of the overall structure of the cable structure in the surgical instrument provided by the second embodiment of the present application. As shown in the figure Figure 15 , the difference between the cable structure 110 in the surgical instrument provided by the present embodiment and the cable structure 110 in the surgical instrument provided by the first embodiment is that in the present embodiment, the anti-rotation assembly 114 is provided between the proximal cable 113 and the distal cable 112. Thus, by providing the anti-rotation assembly 114 between the proximal cable 113 and the distal cable 112, the present embodiment allows the relative rotation between the distal cable 112 and the proximal cable 113, so that the rotation of the distal cable 112 and the proximal cable 113 caused by the rotation of the instrument tip 10 will be automatically released by the relative rotation, thereby further avoiding the occurrence of the "towel twisting effect", effectively alleviating the influence of the rotation of the instrument tip 10 on the tension of the cable structure 110, and further ensuring that the tension of the cable structure 110 will not change significantly during the rotation process, effectively alleviating the asymmetry of the end joint movement friction when the instrument tip 10 rotates to the left and right limit positions, so that the friction torque of the instrument tip 10 at the left and right limit positions is more symmetrical, effectively reducing the friction fluctuation of the surgical instrument 1 during use, and making the control accuracy of the surgical instrument 1 higher.

[0067] Please continue to refer to Figure 15 , as shown in the figure Figure 15 , in some exemplary embodiments, the proximal end of the proximal cable 113 is provided with a proximal crimping head 116, and the distal end of the distal cable 112 is provided with a distal crimping head 115. Thus, by providing the proximal crimping head 116 at the proximal end of the proximal cable 113, the proximal end of the proximal cable 113 can be fixed to the wire winding wheel 1206 through the proximal crimping head 116, thereby effectively improving the stability of the connection between the proximal cable 113 and the instrument box 12; by providing the distal crimping head 115 at the distal end of the distal cable 112, the stability of the connection between the distal cable 112 and the instrument tip 10 can be effectively improved.

[0068] Please continue to refer to Figure 15 , as shown in the figure Figure 15As shown, in some exemplary embodiments, the cable structure 110 provided by the present embodiment further comprises a connecting member 111 arranged along the axial direction of the instrument rod 11 of the surgical instrument 1, the proximal end of the anti-rotation assembly 114 is connected to the distal end of the proximal cable 113 through the connecting member 111, and the distal end of the anti-rotation assembly 114 is connected to the proximal end of the distal cable 112 through the connecting member 111.

[0069] Please continue to refer to Figures 16 to 18 , wherein, Figure 16 a perspective structural schematic view of the anti-rotation assembly provided by the first embodiment of the present application; Figure 17 a sectional view of the anti-rotation assembly provided by the first embodiment of the present application; Figure 18 an exploded structural schematic view of the anti-rotation assembly provided by the first embodiment of the present application. As Figures 16 to 18 shown, the anti-rotation assembly 114 provided by the present embodiment comprises a first connecting rod 1141, an outer connecting sleeve 1142 and a second connecting rod 1143 connected in sequence, the proximal end of the first connecting rod 1141 is connected to the distal end of the proximal cable 113, the distal end of the second connecting rod 1143 is connected to the proximal end of the distal cable 112, the distal end of the first connecting rod 1141 is rotationally connected to the proximal end of the outer connecting sleeve 1142, and the proximal end of the second connecting rod 1143 is rotationally connected to the distal end of the outer connecting sleeve 1142. Thus, such a setting can enable the relative rotation between the proximal cable 113 and the distal cable 112, so as to actively release the torsional stress transmitted to the cable structure 110 when the instrument rod 11 rotates, fundamentally avoid the "towel twisting effect", and effectively maintain the stability of the tension of the cable structure 110. In addition, such a setting can also ensure that both ends of the anti-rotation assembly 114 can bear tension, while ensuring that both ends of the anti-rotation assembly 114 can relatively freely and smoothly rotate, so as to ensure that the distal cable 112 and the proximal cable 113 are not tightened or loosened.

[0070] It should be noted that, as understood by those skilled in the art, the proximal end of the first connecting rod 1141 can be connected to the distal end of the proximal cable 113 through the connecting member 111, and the distal end of the second connecting rod 1143 can be connected to the proximal end of the distal cable 112 through the connecting member 111. Further, the first connecting rod 1141 and the second connecting rod 1143 can be fixedly connected with the connecting member 111 by cold pressing or laser welding.

[0071] Please continue to refer to Figure 17 and Figure 18 , as Figure 17 and Figure 18As shown, in some exemplary embodiments, the distal end of the first connecting rod 1141 is provided with a plurality of first rollers 1144 along its outer periphery, and the proximal end of the outer connecting sleeve 1142 is provided with a first roller stop 11421 along its inner periphery to prevent the first rollers 1144 from slipping off. Thus, by providing a plurality of first rollers 1144 at the distal end of the first connecting rod 1141, the rotational friction between the first connecting rod 1141 and the outer connecting sleeve 1142 can be significantly reduced, thereby effectively ensuring that the first connecting rod 1141 and the outer connecting sleeve 1142 can rotate relatively freely, making it easier for the proximal cable 113 to release torsional stress during rotation, effectively avoiding the "twisting towel effect". By providing a first roller stop 11421 at the proximal end of the outer connecting sleeve 1142, the first rollers 1144 can be effectively prevented from slipping off the outer connecting sleeve 1142, thereby ensuring that the first connecting rod 1141 can bear the tension along the axial direction of the instrument rod 11 without slipping off.

[0072] Furthermore, the distal end of the first connecting rod 1141 is provided with a plurality of first roller grooves 11411 along its outer periphery, and the first roller grooves 11411 are arranged in a one-to-one correspondence with the first rollers 1144. Thus, this arrangement not only makes it easier to install and fix the first rollers 1144, but also saves space.

[0073] Please continue to refer to this. Figure 17 and Figure 18 ,like Figure 17 and Figure 18 As shown, in some exemplary embodiments, the proximal end of the second connecting rod 1143 is provided with a plurality of second rollers 1145 along its outer periphery, and the distal end of the outer connecting sleeve 1142 is provided with a second roller stop 11422 along its inner periphery to prevent the second rollers 1145 from slipping off. Thus, by providing a plurality of second rollers 1145 at the distal end of the second connecting rod 1143, the rotational friction between the second connecting rod 1143 and the outer connecting sleeve 1142 can be significantly reduced, thereby effectively ensuring that the second connecting rod 1143 and the outer connecting sleeve 1142 can rotate relatively freely, making it easier for the distal cable 112 to release torsional stress during rotation and effectively avoiding the "twisting towel effect". By providing the second roller stop 11422 at the proximal end of the outer connecting sleeve 1142, the second rollers 1145 can be effectively prevented from slipping off the outer connecting sleeve 1142, thereby ensuring that the second connecting rod 1143 can bear the tension along the axial direction of the instrument rod 11 without slipping off.

[0074] Further, a plurality of second roller grooves 11431 are arranged along the outer periphery of the proximal end of the second connecting rod 1143, and the second roller grooves 11431 are arranged one-to-one with the second rollers 1145. In this way, such an arrangement not only facilitates the installation and fixation of the second rollers 1145, but also saves space.

[0075] Please continue to refer to Figure 17 and Figure 18 As shown in Figure 17 and Figure 18 In some exemplary embodiments, the outer connecting sleeve 1142 includes a first sub- connecting sleeve 1142a and a second sub-connecting sleeve 1142b which are separated from each other, and the anti-rotation assembly 114 further includes a connecting seat 1146, the outer periphery of the connecting seat 1146 is provided with a boss 11461 which protrudes radially outward, the first sub-connecting sleeve 1142a is sleeved on the proximal end of the connecting seat 1146, and the distal end surface of the first sub-connecting sleeve 1142a is connected to the proximal end surface of the boss 11461, the second sub-connecting sleeve 1142b is sleeved on the distal end of the connecting seat 1146, and the proximal end surface of the second sub-connecting sleeve 1142b is connected to the distal end surface of the boss 11461. In this way, such an arrangement not only facilitates the assembly of the anti-rotation assembly 114, but also ensures that the rotation axes of the first connecting rod 1141 and the second connecting rod 1143 can remain consistent, and ensures that the first connecting rod 1141 and the second connecting rod 1143 can rotate smoothly.

[0076] It should be noted that, as can be understood by those skilled in the art, the first sub- connecting sleeve 1142a and the connecting seat 1146 can be fixedly connected by laser welding, threaded connection, adhesion, etc., and similarly, the second sub-connecting sleeve 1142b and the connecting seat 1146 can also be fixedly connected by laser welding, threaded connection, adhesion, etc.

[0077] Please continue to refer to Figure 19 which is a cross-sectional view of the anti-rotation assembly according to the second embodiment of the present application. As Figure 19As shown, the difference between the anti-rotation component 114 provided in this embodiment and the anti-rotation component 114 provided in the first embodiment is that, in this embodiment, the distal end of the first connecting rod 1141 is rotatably connected to the proximal end of the outer connecting sleeve 1142, and the proximal end of the second connecting rod 1143 is fixedly connected to the distal end of the outer connecting sleeve 1142. Therefore, this arrangement ensures that the first connecting rod 1141 can rotate freely relative to the outer connecting sleeve 1142, thereby allowing relative rotation between the proximal cable 113 and the distal cable 112. This actively releases the torsional stress transmitted to the cable structure 110 when the instrument rod 11 rotates, avoiding the "twisting towel effect" and effectively maintaining the stability of the tension in the cable structure 110.

[0078] Please continue to refer to this. Figure 19 ,like Figure 19 As shown, in this embodiment, the distal end of the first connecting rod 1141 is provided with a plurality of first rollers 1144 along its outer periphery, and the proximal end of the outer connecting sleeve 1142 is provided with a first roller stop 11421 along its inner periphery to prevent the first rollers 1144 from slipping off. Therefore, by providing a plurality of first rollers 1144 at the distal end of the first connecting rod 1141, the rotational friction between the first connecting rod 1141 and the outer connecting sleeve 1142 can be significantly reduced, thereby effectively ensuring that the first connecting rod 1141 and the outer connecting sleeve 1142 can rotate relatively freely, making it easier for the proximal cable 113 to release torsional stress during rotation, effectively avoiding the "twisting towel effect". By providing a first roller stop 11421 at the proximal end of the outer connecting sleeve 1142, the first rollers 1144 can be effectively prevented from slipping off the outer connecting sleeve 1142, thereby ensuring that the first connecting rod 1141 can bear the tension along the axial direction of the instrument rod 11 without slipping off.

[0079] It should be noted that, as those skilled in the art will understand, more details about the anti-rotation component 114 provided in this embodiment can be adapted by referring to the relevant content of the anti-rotation component 114 provided in the first embodiment, and will not be repeated here.

[0080] It should be further noted that, as can be understood by those skilled in the art, in some other embodiments, the distal end of the first connecting rod 1141 can be fixedly connected with the proximal end of the outer connecting sleeve 1142, and the proximal end of the second connecting rod 1143 can be fixedly connected with the distal end of the outer connecting sleeve 1142. At this time, it can be ensured that the second connecting rod 1143 can rotate freely relative to the outer connecting sleeve 1142, so that the relative rotation between the proximal cable 113 and the distal cable 112 can also occur, and then the torsional stress transmitted to the cable structure 110 can be actively released when the instrument rod 11 rotates, the "towel twisting effect" can be avoided, and the stability of the tension of the cable structure 110 can be effectively maintained. Further, a plurality of second rollers 1145 can be arranged along the outer periphery of the proximal end of the second connecting rod 1143, and a second roller stop table 11422 for preventing the second rollers 1145 from slipping off can be arranged along the inner periphery of the distal end of the outer connecting sleeve 1142.

[0081] Please continue to refer to Figures 20 to 22 wherein, Figure 20 a perspective structural schematic view of an anti-rotation assembly provided by the third embodiment of the present application; Figure 21 a sectional view of the anti-rotation assembly provided by the third embodiment of the present application; Figure 22 an exploded structural schematic view of the anti-rotation assembly provided by the third embodiment of the present application. As Figures 20 to 22As shown, the difference between the anti-rotation component 114 provided in this embodiment and the anti-rotation component 114 provided in the first embodiment is that, in this embodiment, the distal end of the first connecting rod 1141 is provided with a first rotating head 11412, the proximal end of the outer connecting sleeve 1142 is provided with a first rotating recess 11423 adapted to the first rotating head 11412 along its inner circumference, the proximal end of the second connecting rod 1143 is provided with a second rotating head 11432, and the distal end of the outer connecting sleeve 1142 is provided with a second rotating recess 11424 adapted to the second rotating head 11432 along its inner circumference. Therefore, by setting a first rotating head 11412 at the distal end of the first connecting rod 1141 and a second rotating head 11432 at the proximal end of the second connecting rod 1143, the first connecting rod 1141 and the second connecting rod 1143 can be easily twisted in all directions, thereby allowing the proximal cable 113 and the distal cable 112 to rotate freely relative to each other. This allows the torsional stress transmitted to the cable structure 110 to be actively released when the instrument rod 11 rotates, avoiding the "twisting towel effect" and effectively maintaining the stability of the tension of the cable structure 110. By providing a first rotation recess 11423 at the proximal end of the outer connecting sleeve 1142 that matches the shape of the first rotating head 11412, the first connecting rod 1141 can be prevented from slipping out of the outer connecting sleeve 1142, thereby ensuring that the first connecting rod 1141 can withstand the tensile force along the axial direction of the instrument rod 11 without slipping out. By providing a second rotation recess 11424 at the distal end of the outer connecting sleeve 1142 that matches the shape of the second rotating head 11432, the second connecting rod 1143 can be prevented from slipping out of the outer connecting sleeve 1142, thereby ensuring that the second connecting rod 1143 can withstand the tensile force along the axial direction of the instrument rod 11 without slipping out. In addition, the anti-rotation component 114 provided in this embodiment also has the advantages of fewer parts, simple structure, and compact design.

[0082] Specifically, the first rotary head 11412 and the second rotary head 11432 can be rotary joints, such as ball joints, cylindrical joints, conical joints, etc.

[0083] Please continue to refer to this. Figures 20 to 22 ,like Figures 20 to 22 As shown, the difference between the anti-rotation component 114 provided in this embodiment and the anti-rotation component 114 provided in the first embodiment is that, in this embodiment, the outer connecting sleeve 1142 has at least one opening 11425 extending axially on its side wall. Therefore, by providing the opening 11425 on the side wall of the outer connecting sleeve 1142, the assembly of the anti-rotation component 114 can be made more convenient.

[0084] It should be noted that, as can be understood by those skilled in the art, in some other embodiments, only the first swivel head 11412 can be arranged at the distal end of the first connecting rod 1141, and only the first swivel socket 11423 can be arranged at the proximal end of the outer connecting sleeve 1142, or only the second swivel head 11432 can be arranged at the proximal end of the second connecting rod 1143, and only the second swivel socket 11424 can be arranged at the distal end of the outer connecting sleeve 1142. In some other embodiments, the outer connecting sleeve 1142 in the anti-rotation assembly 114 provided in the third embodiment can be arranged in a split structure similar to the outer connecting sleeve 1142 in the anti-rotation assembly 114 provided in the first embodiment, and the connecting seat 1146 can be arranged to connect the first sub-outer connecting sleeve 1142a and the second sub-outer connecting sleeve 1142b.

[0085] Please continue to refer to Figure 23 and Figure 24 wherein, Figure 23 is a schematic diagram of a wire transmission system of a surgical instrument provided in the second embodiment of the present application; Figure 24 is a schematic diagram of the arrangement of an anti-rotation assembly in a surgical instrument provided in the second embodiment of the present application. As Figure 23 and Figure 24 shown, in some exemplary embodiments, the anti-rotation assemblies 114 in the plurality of cable structures 110 are arranged in an axial staggered manner along the instrument shaft 11. Since the anti-rotation assemblies 114 will move along the instrument shaft 11 direction with the movement of the instrument tip 10, by arranging the anti-rotation assemblies 114 in the plurality of cable structures 110 in an axial staggered manner along the instrument shaft 11, it can be ensured that the number of anti-rotation assemblies 114 in any cross section of the instrument shaft 11 does not exceed 3 during the movement of the instrument tip 10, thereby avoiding excessive occupation of the inner diameter space of the instrument shaft 11 by the anti-rotation assemblies 114, and facilitating the minimization design of the outer diameter of the instrument shaft 11.

[0086] Please continue to refer to Figure 25 which is a schematic diagram of the comparison of the friction torque of the instrument shaft in the rotation process of a surgical instrument provided in the present application and a surgical instrument using a conventional cable structure. As Figure 25As shown, when the instrument end 10 is at zero position (0 degree), the average friction torque of the surgical instrument 1 provided by the application and the driving wrist base 102 of the surgical instrument with traditional cable structure relative to the pitching base 101 back and forth pitching movement is M0; when the instrument rod 11 rotates, the average torque of the surgical instrument with traditional cable structure when it rotates counterclockwise to the limit position (for example, the right limit position) is M2, and the average torque when it rotates clockwise to the limit position (for example, the left limit position) is M1; while the average torque of the surgical instrument 1 provided by the application when the instrument rod 11 rotates counterclockwise to the limit position (for example, the right limit position) and clockwise to the limit position (for example, the left limit position) is M3, and the following relationship is satisfied: M2-M1>M3-M0, M2>M3>M0, it can be seen that the surgical instrument 1 provided by the application can effectively alleviate the asymmetry of the end joint movement friction when the instrument end 10 rotates to the left and right limit positions, so that the friction torque of the instrument end 10 at the left and right limit positions is more symmetrical, and the friction fluctuation of the surgical instrument 1 in the use process is effectively reduced.

[0087] Based on the same inventive concept, the application also provides a microsurgery robot, which comprises the surgical instrument 1 described above. Since the microsurgery robot provided by the application and the surgical instrument 1 provided by the application belong to the same inventive concept, the microsurgery robot provided by the application at least has all the beneficial effects of the surgical instrument 1 provided by the application, and specific reference can be made to the related description in the above, so the beneficial effects of the microsurgery robot provided by the application will not be described one by one here. It should be noted that more information about the microsurgery robot provided by the application can be understood adaptively by referring to the related content in the field of surgical robots known to those skilled in the art, and will not be described here.

[0088] In summary, compared with the prior art, the surgical instrument and the microsurgery robot provided by the application have the following beneficial effects: the application can avoid the "towel twisting effect" caused by the self-rotation of the cable structure 110 itself, thereby effectively alleviating the influence of the self-rotation of the instrument end 10 on the tension of the cable structure 110, and further ensuring that the tension of the cable structure 110 does not change greatly during self-rotation, effectively alleviating the asymmetry of the end joint movement friction when the instrument end 10 rotates to the left and right limit positions, so that the friction torque of the instrument end 10 at the left and right limit positions is more symmetrical, effectively reducing the friction fluctuation of the surgical instrument 1 in the use process, and making the control precision of the surgical instrument 1 higher.

[0089] It should be noted that the above description is only a description of the preferred embodiments of the present application, and is not any limitation on the scope of the present application, and any changes, modifications made by the person skilled in the art according to the above disclosure are within the protection scope of the present application.

Claims

1. A surgical instrument, characterized in that, It includes an instrument box, an instrument end, an instrument rod, and a multiple cable structure, wherein the cable structure is inserted inside the instrument rod and is capable of reciprocating along the axial direction of the instrument rod; The cable structure includes a proximal cable and a distal cable. The proximal end of the proximal cable is connected to the instrument box, the distal end of the proximal cable is connected to the proximal end of the distal cable, and the distal end of the distal cable is connected to the end of the instrument. The proximal cable includes a first inner cable layer and a first outer cable layer, the first outer cable layer is arranged around the first inner cable layer, and the first outer cable layer includes a plurality of first outer strands twisted together; the distal cable includes a second inner cable layer and a second outer cable layer, the second outer cable layer is arranged around the second inner cable layer, and the second outer cable layer includes a plurality of second outer strands twisted together. The first outer cable layer and the second outer cable layer have different twist directions to mitigate the effect of the rotation of the device end on the tension of the cable structure.

2. The surgical instrument according to claim 1, characterized in that, The cable structure further includes a connecting member, which is arranged along the axial direction of the instrument rod. The distal end of the proximal cable is connected to the proximal end of the connecting member, and the proximal end of the distal cable is connected to the distal end of the connecting member.

3. The surgical instrument according to claim 1, characterized in that, The first outer strand is formed by twisting together multiple first filament units, and the twist direction of the first outer strand is different from that of the first outer cable layer. The second outer strand is formed by twisting together multiple second filament units, and the twist direction of the second outer strand is different from that of the second outer cable layer.

4. The surgical instrument according to claim 1, characterized in that, An anti-rotation component is provided between the near-end cable and the far-end cable.

5. The surgical instrument according to claim 4, characterized in that, The anti-rotation assembly includes a first connecting rod, an outer connecting sleeve, and a second connecting rod connected in sequence. The proximal end of the first connecting rod is connected to the distal end of the proximal cable, and the distal end of the second connecting rod is connected to the proximal end of the distal cable. The distal end of the first connecting rod is rotatably connected to the proximal end of the outer connecting sleeve, and / or the proximal end of the second connecting rod is rotatably connected to the distal end of the outer connecting sleeve.

6. The surgical instrument according to claim 5, characterized in that, The distal end of the first connecting rod is provided with a plurality of first rollers along its outer periphery, and the proximal end of the outer connecting sleeve is provided with a first roller stop along its inner periphery to prevent the first rollers from slipping off; and / or the proximal end of the second connecting rod is provided with a plurality of second rollers along its outer periphery, and the distal end of the outer connecting sleeve is provided with a second roller stop along its inner periphery to prevent the second rollers from slipping off.

7. The surgical instrument according to claim 5, characterized in that, The distal end of the first connecting rod is provided with a first rotating head, and the proximal end of the outer connecting sleeve is provided with a first rotating recess along its inner circumference that is adapted to the first rotating head; and / or the proximal end of the second connecting rod is provided with a second rotating head, and the distal end of the outer connecting sleeve is provided with a second rotating recess along its inner circumference that is adapted to the second rotating head.

8. The surgical instrument according to claim 5, characterized in that, The outer connecting sleeve includes a first sub-connecting sleeve and a second sub-connecting sleeve that are separated from each other. The anti-rotation component also includes a connecting base. The outer periphery of the connecting base is provided with a boss that protrudes outward along its radial direction. The first sub-connecting sleeve is fitted onto the proximal end of the connecting base, and the distal end face of the first sub-connecting sleeve is connected to the proximal end face of the boss. The second sub-connecting sleeve is fitted onto the distal end of the connecting base, and the proximal end face of the second sub-connecting sleeve is connected to the distal end face of the boss.

9. The surgical instrument according to claim 4, characterized in that, The anti-rotation components in the multiple rope structure are staggered along the axial direction of the instrument rod.

10. The surgical instrument according to claim 1, characterized in that, The length of the proximal cable is equivalent to the length of the distal cable, and / or the number of spiral turns of the proximal cable is equivalent to the number of spiral turns of the distal cable.

11. The surgical instrument according to claim 1, characterized in that, The instrument box includes multiple winding wheels, each corresponding to a cable structure. The proximal end of the proximal cable is wound around the corresponding winding wheel. The proximal end of the proximal cable is provided with a proximal end crimping head, which is fixedly connected to the corresponding winding wheel. The winding direction of the proximal end of the proximal cable on the winding wheel is different from the twist direction of the first outer cable layer.

12. A microsurgical robot, characterized in that, The surgical instrument included in any one of claims 1 to 11.

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