Surgical instrument and surgical robot

Abstract

The surgical instrument comprises a joint assembly, a tail end device, at least one driving rope and at least one wire, the tail end device comprises a base and a conductive tool, the base comprises a first connecting base, an insulating base and a second connecting base, and the first connecting base and the second connecting base are arranged in a spaced mode; the insulating seat is connected between the first connecting seat and the second connecting seat; the conductive tool is rotationally connected with the first connecting seat, and the second connecting seat is fixedly connected with the far end of the joint assembly; the far end of the wire penetrates through the joint assembly and the base in sequence and then is electrically connected with the conductive tool. The far end of the driving rope penetrates through the joint assembly and the base in sequence and then is connected with the conductive tool, and an insulation structure is arranged on the outer wall of the portion, at least arranged in the joint assembly and the base, of the driving rope. According to the surgical instrument, electrification of the joint assembly can be avoided, and the use safety is improved. The invention further discloses the surgical robot.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a surgical instrument and a surgical robot. Background Technology

[0002] Minimally invasive medical techniques refer to medical procedures performed inside the human body cavity using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared with traditional surgical methods, minimally invasive medical techniques have advantages such as less trauma, less pain, faster recovery, reduced patient discomfort, and fewer harmful side effects.

[0003] With advancements in technology, minimally invasive surgical robot technology has matured and is widely used. Minimally invasive surgical robots typically consist of a main control console and slave operating devices. The surgeon controls the slave operating devices via input devices on the main control console. The slave operating devices respond to control commands from the main control console and perform corresponding surgical procedures. Instruments are connected to the drive mechanisms of the slave operating devices to perform surgical procedures. The distal end of the instrument includes an end effector for performing surgical operations and joint components connected to the end effector that can move in multiple degrees of freedom. The drive mechanism is connected to the end effector via drive cables (such as steel wires or other alloy wires) to drive the movement of the end effector.

[0004] For active medical devices, the end effector typically includes a base and a conductive tool (which can be a monopolar or bipolar instrument, specifically an electrified scissor, electric hook, electric shovel, etc.). The base is connected to a joint assembly, the conductive tool is rotatably connected to the base, and a drive cable is connected to the conductive tool to drive its movement. The conductive tool requires a connecting wire to be energized during use, enabling functions such as electrocautery and electrocoagulation in some applications. To ensure good structural strength, the base is generally made of metal. However, since the conductive tool, joint assembly, and drive cable are all made of metal, the joint assembly becomes energized through the base and drive cable (i.e., the joint assembly is electrically connected to the conductive tool through the base and drive cable), increasing the risk of leakage and affecting safety during use. Summary of the Invention

[0005] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this invention is to provide a surgical instrument and surgical robot that can avoid the joint components from becoming electrified and improve the safety of use.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] The present invention provides a surgical instrument, including a joint assembly, an end effector, at least one drive cable and at least one wire. The end effector includes a base and a conductive tool. The base includes a first connecting seat, an insulating seat and a second connecting seat. The first connecting seat and the second connecting seat are spaced apart. The insulating seat is connected between the first connecting seat and the second connecting seat.

[0008] The conductive tool is rotatably connected to the first connecting seat, and the second connecting seat is fixedly connected to the distal end of the joint assembly; the distal end of the wire passes through the joint assembly and the base in sequence and is electrically connected to the conductive tool; the distal end of the drive cable passes through the joint assembly and the base in sequence and is connected to the conductive tool, the drive cable is used to drive the conductive tool to rotate relative to the first connecting seat, and the drive cable has an insulating structure on the outer wall of at least the portion inside the joint assembly and the base.

[0009] In one possible implementation, the first connector and the second connector are both made of metal, and the insulating seat is made of plastic. The insulating seat is integrally formed with the first connector and the second connector by insert injection molding.

[0010] In one possible implementation, the first connecting seat includes a base, a first clamping arm, and a second clamping arm. The base is fixedly connected to the insulating seat, and both the first clamping arm and the second clamping arm are fixedly connected to the base, with the first clamping arm and the second clamping arm spaced apart. The proximal end of the conductive tool is located between the first clamping arm and the second clamping arm, and the proximal end of the conductive tool is rotatably connected to the first clamping arm and the second clamping arm via a pin.

[0011] In one possible implementation, the base has a cavity for the drive cable and the conductor to pass through, the cavity being filled with insulating adhesive.

[0012] In one possible implementation, each drive cable includes a drive wire, the distal end of which passes sequentially through the joint assembly and the base and is connected to the conductive tool; the drive wire includes a first segment located within the joint assembly and the base, the outer wall of the first segment being provided with a composite sleeve, the composite sleeve including a metal wear-resistant layer and a first insulating layer arranged sequentially from the inside to the outside, and the drive wire being movable relative to the metal wear-resistant layer along its axial direction.

[0013] In one possible implementation, the drive wire further includes a second segment connected to the distal end of the first segment, the second segment being connected to the conductive tool; the composite sleeve is not disposed on the outer wall of the second segment.

[0014] In one feasible approach, the metal wear-resistant layer is a metal spring tube.

[0015] In one possible embodiment, the surgical instrument further includes a long shaft connected to the proximal end of the joint assembly, the proximal end of the drive wire being located within the long shaft; the drive wire further includes a third segment, a fourth segment, and a fifth segment disposed within the long shaft, the distal end of the third segment being connected to the proximal end of the first segment, the distal end of the fourth segment being connected to the proximal end of the third segment, and the distal end of the fifth segment being connected to the proximal end of the fourth segment;

[0016] The composite sleeve is provided on the outer wall of the third section, the second insulating layer is provided on the outer wall of the fifth section, and neither the composite sleeve nor the second insulating layer is provided on the outer wall of the fourth section.

[0017] In one possible implementation, an insulating sleeve is fixedly provided inside the long shaft, and the insulating sleeve is provided at least corresponding to the fourth section; when the fourth section moves along its axial direction, the fourth section is always located inside the insulating sleeve.

[0018] In one possible implementation, the inner wall of the insulating sleeve is provided with a stop portion, and the stop portion is provided with a through hole; the third section and the fifth section are respectively located on opposite sides of the stop portion, and the fourth section passes through the through hole; the proximal end of the composite sleeve can abut against the stop portion to axially limit the composite sleeve.

[0019] In one possible implementation, a limiting sleeve is fixedly connected to the proximal end of the composite sleeve, the limiting sleeve being fitted onto the outer wall of the fourth section, and the limiting sleeve being able to abut against the stop portion.

[0020] In one possible embodiment, the surgical instrument further includes an instrument case connected to the proximal end of the long shaft, the instrument case having a transmission device including a transmission unit; each drive cable further includes a connecting tube located within the long shaft, the distal end of the connecting tube being fixedly connected to the proximal end of the fifth segment, the proximal end of the connecting tube being connected to the transmission unit; a third insulating layer is provided on the outer wall of the connecting tube.

[0021] In one possible implementation, the joint assembly includes a wrist joint comprising two joint portions arranged sequentially along its axial direction; the two joint portions are a first joint portion and a second joint portion, the first joint portion being fixedly connected to a second connecting seat, and the first joint portion and the second joint portion being rotatable relative to each other; the rotation axis of the first joint portion is perpendicular to the rotation axis of the conductive tool.

[0022] In one possible implementation, a first gear portion is provided on the sidewall of the first joint portion, and a second gear portion is provided on the sidewall of the second joint portion; the first gear portion includes a plurality of first joint teeth, and the second gear portion includes a plurality of second joint teeth, wherein the plurality of first joint teeth can mesh with the plurality of second joint teeth.

[0023] Both of the two joint portions have an arc-shaped support surface on their end faces that are close to each other. The arc-shaped support surface on the first joint portion is in contact with the arc-shaped support surface on the second joint portion. When the first joint portion and the second joint portion rotate relative to each other, a plurality of first joint teeth on the first joint portion mesh with a plurality of second joint teeth on the second joint portion and rotate, and the arc-shaped support surface on the first joint portion rolls relative to the arc-shaped support surface on the second joint portion.

[0024] In one possible implementation, the surgical instrument has a central plane, the rotation axis of the first joint is located on the central plane, and the rotation axis of the conductive tool is perpendicular to the central plane;

[0025] The conductive tool includes a first conductive component, which is rotatably connected to the first connecting seat; at least one drive cable includes a first drive cable and a second drive cable.

[0026] Within the wrist joint, the first drive cable and the second drive cable are located on opposite sides of the central plane, respectively.

[0027] Within the base, the first drive cable and the second drive cable are located on the same side of the central plane, and the distal ends of the first drive cable and the second drive cable are connected to the first conductive component.

[0028] In one possible implementation, the conductive tool further includes a second conductive component, which is rotatably connected to the first connecting seat, and the second conductive component and the first conductive component are arranged sequentially along a direction parallel to the rotation axis of the conductive tool; at least one drive cable further includes a third drive cable and a fourth drive cable;

[0029] Within the wrist joint, the third drive cable and the fourth drive cable are located on opposite sides of the central plane, respectively.

[0030] Within the base, the third drive cable and the fourth drive cable are located on the same side of the central plane, and the distal ends of the third drive cable and the fourth drive cable are connected to the second conductive component.

[0031] In one possible implementation, within the wrist joint, the first drive cable, the second drive cable, the third drive cable, and the fourth drive cable are arranged in a matrix; the first drive cable and the third drive cable are arranged diagonally, and the second drive cable and the fourth drive cable are arranged diagonally.

[0032] Within the base, the first drive cable, the second drive cable, the third drive cable, and the fourth drive cable are twisted at 90°. The central plane has a first side and a second side, with the first drive cable and the second drive cable located on the first side of the central plane, and the third drive cable and the fourth drive cable located on the second side of the central plane.

[0033] In one possible implementation, the number of wires is one, and the one wire is sandwiched between the first drive cable, the second drive cable, the third drive cable and the fourth drive cable.

[0034] The present invention also provides a surgical robot, comprising at least one surgical instrument as described above.

[0035] The surgical instrument provided by this invention improves the structure of its base, dividing it into three parts: a first connecting seat, an insulating seat, and a second connecting seat. Because the insulating seat is made of insulating material, it possesses insulating properties and effectively isolates the first and second connecting seats, thus preventing the conductive tool from electrically connecting to the joint assembly through the base. Furthermore, the first and second connecting seats can be made of high-strength metal, ensuring the base's service life. Simultaneously, since the drive cable is connected to the conductive tool, it will also become energized when the tool is powered. By providing an insulating structure on the outer wall of the drive cable, electrical connection between the conductive tool and the joint assembly is prevented, effectively isolating the conductive tool from the joint assembly and thus preventing the joint assembly from becoming energized. This significantly reduces the risk of leakage from the surgical instrument and improves safety during use. Attached Figure Description

[0036] Figure 1 This is a top view schematic diagram of a surgical robot arranged in an operating room according to an embodiment of the present invention;

[0037] Figure 2A This is a schematic diagram of the main control console of a surgical robot according to an embodiment of the present invention;

[0038] Figure 2B This is a schematic diagram of the operating device of a surgical robot according to an embodiment of the present invention;

[0039] Figure 3A and Figure 3BThis is a schematic diagram of a surgical tool according to an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the surgical instruments in an embodiment of the present invention;

[0041] Figure 5 This is a schematic diagram of the end device in an embodiment of the present invention;

[0042] Figure 6 for Figure 5 A schematic diagram of the structure after removing the first connecting seat, the insulating seat, and the second connecting seat;

[0043] Figure 7 This is a schematic diagram showing the relative positional relationship between the first drive rope, the second drive rope, the third drive rope, and the fourth drive rope and the cover plate in an embodiment of the present invention.

[0044] Figure 8 This is a cross-sectional schematic diagram of the surgical instruments in an embodiment of the present invention;

[0045] Figure 9A for Figure 8 A magnified view of a portion of location A in the diagram;

[0046] Figure 9B for Figure 9A A schematic diagram of the cross-section at position AA;

[0047] Figure 10A for Figure 8 A magnified view of a portion of position B in the middle section;

[0048] Figure 10B for Figure 10A A schematic diagram of the cross-section along position BB;

[0049] Figure 11A for Figure 8 A magnified view of a portion of the area at position C;

[0050] Figure 11B for Figure 11A A schematic diagram of the cross-section at position CC;

[0051] Figure 12A for Figure 8 A magnified view of a portion of the area at position D;

[0052] Figure 12B for Figure 12A A schematic diagram of the cross-section along the DD position;

[0053] Figure 13A for Figure 8 A magnified view of a portion of the area at position E in the middle;

[0054] Figure 13B for Figure 13A A schematic diagram of the cross-section along the EE position;

[0055] Figure 14A This is a schematic diagram showing the arrangement of the first drive cable, the second drive cable, the third drive cable, and the fourth drive cable within the wrist joint in an embodiment of the present invention.

[0056] Figure 14B This is a schematic diagram showing the arrangement of the first drive rope, the second drive rope, the third drive rope, and the fourth drive rope after being twisted 90° within the base in an embodiment of the present invention.

[0057] Figure 15 This is a schematic diagram of the wrist joint in an embodiment of the present invention;

[0058] Figure 16 for Figure 15 The main view; Detailed Implementation

[0059] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the specific implementation methods, structures, features, and effects of the surgical instruments and surgical robots proposed according to the present invention are described in detail below with reference to the accompanying drawings and embodiments:

[0060] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the application. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application and are not intended to limit the scope of this application.

[0061] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element, or it can refer to the two elements being interconnected via signals. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intervening element, or it can refer to the two elements interacting via signals. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or operation, in addition to those depicted in the figures. For example, if the device is flipped in the figures, an element or feature described as "below" or "under" other elements or features would be oriented "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0062] The terms "distal" and "proximal" used in this article are directional terms commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the surgeon during the procedure, while "proximal" refers to the end closest to the surgeon. The term "multiple" used in this article includes two or more.

[0063] The term "instrument" is used herein to describe a medical device inserted into a patient's body to perform surgical or diagnostic procedures. This instrument includes an end effector, which may be a surgical tool used to perform surgical procedures, such as a biopsy needle, electrocautery device, forceps, stapler, scissors, imaging equipment (e.g., an endoscope or ultrasound probe), and the like. Some instruments used in embodiments of this application further include an articulated component (e.g., a joint assembly) for the end effector, allowing the position and orientation of the end effector to be manipulated with one or more mechanical degrees of freedom relative to an instrument axis. Furthermore, the end effector includes functional mechanical degrees of freedom, such as opening and closing clamps. The instrument may also include stored information that can be updated by a surgical system, whereby the storage system can provide one-way or two-way communication between the instrument and one or more system components.

[0064] 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 herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms “and / or” and “and / or” as used herein include any and all combinations of one or more of the associated listed items.

[0065] like Figures 1 to 3B As shown, this embodiment of the invention provides a surgical robot, which includes a main console 20 and a slave operating device 10. The main console 20 is remotely connected to the slave operating device 10, and the surgeon S can remotely operate and control the slave operating device 10 from the main console 20. The main console 20 is configured to send control signals to the slave operating device 10 and display images acquired by the slave operating device 10 according to the surgeon S's operations. The surgeon S can observe three-dimensional stereoscopic images of the patient's body provided by the imaging system through the main console 10. By observing the three-dimensional images of the patient's body, the surgeon S can immerse himself in the sensory experience and control the slave operating device 10 to perform related operations (e.g., perform surgery or acquire images of the patient's body).

[0066] The operating device 10 includes a control unit, a robotic arm 11, and a tool-holding mechanism 12. The control unit can be located in the base of the operating device 10 or on the robotic arm 11. In one embodiment, the control unit is used to control the joint movement of the robotic arm 11 and the movement of the drive device in the tool-holding mechanism 12. Multiple surgical tools 40 can be mounted on the tool-holding mechanism 12, and the drive device of the tool-holding mechanism 12 is used to drive the surgical tools 40 to perform various surgeries.

[0067] In one embodiment, the surgical robot further includes a gas inhalation device, a lumen assembly (not shown), and a cannula 13, the lumen assembly providing fluid communication between the cannula 13 and the gas inhalation device. The cannula 13 is connected to the distal end of the instrument holding mechanism 12 and is inserted into the body cavity of the patient P lying on the operating table T. The end devices of multiple surgical tools 40 or cameras at the distal end of an endoscope extend through the cannula 13 into the body cavity of the patient P to perform surgery-related operations or acquire images of the patient P's internal environment.

[0068] In one embodiment, surgeon S can control the operating mode of the gas inhalation device via main control console 10, such as injecting gas from a gas source into the body cavity of patient P to create an artificial pneumoperitoneum, or aspirating gas from the body cavity of patient P. Assistant A attaches surgical instruments 40 to or replaces surgical instruments 40 from the instrument holding mechanism 12 according to the surgical situation. Surgeon S, assistant A, and anesthesiologist B constitute a basic surgical team. Surgical instruments 40 can be surgical tools used to perform surgical operations, such as electrocautery devices, forceps, staplers, ultrasonic scalpels, etc., or imaging devices (e.g., endoscopes) or other surgical tools for acquiring images.

[0069] The main control console 10 is also remotely connected to the electronic device cart 30, which in turn is remotely connected to the slave operating device 10. The electronic device cart 30 may include an energy generating device, an image signal processing device, and the aforementioned gas blowing device. In this embodiment, the main control console 10, the slave operating device 10, and the electronic device cart 30 communicate remotely via wired Ethernet. However, remote communication is not limited to wired Ethernet; it can also be other wired methods, such as, but not limited to, serial port, CAN, RS485, RS232, USB, SPI, etc., or wireless communication methods, such as, but not limited to, 5G, WiFi, NB, Zigbee, Bluetooth, RFID, etc.

[0070] In one embodiment, such as Figure 2A As shown, the main control console 20 includes a display device 21, an armrest 22, an input device 23, an observation device 24, and a control signal processing system 25. The display device 21 displays images acquired by the imaging system. The display device 21 can be an image source reflected into the eyepiece by multiple mirrors, or it can be a 3D display. The armrest 22 is used to support the surgeon's arm and / or hand, allowing the surgeon to operate the input device 23 more comfortably. The observation device 24 is used to observe the images displayed on the display device. Depending on actual needs, the armrest or observation device 24 can be omitted, allowing direct observation. The surgeon manipulates the surgical instruments of the secondary operating device 10 by operating the input device 23. The control signal processing system of the main control console 20 processes the input signals from the input device 23 and sends control commands to the secondary operating device. The secondary operating device 10 responds to the control commands of the main control console 20 and performs corresponding operations. In some embodiments, the control signal processing system 25 can also be located in the secondary operating device 10, for example, in the base of the secondary operating device 10. The control signal processing system 25 can be the same device as the control device described above.

[0071] Surgical robots typically also include an imaging system (not shown) that enables the surgeon S to view the surgical site from outside the patient's body. This imaging system typically includes a surgical tool 40 with video image acquisition capabilities (e.g., an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the surgical tool 40 with image acquisition capabilities includes optics for acquiring images of one or more imaging sensors (e.g., CCD or CMOS sensors) within the patient's body. These one or more imaging sensors can be positioned distal to the surgical tool 40 with image acquisition capabilities, and the signals generated by these sensors can be transmitted via cable or wirelessly for processing and display on the video display device.

[0072] In one embodiment, such as Figure 2B As shown, the robotic arm 11 of the surgical robot's operating device 10 includes a base 110, a column 120 connected to the base 110, and a large arm 130, a forearm 140, and a vertical arm 150 connected in sequence. The robotic arm also includes multiple joints J1-J5 for connecting the column 120, the large arm 130, the forearm 140, and the vertical arm 150. Specifically, the column 120 includes a support column 121 and a lifting column 122. The support column 121 is fixedly connected to the base 110, and the lifting column 122 is connected to the support column 121 through a first joint J1. The first joint J1 is a linear motion joint, and the lifting column 122 can move linearly along the axis 101 of the first joint J1 to change the height of the portion of the robotic arm 11 connected to the distal end of the column 120. The lifting column 122 is connected to the upper arm 130 via the second joint J2. The upper arm 130 is connected to the lower arm 140 via the third joint J3. The lower arm 140 is connected to the vertical arm 150 via the fourth joint J4. The second joint J2, the third joint J3, and the fourth joint J4 are all rotary joints, and the rotation axes 102, 103, and 104 of these three rotary joints are all perpendicular to the horizontal plane. The vertical arm 150 is connected to the holding device 112 via the fifth joint J5. The axis 105 of the fifth joint J5 is perpendicular to the axes 101-104.

[0073] The control device 160 is configured to control multiple joints J1-J5 in linkage to achieve various positions of the entire robotic arm 11, adjust the position and posture of the holding device 112, and realize the rotational movement of the holding device 112 around its remote motion center 116 at its far end. The control device 160 can be set in the base 110 or in the main control console 20.

[0074] In one embodiment, the holding device 112 further includes a cannula 115, which is detachably connected to the holding device 112 via a docking device 114. The central axis 106 of the holding device 112 is substantially coincident with the axis 118 of the cannula 115. The holding device 112 drives the cannula 115 to rotate around a remote center of motion 116. Since the remote center of motion 116 is located at the incision 117, the patient P will not be injured when the cannula 115 rotates around the remote center of motion 116.

[0075] In one embodiment, the operating device 10 further includes a control panel 170 disposed on the support column 121. The control panel 170 includes at least one switch 171. The switch 171 is used to input a positioning command to the control device 160. The control device 160 responds to the action of the switch 171 to control the movement of the robotic arm 11 to quickly achieve various predetermined positions of the robotic arm 11, such as unfolding it into a position for arranging a sterile curtain.

[0076] In one embodiment, the holding device 112 may be equipped with multiple surgical instruments 40, which enter the body through the incision 117 via the same cannula 115. Figure 3A As shown, the surgical instrument 40 includes an instrument case 41, a long shaft 42, a joint assembly 43, and an end effector 7 connected in sequence. The surgical instrument 40 is detachably mounted on a drive system from the instrument holding device 112 of the operating device 10. The instrument case 41 contains a transmission device (not shown), which includes multiple transmission units (e.g., winches). The transmission units are connected to the joint assembly 43 and the end effector 7 via multiple cables (including the joint drive cable 45 and drive cable 8 described below). The multiple transmission units are coupled to and driven by multiple actuators (e.g., motors) within the drive system. The multiple actuators receive control commands from a control device and, according to the control commands, drive the transmission units to move, thereby driving the end effector 7 to move. For example, the drive units rotate the transmission units to pull / tighten the drive cables to control the movement of the end effector. The end effector 7, via the joint assembly 43, is capable of performing multiple Cartesian degrees of freedom movements, such as translational movements (including lateral and / or longitudinal movements) to change the position of the end effector 7 and pitch, yaw, and roll movements to change the orientation of the mode device 44. It is understood that translation, pitch, yaw, and roll can occur independently or simultaneously. The end effector 7 is used to perform surgical procedures. Depending on the needs of the surgical procedure, the end effector 7 can be an electrocautery device, forceps, stapler, scissors, ultrasonic scalpel, camera, imaging device, etc., where the camera or imaging device is used to acquire images of the inside of the human body.

[0077] In one embodiment, such as Figure 3BAs shown, multiple surgical instruments 40 pass through a cannula 115 to reach the vicinity of the target tissue T to perform relevant surgical procedures or examinations. The multiple surgical instruments 40 include an endoscope 51 and surgical instruments 52, 53, and 54 for performing surgical procedures. Each surgical instrument 40 includes... Figure 3A The joint assembly 43 shown enables the endoscope 51 and surgical instruments 52, 53, 54 to perform related surgeries flexibly and freely. The surgical instruments 52, 53, 54 can be active instruments and / or passive instruments.

[0078] The specific implementation, structure, features, and effects of the surgical instrument proposed according to the present invention are described in detail below with reference to the accompanying drawings and embodiments:

[0079] like Figures 4 to 13B As shown, this embodiment of the invention provides a surgical instrument, specifically an active instrument, which includes a joint assembly 43, an end effector 7, at least one drive cable 8, and at least one wire 9. The end effector 7 includes a base 71 and a conductive tool 72. The base 71 includes a first connecting seat 711, an insulating seat 712, and a second connecting seat 713. The first connecting seat 711 and the second connecting seat 713 are spaced apart, meaning they do not contact each other. The insulating seat 712 is connected between the first connecting seat 711 and the second connecting seat 713. Specifically, the first connecting seat 711 is connected to the distal end of the insulating seat 712, and the second connecting seat 713 is connected to the proximal end of the insulating seat 712. The insulating seat 712 is made of insulating material, while the joint assembly 43 and the conductive tool 72 are generally made of metal.

[0080] The conductive tool 72 is rotatably connected to the first connecting seat 711, and the second connecting seat 713 is fixedly connected to the distal end of the joint assembly 43. The distal end of the wire 9 passes sequentially through the joint assembly 43 and the base 71 and is electrically connected to the conductive tool 72; the distal end of the drive cable 8 passes sequentially through the joint assembly 43 and the base 71 and is connected to the conductive tool 72. The drive cable 8 is used to drive the conductive tool 72 to rotate relative to the first connecting seat 711. The outer wall of the drive cable 8, at least in the portion within the joint assembly 43 and the base 71, is provided with an insulating structure.

[0081] Specifically, the proximal end of the conductor 9 is electrically connected to a power supply device (not shown), and the distal end of the conductor 9 passes through the joint assembly 43 and the base 71 and is electrically connected to the conductive tool 72 (specifically, the distal end of the conductor 9 passes sequentially through the joint assembly 43, the second connecting seat 713, the insulating seat 712, and the first connecting seat 711), thereby supplying power to the conductive tool 72 to realize the functions of electrocutting, electrocoagulation, etc. The conductive tool 72 can specifically be surgical scissors, surgical forceps, electric hooks, electric shovels, etc.

[0082] The proximal end of the drive cable 8 is connected to the transmission unit (not shown), and the distal end of the drive cable 8 passes through the joint assembly 43 and the base 71 and is connected to the conductive tool 72 (specifically, the distal end of the drive cable 8 passes through the joint assembly 43, the second connecting seat 713, the insulating seat 712 and the first connecting seat 711 in sequence). The transmission unit controls the rotation of the conductive tool 72 by controlling the drive cable 8 to perform the pulling / retracting action, so as to realize the corresponding physical shearing and other functions.

[0083] The surgical instrument provided in this embodiment improves the structure of the base 71 by dividing it into three parts: a first connecting seat 711, an insulating seat 712, and a second connecting seat 713. Since the insulating seat 712 is made of insulating material, it has insulating properties and can insulate the first connecting seat 711 and the second connecting seat 713 (i.e., the first connecting seat 711 is energized, and the second connecting seat 713 is not energized), thereby preventing the conductive tool 72 from being electrically connected to the joint assembly 43 through the base 71. Furthermore, the first connecting seat 711 and the second connecting seat 713 can be made of high-strength metal, thus ensuring the service life of the base 71. (Since the first connecting seat 711 and the second connecting seat 713 need to be connected to the conductive tool 72 and the joint assembly 43 respectively, they need to have high structural strength; therefore, the first connecting seat 711 and the second connecting seat 713 are generally made of metal. This is also why the base 71 cannot be made entirely of plastic.) Meanwhile, since the drive cable 8 is connected to the conductive tool 72, the drive cable 8 will also be energized when the conductive tool 72 is energized. By setting an insulating structure on the outer wall of the drive cable 8, the conductive tool 72 is prevented from being electrically connected to the joint assembly 43 through the drive cable 8. That is, the conductive tool 72 is insulated from the joint assembly 43, thereby preventing the joint assembly 43 from being energized, greatly reducing the risk of leakage of surgical instruments and improving the safety of use.

[0084] It should be noted that since the outer wall of the wire 9 is generally provided with an insulating sheath 91, when the wire 9 passes through the joint assembly 43 and the base 71, the wire 9 will not be electrically connected to the joint assembly 43 and the base 71 (the distal end of the wire 9 is electrically connected to the conductive tool 72 after the insulating sheath 91 is stripped).

[0085] In one embodiment, the first connecting seat 711 and the second connecting seat 713 are both made of metal, while the insulating seat 712 is made of plastic. The insulating seat 712 is integrally formed with the first connecting seat 711 and the second connecting seat 713 by insert injection molding. Specifically, during manufacturing, the first connecting seat 711 and the second connecting seat 713, which have been formed, are first placed in an injection mold. Then, molten plastic material is poured into the injection mold. After cooling, the plastic material forms the insulating seat 712 (the specific steps of insert injection molding can be found in the prior art and will not be elaborated here). This insert injection molding method not only facilitates manufacturing but also ensures the connection strength and sealing between the insulating seat 712 and the first connecting seat 711 and the second connecting seat 713, thereby ensuring the structural strength and overall sealing of the base 71.

[0086] like Figures 5 to 7 As shown, in one embodiment, the first connecting seat 711 includes a base 711a, a first clamping arm 711b, and a second clamping arm 711c. The base 711a is fixedly connected to the insulating seat 712. The first clamping arm 711b and the second clamping arm 711c are both fixedly connected to the base 711a. The first clamping arm 711b and the second clamping arm 711c protrude from the base 711a and are spaced apart. The proximal end of the conductive tool 72 is located between the first clamping arm 711b and the second clamping arm 711c. The proximal end of the conductive tool 72 is rotatably connected to the first clamping arm 711b and the second clamping arm 711c via a pin 715 (specifically, the pin 715 passes through the proximal end of the conductive tool 72, the first clamping arm 711b, and the second clamping arm 711c) to achieve a rotatable connection between the conductive tool 72 and the first connecting seat 711. Among them, the 715 pin is generally made of metal.

[0087] like Figures 5 to 7 As shown, in one embodiment, the base 71 has a cavity 710 for the drive cable 8 and wire 9 to pass through, and the cavity 710 is filled with insulating adhesive (not shown). Specifically, after the drive cable 8 and wire 9 are passed through the base 71, the cavity 710 in the base 71 is filled with insulating adhesive. The insulating adhesive fills the gap between the drive cable 8 and wire 9 and the inner wall of the base 71. After the insulating adhesive solidifies, it forms an insulating adhesive, which can further improve the insulation performance between the drive cable 8 and wire 9 and the base 71, as well as the sealing performance of the base 71.

[0088] like Figures 5 to 7As shown, in one embodiment, the insulating base 712 has a cylindrical structure, and a cavity 710 is formed inside the insulating base 712; the second connecting base 713 is also generally cylindrical. The base 711a of the first connecting base 711 has an opening 7110 that communicates with the cavity 710. The base 71 also includes a cover plate 714, which is disposed at the opening 7110 and seals the opening 7110. The drive cable 8 and the wire 9 pass through the cover plate 714. By providing an opening 7110 on the base 711a, it is convenient to inject insulating glue into the cavity 710 through the opening 7110, and it also facilitates the installation and arrangement of the drive cable 8 and the wire 9.

[0089] like Figures 8 to 13B As shown, in one embodiment, each drive cable 8 includes a drive wire 81, which is generally made of steel wire (or other metal wire, such as alloy wire) to give it good flexibility and structural strength (the drive wire 81 needs to be bent within the joint assembly 43). The distal end of the drive wire 81 passes through the joint assembly 43 and the base 71 in sequence and is connected to the conductive tool 72. The drive wire 81 includes a first section 811, which is located within the joint assembly 43 and the base 71 (i.e., the portion of the drive cable 8 located within the joint assembly 43 and the base 71 is the first section 811). A composite sleeve 82 is sleeved on the outer wall of the first section 811 (i.e., the above-mentioned insulation structure includes the composite sleeve 82). The composite sleeve 82 includes a metal wear-resistant layer 821 and a first insulating layer 822 arranged sequentially from the inside to the outside. That is, the metal wear-resistant layer 821 is located between the first insulating layer 822 and the drive wire 81, and the drive wire 81 can move along its axial direction relative to the metal wear-resistant layer 821. The distal end of the composite sleeve 82 is fixed inside the base 71 by insulating adhesive inside the base 71.

[0090] Specifically, the inner wall of the first insulating layer 822 and the outer wall of the metal wear-resistant layer 821 are generally in close contact, and there is a gap between the inner wall of the metal wear-resistant layer 821 and the outer wall of the drive wire 81, so that the drive wire 81 can move smoothly within the composite sleeve 82. By setting the composite sleeve 82 outside the first section 811, wherein the first insulating layer 822 in the composite sleeve 82 serves as insulation to prevent the drive wire 81 from making electrical contact with the joint assembly 43 and the base 71 (second connecting seat 713), insulation is achieved between the drive wire 81 and the joint assembly 43 and the base 71; the metal wear-resistant layer 821 in the composite sleeve 82 is for frictional contact with the drive wire 81 when the drive wire 81 moves axially, so as to avoid wear of the first insulating layer 822. In this embodiment, the drive wire 81 moves axially within the composite sleeve 82, while the composite sleeve 82 moves almost no (or moves very little), thereby avoiding wear caused by friction between the composite sleeve 82 and the inner wall of the joint assembly 43 (since the joint assembly 43 needs to be bent during use, when the joint assembly 43 is bent, the outer wall of the composite sleeve 82 will come into contact with the inner wall of the joint assembly 43; if the composite sleeve 82 needs to move axially at this time, the composite sleeve 82 will rub against the inner wall of the joint assembly 43, causing wear on the first insulating layer 822).

[0091] It is easy to imagine that if the metal wear-resistant layer 821 is not provided, and the first insulating layer 822 is directly provided on the outer wall of the drive wire 81, the drive wire 81 will rub against the inner wall of the first insulating layer 822 when it moves axially, causing the first insulating layer 822 to wear.

[0092] Meanwhile, a composite sleeve 82 is provided on the outer wall of the drive wire 81 inside the base 71, that is, the distal end of the composite sleeve 82 extends to the cover plate 714 (the distal end of the composite sleeve 82 can actually extend into the cover plate 714). On the one hand, this is to avoid electrical contact between the drive wire 81 and the second connecting seat 713 (the distal end of the drive wire 81 needs to pass through the second connecting seat 713), thus achieving insulation between the drive wire 81 and the second connecting seat 713. On the other hand, since the base 71 is filled with insulating glue, if the composite sleeve 82 is not provided on the outer wall of the drive wire 81 inside the base 71, that is, the drive wire 81 is exposed inside the base 71, the drive wire 81 will not be able to move axially normally due to the adhesive effect of the insulating glue.

[0093] As one implementation method, the metal wear-resistant layer 821 is a metal spring tube. The metal spring tube not only has good wear resistance but also good bending performance, thereby avoiding fatigue damage to the metal wear-resistant layer 821 when the joint component 43 is bent.

[0094] like Figures 5 to 8As shown, in one embodiment, the drive wire 81 further includes a second section 812 connected to the distal end of the first section 811, and the second section 812 is connected to the conductive tool 72; the outer wall of the second section 812 is not provided with a composite sleeve 82. That is, the outer wall of the distal end of the drive wire 81 is not provided with a composite sleeve 82, and the distal end of the drive wire 81 extends out of the base 71 and is directly connected to the conductive tool 72 (since the drive wire 81 will move relative to the composite sleeve 82, if the outer wall of the second section 812 is also provided with a composite sleeve 82, that is, the composite sleeve 82 is connected to the conductive tool 72, after the transmission unit applies force to the drive wire 81, the drive wire 81 will slide relative to the composite sleeve 82, and the force cannot be transmitted to the conductive tool 72, so that the conductive tool 72 cannot rotate normally).

[0095] like Figure 4 , Figures 8 to 12B As shown, in one embodiment, the surgical instrument also includes a long shaft 42 connected to the proximal end of the joint assembly 43. The long shaft 42 is made of metal (e.g., a steel pipe), and the drive cable 8 and the wire 9 pass through the long shaft 42; the proximal end of the drive wire 81 is located within the long shaft 42 (it should be noted that...). Figure 8 Only the wrist joint 434 in the joint assembly 43 and the shaft 421 and metal collar 422 in the long shaft 42 are shown, while the parallel joint 430 in the joint assembly 43 and other parts of the long shaft 42 are not shown. Meanwhile, within the long shaft 42, Figure 8 Only one drive cable 8 is shown in the diagram; in this embodiment, there are actually four drive cables 8.

[0096] The drive wire 81 also includes a third section 813, a fourth section 814, and a fifth section 815 disposed within the long shaft 42. The third section 813, the fourth section 814, and the fifth section 815 are arranged sequentially from far to near. The far end of the third section 813 is connected to the proximal end of the first section 811, the far end of the fourth section 814 is connected to the proximal end of the third section 813, and the far end of the fifth section 815 is connected to the proximal end of the fourth section 814.

[0097] The outer wall of the third section 813 is provided with a composite sleeve 82, that is, the proximal end of the composite sleeve 82 extends to the outer wall of the third section 813, and the composite sleeve 82 can insulate the third section 813 and the long shaft 42; the outer wall of the fifth section 815 is provided with a second insulating layer 83 (that is, the above-mentioned insulation structure includes the second insulating layer 83), and the second insulating layer 83 can insulate the fifth section 815 and the long shaft 42; the outer wall of the fourth section 814 is not provided with a composite sleeve 82 and a second insulating layer 83.

[0098] The reason for this arrangement is that since the long shaft 42 does not bend, there is no need to install the costly composite sleeve 82 on the drive wire 81 inside the long shaft 42. Instead, a costly second insulating layer 83 can be installed on the drive wire 81 (fifth section 815). The second insulating layer 83 covers the outer wall of the fifth section 815 and can move axially with the drive wire 81. The fourth section 814 is the transition part between the third section 813 and the fifth section 815. Since the drive wire 81 has a certain amount of axial movement when it moves axially, in order to avoid the second insulating layer 83 outside the fifth section 815 from interfering with the composite sleeve 82 (or the limiting sleeve 87 below) outside the third section 813 and affecting the axial movement of the drive wire 81, the composite sleeve 82 and the second insulating layer 83 are not provided on the outer wall of the fourth section 814 (i.e., the fourth section 814 is an exposed structure), thereby providing a certain amount of clearance for the axial movement of the fifth section 815 (it is easy to imagine that if the fourth section 814 is not provided, or if the fourth section 814 is also provided with a composite sleeve 82 or a second insulating layer 83 on its outer wall, then when the drive wire 81 extends toward the far end, the second insulating layer 83 outside the fifth section 815 will interfer with the composite sleeve 82 outside the third section 813, thereby affecting the axial movement of the drive wire 81).

[0099] Meanwhile, the purpose of providing the composite sleeve 82 on the outer wall of the third section 813 is as follows: Since the composite sleeve 82 has a certain amount of axial movement, if the composite sleeve 82 is exactly located inside the joint assembly 43, that is, the exposed fourth section 814 is located at the junction of the long axis 42 and the joint assembly 43, then when the composite sleeve 82 is shortened, the fourth section 814 may come into contact with the joint assembly 43 and make the joint assembly 43 electrified; in order to avoid the above problem, the proximal end of the composite sleeve 82 is extended into the long axis 42, that is, the composite sleeve 82 is also provided on the outer wall of the third section 813.

[0100] like Figures 8 to 12B As shown, in one embodiment, an insulating sleeve 46 is fixedly provided inside the long shaft 42, and the insulating sleeve 46 is provided at least corresponding to the fourth section 814; when the fourth section 814 moves along its axial direction, the fourth section 814 is always located inside the insulating sleeve 46 (that is, the fourth section 814 is always located inside the insulating sleeve 46 during axial movement). By providing the insulating sleeve 46, the insulating sleeve 46 can insulate the exposed fourth section 814 from the long shaft 42; at the same time, the insulating sleeve 46 can also radially limit the drive cable 8 and the wire 9 to reduce or avoid radial movement of the drive cable 8 and the wire 9. The insulating sleeve 46 can be made of PEEK (polyetheretherketone), PTFE (polytetrafluoroethylene), etc.

[0101] like Figures 8 to 12BAs shown, in one embodiment, a stop portion 461 is provided on the inner wall of the insulating sleeve 46. The stop portion 461 protrudes radially within the insulating sleeve 46, and a through hole 462 is provided on the stop portion 461. The third section 813 and the fifth section 815 are located on opposite sides of the stop portion 461, and the fourth section 814 passes through the through hole 462. The proximal end of the composite sleeve 82 can abut against the stop portion 461 to axially limit the composite sleeve 82, thereby preventing the composite sleeve 82 from abutting against the second insulating layer 83 outside the fifth section 815 after axial extension, which would affect the normal movement of the drive wire 81.

[0102] like Figures 8 to 12B As shown, in one embodiment, a limiting sleeve 87 is fixedly connected to the proximal end of the composite sleeve 82. The limiting sleeve 87 is sleeved on the outer wall of the fourth section 814 and can abut against the stop portion 461 to better limit the axial movement of the composite sleeve 82. Specifically, in this embodiment, the limiting sleeve 87 is a metal sleeve. After a small section (e.g., 2 mm) of the first insulating layer 822 is peeled off from the proximal end of the metal wear-resistant layer 821, the limiting sleeve 87 is fixed to the proximal end of the metal wear-resistant layer 821 by welding; the drive wire 81 can move axially relative to the limiting sleeve 87.

[0103] like Figures 8 to 12B As shown, in one embodiment, the insulating sleeve 46 includes a first insulating tube 46A and a second insulating tube 46B. The distal end of the first insulating tube 46A is sleeved with the proximal end of the second insulating tube 46B, and a stop portion 461 is disposed on the inner wall of the second insulating tube 46B. By configuring the insulating sleeve 46 into two parts, the first insulating tube 46A and the second insulating tube 46B, assembly is facilitated. Of course, in other embodiments, the insulating sleeve 46 can also be a single integral tubular structure.

[0104] like Figure 4 , Figures 8 to 12B As shown, in one embodiment, the long shaft 42 includes a shaft 421 and a metal collar 422. The distal end of the shaft 421 is connected to the proximal end of the joint assembly 43, and the metal collar 422 is connected to the proximal end of the shaft 421. The distal end of the insulating sleeve 46 is abutted and limited by the joint assembly 43, and the proximal end of the insulating sleeve 46 is abutted and limited by the metal collar 422 to fix the insulating sleeve 46. At the same time, the insulating sleeve 46 can also be bonded and fixed to the inner wall of the long shaft 42 and / or the proximal end of the joint assembly 43.

[0105] like Figure 3A , Figure 4 , Figures 8 to 9BAs shown, in one embodiment, the surgical instrument also includes an instrument case 41, which is connected to the proximal end of the long shaft 42. The instrument case 41 contains a transmission device (not shown), which includes a transmission unit. Each drive cable 8 also includes a connecting tube 84, which is generally a metal tube. The connecting tube 84 is located inside the long shaft 42, and its distal end is fixedly connected to the proximal end of the fifth segment 815. The proximal end of the connecting tube 84 is connected to the transmission unit, meaning the transmission unit can sequentially drive the conductive tool 72 to rotate through the connecting tube 84 and the drive wire 81. A third insulating layer 85 (i.e., the above-mentioned insulation structure includes the third insulating layer 85) is provided on the outer wall of the connecting tube 84, which insulates the connecting tube 84 and the long shaft 42.

[0106] Specifically, since the cost of the connecting tube 84 is lower than that of the drive wire 81, this embodiment uses the connecting tube 84 to connect with the drive wire 81 (although the connecting tube 84 has poor bending resistance, since the long shaft 42 will not bend, the connecting tube 84 can replace the drive wire 81 within the long shaft 42) to reduce costs. In this embodiment, the proximal end of the drive wire 81 extends into the distal end of the connecting tube 84, and the distal end of the connecting tube 84 and the proximal end of the drive wire 81 are fixed by crimping; the third insulating layer 85 simultaneously covers the outside of the connecting tube 84 and the proximal end of the second insulating layer 83. The third insulating layer 85 is a heat-shrinkable tube, which can shrink after heating to tightly cover the connection position between the connecting tube 84 and the drive wire 81. Of course, in other embodiments, if cost is not a consideration, the proximal end of the drive wire 81 can also be connected to the transmission unit (i.e., the connecting tube 84 is not used for connection).

[0107] In one implementation, the proximal end of the connecting tube 84 is connected to the transmission unit via an insulating rope (not shown), and a third insulating layer 85 is provided on the outer wall of the insulating rope. Since the drive wire 81 is energized, the connecting tube 84 is also energized; by providing an insulating rope between the connecting tube 84 and the transmission unit, the connecting tube 84 and the transmission unit can be insulated, preventing the transmission unit from becoming energized. The insulating rope can specifically be a Kevlar rope, etc.

[0108] In one implementation, the first insulating layer 822, the second insulating layer 83, and the third insulating layer 85 are all made of PTFE, but other insulating materials can also be used.

[0109] like Figures 4 to 6 , Figure 15 and Figure 16As shown, in one embodiment, the joint assembly 43 includes a wrist joint 434 connected to the base 71. The wrist joint 434 includes two joint portions 6, each of which is generally cylindrical, and the two joint portions 6 are arranged sequentially along their axial direction. The two joint portions 6 are a first joint portion 6A and a second joint portion 6B, respectively. The first joint portion 6A is fixedly connected to the second connecting seat 713, and the first joint portion 6A and the second joint portion 6B can rotate relative to each other. The rotation axis W1 of the first joint portion 6A is perpendicular to the rotation axis W2 of the conductive tool 72, that is, the first joint portion 6A and the conductive tool 72 can deflect in different directions (the first joint portion 6A can rotate back and forth, and the conductive tool 72 can rotate left and right), so as to enrich the deflection direction of the conductive tool 72.

[0110] like Figures 4 to 6 , Figure 15 and Figure 16 As shown, in one embodiment, the wrist joint 434 adopts a gear-type joint structure. In the wrist joint 434, the end faces 60 of the two joint portions 6 that are close to each other (the end faces 60 of the joint portions 6 are also the joint disc surfaces of the joint portions 6) are provided with protruding arc-shaped support surfaces 600. That is, the end face 60 of the first joint portion 6A that is close to the second joint portion 6B is provided with an arc-shaped support surface 600, and the end face 60 of the second joint portion 6B that is close to the first joint portion 6A is provided with an arc-shaped support surface 600; the arc-shaped support surface 600 is an arc surface.

[0111] A first gear portion 61 is provided on the side wall of the first joint portion 6A. The first gear portion 61 protrudes from the end face 60 of the first joint portion 6A along the axial direction of the first joint portion 6A toward the side closer to the second joint portion 6B. The first gear portion 61 and the first joint portion 6A are integrally formed. A second gear portion 62 is provided on the side wall of the second joint portion 6B. The second gear portion 62 protrudes from the end face 60 of the second joint portion 6B along the axial direction of the second joint portion 6B toward the side closer to the first joint portion 6A. The second gear portion 62 and the second joint portion 6B are integrally formed. The first gear portion 61 includes a plurality of spaced-apart first joint teeth 611, and the second gear portion 62 includes a plurality of spaced-apart second joint teeth 621. The plurality of first joint teeth 611 can mesh with the plurality of second joint teeth 621.

[0112] The arcuate support surface 600 on the first joint portion 6A contacts the arcuate support surface 600 on the second joint portion 6B, that is, the arcuate support surface 600 on the first joint portion 6A and the arcuate support surface 600 on the second joint portion 6B form a top-to-bottom structure. The top-to-bottom arcuate support surfaces 600 can control the distance between the first joint portion 6A and the second joint portion 6B, thereby controlling the center distance between the first gear portion 61 and the second gear portion 62. When the first joint portion 6A and the second joint portion 6B rotate relative to each other, the plurality of first joint teeth 611 on the first joint portion 6A meshes and rotates with the plurality of second joint teeth 621 on the second joint portion 6B (the plurality of first joint teeth 611 and the plurality of second joint teeth 621 will not disengage), and the arcuate support surface 600 on the first joint portion 6A and the arcuate support surface 600 on the second joint portion 6B roll relative to each other.

[0113] Specifically, a first gear portion 61 is provided on the side wall of the first joint portion 6A, and a second gear portion 62 is provided on the side wall of the second joint portion 6B. The first gear portion 61 includes a plurality of first articulated teeth 611, and the second gear portion 62 includes a plurality of second articulated teeth 621. The plurality of first articulated teeth 611 mesh with the plurality of second articulated teeth 621. At the same time, an arcuate support surface 600 is provided on the end face 60 of the joint portion 6, and the arcuate support surface 600 on the first joint portion 6A contacts the arcuate support surface 600 on the second joint portion 6B, that is, the arcuate support surface 600 on the first joint portion 6A contacts the arcuate support surface 600 on the second joint portion 6B. The teeth are arranged in a top-to-top configuration. This configuration allows two adjacent joints 6 to be supported simultaneously by the engagement of the first gear 61 and the second gear 62, as well as by the top-to-top arcuate support surface 600 between the two adjacent joints 6. In other words, the arcuate support surface 600 can play an auxiliary support role, distributing part of the force between the first gear 61 and the second gear 62, thereby reducing the friction and movement resistance between the first joint tooth 611 and the second joint tooth 621, thus reducing the wear of the first joint tooth 611 and the second joint tooth 621, and increasing the smoothness of the relative movement of the first joint tooth 611 and the second joint tooth 621. Furthermore, when the first joint 6A and the second joint 6B rotate relative to each other, the arc-shaped support surface 600 on the first joint 6A and the arc-shaped support surface 600 on the second joint 6B roll relative to each other. That is, the friction between the arc-shaped support surfaces 600 is rolling friction, which has a smaller friction force and motion resistance (the friction force of rolling friction is smaller than that of sliding friction). This further increases the smoothness of movement between the joints 6, reduces motion wear, and improves motion accuracy and the service life of the components.

[0114] Moreover, compared to ordinary joint structures with protrusions and grooves (such as the joint structure used in the parallel joint 430 in this embodiment), this gear-type joint structure can achieve a larger rotation angle (multiple first joint teeth 611 and multiple second joint teeth 621 mesh with each other and are not easily disengaged). The rotation angle between two adjacent joint parts 6 can reach 80° or more. Therefore, it is not necessary to set more joint parts 6 to achieve large-angle bending of the wrist joint 434, thereby reducing the number of joint parts 6 in the wrist joint 434, shortening the length of the wrist joint 434, and thus facilitating the assembly and compact design of the wrist joint 434, reducing the cost of the wrist joint 434, improving the motion rigidity of the wrist joint 434, and facilitating the manipulation of joint components during surgery.

[0115] like Figure 15 and Figure 16 As shown, in one embodiment, the first gear portion 61 includes two spaced-apart first articulated teeth 611, and the second gear portion 62 includes three spaced-apart second articulated teeth 621. In another embodiment, the first gear portion 61 includes three spaced-apart first articulated teeth 611, and the second gear portion 62 includes two spaced-apart second articulated teeth 621. By using the three articulated teeth in conjunction with the two articulated teeth, large-angle rotation between the joint portions 6 can be achieved.

[0116] like Figure 15 and Figure 16 As shown, in one embodiment, the first gear part 61 is disposed on the sidewalls of the first joint part 6A on opposite sides along its radial direction, and the second gear part 62 is disposed on the sidewalls of the second joint part 6B on opposite sides along its radial direction. The first gear part 61 on opposite sides respectively cooperates with the second gear part 62 on opposite sides, so that the support and rotation between the first joint part 6A and the second joint part 6B can be more stable and the motion accuracy is higher.

[0117] like Figure 15 and Figure 16 As shown, in one embodiment, the first gear portion 61 further includes a first root portion 612, and a plurality of first articulated teeth 611 are disposed on the first root portion 612. The first root portion 612 is fixedly connected to the first articulated portion 6A. The second gear portion 62 further includes a second root portion 622, and a plurality of second articulated teeth 621 are disposed on the second root portion 622. The second root portion 622 is fixedly connected to the second articulated portion 6B.

[0118] like Figure 15 and Figure 16As shown, in one embodiment, a support block 63 is provided on the end face 60 of each joint portion 6 along its axial direction. The support block 63 and the joint portion 6 are integral structures. An arc-shaped support surface 600 is provided on the support block 63 (specifically, the arc-shaped support surface 600 is provided on the side of the support block 63 away from the joint portion 6). The support block 63 is located inside the first gear portion 61 and the second gear portion 62, that is, the support block 63 is located on the side of the first gear portion 61 and the second gear portion 62 near the center of the joint portion 6.

[0119] Specifically, since the support block 63 and the joint 6 are an integral structure, when assembling two adjacent joints 6, it is only necessary to assemble the first gear part 61 and the second gear part 62. The support blocks 63 on the two adjacent joints 6 will naturally form a top-to-top contact structure, which facilitates assembly.

[0120] In another embodiment, the arcuate support surface 600 is formed by protruding along the axial direction of the end face 60 of the joint portion 6 (this case is not shown in the figure), that is, the arcuate support surface 600 is the end face 60 of the joint portion 6.

[0121] like Figure 15 and Figure 16 As shown, in one embodiment, the support block 63 on the first joint 6A is located in the line direction connecting the first gear parts 61 on its opposite sides, and the support block 63 on the second joint 6B is located in the line direction connecting the second gear parts 62 on its opposite sides.

[0122] like Figure 15 and Figure 16 As shown, in one embodiment, each joint portion 6 has a central hole 64 extending axially through the joint portion 6. The central hole 64 is located at the middle of the joint portion 6 and is used for the drive cable 8 and wire 9 (or other components) to pass through. Support blocks 63 are provided on opposite sides of the central hole 64 on the end face 60 of each joint portion 6. In this embodiment, two support blocks 63 are provided on one end face 60 of each joint portion 6, and these two support blocks 63 are located on opposite sides of the central hole 64. The two support blocks 63 on the first joint portion 6A respectively make abutting contact with the two support blocks 63 on the second joint portion 6B, forming a multi-point abutting contact structure, thereby improving the support stability and movement accuracy between the first joint portion 6A and the second joint portion 6B.

[0123] like Figure 15 and Figure 16As shown, in one embodiment, each joint portion 6 is provided with a plurality of rope holes 65 extending through the joint portion 6 along its axial direction, and the plurality of rope holes 65 are spaced apart around the central hole 64. The rope holes 65 are used for the joint drive ropes 45 to pass through, and the joint drive ropes 45 are used to realize the connection between each joint portion 6 along its axial direction (i.e., to limit each joint portion 6 along its axial direction, and to a certain extent prevent the adjacent joint portions 6 from loosening) and the rotational movement of each joint portion 6, thereby realizing the deflection movement of the wrist joint 434. Specifically, the transmission unit is connected to the joint assembly 43 (including the wrist joint 434 and the parallel joint 430 described below) through the plurality of joint drive ropes 45, thereby driving the joint assembly 43 to move through the joint drive ropes 45.

[0124] like Figure 15 and Figure 16 As shown, in one embodiment, the support block 63 on the first joint 6A is arranged close to the first gear 61, and the support block 63 on the second joint 6B is arranged close to the second gear 62; that is, the two support blocks 63 on the first joint 6A are respectively arranged close to the first gear 61 on opposite sides, and the two support blocks 63 on the second joint 6B are respectively arranged close to the second gear 62 on opposite sides. Since the support block 63 on the first joint 6A is arranged close to the first gear 61, the support block 63 can also strengthen the first gear 61; since the support block 63 on the second joint 6B is arranged close to the second gear 62, the support block 63 can also strengthen the second gear 62.

[0125] like Figure 15 and Figure 16 As shown, in one embodiment, the first articulation tooth 611 on the first joint portion 6A can abut against the support block 63 on the second joint portion 6B, and / or the second articulation tooth 621 on the second joint portion 6B can abut against the support block 63 on the first joint portion 6A, so as to limit the first joint portion 6A and the second joint portion 6B in the radial direction of the first joint portion 6A, and prevent the first joint portion 6A and the second joint portion 6B from moving left and right in the radial direction.

[0126] like Figure 15 and Figure 16As shown, in one embodiment, the wrist joint 434 also includes a restraint rope 66, which can be steel wire or other metal wire. The restraint rope 66 is located inside the first gear part 61 and the second gear part 62, and the opposite ends of the restraint rope 66 are fixedly connected to the end face 60 of the first joint part 6A and the end face 60 of the second joint part 6B, respectively. Since the restraint rope 66 is of a fixed length (i.e., the length of the restraint rope 66 is constant), the restraint rope 66 can exert a pulling effect on the first joint part 6A and the second joint part 6B, thereby preventing the first joint part 6A and the second joint part 6B from axially loosening when they rotate at large angles. Of course, in other embodiments, the first joint part 6A and the second joint part 6B can also be axially limited and prevented from loosening in other ways (for example, by setting an "I"-shaped connector that is hinged to the first gear part 61 and the second gear part 62, respectively).

[0127] like Figure 15 and Figure 16 As shown, in one embodiment, there are two constraint ropes 66. The two constraint ropes 66 are located on opposite sides of the central hole 64, and the two constraint ropes 66 are respectively arranged to correspond to the first gear part 61 and the second gear part 62 on opposite sides (that is, one constraint rope 66 is arranged to correspond to the first gear part 61 and the second gear part 62 on one side, and the other constraint rope 66 is arranged to correspond to the first gear part 61 and the second gear part 62 on the other side).

[0128] like Figures 5 to 7 As shown, in one embodiment, the conductive tool 72 includes a first conductive component 72A and a second conductive component 72B. Both the first conductive component 72A and the second conductive component 72B are rotatably connected to the first connecting seat 711 (specifically, the proximal ends of the first conductive component 72A and the second conductive component 72B are rotatably connected to the first clamping arm 711b and the second clamping arm 711c via pins 715). The first conductive component 72A and the second conductive component 72B are arranged sequentially along a direction parallel to the rotation axis W2 of the conductive tool 72 (i.e., the first conductive component 72A and the second conductive component 72B are arranged sequentially along the axial direction of the pins 715). Specifically, in this embodiment, the conductive tool 72 is a surgical scissor, and the first conductive component 72A and the second conductive component 72B are two scissor blades, capable of physical cutting, electrocautery, and other functions. In other embodiments, the conductive tool 72 can also be other conductive surgical tools.

[0129] like Figures 5 to 7 , Figures 14A to 16As shown, in one embodiment, at least one drive cable 8 includes a first drive cable 8A, a second drive cable 8B, a third drive cable 8C, and a fourth drive cable 8D, meaning that in this embodiment, the number of drive cables 8 is four. Of course, in other embodiments, when the conductive tool 72 has only one conductive component, only one pair of drive cables is needed; for example, if the conductive tool 72 only includes a first conductive component 72A (e.g., the conductive tool 72 is an electric hook), then at least one drive cable 8 only includes a first drive cable 8A and a second drive cable 8B.

[0130] The surgical instrument has a central plane P, the rotation axis W1 of the first joint 6A is located on the central plane P, and the rotation axis W2 of the conductive tool 72 is perpendicular to the central plane P.

[0131] like Figure 14A As shown, within the wrist joint 434, along the rotation direction X of the first joint portion 6A relative to the second joint portion 6B, the first drive cable 8A and the second drive cable 8B are located on opposite sides of the central plane P, and the third drive cable 8C and the fourth drive cable 8D are located on opposite sides of the central plane P.

[0132] like Figure 6 , Figure 7 and Figure 14B As shown, within the base 71, along the rotational direction X of the first joint 6A relative to the second joint 6B, the first drive cable 8A and the second drive cable 8B are located on the same side of the central plane P, and the distal ends of the first drive cable 8A and the second drive cable 8B are connected to the first conductive component 72A; the third drive cable 8C and the fourth drive cable 8D are located on the same side of the central plane P, and the distal ends of the third drive cable 8C and the fourth drive cable 8D are connected to the second conductive component 72B.

[0133] As one implementation method, such as Figure 14A As shown, within the wrist joint 434, the first drive cable 8A, the second drive cable 8B, the third drive cable 8C, and the fourth drive cable 8D are arranged in a matrix, with the first drive cable 8A and the third drive cable 8C arranged diagonally, and the second drive cable 8B and the fourth drive cable 8D arranged diagonally.

[0134] like Figure 6 , Figure 7 and Figure 14BAs shown, within the base 71, the first drive cable 8A, the second drive cable 8B, the third drive cable 8C, and the fourth drive cable 8D are twisted at 90°, thereby changing their positional relationship. Along the rotational direction X of the first joint 6A relative to the second joint 6B, the central plane P has a first side and a second side. The first drive cable 8A and the second drive cable 8B are located on the first side of the central plane P, and the third drive cable 8C and the fourth drive cable 8D are located on the second side of the central plane P. That is, the first drive cable 8A and the second drive cable 8B are located on opposite sides of the central plane P, as are the third drive cable 8C and the fourth drive cable 8D.

[0135] The reason for this arrangement is that, since a wrist joint 434 is provided in this embodiment, when the wrist joint 434 makes a large-angle deflection, along the rotation direction X of the first joint portion 6A relative to the second joint portion 6B, the two drive cables 8 located on the same side of the rotation axis W1 of the first joint portion 6A will be stretched and elongated, while the two drive cables 8 on the other side will be shortened (specifically, as shown in the figure). Figure 14A As shown, when the first joint 6A rotates to the left, the first drive cable 8A and the fourth drive cable 8D shorten because they are closer to the rotation direction of the first joint 6A; and the second drive cable 8B and the third drive cable 8C lengthen because they are farther away from the rotation direction of the first joint 6A. Conversely, when the first joint 6A rotates to the right, the first drive cable 8A and the fourth drive cable 8D lengthen because they are farther away from the rotation direction of the first joint 6A; and the second drive cable 8B and the third drive cable 8C shorten because they are closer to the rotation direction of the first joint 6A.

[0136] Because the rotation axis W1 of the first joint 6A and the rotation axis W2 of the conductive tool 72 are perpendicular to each other, the arrangement direction of the first joint 6A, the second joint 6B, the first conductive component 72A, and the second conductive component 72B is limited. Due to the wiring arrangement of the four drive cables 8, if the four drive cables 8 are not twisted 90° within the base 71, the first drive cable 8A and the fourth drive cable 8D will be connected to the second conductive component 72B, and the second drive cable 8B and the third drive cable 8C will be connected to the first conductive component 72A. When the wrist joint 434 makes a large-angle deflection, the two drive cables 8 connected to the same conductive component 72A / 72B will simultaneously lengthen or shorten, making the movement of the conductive components 72A / 72B uncontrollable.

[0137] To prevent the two drive cables 8 connected to the same conductive component 72A / 72B from simultaneously lengthening or shortening when the wrist joint 434 is rotated at a large angle, the four drive cables 8 are twisted 90° within the base 71. This allows the distal ends of the first drive cable 8A and the second drive cable 8B to connect to the first conductive component 72A, and the distal ends of the third drive cable 8C and the fourth drive cable 8D to connect to the second conductive component 72B (i.e., after twisting the four drive cables 8, the relative positional relationship between the four drive cables 8 and the two conductive components 72A / 72B changes). When the wrist joint 434 is rotated at a large angle, one of the first drive cable 8A and the second drive cable 8B lengthens while the other shortens, and one of the third drive cable 8C and the fourth drive cable 8D lengthens while the other shortens, thus avoiding the aforementioned problems.

[0138] like Figures 5 to 7 As shown, in one embodiment, both the first conductive component 72A and the second conductive component 72B are provided with winding grooves 721. The distal ends of the first driving cable 8A and the second driving cable 8B are wound around the winding grooves 721 on the first conductive component 72A from both sides, and the distal ends of the first driving cable 8A and the second driving cable 8B are fixed inside the first conductive component 72A by fixing blocks 73 (the distal ends of the first driving cable 8A and the second driving cable 8B are both fixedly connected to the fixing blocks 73. In fact, the first driving cable 8A and the second driving cable 8B can be one cable or two cables). By controlling one of the first driving cable 8A and the second driving cable 8B to perform a winding action and the other to perform a releasing action, the rotational movement of the first conductive component 72A is controlled.

[0139] The distal ends of the third drive cable 8C and the fourth drive cable 8D are wound around the winding grooves 721 on the second conductive component 72B from both sides, and are fixed within the second conductive component 72B by fixing blocks 73 (both the distal ends of the third drive cable 8C and the fourth drive cable 8D are fixedly connected to the fixing blocks 73. In fact, the third drive cable 8C and the fourth drive cable 8D can be one cable or two cables). By controlling one of the third drive cable 8C and the fourth drive cable 8D to perform a winding action and the other to perform a releasing action, the rotational movement of the second conductive component 72B is controlled, thereby controlling the opening and closing actions of the first conductive component 72A and the second conductive component 72B.

[0140] like Figure 4As shown, in one embodiment, the joint assembly 43 further includes a parallel joint 430. The parallel joint 430 includes a joint arm 432, a distal joint 433 connecting the joint arm 432 and the wrist joint 434, and a proximal joint 431 connecting the joint arm 432 and the long axis 42. Since the deflection angles of the distal joint 433 and the proximal joint 431 are relatively small, both the distal joint 433 and the proximal joint 431 adopt conventional joint structures with protrusions and grooves, without the need for the aforementioned gear-type joint structure. Of course, in other embodiments, the parallel joint 430 (including the distal joint 433 and / or the proximal joint 431) may also adopt the aforementioned gear-type joint structure.

[0141] like Figure 13B As shown, in one embodiment, there is one wire 9, which is sandwiched between the first drive cable 8A, the second drive cable 8B, the third drive cable 8C, and the fourth drive cable 8D to limit and fix the wire 9. In this embodiment, the surgical instrument is a unipolar instrument, and the single wire 9 only needs to be connected to one of the first conductive component 72A and the second conductive component 72B (since the first conductive component 72A and the second conductive component 72B are in contact with each other, and the pin 715 is a metal shaft, the first conductive component 72A and the second conductive component 72B are electrically connected, so only one wire 9 needs to be set to connect to one of them to make both of them charged). Of course, in other embodiments, the structure of the surgical instrument can also be adjusted accordingly to be used as a bipolar instrument. For example, the first conductive component 72A and the second conductive component 72B can be insulated, and two wires 9 can be set to be connected to the first conductive component 72A and the second conductive component 72B respectively, so that one of the first conductive component 72A and the second conductive component 72B is positively charged and the other is negatively charged.

[0142] As one implementation, an insulating sheath (not shown) is fitted onto the outer wall of the joint assembly 43 and the long shaft 42 to further improve the insulation performance and safety of the surgical instruments.

[0143] This embodiment also provides a surgical robot, including at least one surgical instrument as described above.

[0144] In this document, the directional terms such as up, down, left, right, front, and back are defined according to the position of the structures in the accompanying drawings and the relative positions of the structures, and are only used for clarity and convenience in expressing the technical solution. It should be understood that the use of these directional terms should not limit the scope of protection claimed by this invention. It should also be understood that the terms "first" and "second," etc., used herein are only used for distinction in name and are not used to limit the number or order.

[0145] The above description is merely an embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above by way of embodiment, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content without departing from the scope of the technical solution of the present invention. These are equivalent embodiments with equivalent changes. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the technical solution of the present invention shall still fall within the protection scope of the technical solution of the present invention.

Claims

1. A surgical instrument, characterized in that, The device includes a joint assembly (43), an end device (7), at least one drive cable (8), and at least one wire (9). The end device (7) includes a base (71) and a conductive tool (72). The base (71) includes a first connecting seat (711), an insulating seat (712), and a second connecting seat (713). The first connecting seat (711) and the second connecting seat (713) are spaced apart. The insulating seat (712) is connected between the first connecting seat (711) and the second connecting seat (713). The conductive tool (72) is rotatably connected to the first connecting seat (711), and the second connecting seat (713) is fixedly connected to the distal end of the joint assembly (43); the distal end of the wire (9) passes through the joint assembly (43) and the base (71) in sequence and is electrically connected to the conductive tool (72); the distal end of the drive cable (8) passes through the joint assembly (43) and the base (71) in sequence and is connected to the conductive tool (72), the drive cable (8) is used to drive the conductive tool (72) to rotate relative to the first connecting seat (711), and the drive cable (8) is provided with an insulating structure on the outer wall of at least the portion inside the joint assembly (43) and the base (71).

2. The surgical instrument as described in claim 1, characterized in that, The first connecting seat (711) and the second connecting seat (713) are both made of metal, and the insulating seat (712) is made of plastic. The insulating seat (712) is integrally formed with the first connecting seat (711) and the second connecting seat (713) by insert injection molding.

3. The surgical instrument as described in claim 1, characterized in that, The first connecting seat (711) includes a base (711a), a first clamping arm (711b), and a second clamping arm (711c). The base (711a) is fixedly connected to the insulating seat (712). The first clamping arm (711b) and the second clamping arm (711c) are both fixedly connected to the base (711a), and the first clamping arm (711b) and the second clamping arm (711c) are spaced apart. The proximal end of the conductive tool (72) is located between the first clamping arm (711b) and the second clamping arm (711c). The proximal end of the conductive tool (72) is rotatably connected to the first clamping arm (711b) and the second clamping arm (711c) via a pin (715).

4. The surgical instrument as described in claim 1, characterized in that, The base (71) has a cavity (710) for the drive cable (8) and the conductor (9) to pass through, and the cavity (710) is filled with insulating glue.

5. The surgical instrument as described in claim 1, characterized in that, Each of the drive cables (8) includes a drive wire (81), the distal end of which passes sequentially through the joint assembly (43) and the base (71) and is connected to the conductive tool (72); the drive wire (81) includes a first section (811) located within the joint assembly (43) and the base (71), and a composite sleeve (82) is provided on the outer wall of the first section (811), the composite sleeve (82) including a metal wear-resistant layer (821) and a first insulating layer (822) arranged sequentially from the inside to the outside, and the drive wire (81) is movable relative to the metal wear-resistant layer (821) along its axial direction.

6. The surgical instrument as described in claim 5, characterized in that, The drive wire (81) further includes a second section (812) connected to the distal end of the first section (811), the second section (812) being connected to the conductive tool (72); the composite sleeve (82) is not provided on the outer wall of the second section (812).

7. The surgical instrument as described in claim 5, characterized in that, The wear-resistant metal layer (821) is a metal spring tube.

8. The surgical instrument as described in claim 5, characterized in that, The surgical instrument further includes a long shaft (42) connected to the proximal end of the joint assembly (43), and the proximal end of the drive wire (81) is located within the long shaft (42); the drive wire (81) further includes a third segment (813), a fourth segment (814) and a fifth segment (815) disposed within the long shaft (42), the distal end of the third segment (813) being connected to the proximal end of the first segment (811), the distal end of the fourth segment (814) being connected to the proximal end of the third segment (813), and the distal end of the fifth segment (815) being connected to the proximal end of the fourth segment (814); The composite sleeve (82) is provided on the outer wall of the third section (813), the second insulating layer (83) is provided on the outer wall of the fifth section (815), and the composite sleeve (82) and the second insulating layer (83) are not provided on the outer wall of the fourth section (814).

9. The surgical instrument as described in claim 8, characterized in that, An insulating sleeve (46) is fixedly provided inside the long shaft (42), and the insulating sleeve (46) is provided at least corresponding to the fourth section (814); when the fourth section (814) moves along its axial direction, the fourth section (814) is located inside the insulating sleeve (46).

10. The surgical instrument as described in claim 9, characterized in that, The inner wall of the insulating sleeve (46) is provided with a stop (461), and the stop (461) is provided with a through hole (462); the third section (813) and the fifth section (815) are respectively located on opposite sides of the stop (461), and the fourth section (814) passes through the through hole (462); the proximal end of the composite sleeve (82) can abut against the stop (461) to axially limit the composite sleeve (82).

11. The surgical instrument as claimed in claim 10, characterized in that, The proximal end of the composite sleeve (82) is fixedly connected to a limiting sleeve (87), which is sleeved on the outer wall of the fourth section (814) and can abut against the stop part (461).

12. The surgical instrument as described in claim 8, characterized in that, The surgical instruments also include an instrument box (41), which is connected to the proximal end of the long shaft (42). The instrument box (41) has a transmission device, which includes a transmission unit. Each drive cable (8) also includes a connecting tube (84), which is located inside the long shaft (42). The distal end of the connecting tube (84) is fixedly connected to the proximal end of the fifth section (815), and the proximal end of the connecting tube (84) is connected to the transmission unit. A third insulating layer (85) is provided on the outer wall of the connecting tube (84).

13. The surgical instrument as described in any one of claims 1-12, characterized in that, The joint assembly (43) includes a wrist joint (434), which includes two joint portions (6) arranged sequentially along its axial direction. The two joint portions (6) are a first joint portion (6A) and a second joint portion (6B), respectively. The first joint portion (6A) is fixedly connected to the second connecting seat (713), and the first joint portion (6A) and the second joint portion (6B) can rotate relative to each other. The rotation axis (W1) of the first joint portion (6A) is perpendicular to the rotation axis (W2) of the conductive tool (72).

14. The surgical instrument as described in claim 13, characterized in that, The first joint portion (6A) has a first gear portion (61) on its side wall, and the second joint portion (6B) has a second gear portion (62) on its side wall; the first gear portion (61) includes a plurality of first joint teeth (611), and the second gear portion (62) includes a plurality of second joint teeth (621); the plurality of first joint teeth (611) can mesh with the plurality of second joint teeth (621); Both of the two joint portions (6) have an arc-shaped support surface (600) on their end faces (60) that are close to each other. The arc-shaped support surface (600) on the first joint portion (6A) is in contact with the arc-shaped support surface (600) on the second joint portion (6B). When the first joint portion (6A) and the second joint portion (6B) rotate relative to each other, a plurality of first joint teeth (611) on the first joint portion (6A) mesh and rotate with a plurality of second joint teeth (621) on the second joint portion (6B), and the arc-shaped support surface (600) on the first joint portion (6A) and the arc-shaped support surface (600) on the second joint portion (6B) roll relative to each other.

15. The surgical instrument as described in claim 13, characterized in that, The surgical instrument has a central plane (P), the rotation axis (W1) of the first joint (6A) is located on the central plane (P), and the rotation axis (W2) of the conductive tool (72) is perpendicular to the central plane (P). The conductive tool (72) includes a first conductive component (72A), which is rotatably connected to the first connecting seat (711); at least one drive cable (8) includes a first drive cable (8A) and a second drive cable (8B); Within the wrist joint (434), the first drive cable (8A) and the second drive cable (8B) are located on opposite sides of the central plane (P); Within the base (71), the first drive cable (8A) and the second drive cable (8B) are located on the same side of the central plane (P), and the distal ends of the first drive cable (8A) and the second drive cable (8B) are connected to the first conductive component (72A).

16. The surgical instrument as claimed in claim 15, characterized in that, The conductive tool (72) further includes a second conductive component (72B), which is rotatably connected to the first connecting seat (711). The second conductive component (72B) and the first conductive component (72A) are arranged sequentially along a direction parallel to the rotation axis (W2) of the conductive tool (72). At least one drive cable (8) further includes a third drive cable (8C) and a fourth drive cable (8D). Within the wrist joint (434), the third drive cable (8C) and the fourth drive cable (8D) are located on opposite sides of the central plane (P); Within the base (71), the third drive cable (8C) and the fourth drive cable (8D) are located on the same side of the central plane (P), and the distal ends of the third drive cable (8C) and the fourth drive cable (8D) are connected to the second conductive component (72B).

17. The surgical instrument as claimed in claim 16, characterized in that, Within the wrist joint (434), the first drive cable (8A), the second drive cable (8B), the third drive cable (8C), and the fourth drive cable (8D) are arranged in a matrix; the first drive cable (8A) and the third drive cable (8C) are arranged diagonally, and the second drive cable (8B) and the fourth drive cable (8D) are arranged diagonally. Within the base (71), the first drive cable (8A), the second drive cable (8B), the third drive cable (8C), and the fourth drive cable (8D) are twisted at 90°; the central plane (P) has a first side and a second side opposite to each other, the first drive cable (8A) and the second drive cable (8B) are located on the first side of the central plane (P), and the third drive cable (8C) and the fourth drive cable (8D) are located on the second side of the central plane (P).

18. The surgical instrument as claimed in claim 17, characterized in that, The number of the conductors (9) is one, and the conductor (9) is sandwiched between the first drive cable (8A), the second drive cable (8B), the third drive cable (8C) and the fourth drive cable (8D).

19. A surgical robot, characterized in that, It includes at least one surgical instrument as described in any one of claims 1-18.

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