Actuating mechanism, surgical instrument and surgical robot

Abstract

The utility model relates to the technical field of medical instruments, and discloses an executing mechanism, a surgical instrument and a surgical robot. The executing mechanism comprises an executing piece, a tail end base, a connecting base and a first flexible traction piece. An execution piece is rotationally arranged at one end of the tail end seat, and a connecting piece is fixedly arranged on the tail end seat; the connecting base is provided with a pitch shaft, the other end of the tail end base is rotationally connected with the pitch shaft, and the connecting piece is located on the side, facing the execution piece, of the pitch shaft. The first flexible traction piece is wound around the connecting piece and fixedly connected with the connecting piece, and the two ends of the first flexible traction piece are located on the two sides of the pitch axis in the radial direction correspondingly so that the first flexible traction piece can drive the tail end base to rotate around the pitch axis. The force output by the executing mechanism to the tissue of a patient can be increased, the application range of the executing mechanism is expanded, and the safety of an operation is also improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, and in particular to an actuator, a surgical instrument and a surgical robot. Background Art

[0002] With the development of technology, surgical robots are used in various surgical scenarios. During the operation, the doctor controls the surgical instruments by operating the input handle to perform the corresponding surgical operation on the patient.

[0003] Figure 1 The figure shows an end effector mechanism of a surgical instrument in the prior art. The end effector mechanism includes an actuator 1, an end seat 2 and a connecting seat 3. The actuator 1 is rotatably arranged on the end seat 2, and the actuator 1 is used to contact the patient's tissue. The end seat 2 and the connecting seat 3 are rotatably connected through a pitch axis 31 to achieve the pitch freedom of the end effector mechanism. The connecting seat 3 is used to connect to the instrument rod, and the other end of the instrument rod is connected to other structures of the surgical robot.

[0004] The end actuator also includes a driving wire a. A pitch guide wheel 33 is sleeved on the pitch axis 31, and the pitch guide wheel 33 is fixedly connected to the end seat 2. The middle part of the driving wire a is fixedly connected to the pitch guide wheel 33, and the two ends of the driving wire a are respectively located on both sides of the pitch guide wheel 33 in the radial direction. The driving motor can realize the rotation of the end seat 2 relative to the connecting seat 3 around the pitch axis 31 by pulling the driving wire a.

[0005] Since the driving force output by the driving motor to the end seat 2 through the driving wire a is limited, the driving wire a is directly connected to the pitch guide wheel 33, resulting in a smaller distance between the connection position of the end seat 2 for connecting the driving wire a and the axis of the pitch axis 31, thereby resulting in a smaller torque used by the driving wire a to drive the end seat 2 to rotate around the pitch axis 31, and a smaller force output by the end actuator to the patient's tissue, which limits the scope of application of the surgical instrument. At the same time, it increases the possibility of the end seat 2 accidentally flipping downward due to the heavy patient tissue, thereby reducing the safety of the operation.

[0006] Based on this, there is an urgent need for an actuator, a surgical instrument and a surgical robot to solve the problems mentioned above. Utility Model Content

[0007] The purpose of the utility model is to provide an actuator, a surgical instrument and a surgical robot, wherein the distance between the connecting piece and the axis of the pitch axis is large, thereby increasing the force output by the actuator on the patient's tissue, expanding the application range of the actuator, and improving the safety of the operation.

[0008] To achieve this purpose, the utility model adopts the following technical solutions:

[0009] Executing agencies include:

[0010] Execution parts;

[0011] An end seat, one end of which is rotatably provided with the actuator, and a connecting member is fixedly provided on the end seat;

[0012] A connecting seat is provided with a pitch axis, the other end of the end seat is rotatably connected to the pitch axis, and the connecting member is located on a side of the pitch axis facing the actuator;

[0013] The first flexible traction member is wound around the connecting member and fixedly connected to the connecting member, and two ends of the first flexible traction member are respectively located on both sides of the pitch axis in the radial direction, so that the first flexible traction member can drive the end seat to rotate around the pitch axis.

[0014] As an optional technical solution of the actuator, a traction fixing member is fixedly provided on the first flexible traction member, the traction fixing member is fixedly connected to the connecting member, and the traction fixing member is located on a side of the connecting member opposite to the pitch axis.

[0015] As an optional technical solution for the actuator, the end seat includes a seat body and a connecting ear, the seat body is rotatably connected to the actuator, the seat body is provided with the connecting ear protruding toward one end of the connecting seat, the connecting member is fixedly provided on the connecting ear, the connecting member is spaced apart from the seat body, and the traction fixing member is provided in the gap between the seat body and the connecting member.

[0016] As an optional technical solution of the actuator, an intermediate shaft is arranged on the connecting ear, the intermediate shaft is arranged parallel to the pitch axis, the connecting piece is sleeved on the intermediate shaft, the end surface of the connecting ear facing the connecting seat is a first arc surface, the first arc surface is coaxially arranged with the intermediate shaft and the first arc surface is arched toward the connecting seat;

[0017] A support member is protruding from one end of the connecting seat toward the end seat, the support member is connected to the pitch axis, and the end surface of the support member facing the end seat is a second arc surface, the second arc surface is coaxially arranged with the pitch axis and arches toward the end seat;

[0018] The first arcuate surface is in close contact with the second arcuate surface.

[0019] As an optional technical solution of the actuator, the end seat further comprises a connecting rod, and the pitch axis and the intermediate axis are both rotatably connected to the connecting rod.

[0020] As an optional technical solution of the actuator, two connecting ears are provided, and the two connecting ears are arranged at intervals along the axial direction of the intermediate shaft, the connecting member is located between the two connecting ears, two supporting members are provided, and the two supporting members are arranged along the axial direction of the pitch axis, and the two connecting ears are arranged opposite to the two supporting members one by one, and the actuator further includes a limiting member, and the limiting member is provided with two;

[0021] The two limiting members are respectively connected to the two connecting ears, and the two limiting members are respectively located on the outsides of the two supporting members, and the limiting members protrude from the ends of the connecting ears toward the supporting members; or, the two limiting members are respectively connected to the two supporting members, and the two limiting members are respectively located on the outsides of the two connecting ears, and the limiting members protrude from the ends of the supporting members toward the connecting ears.

[0022] As an optional technical solution of the actuator, a pitch guide wheel is coaxially sleeved on the pitch axis, the connecting member is located on the side of the pitch guide wheel facing the actuator, and the two ends of the first flexible traction member are respectively located on both sides of the pitch guide wheel in the radial direction;

[0023] A first threading hole is formed through the connecting seat, a guide pulley is arranged in the first threading hole, the axis of the guide pulley is arranged parallel to the pitch axis, the guide pulley is located on the side of the pitch guide wheel opposite to the actuator, both ends of the first flexible traction member are S-shaped and wound around the pitch guide wheel and the guide pulley, and both ends of the first flexible traction member pass through the first threading hole to pass through the connecting seat.

[0024] As an optional technical solution for the actuator, an intermediate shaft and an actuator shaft are provided on the end seat, the intermediate shaft is arranged parallel to the pitch axis, the connecting member is sleeved on the intermediate shaft, the actuator shaft is arranged perpendicular to the pitch axis, the actuator comprises a rotating wheel, the rotating wheel is rotatably sleeved on the actuator shaft, an annular groove is provided on the outer side wall of the rotating wheel along the circumferential direction, the actuator further comprises a second flexible traction member, the second flexible traction member is wound around the rotating wheel through the annular groove, the middle part of the second flexible traction member is connected to the rotating wheel, and both ends of the second flexible traction member are S-shaped and wound around the intermediate shaft and the pitch axis;

[0025] The actuator also includes a guide member, which is arranged on the end seat and located between the intermediate shaft and the actuator shaft. The second flexible traction member is wound around the guide member, and the guide member is used to guide the second flexible traction member so that the second flexible traction member is tangent to the bottom surface of the annular groove.

[0026] A surgical instrument comprising the actuator as described above.

[0027] A surgical robot comprising the surgical instrument as described above.

[0028] Beneficial effects of the utility model:

[0029] The actuator provided by the utility model comprises an actuator, an end seat, a connecting seat and a first flexible traction member. The connecting piece on the end seat is arranged on the side of the pitch axis facing the actuator, and the distance between the connection position of the end seat for connecting the first flexible traction piece and the axis of the pitch axis is increased. If the force applied by the pitch drive member to the end seat through the first flexible traction piece is constant, the above arrangement increases the lever arm of the driving force of the first flexible traction piece for driving the end seat to rotate around the pitch axis, thereby increasing the torque of the first flexible traction piece for driving the end seat to rotate around the pitch axis, and also increases the force output by the actuator on the patient's tissue, so that the actuator can reliably lift heavier tissue, expand the scope of application of the actuator, and ensure that the doctor can perform further surgical operations on the lifted tissue in time, reduce the impact on the surgical efficiency, avoid increasing the doctor's fatigue, and at the same time reduce the possibility of the end seat accidentally flipping downward due to the heavy tissue, reduce the possibility of the actuator accidentally touching other tissues of the patient, and improve the safety of the operation; if the force applied by the actuator to the patient's tissue is constant, the force applied by the pitch drive member to the end seat through the first flexible traction member is reduced, the power demand for the pitch drive member is reduced, and the cost of the actuator is reduced.

[0030] The surgical instrument provided by the utility model includes the above-mentioned actuator, which increases the torque of the first flexible traction member for driving the end seat to rotate around the pitch axis, thereby increasing the force output by the surgical instrument on the patient's tissue, so that the surgical instrument can reliably lift heavier tissues, expand the scope of application of the surgical instrument, and ensure that the doctor can perform further surgical operations on the lifted tissue in a timely manner, reducing the impact on the surgical efficiency, avoiding increasing the doctor's fatigue level, and at the same time reducing the possibility of the surgical instrument accidentally touching other tissues of the patient, thereby improving the safety of the operation, and reducing the demand for the power of the pitch drive member, thereby reducing the cost of the surgical instrument.

[0031] The utility model provides a surgical robot, which includes the above-mentioned surgical instrument, so that the surgical robot can reliably lift heavier tissues, expand the scope of application of the surgical robot, and ensure that the doctor can promptly perform further surgical operations on the lifted tissues, thereby reducing the impact on surgical efficiency, avoiding increasing the doctor's fatigue, and reducing the possibility of the surgical robot accidentally touching other tissues of the patient, thereby improving the safety of the surgery, reducing the power demand for the pitch drive component, and reducing the cost of the surgical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the structure of a surgical instrument in the prior art;

[0033] Figure 2 It is a schematic diagram of the structure of the surgical instrument provided in the first embodiment of the utility model;

[0034] Figure 3 It is a structural schematic diagram of the actuator provided in the first embodiment of the utility model;

[0035] Figure 4 It is a cross-sectional view of the actuator provided in the first embodiment of the utility model in the first direction;

[0036] Figure 5 is a cross-sectional view of the actuator provided in the first embodiment of the utility model in the second direction;

[0037] Figure 6 It is a structural schematic diagram of a first flexible traction member, a connecting member, a pitch guide wheel and a guide pulley provided in the first embodiment of the utility model;

[0038] Figure 7 This is a structural exploded view of the actuator provided in the first embodiment of the utility model;

[0039] Figure 8 It is a schematic diagram of the structure of the end seat provided in the first embodiment of the utility model;

[0040] Fig. 9 This is a schematic diagram of the structure of the connecting socket provided in the first embodiment of the utility model;

[0041] Fig.10 This is a schematic structural diagram of a first winding condition of the second flexible traction member provided in the first embodiment of the utility model;

[0042] Fig.11 yes Fig.10 The structural breakdown diagram of

[0043] Fig.12 This is a schematic structural diagram of a second winding condition of the second flexible traction member provided in the first embodiment of the utility model;

[0044] Fig.13 yes Fig.12 The structural breakdown diagram of

[0045] Fig.14 It is a partial structural schematic diagram of the actuator provided in the second embodiment of the utility model;

[0046] Fig.15 It is a structural schematic diagram of the actuator provided in the third embodiment of the utility model.

[0047] In the figure:

[0048] 10. Actuator; 20. Instrument rod; 30. Driving mechanism;

[0049] 1. Actuator; 11. Rotating wheel; 111. Ring groove; 12. Actuator;

[0050] 2. End seat; 21. Seat body; 22. Connecting ear; 221. First arc surface; 23. Connecting rod; 24. Connecting piece; 25. Intermediate shaft; 26. Actuating shaft;

[0051] 3. Connecting seat; 31. Pitch axis; 311. Executing guide wheel; 32. Support member; 321. Second arc surface; 33. Pitch guide wheel; 34. Guide axis; 341. Guide pulley; 35. First threading hole; 36. Second threading hole;

[0052] 4. first flexible traction member; 41. first pitch driving section; 42. second pitch driving section;

[0053] 5. Traction fixing member; 6. Limiting member; 61. Accommodation space;

[0054] 7. Second flexible traction member; 71. First execution driving section; 72. Second execution driving section;

[0055] 8. Guide member; 91. First guide wheel; 92. Second guide wheel. DETAILED DESCRIPTION

[0056] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0057] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0059] The technical solution of the utility model is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0060] Embodiment 1

[0061] This embodiment provides a surgical robot. The surgical robot includes a doctor control end and a patient surgical end. The doctor control end includes an input mechanism, and the patient surgical end includes surgical instruments. During surgery, the doctor can control the surgical instruments to perform corresponding movements through the input mechanism.

[0062] Specifically, Figure 2 As shown, the surgical instrument includes an actuator 10, an instrument rod 20 and a drive mechanism 30. The instrument rod 20 is connected between the actuator 10 and the drive mechanism 30. The drive mechanism 30 is used to connect with the robot arm at the surgical end of the patient. The actuator 10 is used to contact the patient and perform the surgical operation.

[0063] Among them, the specific structures of the doctor's control end, the patient's surgical end and the driving mechanism 30 can all refer to the existing technology. They are not the focus of protection of this embodiment and are not limited here.

[0064] Specifically, Figure 2-Figure 13 As shown, the actuator 10 includes an actuator 1, an end seat 2, a connecting seat 3 and a first flexible traction member 4. The actuator 1 is rotatably arranged at one end of the end seat 2, and a connecting member 24 is fixedly arranged on the end seat 2. A pitch axis 31 is arranged on the connecting seat 3, and the other end of the end seat 2 is rotatably connected to the pitch axis 31, and the connecting member 24 is located on the side of the pitch axis 31 facing the actuator 1. The first flexible traction member 4 is fixedly connected to the connecting member 24, that is, the connection position between the first flexible traction member 4 and the end seat 2 is located on the side of the pitch axis 31 facing the actuator 1. The two ends of the first flexible traction member 4 are respectively located on both sides of the pitch axis 31 in the radial direction, and the end of the first flexible traction member 4 extends into the driving mechanism 30 and is connected to the pitch driving member in the driving mechanism 30. The pitch driving member in the driving mechanism 30 can pull the first flexible traction member 4 to drive the end seat 2 to rotate around the pitch axis 31.

[0065] In this embodiment, the pitch driving member in the driving mechanism 30 is a motor, and the rotation of the motor output shaft can realize winding or releasing the first flexible traction member 4 .

[0066] The actuator 10 provided in this embodiment includes an actuator 1, an end seat 2, a connecting seat 3 and a first flexible traction member 4. The connecting member 24 on the end seat 2 is arranged on the side of the pitch axis 31 facing the actuator 1, which increases the distance between the connection position of the end seat 2 for connecting the first flexible traction member 4 and the axis of the pitch axis 31. When the force applied by the pitch driving member to the end seat 2 through the first flexible traction member 4 is constant, the above arrangement increases the force arm of the driving force of the first flexible traction member 4 for driving the end seat 2 to rotate around the pitch axis 31, thereby increasing the torque of the first flexible traction member 4 for driving the end seat 2 to rotate around the pitch axis 31, and also increases the force output by the actuator 10 on the patient's tissue, so that the actuator 10 can reliably lift heavier objects. Tissue, which expands the application scope of the actuator 10, and also ensures that the doctor can perform further surgical operations on the lifted tissue in time, reduces the impact on the operation efficiency, avoids increasing the doctor's fatigue, and at the same time reduces the possibility of the end seat 2 accidentally flipping downward due to the heavy tissue, reduces the possibility of the actuator 10 accidentally touching other tissues of the patient, and improves the safety of the operation; if the force applied by the actuator 1 to the patient's tissue is required to be certain, the force applied by the pitch drive member to the end seat 2 through the first flexible traction member 4 is reduced, the demand for the power of the pitch drive member is reduced, and the cost of the actuator 10 is reduced.

[0067] The surgical instrument provided in this embodiment includes the above-mentioned actuator 10, which increases the torque of the first flexible traction member 4 for driving the end seat 2 to rotate around the pitch axis 31, thereby increasing the force output by the surgical instrument on the patient's tissue, so that the surgical instrument can reliably lift heavier tissues, expand the scope of application of the surgical instrument, and ensure that the doctor can perform further surgical operations on the lifted tissue in a timely manner, reducing the impact on the surgical efficiency, avoiding increasing the doctor's fatigue, and at the same time reducing the possibility of the surgical instrument accidentally touching other tissues of the patient, thereby improving the safety of the operation, reducing the demand for the power of the pitch drive component, and reducing the cost of the surgical instrument.

[0068] The surgical robot provided in this embodiment includes the above-mentioned surgical instrument, so that the surgical robot can reliably lift heavier tissues, expand the scope of application of the surgical robot, and ensure that the doctor can promptly perform further surgical operations on the lifted tissues, thereby reducing the impact on surgical efficiency, avoiding increasing the doctor's fatigue, and reducing the possibility of the surgical robot accidentally touching other tissues of the patient, thereby improving the safety of the surgery, reducing the power demand for the pitch drive component, and reducing the cost of the surgical robot.

[0069] In this embodiment, a pitch guide wheel 33 is coaxially sleeved on the pitch shaft 31, the connecting member 24 is located on the side of the pitch guide wheel 33 facing the actuator 1, and the two ends of the first flexible traction member 4 are respectively located on both sides of the pitch guide wheel 33 in the radial direction. In other words, the connection position between the first flexible traction member 4 and the end seat 2 is located on the side of the pitch guide wheel 33 facing the actuator 1.

[0070] In this embodiment, the first flexible traction member 4 is a steel wire rope, which has a high structural strength and ensures durability. Specifically, the first flexible traction member 4 includes a first pitch driving segment 41 and a second pitch driving segment 42, one end of the first pitch driving segment 41 is connected to one end of the second pitch driving segment 42, and by pulling the other end of the first pitch driving segment 41 or the other end of the second pitch driving segment 42, the rotation of the end seat 2 can be achieved, thereby achieving the pitch freedom of the actuator 10.

[0071] The aforementioned description that “the two ends of the first flexible traction member 4 are respectively located on both sides of the pitch axis 31 in the radial direction” means that the first pitch driving section 41 and the second pitch driving section 42 are respectively located on both sides of the pitch axis 31 in the radial direction.

[0072] As a preferred solution, Figure 5-Figure 6 As shown, a traction fixing member 5 is fixedly arranged on the first flexible traction member 4. The traction fixing member 5 is fixedly connected to the connecting member 24, and the traction fixing member 5 is located on the side of the connecting member 24 opposite to the pitch axis 31. The above arrangement further increases the distance between the connection position of the end seat 2 for connecting the first flexible traction member 4 and the axis of the pitch axis 31, thereby ensuring that the actuator 10 can output a larger force to the patient's tissue, expanding the applicable scope of the actuator 10, and also ensuring that the doctor can perform further surgical operations on the lifted tissue in time, reducing the impact on the surgical efficiency, and improving the safety of the surgery.

[0073] In this embodiment, the traction fixing member 5 is located on a side of the connecting member 24 opposite to the pitch guide wheel 33 .

[0074] Further, one end of the first pitch driving section 41 and one end of the second pitch driving section 42 are both connected to a traction fixing member 5, and the traction fixing member 5 is fixedly connected to the connecting member 24. The traction fixing member 5 is a metal block, and the traction fixing member 5 can be connected to the first flexible traction member 4 by welding, pressing or bonding, etc., which is not limited here.

[0075] Specifically, the traction fixing member 5 is a metal block, and the first flexible traction member 4 is a steel wire. The thickness of the traction fixing member 5 is relatively large, and the diameter of the steel wire is relatively small. A receiving groove is provided on the connecting member 24, and the traction fixing member 5 is placed in the receiving groove. It can be understood that at least part of the traction fixing member 5 protrudes from the receiving groove to facilitate the connection of the steel wire. Therefore, the traction fixing member 5 is arranged on the side of the connecting member 24 opposite to the pitch guide wheel 33, so that the installation position of the traction fixing member 5 can be far away from the pitch axis 31 and the pitch guide wheel 33, and the possibility of the traction fixing member 5 scratching the pitch guide wheel 33 is reduced during the rotation of the end seat 2.

[0076] Preferably, the end seat 2 includes a seat body 21 and a connecting ear 22, the actuator 1 is rotatably connected to the seat body 21, and the seat body 21 is protruded toward one end of the connecting seat 3 to provide a connecting ear 22. The connecting member 24 is fixedly arranged on the connecting ear 22, the connecting member 24 is spaced apart from the seat body 21, and the traction fixing member 5 is arranged in the gap between the seat body 21 and the connecting member 24. In other words, the traction fixing member 5 is arranged on the side of the connecting member 24 facing the seat body 21. Through the above arrangement, there is an installation space for installing the traction fixing member 5 between the connecting member 24 and the seat body 21, which facilitates the installation and fixing of the traction fixing member 5 on the connecting member 24, simplifies the assembly process, reduces the possibility of damaging the end seat 2 when installing the traction fixing member 5, and reduces the production cost.

[0077] In this embodiment, the connecting member 24 is spaced apart from the pitch guide wheel 33, which further increases the distance between the connection position of the end seat 2 for connecting the first flexible traction member 4 and the axis of the pitch axis 31, thereby increasing the torque of the first flexible traction member 4 for driving the end seat 2 to rotate around the pitch axis 31.

[0078] In this embodiment, the pitch guide wheel 33 is coaxially sleeved on the pitch shaft 31, the connecting member 24 is arranged opposite to the pitch guide wheel 33, the first pitch driving section 41 and the second pitch driving section 42 are both S-shaped and wound around the connecting member 24 and the pitch guide wheel 33, and the end of the first pitch driving section 41 away from the traction fixing member 5 and the end of the second pitch driving section 42 away from the traction fixing member 5 both pass through the connecting seat 3 and the instrument rod 20 in sequence, extend into the driving mechanism 30 and are connected to the pitch driving member in the driving mechanism 30.

[0079] As a preferred solution, an intermediate shaft 25 is provided on the connecting ear 22, and the intermediate shaft 25 is arranged parallel to the pitch axis 31, and the intermediate shaft 25 is located between the pitch axis 31 and the actuator 1. The connecting member 24 is wheel-shaped, and the connecting member 24 is coaxially sleeved on the intermediate shaft 25. The end surface of the connecting ear 22 facing the connecting seat 3 is a first arc surface 221, and the first arc surface 221 is coaxially arranged with the intermediate shaft 25, and the first arc surface 221 is arched toward the connecting seat 3. A support member 32 is protrudingly provided at one end of the connecting seat 3 facing the end seat 2, and the support member 32 is connected to the pitch axis 31. The end surface of the support member 32 facing the end seat 2 is a second arc surface 321, and the second arc surface 321 is coaxially arranged with the pitch axis 31, and the second arc surface 321 is arched toward the end seat 2. The first arc surface 221 is in close contact with the second arc surface 321. The above arrangement enables the connecting ear 22 to be connected only to the intermediate shaft 25, but not to the pitch axis 31, shortening the length of the connecting ear 22, facilitating the processing of the connecting ear 22, and also improving the structural strength of the connecting ear 22, reducing the possibility of bending of the connecting ear 22, and improving the durability of the end seat 2 and the actuator 10; at the same time, the first arc surface 221 is in contact with the second arc surface 321, and the second arc surface 321 is coaxially arranged with the pitch axis 31, which also ensures that the end seat 2 can rotate relative to the connecting seat 3 around the axis of the pitch axis 31, ensuring that the actuator 10 realizes the pitch freedom. In this embodiment, the radius of the first arc surface 221 and the second arc surface 321 are the same.

[0080] As a preferred solution, Figure 3-Figure 7 As shown, the end seat 2 also includes a connecting rod 23, and the connecting rod 23 is located between the end seat 2 and the connecting seat 3, and the pitch axis 31 and the intermediate shaft 25 are both rotatably connected to the connecting rod 23. By providing the connecting rod 23, a reliable connection between the end seat 2 and the connecting seat 3 can be ensured, the possibility of separation of the end seat 2 and the connecting seat 3 is reduced, the structural stability and reliability of the actuator 10 during surgery are ensured, and the safety of the surgery is improved. It can be understood that since the intermediate shaft 25 is provided on the connecting ear 22, the intermediate shaft 25 is rotatably connected to the connecting rod 23, and the connecting rod 23 is rotatably connected to the pitch axis 31, thereby realizing a rotatable connection between the end seat 2 and the pitch axis 31.

[0081] In this embodiment, the connecting ear 22 is only connected to the intermediate shaft 25 , and the connecting ear 22 is spaced apart from the pitch axis 31 .

[0082] In this embodiment, two through holes are provided on the connecting rod 23, and the pitch axis 31 and the intermediate axis 25 are respectively movably arranged in the two through holes. The connecting rod 23 can also move relative to the pitch axis 31 and the intermediate axis 25, thereby avoiding the obstruction of the rotation of the end seat 2 due to the jamming of the connecting rod 23, ensuring that the actuator 10 can smoothly realize the pitch freedom, reducing the maintenance cost, ensuring the smooth implementation of the operation, improving the reliability of the surgical instrument during the operation, and at the same time ensuring the transmission accuracy of the actuator 10, thereby ensuring the accuracy of the actuator 10 when performing the surgical operation, and improving the safety of the operation.

[0083] In other embodiments, the connecting rod 23 may also be replaced by a flexible structure, such as a wire or a belt. The flexible structure is arranged in a closed loop and is tensioned on the pitch axis 31 and the intermediate axis 25, which is not limited here.

[0084] In order to ensure reliable connection between the intermediate shaft 25 and the end seat 2, two connecting ears 22 are provided, and the two connecting ears 22 are arranged at intervals along the axial direction of the intermediate shaft 25, and the connecting member 24 is located between the two connecting ears 22. Similarly, in order to ensure reliable connection between the pitch axis 31 and the connecting seat 3, two supporting members 32 are provided, and the two supporting members 32 are arranged along the axial direction of the pitch axis 31. The two connecting ears 22 are in direct contact with the two supporting members 32. Figure 4 and Figure 8 As shown, the actuator 10 further includes a stopper 6, and two stoppers 6 are provided. In this embodiment, the two stoppers 6 are respectively connected to the two connecting ears 22, and the two stoppers 6 are respectively located on the outsides of the two supporting members 32, and the stoppers 6 protrude from one end of the connecting ears 22 facing the supporting member 32. By providing the stoppers 6, when assembling the actuator 10, the two supporting members 32 can be limited between the two stoppers 6, thereby limiting the assembly position between the connecting seat 3 and the end seat 2, improving the convenience and efficiency of assembly, and reducing the production cost.

[0085] In this embodiment, the pitch guide wheel 33 is located between the two support members 32 .

[0086] In other embodiments, the two limit members 6 may be respectively connected to the two support members 32 , and the two limit members 6 may be respectively located on the outside of the two connecting ears 22 , and the limit members 6 may protrude from one end of the support member 32 toward the connecting ear 22 , which is not limited here.

[0087] like Fig. 9As shown, a first threading hole 35 is formed through the connecting seat 3, and the first pitch driving section 41 and the second pitch driving section 42 pass through the first threading hole 35 to pass through the connecting seat 3 and extend into the instrument rod 20. Due to the structural setting of the actuator 10, when the end seat 2 rotates around the pitch axis 31, the first flexible traction member 4 will swing synchronously, and the first flexible traction member 4 may be separated from the pitch guide wheel 33, which increases the possibility of friction between the first flexible traction member 4 and the hole wall or edge of the first threading hole 35, thereby increasing the possibility of damage to the first flexible traction member 4.

[0088] Preferably, a guide shaft 34 is provided on the connecting seat 3, and a guide pulley 341 is rotatably sleeved on the guide shaft 34, and the guide pulley 341 is placed in the first threading hole 35. The guide pulley 341 is arranged opposite to the pitch guide wheel 33, and the guide pulley 341 is located on the side of the pitch guide wheel 33 opposite to the actuator 1. The first pitch driving section 41 and the second pitch driving section 42 are both wound around the pitch guide wheel 33 and the guide pulley 341 in an S shape. After the first pitch driving section 41 and the second pitch driving section 42 bypass the guide pulley 341, the first pitch driving section 41 and the second pitch driving section 42 pass through the connecting seat 3 through the first threading hole 35 and extend into the instrument rod 20. The above arrangement can ensure that the first pitch driving section 41 and the second pitch driving section 42 are always wound around the pitch guide wheel 33 and the guide pulley 341 when the end seat 2 rotates, and the pitch guide wheel 33 and the guide pulley 341 will not swing synchronously with the end seat 21, thereby reducing the possibility of friction between the first flexible traction member 4 and the hole wall or edge of the first threading hole 35, and also avoiding the first pitch driving section 41 and the second pitch driving section 42 from accidentally touching other structures of the connecting seat 3, thereby reducing the possibility of damage to the first flexible traction member 4, ensuring the durability of the actuator 10, extending the service life of the actuator 10, reducing the maintenance cost, ensuring the smooth implementation of the operation, and improving the reliability of the surgical instrument during the operation.

[0089] In this embodiment, the first threading hole 35 is defined between the two supporting members 32 .

[0090] Generally, when the end seat 2 rotates relative to the connecting seat 3 about the pitch axis 31, the length of the first flexible traction member 4 wrapped around the pitch guide wheel 33 may change. Two pitch driving members are arranged in the driving mechanism 30, and the two pitch driving members are respectively connected to the two ends of the first flexible traction member 4 to respectively retract or release the first pitch driving section 41 and the second pitch driving section 42 to adjust the overall length of the first flexible traction member 4, thereby ensuring that the first flexible traction member 4 is always in a tensioned state.

[0091] Preferably, if Figure 6As shown, the first pitch drive section 41 and the second pitch drive section 42 are staggered and cross-arranged between the connecting member 24 and the pitch guide wheel 33. When the end seat 2 rotates around the pitch axis 31 relative to the connecting seat 3, the length of the first flexible traction member 4 wrapped around the pitch guide wheel 33 remains unchanged, and there is no need to adjust the tension of the first flexible traction member 4, thereby avoiding the need to set up two pitch drive members, reducing the structural complexity of the drive mechanism 30, simplifying the structure of the surgical instrument, reducing the cost of the surgical instrument, reducing the volume of the drive mechanism 30, and simplifying the difficulty of controlling the pitch drive member.

[0092] In this embodiment, a pitch driving member is provided in the driving mechanism 30. A pitch driving wheel is provided in the driving mechanism 30, and the pitch driving wheel is coaxially sleeved on the output shaft of the pitch driving member, and one end of the first pitch driving section 41 away from the traction fixing member 5 is connected to one end of the second pitch driving section 42 away from the traction fixing member 5, so that the first flexible traction member 4 is in a closed loop structure, and the first flexible traction member 4 is sleeved on the pitch driving wheel.

[0093] like Figure 6 As shown, points A and F are arranged on the outer circumference of the connecting member 24, points B, C, G and H are arranged on the outer circumference of the pitch guide wheel 33, and points D, E, I and J are arranged on the outer circumference of the guide pulley 341.

[0094] The first pitch driving section 41 includes a first covering section, a first connecting section, a second covering section, a second connecting section, a third covering section, and a third connecting section. The first covering section covers the connecting member 24, the second covering section covers the pitch guide wheel 33, and the third covering section covers the guide pulley 341. The first connecting section is connected between the first covering section and the second covering section, and the two ends of the first connecting section are tangent to the connecting member 24 and the pitch guide wheel 33 respectively. The second connecting section is connected between the second covering section and the third covering section, and the two ends of the second connecting section are tangent to the guide pulley 341 and the pitch guide wheel 33 respectively. One end of the third connecting section is connected to the third covering section and the other end is used to connect to the pitch driving member, and the third connecting section is tangent to the guide pulley 341.

[0095] exist Figure 6In the figure, one end of the first covering section is connected to the traction fixing member 5, and the connection point between the other end of the first covering section and the first connecting section is point A; the connection point between the second covering section and the first connecting section is point B, and the connection point between the second covering section and the second connecting section is point C; the connection point between the third covering section and the second connecting section is point D, and the connection point between the third covering section and the third connecting section is point E. In other words, the first connecting section is tangent to the connecting member 24 at point A, the first connecting section is tangent to the pitch guide wheel 33 at point B, the second connecting section is tangent to the pitch guide wheel 33 at point C, the second connecting section is tangent to the guide pulley 341 at point D, and the third connecting section is tangent to the guide pulley 341 at point E.

[0096] Similarly, the second pitch driving section 42 includes a fourth covering section, a fourth connecting section, a fifth covering section, a fifth connecting section, a sixth covering section, and a sixth connecting section. The fourth covering section covers the connecting member 24, the fifth covering section covers the pitch guide wheel 33, and the sixth covering section covers the guide pulley 341. The fourth connecting section is connected between the fourth covering section and the fifth covering section, and the two ends of the fourth connecting section are tangent to the connecting member 24 and the pitch guide wheel 33 respectively. The fifth connecting section is connected between the fifth covering section and the sixth covering section, and the two ends of the fifth connecting section are tangent to the guide pulley 341 and the pitch guide wheel 33 respectively. One end of the sixth connecting section is connected to the sixth covering section and the other end is used to connect to the pitch driving member, and the sixth connecting section is tangent to the guide pulley 341.

[0097] exist Figure 6 In the figure, one end of the fourth covering section is connected to the traction fixing member 5, and the connection point between the other end of the fourth covering section and the fourth connecting section is point F; the connection point between the fifth covering section and the fourth connecting section is point G, and the connection point between the fifth covering section and the fifth connecting section is point H; the connection point between the sixth covering section and the fifth connecting section is point I, and the connection point between the sixth covering section and the sixth connecting section is point J. In other words, the fourth connecting section is tangent to the connecting member 24 at point F, the fourth connecting section is tangent to the pitch guide wheel 33 at point G, the fifth connecting section is tangent to the pitch guide wheel 33 at point H, the fifth connecting section is tangent to the guide pulley 341 at point I, and the sixth connecting section is tangent to the guide pulley 341 at point J.

[0098] The aforementioned description of “the first pitch driving segment 41 and the second pitch driving segment 42 being staggered and cross-arranged between the connecting member 24 and the pitch guide wheel 33” can also be understood as the first connecting segment and the fourth connecting segment being staggered and cross-arranged.

[0099] by Figure 6 Taking the direction shown in the figure as an example, when the second pitch driving section 42 is pulled, the connecting member 24 and the end seat 2 rotate clockwise (ie, Figure 6When the end seat 2 rotates around the pitch axis 31, the pitch guide wheel 33 is coaxially sleeved on the pitch axis 31, so the length of the first pitch driving section 41 released by the pitch guide wheel 33 is equal to the length of the second pitch driving section 42 wound up by the pitch guide wheel 33, that is, the arc length between point B and point B'=the arc length between point G and point G', so the length of the first flexible traction member 4 wrapped on the pitch guide wheel 33 remains unchanged.

[0100] In this embodiment, the guide pulley 341 is located between the two support members 32. The first pitch driving section 41 and the second pitch driving section 42 are staggered and cross-arranged between the pitch guide wheel 33 and the guide pulley 341, that is, the second connecting section and the fifth connecting section are staggered and cross-arranged.

[0101] It can be understood that in order to avoid changes in the length of the first flexible traction member 4 wrapped around the pitch guide wheel 33, the rotation angle of the end seat 2 should be ensured to be within an appropriate range and should not be too large. The first pitch drive section 41 and the second pitch drive section 42 should always be wrapped around the pitch guide wheel 33, that is, point B and point C cannot overlap, and point G and point H cannot overlap.

[0102] An actuator shaft 26 is provided at the end of the end seat 2, and the actuator 1 is rotatably provided on the actuator shaft 26. The axis of the actuator shaft 26 is perpendicular to the axis of the pitch axis 31. Specifically, the actuator 1 includes a rotating wheel 11 and an actuator 12, and the actuator 12 is used to contact the patient's tissue. The rotating wheel 11 is coaxial and rotatably sleeved on the actuator shaft 26, and the actuator 12 is connected to the rotating wheel 11. An annular groove 111 is provided on the outer wall of the rotating wheel 11 in the circumferential direction, and the actuator 10 also includes a second flexible traction member 7, the second flexible traction member 7 is placed in the annular groove 111 and connected to the rotating wheel 11, and the second flexible traction member 7 is wound around the rotating wheel 11 through the annular groove 111. The second flexible traction member 7 can drive the rotating wheel 11 to rotate around the actuator shaft 26. After the end of the second flexible traction member 7 passes through the end seat 2 and the connecting seat 3, it extends into the driving mechanism 30 and is connected to the actuator driving member in the driving mechanism 30.

[0103] Specifically, Figure 10-13As shown, the middle part of the second flexible traction member 7 is connected to the rotating wheel 11, and both ends of the second flexible traction member 7 are wound around the intermediate shaft 25 and the pitch axis 31 in an S shape. In this embodiment, the second flexible traction member 7 is a steel wire rope, which has a high structural strength and ensures durability. Specifically, the second flexible traction member 7 includes a first execution drive segment 71 and a second execution drive segment 72, and one end of the first execution drive segment 71 is connected to one end of the second execution drive segment 72. By pulling the other end of the first execution drive segment 71 or the other end of the second execution drive segment 72, the rotation of the actuator 1 can be achieved.

[0104] The description in the foregoing that “both ends of the second flexible traction member 7 are wound in an S shape on the intermediate shaft 25 and the pitch shaft 31 ” means that the first execution drive section 71 and the second execution drive section 72 are both wound in an S shape on the intermediate shaft 25 and the pitch shaft 31 .

[0105] Similar to the first flexible traction member 4, the second flexible traction member 7 is provided with a traction fixing member 5, which is fixedly connected to the rotating wheel 11. Further, one end of the first execution driving section 71 and one end of the second execution driving section 72 are both connected to a traction fixing member 5, which is fixedly connected to the rotating wheel 11. The traction fixing member 5 is a metal block, and the traction fixing member 5 can be connected to the second flexible traction member 7 by welding, pressing or bonding, etc., which is not limited here.

[0106] The actuator 10 further includes a first guide wheel 91, which is coaxially movably sleeved on the intermediate shaft 25. A plurality of actuator guide wheels 311 are coaxially movably sleeved on the pitch shaft 31; the first guide wheels 91 and the actuator guide wheels 311 are arranged opposite to each other, and the two ends of the second flexible traction member 7 are respectively arranged in an S shape and correspondingly wound on a group of first guide wheels 91 and the actuator guide wheels 311 arranged opposite to each other. Through the above arrangement, the friction between the second flexible traction member 7 and the pitch shaft 31 and the intermediate shaft 25 can be reduced, the possibility of wear of the second flexible traction member 7 is reduced, and the service life of the actuator 10 is extended.

[0107] In this embodiment, two actuators 1 are provided, so that the actuator 10 has an opening and closing action, thereby realizing the function of grasping or clamping. Specifically, the surgical instrument can be a non-destructive grasping forceps, a window clamp, a grasping forceps, a surgical scissors, a needle holding forceps or a separating forceps, etc., which are not limited here. Among them, the specific structure of the actuator 1 can refer to the prior art, which is not the focus of protection of this embodiment and will not be repeated here.

[0108] It can be understood that, four first guide wheels 91 and four execution guide wheels 311 are provided, and two second flexible traction members 7 are provided.

[0109] Since the intermediate shaft 25 and the execution shaft 26 are arranged perpendicularly, the first execution driving section 71 and / or the second execution driving section 72 located between the rotating wheel 11 and the first guide wheel 91 is usually inclined to the center line of the annular groove 111 .

[0110] Specifically, in this embodiment, by setting the size of the first guide wheel 91 and the rotating wheel 11 and the position of the first guide wheel 91 and the rotating wheel 11, the second execution driving section 72 extends along the center line of the annular groove 111, that is, the second execution driving section 72 is tangent to the bottom surface of the annular groove 111. The first execution driving section 71 includes a seventh covering section, a seventh connecting section and a first winding section, one end of the seventh covering section is connected to the traction fixing member 5, and the seventh covering section is placed in the annular groove 111. The first winding section is wound in an S shape on the first guide wheel 91 and the execution guide wheel 311. The seventh connecting section is connected between the first winding section and the other end of the seventh covering section, and the seventh connecting section is placed outside the annular groove 111. The "second flexible traction member 7 located between the rotating wheel 11 and the first guide wheel 91" is the seventh connecting section. The seventh connecting section is inclined to the center line of the annular groove 111, that is, the seventh connecting section is not tangent to the bottom surface of the annular groove 111. Since the seventh connecting segment is inclined to the center line of the annular groove 111, when the actuator 1 is rotated by pulling the second flexible traction member 7, the length of the second execution drive segment 72 released or wound up by the rotating wheel 11 is different from the length of the first execution drive segment 71 wound up or released by the rotating wheel 11, resulting in a change in the length of the seventh connecting segment. At this time, two execution drive members need to be arranged in the driving mechanism, and the two execution drive members are respectively connected to the first execution drive segment 71 and the second execution drive segment 72 to adjust the overall length of the second flexible traction member 7, thereby ensuring that the second flexible traction member 7 is always in a tensioned state.

[0111] Preferably, the actuator further comprises a guide member 8, which is arranged on the end seat 2 and between the intermediate shaft 25 and the actuator shaft 26. The second flexible traction member 7 is wound around the guide member 8, and the guide member 8 is used to guide the second flexible traction member 7 so that the second flexible traction member 7 is tangent to the bottom surface of the annular groove 111. The guide member 8 is provided to ensure that when the actuator 1 rotates, the length of the second flexible traction member 7 released by the rotating wheel 11 is the same as the length of the second flexible traction member 7 wound by the rotating wheel 11, resulting in the length of the second flexible traction member 7 between the rotating wheel 11 and the first guide wheel 91 being unchanged, reducing the need to set two actuator driving members in the driving mechanism 30 to adjust the tension of the second flexible traction member 7, which is conducive to reducing the structural complexity in the driving mechanism 30, simplifying the structure of the surgical instrument, reducing the cost of the surgical instrument, and reducing the volume of the driving mechanism 30, which is conducive to simplifying the control difficulty of the pitch driving member.

[0112] In this embodiment, two actuators are provided in the driving mechanism 30. An actuator wheel is sleeved on the output shaft of each actuator, and the end of the first actuator segment 71 away from the traction fixing member 5 is connected to the end of the second actuator segment 72 away from the traction fixing member 5, so that the second flexible traction member 7 is a closed loop structure, and the two second flexible traction members 7 are sleeved on the two pitch driving wheels respectively.

[0113] In this embodiment, the guide member 8 is configured to be wheel-shaped, and the axial direction of the guide member 8 can be parallel to the execution shaft 26 or inclined to the axis of the execution shaft 26, so that the second flexible traction member 7 is tangent to the bottom surface of the annular groove 111, which is not limited here.

[0114] In some embodiments, when the first actuator driving section 71 is pulled, the actuator 1 rotates in a direction close to another actuator 1, and when the second actuator driving section 72 is pulled, the actuator 1 rotates in a direction away from another actuator 1. In some other embodiments, when the second actuator driving section 72 is pulled, the actuator 1 rotates in a direction close to another actuator 1, and when the first actuator driving section 71 is pulled, the actuator 1 rotates in a direction away from another actuator 1.

[0115] Specifically, the two second flexible traction members 7 are respectively and correspondingly arranged around the two groups of first guide wheels 91, each group of first guide wheels 91 includes two first guide wheels 91, and the two first guide wheels 91 in the same group are respectively located on the opposite sides of the two connecting ears 22, that is, two first guide wheels 91 are arranged on the opposite sides of each connecting ear 22. In this embodiment, the limiter 6 is U-shaped, the limiter 6 is protrudingly arranged on the side wall of the connecting ear 22, the limiter 6 extends along the circumferential direction of the edge of the connecting ear 22, and the limiter 6 protrudes from the edge of the connecting ear 22. The two ends of the limiter 6 are connected to the seat body 21, so that the inner side wall of the limiter 6 and the side wall of the connecting ear 22 enclose a receiving space 61, and the first guide wheel 91 close to the connecting ear 22 is at least partially placed in the receiving space 61, which is conducive to improving the compactness of the structure of the actuator 10. The corresponding relationship between the four execution guide wheels 311 and the two second flexible traction members 7 is the same as the corresponding relationship between the four first guide wheels 91 and the two second flexible traction members 7 , which will not be repeated here.

[0116] In this embodiment, two connecting rods 23 are provided, and the four first guide wheels 91 and the four execution guide wheels 311 are all located between the two connecting rods 23 .

[0117] In other embodiments, the connecting rod 23 may also be located between the first guide wheel 91 and the connecting ear 22 . The positions of the connecting rod 23 , the first guide wheel 91 and the execution guide wheel 311 may be adaptively adjusted and are not limited here.

[0118] Two second threading holes 36 are formed through the connecting seat 3, and the two ends of the second flexible traction member 7 pass through the two second threading holes 36 to pass through the connecting seat 3 and extend into the instrument rod 20. Due to the structural setting of the actuator 10, when the end seat 2 rotates around the pitch axis 31, the second flexible traction member 7 will swing synchronously, and the second flexible traction member 7 may be separated from the execution guide wheel 311, increasing the possibility of friction between the second flexible traction member 7 and the hole wall or edge of the second threading hole 36, thereby increasing the possibility of damage to the second flexible traction member 7.

[0119] Preferably, the actuator 10 further comprises a second guide wheel 92, which is coaxially sleeved on the guide shaft 34, and the second guide wheel 92 and the execution guide wheel 311 are arranged opposite to each other, and the two ends of the second flexible traction member 7 are respectively arranged in an S shape and correspondingly wound on a group of second guide wheels 92 and execution guide wheels 311 arranged opposite to each other. The above arrangement can ensure that the first execution drive section 71 and the second execution drive section 72 are always wound on the execution guide wheel 311 and the second guide wheel 92 when the end seat 21 rotates, and the execution guide wheel 311 and the second guide wheel 92 will not swing synchronously with the end seat 2, thereby reducing the possibility of friction between the second flexible traction member 7 and the hole wall or edge of the second threading hole 36, and also avoiding the second flexible traction member 7 from accidentally touching other structures of the connecting seat 3, reducing the possibility of damage to the second flexible traction member 7, ensuring the durability of the actuator 10, extending the service life of the actuator 10, reducing the maintenance cost, ensuring the smooth implementation of the operation, and improving the reliability of the surgical instrument during the operation.

[0120] It can be understood that there are four second guide wheels 92. The two second flexible traction members 7 are respectively arranged around two groups of second guide wheels 92, each group of second guide wheels 92 includes two second guide wheels 92, and the two second guide wheels 92 in the same group are respectively located in the two second threading holes 36, that is, two second guide wheels 92 are arranged in each second threading hole 36.

[0121] In this embodiment, the two second threading holes 36 are respectively located on both sides of the first threading hole 35 along the axial direction of the guide shaft 34. Further, the two second threading holes 36 are respectively located on the sides of the two support members 32 that are opposite to each other.

[0122] In this embodiment, the two actuators 1 are arranged along the axial direction of the actuator shaft 26. At this time, the second flexible traction member 7 has two winding conditions.

[0123] The first winding situation: Figure 10-11As shown, the two ends of the second flexible traction member 7 are respectively located on both sides of the intermediate shaft 25 in the radial direction, that is, the first execution drive section 71 and the second execution drive section 72 are respectively located on both sides of the intermediate shaft 25 in the radial direction, that is to say, the first execution drive section 71 and the second execution drive section 72 are located in a partially staggered cross arrangement between the first guide wheel 91 and the execution guide wheel 311, and the first execution drive section 71 and the second execution drive section 72 are located in a partially staggered cross arrangement between the second guide wheel 92 and the execution guide wheel 311. When the end seat 2 rotates relative to the connecting seat 3 around the pitch axis 31, the length of the first execution drive section 71 wound around the corresponding execution guide wheel 311 remains unchanged, and the length of the second execution drive section 72 wound around the corresponding execution guide wheel 311 remains unchanged. The specific principle is the same as the principle that the length of the first flexible traction member 4 wrapped around the pitch guide wheel 33 remains unchanged in the previous text, and will not be repeated here.

[0124] The second winding situation: Figure 12-13 As shown, both ends of the second flexible traction member 7 are located on the same side of the intermediate shaft 25 in the radial direction, that is, the first execution drive section 71 and the second execution drive section 72 are located on the same side of the intermediate shaft 25 in the radial direction, that is, the winding directions of the first execution drive section 71 and the second execution drive section 72 are substantially the same. The portions of the first execution drive section 71 and the second execution drive section 72 located between the first guide wheel 91 and the execution guide wheel 311 are substantially parallel, and the portions of the first execution drive section 71 and the second execution drive section 72 located between the second guide wheel 92 and the execution guide wheel 311 are substantially parallel.

[0125] Embodiment 2

[0126] This embodiment provides an actuator, a surgical instrument and a surgical robot, and the structure of this embodiment is basically the same as that of the first embodiment, with only some structures being different. This embodiment will not repeat other structures that are the same as the first embodiment.

[0127] In this embodiment, if Fig.14 As shown, the first guide wheel 91 is not arranged on the pitch axis 31. The first guide wheel 91 is coaxially sleeved on the rotating shaft, and the rotating shaft is connected to the connecting ear 22. The rotating shaft is parallel to the execution axis 25 and is arranged at intervals, which is not limited here.

[0128] Embodiment 3

[0129] This embodiment provides an actuator, a surgical instrument and a surgical robot, and the structure of this embodiment is basically the same as that of the first embodiment, with only some structures being different. This embodiment will not repeat other structures that are the same as the first embodiment.

[0130] In this embodiment, if Fig.15As shown, the intermediate shaft 25 and the pitch shaft 31 are both arranged through the connecting ear 22. In this case, the connecting rod in the first embodiment may not be provided. The above arrangement reduces the number of parts of the actuator 10, simplifies the structure of the actuator 10, and facilitates processing and assembly.

[0131] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. An actuator, characterized in that: include: Execution part; An end seat, one end of which is rotatably provided with the actuator, and a connecting member is fixedly provided on the end seat; A connecting seat is provided with a pitch axis, the other end of the end seat is rotatably connected to the pitch axis, and the connecting member is located on a side of the pitch axis facing the actuator; The first flexible traction member is wound around the connecting member and fixedly connected to the connecting member, and two ends of the first flexible traction member are respectively located on both sides of the pitch axis in the radial direction, so that the first flexible traction member can drive the end seat to rotate around the pitch axis.

2. The actuator according to claim 1, characterized in that: A traction fixing member is fixedly provided on the first flexible traction member, the traction fixing member is fixedly connected to the connecting member, and the traction fixing member is located on a side of the connecting member opposite to the pitch axis.

3. The actuator according to claim 2, characterized in that: The end seat includes a seat body and a connecting ear, the seat body is rotatably connected to the actuator, the seat body is provided with the connecting ear protruding toward one end of the connecting seat, the connecting member is fixedly provided on the connecting ear, the connecting member is spaced apart from the seat body, and the traction fixing member is provided in the gap between the seat body and the connecting member.

4. The actuator according to claim 3, characterized in that: An intermediate shaft is arranged on the connecting ear, the intermediate shaft is arranged parallel to the pitch axis, the connecting piece is sleeved on the intermediate shaft, the end surface of the connecting ear facing the connecting seat is a first arc surface, the first arc surface is arranged coaxially with the intermediate shaft and the first arc surface is arched toward the connecting seat; A support member is protruding from one end of the connecting seat toward the end seat, the support member is connected to the pitch axis, and the end surface of the support member facing the end seat is a second arc surface, the second arc surface is coaxially arranged with the pitch axis and arches toward the end seat; The first arcuate surface is in close contact with the second arcuate surface.

5. The actuator according to claim 4, characterized in that: The end seat also includes a connecting rod, and the pitch axis and the intermediate axis are both rotatably connected to the connecting rod.

6. The actuator according to claim 4, characterized in that: The connecting ears are provided with two, and the two connecting ears are arranged at intervals along the axial direction of the intermediate shaft, the connecting member is located between the two connecting ears, the supporting members are provided with two, and the two supporting members are arranged along the axial direction of the pitch axis, the two connecting ears are arranged opposite to the two supporting members one by one, and the actuator further includes a limiting member, and the limiting member is provided with two; The two limiting members are respectively connected to the two connecting ears, and the two limiting members are respectively located on the outsides of the two supporting members, and the limiting members protrude from the ends of the connecting ears toward the supporting members; or, the two limiting members are respectively connected to the two supporting members, and the two limiting members are respectively located on the outsides of the two connecting ears, and the limiting members protrude from the ends of the supporting members toward the connecting ears.

7. The actuator according to any one of claims 1 to 6, characterized in that: A pitch guide wheel is coaxially sleeved on the pitch axis, the connecting member is located on the side of the pitch guide wheel facing the actuator, and two ends of the first flexible traction member are respectively located on both sides of the pitch guide wheel in the radial direction; A first threading hole is formed through the connecting seat, a guide pulley is arranged in the first threading hole, the axis of the guide pulley is arranged parallel to the pitch axis, the guide pulley is located on the side of the pitch guide wheel opposite to the actuator, both ends of the first flexible traction member are S-shaped and wound around the pitch guide wheel and the guide pulley, and both ends of the first flexible traction member pass through the first threading hole to pass through the connecting seat.

8. The actuator according to any one of claims 1 to 6, characterized in that: An intermediate shaft and an execution shaft are provided on the end seat, the intermediate shaft is arranged parallel to the pitch shaft, the connecting member is sleeved on the intermediate shaft, the execution shaft is arranged perpendicular to the pitch shaft, the execution member includes a rotating wheel, the rotating wheel is rotatably sleeved on the execution shaft, an annular groove is opened on the outer side wall of the rotating wheel along the circumferential direction, the execution mechanism also includes a second flexible traction member, the second flexible traction member is wound around the rotating wheel through the annular groove, the middle part of the second flexible traction member is connected to the rotating wheel, and both ends of the second flexible traction member are S-shaped and wound around the intermediate shaft and the pitch shaft; The actuator also includes a guide member, which is arranged on the end seat and located between the intermediate shaft and the actuator shaft. The second flexible traction member is wound around the guide member, and the guide member is used to guide the second flexible traction member so that the second flexible traction member is tangent to the bottom surface of the annular groove.

9. A surgical instrument, characterized in that Comprising an actuator as described in any one of claims 1-8.

10. A surgical robot, characterized in that: Comprising the surgical instrument as claimed in claim 9.

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