Surgical instrument and surgical robot

Abstract

The utility model discloses a surgical instrument and surgical robot, the surgical instrument includes end effector, tube body and drive device, the end effector has first action and second action, the tube body includes outer tube and inner tube rotatingly connected with outer tube, outer tube and inner tube far end are both with end effector transmission connection, and the drive device has first action and second action. The driving device comprises a first driving mechanism and a second driving mechanism, the first driving mechanism is in transmission connection with the near end of the outer tube, the second driving mechanism is in transmission connection with the near end of the inner tube, the second driving mechanism drives the inner tube to rotate, and the first driving mechanism drives the outer tube to brake and controls the outer tube to keep still; the end effector is driven to execute a first action; and the first driving mechanism and the second driving mechanism respectively drive the outer pipe and the inner pipe to rotate, and control the outer pipe and the inner pipe to keep relatively static so as to drive the end effector to execute the second action, so that the problem that the action coupling of the end effector is not controlled is solved.

Description

Technical Field

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

[0002] In recent years, surgical robots have emerged that can replace human hands in performing surgical operations. When in use, surgical instruments are mounted on the robotic arms of the surgical robot. The doctor operates the input device at the console, and the control system solves and restores the action instructions of the input device, driving the robotic arms to allow the surgical instruments to enter the patient's body to perform surgical operations, such as clamping, cutting, and suturing.

[0003] After entering the patient's body, the surgical instrument needs to constantly adjust the posture of its end effector, such as adjusting its overall rotation direction, yaw angle, pitch angle, etc., so that the end effector can complete the specific surgical operation. When the surgical instrument with existing structure is adjusting its posture, the various actions of the end effector may be coupled, which will affect the safety of the surgical operation, so it is necessary to improve it. Utility Model Content

[0004] In view of this, an object of the present invention is to provide a surgical instrument and a surgical robot to solve at least one or more of the above-mentioned technical problems.

[0005] On the one hand, the utility model provides a surgical instrument, comprising an end effector, a tube body and a driving device, the end effector having a first action and a second action, the tube body comprising an outer tube and an inner tube rotatably connected to the outer tube, the distal ends of the outer tube and the inner tube are both transmission-connected to the end effector, the driving device comprising a first driving mechanism and a second driving mechanism, the first driving mechanism being transmission-connected to the proximal end of the outer tube, the second driving mechanism being transmission-connected to the proximal end of the inner tube, the second driving mechanism driving the inner tube to rotate, the first driving mechanism driving the outer tube to brake, and controlling the outer tube to remain stationary to drive the end effector to perform the first action; the first driving mechanism and the second driving mechanism respectively drive the outer tube and the inner tube to rotate, and controlling the outer tube and the inner tube to remain relatively stationary to drive the end effector to perform the second action.

[0006] On the other hand, the utility model provides a surgical robot, comprising a robotic arm and the above-mentioned surgical instrument mounted on the robotic arm.

[0007] Compared with the prior art, the surgical robot and surgical instrument of the utility model control the outer tube to remain stationary to avoid the problem that the outer tube is rotated when the driving mechanism drives the inner tube to rotate, causing the end effector to execute the second action in conjunction with the first action. Moreover, the outer tube and the inner tube are controlled to remain relatively stationary to avoid the problem that when the driving mechanism drives the tube body to rotate, the outer tube and the inner tube produce relative movement, causing when the end effector executes the second action, the first action is also executed, resulting in the problem of uncontrolled action coupling of the end effector.

[0008] In some embodiments, the output torque of the first drive mechanism is greater than the output torque of the second drive mechanism.

[0009] When the end effector performs the first action, the direction of the output torque of the first drive mechanism is opposite to the direction of the output torque of the second drive mechanism, and the output torque of the first drive mechanism is greater than the output torque of the second drive mechanism, so that the outer tube can remain stationary when the inner tube rotates. When the end effector performs the first action, the outer tube will not be driven to rotate due to coupling to perform the second movement. When performing the second action, by controlling the torque of the outer tube rotation to be greater than the torque of the inner tube rotation, the outer tube rotation can drive the inner tube to rotate together, so as to achieve the purpose of keeping the outer tube and the inner tube relatively still, and avoid the problem of uncontrolled movement of the end effector.

[0010] In some embodiments, the first driving mechanism includes a first driver and a first transmission assembly, the first transmission assembly includes a first input member and a first output member that are transmission-connected; the second driving mechanism includes a second driver and a second transmission assembly, the second transmission assembly includes a second input member and a second output member that are transmission-connected, the transmission ratio of the first input member to the first output member is greater than the transmission ratio of the second input member to the second output member; and / or the maximum output torques of the first driver and the second driver are the same.

[0011] The same first driver and second driver are set so that the two can have the same maximum output torque. By setting different transmission ratios, it can be ensured that when the drivers are the same, the torque obtained by the outer tube can be greater than the torque obtained by the inner tube, so that the rotation of the inner tube cannot drive the outer tube to rotate, and the rotation of the outer tube can drive the inner tube to rotate synchronously.

[0012] In some embodiments, the first drive mechanism includes a first driver and a first transmission assembly, the second drive mechanism includes a second driver and a second transmission assembly, the maximum torque of the first driver is different from the maximum torque of the second driver; the first transmission assembly includes a first input member and a first output member in transmission connection, the second transmission assembly includes a second input member and a second output member in transmission connection, the transmission ratio of the first input member to the first output member is equal to the transmission ratio of the second input member to the second output member, or the transmission ratio of the first input member to the first output member is greater than or less than the transmission ratio of the second input member to the second output member.

[0013] Different first drivers are set according to the space of the surgical instrument and the force requirements for the surgical instrument to perform the first action and the second action on the end effector. At the same time, the transmission ratio of the first transmission assembly and the second transmission assembly is adjusted, so that the torque obtained by the outer tube can be greater than the torque obtained by the inner tube.

[0014] In some embodiments, the driving device also includes a third driving mechanism, the third driving mechanism includes a third output member, the third output member is fixedly connected to the inner tube in the axial direction and movably connected in the circumferential direction; a spline portion is provided at the proximal end of the inner tube, and the inner tube is movably connected to a matching portion of a second output member of the second driving mechanism through the spline portion, the inner tube and the second output member are relatively fixed in the circumferential direction, and the inner tube and the second output member are slidably connected in the axial direction; and / or the third driving mechanism drives the inner tube to move in the axial direction to drive the end actuator to perform a third action.

[0015] The inner tube can not only be driven by the second driving mechanism alone to drive the end effector to perform the first action, but can also be driven by the third driving mechanism to drive the end effector to perform the third action. In order to solve the coupling problem between the two actions, a spline portion is provided on the inner tube, which has a simple structure and is easy to assemble. When the third driving mechanism drives the inner tube to move in the axial direction, it will not affect the second driving mechanism controlling the rotation of the inner tube.

[0016] In some embodiments, the first drive mechanism includes a first driver and a first transmission assembly, the second drive mechanism includes a second driver and a second transmission assembly, the first transmission assembly and the second transmission assembly are gear transmission assemblies, each of the gear transmission assemblies includes at least one pair of meshing gears, wherein the transmission ratio of the gear transmission assembly of the first drive mechanism is greater than the transmission ratio of the gear transmission assembly of the second drive mechanism.

[0017] In some embodiments, the first action of the end effector includes a yaw motion or an opening and closing motion, and when the inner tube or the outer tube is driven to rotate individually, the end effector performs a yaw motion or an opening and closing motion; the second action of the end effector includes a rotational motion, and when the inner tube and the outer tube are driven to rotate simultaneously, and when the outer tube and the inner tube are controlled to remain relatively stationary, the end effector performs a rotational motion.

[0018] The inner tube can be driven alone to drive the end effector to perform yaw motion or opening and closing motion; when the outer tube and the inner tube are driven at the same time, the outer tube can drive the inner tube to rotate synchronously, and the end effector itself will not generate yaw motion or opening and closing motion during the process of rotational motion with the outer tube, thereby realizing the decoupling of yaw motion / opening and closing motion from rotational motion, which is beneficial to improving the safety and success rate of the operation.

[0019] In some embodiments, the distal end of the outer tube is connected to the distal end of the inner tube via a coupling assembly, the coupling assembly comprising a nut and a screw threadedly connected to the nut, the outer periphery of the nut is rotationally connected to the outer tube, the nut is fixedly connected to the inner tube, the screw is connected to the proximal end of the end effector, the outer tube is fixedly connected to the end effector via a second shaft, and when the inner tube or the outer tube is driven to rotate alone, the screw moves axially relative to the outer tube so that the end effector performs a swinging motion or an opening and closing motion relative to the second shaft.

[0020] By controlling the torque of the outer tube rotation to be greater than the torque of the inner tube rotation, the movement of the outer tube movably connected through the coupling assembly is decoupled from the movement of the inner tube, thereby avoiding the problem that when one of the inner tube or the outer tube drives the end effector to move, the other tube passively drives the end effector to move, resulting in uncontrolled movement of the end effector.

[0021] In some embodiments, the outer tube includes a first tube and a second tube arranged at the distal end of the first tube, the second tube is rotatably connected to the first tube via a first axis, and the end actuator is rotatably connected to the second tube via a second axis, and when the end actuator performs a yaw motion or an opening and closing motion, it rotates relative to the second tube with the second axis as the rotation axis; when the end actuator performs a pitch motion, the second tube rotates relative to the first tube with the first axis as the rotation axis; when the end actuator performs a rotation motion, the outer tube, the inner tube and the end actuator rotate synchronously with the central axis of the first tube as the rotation axis.

[0022] In some embodiments, the surgical instrument is an active instrument, the end effector is connected to a first wire, an axially penetrating channel is formed in the inner tube, and the first wire is inserted into the channel; a conductive component is sleeved on the proximal end of the inner tube, and the conductive component includes a stator and a rotor, the rotor is fixedly connected to the inner tube and electrically connected to the end effector through the first wire, the stator is rotatably sleeved on the inner tube and fixed axially relative to the inner tube, and the stator is connected to an external power source through a second wire; and / or, one of the stator and the rotor is protrudingly provided with a conductive terminal, and the other is provided with an annular groove, the conductive terminal is slidably inserted into the annular groove and elastically abuts against the bottom of the annular groove in the axial direction, so that the external power source is electrically connected to the end instrument.

[0023] The relatively rotating stator and rotor ensure that the wires of the inner tube are not affected or entangled during the rotation, thus ensuring the stability of the electrical connection of the end effector. The coordination between the conductive terminal and the ring groove ensures that the stator and the rotor can always maintain good contact and be in a conductive state during the relative rotation.

[0024] In some embodiments, the end actuator includes a conductive actuator and an insulating shell, a first wire is welded to the proximal end of the actuator, the insulating shell integrally covers the proximal end of the actuator and covers the welding point between the actuator and the first wire, and the distal end of the actuator extends outward relative to the insulating shell.

[0025] After the actuator is connected to the wire by welding, an insulating shell is formed by injection molding to wrap the welding point of the actuator and the wire, so as to avoid the problem of poor contact between the actuator and the wire and improve the service life of the active device.

[0026] In some embodiments, the surgical instrument includes a box body for mounting the driving device, a shaft seat is provided at the proximal end of the box body, the proximal end of the inner tube extends to be rotatably connected with the shaft seat, and the inner wall of the shaft seat is sealed with the outer wall of the inner tube; and / or, a channel is provided in the center of the inner tube along its axial direction, and the channel serves as a threading channel for threading a wire to connect the end effector and an external power supply; and / or, the channel serves as a smoke exhaust channel for exhausting smoke generated during surgery.

[0027] A channel is provided in the inner tube to facilitate the electrical connection of active instruments and the exhaust of smoke during surgery, so that the doctor can obtain a clear field of vision during the operation, which is conducive to improving the success of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0029] Figure 1 It is a schematic diagram of a surgical instrument according to an embodiment of the present invention.

[0030] Figure 2 for Figure 1 Another angled view of the surgical instrument shown.

[0031] Figure 3 for Figure 1 Exploded view of the surgical instrument shown.

[0032] Figure 4 for Figure 1 An axial cross-sectional view of the proximal portion of the surgical instrument is shown.

[0033] Figure 4a for Figure 1 A radial cross-sectional view of the proximal portion of the surgical instrument is shown.

[0034] Figure 4b for Figure 1 Another radial cross-sectional view of the proximal portion of the surgical instrument is shown.

[0035] Figure 5 for Figure 1 An axial cross-sectional view of the distal portion of the surgical instrument is shown.

[0036] Figure 6 for Figure 1 A schematic structural diagram of the second joint of the surgical instrument shown.

[0037] Figure 7 for Figure 1 A further exploded view of the conductive components of the surgical instrument is shown.

[0038] Figure 8 for Figure 1 Schematic diagram of the connection between the end effector and the screw of the surgical instrument shown.

[0039] Fig. 9 It is a pitch diagram of a surgical instrument according to an embodiment of the utility model.

[0040] Fig.10 It is a schematic diagram of the swing of a surgical instrument according to an embodiment of the utility model.

[0041] Fig.11This is a schematic diagram of a surgical instrument according to another embodiment of the present invention.

[0042] Fig.12 for Fig.11 A cross-sectional view of the proximal portion of the surgical instrument is shown.

[0043] Fig.13 This is a schematic diagram of a surgical instrument according to yet another embodiment of the present invention.

[0044] Fig.14 for Fig.13 A cross-sectional view of the proximal portion of the surgical instrument is shown.

[0045] Fig.15 Schematic diagram of a surgical robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0047] It should be noted that the terms "proximal end" and "distal end" used below can be understood according to the usual meanings in the field of medical devices, where "proximal end" refers to the end close to the operator (such as a doctor, etc.), or the end close to the device drive; "distal end" refers to the end away from the operator, or the end close to the patient.

[0048] The utility model provides a surgical instrument, which is mainly used in minimally invasive surgery, such as general surgery, urology, cardiovascular surgery, thoracic surgery, gynecology, otolaryngology, pediatric surgery and the like. Figure 1-3 The figure shows a specific embodiment of the surgical instrument provided by the utility model. The surgical instrument 100 shown includes an end effector 50, a tube body (10, 30) and a driving device. The end effector 50 has a first action and a second action. The tube body includes an outer tube 10 and an inner tube 30 rotatably connected to the outer tube 10. The distal ends of the outer tube 10 and the inner tube 30 are both connected to the end effector 50. The driving device includes a first driving mechanism and a second driving mechanism. The first driving mechanism and the second driving mechanism are respectively connected to the proximal ends of the outer tube 10 and the inner tube 30.

[0049] The first driving mechanism controls the outer tube 10 to remain stationary, and the second driving mechanism drives the inner tube 30 to rotate, so as to drive the end effector 50 to perform the first action. The first driving mechanism and the second driving mechanism drive the outer tube 10 and the inner tube 30 to rotate respectively, and control the outer tube 10 and the inner tube 30 to remain relatively stationary, so as to drive the end effector 50 to perform the second action. The first driving mechanism controls the outer tube 10 to remain stationary, which means that when the inner tube 30 rotates, the first driving mechanism needs to simultaneously output a torque in the opposite direction of the rotation of the inner tube 30 to resist the rotation tendency of the outer tube 10, ensure that the outer tube 10 is stationary, and prevent it from being dragged by the inner tube 30. The first action of the end effector 50 includes a yaw motion or an opening and closing motion, and the second action of the end effector 50 includes a rotation motion. When the inner tube 30 is driven to rotate alone, the end effector 50 performs a yaw motion; when the outer tube 10 and the inner tube 30 are driven to rotate at the same time, the outer tube 10 and the inner tube 30 are controlled to remain relatively stationary, that is, when the outer tube 10 and the inner tube 30 rotate synchronously, the end effector 50 performs a rotation motion. In this way, the decoupling of the yaw motion and the rotation motion of the end effector 50 can be achieved.

[0050] The end effector 50 is a specific device for performing surgical operations, which may be scissors, separation forceps, clamps, electric hooks, ultrasonic scalpels, staplers, etc. When driven, it produces rotation, yaw, pitch and other dynamic movements, thereby replicating or mapping the operations of the operator (such as a doctor) on the surgical object, such as clamping, cutting, suturing, electrocuting, electrocoagulation, etc.

[0051] In a specific embodiment, the end effector 50 includes two actuators 52 arranged opposite to each other, the proximal ends of the two actuators 52 are pivotally connected to the distal end of the outer tube 10, and the distal end of each actuator 52 forms an actuator part, and the two actuator parts cooperate with each other to implement a specific surgical operation.

[0052] For example, the end effector 50 may be a clamp, wherein corresponding clamping openings are formed on the surfaces of the actuators of the two actuators 52 facing each other, and the clamps are used in conjunction with hemlock clamps; or, the end effector 50 may be a separation forceps, wherein the actuators of the two actuators 52 form serrated clamping surfaces, etc., to facilitate clamping or gripping of tissues; or, the end effector 50 may be a pair of scissors, wherein the surfaces of the actuators of the two actuators 52 respectively form shearing surfaces, and the two shearing surfaces are brought close to each other to shear tissues.

[0053] In another specific embodiment, the end effector 50 includes a single actuator, the proximal end of which is pivotally connected to the distal end of the outer tube 10, and the distal end of the actuator forms an actuator portion. Figure 11-12 As shown, the end effector 50 may be an electric hook, and its actuator 52 may swing left and right to electrically cut or coagulate tissue.

[0054] In the present application, "yaw motion" refers to the deflection of the actuator 52 of the end effector 50. When there is one actuator 52, the yaw motion refers to the swing of the actuator 52 about its central axis X0; when there are two actuators 52, the movement of the two actuators 52 rotating toward or away from each other to adjust the angle between the two actuators 52 can also be called "opening and closing motion".

[0055] “Rotational motion” refers to the adjustment of the overall direction of the end effector 50 as the outer tube 10 rotates around its central axis X0;

[0056] The “pitch motion” refers to adjusting the deflection angle of the center axis X1 of the end effector 50 relative to the center axis X0 of the outer tube 10 by swinging the end effector 50 as a whole relative to the outer tube 10 in the axial plane.

[0057] The rotational movement of the outer tube 10 is driven by the first driving mechanism, and the rotational movement of the inner tube 30 is driven by the second driving mechanism. Figure 5 The distal end of the outer tube 10 and the distal end of the inner tube 30 can be connected via a coupling assembly 36 , and the coupling assembly 36 includes a nut 39 and a screw rod 19 .

[0058] For example, the outer tube 10 may be connected to the screw 19, and the inner tube 30 may be connected to the nut 39. When the inner tube 30 is driven to rotate alone, the nut 39 rotates with the inner tube 30 relative to the outer tube 10, so that the screw 19 moves in the axial direction, thereby causing the end effector 50 to perform a yaw motion. When the outer tube 10 is driven to rotate alone, the screw 19 rotates with the outer tube 10 relative to the inner tube 30, so that the screw 19 moves in the axial direction at the same time, thereby causing the end effector 50 to perform a yaw motion. In other words, when the first drive mechanism or the second drive mechanism is started alone, both can drive the end effector 50 to perform a yaw motion.

[0059] Since the outer tube 10 rotates to make the end effector 50 perform a yaw motion, it actually also performs a rotation motion, and the yaw motion and the rotation motion are coupled. Therefore, usually the outer tube 10 is not rotated alone, but the inner tube 30 is rotated alone to control the end effector 50 to perform a yaw motion.

[0060] When the inner tube 30 and the outer tube 10 are driven to rotate at the same time, and the torque obtained by the outer tube 10 is greater than the torque obtained by the inner tube 30, initially, the inner tube 30 and the outer tube 10 will form a speed difference so that the nut 39 and the screw rod 19 rotate relative to each other until the two are screwed together and fixed. Since this process is very short, it will basically not affect the yaw motion of the end effector 50. Afterwards, the outer tube 10 rotates synchronously with the screwed inner tube 30, and the end effector 50 performs a rotation motion.

[0061] That is to say, the end effector 50 can be driven to rotate only when the first drive mechanism and the second drive mechanism are started at the same time. During the rotation of the end effector 50, since the inner tube 30 and the outer tube 10 do not rotate relative to each other, the two tubes remain relatively stationary, and the end effector 50 can remain in the expected yaw state, that is, the rotation of the end effector 50 is decoupled from the yaw motion.

[0062] The utility model flexibly connects the outer tube 10 and the inner tube 30 through the coupling assembly 36. The inner tube 30 can be driven to rotate alone, so that the end effector 50 can perform yaw motion without generating rotational motion; or, the inner tube 30 and the outer tube 10 can be driven at the same time and obtain different torques. The two rotate relative to each other while remaining relatively still and connected together, and then the two rotate synchronously so that the end effector 50 only performs rotational motion without generating yaw motion. In this way, the rotational motion and yaw motion of the end effector 50 are decoupled through the structural design of the outer tube 10 and the inner tube 30. During the yaw motion, the direction of the end effector 50 will not change, and the end effector 50 will not clamp the tissue and rotate uncontrollably. During the process of adjusting its direction, the end effector 50 will not generate yaw motion and will not loosen the clamped tissue, so that the movement of the end effector 50 is controlled, ensuring the safety and continuity of the surgical operation and improving the success rate of the operation.

[0063] Because the coupling component 36 causes the movements of the outer tube 10 and the inner tube 30 to affect each other, when the second drive mechanism drives the inner tube 30 to rotate, driven by the coupling component 36, the outer tube 10 has a movement tendency to follow the rotation of the inner tube 30, and the first drive mechanism needs to output a torque in the opposite direction to the second drive mechanism to keep the outer tube stationary. In order to prevent the torque of the first drive mechanism from being greater than the torque of the second drive mechanism, resulting in the situation where the inner tube 30 drives the outer tube 10 to rotate, the output torque of the first drive mechanism is made greater than the output torque of the second drive mechanism.

[0064] According to another variation of the present embodiment, the types of the end effector 50 are different, and the connection structures and connection methods between the end effector 50 and the outer tube 10 and the inner tube 30 are different. The first action and the second action of the end effector 50 can also be other movements. For example, the first action is a rotational movement, and the second action is a yaw movement, which is not limited to the specific embodiments.

[0065] The output torque of the first driving mechanism is greater than the output torque of the second driving mechanism. The first driving mechanism includes a first driver, and the second driving mechanism includes a second driver. The first driver and the second driver can be rotating motors, etc. Usually, the first driving mechanism also includes a first transmission assembly 20 arranged between the first driver and the outer tube 10, and the second driving mechanism also includes a second transmission assembly 40 arranged between the second driver and the inner tube 30. The first transmission assembly 20 and the second transmission assembly 40 are both reduction transmission mechanisms, so that the outer tube 10 and the inner tube 30 can rotate at an appropriate speed. In this embodiment, the first driver and the second driver are the same, that is, they have the same maximum output torque, which can maximize the use efficiency of the driver; the reduction ratio of the first transmission assembly 20 is greater than the reduction ratio of the second transmission assembly 40, so that the torque obtained by the outer tube 10 can be greater than the torque obtained by the inner tube 30, so that the rotation of the inner tube 30 will not drive the outer tube 10 to rotate, but the outer tube 10 can drive the inner tube 30 to rotate synchronously relative to the static.

[0066] like Figure 3 as well as Figure 4a As shown, the first transmission assembly 20 includes a first input member and a first output member. Figure 1-3 In the illustrated embodiment, the first transmission assembly 20 is a gear transmission assembly, therefore, the first input member is the first driving wheel 22, the first output member is the first driven wheel 24, the first driving wheel 22 and the first driven wheel 24 are meshed and connected with each other, wherein the diameter of the first driven wheel 24 is much larger than the diameter of the first driving wheel 22. The first driving wheel 22 is drivingly connected to the first driver, and the proximal end of the outer tube 10 is connected to the first driven wheel 24 through the first joint 26, so that the outer tube 10 can rotate synchronously with the first driven wheel 24.

[0067] like Figure 3 as well as Figure 4b As shown, the second transmission assembly 40 includes a second input member and a second output member. Similarly, the second transmission assembly 40 is a gear transmission assembly, and therefore, the second input member is a second driving wheel 42, and the second output member is a second driven wheel 44, and the second driving wheel 42 and the second driven wheel 44 are meshed and connected with each other, wherein the diameter of the second driven wheel 44 is much larger than the diameter of the second driving wheel 42. The second driving wheel 42 is transmission-connected to the second driver, and the proximal end of the inner tube 30 is connected to the second driven wheel 44 through a second joint 46, so that the inner tube 30 can rotate synchronously with the second driven wheel 44.

[0068] Specifically, the first driven wheel 24 is sleeved around the first joint 26, and the two are fixed in the circumferential direction by shape matching, or can also be fixed in the circumferential direction by fixing parts such as pins and screws, so that the first joint 26 can rotate synchronously with the first driven wheel 24. The proximal end of the outer tube 10 is sleeved with the distal end of the first joint 26, one of which is provided with a concave portion and the other is provided with a convex portion, and the concave-convex matching enables the outer tube 10 and the first joint 26 to be positioned in the circumferential direction, and the outer tube 10 can rotate synchronously with the first joint 26. In other embodiments, the outer tube 10 and the first joint 26 can also be fixedly connected in other ways, not limited to the specific embodiments.

[0069] Specifically, the second joint 46 is fixed to the second driven wheel 44 in the circumferential direction, so that the second joint 46 can rotate synchronously with the second output member 44 .

[0070] In the above embodiment, the volume of the driver is proportional to the torque of the driver. Due to the lightweight requirements of the surgical robot, the torque that the driver can output is limited in the driver housing with limited capacity. In order to improve the output torque of the first drive mechanism and the second drive mechanism, the same first driver and the second driver are set so that the two can have the same maximum output torque. The first transmission assembly 20 and the second transmission assembly 40 with different transmission ratios are set, and the outer tube 10 and the inner tube 30 can obtain different torques. When the end effector 50 performs rotational motion, it only needs to adjust the torque to control the rotation speed of the inner tube 30 and the outer tube 10 to be the same, so as to achieve the decoupling of the rotational motion and the yaw motion. In some embodiments, the first driver and the second driver can also be different. In this case, the reduction ratios of the first transmission assembly 20 and the second transmission assembly 40 can be the same or different. As long as the torque finally transmitted to the outer tube 10 can be greater than the torque transmitted to the inner tube 30, so that the outer tube 10 can drive the inner tube 30 to rotate synchronously, the decoupling of the rotational motion and the yaw motion can be achieved.

[0071] In some embodiments, the first transmission assembly 20 and the second transmission assembly 40 may also be belt transmission assemblies, sprocket transmission assemblies, worm gear transmission assemblies, etc., or may be a combination of multiple transmission assemblies as long as the reduced power transmission can be achieved.

[0072] In the present invention, the driving device further includes a third driving mechanism connected to the proximal end of the inner tube 30, which is used to drive the inner tube 30 to move in the axial direction so that the end effector 50 performs a pitching motion. A spline portion is provided at the proximal end of the inner tube 30, and the inner tube 30 is movably connected to the matching portion of the second output member (i.e., the second driven wheel 44) of the second driving mechanism through the spline portion, so that the inner tube 30 is fixed relative to the second output member in the circumferential direction, and the inner tube 30 is slidably connected to the second output member in the axial direction.

[0073] like Figure 6As shown, the spline portion at the proximal end of the inner tube 30 can be a spline integrally formed with the inner tube 30, or a spline shaft fixedly connected to the inner tube 30, wherein the spline can be used as the second joint 46, and is fixed in the circumferential direction with the second output member 44 by spline matching, so that the second joint 46 can rotate synchronously with the second output member 44. Specifically, the cross-section of the second joint 46 can be a non-circular structure such as a square, hexagonal, D-shaped, elliptical, etc., and the center of the second output member 44 is provided with a hole-shaped matching portion matching its shape. When the second joint 46 is plugged into the assembly hole of the second output member 44, the two realize synchronous rotation by shape matching. At the same time, the second joint 46 and the second output member 44 are slidably matched in the axial direction, so that the second joint 46 can move in the axial direction relative to the second output member 44. Of course, the second output member 44 and the second joint 46 can also be connected in other ways, as long as the two can be fixed in the circumferential direction and not fixed in the axial direction.

[0074] In this embodiment, when the spline portion at the proximal end of the inner tube 30 is a spline shaft (i.e., the second joint 46) fixedly connected to the inner tube 30, its two ends extend to form a connecting end 48, 49 respectively, wherein the connecting end 48 at the distal end of the second joint 46 is connected to the proximal end of the inner tube 30, and the two are fixed by pins, screws, etc., so that the inner tube 30 can rotate or move synchronously with the second output member 44; the connecting end 49 at the proximal end of the second joint 46 is inserted into a shaft seat 89 of a box body 80, and the shaft seat 89 supports the movement and rotation of the second joint 46, so that the movement and rotation of the second joint 46 and the inner tube 30 are smoother, and the box body 80 is used to carry the above-mentioned driving device.

[0075] Preferably, the end effector 50 is an active device, and each of its actuators 52 is made of a conductive material. The distal end of the actuator 52 is used as an actuator for interacting with the diseased tissue; the proximal end of the actuator 52 is welded with a first wire 70. Figure 8 As shown, the proximal end of the actuator 52 is also provided with an insulating shell 54. After the actuator 52 is welded to the first wire 70, the insulating shell 54 is integrally formed at the proximal end of the actuator 52 by injection molding. The insulating shell 54 integrally wraps the proximal end of the actuator 52 and the welding point between the actuator 52 and the first wire 70, thereby avoiding the problem of poor contact between the actuator 52 and the first wire 70.

[0076] like Figure 4As shown, an axially penetrating channel 32 is formed in the center of the inner tube 30, and the channel 32 can be used as a threading channel for passing the first wire 70 to connect the end effector 50 and the external power supply. An axially penetrating channel 47 is also formed in the center of the second connector 46, and the channel 47 is connected to the channel 32 of the inner tube 30 to form a smoke exhaust channel for exhausting smoke generated during surgery, so that the doctor can obtain a clear field of vision during the operation.

[0077] It should be understood that the end effector 50 may also be a passive instrument, such as Figure 13-14 As shown. In this case, the threading channel and the smoke exhaust channel may not be provided. It can be understood that when the end effector 50 is a passive device, the smoke exhaust channel may be retained to remove the smoke generated when the active device is working, and the channel 32 may also be used as a suction pipe for a suction device, or a flushing pipe for a flushing device, which is not limited to the specific embodiment.

[0078] In the present invention, the third driving mechanism includes a third driver, which may also be a rotary motor, etc., for driving the inner tube 30 to move in the axial direction so that the end effector 50 performs a pitch motion.

[0079] In a specific embodiment, if Figure 2 , Figure 4 As shown, a third transmission assembly 60 is arranged between the third driving mechanism and the inner tube 30. The third transmission assembly 60 includes a third output member and a third input member. The third output member is transmission-connected to the third input member. The third output member is fixedly connected to the inner tube 30 in the axial direction and movably connected in the circumferential direction. The first transmission assembly 20 and the second transmission assembly 40 are arranged at intervals in the axial direction, and the third output member is located between the first transmission assembly 20 and the second transmission assembly 40.

[0080] In a specific embodiment, the third transmission assembly 60 includes a screw rod 62 and a push plate 64 screwed with the screw rod 62, wherein the third input member is the screw rod 62, and the third output member is the push plate 64, wherein the screw rod 62 is transmission-connected to the third driver, and the push plate 64 is axially fixedly connected to the inner tube 30, so that the rotational motion output by the third driver is converted into the axial motion of the push plate 64, thereby driving the inner tube 30 to move axially, and the structure is simple and the transmission efficiency is high.

[0081] The first transmission assembly and the second transmission assembly are spaced apart in the axial direction, the push plate 64 is located between the first transmission assembly and the second transmission assembly, the screw rod 62 is spaced apart and parallel to the inner tube 30 , the screw rod 62 passes through the push plate 64 and is threadedly connected to the push plate 64 .

[0082] The end effector 50 is driven to perform pitch motion by the linear movement of the inner tube 30 along the axial direction, and the end effector 50 is driven to perform yaw motion by the rotation of the inner tube 30, thereby realizing the decoupling of the yaw motion and the pitch motion of the end effector 50. The same inner tube 30 can be used to control the motion of the end effector 50 in two degrees of freedom, thereby avoiding the use of double inner tubes to separately control the motion of the two degrees of freedom of the end effector 50, thereby reducing the overall tube diameter of the surgical instrument.

[0083] In some existing technologies, two inner tubes are usually used to control the two degrees of freedom of motion of the yaw motion and the pitch motion of the end effector respectively. If a single inner tube is used to control the yaw motion and the pitch motion, the yaw motion and the pitch motion will be coupled with each other, resulting in the problem of uncontrolled motion of the end effector. The above-mentioned means can be used to uncouple the coupling motion of the yaw motion and the pitch motion of the end effector and avoid the adverse effects of the coupling.

[0084] like Figure 2 , Figure 3 As shown, the first transmission assembly 20, the second transmission assembly 40, and the third transmission assembly 60 are installed in the housing 80, and the first driver, the second driver, and the third driver are arranged outside the housing 80, and each driver is provided with a power output disk. The housing 80 is provided with three power input disks 82, 84, and 86, and each power input disk 82, 84, and 86 docks the power output disk of one of the drivers with the transmission assembly 20, 40, and 60 of the driver through the transmission shaft C, D, and E. Preferably, each power input disk 82, 84, and 86 is provided with two protrusions 88, which can not only realize power transmission between the driver and the corresponding transmission assembly 20, 40, and 60, but also realize torque transmission. In the illustrated embodiment, the three power input disks 20, 40, and 60 are arranged at the far end of the housing 80, and are docked with the first output member 22, the second output member 42, and the screw rod 62 respectively.

[0085] like Figure 3 , Figure 4 As shown, the proximal end of the inner tube 30 extends outward by a certain length relative to the proximal end of the outer tube 10, the first transmission assembly 20 is arranged near the distal end of the housing 80, and the first output member 24 is connected to the proximal end of the outer tube 10 through the first joint 26; the second transmission assembly 40 is arranged near the proximal end of the housing 80, and the second output member 44 is connected to the proximal end of the inner tube 30 through the second joint 46. The first output member 24 and the second output member 44 are coaxially arranged and spaced a certain distance apart in the axial direction.

[0086] The screw rod 62 of the third transmission assembly is arranged parallel to the inner tube 30, and the push plate 64 is sleeved with the screw rod 62 and the inner tube 30 at the same time. The push plate 64 is located between the first output member 24 and the second output member 44 in the axial direction. In this way, the space in the box body 80 can be fully utilized, making the overall structure more compact. The shaft seat 89 extends outward from the proximal end of the box body 80, and the outer wall of the connecting end 49 at the proximal end of the second joint 46 is sealed with the inner wall of the shaft seat 89 to prevent the exhaust smoke from flowing back into the box body 80.

[0087] In a specific embodiment, if Figure 2 , Figure 5 As shown, the outer tube 10 includes a first tube 12 and a second tube 14 disposed at the distal end of the first tube 12, and the first tube 12 and the second tube 14 are substantially cylindrical structures. The proximal end of the second tube 14 is rotatably connected to the distal end of the first tube 12 through a first shaft 16, and the end effector 50 is rotatably connected to the distal end of the second tube 14 through a second shaft 18, so that the end effector 50 can not only rotate relative to the second tube 14 to adjust its yaw angle, but also can swing with the second tube 14 relative to the first tube 12 to adjust its pitch angle.

[0088] When the end effector 50 performs yaw motion, it rotates relative to the second tube with the second shaft 18 as the rotation axis; when the end effector 50 performs pitch motion, the second tube 14 rotates relative to the first tube 12 with the first shaft 16 as the rotation axis; when the end effector 50 performs rotation motion, the outer tube 10, the inner tube 30 and the end effector 50 rotate synchronously with the central axis X0 of the first tube 12 as the rotation axis.

[0089] It should be noted that, herein, the central axis X0 of the outer tube 10 refers to the central axis X0 of the first tube 12. Preferably, the inner tube 30 is coaxially arranged with the first tube 12, and the central axes of the two coincide. The two actuators 52 of the end effector 50 are symmetrically arranged relative to the central axis X2 of the second tube 14 and the second shaft 18, and the swing angle of the end effector 50 is the angle between the central axis X2 of the second tube 14 and the central axis X0 of the first tube 12.

[0090] Preferably, the first shaft 16 and the second shaft 18 are arranged in parallel and spaced apart, the axis of the first shaft 16 is perpendicular to but does not intersect with the central axis X0 of the first tube 12, and the axis of the second shaft 18 is perpendicular to and intersects with the central axis X2 of the second tube 14, so that the second tube 14 can swing to both sides relative to the first tube 12 and has a larger swing angle.

[0091] When the surgical instrument 100 is in the initial position, the first tube 12 and the second tube 14 are coaxially arranged, the end effector 50 has no swing and its two actuators 52 are in a closed state, that is, the central axis X1 of the end effector 50 as a whole, the central axis X2 of the second tube 14, and the central axis X0 of the first tube 12 coincide, the swing angle of the end effector 50 is 0 degrees, and the angle between the two actuators 52 is 0 degrees.

[0092] When the yaw angle of the end effector 50 needs to be adjusted, Fig. 9 As shown, the second pipe 14 swings relative to the first pipe 12 with the first shaft 16 as the center, so that the central axis X2 of the second pipe 14 forms a certain angle α with the central axis X0 of the first pipe 12. When the angle between the two actuators 52 of the end effector 50 needs to be adjusted, as shown in FIG. Fig.10 As shown, the two actuators 52 rotate relative to each other around the second shaft 18 to form an opening angle β. During the swinging / opening process, the two actuators 52 always remain symmetrical with respect to the central axis X2 of the second pipe 14 and are not affected by the swinging angle of the end actuator 50, so that the clamping force of the two actuators 52 always remains consistent.

[0093] A pitch transmission assembly 34 is also provided between the inner tube 30 and the end effector 50. When the inner tube 30 is driven to move in the axial direction of the first tube 12, the end effector 50 is caused to swing around the first shaft 16 through the action of the pitch transmission assembly 34; when the inner tube 30 is driven to rotate in the first tube 12, the two actuators 52 of the end effector 50 are caused to swing / open and close around the second shaft 18 through the action of the coupling assembly 36, thereby realizing the decoupling of the pitch motion and the swing motion of the end effector 50.

[0094] The pitch transmission assembly 34 is movably disposed in the first pipe 12, and includes a connecting rod 341 and a first connector 343 and a second connector 345 respectively disposed at both ends of the connecting rod 341. The first connector 343 and the second connector 345 are preferably cross connectors. The connecting rod 341 is rotatably connected to the distal end of the inner tube 30 through the first connector 343; the coupling assembly 36 is movably disposed in the second pipe 14, and its nut 39 is rotatably disposed in the second pipe 14 and fixed relative to the second pipe 14 in the axial direction. The proximal end of the screw rod 19 is screwed into the nut 39, and the distal end extends out of the nut 39 and is connected to the proximal end of the end effector 50. The connecting rod 341 is rotatably connected to the nut 39 through the second connector 345. In some embodiments, the connecting rod 341 can be omitted.

[0095] Specifically, the distal end of the screw rod 19 forms a connecting portion 191, and the two side ends of the connecting portion 191 form two connecting points, and the two connecting points are rotatably connected to the proximal ends of the two actuators 52 through two connecting rods 38. The two connecting rods 38 are symmetrically arranged on opposite sides of the second shaft rod 18, and the connecting points of the proximal ends of the connecting rods 38 and the two side ends of the connecting portion 191 are symmetrically arranged relative to the central axis of the screw rod 19, and the connecting points of the distal ends of the connecting rods 38 and the corresponding actuators 52 deviate from the second shaft rod 18 and are roughly symmetrically arranged relative to the second shaft rod 18, which can ensure that the closed surfaces of the two actuators coincide with the central axis X2 of the second pipe member 14.

[0096] When the inner tube 30 rotates, its rotation is transmitted to the nut 39 of the coupling assembly 36 through the pitch transmission assembly 34, thereby causing the screw rod 19 to move along its axial direction, and the two actuators 52 are driven to rotate toward or away from each other around the second shaft rod 18 through the two connecting rods 38, thereby adjusting the angle between the two actuators 52. When the inner tube 30 moves in the axial direction, the second tube 14 has a tendency to move axially through the pitch transmission assembly 34, but due to the limitation of the first tube 12, the second tube 14 can only rotate relative to the first tube 12 around the first shaft rod 16 to adjust the pitch angle of the end effector 50.

[0097] In the present utility model, the surgical instrument can be an active instrument. When the surgical instrument is an active instrument, a conductive component 90 is further provided at the proximal end of the inner tube 30. The conductive component 90 includes a slip ring stator 92 and a rotor 94. The rotor 94 is fixedly connected to the inner tube 30 and electrically connected to the end effector 50 through the first wire 70. The slip ring stator 92 is rotatably sleeved with the inner tube 30 and fixed relative to the inner tube 30 in the axial direction. The slip ring stator 92 is connected to the power interface of the surgical instrument through the second wire 72. The power interface is used to connect an external power supply to power the end effector 50. The rotor 94 and the slip ring stator 92 can stably transmit current in the case of relative rotation to achieve conduction of the end effector 50.

[0098] In this embodiment, the slip ring stator 92 and the rotor 94 are arranged at intervals in the axial direction, the slip ring stator 92 is provided with a conductive terminal 96, and the rotor 94 is provided with an annular groove 98. The conductive terminal 96 is slidably inserted into the annular groove 98 and its groove bottom is elastically abutted in the axial direction. When the rotor 94 rotates with the inner tube 30, the conductive terminal 96 slides along the annular groove 98 of the rotor 94 and always maintains a contact and conductive state with the rotor 94. In some embodiments, the annular groove 98 can also be provided on the slip ring stator 92, and the conductive terminal 96 can be provided on the rotor 94.

[0099] In this embodiment, the conductive component 90 further includes a housing 99 for accommodating the slip ring stator 92 and the rotor 94. The slip ring stator 92 is fixed in the housing 99, and the rotor 94 is rotatably disposed in the housing 99. The housing 99 is fixedly connected to the push plate 64 and rotatably sleeved to the proximal end of the inner tube 30. Preferably, a rotating disk 74 is fixedly sleeved on the inner tube 30, and the rotating disk 74 is rotatably accommodated in the push plate 64. Bearings 76 are respectively sandwiched between the push plate 64 and the rotating disk 74, between the rotating disk 74 and the housing 99, and between the housing 99 and the rotor 94. The bearings 76 are preferably needle bearings, which can not only reduce the friction between the components, but also limit the components in the axial direction, so that the slip ring stator 92 and the rotor 94 can always remain relatively fixed in the axial direction and maintain the state of electrical conduction.

[0100] When the end effector 50 performs a rotational motion, the inner tube 30 will drive the rotor 94 to rotate. At this time, the first wire 70 is stationary relative to the end effector 50, and does not affect the line conduction; when the end effector 50 performs a pitching motion, the inner tube 30 moves under the drive of the push plate 64. At this time, the rotor 94 is stationary relative to the inner tube 30. Only when the end effector 50 pitches, the first wire 70 will follow the movement, and the overall line conduction will not be affected; when the end effector 50 yaws, since the rotor 94 rotates with the inner tube 30, the first wire 70 will form a twisted wire under the rotation of the inner tube 30. Since the rotation angle of the inner tube 30 is less than 360°, the longer first wire 70 can twist multiple circles by itself, so it does not affect the line conduction. In this way, the surgical instrument 100 can achieve infinite rotation in a single direction during surgery, and there will be no winding at the rear end. At the same time, the pitching and yaw movements of the end effector 50 will not be affected by the wire.

[0101] The utility model also relates to a surgical robot 200, comprising a robotic arm 210 and the above-mentioned surgical instrument 100 mounted on the robotic arm 210. Fig.15 As shown, a driving device 220 is provided at the end of the mechanical arm 70, and the driving device 220 includes a first driving mechanism, a second driving mechanism, a third driving mechanism, etc. In actual surgery, the operator will first determine the expected position and / or posture of the end effector 50 of the surgical instrument 100, and then control the driving device 220 to actuate the inner tube 30 and / or outer tube 10 of the surgical instrument 100 based on the position and / or posture achieved by the end effector 50 through a predetermined algorithm, thereby making the end effector 50 reach the expected position and / or posture. In some embodiments, the surgical instrument 100 can be matched with an aspirator (not shown) to exhaust the smoke generated during the operation.

[0102] It should be noted that the present invention is not limited to the above-mentioned embodiments. According to the creative spirit of the present invention, those skilled in the art may also make other changes. These changes made according to the creative spirit of the present invention should be included in the scope of protection required by the present invention.

Claims

1. A surgical instrument, characterized in that: The invention comprises an end effector, a tube body and a driving device, wherein the end effector has a first action and a second action, the tube body comprises an outer tube and an inner tube rotatably connected to the outer tube, the distal ends of the outer tube and the inner tube are both transmission-connected to the end effector, the driving device comprises a first driving mechanism and a second driving mechanism, the first driving mechanism is transmission-connected to the proximal end of the outer tube, the second driving mechanism is transmission-connected to the proximal end of the inner tube, The second driving mechanism drives the inner tube to rotate, and the first driving mechanism drives the outer tube to brake, and controls the outer tube to remain stationary, so as to drive the end effector to perform the first action; The first driving mechanism and the second driving mechanism drive the outer tube and the inner tube to rotate respectively, and control the outer tube and the inner tube to remain relatively still, so as to drive the end effector to perform the second action.

2. The surgical instrument according to claim 1, characterized in that: The output torque of the first driving mechanism is greater than the output torque of the second driving mechanism.

3. The surgical instrument according to claim 2, characterized in that: The first driving mechanism includes a first driver and a first transmission assembly, wherein the first transmission assembly includes a first input member and a first output member in transmission connection; the second driving mechanism includes a second driver and a second transmission assembly, wherein the second transmission assembly includes a second input member and a second output member in transmission connection, A transmission ratio of the first input member to the first output member is greater than a transmission ratio of the second input member to the second output member; and / or the first driver and the second driver are the same, and the maximum output torques of the first driver and the second driver are the same.

4. The surgical instrument according to claim 2, characterized in that: The first drive mechanism includes a first driver and a first transmission assembly, the second drive mechanism includes a second driver and a second transmission assembly, and the maximum torque of the first driver is different from the maximum torque of the second driver; The first transmission assembly includes a first input member and a first output member in transmission connection, and the second transmission assembly includes a second input member and a second output member in transmission connection, a transmission ratio between the first input member and the first output member is equal to a transmission ratio between the second input member and the second output member, or the transmission ratio between the first input member and the first output member is greater than or less than the transmission ratio between the second input member and the second output member.

5. The surgical instrument according to claim 3, characterized in that: The driving device further comprises a third driving mechanism, wherein the third driving mechanism comprises a third output member, wherein the third output member is fixedly connected to the inner tube in the axial direction and movably connected to the inner tube in the circumferential direction; A spline portion is provided at the proximal end of the inner tube, and the inner tube is movably connected to a matching portion of a second output member of the second driving mechanism through the spline portion, the inner tube and the second output member are relatively fixed in the circumferential direction, and the inner tube and the second output member are slidably connected in the axial direction; and / or, The third driving mechanism drives the inner tube to move in the axial direction to drive the end effector to perform a third action.

6. The surgical instrument according to claim 2, characterized in that: The first driving mechanism includes a first driver and a first transmission assembly, the second driving mechanism includes a second driver and a second transmission assembly, the first transmission assembly and the second transmission assembly are gear transmission assemblies, each of the gear transmission assemblies includes at least one pair of meshing gears, wherein the transmission ratio of the gear transmission assembly of the first driving mechanism is greater than the transmission ratio of the gear transmission assembly of the second driving mechanism.

7. The surgical instrument according to claim 1, characterized in that: The first action of the end effector includes a yaw motion or an opening and closing motion, and when the inner tube is driven to rotate alone, the end effector performs a yaw motion or an opening and closing motion; the second action of the end effector includes a rotational motion, and when the inner tube and the outer tube are driven to rotate at the same time, and when the outer tube and the inner tube are controlled to remain relatively stationary, the end effector performs a rotational motion.

8. The surgical instrument according to claim 7, characterized in that: The distal end of the outer tube is connected to the distal end of the inner tube via a coupling assembly, the coupling assembly comprises a nut and a screw threadedly connected to the nut, the outer periphery of the nut is rotationally connected to the outer tube, the nut is fixedly connected to the inner tube, the screw is connected to the proximal end of the end effector, the outer tube is fixedly connected to the end effector via a second shaft, when the inner tube or the outer tube is driven to rotate alone, the screw moves axially relative to the outer tube so that the end effector performs a yaw motion or an opening and closing motion relative to the second shaft; and / or, The outer tube includes a first tube and a second tube disposed at the distal end of the first tube, the second tube is rotatably connected to the first tube via a first shaft, the end effector is rotatably connected to the second tube via a second shaft, and when the end effector performs a yaw motion or an opening and closing motion, the end effector rotates relative to the second tube with the second shaft as a rotation axis; When the end effector performs a pitch motion, the second tube rotates relative to the first tube with the first shaft as the rotation axis; When the end effector performs a rotational motion, the outer tube, the inner tube and the end effector rotate synchronously with the central axis of the first tube as the rotation axis.

9. The surgical instrument according to claim 1, characterized in that: The surgical instrument is an active instrument, the end effector is connected to a first wire, an axially penetrating channel is formed in the inner tube, and the first wire is inserted into the channel; The proximal end of the inner tube is sleeved with a conductive component, the conductive component includes a stator and a rotor, the rotor is fixedly connected to the inner tube and electrically connected to the end effector through the first wire, the stator is rotatably sleeved with the inner tube and fixed relative to the inner tube in the axial direction, and the stator is connected to an external power source through a second wire; and / or, One of the stator and the rotor is provided with a conductive terminal, and the other is provided with an annular groove. The conductive terminal is slidably inserted into the annular groove and elastically abuts against the bottom of the annular groove in the axial direction, so that an external power source is electrically connected to the end instrument.

10. The surgical instrument according to claim 1, characterized in that: The end actuator includes a conductive actuator and an insulating shell, a first wire is welded to the proximal end of the actuator, the insulating shell integrally covers the proximal end of the actuator and covers the welding point between the actuator and the first wire, and the distal end of the actuator extends outward relative to the insulating shell.

11. The surgical instrument according to claim 1, characterized in that: The surgical instrument comprises a box body for mounting the driving device, a shaft seat is provided at the proximal end of the box body, the proximal end of the inner tube extends to be rotatably connected with the shaft seat, and the inner wall of the shaft seat is sealed with the outer wall of the inner tube; and / or, A channel is provided in the center of the inner tube and passes through the inner tube along its axial direction. The channel serves as a threading channel for threading a wire to connect the end effector and an external power source; and / or the channel serves as a smoke exhaust channel for exhausting smoke generated during surgery.

12. A surgical robot, characterized in that: It comprises a robotic arm and a surgical instrument as described in any one of claims 1 to 11 mounted on the robotic arm.

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