Surgical instruments, patient-side robotic arm systems and surgical robots

Abstract

The utility model discloses a surgical instrument, a para-patient mechanical arm system and a surgical robot, wherein the surgical instrument comprises: a rear-end transmission device, a main pipeline extending from the rear-end transmission device to the front end, an execution device arranged at the front end of the main pipeline, and a cable pair, wherein the cable pair is connected between the rear-end transmission device and the execution device and is used to drive the execution device; the surgical instrument also comprises a guide assembly arranged at the rear-end transmission device, wherein the guide assembly guides the cable pair to the main pipeline, and among a plurality of the cable pairs, at least two cables in different cable pairs are guided by the guide assembly and led out from the same height and connected to the execution device. The rear-end transmission device of the surgical instrument of the present application has a compact structure and a small volume, and the cable pair can be connected to the execution device without contact, thereby avoiding mutual interference between the cables.

Description

Technical Field

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

[0002] In robot-assisted minimally invasive surgery, the surgical tool connected to the end of the robot enters the human body through a wound or natural orifice on the surface of the human body to operate on the tissue inside the human body. This surgical tool mainly consists of an actuator or tool (such as surgical forceps, shearing tools or cauterization tools) installed on the wrist mechanism at the front end, a wrist mechanism that provides multiple degrees of freedom for the front end, a main pipe extending from the rear end of the instrument to the front end, and a power and transmission device at the rear end of the instrument. The front end actuator and wrist mechanism are usually driven by multiple cables fixed thereon, which run through the main pipe of the surgical tool and are driven by the power and transmission device at the rear end. Due to the limited space at the rear end of the instrument, when there are many cables, the wiring of the cables will be more complicated and easy to interfere with each other. Utility Model Content

[0003] A series of simplified concepts are introduced in the utility model content section, which will be further described in detail in the detailed implementation section. The utility model content section of the utility model does not mean to attempt to define the key features and essential technical features of the technical solution claimed for protection, nor does it mean to attempt to determine the scope of protection of the technical solution claimed for protection.

[0004] In order to at least partially solve the above problems, the utility model discloses a surgical instrument, comprising:

[0005] rear end transmission;

[0006] A main pipe extending from the rear end transmission device to the front end;

[0007] an actuator disposed at the front end of the main pipeline, and

[0008] A cable pair, the cable pair being connected between the rear end transmission device and the execution device, and being used to drive the execution device;

[0009] The surgical instrument also includes a guide assembly arranged on the rear end transmission device, which guides the cable pair to the main pipeline. Among the multiple cable pairs, cables in at least two different cable pairs are guided by the guide assembly and then led out from the same height and connected to the execution device.

[0010] According to the surgical instrument of the utility model, a guide assembly is arranged on the rear end transmission device, and the guide assembly can guide multiple cable pairs from the rear end transmission device to the main line, and cables in at least two different cable pairs can be led out from the same height, which saves space on the one hand and reduces the number of parts and assembly processes on the other.

[0011] Optionally, the guide assembly comprises:

[0012] A guide shaft, the guide shaft comprising two intersecting and horizontally arranged axes;

[0013] A plurality of guide wheels are rotatably arranged on two corresponding axes of the guide shaft, and at least two cables pass around the corresponding guide wheels at different angles.

[0014] Optionally, the guide assembly includes a first guide assembly and a second guide assembly, and the first guide assembly includes:

[0015] A first guide shaft, the first guide shaft comprising a first wheel shaft and a third wheel shaft that intersect and are arranged horizontally;

[0016] A first guide wheel and a third guide wheel, wherein the first guide wheel and the third guide wheel are rotatably disposed on the first wheel axle and the third wheel axle respectively;

[0017] The second guide assembly comprises:

[0018] A second guide shaft, the second guide shaft comprising a second wheel shaft and a fourth wheel shaft that intersect and are arranged horizontally;

[0019] A second guide wheel and a fourth guide wheel, wherein the second guide wheel and the fourth guide wheel are rotatably arranged on the second wheel axle and the fourth wheel axle respectively.

[0020] Optionally, the first guide assembly and the second guide assembly are staggered up and down, and the first guide assembly and the second guide assembly guide the cable pairs in layers.

[0021] Optionally, the first axle is parallel to the second axle, and the third axle is parallel to the fourth axle.

[0022] Optionally, the backend device includes:

[0023] a first rotating member;

[0024] a second rotating member;

[0025] a third rotating member;

[0026] a first transmission assembly, the first transmission assembly being used to connect the first cable and the second cable, respectively, and being connected to the first rotating member and the third rotating member, respectively; and

[0027] a second transmission assembly, the second transmission assembly being used to connect the third cable and the fourth cable respectively, and being connected to the second rotating member and the third rotating member respectively;

[0028] The first rotating member is configured to be rotatable so as to pull in one of the first cable and the second cable via the first transmission assembly and release the other of the first cable and the second cable.

[0029] The second rotating member is configured to be rotatable so as to be able to pull in one of the third cable and the fourth cable via the second transmission assembly and release the other of the third cable and the fourth cable.

[0030] The third rotating member is configured to be rotatable so as to be able to realize, via the first transmission assembly and the second transmission assembly:

[0031] pulling in at least one of the first cable and the second cable while releasing at least one of the third cable and the fourth cable, or

[0032] At least one of the third cable and the fourth cable is pulled in, and at least one of the first cable and the second cable is released.

[0033] Optionally, the first rotating member is rotatable around a first central axis, the second rotating member is rotatable around a second central axis, the third rotating member is rotatable around a third central axis, and the first central axis is parallel to the second central axis and parallel to the third central axis.

[0034] Optionally, the first transmission assembly includes:

[0035] a first movable pulley, the first movable pulley being used to connect the first cable;

[0036] a first transmission cable, the first transmission cable passing around the first movable pulley, and two ends of the first transmission cable being respectively connected to the first rotating member and the third rotating member;

[0037] a second movable pulley, the second movable pulley being used to connect the second cable; and

[0038] a second transmission cable, the second transmission cable passing around the second movable pulley, and two ends of the second transmission cable being respectively connected to the first rotating member and the third rotating member;

[0039] Wherein, the winding direction of the first transmission cable around the first rotating member is opposite to the winding direction of the second transmission cable around the first rotating member, and the winding direction of the first transmission cable around the third rotating member is the same as the winding direction of the second transmission cable around the third rotating member;

[0040] When the first rotating member or the third rotating member rotates, the first movable pulley moves under the action of the first transmission cable, and the second movable pulley moves under the action of the second transmission cable.

[0041] Optionally, the first transmission assembly further comprises a first transmission guide wheel, and a portion of the first transmission cable located between the first rotating member and the first movable pulley bypasses the first transmission guide wheel, so that the portion of the first transmission cable located between the first transmission guide wheel and the first movable pulley is parallel to a portion of the first transmission cable located between the first movable pulley and the third rotating member, and is parallel to a portion of the first cable located between the first guide wheel and the first movable pulley.

[0042] Optionally, a portion of the second transmission cable located between the first rotating member and the second movable pulley is parallel to a portion of the second transmission cable located between the second movable pulley and the third rotating member, and is parallel to a portion of the first transmission cable located between the first movable pulley and the third rotating member, and is parallel to a portion of the second cable located between the second guide wheel and the second movable pulley.

[0043] Optionally, the second transmission assembly includes:

[0044] a third movable pulley, the third movable pulley being used to connect the third cable;

[0045] a third transmission cable, the third transmission cable passing around the third movable pulley, and two ends of the third transmission cable being respectively connected to the second rotating member and the third rotating member;

[0046] a fourth movable pulley, the fourth movable pulley being used to connect the fourth cable; and

[0047] a fourth transmission cable, the fourth transmission cable passing around the fourth movable pulley, and two ends of the fourth transmission cable are respectively connected to the second rotating member and the third rotating member;

[0048] wherein the winding direction of the third transmission cable around the second rotating member is opposite to the winding direction of the fourth transmission cable around the second rotating member, and the winding direction of the third transmission cable around the third rotating member and the winding direction of the fourth transmission cable around the third rotating member are opposite to the winding direction of the first transmission cable around the third rotating member and the winding direction of the second transmission cable around the third rotating member;

[0049] When the second rotating member or the third rotating member rotates, the third movable pulley moves under the action of the third transmission cable, and the fourth movable pulley moves under the action of the fourth transmission cable.

[0050] Optionally, the first movable pulley is pivotally connected to a first movable pulley seat via a first axis, the first movable pulley seat is used to connect the first cable, the second movable pulley is pivotally connected to a second movable pulley seat via a second axis, the second movable pulley seat is used to connect the second cable, the first axis is parallel to the second axis and parallel to the first central axis, and / or

[0051] The third movable pulley is pivotally connected to a third movable pulley seat via a third axis, and the third movable pulley seat is used to connect the third cable. The fourth movable pulley is pivotally connected to a fourth movable pulley seat via a fourth axis, and the fourth movable pulley seat is used to connect the fourth cable. The third axis is parallel to the fourth axis and parallel to the first central axis.

[0052] Optionally, the second transmission assembly further includes a second transmission guide wheel, and a portion of the fourth transmission cable located between the second rotating member and the fourth movable pulley bypasses the second transmission guide wheel, so that the portion of the fourth transmission cable located between the second transmission guide wheel and the fourth movable pulley is parallel to a portion of the fourth transmission cable located between the fourth movable pulley and the third rotating member, and is parallel to a portion of the fourth cable located between the (fourth guide wheel) and the fourth movable pulley.

[0053] Optionally, a portion of the third cable located between the second rotating member and the third movable pulley is parallel to a portion of the third cable located between the third movable pulley and the third rotating member, and is parallel to a portion of the fourth transmission cable located between the fourth movable pulley and the third rotating member, and is parallel to a portion of the third cable located between the (third guide wheel) and the third movable pulley.

[0054] According to a second aspect of the present utility model, a para-patient robotic arm system is disclosed, which comprises the surgical instrument according to the first aspect.

[0055] According to a third aspect of the present utility model, a surgical robot is disclosed, which includes the para-patient robotic arm system described in the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The following drawings of the present invention are used as a part of the present invention for understanding the present invention. The drawings show the embodiments of the present invention and their descriptions, and are used to explain the principle of the present invention.

[0057] In the attached figure:

[0058] Figure 1 is a schematic structural diagram of a surgical robot according to a first embodiment of the present utility model;

[0059] Figure 2 for Figure 1 Schematic diagram of the structure of the para-affected robotic arm system;

[0060] Figure 3 for Figure 2 A schematic diagram of a partial structure of the para-affected robotic arm system in FIG. 1 , wherein a wrist mechanism, a first cable, a third cable, and a fourth cable are shown;

[0061] Figure 4 for Figure 2 A schematic diagram of a partial structure of the para-affected robotic arm system in FIG. 1 , wherein a wrist mechanism, a first cable, a second cable, a third cable and a fourth cable are shown;

[0062] Figure 5 It is a partial three-dimensional schematic diagram of the rear end transmission device;

[0063] Figure 6 It is a partial top view of the rear end transmission device;

[0064] Figure 7 for Figure 6 A partial enlarged view of middle A.

[0065] Description of reference numerals:

[0066] 1: Surgical robot 2: Doctor's console

[0067] 3: Imaging system 4: Robotic arm system

[0068] 110: Robotic arm 111: Arm

[0069] 120: Surgical instruments

[0070] 130: Wrist mechanism 131: Proximal clamp

[0071] 132: Distal clamp 133: Actuator

[0072] 134: Upper jaw of the clamp 135: Lower jaw of the clamp

[0073] 136: First pin 137: Second pin

[0074] 140: Main line 141: First cable

[0075] 142: Second cable 143: Third cable

[0076] 144: The fourth cable

[0077] 150: rear end transmission device 151: first rotating member

[0078] 152: second rotating member 153: third rotating member

[0079] 156: first movable pulley 157: second movable pulley

[0080] 158: First transmission cable 159: Second transmission cable

[0081] 161: First axis 162: Second axis

[0082] 163: First transmission guide wheel 164: Third movable pulley

[0083] 165: fourth movable pulley 166: third transmission cable

[0084] 167: Fourth transmission cable 168: Third axis

[0085] 169: The Fourth Axis

[0086] 171: Second transmission guide wheel 172: Chassis

[0087] 173: first rotation axis 174: second rotation axis

[0088] 175: Third rotation axis

[0089] 181: First movable pulley seat 182: Second movable pulley seat

[0090] 183: The third movable pulley seat 184: The fourth movable pulley seat

[0091] A1: First center axis A2: Second center axis

[0092] A3: The third central axis

[0093] 191: First axle 192: Second axle

[0094] 193: Third axle 194: Fourth axle

[0095] 195: First guide wheel 196: Second guide wheel

[0096] 197: The third guide wheel 198: The fourth guide wheel

[0097] 2a: Axis of the first axle 2b: Axis of the second axle

[0098] 2a': Axis of the third axle 2b': Axis of the fourth axle DETAILED DESCRIPTION

[0099] In the following description, a large number of specific details are given to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features known in the art are not described.

[0100] In order to thoroughly understand the embodiments of the present invention, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of the present invention is not limited to the special details familiar to those skilled in the art. It should be noted that the ordinal numbers such as "first" and "second" cited in the present invention are merely identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" itself does not imply the existence of a "second component", and the term "second component" itself does not imply the existence of a "first component". The terms "upper", "lower", "front", "back", "left", "right" and similar expressions used in the present invention are for illustrative purposes only and are not restrictive.

[0101] like Figure 1 As shown, the surgical robot 1 is a robot that can be remotely controlled to complete surgery, and includes three components: a doctor's console 2, an imaging system 3 and an adjacent robotic arm system 4.

[0102] The doctor's console 2 has a display unit for displaying the surgical instrument environment, a doctor's operation control mechanism, and an armrest. The display unit is provided with an observation window for the doctor to observe, the operation of the operation control mechanism corresponds to the movement of the surgical instrument, and the armrest is used to place the doctor's arm. In addition, the doctor's console 2 also has other control switches that are convenient for hands or feet to touch or press, which are used to perform various functional operations and complete human-computer interaction.

[0103] The para-injured robotic arm system 4 includes a plurality of robotic arms, each of which has a plurality of connecting arms. Two adjacent connecting arms can move relative to each other with specific degrees of freedom, so that the end of the robotic arm can achieve multiple degrees of freedom (such as 7 degrees of freedom, which may vary depending on the instrument). An instrument driver is installed on the end arm of the robotic arm, and the surgical instrument or endoscope is detachably installed on the instrument driver.

[0104] The surgical instrument consists of three parts: a rear transmission mechanism, a main channel extending from the rear transmission mechanism to the front end, and an actuator including a wrist mechanism at the front end of the main channel. The instrument driver usually drives the rear transmission mechanism through the movement of multiple cables of the main channel, thereby driving the wrist mechanism. During surgery, part of the main channel and wrist mechanism of the surgical instrument are passed through the chest, abdominal wall and other tissues to replace human hands for surgery.

[0105] The imaging system 3 has a display screen, an endoscope controller, system electronics, an image processor, etc.

[0106] like Figure 2 As shown, the utility model discloses a surgical instrument 120 and a para-patient robotic arm system 4. The para-patient robotic arm system 4 includes a movably arranged robotic arm 110 and a surgical instrument 120 mounted to the robotic arm 110, wherein the surgical instrument 120 includes a rear end transmission device 150 and an actuator 133, and the actuator 133 can realize many functions, including but not limited to surgical forceps or graspers, needle drivers, scissors or cautery tools of different shapes and sizes.

[0107] The para-patient robotic arm system 4 mainly includes a base 180 , at least one robotic arm 110 rotatably disposed at the upper end of the base 180 , and a surgical instrument 120 mounted to a corresponding port of the robotic arm 110 . Figure 2 Only one robot arm 110 is shown as an example, and the robot arm 110 includes a plurality of arms 111 connected end to end, and the arms 111 are rotatably arranged. When there are a plurality of robot arms 110, a surgical instrument 120 is installed at a corresponding port of each robot arm 110. The surgical instrument 120 is detachably connected to the robot arm 110 to facilitate replacement or maintenance of the surgical instrument 120, and the surgical instrument 120 installed on the robot arm 110 can be selected for a specific medical procedure or changed during the medical procedure to provide the required clinical function.

[0108] The docking port of the robotic arm 110 generally includes a drive motor that provides mechanical power for operation of the surgical instrument 120. The docking port may additionally include an electrical interface to connect with the surgical instrument 120, for example, to identify the type of instrument in the docking port and obtain parameters of the instrument.

[0109] The surgical instrument 120 generally includes a rear end transmission device 150, a main channel 140 extending from the rear end transmission device 150, and a wrist mechanism 130 at the distal end of the main channel 140. Drive cables (specifically, a first cable 141, a second cable 142, a third cable 143, and a fourth cable 144) and electrical conductors connected to the wrist mechanism 130 may extend through the main channel 140 and be connected to the rear end transmission device 150. The rear end transmission device 150 provides a mechanical connection of the above-mentioned drive cables to the motor drive shaft of the drive motor to operate the wrist mechanism 130 by controlling the movement and tension of the drive cables. The main channel 140 is hollow and may be rigid or flexible.

[0110] like Figure 3 As shown, the wrist mechanism 130 includes a proximal clamp 131, a distal clamp 132 and an actuator 133. The distal clamp 132 is pivotally connected to the proximal clamp 131 via a first pin 136, thereby achieving the pitch movement of the wrist mechanism 130. The actuator 133 includes a clamp upper jaw 134 and a clamp lower jaw 135, which are pivotally connected to the distal clamp 132 via a second pin 137, thereby achieving the gripping and deflection of the wrist mechanism 130. Preferably, the second pin 137 is perpendicular to the first pin 136.

[0111] The first cable 141 and the second cable 142 are wound around the jaw 135 of the actuator 133, that is, the first cable 141 and the second cable 142 can be formed by cables of an uninterrupted integral structure wrapped around the jaw 135. The third cable 143 and the fourth cable 144 are wound around the jaw 134 of the actuator 133, that is, the third cable 143 and the fourth cable 144 can be formed by cables of an uninterrupted integral structure wrapped around the jaw 134. The first cable 141, the second cable 142, the third cable 143 and the fourth cable 144 extend along the hard surface of the guide channel (not shown) in the actuator 133, the distal clamp 132 and the proximal clamp 131, and extend back to the rear end transmission device 150 through the main pipeline 140. For example, the guide channel can be a groove with a U-shaped or semicircular cross-section.

[0112] Continue to refer to Figure 3 By pulling in the third cable 143 and the fourth cable 144 at the same length and releasing the first cable 141 and the second cable 142 at the same length, the distal clamp 132 rotates clockwise around the first pin 136 relative to the proximal clamp 131, so as to achieve the forward pitch motion of the wrist mechanism 130 (see Figure 3Similarly, by pulling in the first cable 141 and the second cable 142 at equal lengths and releasing the third cable 143 and the fourth cable 144 at equal lengths, the distal clamp 132 rotates counterclockwise around the first pin 136 relative to the proximal clamp 131, thereby achieving reverse pitch motion of the wrist mechanism 130.

[0113] By pulling in the fourth cable 144 and releasing the third cable 143 at the same time, the upper jaw 134 of the clamping jaw rotates clockwise around the second pin 137 relative to the distal clamp 132 (see Figure 3 Similarly, by pulling in the third cable 143 and releasing the fourth cable 144 at the same length, the upper jaw 134 of the clamp is rotated counterclockwise around the second pin 137 relative to the distal clamp 132. By pulling in the second cable 142 and releasing the first cable 141 at the same length, the lower jaw 135 of the clamp is rotated clockwise around the second pin 137 relative to the distal clamp 132 (see Figure 3 Similarly, by pulling in the first cable 141 and releasing the second cable 142 at the same length, the lower jaw 135 of the clamp is rotated counterclockwise around the second pin 137 relative to the distal clamp 132. The deflection and gripping movement of the actuator 133 can be achieved by the combined movement of the upper jaw 134 and the lower jaw 135, which will be described in detail below.

[0114] like Figure 4-7 As shown, the rear end transmission device 150 mainly includes a first rotating member 151, a second rotating member 152, a third rotating member 153, a first transmission assembly, a second transmission assembly, a first rotating shaft 173, a second rotating shaft 174, a third rotating shaft 175 and a chassis 172. The first rotating shaft 173, the second rotating shaft 174 and the third rotating shaft 175 are rotatably mounted to the chassis 172, and are respectively used to connect with corresponding drive motors. The first transmission assembly and the second transmission assembly are both mounted to the chassis 172. The chassis 172 has an interface corresponding to the drive motor to ensure that when the surgical instrument 120 is correctly installed, the first rotating shaft 173, the second rotating shaft 174 and the third rotating shaft 175 can be stably connected to the drive motor to achieve the transmission of rotational motion.

[0115] It can be understood that the para-patient mechanical arm system 4 can include at least three drive motors, wherein the three drive motors are respectively connected to the first rotating shaft 173, the second rotating shaft 174 and the third rotating shaft 175. The first rotating shaft 173, the second rotating shaft 174 and the third rotating shaft 175 are arranged in parallel with each other, and the first rotating shaft 173, the second rotating shaft 174 and the third rotating shaft 175 are arranged roughly in a triangle. It can be understood that the arrangement of the first rotating shaft 173, the second rotating shaft 174 and the third rotating shaft 175 is not limited to this embodiment. As needed, the first rotating shaft 173, the second rotating shaft 174 and the third rotating shaft 175 can also be arranged in a straight line. The first rotating shaft 173 is fixedly connected to the first rotating member 151, the second rotating shaft 174 is fixedly connected to the second rotating member 152, and the third rotating shaft 175 is fixedly connected to the third rotating member 153, so as to drive the rotation of the first rotating member 151, the second rotating member 152 and the third rotating member 153 respectively. In this embodiment, the first rotating member 151 , the second rotating member 152 and the third rotating member 153 are winches.

[0116] The first transmission assembly is used to connect the first cable 141 and the second cable 142 respectively, and is connected to the first rotating member 151 and the third rotating member 153 respectively. The first transmission assembly mainly includes a first movable pulley 156, a second movable pulley 157, a first transmission cable 158 and a second transmission cable 159. The first movable pulley 156 is pivotally connected to the first movable pulley seat 181 via a first shaft 161, the first movable pulley 156 is pivotable around the first shaft 161, and the first cable 141 is connected to the first movable pulley seat 181. The second movable pulley 157 is pivotally connected to the second movable pulley seat 182 via a second shaft 162, the second movable pulley 157 is pivotable around the second shaft 162, and the second cable 142 is connected to the second movable pulley seat 182.

[0117] The first transmission cable 158 passes around the first movable pulley 156, and both ends of the first transmission cable 158 are respectively connected to the first rotating member 151 and the third rotating member 153. The second transmission cable 159 passes around the second movable pulley 157, and both ends of the second transmission cable 159 are respectively connected to the first rotating member 151 and the third rotating member 153. Specifically, the winding directions of the first transmission cable 158 and the second transmission cable 159 around the first rotating member 151 are opposite, and the winding directions around the third rotating member 153 are the same. When the first rotating member 151 or the third rotating member 153 rotates, the first movable pulley 156 moves under the action of the first transmission cable 158, and the second movable pulley 157 moves under the action of the second transmission cable 159.

[0118] The first transmission assembly also includes a first transmission guide wheel 163, and a portion of the first transmission cable 158 located between the first rotating member 151 and the first movable pulley 156 bypasses the first transmission guide wheel 163, so that the portion of the first transmission cable 158 located between the first transmission guide wheel 163 and the first movable pulley 156 is parallel to the portion of the first transmission cable 158 located between the first movable pulley 156 and the third rotating member 153, and the absolute value of the linear velocity of the portion of the first transmission cable 158 located between the first transmission guide wheel 163 and the first movable pulley 156 is equal to the absolute value of the linear velocity of the portion of the first transmission cable 158 located between the first transmission guide wheel 163 and the first movable pulley 156 and the portion of the first transmission cable 158 located between the first movable pulley 156 and the third rotating member 153, that is, the absolute values ​​of the linear velocities of the first transmission cable 158 on both sides of the first movable pulley 156 are equal. The portion of the second transmission cable 159 between the first rotating member 151 and the second movable pulley 157 is parallel to the portion of the second transmission cable 159 between the second movable pulley 157 and the third rotating member 153, and is parallel to the portion of the first transmission cable 158 between the first movable pulley 156 and the third rotating member 153, that is, the absolute values ​​of the linear velocities of the second transmission cable 159 on both sides of the second movable pulley 157 are equal. The first transmission guide wheel 163 can be a fixed pulley. Those skilled in the art can understand that, as needed, other guide wheels can be additionally added to guide the first transmission cable 158 and the second transmission cable 159.

[0119] The first rotating member 151 is configured to be rotatable around the first central axis A1, so as to be able to pull in one of the first cable 141 and the second cable 142 via the first transmission assembly, and release the other of the first cable 141 and the second cable 142, so as to realize the clockwise or counterclockwise rotation of the clamp jaw 135 relative to the distal clamp 132 around the second pin 137. Preferably, the first axis 161 is parallel to the second axis 162, and is parallel to the first central axis A1.

[0120] Specifically, when the third rotating member 153 remains stationary, the first rotating shaft 173 is driven by the driving motor to drive the first rotating member 151 to rotate counterclockwise, and the second transmission cable 159 is pulled in (i.e., wound around the first rotating member 151) while the first transmission cable 158 is released at the same length, that is, the second cable 142 is pulled in via the second movable pulley 157 while the first cable 141 is released at the same length via the first movable pulley 156, thereby achieving the clockwise rotation of the clamping jaw 135 relative to the distal clamp 132 around the second pin 137 (see Figure 3When the third rotating member 153 remains stationary and the first rotating shaft 173 is driven by the driving motor to drive the first rotating member 151 to rotate clockwise, the first transmission cable 158 is pulled in (i.e., wound around the first rotating member 151) while the second transmission cable 159 is released at the same length, i.e., the first cable 141 is pulled in via the first movable pulley 156 while the second cable 142 is released at the same length via the second movable pulley 157, thereby achieving the counterclockwise rotation of the clamping jaw 135 relative to the distal clamp 132 around the second pin 137.

[0121] Continuing to refer to 4-7, the second transmission assembly is used to connect the third cable 143 and the fourth cable 144 respectively, and is connected to the second rotating member 152 and the third rotating member 153 respectively. The second transmission assembly includes a third movable pulley 164, a fourth movable pulley 165, a third transmission cable 166 and a fourth transmission cable 167. The third movable pulley 164 is pivotally connected to the third movable pulley seat 183 via a third shaft 168, the third movable pulley 164 is pivotable around the third shaft 168, and the third cable 143 is connected to the third movable pulley seat 183. The fourth movable pulley 165 is pivotally connected to the fourth movable pulley seat 184 via a fourth shaft 169, the fourth movable pulley 165 is pivotable around the fourth shaft 169, and the fourth cable 144 is connected to the fourth movable pulley seat 184.

[0122] The third transmission cable 166 passes around the third movable pulley 164, and both ends of the third transmission cable 166 are respectively connected to the second rotating member 152 and the third rotating member 153. The fourth transmission cable 167 passes around the fourth movable pulley 165, and both ends of the fourth transmission cable 167 are respectively connected to the second rotating member 152 and the third rotating member 153. Specifically, the winding directions of the third transmission cable 166 and the fourth transmission cable 167 around the second rotating member 152 are opposite, and the winding directions around the third rotating member 153 are opposite to the winding directions of the first transmission cable 158 and the second transmission cable 159 around the third rotating member 153. When the second rotating member 152 or the third rotating member 153 rotates, the third movable pulley 164 moves under the action of the third transmission cable 166, and the fourth movable pulley 165 moves under the action of the fourth transmission cable 167.

[0123] The second transmission assembly further includes a second transmission guide wheel 171, and a portion of the fourth transmission cable 167 located between the second rotating member 152 and the fourth movable pulley 165 passes around the second transmission guide wheel 171, so that the portion of the fourth transmission cable 167 located between the second transmission guide wheel 171 and the fourth movable pulley 165 is parallel to the portion of the fourth transmission cable 167 located between the fourth movable pulley 165 and the third rotating member 153. The portion of the third cable 143 located between the second rotating member 152 and the third movable pulley 164 is parallel to the portion of the third cable 143 located between the third movable pulley 164 and the third rotating member 153, and is parallel to the portion of the fourth transmission cable 167 located between the fourth movable pulley 165 and the third rotating member 153. The second transmission guide wheel 171 may be a fixed pulley. Those skilled in the art may understand that, as needed, other guide wheels may be additionally added to guide the third transmission cable 166 and the fourth transmission cable 167.

[0124] The second rotating member 152 is configured to be rotatable around the second central axis A2, so as to be able to pull in one of the third cable 143 and the fourth cable 144 via the second transmission assembly, and release the other of the third cable 143 and the fourth cable 144, so as to realize the clockwise or counterclockwise rotation of the clamping jaw 134 relative to the distal clamp 132 around the second pin 137. Preferably, the third axis 168 is parallel to the fourth axis 169, and parallel to the second central axis A2.

[0125] Specifically, when the third rotating member 153 remains stationary, the second rotating shaft 174 is driven by the driving motor to drive the second rotating member 152 to rotate counterclockwise, and the fourth transmission cable 167 is pulled in (i.e., wound around the second rotating member 152) while the third transmission cable 166 is released at the same length, that is, the fourth cable 144 is pulled in via the fourth movable pulley 165 while the third cable 143 is released at the same length via the third movable pulley 164, so that the upper jaw 134 of the clamp rotates clockwise around the second pin 137 relative to the distal clamp 132 (see Figure 3 When the third rotating member 153 remains stationary, the second rotating shaft 174 is driven by the driving motor to drive the second rotating member 152 to rotate clockwise, and the third transmission cable 166 is pulled in (i.e., wound on the second rotating member 152) while the fourth transmission cable 167 is released at the same length, that is, the third cable 143 is pulled in via the third movable pulley 164 while the fourth cable 144 is released at the same length via the fourth movable pulley 165, so that the upper jaw 134 of the clamp rotates counterclockwise relative to the distal clamp 132 around the second pin 137.

[0126] In the prior art, multiple pulley shafts need to be provided on the rear-end transmission device and placed at different angles to guide the cables in different directions and extend them through the main pipeline to the actuator or tool of the wrist mechanism. Due to space limitations, multiple pulley shafts cannot be installed at the same horizontal height.

[0127] In some embodiments, the first cable and the second cable are arranged one high and one low, and the third cable and the fourth cable are arranged one high and one low. A guide assembly is arranged on the rear end transmission device of the surgical instrument of the present application, and the guide assembly can guide the cables of the same layer in the cable pair from the same height to the main line 140 at different angles, so that the cable pair is connected to the actuator 133.

[0128] In some embodiments, the guide assembly includes a guide shaft and a plurality of guide wheels, the guide shaft includes two intersecting and horizontally arranged axes. The plurality of guide wheels are rotatably arranged on the corresponding two axes of the guide shaft, and at least two cables of the same layer pass around the corresponding guide wheels at different angles.

[0129] In some embodiments, the guide assembly includes a first guide assembly and a second guide assembly, the first guide assembly and the second guide assembly are arranged alternately up and down, and the first conductor assembly and the second guide assembly guide the cable pairs in layers to avoid mutual interference between the cable pairs. The first guide assembly is used to guide the high-position cables to the main line 140, and the second guide assembly is used to guide the low-position cables to the main line 140.

[0130] Specifically, the first guide assembly includes a first guide shaft and a first guide wheel 195 and a third guide wheel 197 arranged on the first wheel shaft. The first cable 141 bypasses the first guide wheel and is connected to the actuator 133, and the third cable 143 bypasses the third guide wheel 197 and is connected to the actuator.

[0131] In some embodiments, the first guide shaft includes two intersecting first axles 191 and third axles 193, the first axles 191 and the third axles 193 are fixedly connected at the intersection, and the first axles 191 and the third axles 193 are at the same horizontal height and fixed in the body of the rear end transmission device. The angle between the axis 2a of the first axle 191 and the axis 2b of the third axle 193 is θ, and the opening of the angle faces the main channel 140 of the surgical instrument, so that the first cable 141 is guided by the first guide wheel 195 and the third cable 143 is guided by the third guide wheel 197, and extends to the actuator 133 through the main channel 140.

[0132] A plurality of pulleys can be mounted on the first axle 191 and the third axle 193, and the pulleys can rotate around different axes 2a or 2b. In the embodiment of the present application, the first guide wheel 195 is arranged on the first axle 191, and the third guide wheel 197 is arranged on the third axle 193. After the first cable 141 is guided by the first guide wheel 195, and after the third cable 143 is guided by the third guide wheel 197, it extends to the actuator 133 through the main line 140. The angle formed by the portion of the first cable 141 located between the first movable pulley 156 and the first guide wheel 195 and the portion of the third cable 143 located between the third movable pulley 164 and the third guide wheel 197 is β. Thus, the portion of the first cable 141 between the first guide wheel 195 and the first movable pulley 156 is parallel to the portion of the first transmission cable 158 between the first transmission guide wheel 163 and the first movable pulley 156, and is parallel to the portion of the first transmission cable 158 between the third rotating member 153 and the first movable pulley 156. The portion of the third cable 143 between the third guide wheel 197 and the third movable pulley 164 is parallel to the portion of the third transmission cable 166 between the second rotating member 152 and the third movable pulley 164, and is parallel to the portion of the third transmission cable 166 between the third rotating member 153 and the third movable pulley 164.

[0133] The rear end transmission device 150 also includes a second guide assembly, which includes a second guide shaft parallel to the first guide shaft, and a second guide wheel 196 and a fourth guide wheel 198 arranged on the second guide shaft. The second cable 142 bypasses the second guide wheel and is connected to the actuator 133, and the fourth cable 144 bypasses the fourth guide wheel 198 and is connected to the actuator.

[0134] In some embodiments, the second guide shaft includes two intersecting second axles 192 and fourth axles 194, the second axles 192 and fourth axles 194 are fixedly connected at the intersection, the second axles 192 and fourth axles 194 are at the same horizontal height and fixed in the body of the rear end transmission device. The angle between the axis 2a' of the second axle 192 and the axis 2b' of the fourth axle 194 is θ, and the opening of the angle faces the main channel 140 of the surgical instrument, so that the second cable 142 is guided by the second guide wheel 196 and the fourth cable 144 is guided by the fourth guide wheel 198, and then extends to the actuator 133 through the main channel 140.

[0135] A plurality of pulleys can be mounted on the second axle 192 and the fourth axle 194, and the pulleys can rotate around different axes 2a' or 2b'. In the embodiment of the present application, the second guide wheel 196 is arranged on the second axle 192, and the fourth guide wheel 198 is arranged on the fourth axle 194. After the second cable 142 is guided by the second guide wheel 196, and the fourth cable 144 is guided by the fourth guide wheel 198, it extends to the actuator 133 through the main pipeline 140. The portion of the second cable 142 located between the second movable pulley 157 and the second guide wheel 196 and the portion of the fourth cable 144 located between the fourth movable pulley 165 and the fourth guide wheel 198 form an angle β. Thus, the portion of the second cable 142 located between the second guide wheel 196 and the second movable pulley 157 is parallel to the portion of the second transmission cable 159 located between the first rotating member 151 and the second movable pulley 157, and is parallel to the portion of the second transmission cable 159 located between the third rotating member 153 and the second movable pulley 157. The portion of the fourth cable 144 located between the fourth guide wheel 198 and the fourth movable pulley 165 is parallel to the portion of the fourth transmission cable 167 located between the second transmission guide wheel 171 and the fourth movable pulley 165, and is parallel to the portion of the fourth transmission cable 167 located between the third rotating member 153 and the fourth movable pulley 165.

[0136] In some embodiments, the first guide axis is parallel to the second guide axis. Specifically, the second axle 192 is parallel to the first axle 191 , and the third axle 193 is parallel to the fourth axle 194 .

[0137] The first guide shaft and the second guide shaft of the present application both include two intersecting axles. Compared with a single straight pulley shaft, the structure of the present application can reduce the number of parts and assembly procedures, saving installation space; in addition, it allows multiple pulleys to be more tightly assembled on the rear-end transmission device, which is beneficial to the guidance of the cables. And the first rotating member 151 and the third rotating member 153 can drive the linear combination of the first cable 141 and the second cable 142, and the second rotating member 152 and the third rotating member 153 can drive the linear combination of the third cable 143 and the fourth cable 144.

[0138] The first guide assembly and the second guide assembly of the present application can be easily installed in a compact and narrow space. The first guide assembly and the second guide assembly each include two intersecting axles, so that the first guide assembly or the second guide assembly can guide the cable at different angles and the same horizontal height.

[0139] It should be noted that the first axle 191 and the third axle 193 in the embodiment of the present application are two intersecting axles formed by a bending manner of the first guide shaft, and can also be formed by welding two straight pulley shafts together at an appropriate angle. Similarly, the second axle 192 and the fourth axle 194 in the embodiment of the present application are two intersecting axles formed by a bending manner of the second guide shaft, and can also be formed by welding two straight pulley shafts together at an appropriate angle. The specific form is not limited here.

[0140] In this embodiment, the deflection and clamping movement of the actuator 133 can be achieved by controlling the rotation of the first rotation shaft 173 and the second rotation shaft 174 .

[0141] Specifically, when the third rotating shaft 175 remains stationary and the first rotating shaft 173 and the second rotating shaft 174 rotate counterclockwise at the same angle, that is, when the first rotating member 151 and the second rotating member 152 rotate counterclockwise at the same angle, the upper jaw 134 and the lower jaw 135 of the clamping jaw both rotate clockwise, so that the actuator 133 realizes a positive deflection motion (see Figure 3 ). When the third rotating shaft 175 remains stationary, and the first rotating shaft 173 and the second rotating shaft 174 rotate clockwise at the same angle, that is, when the first rotating member 151 and the second rotating member 152 rotate clockwise at the same angle, the upper jaw 134 and the lower jaw 135 of the clamping jaw both rotate counterclockwise, so that the actuator 133 realizes reverse deflection movement.

[0142] When the third rotating shaft 175 remains stationary, and the first rotating shaft 173 rotates counterclockwise, and the second rotating shaft 174 rotates clockwise at the same angle, that is, the first rotating member 151 rotates counterclockwise, and the second rotating member 152 rotates clockwise at the same angle, the lower jaw 135 of the clamping jaw rotates clockwise, and the upper jaw 134 of the clamping jaw rotates counterclockwise, so as to realize the clamping action of the actuator 133 (see Figure 3 ). When the third rotating shaft 175 remains stationary, and the first rotating shaft 173 rotates clockwise, and the second rotating shaft 174 rotates counterclockwise at the same angle, that is, the first rotating member 151 rotates clockwise, and the second rotating member 152 rotates counterclockwise at the same angle, the lower jaw 135 of the clamp rotates counterclockwise, and the upper jaw 134 of the clamp rotates clockwise, so as to realize the clamping and releasing action of the actuator 133.

[0143] The third rotating member 153 is configured to be rotatable around the third central axis A3, so as to be able to achieve, via the first transmission assembly and the second transmission assembly: pulling in at least one of the first cable 141 and the second cable 142, while releasing at least one of the third cable 143 and the fourth cable 144, or pulling in at least one of the third cable 143 and the fourth cable 144, while releasing at least one of the first cable 141 and the second cable 142, so as to achieve the pitching movement of the wrist mechanism 130. Preferably, the first central axis A1 is parallel to the second central axis A2, and parallel to the third central axis A3.

[0144] In this embodiment, when the third rotating member 153 rotates, the first transmission assembly and the second transmission assembly can be used to pull in the first cable 141 and the second cable 142 in equal lengths, and release the third cable 143 and the fourth cable 144 in equal lengths (i.e., the length of the first cable 141 and the second cable 142 wound around the first rotating member 151 during the rotation of the third rotating member 153 is equal to the length of the third cable 143 and the fourth cable 144 released), or the third cable 143 and the fourth cable 144 are pulled in in equal lengths, and the first cable 141 and the second cable 142 are released in equal lengths, so as to achieve the pitch movement of the wrist mechanism 130 (i.e., the length of the third cable 143 and the fourth cable 144 wound around the second rotating member 152 during the rotation of the third rotating member 153 is equal to the length of the first cable 141 and the second cable 142 released).

[0145] Specifically, when the first rotating shaft 173 and the second rotating shaft 174 remain stationary and the third rotating shaft 175 is controlled by the driving motor to drive the third rotating member 153 to rotate counterclockwise, the first transmission cable 158 and the second transmission cable 159 are released at equal lengths while the third transmission cable 166 and the fourth transmission cable 167 are pulled in at equal lengths, that is, the first cable 141 and the second cable 142 are released at equal lengths while the third cable 143 and the fourth cable 144 are pulled in at equal lengths, thereby realizing the pitch forward motion of the wrist mechanism 130. Similarly, when the first rotating shaft 173 and the second rotating shaft 174 remain stationary and the third rotating shaft 175 is controlled by the driving motor to drive the third rotating member 153 to rotate clockwise, the first transmission cable 158 and the second transmission cable 159 are pulled in at equal lengths while the third transmission cable 166 and the fourth transmission cable 167 are released at equal lengths, that is, the first cable 141 and the second cable 142 are pulled in at equal lengths while the third cable 143 and the fourth cable 144 are released at equal lengths, thereby realizing the reverse pitch movement of the wrist mechanism 130.

[0146] In this embodiment, since the rotation of the first rotating member 151, the second rotating member 152, and the third rotating member 153 is transmitted to the first cable 141, the second cable 142, the third cable 143, and the fourth cable 144 via the first movable pulley 156, the second movable pulley 157, the third movable pulley 164, and the fourth movable pulley 165, the moving length (the length of pulling in or releasing) of the first cable 141, the second cable 142, the third cable 143, and the fourth cable 144 is only half of the moving length of the first transmission cable 158, the second transmission cable 159, the third transmission cable 166, and the fourth transmission cable 167, which is equivalent to achieving a reduction ratio of 2:1 from the input side to the output side. Therefore, when there is a return difference in the reducer of the drive motor, or when there is a return difference at the connection between the first rotating shaft 173, the second rotating shaft 174, and the third rotating shaft 175 and the drive motor, the influence of these return differences on the front wrist mechanism 130 is reduced by half, so as to improve the motion accuracy of the wrist mechanism 130.

[0147] According to the rear-end transmission device of the utility model, the rear-end transmission device is connected to four drive cables of, for example, a wrist mechanism, so that the wrist mechanism works in cooperation with the rear-end transmission device, and the drive cables (i.e., the first cable, the second cable, the third cable, and the fourth cable) are pulled in or released in equal lengths to achieve the pitch, deflection, and clamping of the wrist mechanism. This driving method has a simple structure and precise transmission. The pitch, deflection, and clamping angles of the rotating part and the wrist mechanism are in a linear relationship, and the drive cables can still be released and / or pulled in in equal lengths when the above-mentioned angles of the wrist mechanism change over a large range.

[0148] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art in the technical field of the present invention. The terms used herein are only for describing specific implementation purposes and are not intended to limit the present invention. Terms such as "setting" appearing in this article may indicate that one component is directly attached to another component, or that one component is attached to another component through an intermediate. Features described in this article in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise specified.

[0149] The utility model has been described through the above embodiments, but it should be understood that the above embodiments are only for the purpose of example and description, and are not intended to limit the utility model to the described embodiments. It can be understood by those skilled in the art that more variations and modifications can be made according to the teachings of the utility model, and these variations and modifications all fall within the scope of the protection claimed by the utility model.

Claims

1. A surgical instrument, characterized in that: include: rear end transmission; A main pipe extending from the rear end transmission device to the front end; an actuator disposed at the front end of the main pipeline, and A cable pair, the cable pair being connected between the rear end transmission device and the execution device, and being used to drive the execution device; The surgical instrument also includes a guide assembly arranged on the rear end transmission device, which guides the cable pair to the main pipeline. Among the multiple cable pairs, cables in at least two different cable pairs are guided by the guide assembly and then led out from the same height and connected to the execution device.

2. The surgical instrument according to claim 1, characterized in that: The guide assembly comprises: A guide shaft, the guide shaft comprising two intersecting and horizontally arranged axes; A plurality of guide wheels are rotatably arranged on two corresponding axes of the guide shaft, and at least two cables pass around the corresponding guide wheels at different angles.

3. The surgical instrument according to claim 1, characterized in that: The guide assembly comprises a first guide assembly and a second guide assembly, wherein the first guide assembly comprises: A first guide shaft, the first guide shaft comprising a first wheel shaft and a third wheel shaft that intersect and are arranged horizontally; A first guide wheel and a third guide wheel, wherein the first guide wheel and the third guide wheel are rotatably disposed on the first wheel axle and the third wheel axle respectively; The second guide assembly comprises: A second guide shaft, the second guide shaft comprising a second wheel shaft and a fourth wheel shaft that intersect and are arranged horizontally; A second guide wheel and a fourth guide wheel, wherein the second guide wheel and the fourth guide wheel are rotatably arranged on the second wheel axle and the fourth wheel axle respectively.

4. The surgical instrument according to claim 3, characterized in that: The first guide assembly and the second guide assembly are arranged alternately up and down, and the first guide assembly and the second guide assembly guide the cable pairs in layers.

5. The surgical instrument according to claim 3, characterized in that: The first axle is parallel to the second axle, and the third axle is parallel to the fourth axle.

6. The surgical instrument according to claim 4 or 5, characterized in that: The back-end device comprises: a first rotating member; a second rotating member; a third rotating member; a first transmission assembly, the first transmission assembly being used to connect the first cable and the second cable, respectively, and being connected to the first rotating member and the third rotating member, respectively; and a second transmission assembly, the second transmission assembly being used to connect the third cable and the fourth cable respectively, and being connected to the second rotating member and the third rotating member respectively; The first rotating member is configured to be rotatable so as to pull in one of the first cable and the second cable via the first transmission assembly and release the other of the first cable and the second cable. The second rotating member is configured to be rotatable so as to be able to pull in one of the third cable and the fourth cable via the second transmission assembly and release the other of the third cable and the fourth cable. The third rotating member is configured to be rotatable so as to be able to realize, via the first transmission assembly and the second transmission assembly: pulling in at least one of the first cable and the second cable while releasing at least one of the third cable and the fourth cable, or At least one of the third cable and the fourth cable is pulled in, and at least one of the first cable and the second cable is released.

7. The surgical instrument according to claim 6, characterized in that: The first rotating member is rotatable around a first central axis, the second rotating member is rotatable around a second central axis, and the third rotating member is rotatable around a third central axis. The first central axis is parallel to the second central axis and parallel to the third central axis.

8. The surgical instrument according to claim 7, characterized in that: The first transmission assembly comprises: a first movable pulley, the first movable pulley being used to connect the first cable; a first transmission cable, the first transmission cable passing around the first movable pulley, and two ends of the first transmission cable being respectively connected to the first rotating member and the third rotating member; a second movable pulley, the second movable pulley being used to connect the second cable; and a second transmission cable, the second transmission cable passing around the second movable pulley, and two ends of the second transmission cable being respectively connected to the first rotating member and the third rotating member; Wherein, the winding direction of the first transmission cable around the first rotating member is opposite to the winding direction of the second transmission cable around the first rotating member, and the winding direction of the first transmission cable around the third rotating member is the same as the winding direction of the second transmission cable around the third rotating member; When the first rotating member or the third rotating member rotates, the first movable pulley moves under the action of the first transmission cable, and the second movable pulley moves under the action of the second transmission cable.

9. The surgical instrument according to claim 8, characterized in that: The first transmission assembly also includes a first transmission guide wheel, and a portion of the first transmission cable located between the first rotating member and the first movable pulley bypasses the first transmission guide wheel, so that the portion of the first transmission cable located between the first transmission guide wheel and the first movable pulley is parallel to the portion of the first transmission cable located between the first movable pulley and the third rotating member, and is parallel to the portion of the first cable located between the first guide wheel and the first movable pulley.

10. The surgical instrument according to claim 9, characterized in that: A portion of the second transmission cable located between the first rotating member and the second movable pulley is parallel to a portion of the second transmission cable located between the second movable pulley and the third rotating member, and is parallel to a portion of the first transmission cable located between the first movable pulley and the third rotating member, and is parallel to a portion of the second cable located between the second guide wheel and the second movable pulley.

11. The surgical instrument according to claim 8, characterized in that: The second transmission assembly comprises: a third movable pulley, the third movable pulley being used to connect the third cable; a third transmission cable, the third transmission cable passing around the third movable pulley, and two ends of the third transmission cable being respectively connected to the second rotating member and the third rotating member; a fourth movable pulley, the fourth movable pulley being used to connect the fourth cable; and a fourth transmission cable, the fourth transmission cable passing around the fourth movable pulley, and two ends of the fourth transmission cable are respectively connected to the second rotating member and the third rotating member; wherein the winding direction of the third transmission cable around the second rotating member is opposite to the winding direction of the fourth transmission cable around the second rotating member, and the winding direction of the third transmission cable around the third rotating member and the winding direction of the fourth transmission cable around the third rotating member are opposite to the winding direction of the first transmission cable around the third rotating member and the winding direction of the second transmission cable around the third rotating member; When the second rotating member or the third rotating member rotates, the third movable pulley moves under the action of the third transmission cable, and the fourth movable pulley moves under the action of the fourth transmission cable.

12. The surgical instrument according to claim 11, characterized in that: The first movable pulley is pivotally connected to a first movable pulley seat via a first axis, the first movable pulley seat is used to connect the first cable, the second movable pulley is pivotally connected to a second movable pulley seat via a second axis, the second movable pulley seat is used to connect the second cable, the first axis is parallel to the second axis and parallel to the first central axis, and / or The third movable pulley is pivotally connected to a third movable pulley seat via a third axis, and the third movable pulley seat is used to connect the third cable. The fourth movable pulley is pivotally connected to a fourth movable pulley seat via a fourth axis, and the fourth movable pulley seat is used to connect the fourth cable. The third axis is parallel to the fourth axis and parallel to the first central axis.

13. The surgical instrument according to claim 11, characterized in that: The second transmission assembly also includes a second transmission guide wheel, and a portion of the fourth transmission cable located between the second rotating member and the fourth movable pulley bypasses the second transmission guide wheel, so that the portion of the fourth transmission cable located between the second transmission guide wheel and the fourth movable pulley is parallel to a portion of the fourth transmission cable located between the fourth movable pulley and the third rotating member, and is parallel to a portion of the fourth cable located between the fourth guide wheel and the fourth movable pulley.

14. The surgical instrument according to claim 12, characterized in that: The portion of the third cable located between the second rotating member and the third movable pulley is parallel to the portion of the third cable located between the third movable pulley and the third rotating member, and is parallel to the portion of the fourth transmission cable located between the fourth movable pulley and the third rotating member, and is parallel to the portion of the third cable located between the third guide wheel and the third movable pulley.

15. A para-patient robotic arm system, characterized in that: Comprising a surgical instrument according to any one of claims 1 to 14.

16. A surgical robot, characterized in that: Including the para-patient robotic arm system as described in claim 15.

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