End effector and surgical robot

Abstract

The utility model discloses an end effector and surgical robot, the end effector comprises a drive part and an execution part, the drive part is internally provided with an actuating unit, the actuating unit comprises a drive helical gear and a swing tooth piece which are arranged in a shell of the drive part and are meshed with each other, and the drive helical gear and the swing tooth piece are meshed with each other. The swing tooth piece is provided with a first end and a second end, the first end is a pivot end arranged on the shell through a rotating shaft in a pivot mode, and the second end is a disc tooth meshed with teeth of the driving bevel gear. The actuating unit further comprises a sliding block and a jaw opening and closing guide pipe which are fixed to each other. The swing of the swing tooth piece around the rotating shaft drives the sliding block to reciprocate in the axial direction of the sliding block. The actuating unit adopts the driving bevel gear and the swinging tooth piece which are meshed with each other, so that constant instantaneous transmission ratio and accurate and synchronous movement can be ensured; the gear moves stably, the bearing capacity is higher, and the requirement for the clamping force of the jaw can be effectively met.

Description

Technical Field

[0001] The utility model relates to the technical field of surgical robots, and particularly to a surgical robot applied to minimally invasive surgery and an end effector thereof. Background Art

[0002] Minimally invasive surgery refers to a surgical method that uses modern medical devices and related equipment such as laparoscopes, thoracoscopes, and laryngoscopes to perform surgeries in the human body cavity. Compared with traditional surgeries, it has the advantages of less trauma, less pain, and faster recovery. In order to meet the flexibility requirements of surgeries and at the same time miniaturize the end effector instruments, surgical robot systems have emerged.

[0003] As disclosed in the surgical robot system of patent CN106163444A, it generally includes a master console, a robotic arm system, and an imaging system. Among them, the robotic arm system can have multiple robotic arms, on which there are end effectors that respond to the input from the master console when a surgeon views the images captured by the imaging system, such as image capture devices, staplers, electrosurgical instruments, etc. During a surgical procedure, each end effector is inserted into the patient's body through an opening (natural or incisional) and positioned to manipulate tissue at the surgical site. The openings are arranged around the patient's body so that the end surgical effectors can be used to cooperatively perform a surgical procedure, and the image capture device can view the surgical site and display it in the imaging system.

[0004] During a surgical procedure, the end effector generally adopts a flexible cable drive form, placing the bulky drive part outside the body, and the end effector can be manipulated by controlling the tension in the cable. As disclosed in patent CN109688959A, an actuation method is disclosed. The actuation unit of the end effector includes a winch, on which there is a wire groove, and the flexible cable is limited in the wire groove and wound around the winch. By driving the winch to rotate forward / backward through a gear train, the flexible cable is driven to generate displacement, thereby controlling the tool head of the end effector to perform corresponding actions. However, such cable drive is not precise enough and has a small load-bearing capacity because the flexible cable still has a certain elasticity, and slipping may occur during continuous transmission.

[0005] As disclosed in patent CN113164204A, another actuation method is disclosed. The actuation unit of the end effector includes multiple drive screws, and each drive screw is threadedly connected with a drive nut. At the same time, a flexible cable is fixed to the outside of each drive nut. In this technology, the cooperation of the screw and nut is used to complete the drive. However, such a drive method has low transmission efficiency (affected by the lead), large friction, and is prone to self-locking, which is not conducive to operation. Summary of the Utility Model

[0006] The object of the present utility model is to overcome the deficiencies of the prior art and provide an end effector of an actuating unit with precise actuation and strong load-bearing capacity, and a surgical robot.

[0007] The object of the present utility model is achieved by the following technical solutions:

[0008] An end effector, comprising a driving part and an executing part, wherein the driving part is internally provided with an actuating unit, and the executing part comprises a transmission unit and an executing unit.

[0009] The actuating unit comprises a driving bevel gear and a swinging tooth member which are in tooth engagement with each other and arranged in the housing of the driving part. The swinging tooth member has a first end and a second end. The first end is a pivot end pivotally arranged on the housing through a rotating shaft, and the second end is a disk tooth in tooth engagement with the driving bevel gear.

[0010] The actuating unit further comprises a sliding block and a jaw opening and closing catheter which are fixedly connected to each other. The swinging of the swinging tooth member around the rotating shaft drives the sliding block to reciprocate axially.

[0011] Preferably, the sliding block is a hollow rotating body with an I-shaped cross-section, and the jaw opening and closing catheter is fixed inside it by a first screw. A driving member is arranged on the swinging tooth member and extends into the annular groove of the sliding block.

[0012] Preferably, the housing further comprises a receiving part which is internally provided with an overload protection spring. A waist-shaped groove is formed in the side wall of the receiving part, and the rotating shaft is slidably arranged in the waist-shaped groove. Two ends of the overload protection spring respectively abut against the rotating shaft and the bottom of the receiving part.

[0013] Preferably, the axis of the driving bevel gear is parallel to the axis of the jaw opening and closing catheter, and the input end of the driving bevel gear is a motor interface exposed on the housing.

[0014] Preferably, a spring flexible tube is fixed to the distal end of the jaw opening and closing catheter. A jaw opening and closing slider is fixed to the distal end of the spring flexible tube. The reciprocating movement of the jaw opening and closing slider drives the first jaw and the second jaw of the executing unit to open and close. The first jaw and the second jaw are pivotally arranged on the outermost end of the executing unit through a rotating shaft.

[0015] Preferably, a steel wire rope is further included. The steel wire rope passes through the inside of the jaw opening and closing catheter and the spring flexible tube. The distal end thereof is a cutter, and the proximal end thereof is fixed to a cutter driving mechanism arranged in the housing of the driving part.

[0016] Preferably, the cutter driving mechanism includes a driving gear and a follower gear that mesh with each other. The steel wire rope passes through the limit block, and its proximal end is locked on the follower gear through a fixing block; the follower gear is an incomplete disk gear, and a guide groove for the steel wire rope is provided on its outer side wall.

[0017] Preferably, the transmission unit further includes a spatial torsion assembly. The spatial torsion assembly includes a first joint, a second joint, and a joint ring that plays a transitional role and meshes with both of them. The first joint, the second joint, and the joint ring are powered by a driving member to cooperate with each other to achieve a serpentine deformation that twists in space;

[0018] The first joint includes a body portion and a first gear extending from the distal end of the body portion; the second joint includes a clamp body and a second gear extending from the proximal end of the clamp body; the first gear and the second gear are arranged orthogonally in space; the joint ring includes a main body, a third gear that is always meshed with the first gear is provided at the proximal end of the main body, and a fourth gear that is always meshed with the second gear is provided at the distal end of the main body. The third gear and the fourth gear are arranged orthogonally in space, so that the plane where the rotation trajectory of the joint ring is located is perpendicular to the plane where the rotation trajectory of the second joint is located.

[0019] Preferably, the first gear is located on the extension plane of the body portion, and a first pivot shaft is vertically provided on the extension plane; a third pivot shaft is provided on the main body of the joint ring; a first connecting plate with rigid strength has two pivot holes, and the first pivot shaft and the third pivot shaft are respectively inserted into these two pivot holes to provide a rigid connection force when the joint ring rotates relative to the first joint;

[0020] The second gear is located on the clamp body plane of the clamp body, and a second pivot shaft is vertically provided on the clamp body plane; a fourth pivot shaft is provided on the main body of the joint ring. A second connecting plate with rigid strength has two pivot holes, and the second pivot shaft and the fourth pivot shaft are respectively inserted into these two pivot holes to provide a rigid connection force when the second joint rotates relative to the joint ring.

[0021] The present invention also discloses a surgical robot, including: a main operation console and a slave operation device. The main operation console is used to send control commands to the slave operation device according to the operations of a doctor to control the slave operation device. The slave operation device is used to respond to the control commands sent by the main operation console and perform corresponding operations. The slave operation device includes: a robotic arm and an end effector as described above arbitrarily provided on the robotic arm.

[0022] The beneficial effects of the present invention are mainly reflected in:

[0023] 1. The spatial torsion is achieved through the mutually cooperating first joint, second joint, and joint ring. The joint ring with front and rear spatial gear meshing is used as the joint structure, which has a higher supporting capacity for the supporting structure during swinging, thereby improving the bearing capacity of the spatial torsion assembly for the surgical robot, and also improving the meshing accuracy. A connecting plate with rigid strength is provided, which can further improve the stiffness of the spatial torsion assembly, fix the center distance of gear meshing, and limit the side of the joint to prevent gear misalignment.

[0024] 2. The transmission uses a spring flexible tube and a steel wire rope, which can cooperate with the spatial torsion assembly to complete complex spatial torsion. The hollow channel of the spring flexible tube can be used in cooperation with the steel wire rope, effectively saving space. At the same time, when the steel wire rope is fully limited and protected, even in a bent state, it can effectively transmit the pushing and pulling force to control the cutter feed.

[0025] 3. The actuating unit uses a driving helical gear and a swinging tooth part that are mutually tooth-engaged, which can ensure a constant instantaneous transmission ratio and precise synchronous movement. The gear movement is stable and has a stronger bearing capacity, which can effectively ensure the clamping force requirement of the jaw. At the same time, in cooperation with the floating spring setting, the helical gear can be effectively protected when the load is too large. Brief Description of the Drawings

[0026] The technical solution of the present utility model will be further described below with reference to the drawings:

[0027] Figure 1 : Structural schematic diagram of the end effector of the present utility model;

[0028] Figure 2 : Structural schematic diagram of the actuating unit of the present utility model;

[0029] Figure 3 : Figure 2 Cross-sectional view along A-A in

[0030] Figure 4 : Structural schematic diagram of the distal drive for jaw opening and closing of the present utility model;

[0031] Figure 5 : Cross-sectional view of the transmission unit of the present utility model;

[0032] Figure 6 : Cross-sectional view of the cutter drive mechanism of the present utility model;

[0033] Figure 7 : Three-dimensional schematic diagram of the cutter drive mechanism of the present utility model;

[0034] Figure 8 : Three-dimensional schematic diagram of the spatial torsion assembly of the present utility model;

[0035] Figure 9: Explosion schematic diagram of the spatial torsion assembly of the present utility model;

[0036] Figure 10 : Structural schematic diagram of the driving member of the spatial torsion assembly of the present utility model. Detailed implementation manners

[0037] The present utility model will be described in detail below in conjunction with the specific implementation manners shown in the drawings. However, these implementation manners are not limited to the present utility model, and any structural, method, or functional transformation made by those of ordinary skill in the art based on these implementation manners is included within the protection scope of the present utility model.

[0038] In the description of the solution, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of description and simplification of the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. And, in the description of the solution, with the operator as the reference, the direction close to the operator is the proximal end, and the direction away from the operator is the distal end.

[0039] As Figures 1 to 10 shown, the present utility model discloses an end effector of a surgical robot, which includes a driving part 100 and an executing part 200. Similar to the prior art, the driving part 100 is internally provided with an actuating unit 300, and the executing part 200 includes a transmission unit 400 and an executing unit 500.

[0040] Specifically as Figure 2 and Figure 3 shown, the actuating unit 300 includes a driving bevel gear 301 and a swing tooth member 302 that are engaged with each other and are arranged in the housing 101 of the driving part 100.

[0041] The swing tooth member 302 has a first end and a second end. The first end is a pivot end pivotally arranged on the housing 101 through a rotary shaft 303, and the second end is a disk tooth 304 that is engaged with the driving bevel gear 301.

[0042] The housing 101 includes a receiving portion, which has an overload protection spring 307 built therein. The side wall of the receiving portion is provided with a waist-shaped groove 102, and the rotating shaft 303 is slidably disposed in the waist-shaped groove 102. The two ends of the overload protection spring 307 are respectively abutted against the rotating shaft 303 and the bottom of the receiving portion. When the load is too large, the rotating shaft 303 overcomes the force of the overload protection spring 307 to slide, thereby effectively protecting the helical gear.

[0043] The actuating unit 300 also includes a sliding block 305 and a jaw opening and closing guide tube 306 fixed to each other; the sliding block 305 is a hollow rotating body with an I-shaped cross-section, and the jaw opening and closing guide tube 306 is fixed inside it by a first screw 308; a driving member 309 is provided on the swing gear member 302, extending into the annular groove 310 of the sliding block 305.

[0044] When the swing gear member 302 swings around the rotary shaft 303 driven by the driving bevel gear 301 , the sliding block 305 can be driven to reciprocate along its axial direction, thereby driving the jaw opening and closing guide tube 306 to reciprocate.

[0045] In this preferred embodiment, the axis of the driving bevel gear 301 is parallel to the axis of the jaw opening and closing catheter 306, and the input end of the driving bevel gear 301 is a motor interface 311 exposed on the housing. When the end effector is assembled on the robot arm, the motor interface 311 can be driven by a power mechanism (generally a motor) to realize electric driving of the driving bevel gear 301.

[0046] Combination Figure 4 and Figure 5 As shown, a spring flexible tube 401 is fixed to the distal end of the jaw opening and closing catheter 306 , a jaw opening and closing slider 402 is fixed to the distal end of the spring flexible tube 401 , and driving rods 403 are fixedly arranged on both sides of the jaw opening and closing slider 402 .

[0047] The first jaw 501 and the second jaw 502 are pivotally arranged at the farthest end of the actuator 500 through a rotating shaft 503, and mutually offset oblique grooves 504 are arranged at the proximal end thereof, and the driving rods 403 are respectively inserted into the oblique grooves 504. The jaw opening and closing slider 402 reciprocates under the drive of the jaw opening and closing guide tube 306 and the spring flexible tube 401, driving the first jaw 501 and the second jaw 502 of the actuator 500 to open and close. The advantage of using the spring flexible tube 401 is that since its two ends are respectively fixedly connected to the jaw opening and closing slider 402 and the jaw opening and closing guide tube 306 by laser welding, the opening and closing control of the jaws is still effective when bent.

[0048] Specific as Figure 5As shown, the transmission unit 400 further includes a wire rope 404. The wire rope 404 passes through the inside of the jaw opening and closing conduit 306 and the spring flexible tube 401, and its distal end is a cutter 505. The advantage of using a blade wire rope is that since the end of the wire rope is fixedly connected to the cutter by laser welding, under the condition that the wire rope is fully limited and protected, even in a bent state, it can effectively transmit the pushing and pulling force to control the feeding of the cutter.

[0049] The proximal end of the wire rope 404 is fixed on the cutter drive mechanism in the housing 101 of the drive part 100. Specifically, in combination with Figure 6 and Figure 7 As shown, the cutter drive mechanism includes a drive gear 601 and a follower gear 602 that are meshed with each other. The drive gear 601 has a motor interface exposed on the housing. When the end effector is assembled to the robotic arm, the motor interface can be driven by a motor to realize electric drive of the drive gear 601.

[0050] Due to the flexibility of the wire rope 404 itself, it is necessary to limit the wire rope 404 to prevent unnecessary bending when it is stressed. Therefore, in this preferred embodiment, after the wire rope 404 passes through the limit block 603, its proximal end is locked on the follower gear 602 through the fixing block 604; the follower gear 602 is an incomplete disk tooth, and a guide groove 605 for the wire rope 404 is provided on its outer side wall. The limit block 603 and the fixing block 604 are fixed in the housing 101 by a second screw 606.

[0051] Specifically, the wire rope 404 is restricted in path and adjusted in angle via the limit block 603, then converges into the guide groove 605 in the circumferential direction of the follower gear 602 from the tangential direction, and then the wire rope 404 is fixedly connected to the follower gear 602 using the fixing block 604. In this way, when the drive gear 601 is driven, the load can be stably transmitted to the follower gear 602, and the movement of the gear can be output as the feeding of the cutter 505 by outputting the angular displacement.

[0052] The structure of this preferred embodiment effectively improves the assembly and maintenance performance.

[0053] As Figures 8 to 9 shown, the transmission unit 400 further includes a spatial torsion assembly 405. The spatial torsion assembly 405 includes a first joint 406, a second joint 407, and a joint ring 408 that plays a transitional role and meshes with both of them. The first joint 406, the second joint 407, and the joint ring 408 are powered by a driving member to cooperate with each other to achieve a serpentine deformation that twists in space.

[0054] The first joint 406 includes a body portion, and a first gear 409 extending from the distal end of the body portion; the second joint 407 includes a pliers body, and a second gear 410 extending from the proximal end of the pliers body; the first gear 409 and the second gear 410 are arranged orthogonally in space.

[0055] The joint ring 408 includes a main body. A third gear 411 that is always meshed with the first gear 409 is provided at the proximal end of the main body, and a fourth gear 412 that is always meshed with the second gear 410 is provided at the distal end of the main body. The third gear 411 and the fourth gear 412 are arranged orthogonally in space, so that the plane where the rotation trajectory of the joint ring 408 is located is perpendicular to the plane where the rotation trajectory of the second joint 407 is located.

[0056] Preferably, the first gear 409 is located on the extension plane of the body portion, and a first pivot 413 is vertically provided on the extension plane; a third pivot 414 is provided on the main body of the joint ring 408; the first connecting plate 415 with rigid strength has two pivot holes, and the first pivot 413 and the third pivot 414 are respectively inserted into the pivot holes to provide a rigid connection force when the joint ring 408 rotates relative to the first joint 406.

[0057] The second gear 410 is located on the pliers body plane of the pliers body, and a second pivot 416 is vertically provided on the pliers body plane; a fourth pivot 417 is provided on the main body of the joint ring 408, and the second connecting plate 418 with rigid strength has two pivot holes, and the second pivot 416 and the fourth pivot 417 are respectively inserted into the pivot holes to provide a rigid connection force when the second joint 407 rotates relative to the joint ring 408.

[0058] The first connecting plate 415 and the second connecting plate 418 have the same shape and are both two symmetrically arranged ones. While further improving the stiffness of the spatial torsion assembly, the connecting plates can also fix the center distance of the gear meshing and limit the side of the joint to prevent the gears from being misaligned.

[0059] The first gear 409 and the second gear 410 respectively have a row - type structure with parallel intervals, that is, both the first gear 409 / the second gear 410 are two mutually - spaced pieces, and the driving member passes through between the two pieces of gears. The third gear 411 and the fourth gear 412 on the joint ring 408 are respectively meshing gears with corresponding row - type structures. Such a design can ensure that the product has stronger rigidity and can also ensure that in case one tooth fails, the other tooth is still in the meshing state.

[0060] Combined with Figure 10As shown in the figure, the driving members are four traction ropes. The free ends of all the traction ropes are connected to the proximal end of the second joint 407. The four traction ropes are arranged in two diagonal pairs to form two control units. The control ends of the two traction ropes 419 and 420 of the first control unit are fixed on the first rotating shaft 421 and the winding directions of the two traction ropes 419 and 420 are opposite. The control ends of the two traction ropes 422 and 423 of the second control unit are fixed on the second rotating shaft 424 and the winding directions of the two traction ropes 422 and 423 are opposite. The free ends of the four traction ropes all pass through the through holes on the main body of the first joint 406 and the through holes of the main body of the joint ring 408 in sequence and then are connected to the proximal end of the second joint 407. When the first rotating shaft 421 and the second rotating shaft 424 rotate in the opposite direction with the same angular displacement, if the traction ropes 420 and 423 have equal contraction amounts and the traction ropes 422 and 419 have equal extension amounts, and the contraction amount is equal to the extension amount, and then the two-stage joints each equally divide the telescopic amounts of the corresponding traction ropes, the separate control of the meshing gears between the joint ring 408 and the first joint 406 can be completed; similarly, when the first rotating shaft 421 and the second rotating shaft 424 rotate in the same direction with the same angular displacement, the separate control of the meshing gears between the second joint 407 and the joint ring 408 can be completed; by applying this rule, the spatial torsion assembly can be controlled to rotate at any angle within the permitted rotation range.

[0061] The present utility model also discloses a surgical robot, including: a main operation console and a slave operation device. The main operation console is used to send control commands to the slave operation device according to the operations of a doctor to control the slave operation device. The slave operation device is used to respond to the control commands sent by the main operation console and perform corresponding operations. The slave operation device includes: a robotic arm, a power mechanism arranged on the robotic arm, and an end effector as described above arranged on the power mechanism. The robotic arm is used to adjust the position of the end effector, and the power mechanism is used to drive the end effector to perform corresponding operations for performing surgical operations.

[0062] It should be understood that although this specification is described according to embodiments, not every embodiment only includes an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0063] The series of detailed descriptions listed above are only specific descriptions of the feasible embodiments of the present utility model, and they are not used to limit the protection scope of the present utility model. Any equivalent embodiments or changes made without departing from the technical spirit of the present utility model should be included in the protection scope of the present utility model.

Claims

1. End effector, comprising a driving part (100) and an executing part (200), wherein the driving part (100) is internally provided with an actuating unit (300), and the executing part (200) comprises a transmission unit (400) and an executing unit (500), characterized in that: The actuating unit (300) comprises a driving helical gear (301) and a swinging tooth member (302) which are in tooth engagement with each other and are arranged in a housing (101) of the driving part (100). The swinging tooth member (302) has a first end and a second end. The first end is a pivot end pivotally arranged on the housing (101) through a return shaft (303), and the second end is a disk tooth (304) in tooth engagement with the driving helical gear (301). The actuating unit (300) further comprises a sliding block (305) and a jaw opening and closing conduit (306) which are fixedly connected to each other. The swinging of the swinging tooth member (302) around the return shaft (303) drives the sliding block (305) to reciprocate axially.

2. The end effector according to claim 1, wherein: The sliding block (305) is a hollow rotating body with an I-shaped cross section, and the jaw opening and closing conduit (306) is fixed inside it by a first screw (308). A driving member (309) is arranged on the swinging tooth member (302) and extends into an annular groove (310) of the sliding block (305).

3. The end effector according to claim 1, wherein: The housing (101) further comprises a receiving part which is internally provided with an overload protection spring (307). A waist-shaped groove (102) is formed in a side wall of the receiving part. The return shaft (303) is slidably arranged in the waist-shaped groove (102), and two ends of the overload protection spring (307) respectively abut against the return shaft (303) and the bottom of the receiving part.

4. The end effector according to claim 1, wherein: The axis of the driving helical gear (301) is parallel to the axis of the jaw opening and closing conduit (306), and an input end of the driving helical gear (301) is a motor interface (311) exposed on the housing.

5. The end effector according to claim 4, characterized in that: A spring flexible tube (401) is fixed to a distal end of the jaw opening and closing conduit (306). A jaw opening and closing slider (402) is fixed to a distal end of the spring flexible tube (401). The reciprocating motion of the jaw opening and closing slider (402) drives the first jaw (501) and the second jaw (502) of the executing unit (500) to open and close. The first jaw (501) and the second jaw (502) are pivotally arranged at the outermost distal end of the executing unit (500) through a rotating shaft (503).

6. The end effector according to claim 5, wherein: Further included is a steel wire rope (404) which passes through the inside of the jaw opening and closing conduit (306) and the spring flexible tube (401). A distal end thereof is a cutter (505), and a proximal end thereof is fixed to a cutter driving mechanism in a housing (101) of the driving part (100).

7. The end effector according to claim 6, characterized in that: The cutter driving mechanism includes a driving gear (601) and a follower gear (602) that are meshed with each other. After the steel wire rope (404) passes through the limit block (603), its proximal end is locked on the follower gear (602) through the fixing block (604); the follower gear (602) is an incomplete disk tooth, and a guide groove (605) for the steel wire rope (404) is provided on its outer side wall.

8. The end effector according to claim 4, characterized in that: The transmission unit (400) further includes a spatial torsion assembly (405). The spatial torsion assembly (405) includes a first joint (406), a second joint (407), and a joint ring (408) that plays a transitional role and is meshed with both of them. The first joint (406), the second joint (407), and the joint ring (408) are powered by a driving member to cooperate with each other to achieve a serpentine deformation with spatial torsion; The first joint (406) includes a body portion and a first gear (409) extending from the distal end of the body portion; the second joint (407) includes a clamp body and a second gear (410) extending from the proximal end of the clamp body; the first gear (409) and the second gear (410) are arranged orthogonally in space; the joint ring (408) includes a main body, a third gear (411) that is always meshed with the first gear (409) is provided at the proximal end of the main body, and a fourth gear (412) that is always meshed with the second gear (410) is provided at the distal end of the main body. The third gear (411) and the fourth gear (412) are arranged orthogonally in space, so that the plane where the rotation trajectory of the joint ring (408) is located is perpendicular to the plane where the rotation trajectory of the second joint (407) is located.

9. The end effector according to claim 8, characterized in that: The first gear (409) is located on the extension plane of the body portion, and a first pivot shaft (413) is vertically provided on the extension plane; a third pivot shaft (414) is provided on the main body of the joint ring (408); the first connecting plate (415) with rigid strength has two pivot holes, and the first pivot shaft (413) and the third pivot shaft (414) are respectively inserted into the pivot holes of the first connecting plate (415) to provide a rigid connection force when the joint ring (408) rotates relative to the first joint (406); The second gear (410) is located on the clamp body plane of the clamp body, and a second pivot shaft (416) is vertically provided on the clamp body plane; a fourth pivot shaft (417) is provided on the main body of the joint ring (408), and the second connecting plate (418) with rigid strength has two pivot holes. The second pivot shaft (416) and the fourth pivot shaft (417) are respectively inserted into the pivot holes of the second connecting plate (418) to provide a rigid connection force when the second joint (407) rotates relative to the joint ring (408).

10. A surgical robot, characterized in that, Including: The main operation console and slave operation equipment, The main operating console is used to send control commands to the slave operating device according to the operations of the doctor to control the slave operating device. The slave operating device is used to respond to the control commands sent by the main operating console and perform corresponding operations. The slave operating device includes: a robotic arm, and an end effector provided on the robotic arm as described in any one of claims 1-9.

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