Surgical instrument and surgical robot

Abstract

The utility model provides a surgical instrument and a surgical robot. The surgical instrument comprises an instrument box; the instrument box comprises a shell, a first rotating shaft assembly, a second rotating shaft assembly, a third rotating shaft assembly, a fourth rotating shaft assembly and a guide assembly, the near end of the instrument rod extends into the shell, and the far end of the instrument rod is connected with the tail end tool. A driving rope assembly is wound on each of the first rotating shaft assembly, the second rotating shaft assembly and the third rotating shaft assembly, and the leading-out end of each driving rope assembly is connected with the tail end tool after winding through the guide assembly and penetrating through the instrument rod; a set of target driving rope assembly is wound on the fourth rotating shaft assembly, and the leading-out end of the target driving rope assembly is wound on the instrument rod; the connecting lines of the first rotating shaft assembly, the second rotating shaft assembly, the third rotating shaft assembly and the fourth rotating shaft assembly form a rectangle, and the guiding assembly is located in the rectangle. The size of the instrument box and the size of the tail end tool are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical instruments, in particular to a surgical instrument and a surgical robot. BACKGROUND

[0002] In a traditional microsurgery process, a surgeon needs to look at a microscope while operating a surgical instrument to perform surgery. However, due to the small range of the surgical target area, the surgeon is prone to physiological tremor when operating the surgical instrument for a long time, which increases the risk of surgery. To solve the above problem, a surgical system is developed, which includes a control end and a surgical instrument end. The surgical instrument end includes an instrument box, an instrument rod and an end tool connected in sequence. The instrument box is provided with a plurality of rotating shaft assemblies. A driving rope wound on the rotating shaft assembly passes through the inside of the instrument rod and is connected with the end tool. When performing surgical operation, the surgeon controls the rotating shaft assembly to run by operating the control end. After the rotating shaft assembly runs, the driving rope is retracted and released, and after the driving rope is retracted and released, the end tool is driven to move. After the end tool moves, the surgical operation on the affected part of the patient can be performed. The control end and the surgical instrument end have a corresponding proportional relationship. Even if the surgeon has physiological tremor when operating the control end, the physiological tremor at the end tool of the surgical instrument end will only show a very small displacement. The small displacement will not increase the risk of surgery. Therefore, the surgical system can effectively solve the problem of increasing the risk of surgery caused by physiological tremor of the surgeon in the traditional surgical process.

[0003] However, in the prior art, the arrangement of the elements in the instrument box leads to a relatively large volume and size of the instrument box. When the volume of the instrument box is relatively large, the occupied space will also be large, which greatly reduces the competitiveness of the product. CONTENT OF THE UTILITY MODEL

[0004] The purpose of the present application is to provide a surgical instrument and a surgical robot, which can reduce the volume of the instrument box and the end tool.

[0005] The embodiment of the present application is implemented as follows:

[0006] In a first aspect, the present application provides a surgical instrument, which comprises an instrument box, an instrument rod and an end tool; the instrument box comprises a shell and a first rotating shaft assembly, a second rotating shaft assembly, a third rotating shaft assembly, a fourth rotating shaft assembly and a guide assembly in the shell; the proximal end of the instrument rod extends into the shell, and the distal end of the instrument rod is connected with the end tool; each of the first rotating shaft assembly, the second rotating shaft assembly and the third rotating shaft assembly is wound with a group of driving rope assemblies, the leading ends of each group of driving rope assemblies pass through the guide assembly and the instrument rod and are connected with the end tool; the fourth rotating shaft assembly is wound with a group of target driving rope assemblies, and the leading ends of the target driving rope assemblies are wound on the instrument rod; wherein the connecting lines of the first rotating shaft assembly, the second rotating shaft assembly, the third rotating shaft assembly and the fourth rotating shaft assembly form a rectangle, and the guide assembly is located in the rectangle; when at least one of the first rotating shaft assembly, the second rotating shaft assembly and the third rotating shaft assembly rotates, the driving rope assemblies drive the end tool to move, and when the fourth rotating shaft assembly rotates, the target driving rope assemblies drive the instrument rod and the end tool to rotate synchronously.

[0007] In an embodiment, the end tool comprises a seat body, a first clamping piece and a second clamping piece, the first clamping piece and the second clamping piece are rotationally connected with the distal end of the seat body through a first shaft body, and the proximal end of the seat body is rotationally connected with the distal end of the instrument rod through a second shaft body; the first shaft body is perpendicular to the second shaft body; the proximal end of the instrument rod is connected with a rotating element; the leading ends of the driving rope assemblies wound on the first rotating shaft assembly are connected with the first clamping piece; the leading ends of the driving rope assemblies wound on the second rotating shaft assembly are connected with the second clamping piece; the leading ends of the driving rope assemblies wound on the third rotating shaft assembly are connected with the seat body; the leading ends of the target driving rope assemblies wound on the fourth rotating shaft assembly are connected with the rotating element; wherein when the first rotating shaft assembly rotates, the driving rope assemblies wound thereon drive the first clamping piece to rotate around the first shaft body; when the second rotating shaft assembly rotates, the driving rope assemblies wound thereon drive the second clamping piece to rotate around the first shaft body; when the third rotating shaft assembly rotates, the driving rope assemblies wound thereon drive the end tool to rotate around the second shaft body; when the fourth rotating shaft assembly rotates, the target driving rope assemblies drive the rotating element, the instrument rod and the end tool to rotate around the symmetry axis of the instrument rod.

[0008] In an embodiment, each of the first rotating shaft assembly, the second rotating shaft assembly, the third rotating shaft assembly and the fourth rotating shaft assembly is provided with a first helical groove of a first rotation direction and a second helical groove of a second rotation direction; the driving rope assembly wound on the first rotating shaft assembly comprises a first driving member and a second driving member, the first driving member and the second driving member are wound in the first helical groove and the second helical groove of the first rotating shaft assembly respectively, and the leading ends of the first driving member and the second driving member are connected with the first clamping member; the driving rope assembly wound on the second rotating shaft assembly comprises a third driving member and a fourth driving member, the third driving member and the fourth driving member are wound in the first helical groove and the second helical groove of the second rotating shaft assembly respectively, and the leading ends of the third driving member and the fourth driving member are connected with the second clamping member; the driving rope assembly wound on the third rotating shaft assembly comprises a fifth driving member and a sixth driving member, the fifth driving member and the sixth driving member are wound in the first helical groove and the second helical groove of the third rotating shaft assembly respectively, and the leading ends of the fifth driving member and the sixth driving member are connected with the seat body; the target driving rope assembly wound on the fourth rotating shaft assembly comprises a seventh driving member and an eighth driving member, the seventh driving member and the eighth driving member are wound in the first helical groove and the second helical groove of the fourth rotating shaft assembly respectively, and the leading ends of the seventh driving member and the eighth driving member are connected with the rotating element.

[0009] In an embodiment, the distal end of the instrument rod has two first protruding ends arranged at intervals, and the second shaft body is connected between the two first protruding ends; the seat body has a body part and a protruding part connected with each other, the protruding part is rotatably sleeved on the second shaft body, the body part is provided with two second protruding ends arranged at intervals, and the first shaft body is connected between the two second protruding ends; the first clamping member and the second clamping member are rotatably sleeved on the first shaft body.

[0010] In an embodiment, the second shaft body comprises a first part and a second part, and the body part is provided with a first protruding column and a second protruding column; the first protruding column and the first part are located on one side of the protruding part, and the second protruding column and the second part are located on the other side of the protruding part; the leading end of the first driving member is connected with the first clamping member by passing through the first part and the first protruding column; the leading end of the second driving member is connected with the first clamping member by passing through the second part and the second protruding column; the leading end of the third driving member is connected with the second clamping member by passing through the first part and the first protruding column; and the leading end of the fourth driving member is connected with the second clamping member by passing through the second part and the second protruding column.

[0011] In an embodiment, the diameter a of the instrument rod is 3-5 mm; the vertical distance from the distal end of the first clamping member to the first shaft body is b1, and the vertical distance from the distal end of the second clamping member to the first shaft body is b2; b1=3.5-7 mm; and b2=3.5-7 mm.

[0012] The first protruding column and the second protruding column are located on two sides of the second shaft body in the extension direction of the first shaft body, and the first protruding column and the second protruding column are parallel to the second shaft body, the first protruding column has a first vertical distance c1 from the second shaft body in the extension direction of the first shaft body, and the second protruding column has a second vertical distance c2 from the second shaft body in the extension direction of the first shaft body; c1 = 0.5-1 mm; c2 = 0.5-1 mm.

[0013] The first protruding column has a first vertical interval distance d1 from the second shaft body, and the second protruding column has a second vertical interval distance d2 from the second shaft body; d1 = 2-2.5 mm, and d2 = 2-2.5 mm.

[0014] In an embodiment, the rotating element is provided with a third spiral groove of a first rotation direction and a fourth spiral groove of a second rotation direction, and the leading ends of the seventh driving element and the eighth driving element are connected in the third spiral groove and the fourth spiral groove of the rotating element respectively.

[0015] In an embodiment, each of the first rotating shaft assembly, the second rotating shaft assembly, the third rotating shaft assembly and the fourth rotating shaft assembly has a rotating shaft and two pulley elements sleeved on the rotating shaft, the first spiral groove and the second spiral groove of each rotating shaft assembly are arranged on the two pulley elements respectively, or the two pulley elements of each rotating shaft assembly are spaced apart and sleeved on the rotating shaft, and each rotating shaft assembly further includes a sleeve sleeved on the rotating shaft and located between the two pulley elements, and the first spiral groove and the second spiral groove of each rotating shaft assembly are arranged on the sleeve.

[0016] In an embodiment, the instrument box further includes a fixed plate located in the shell, one end of the rotating shaft in each rotating shaft assembly is rotationally connected with the fixed plate, and the other end of the rotating shaft in each rotating shaft assembly is rotationally connected with the shell.

[0017] In an embodiment, the surgical instrument further includes a body, four driving motors are arranged in the body, and the body is further provided with four first matching parts matched with the four driving motors one by one, one end of each rotating shaft assembly is connected with a first matching part, and each first matching part is matched with a second matching part.

[0018] In a second aspect, the application provides a surgical robot, which includes a body and the above-mentioned surgical instrument, four driving motors are arranged in the body, and the four driving motors are connected with the four rotating shaft assemblies one by one.

[0019] Compared with the prior art, the application has the following beneficial effects:

[0020] In the application, by making the connecting lines of the plurality of rotating shaft assemblies in the instrument box present a rectangle, and setting the guide assemblies in the instrument box in the rectangle, each element in the instrument box can be arranged in a more compact arrangement, the volume and space occupation of the instrument box are reduced, so that the instrument box is made more miniaturized, and the competitiveness of the product is improved.

[0021] Further, in the application, by setting the structure and corresponding parameters of the end tool, the end tool is made more compact, the range of the field of view occupied by the end tool during surgery is reduced, and the surgery is facilitated. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings needed in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some of the embodiments of the application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0023] Figure 1 The structure diagram of the control end provided in the application is shown in the figure;

[0024] Figure 2 The structure diagram of the surgical robot provided in the application is shown in the figure;

[0025] Figure 3 The structure diagram of the surgical instrument provided in the application is shown in the figure;

[0026] Figure 4 The partial explosion diagram of the surgical instrument provided in the application is shown in the figure;

[0027] Figure 5 The structure diagram of the surgical instrument provided in the application is shown in the figure;

[0028] Figure 6 The structure diagram of the end tool provided in the application is shown in the figure; Figure 5 The partial enlarged diagram of A in the figure;

[0029] Figure 7 The partial explosion diagram of the end tool provided in the application is shown in the figure;

[0030] Figure 8 The schematic diagram of the instrument box provided in the application is shown in the figure; Figure 1 ;

[0031] Figure 9 The schematic diagram of the instrument box provided in the application is shown in the figure; Figure 2 ;

[0032] Figure 10 The structure diagram of the end tool provided in the application is shown in the figure;

[0033] Figure 11 Fig. 6 is a schematic view of the first and second clamping members when rotated in a clockwise direction;

[0034] Figure 12 Fig. 7 is a schematic view of the first and second clamping members when rotated in a counter-clockwise direction;

[0035] Figure 13 Fig. 8 is a schematic view of the end tool when rotated in a counter-clockwise direction;

[0036] Figure 14 Fig. 9 is a schematic view of the end tool when rotated in a clockwise direction;

[0037] Figure 15 Fig. 10 is a schematic view of the dimensions of the end tool provided in the present application; Figure 1

[0038] Figure 16 Fig. 11 is a schematic view of the dimensions of the end tool provided in the present application; Figure 2

[0039] Figure 17 Fig. 12 is a schematic view of the dimensions of the end tool provided in the present application; Figure 3

[0040] Figure 18 Fig. 13 is an exploded schematic view of the instrument case provided in the present application;

[0041] Figure 19 Fig. 14 is a schematic view of the counterbore provided in the present application;

[0042] Figure 20 Fig. 15 is a schematic view of the instrument case provided in the present application; Figure 3

[0043] Figure 21 Fig. 16 is a schematic view of the clamping space provided in the present application.

[0044] Reference Signs:

[0045] ​​​​1-control end; 2-surgical robot; 100-body; 200-surgical instrument; 210-instrument box; 211-housing; 212-first rotating shaft assembly; 213-second rotating shaft assembly; 214-third rotating shaft assembly; 215-fourth rotating shaft assembly; 216-guiding assembly; 217-first helical groove; 218-second helical groove; 220-instrument rod; 221-rotating element; 222-first extending end; 230-end tool; 231-seat; 232-first clamping member; 233-second clamping member; 234-first shaft body; 235-second shaft body; 2111-cover; 2112-base; 2113-fixing plate; 2121-rotating shaft; 2122-pulley element; 2123-sleeve; 2161-first guiding assembly; 2162-second guiding assembly; 2163-clamping space; 2191-first driving member; 2192-second driving member; 2193-third driving member; 2194-fourth driving member; 2195-fifth driving member; 2196-sixth driving member; 2197-seventh driving member; 2198-eighth driving member; 2211-third helical groove; 2212-fourth helical groove; 2311-body part; 2312-extending part; 2313-third annular groove; 2321-first clamping part; 2322-first fixing part; 2331-second clamping part; 2332-second fixing part; 2351-first part; 2352-second part; 21121-second matching hole; 21122-counter bore; 21123-mounting part; 21131-first matching hole; 21132-first protrusion; 21211-first bearing; 21212-second bearing; 21213-first matching part; 23111-second extending end; 23112-first protruding column; 23113-second protruding column; 23221-first annular groove; 23321-second annular groove. DETAILED DESCRIPTION

[0046] The terms "first", "second", "third", and the like, are used only to distinguish descriptions, and do not indicate the arrangement number, and cannot be understood as indicating or implying relative importance.

[0047] In addition, the terms "horizontal", "vertical", "overhanging", and the like, do not mean that the component must be absolutely horizontal or overhanging, but can be slightly inclined. For example, "horizontal" only means that it is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0048] In the description of this application, it should be noted that the terms "inside", "outside", "left", "right", "up", "down", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on this application.

[0049] In the description of this application, unless otherwise clearly specified and limited, the terms "set", "install", "connected" and "connect" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be a connection between the internal parts of two elements.

[0050] The technical solution of this application will be clearly and completely described below with reference to the accompanying drawings.

[0051] The present application provides a surgical system, which includes a remotely connected surgical robot 2 and a control terminal 1. Figure 1 As shown, from Figure 1 As can be seen from the figure, the main part of the control terminal 1 is a seat, and the control terminal 1 is also equipped with a control unit; Figure 2 As shown, the surgical robot 2 includes a body 100 and at least one surgical instrument 200 mounted on the body 100; Figure 3 As shown, each surgical instrument 200 includes an instrument box 210, an instrument rod 220 and an end tool 230 connected in sequence. The instrument box 210 of the surgical instrument 200 can be detachably mounted on the main body 100 by means of magnetism, snaps and bolts, or the instrument box 210 of the surgical instrument 200 can be integrated with the main body 100; when multiple surgical instruments 200 are provided, the end tool 230 in each surgical instrument 200 is different, and the end tool 230 can be tweezers, needle holders, monopolar scissors, electric hooks, electric shovels, bipolar window forceps, bipolar Maryland forceps, Cardier forceps, intestinal forceps or staplers, etc.

[0052] like Figure 3 As shown, the instrument box 210 includes a housing 211, the proximal end of the instrument rod 220 extends into the housing 211, and the distal end of the instrument rod 220 is connected to the end tool 230. Figure 4 As shown, the housing 211 includes a base 2112 and a cover 2111 covering the base 2112; the instrument box 210 also includes a first rotating shaft assembly 212, a second rotating shaft assembly 213, a third rotating shaft assembly 214, a fourth rotating shaft assembly 215 and a guide assembly 216 located in the housing 211; Figure 5As shown, a group of drive rope assemblies are wound around each of the first rotating axis assembly 212, the second rotating axis assembly 213, and the third rotating axis assembly 214, and the lead-out end of each group of drive rope assemblies is wrapped around the guide assembly 216 and through the instrument rod 220 and then connected to the end tool 230; a group of target drive rope assemblies are wound around the fourth rotating axis assembly 215, and the lead-out end of the target drive rope assembly is wrapped around the instrument rod 220; wherein, the connecting line of the first rotating axis assembly 212, the second rotating axis assembly 213, the third rotating axis assembly 214 and the fourth rotating axis assembly 215 is a rectangle, and the guide assembly 216 is located inside the rectangle.

[0053] When the doctor is performing surgery on a patient, the doctor sends a control instruction to the surgical robot 2 through the control end 1. Under the above control instruction, if at least one of the first rotating axis assembly 212, the second rotating axis assembly 213 and the third rotating axis assembly 214 rotates, the drive rope assembly wrapped around the rotating rotating axis assembly retracts and releases to drive the end tool 230 to move, and perform surgery on the patient's affected part; if the fourth rotating axis assembly 215 rotates under the above control instruction, the target drive rope assembly retracts and releases to drive the instrument rod 220 and the end tool 230 to rotate synchronously. When the end tool 230 rotates, it can be in a more suitable position to perform surgery on the patient's affected part.

[0054] It can be seen from the above content that in the present application, by making the connecting lines of the multiple rotating shaft assemblies in the instrument box 210 present a rectangle, and setting the guide assembly 216 in the instrument box 210 in the above rectangle, the various components in the instrument box 210 can be arranged in a more compact arrangement, thereby reducing the volume and space occupied by the instrument box 210, thereby facilitating the miniaturization of the instrument box 210 and improving the competitiveness of the product.

[0055] In one embodiment, if Figure 5 As shown, the proximal end of the instrument rod 220 is connected to a rotating element 221; Figure 6As shown, the end tool 230 comprises a seat body 231, a first clamping piece 232 and a second clamping piece 233, the first clamping piece 232 and the second clamping piece 233 are rotationally connected with the seat body 231 through a first shaft body 234, the seat body 231 is rotationally connected with the distal end of the instrument rod 220 through a second shaft body 235; the first shaft body 234 and the second shaft body 235 are perpendicular. The leading end of the driving rope assembly wound on the first rotating shaft assembly 212 is connected with the first clamping piece 232 after winding through the guide assembly 216 and passing through the instrument rod 220; the leading end of the driving rope assembly wound on the second rotating shaft assembly 213 is connected with the second clamping piece 233 after winding through the guide assembly 216 and passing through the instrument rod 220; the leading end of the driving rope assembly wound on the third rotating shaft assembly 214 is connected with the seat body 231 after winding through the guide assembly 216 and passing through the instrument rod 220; the leading end of the target driving rope assembly wound on the fourth rotating shaft assembly 215 is connected with the rotating element 221.

[0056] When the doctor performs surgery on the patient, the doctor sends control instructions to the surgical robot 2 through the control end 1, under the above control instructions, if the first rotating shaft assembly 212 rotates, the driving rope assembly wound thereon drives the first clamping piece 232 to rotate around the first shaft body 234; under the control of the above control instructions, if the second rotating shaft assembly 213 rotates, the driving rope assembly wound thereon drives the second clamping piece 233 to rotate around the first shaft body 234; under the above control instructions, if the third rotating shaft assembly 214 rotates, the driving rope assembly wound thereon drives the entire end tool 230 to rotate around the second shaft body 235; under the above control instructions, if the fourth rotating shaft assembly 215 rotates, the target driving rope assembly drives the rotating element 221 to rotate, and the rotating element 221 drives the instrument rod 220 and the end tool 230 to rotate synchronously around the symmetry axis L of the instrument rod 220 after rotating. Figure 5

[0057] The surgical instrument 200 is located in a coordinate system comprising X-axis, Y-axis and Z-axis which are perpendicular to each other; the extension direction of the first shaft body 234 is parallel to the Z-axis, the extension direction of the second shaft body 235 is parallel to the Y-axis, and the symmetry axis L of the instrument rod 220 is parallel to the X-axis. At this time, according to the above action process, it can be seen that the end tool 230 of the surgical instrument 200 can rotate around three mutually perpendicular rotating shafts, and the end tool 230 can change various postures during the rotation process, which is more convenient for performing surgery on the affected part of the patient.

[0058] In an embodiment, as Figure 7 ​As shown, the distal end of the instrument rod 220 has two first protruding ends 222 arranged at intervals, and the second shaft body 235 is connected between the two first protruding ends 222; the seat body 231 has a body part 2311 and a protruding part 2312 connected to each other, the protruding part 2312 is rotatably sleeved on the second shaft body 235, the body part 2311 is provided with two second protruding ends 23111 arranged at intervals, and the first shaft body 234 is connected between the two second protruding ends 23111; the first clamping member 232 and the second clamping member 233 are rotatably sleeved on the first shaft body 234. Specifically, as shown in the figure, Figure 7 As shown, the first clamping member 232 includes a first fixed part 2322 and a first clamping part 2321, the first fixed part 2322 is rotatably sleeved on the first shaft body 234, the second clamping member 233 includes a second fixed part 2332 and a second clamping part 2331, the second fixed part 2332 is rotatably sleeved on the second shaft body 235, the first fixed part 2322 is provided with a first annular groove 23221, and the second fixed part 2332 is provided with a second annular groove 23321; the first clamping part 2321 and the second clamping part 2331 are arranged along the Y axis in the coordinate system in which the surgical instrument 200 is located. The second shaft body 235 includes a first part 2351 and a second part 2352, the body part 2311 is provided with a first protruding column 23112 and a second protruding column 23113, the first protruding column 23112 and the first part 2351 are located on one side of the protruding part 2312, and the second protruding column 23113 and the second part 2352 are located on the other side of the protruding part 2312. Among them, the first protruding column 23112 and the second protruding column 23113 can be parallel to the second shaft body 235, or the first protruding column 23112 and the second protruding column 23113 can not be parallel to the second shaft body 235.

[0059] As shown in the figure, Figure 8 As shown, each of the first rotating shaft assembly 212, the second rotating shaft assembly 213, the third rotating shaft assembly 214 and the fourth rotating shaft assembly 215 is provided with a first helical groove 217 of a first rotation direction and a second helical groove 218 of a second rotation direction. The first rotation direction and the second rotation direction are different, for example, the first rotation direction can be counterclockwise, and the second rotation direction can be clockwise; the first helical groove 217 is away from the base 2112, and the second helical groove 218 is close to the base 2112. The following will describe the winding method of the driving rope assembly and the target driving rope assembly in detail:

[0060] (1) As shown in the figure, Figure 9 and Figure 10As shown, the driving rope assembly wound on the first rotating shaft assembly 212 includes a first driving member 2191 and a second driving member 2192, which are wound in the first helical groove 217 and the second helical groove 218 of the first rotating shaft assembly 212 respectively, that is, the first driving member 2191 is wound in the first helical groove 217 of the first rotating shaft assembly 212 with counterclockwise rotation direction, and the second driving member 2192 is wound in the second helical groove 218 of the first rotating shaft assembly 212 with clockwise rotation direction. The leading end of the first driving member 2191 is fixed in the first annular groove 23221 of the first fixing portion 2322 after passing through the guide assembly 216 and the instrument rod 220 and passing through the first part 2351 of the second shaft body 235 and the first protruding column 23112. Specifically, as shown in Figure 10 As shown, the first part 2351 of the second shaft body 235 and the first protruding column 23112 are sleeved with idler wheels, and the first driving member 2191 can pass through the idler wheels on the first part 2351 of the second shaft body 235 and the first protruding column 23112 after passing through the instrument rod 220, wherein the first driving member 2191 can pass through the bottom of the idler wheel on the first part 2351 of the second shaft body 235 and the top of the idler wheel on the first protruding column 23112 in the passing process. The leading end of the second driving member 2192 is fixed in the first annular groove 23221 of the first fixing portion 2322 after passing through the guide assembly 216 and the instrument rod 220 and passing through the second part 2352 of the second shaft body 235 and the second protruding column 23113. Specifically, as shown in Figure 10 As shown, the second part 2352 of the second shaft body 235 and the second protruding column 23113 are sleeved with idler wheels, and the second driving member 2192 can pass through the idler wheels on the second part 2352 of the second shaft body 235 and the second protruding column 23113 after passing through the instrument rod 220, wherein the second driving member 2192 can pass through the top of the idler wheel on the second part 2352 of the second shaft body 235 and the bottom of the idler wheel on the second protruding column 23113 in the passing process. Wherein, the first driving member 2191 and the second driving member 2192 can be inserted into the fixing tube, and then the fixing tube is fixed in the first annular groove 23221, so as to realize the fixation of the first driving member 2191 and the second driving member 2192 in the first annular groove 23221. In addition, the first driving member 2191 and the second driving member 2192 can also be fixed in the first annular groove 23221 by means of bolts, magnetic attraction and buckle connection.

[0061] (2) as shown in Figure 9 and Figure 10As shown, the driving rope assembly wound on the second rotating shaft assembly 213 includes a third driving member 2193 and a fourth driving member 2194, which are wound in the first spiral groove 217 and the second spiral groove 218 of the second rotating shaft assembly 213 respectively, that is, the third driving member 2193 is wound in the first spiral groove 217 of the second rotating shaft assembly 213 with counterclockwise rotation direction, and the fourth driving member 2194 is wound in the second spiral groove 218 of the second rotating shaft assembly 213 with clockwise rotation direction. The winding mode of the leading end of the third driving member 2193 is the same as that of the first driving member 2191, except that the leading end of the third driving member 2193 is fixed in the second annular groove 23321 of the second fixed part 2332; the winding mode of the leading end of the fourth driving member 2194 is the same as that of the second driving member 2192, except that the leading end of the fourth driving member 2194 is fixed in the second annular groove 23321 of the second fixed part 2332.

[0062] (3) As shown in Figure 9 and Figure 10 As shown, the driving rope assembly wound on the third rotating shaft assembly 214 includes a fifth driving member 2195 and a sixth driving member 2196, which are wound in the first spiral groove 217 and the second spiral groove 218 of the third rotating shaft assembly 214 respectively, that is, the fifth driving member 2195 is wound in the first spiral groove 217 of the third rotating shaft assembly 214 with counterclockwise rotation direction, and the sixth driving member 2196 is wound in the second spiral groove 218 of the third rotating shaft assembly 214 with clockwise rotation direction; the seat body 231 is provided with a third annular groove 2313, the leading ends of the fifth driving member 2195 and the sixth driving member 2196 are connected with the seat body 231, and are fixed in the third annular groove 2313 of the seat body 231.

[0063] (4) As shown in Figure 9As shown, the driving rope assembly wound on the fourth rotating shaft assembly 215 includes a seventh driving member 2197 and an eighth driving member 2198, the seventh driving member 2197 and the eighth driving member 2198 are wound in the first helical groove 217 and the second helical groove 218 of the fourth rotating shaft assembly 215 respectively, that is, the seventh driving member 2197 is wound in the first helical groove 217 of the fourth rotating shaft assembly 215 with counterclockwise rotation direction, and the eighth driving member 2198 is wound in the second helical groove 218 of the fourth rotating shaft assembly 215 with clockwise rotation direction. The rotating element 221 is provided with a third helical groove 2211 with a first rotation direction and a fourth helical groove 2212 with a second rotation direction, the first rotation direction and the second rotation direction are different, for example, the first rotation direction can be counterclockwise rotation direction, and the second rotation direction can be clockwise rotation direction. The leading ends of the seventh driving member 2197 and the eighth driving member 2198 are connected in the third helical groove 2211 and the fourth helical groove 2212 of the rotating element 221 respectively, that is, the leading end of the seventh driving member 2197 is connected in the third helical groove 2211 with counterclockwise rotation direction, and the leading end of the eighth driving member 2198 is connected in the fourth helical groove 2212 with clockwise rotation direction.

[0064] From the above, it can be seen that the winding of the rope is carried out in a layered manner in the embodiment, which effectively avoids the knotting of the rope; at the same time, this winding method is simple and easy to implement.

[0065] When the doctor performs surgery on the patient, the doctor sends control instructions to the surgical robot 2 through the control end 1, under the above control instructions, if the first rotating shaft assembly 212 rotates counterclockwise, the first driving member 2191 will be tensioned, the second driving member 2192 will be released, and then the first clamping member 232 will be driven to rotate counterclockwise around the first shaft body 234; if the first rotating shaft assembly 212 rotates clockwise, the first driving member 2191 will be released, the second driving member 2192 will be tensioned, and then the first clamping member 232 will be driven to rotate clockwise around the first shaft body 234.

[0066] Under the above control instructions, if the second rotating shaft assembly 213 rotates counterclockwise, the third driving member 2193 will be tensioned, the fourth driving member 2194 will be released, and then the second clamping member 233 will be driven to rotate counterclockwise around the second shaft body 235; if the second rotating shaft assembly 213 rotates clockwise, the third driving member 2193 will be released, the fourth driving member 2194 will be tensioned, and then the second clamping member 233 will be driven to rotate clockwise around the first shaft body 234.

[0067] When the first clamping member 232 or the second clamping member 233 rotates around the first shaft body 234, or when the first clamping member 232 and the second clamping member 233 rotate around the first shaft body 234 in opposite directions, the first clamping part 2321 and the second clamping part 2331 can complete the opening and closing actions; when the first clamping member 232 and the second clamping member 233 rotate in the same direction, the first clamping part 2321 and the second clamping part 2331 can perform a yawing action, for example, as shown in Figure 11 When the first clamping member 232 and the second clamping member 233 rotate in the clockwise direction at the same time, the first clamping part 2321 and the second clamping part 2331 can simultaneously yaw in the clockwise direction; as shown in Figure 12 When the first clamping member 232 and the second clamping member 233 rotate in the counterclockwise direction at the same time, the first clamping part 2321 and the second clamping part 2331 can simultaneously yaw in the counterclockwise direction. The first clamping part 2321 can be provided with a tooth peak, and the second clamping part 2331 can be provided with a tooth valley; or the first clamping part 2321 can be provided with a tooth valley, and the second clamping part 2331 can be provided with a tooth peak; when the first clamping part 2321 and the second clamping part 2331 are closed, the tooth peak and the tooth valley cooperate to prevent the first clamping part 2321 and the second clamping part 2331 from slipping when clamping the micro-needle or other objects. The tooth peak and the tooth valley can be straight or at any angle, and the tooth peak and the tooth valley have the same shape.

[0068] As shown in Figure 13 If the third rotating shaft assembly 214 rotates counterclockwise under the above control instruction, the fifth driving member 2195 will be tensioned, the sixth driving member 2196 will be released, and then the end tool 230 will be driven to rotate around the second shaft body 235 in the counterclockwise direction; as shown in Figure 14 If the third rotating shaft assembly 214 rotates clockwise, the fifth driving member 2195 will be released, the sixth driving member 2196 will be tensioned, and then the end tool 230 will be driven to rotate around the second shaft body 235 in the clockwise direction. When the end tool 230 rotates around the second shaft body 235 in the clockwise direction or in the counterclockwise direction, the end tool 230 can complete the pitching action.

[0069] If the fourth rotating shaft assembly 215 rotates counterclockwise under the above control instruction, the seventh driving member 2197 will be tensioned, the eighth driving member 2198 will be released, and then the rotating element 221, the instrument rod 220, and the end tool 230 will be driven to rotate around the symmetry axis L of the instrument rod 220 in the counterclockwise direction; if the fourth rotating shaft assembly 215 rotates clockwise, the seventh driving member 2197 will be released, the eighth driving member 2198 will be tensioned, and then the rotating element 221, the instrument rod 220, and the end tool 230 will be driven to rotate around the symmetry axis of the instrument rod 220 in the clockwise direction.

[0070] As can be seen from the above, in the present application, the end tool 230 can realize the movement of four degrees of freedom of opening and closing, yawing, pitching and rotating, which is beneficial to the end tool 230 to change various postures in the surgical process to better position the patient's affected part for surgery.

[0071] As shown in Figure 15 , the diameter a of the instrument rod 220 is 3-5 mm; the vertical distance from the distal end of the first clamping piece 232 to the first shaft body 234 is b1, and the vertical distance from the distal end of the second clamping piece 233 to the first shaft body 234 is b2; b1=3.5-7 mm; b2=3.5-7 mm; as shown in Figure 16 and Figure 17 , the first protruding column 23112 and the second protruding column 23113 are located on the two sides of the second shaft body 235 in the extension direction of the first shaft body 234, and the first protruding column 23112 and the second protruding column 23113 are parallel to the second shaft body 235, the first protruding column 23112 has a first vertical distance c1 with the second shaft body 235 in the extension direction of the first shaft body 234; the second protruding column 23113 has a second vertical distance c2 with the second shaft body 235 in the extension direction of the first shaft body 234; c1=0.5-1 mm; c2=0.5-1 mm; the first protruding column 23112 has a first vertical interval distance d1 with the second shaft body 235, and the second protruding column 23113 has a second vertical interval distance d2 with the second shaft body 235; d1=2-2.5 mm, d2=2-2.5 mm; the distance between the first protruding column 23112 and the second shaft body 235 is e1, and the distance between the second protruding column 23113 and the second shaft body 235 is e2, e1=1.8-2.5 mm, e2=1.8-2.5 mm.

[0072] In this embodiment, by setting the structure and corresponding parameters of the end tool, the end tool is made more compact, and the field of view occupied by the end tool during surgery is reduced, which is beneficial to the surgery. At the same time, the parameter setting in this embodiment can make the driving piece have enough wrapping angle on the idler.

[0073] In an embodiment, as Figure 18As shown, each of the first rotating shaft assembly 212, the second rotating shaft assembly 213, the third rotating shaft assembly 214 and the fourth rotating shaft assembly 215 has one rotating shaft 2121 and two pulley elements 2122 sleeved on the rotating shaft 2121, and the first helical groove 217 and the second helical groove 218 of each rotating shaft assembly are respectively arranged on the two pulley elements 2122; or, the two pulley elements 2122 of each rotating shaft assembly are sleeved on the rotating shaft 2121 at intervals, and each rotating shaft assembly further comprises a sleeve 2123 sleeved on the rotating shaft 2121 and located between the two pulley elements 2122, and the first helical groove 217 and the second helical groove 218 of each rotating shaft assembly are arranged on the sleeve 2123. When each pulley element 2122 is composed of two split half-circle structures, the two half-circle structures can be installed on the rotating shaft 2121 in a clamping manner.

[0074] The instrument box 210 further comprises a fixed plate 2113 located in the shell 211, one end of the rotating shaft 2121 in each rotating shaft assembly is rotationally connected with the fixed plate 2113, and the other end of the rotating shaft 2121 in each rotating shaft assembly is rotationally connected with the base 2112. Specifically, the one end of the rotating shaft 2121 in each rotating shaft assembly is sleeved with a first bearing 21211, the other end of the rotating shaft 2121 in each rotating shaft assembly is sleeved with a second bearing 21212, after the first bearing 21211 is rotationally fitted with a first fitting hole 21131 on the fixed plate 2113, the one end of the rotating shaft 2121 in each rotating shaft assembly is rotationally connected with the fixed plate 2113; after the second bearing 21212 is rotationally fitted with a second fitting hole 21121 on the base 2112, the other end of the rotating shaft 2121 in each rotating shaft assembly is rotationally connected with the base 2112. Wherein, the pulley element 2122 of each rotating shaft assembly is located between the base 2112 and the fixed plate 2113.

[0075] The body 100 of the surgical robot 2 is provided with four driving motors, the four driving motors are connected with the four rotating shaft assemblies one by one, and each driving motor is used to drive the rotating shaft assembly matched therewith to rotate. For example, Figure 18 and Figure 19As shown, the other end of the rotating shaft 2121 of each rotating shaft assembly can be provided with a first matching part 21213, and the outer surface of the base 2112 is provided with a counterbore 21122 in communication with the second matching hole 21121, and the first matching part is located in the counterbore 21122; each driving motor can be provided with a second matching part (not shown in the figure), when the surgical instrument 200 is installed on the body 100, the first matching part 21213 cooperates with the second matching part; wherein the first matching part 21213 and the second matching part can be matched by buckling, bolts and magnetic attraction; or the first matching part 21213 is provided with a groove, and the second matching part is provided with a protrusion; or the first matching part 21213 is provided with a protrusion, and the second matching part is provided with a groove, and the first matching part 21213 and the second matching part are matched by the groove and the protrusion; wherein the protrusion and the groove are the same shape, and the shape of the protrusion and the groove can be circular, cross-shaped, triangular or quadrangular.

[0076] When the doctor performs surgery on the patient, the doctor sends control instructions to the surgical robot 2 through the control end 1, at least one of the four driving motors rotates under the above control instructions, and the driving motor drives the rotating shaft assembly connected thereto to rotate after rotating, and the rotating shaft assembly drives the end tool 230 to act in the manner of the above embodiment after rotating, and the end tool 230 acts on the patient's affected area after the end tool 230 acts. Wherein the control end 1 can be provided with push rods, buttons, foot pedals and other operation components, a proportional relationship can be set in advance, so that when the doctor operates the operation component, the above operation is converted into the rotation parameter of the driving motor according to the proportion, and then the driving motor rotates according to the above rotation parameter, and drives the rotating shaft assembly to rotate after rotating, and the rotating shaft assembly drives the end tool 230 to act in the manner of the above embodiment; wherein the action parameter of the end tool 230 matches the rotation parameter of the driving motor; the rotation parameter of the driving motor includes the number of rotations of the output end of the driving motor; the action parameter of the end tool 230 includes the angle of rotation of the two clamping pieces around the first shaft body 234, the action parameter of the end tool 230 also includes the rotation angle of the end tool 230 around the second shaft body 235, and the rotation parameter of the end tool 230 also includes the rotation angle of the end tool 230 around the instrument rod 220 symmetry axis L.

[0077] Because of this proportional relationship, even if the surgeon makes significant manipulations of the operating components, only minor movements are reflected on the end tool 230. This expands the surgeon's range of motion during surgery, effectively alleviating physiological tremors and enhancing the surgeon's surgical experience. Furthermore, due to this proportional relationship, even if the surgeon experiences physiological tremors, only extremely subtle movements are reflected on the end tool 230, completely unaffecting the surgery and thus enhancing surgical safety. As can be seen from the above, when performing a surgical operation using the surgical system, the surgical instruments 200 on the surgical robot 2 can smoothly simulate human hand manipulation to perform surgical operations on the patient, effectively alleviating the impact of physiological tremors on the surgery.

[0078] In one embodiment, if Figure 20 As shown, the first rotating axis assembly 212 and the second rotating axis assembly 213 are far away from the instrument rod 220, the third rotating axis assembly 214 and the fourth rotating axis assembly 215 are close to the instrument rod 220, and the first rotating axis assembly 212 is adjacent to the second rotating axis assembly 213 and the third rotating axis assembly 214; the guide assembly 216 includes a first guide assembly 2161 and a second guide assembly 2162 that are adjacent to each other, the first guide assembly 2161 is close to the first rotating axis assembly 212 and the third rotating axis assembly 214, and far away from the second rotating axis assembly 213 and the fourth rotating axis assembly 215, the first guide assembly 2161 is composed of 4 stacked guide wheels, and the second guide assembly 2162 is composed of 2 stacked guide wheels ; The lead ends of the first driving member 2191 and the second driving member 2192 on the first rotating shaft assembly 212 are wound around the guide wheel of the first guide assembly 2161 and then pass through the instrument rod 220 to be connected to the first clamping member 232; the lead ends of the fifth driving member 2195 and the sixth driving member 2196 on the third rotating shaft assembly 214 are wound around the guide wheel of the first guide assembly 2161 and then pass through the instrument rod 220 to be connected to the base body 231; the lead ends of the third driving member 2193 and the fourth driving member 2194 on the second rotating shaft assembly 213 are wound around the guide wheel of the second guide assembly 2162 and then pass through the instrument rod 220 to be connected to the second clamping member 233; wherein, each lead end of the above-mentioned driving members is wound around different guide wheels. The base 2112 is further provided with a mounting portion 21123, and the connection between the rotating element 221 and the instrument rod 220 is located in the mounting portion 21123, and the rotating element 221 and the instrument rod 220 are connected together through the mounting portion 21123. Figure 21 As shown, the guide assembly 216 is fixed on the base 2112 , and a protruding first protrusion 21132 is provided on the fixing plate 2113 . A clamping space 2163 is formed between the first protrusion 21132 and the base 2112 , and the guide assembly 216 is located in the above-mentioned clamping space 2163 .

[0079] The above descriptions are only the preferred embodiments of the present application, and are not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A surgical instrument, characterized by The surgical instrument comprises: an instrument box, an instrument rod and an end tool; the instrument box comprises: a shell and a first rotating shaft assembly, a second rotating shaft assembly, a third rotating shaft assembly, a fourth rotating shaft assembly and a guide assembly in the shell; the proximal end of the instrument rod extends into the shell, and the distal end of the instrument rod is connected with the end tool; each of the first rotating shaft assembly, the second rotating shaft assembly and the third rotating shaft assembly is wound with a group of driving rope assemblies, the leading ends of each group of driving rope assemblies pass through the guide assembly and the instrument rod and are connected with the end tool; the fourth rotating shaft assembly is wound with a group of target driving rope assemblies, and the leading ends of the target driving rope assemblies are wound on the instrument rod; wherein the connecting lines of the first rotating shaft assembly, the second rotating shaft assembly, the third rotating shaft assembly and the fourth rotating shaft assembly form a rectangle, and the guide assembly is located in the rectangle; when at least one of the first rotating shaft assembly, the second rotating shaft assembly and the third rotating shaft assembly rotates, the driving rope assemblies drive the end tool to move, and when the fourth rotating shaft assembly rotates, the target driving rope assemblies drive the instrument rod and the end tool to rotate synchronously.

2. The surgical instrument of claim 1, wherein, the end tool comprises a seat body, a first clamping piece and a second clamping piece, the first clamping piece and the second clamping piece are rotationally connected with the distal end of the seat body through a first shaft body, the proximal end of the seat body is rotationally connected with the distal end of the instrument rod through a second shaft body; the first shaft body is perpendicular to the second shaft body; the proximal end of the instrument rod is connected with a rotating element; the leading ends of the driving rope assemblies wound on the first rotating shaft assembly are connected with the first clamping piece; the leading ends of the driving rope assemblies wound on the second rotating shaft assembly are connected with the second clamping piece; the leading ends of the driving rope assemblies wound on the third rotating shaft assembly are connected with the seat body; the leading ends of the target driving rope assemblies wound on the fourth rotating shaft assembly are connected with the rotating element; when the first rotating shaft assembly rotates, the driving rope assemblies wound thereon drive the first clamping piece to rotate around the first shaft body; when the second rotating shaft assembly rotates, the driving rope assemblies wound thereon drive the second clamping piece to rotate around the first shaft body; when the third rotating shaft assembly rotates, the driving rope assemblies wound thereon drive the end tool to rotate around the second shaft body; when the fourth rotating shaft assembly rotates, the target driving rope assemblies drive the rotating element, the instrument rod and the end tool to rotate around the symmetry axis of the instrument rod.

3. The surgical instrument of claim 2, wherein, each of the first rotating shaft assembly, the second rotating shaft assembly, the third rotating shaft assembly and the fourth rotating shaft assembly is provided with a first helical groove of a first rotation direction and a second helical groove of a second rotation direction; The driving rope assembly wound on the first rotating shaft assembly comprises a first driving member and a second driving member, the first driving member and the second driving member are wound in a first spiral groove and a second spiral groove of the first rotating shaft assembly respectively, and the leading ends of the first driving member and the second driving member are connected with the first clamping member; The driving rope assembly wound on the second rotating shaft assembly comprises a third driving member and a fourth driving member, the third driving member and the fourth driving member are wound in a first spiral groove and a second spiral groove of the second rotating shaft assembly respectively, and the leading ends of the third driving member and the fourth driving member are connected with the second clamping member; The driving rope assembly wound on the third rotating shaft assembly comprises a fifth driving member and a sixth driving member, the fifth driving member and the sixth driving member are wound in a first spiral groove and a second spiral groove of the third rotating shaft assembly respectively, and the leading ends of the fifth driving member and the sixth driving member are connected with the seat body; The target driving rope assembly wound on the fourth rotating shaft assembly comprises a seventh driving member and an eighth driving member, the seventh driving member and the eighth driving member are wound in a first spiral groove and a second spiral groove of the fourth rotating shaft assembly respectively, and the leading ends of the seventh driving member and the eighth driving member are connected with the rotating element.

4. The surgical instrument of claim 3, wherein, The distal end of the instrument rod has two first protruding ends arranged at intervals, and the second shaft body is connected between the two first protruding ends; The seat body has a body part and a protruding part connected with each other, the protruding part is rotatably sleeved on the second shaft body, the body part is provided with two second protruding ends arranged at intervals, and the first shaft body is connected between the two second protruding ends; the first clamping member and the second clamping member are rotatably sleeved on the first shaft body.

5. The surgical instrument of claim 4, wherein, The second shaft body comprises a first part and a second part, and the body part is provided with a first protruding column and a second protruding column; the first protruding column and the first part are located on one side of the protruding part, and the second protruding column and the second part are located on the other side of the protruding part; The leading end of the first driving member is connected with the first clamping member by passing around the first part and the first protruding column; and the leading end of the second driving member is connected with the first clamping member by passing around the second part and the second protruding column; The leading end of the third driving member is connected with the second clamping member by passing around the first part and the first protruding column; and the leading end of the fourth driving member is connected with the second clamping member by passing around the second part and the second protruding column.

6. The surgical instrument of claim 5, wherein, The diameter a of the instrument rod is 3-5 mm; the vertical distance from the distal end of the first clamping member to the first shaft body is b1, and the vertical distance from the distal end of the second clamping member to the first shaft body is b2; b1=3.5-7 mm; b2=3.5-7 mm; The first convex column and the second convex column are respectively located on two sides of the second shaft body in the extension direction of the first shaft body, and the first convex column and the second convex column are parallel to the second shaft body, the first convex column and the second shaft body have a first vertical distance c1 in the extension direction of the first shaft body; the second convex column and the second shaft body have a second vertical distance c2 in the extension direction of the first shaft body; c1 = 0.5-1mm; c2 = 0.5-1mm. The first convex column and the second shaft body have a first vertical interval distance d1, and the second convex column and the second shaft body have a second vertical interval distance d2; d1 = 2-2.5mm, d2 = 2-2.5mm.

7. The surgical instrument of claim 3, wherein, The rotating element is provided with a third spiral groove of a first rotation direction and a fourth spiral groove of a second rotation direction, and the leading ends of the seventh driving element and the eighth driving element are respectively connected in the third spiral groove and the fourth spiral groove of the rotating element.

8. The surgical instrument of claim 3, wherein, Each of the first rotating shaft assembly, the second rotating shaft assembly, the third rotating shaft assembly and the fourth rotating shaft assembly has a rotating shaft and two pulley elements sleeved on the rotating shaft, the first spiral groove and the second spiral groove of each rotating shaft assembly are respectively arranged on the two pulley elements; or, the two pulley elements of each rotating shaft assembly are spaced apart and sleeved on the rotating shaft, each rotating shaft assembly further includes a sleeve sleeved on the rotating shaft and located between the two pulley elements, and the first spiral groove and the second spiral groove of each rotating shaft assembly are arranged on the sleeve.

9. The surgical instrument of claim 8, wherein, The instrument box further includes a fixed plate located in the shell, one end of the rotating shaft in each rotating shaft assembly is rotationally connected with the fixed plate, and the other end of the rotating shaft in each rotating shaft assembly is rotationally connected with the shell.

10. A surgical robot, characterised in that, The surgical robot includes a body and the surgical instrument as claimed in any one of claims 1-9, and the body is provided with four driving motors, and the driving motors are connected with the four rotating shaft assemblies one by one.

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