Multi-degree-of-freedom surgical instrument replacement device

Abstract

The utility model provides a multi-degree-of-freedom surgical instrument replacing device, the multi-degree-of-freedom surgical instrument replacing device is provided with a guide wire driving unit and a surgical instrument unit, the guide wire driving unit is provided with a driven unit, and the surgical instrument unit is provided with a driving unit; the driving assembly is provided with a driving pull rod, a driving pull rod sleeve, a connecting rod locking spring and a pull rod locking screw cap. The driven assembly is provided with a driven pull rod, a driven pull rod sleeve, a pull rod reset spring and a pull rod reset screw cap. The multi-degree-of-freedom surgical instrument replacement device is suitable for multi-degree-of-freedom surgical instruments with different execution tail ends, can execute functions including but not limited to clamping, excision, cutting, suturing, anastomosis and the like, and can realize quick disassembly, replacement and installation of a surgical instrument unit on a handheld control device or a machine driving unit; the surgical instrument units at different execution tail ends can be replaced to meet different surgical operation requirements, and the surgical instrument units can be conveniently disinfected, sterilized and reused.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, specifically a multi-degree-of-freedom surgical instrument changing device. Background Technology

[0002] With the development of minimally invasive surgical techniques, many open surgeries of the past have now been replaced by endoscopic surgeries. Minimally invasive surgery refers to the use of thin surgical instruments to insert into the body through tiny incisions on the surface of the body to perform surgical operations. Compared with traditional open surgery, it has the advantages of smaller surgical incisions, less bleeding, smaller postoperative scars, and faster recovery time.

[0003] The success of minimally invasive surgery is inseparable from minimally invasive surgical instruments. With the rapid development of minimally invasive technology, minimally invasive surgical instruments have been widely used in clinical surgery, performing various functions including clamping, resection, cutting, suturing, and anastomosis. Currently, some companies at home and abroad have developed multi-degree-of-freedom surgical instruments, enabling the instruments to simultaneously possess multiple degrees of freedom in multiple directions such as opening, closing, pitching, and yaw. However, the execution ends of these instruments are fixedly connected to the instrument body via instrument rods, and their internal transmission wires and transmission structures are inseparable from the instrument as a whole. They can only be used for one surgery, have only one surgical function, and cannot be reused. Other functions cannot be achieved by simply replacing the end, which leads to a waste of medical resources and high surgical costs. Some surgical instrument boxes and drive devices connect by converting the linear motion of the transmission wire into the rotational motion of the winding turntable. During engagement, the turntable of the surgical instrument box is fastened to the turntable of the drive device. However, these engagement devices are large in size and difficult to complete correctly in one go. They are only suitable for use on surgical robots and are not suitable for handheld control devices. In addition, the surgical instrument box has a complex structure and the execution ends cannot be replaced, making it difficult to sterilize and reuse.

[0004] In existing patented technologies, such as "A Medical Manipulator System and Adapter Device, CN115916094A", the disclosed medical manipulator system includes a surgical instrument unit, a drive unit, and an adapter. The surgical instrument unit includes a surgical tool located at its tip, the drive unit drives the surgical tool, and the adapter attaches the surgical instrument unit to the drive unit. The adapter of this medical manipulator system has a linear motion transmission section for transmitting the driving force generated by the drive unit to the surgical tool unit. After the adapter is inserted into the drive unit, it completes the connection and locking of the linear axis by rotating a certain angle around its own axis. After the surgical instrument unit is inserted into the adapter, it completes the connection and locking of the linear axis by rotating a certain angle around its own axis. The front and rear linear axes are staggered during insertion and coincide after rotation. The adapter in this patent can connect the surgical instrument unit and the drive unit. However, since the front and rear linear axes need to be staggered during docking, the size of the adapter will increase with the increase of the number of guidewires. To address this, the applicant designed a multi-degree-of-freedom surgical instrument replacement device based on the usage requirements of minimally invasive surgical instruments. During the surgical instrument replacement operation, the device can enable the quick disassembly and replacement of surgical instrument units with different execution ends on both the handheld control device and the machine drive unit. The surgical instrument units with different execution ends are consumables that can be reused a certain number of times. They are small in size, simple in structure, and easy to sterilize. Therefore, this utility model can effectively solve the problems of low applicability of surgical instrument devices, difficulty in sterilization, and high replacement costs. Utility Model Content

[0005] To address the aforementioned technical problems, this utility model proposes a multi-degree-of-freedom surgical instrument replacement device. By setting up a guidewire drive unit and a surgical instrument unit, with the guidewire drive unit equipped with a driven unit, during surgery, multi-degree-of-freedom surgical instruments with different execution ends can be adapted to different surgical needs. The functions that can be performed include, but are not limited to, clamping, resection, cutting, suturing, and anastomosis. It enables the rapid disassembly and replacement of the surgical instrument unit on a handheld control device or machine drive unit, and allows for the replacement of surgical instrument units with different execution ends to meet different surgical operation needs. It also facilitates the sterilization and reuse of the surgical instrument units.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] A multi-degree-of-freedom surgical instrument changing device includes a guidewire drive unit, a surgical instrument unit, an active component, an active pull rod, an active pull rod sleeve, a pull rod locking spring, a pull rod locking cap, a driven component, a driven pull rod, a driven pull rod sleeve, a pull rod return spring, and a pull rod return cap. The device is characterized in that: the multi-degree-of-freedom surgical instrument changing device comprises a guidewire drive unit and a surgical instrument unit; the guidewire drive unit comprises an active component, and the surgical instrument unit comprises a driven component; the active component comprises six sets of active pull rods, each active pull rod being installed within an active pull rod sleeve; a pull rod locking spring and a pull rod locking cap are disposed outside the active pull rod sleeve; the driven component comprises six sets of driven pull rods, each driven pull rod being installed within a driven pull rod sleeve; a pull rod return spring and a pull rod return cap are disposed outside the driven pull rod sleeve; and the active pull rods and driven pull rods are mechanically connected via a docking structure.

[0008] Furthermore, the multi-degree-of-freedom surgical instrument changing device is equipped with an active pull rod, the active pull rod has a locking tooth at the engaging end, a guide wire mounting groove at the tail, and a locking column in the middle.

[0009] Furthermore, the multi-degree-of-freedom surgical instrument changing device is equipped with a driven pull rod, the driven pull rod has a slot at its engaging end, a guide wire mounting slot at its tail, and a reset column in the middle.

[0010] Furthermore, the multi-degree-of-freedom surgical instrument changing device is provided with an active pull rod sleeve. The inner side of the active pull rod sleeve is provided with a pull rod moving groove and a pull rod locking groove. The side of the active pull rod sleeve is provided with a U-shaped groove. The collection end face is provided with a guide boss, and the tail end is provided with a flange.

[0011] Furthermore, the multi-degree-of-freedom surgical instrument changing device is provided with a driven pull rod sleeve. The inner side of the driven pull rod sleeve has a pull rod moving groove, the outer side has a slotted groove and an L-shaped groove, the mating end face has a guide groove, and the tail end has a flange.

[0012] Furthermore, the multi-degree-of-freedom surgical instrument changing device is equipped with a pull rod locking cap. The pull rod locking cap structure is configured with a pull rod locking inner cap and a pull rod locking outer cap. The pull rod locking inner cap and the pull rod locking outer cap are connected by screws. The inner ring of the pull rod locking inner cap is provided with limiting teeth. The pull rod locking inner cap is provided with a column slot at one end in the engagement direction. The pull rod locking outer cap is provided with a groove on its exterior.

[0013] Furthermore, the multi-degree-of-freedom surgical instrument changing device is equipped with a pull rod reset cap, which is configured as an inner pull rod reset cap and an outer pull rod reset cap, and the inner pull rod reset cap and the outer pull rod reset cap are connected by screws; the inner ring of the inner pull rod reset cap is provided with limiting teeth, and the outer pull rod reset cap is provided with a groove on its outer side.

[0014] The benefits of this application are:

[0015] 1. The multi-degree-of-freedom surgical instrument changing device enables the quick disassembly and replacement of surgical instrument units on handheld control devices or machine drive units. It allows for the replacement of surgical instrument units with different execution ends to meet different surgical operation needs. Surgical instrument units with this changing structure are also easy to disinfect and sterilize and reuse.

[0016] 2. The connection between the surgical instrument unit and the handheld control device or machine drive unit of the multi-degree-of-freedom surgical instrument changing device adopts an axis-to-axis tie rod docking method, which makes the changing device small and compact, effectively avoiding the increase in the volume of the joint area due to the increase in the number of guide wires.

[0017] 3. The multi-degree-of-freedom surgical instrument changing device is equipped with a pull rod locking structure at both joint ends, which can ensure that the hand-held operating device, machine drive unit, and internal transmission guide wire of the surgical instrument unit are always in a taut state when not connected, effectively preventing the surgical instrument from malfunctioning due to the loosening of the transmission guide wire. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the internal structure of this utility model;

[0020] Figure 3 This is a schematic diagram of the active tie rod structure of this utility model;

[0021] Figure 4 This is a schematic diagram of the driven tie rod structure of this utility model;

[0022] Figure 5 This is a schematic diagram of the active tie rod sleeve structure of this utility model;

[0023] Figure 6 This is a schematic diagram of the driven tie rod sleeve structure of this utility model;

[0024] Figure 7 This is a schematic diagram of the pull rod locking screw cap structure of this utility model;

[0025] Figure 8 This is a schematic diagram of the pull rod reset screw cap structure of this utility model;

[0026] Figure 9 This is a schematic diagram of the active pull rod locking structure of this utility model;

[0027] Figure 10 This is a schematic diagram of the driven pull rod locking structure of this utility model;

[0028] Figure 11 This is a schematic diagram of the active pull rod unlocking structure of this utility model;

[0029] Figure 12 This is a schematic diagram of the initial connection state structure of this utility model;

[0030] Figure 13 This is a schematic diagram of the structure of the present invention in the completed connection state;

[0031] Figure 14 This is a schematic diagram of the normal working state of this utility model.

[0032] The components in the diagram are labeled as follows: 1. Guidewire drive unit; 2. Surgical instrument unit; 10. Active component; 101. Active pull rod; 102. Active pull rod sleeve; 103. Pull rod locking spring; 104. Pull rod locking cap; 1041. Pull rod locking inner cap; 1042. Pull rod locking outer cap; 20. Driven component; 201. Driven pull rod; 202. Driven pull rod sleeve; 203. Pull rod return spring; 204. Pull rod return cap; 2041. Pull rod return inner cap; 2042. Pull rod return outer cap. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments:

[0034] like Figure 1-2 As shown, this is a multi-degree-of-freedom surgical instrument changing device, including a guidewire drive unit 1, a surgical instrument unit 2, an active assembly 10, an active pull rod 101, an active pull rod sleeve 102, a pull rod locking spring 103, a pull rod locking cap 104, a driven assembly 20, a driven pull rod 201, a driven pull rod sleeve 202, a pull rod return spring 203, and a pull rod return cap 204. Figure 1 As shown, the multi-degree-of-freedom surgical instrument changing device includes a guidewire drive unit 1 and a surgical instrument unit 2; as Figure 2 As shown, the guidewire drive unit 1 is equipped with an active component 10, and the surgical instrument unit 2 is equipped with a driven component 20. The active component 10 is equipped with six sets of active pull rods 101, and the active pull rods 101 are installed inside the active pull rod sleeve 102. The active pull rod sleeve 102 is equipped with a pull rod locking spring 103 and a pull rod locking cap 104 on the outside. The driven component 20 is equipped with six sets of driven pull rods 201, and the driven pull rods 201 are installed inside the driven pull rod sleeve 202. The driven pull rod sleeve 202 is equipped with a pull rod return spring 203 and a pull rod return cap 204 on the outside. The active pull rods 101 and the driven pull rods 201 are mechanically connected.

[0035] like Figure 3As shown, the multi-degree-of-freedom surgical instrument changing device is equipped with an active pull rod 101. The active pull rod 101 has a locking tooth at its engagement end for engaging with the driven pull rod 201, and a guide wire mounting groove at its tail end for fixing the transmission guide wire inside the guide wire drive unit 1. A locking column is provided in the middle of the active pull rod 101 for resetting and locking the active pull rod 101, while preventing the active pull rod 101 from rotating around its own axis during movement.

[0036] like Figure 4 As shown, the multi-degree-of-freedom surgical instrument changing device is equipped with a driven pull rod 201. The driven pull rod 201 has a slot at its engaging end for engaging with the active pull rod 101, and a guide wire mounting slot at its tail for fixing the transmission guide wire inside the surgical instrument unit 2. A reset column is provided in the middle of the driven pull rod 201 for resetting and locking the driven pull rod 201, while preventing the driven pull rod 201 from rotating around its own axis during movement.

[0037] like Figure 5 As shown, the multi-degree-of-freedom surgical instrument changing device is equipped with an active pull rod sleeve 102. The inner side of the active pull rod sleeve 102 has a pull rod moving groove and a pull rod locking groove. The side of the active pull rod sleeve 102 has a U-shaped groove, the assembly end face has a guide boss, and the tail end has a flange. The active pull rod 101 can move linearly within the pull rod moving groove. When the locking post in the middle of the active pull rod 101 enters the pull rod locking groove, the active pull rod 101 is locked. The outer side of the active pull rod sleeve 102 has a U-shaped groove to guide the locking and unlocking of the active pull rod 101. The engagement end face of the active pull rod sleeve 102 has a guide boss to guide the engagement of the active pull rod sleeve 102 with the driven pull rod sleeve 202, ensuring the correct engagement of each pair of active pull rods 101 and driven pull rods 201. The tail end of the active pull rod sleeve 102 has a flange to support the fixed end of the pull rod locking spring 103.

[0038] like Figure 6 As shown, the multi-degree-of-freedom surgical instrument changing device is equipped with a driven pull rod sleeve 202. The inner side of the driven pull rod sleeve 202 has a pull rod movement groove, and the outer side has a slotted groove and an L-shaped groove. The mating end face has a guide groove, and the tail end has a flange. The driven pull rod 201 can move linearly within the pull rod movement groove. The outer side of the driven pull rod sleeve 202 has a slotted groove and an L-shaped groove to guide the locking and unlocking of the driven pull rod 201. The mating end face of the driven pull rod sleeve 202 has a guide groove to guide the engagement of the driven pull rod sleeve 202 with the driving pull rod sleeve 102, ensuring the correct engagement of each pair of driven pull rods 201 with the driving pull rod 101. The tail end of the driven pull rod sleeve 202 has a flange to support the fixed end of the pull rod return spring 203.

[0039] like Figure 7 As shown, the multi-degree-of-freedom surgical instrument changing device is equipped with a pull rod locking cap 104. The pull rod locking cap 104 has an inner locking cap 1041 and an outer locking cap 1042. The inner locking cap 1041 and the outer locking cap 1042 are connected by screws. The inner ring of the inner locking cap 1041 is provided with limiting teeth to guide the movement and locking of the inner locking cap 1041 in the U-shaped groove outside the active pull rod sleeve 102. The inner locking cap 1041 has a locking cap at one end in the engagement direction. A column slot is provided, and when the active pull rod 101 is reset, the locking column in the middle is engaged in the column slot. This is used to push the active pull rod 101 to reset under the action of the pull rod locking spring 103, and also to control the locking and unlocking of the active pull rod 101 at the same time. The pull rod locking outer cover 1042 is provided outside the guide wire drive unit 1, and is used to manually control the locking and unlocking of the active pull rod 101 by the pull rod locking inner cover 1041. The pull rod locking outer cover 1042 shown has a groove on its outside. The groove increases the friction surface and makes it easier to maintain the gripping force during operation.

[0040] like Figure 8 As shown, the multi-degree-of-freedom surgical instrument changing device is equipped with a pull rod reset cover 204. The pull rod reset cover 204 has a structure consisting of an inner pull rod reset cover 2041 and an outer pull rod reset cover 2042, which are connected by screws. The inner ring of the inner pull rod reset cover 2041 is provided with limiting teeth, which are used to guide the locking and unlocking of the inner pull rod reset cover 2041 in the slot and L-shaped groove on the outside of the driven pull rod sleeve 202. The inner pull rod reset cover 2041 is used to push the driven pull rod 201 to reset under the action of the pull rod reset spring 203. The outer pull rod reset cover 2042 is located outside the surgical instrument unit 2 and is used to manually control the locking and unlocking of the driven pull rod 201 by the inner pull rod reset cover 2041. A groove is provided on the outside of the outer pull rod reset cover 2041.

[0041] The fixed end of the pull rod locking spring 103 is supported on the flange at the tail end of the active pull rod sleeve 102, and the movable end is supported on the inner ring of the pull rod locking inner cover 1041, which assists in the reset of the active pull rod 101; the fixed end of the pull rod reset spring 203 is supported on the flange at the tail end of the driven pull rod sleeve 202, and the movable end is supported on the inner ring of the pull rod reset inner cover 2041, which assists in the reset of the driven pull rod 201; G-grooves are provided on the outside of both the guidewire drive unit 1 and the surgical instrument unit 2, which are used to guide the control of the pull rod locking outer cover 1042 and the pull rod reset outer cover 2042 on the pull rod locking inner cover 1041 and the pull rod reset inner cover 2041.

[0042] like Figure 9As shown, when the guidewire drive unit 1 is not connected to the surgical instrument unit 2, the inner rotating cover 1041 of the pull rod locking mechanism, under the action of the pull rod locking spring 103, pushes the active pull rod 101 to fully reset. The locking post in the middle of the active pull rod 101 is engaged in the post slot of the inner rotating cover 1041 of the pull rod locking mechanism. After the inner rotating cover 1041 of the pull rod locking mechanism is deflected around its own axis by a certain angle, it simultaneously drives the active pull rods 101 to deflect around their own axes by a certain angle, and their locking posts are engaged in the pull rod locking groove of the active pull rod sleeve 102. At this time, all the active pull rods 101 are in a locked state and cannot move linearly within the pull rod moving groove of the active pull rod sleeve 102, ensuring that the transmission guidewire inside the guidewire drive unit 1 is always in a taut state. Figure 10 As shown, when the surgical instrument unit 2 is not connected to the guidewire drive unit 1, the pull rod reset inner cover 2041 pushes the driven pull rod 201 to fully reset under the action of the pull rod reset spring 203. After the pull rod reset inner cover 2041 deflects around its own axis by a certain angle, the limiting teeth of its inner ring are engaged in the slot on the outside of the driven pull rod sleeve 202. At this time, the driven pull rod 201 is fully locked and cannot move linearly in the pull rod moving slot of the driven pull rod sleeve 202, ensuring that the transmission guidewire inside the surgical instrument unit 2 is always in a taut state.

[0043] like Figure 11 As shown, when the guidewire drive unit 1 is connected to the surgical instrument unit 2, the locking teeth at the engagement end of the active pull rod 101 are inserted into the corresponding slots at the engagement end of the driven pull rod 201. After the inner rotating cover 1041 of the pull rod locks is deflected back to a certain angle around its own axis, the active pull rods 101 are simultaneously deflected back to a certain angle around their own axes, and the locking post in the middle is disengaged from the pull rod locking groove of the active pull rod sleeve 102. The locking teeth at the engagement end of the active pull rod 101 are locked in the slots at the engagement end of the driven pull rod 201, realizing the linear connection between the transmission guidewire inside the guidewire drive unit 1 and the transmission guidewire inside the surgical instrument unit 2; manual push The locking inner cover 1041 and the returning inner cover 2041 of the movable pull rod compress the locking spring 103 and the returning spring 203 of the pull rod, respectively. When the locking inner cover 1041 and the returning inner cover 2041 of the pull rod are pushed to their limit positions, they are deflected around their own axes by a certain angle to lock. At this time, the locking spring 103 and the returning spring 203 of the pull rod are locked, and the active pull rod 101 is fully unlocked, which can drive the driven pull rod 201 to move linearly within the pull rod moving groove of the active pull rod sleeve 102 and the driven pull rod sleeve 202. When the guidewire drive unit 1 is separated from the surgical instrument unit 2, the active pull rod 101 returns to its original position. Figure 9 The driven lever 201 is reset to the locked state shown. Figure 10In the locked state shown, the locking teeth at the engaging end of the active pull rod 101 unlock within the slot at the engaging end of the driven pull rod 201, thereby disconnecting the transmission guidewire inside the guidewire drive unit 1 from the transmission guidewire inside the surgical instrument unit 2.

[0044] like Figure 12-14 The diagram shows the structure of the multi-degree-of-freedom surgical instrument changing device in its initial, completed, and normal operating states. This device is suitable for multi-degree-of-freedom surgical instruments with different actuators, and can perform functions including but not limited to clamping, resection, cutting, suturing, and anastomosis. It is suitable for multi-degree-of-freedom surgical instruments controlled by guidewire transmission, with the number of guidewires including but not limited to six. Both the multi-degree-of-freedom surgical instruments and the handheld control device are reusable consumables and can be sterilized and reused. The multi-degree-of-freedom surgical instruments are treated as sterile, while the handheld control device or machine drive unit can be treated as non-sterile. The two can be isolated by a medical isolation shield.

[0045] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any other way. Any modifications or equivalent changes made based on the technical essence of the present utility model shall still fall within the scope of protection claimed by the present utility model.

Claims

1. A multi-degree-of-freedom surgical instrument changing device, comprising a guidewire driving unit (1), a surgical instrument unit (2), an active assembly (10), an active pull rod (101), an active pull rod sleeve (102), a pull rod locking spring (103), a pull rod locking cap (104), a driven assembly (20), a driven pull rod (201), a driven pull rod sleeve (202), a pull rod return spring (203), and a pull rod return cap (204), characterized in that: The multi-degree-of-freedom surgical instrument changing device is provided with a guidewire drive unit (1) and a surgical instrument unit (2). The guidewire drive unit (1) is provided with an active component (10), and the surgical instrument unit (2) is provided with a driven component (20). The active component (10) is provided with six sets of active pull rods (101). The active pull rods (101) are installed in the active pull rod sleeve (102). The active pull rod sleeve (102) is provided with a pull rod locking spring (103) and a pull rod locking cap (104) on the outside. The driven component (20) is provided with six sets of driven pull rods (201). The driven pull rods (201) are installed in the driven pull rod sleeve (202). The driven pull rod sleeve (202) is provided with a pull rod return spring (203) and a pull rod return cap (204) on the outside. The active pull rods (101) and the driven pull rods (201) are mechanically connected.

2. The multi-degree-of-freedom surgical instrument changing device according to claim 1, characterized in that: The multi-degree-of-freedom surgical instrument changing device is equipped with an active pull rod (101), the active pull rod (101) has a locking tooth at the engaging end, a guide wire mounting groove at the tail, and a locking column in the middle.

3. The multi-degree-of-freedom surgical instrument changing device according to claim 1, characterized in that: The multi-degree-of-freedom surgical instrument changing device is provided with a driven pull rod (201), the driven pull rod (201) is provided with a slot at the joint end, a guide wire mounting slot at the tail end, and a reset column in the middle.

4. The multi-degree-of-freedom surgical instrument changing device according to claim 1, characterized in that: The multi-degree-of-freedom surgical instrument changing device is provided with an active pull rod sleeve (102). The inner side of the active pull rod sleeve (102) is provided with a pull rod moving groove and a pull rod locking groove. The side of the active pull rod sleeve (102) is provided with a U-shaped groove. The collection end face is provided with a guide boss and the tail end is provided with a flange.

5. The multi-degree-of-freedom surgical instrument changing device according to claim 1, characterized in that: The multi-degree-of-freedom surgical instrument changing device is provided with a driven pull rod sleeve (202). The inner side of the driven pull rod sleeve (202) has a pull rod moving groove, the outer side has a straight groove and an L-shaped groove, the joint end face has a guide groove, and the tail end has a flange.

6. The multi-degree-of-freedom surgical instrument changing device according to claim 1, characterized in that: The multi-degree-of-freedom surgical instrument changing device is provided with a pull rod locking cap (104). The pull rod locking cap (104) is structured as a pull rod locking inner cap (1041) and a pull rod locking outer cap (1042). The pull rod locking inner cap (1041) and the pull rod locking outer cap (1042) are connected by screws. The inner ring of the pull rod locking inner cap (1041) is provided with a limiting tooth. The pull rod locking inner cap (1041) is provided with a column slot at one end in the engagement direction. The pull rod locking outer cap (1042) is provided with a groove on the outside.

7. The multi-degree-of-freedom surgical instrument changing device according to claim 1, characterized in that: The multi-degree-of-freedom surgical instrument changing device is provided with a pull rod reset cap (204). The pull rod reset cap (204) is structured as an inner pull rod reset cap (2041) and an outer pull rod reset cap (2042). The inner pull rod reset cap (2041) and the outer pull rod reset cap (2042) are connected by screws. The inner ring of the inner pull rod reset cap (2041) is provided with limiting teeth, and the outer side of the outer pull rod reset cap (2042) is provided with a groove.

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