Surgical instruments and surgical robots

Abstract

This application discloses a surgical instrument and a surgical robot. The surgical instrument includes a base assembly, a first pivot assembly, a first flexible transmission assembly, a second pivot assembly, a second flexible transmission assembly, and an executive assembly. The first flexible transmission assembly drives the first pivot assembly to pivot relative to the base assembly about a first pivot axis. The second flexible transmission assembly drives the second pivot assembly to pivot relative to the first pivot assembly about a second pivot axis. The second pivot axis is not parallel to the first pivot axis. The executive assembly is mounted on the second pivot assembly and includes an electrode member and a conductive cable that supplies power to the electrode member. The conductive cable extends through the second pivot assembly, the first pivot assembly, and the base assembly. The second pivot assembly has, at one end remote from the electrode member, a cable channel for accommodating a conductive cable, the cable channel being defined by at least two first wall surfaces perpendicular to and facing the second pivot axis and a second wall surface transverse to the first wall surfaces, the second pivot axis passing through the two first wall surfaces.

Description

[Technical Field]

[0001] The present application relates to the technical field of medical instruments, and more particularly to a surgical instrument and a surgical robot equipped with the same. [Background technology]

[0002] Medical surgical micro-instruments have the advantages of accurate positioning, stable operation, strong dexterity, a wide working range, and no risk of radiation or infection, and are widely used in various surgeries. The use of surgical micro-instruments helps surgeons improve their surgical precision, eliminates hand tremors, fatigue, and muscle-nerve feedback, allowing doctors to perform surgical operations in the most comfortable conditions, and is of great value in improving the success rate of surgery and reducing patient pain. In recent years, research into the application of surgical instruments has become a new field. Summary of the Invention

[0003] The Summary of the Invention introduces a series of simplified concepts, which will be further explained in the Detailed Description of the Invention. The Summary of the Invention of this application is not intended to limit the key features and essential technical features of the technical proposal sought to be protected, nor is it intended to determine the scope of protection of the claimed technical proposal. [Means for solving the problem]

[0004] A first aspect of the present application provides a surgical instrument including an end effector. The end effector includes a base assembly, a first pivot assembly, a first flexible transmission assembly, a second pivot assembly, a second flexible transmission assembly, and an execution assembly. The first pivot assembly is pivotally connected to the base assembly about a first pivot axis. The first flexible transmission assembly is connected to the first pivot assembly and drives the first pivot assembly to pivot relative to the base assembly about the first pivot axis. The second pivot assembly is pivotally connected to the first pivot assembly about a second pivot axis that is not parallel to the first pivot axis. The second flexible transmission assembly is connected to the second pivot assembly and drives the second pivot assembly to pivot relative to the first pivot assembly about the second pivot axis. An executive assembly is connected to the second pivot assembly and includes an electrode member and a conductive cable for supplying power to the electrode member. The conductive cable extends through the second pivot assembly, the first pivot assembly, and the base assembly. A cable channel is formed at one end of the second pivot assembly remote from the electrode member, and the conductive cable is movably housed within the cable channel. The cable channel extends toward the electrode member and is defined by at least two first walls perpendicular to and facing the second pivot axis and a second wall transverse to the first walls, and the second pivot axis extends through the two first walls.

[0005] According to the present application, the end effector of a surgical instrument can achieve yaw and pitch rotation. Yaw rotation is a rotational mode of a second pivot assembly. Pitch rotation is a rotational mode of a first pivot assembly. The second pivot assembly includes a cable channel that accommodates a conductive cable. The yaw rotation axis (second pivot axis) passes through a side wall of the cable channel, ensuring that there is sufficient space for the conductive cable to move within the cable channel. This reduces tension on the conductive cable due to yaw movement, which is advantageous for protecting the cable and for reducing the volume of the second pivot assembly.

[0006] A second aspect of the present application provides a surgical robot including a robot arm and the surgical instrument described in the above technical specification, wherein the surgical instrument is detachably connected to the robot arm. [Brief explanation of the drawings]

[0007] The following drawings of the present application are part of and are used to understand the present application, and illustrate embodiments and explanations of the present application, and are used to explain the principles of the present application. In the drawings: [Figure 1] 1 is a perspective view of a surgical instrument according to an embodiment of the present application; [Figure 2] FIG. 1 is a perspective view of a surgical instrument according to an embodiment of the present application from another angle; [Figure 3] 1 is an exploded perspective view of a surgical instrument according to an embodiment of the present application. [Figure 4] FIG. 2 is another exploded perspective view of a surgical instrument according to an embodiment of the present application. [Figure 5] 2 is a cross-sectional schematic view of an execution assembly and a second pivot assembly of the surgical instrument shown in FIG. 1. FIG. [Figure 6] 1 is a perspective view of the internal structure of a surgical instrument according to an embodiment of the present application. FIG. [Figure 7] FIG. 2 is another perspective view of the internal structure of the surgical instrument according to an embodiment of the present application. [Figure 8]2 is a cross-sectional schematic view of the execution assembly and second pivot assembly of the surgical instrument shown in FIG. 1, illustrating another example of the second pivot assembly. DETAILED DESCRIPTION OF THE INVENTION

[0008] In the following description, numerous specific details are provided to provide a more thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced without one or more of these details. In other instances, some technical features known to those skilled in the art are not described to avoid confusion with the present application.

[0009] In order to fully understand the present application, the following detailed description is provided. It should be understood that these embodiments are provided so that the disclosure of the present application will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art. Obviously, the implementation of the embodiments of the present application is not limited to specific details known to those skilled in the art. Although the detailed description of the preferred embodiments of the present application is as follows, other embodiments may be possible in addition to these detailed descriptions.

[0010] Ordinal numbers such as "first" and "second" referred to in this application are merely indicators and do not imply any particular order. For example, the term "first element" does not imply the existence of a "second element," and the term "second element" does not imply the existence of a "first element." The use of terms such as "first," "second," and "third" does not imply any order, and these terms may be interpreted as part of the name.

[0011] The terms "distal end" and "proximal end" used herein are used as directional terms, which are commonly used in the field of interventional medical devices, with "distal end" referring to the end farthest from the operator during surgery and "proximal end" referring to the end closest to the operator during surgery.

[0012] As used herein, "parallel" / "perpendicular" and similar expressions include absolute parallel / perpendicular relationships and approximately parallel / perpendicular relationships (e.g., relationships within a range of -5° to +5° from absolute parallel / perpendicular), and can have an equivalent effect.

[0013] As used in this application, "constant length" and similar expressions mean that the original length is maintained or fluctuates within a certain range. For example, anything within a range of ±5% of the original length falls within the range of "constant length" and can achieve the same effect.

[0014] The term "rigid material" as used herein means a material that has good resistance to deformation, with small or negligible deformation due to external forces.

[0015] A first aspect of an embodiment of the present application provides a surgical instrument, which may be an electrosurgical instrument. An electrosurgical instrument cuts, coagulates, desiccates, or electrocauterises tissue by applying high-frequency (radio frequency) alternating polarity current to living tissue, thereby completing the surgical procedure with less bleeding, improving surgical efficiency, and enhancing surgical safety. Typically, an electrosurgical instrument has an electrosurgical head (such as a hook, scoop, clamp, or scissors) at its working tip, to which a conductive cable is connected. The conductive cable is extended to the rear end of the electrosurgical instrument and connected to a power source, supplying operating current to the electrosurgical head. The electrosurgical head is typically connected to an arm mechanism. The arm mechanism is a mechanism for enabling the electrosurgical head to pivot relative to a base, and in this embodiment, may be a combination of a first pivot assembly and a second pivot assembly. The driving tail of the electrosurgical instrument controls the arm mechanism through a transmission mechanism to move and swing the execution tip, thereby completing actions such as cutting, shearing, grasping, clamping, electrocoagulation, etc.

[0016] Miniaturization is one of the current trends in the development of electrosurgical instruments for invasive microinvasive surgery. The inventors discovered that, when designing electrosurgical instruments, there is a limit to how much each component can be reduced in size. Beyond this limit, the rigidity and strength of each component cannot be guaranteed. Therefore, miniaturization must begin with a more compact structure. The inventors further discovered that the power transmission mechanism and conductive cable in the arm mechanism occupy a large radial volume. In particular, to prevent the conductive cable from being pulled and damaged when the arm mechanism moves, the current practice of winding the conductive cable multiple times around the arm mechanism is often employed, but this is detrimental to the miniaturization of electrosurgical instruments. Furthermore, it is necessary to ensure the stability of the power transmission mechanism and conductive cable (e.g., to prevent them from coming loose from the arm mechanism) and to ensure that they do not interfere with each other. This is also an issue that must be considered when further miniaturizing electrosurgical instruments to ensure the proper use of the surgical instrument.

[0017] A surgical instrument according to an embodiment of the present application can solve at least one or more of the above problems. Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings.

[0018] As shown in FIGS. 1 and 2 , a surgical instrument 100 according to an embodiment of the present application includes an end effector 90. The end effector 90 is provided at the tip of the surgical instrument 100 and includes a base assembly 40, an executive assembly 10, an arm mechanism, and a transmission mechanism. The executive assembly 10 is connected to the base assembly 40 via the arm mechanism. The arm mechanism is used to provide a degree of freedom of movement of the executive assembly 10 relative to the base assembly 40. The transmission assembly is used to drive the movement of the arm mechanism relative to the base assembly 40. The arm mechanism includes a first pivot assembly 30 and a second pivot assembly 20. The transmission mechanism includes a first flexible transmission assembly 60 and a second flexible transmission assembly 70.

[0019] The first pivot assembly 30 is pivotally connected to the base assembly 40 about a first pivot axis PA1. The first pivot axis PA1 extends along the second direction D2. For example, the first pivot assembly 30 may be pivotally connected to the base assembly 40 via a first pivot shaft 44A. Because the first pivot shaft 44A has the first pivot axis PA1, the first pivot assembly 30 is pivotable relative to the base assembly 40 about the first pivot axis PA1. A first flexible transmission assembly 60 is connected to the first pivot assembly 30 and is used to drive the first pivot assembly 30 so that the first pivot assembly 30 pivots relative to the base assembly 40 about the first pivot axis PA1.

[0020] The second pivot assembly 20 is pivotally connected to the first pivot assembly 30 about a second pivot axis PA2. The second pivot axis PA2 extends along the third direction D3. For example, the second pivot assembly 20 may be pivotally connected to the first pivot assembly 30 via a second pivot shaft 22. Because the second pivot shaft 22 has the second pivot axis PA2, the second pivot assembly 20 is pivotable relative to the first pivot assembly 30 about the second pivot axis PA2. The second flexible transmission assembly 70 is connected to the second pivot assembly 20 and is used to drive the second pivot assembly 20 to pivot relative to the first pivot assembly 30 about the second pivot axis PA2. Here, the second pivot axis PA2 is not parallel to the first pivot axis PA1. Optionally, the second pivot axis PA2 is perpendicular to the first pivot axis PA1, thereby allowing the execution assembly 10 (i.e., the electrode member 11) to move in two-dimensional space by swinging in two mutually perpendicular directions.

[0021] The execution assembly 10 is mounted on the second pivot assembly 20. The execution assembly 10 includes an electrode member 11 and a conductive cable 14. The conductive cable 14 is used to supply power to the electrode member 11. One end of the conductive cable 14 is connected to the electrode member 11. The conductive cable 14 extends through the second pivot assembly 20, the first pivot assembly 30, and the base assembly 40. In the illustrated example, the electrode member 11 is configured as an electric hook. It can be understood that in other examples not shown, the electrode member 11 may be configured as an electric scoop, a clamp, scissors, or the like.

[0022] In this example, the rotation of the second pivot assembly 20 about the second pivot axis PA2 is also referred to as the yaw rotation of the end effector 90 (or the electrode member 11). The rotation of the first pivot assembly 30 about the first pivot axis PA1 is also referred to as the pitch rotation of the end effector 90 (or the electrode member 11). Therefore, by providing the first pivot assembly 30 and the second pivot assembly 20, the execution assembly 10 has two degrees of freedom of movement, which makes it easier to perform the corresponding surgical operations.

[0023] As an example, the maximum rotation angle of the second pivot assembly 20 may be approximately ±90° (i.e., the yaw rotation angle may be approximately ±90°), and the maximum rotation angle of the first pivot assembly 30 may be approximately ±90° (i.e., the pitch rotation angle may be approximately ±90°).

[0024] The rear end of the surgical instrument 100 is configured to be connected to a drive device. The drive device can control the yaw and pitch rotation of the end effector 90 via a transmission mechanism. The drive device may be a motor or a handle that is manually operated by a surgeon. The rear end of the surgical instrument 100 is further connected to an energy generator for supplying the necessary current to the electrode member 11. A conductive cable 14 is led to the rear end of the surgical instrument and electrically connected to the energy generator.

[0025] Optionally, a cable routing groove 25 for accommodating the conductive cable 14 is provided at one end of the second pivot assembly 20 remote from the electrode member 11. That is, the cable routing groove 25 opens at the proximal end of the second pivot assembly 20. In this application, the distal end refers to the end of the surgical instrument 100 or a part thereof remote from the operator, and the proximal end refers to the end of the surgical instrument 100 or a part thereof close to the operator. The conductive cable 14 is movably accommodated in the cable routing groove 25. The cable routing groove 25 extends toward the electrode member 11 so that the conductive cable 14 can be connected to the electrode member 11. In other words, the opening of the cable routing groove 25 is close to the first pivot assembly 30, and the bottom of the groove is close to the execution assembly 10.

[0026] 5, the cable-guiding groove 25 is defined by at least two first walls 28A perpendicular to the third direction D3 (i.e., the second pivot axis PA2) and a second wall 29 transverse to the first walls 28A. The two first walls 28A are spaced apart and arranged opposite each other. The fact that the second walls 29 are transverse to the first walls 28A means that the second walls 29 do not extend parallel to the first walls 28A but intersect with the first walls 28A (perpendicularly or at another angle). In this example, the first walls 28A can be understood as side walls of the cable-guiding groove 25, and the second walls 29 can be understood as a bottom wall. The second pivot axis PA2 passes through the two first walls 28A. That is, the cable-passing groove 25 extends beyond the second pivot axis PA2 in the direction extending toward the electrode member 11. This provides the conductive cable 14 with sufficient moving space so that the conductive cable 14 can be normally wound and unwound while the second pivot assembly 20 rotates about the second pivot axis PA2.

[0027] The arrangement of the cable routing groove 25 described above makes it possible to avoid or reduce pulling on the conductive cable 14 due to yaw movement, without having to wrap the conductive cable 14 around the arm mechanism multiple times, and to avoid or reduce interference with the yaw movement of the second pivot assembly 20 due to the conductive cable 14. Furthermore, storing a portion of the conductive cable 14 in the cable routing groove 25, on the one hand, reduces the space occupied by the conductive cable 14 in the arm mechanism, thereby reducing the radial dimension of the arm mechanism and helping to achieve a compact electrosurgical instrument, and, on the other hand, prevents the conductive cable 14 from interfering with (e.g., becoming entangled with) the transmission mechanism during movement of the second pivot assembly 20.

[0028] Alternatively, the two first wall surfaces 28A are parallel to each other and extend flatly perpendicular to the third direction D3. The distance between the two first wall surfaces 28A (i.e., the dimension of the cable-guiding groove 25 along the third direction D3) matches the diameter of the conductive cable 14. Here, "matching" means that the width of the cable-guiding groove 25 is slightly larger than the diameter of the conductive cable 14. For example, the width of the cable-guiding groove 25 is 1.1 to 1.5 times the diameter of the conductive cable 14. Therefore, when the second pivot assembly 20 yaws, the conductive cable 14 hardly moves along the third direction D3 but mainly swings within a plane perpendicular to the third direction D3. That is, the two first wall surfaces 28A limit the movement of the conductive cable 14 in the third direction D3 and can reduce the dimension of the second pivot assembly 20 in the third direction D3.

[0029] In order to minimize the hindrance of the second pivot assembly 20 caused by the conductive cable 14 during the entire rotation process, for example, in this example, the maximum rotation angle of the second pivot assembly 20 is approximately ±90°, and the second wall surface 29 and the executive assembly 10 (electrode member 11) are provided on the same side as the second pivot axis PA2, i.e., between the second pivot axis PA2 and the executive assembly 10. This ensures that the conductive cable 14 has sufficient space to move, and even when the second pivot assembly 20 rotates to its limit position, it is possible to avoid or reduce pulling on the conductive cable 14, which helps protect the conductive cable 14 and allows the second pivot assembly 20 to rotate more smoothly.

[0030] Alternatively, second wall surface 29 may be configured as a flat surface, an arcuate surface, or a surface including both a flat surface and an arcuate surface. In this example, second wall surface 29 includes third arcuate surface 27 having a third arc line parallel to first wall surface 28A. That is, the axis of third arcuate surface 27 is parallel to second pivot axis PA2. Third arcuate surface 27 is used to limit the range of motion of conductive cable 14 when second pivot assembly 20 pivots relative to first pivot assembly 30 to prevent excessive bending of conductive cable 14. In this example, because the limit rotation angles of second pivot assembly 20 are set symmetrically, third arcuate surface 27 can be configured as a symmetrical structure.

[0031] Optionally, the second wall 29 may be recessed further toward the execution assembly 10 to form a cable groove (not shown) that matches the shape of the conductive cable 14, which may also be understood to match the shape of the conductive cable 14, thereby providing better guidance for the conductive cable 14.

[0032] Optionally, to enhance the stability of the connection between the conductive cable 14 and the electrode member 11, a cable-passing hole 26 for accommodating the conductive cable 14 is formed at the distal end (the end closest to the electrode member 11) of the second pivot assembly 20. The cable-passing hole 26 communicates with the cable-passing groove 25. An opening at one end of the cable-passing hole 26 is provided in a second wall surface 29 of the cable-passing groove 25. The conductive cable 14 extends through the cable-passing groove 25 and then enters the cable-passing hole 26. The conductive cable 14 may be connected to the electrode member 11 within the cable-passing hole 26, or may extend from the cable-passing hole 26 to connect to the electrode member 11. The connection method may be, for example, crimping or welding, which can ensure low impedance and prevent heat generation at the connection between the two. The inner diameter of the cable-insertion hole 26 corresponds to the diameter of the portion of the conductive cable 14 inserted into the cable-insertion hole 26 and / or the diameter of the portion of the electrode member 11 inserted into the cable-insertion hole 26 .

[0033] In this example, the inner wall of the cable passage hole 26 contacts the third arcuate surface 27 of the second wall surface 29, or the second wall surface 29 transitions to the inner wall of the cable passage hole 26 via the third arcuate surface 27. Optionally, the third arcuate surface 27 contacts the inner wall of the cable passage hole 26, which allows the third arcuate surface 27 to smoothly transition to the inner wall of the cable passage hole 26 and prevents the conductive cable 14 from being excessively bent thereat when the second pivot assembly 20 rotates, thereby better protecting the conductive cable 14. Optionally, one end of the third arcuate surface 27 away from the cable passage hole 26 extends to the opening of the cable passage groove 25, whereby the third arcuate surface guides the conductive cable 14 throughout the entire yaw rotation process.

[0034] Specifically, as shown in FIGS. 1 to 4 , the second pivot assembly 20 includes a second base 21, a proximal end of which is pivotally connected to the first pivot assembly 30 via a second pivot shaft 22, and the execution assembly 10 is connected to a distal end of the second base 21. The second base 21 is configured as a hollow structure for accommodating the conductive cable 14. For example, as shown in FIG. 5 , the hollow structure includes the above-mentioned cable-passing groove 25 provided at the proximal end of the second base 21 and a cable-passing hole 26 provided at the distal end of the second base 21. The cable-passing hole 26 communicates with the cable-passing groove 25. The conductive cable 14 extends to the cable-passing hole 26 and is connected to the electrode member 11.

[0035] Optionally, referring to FIG. 8 , the cable-guiding groove 25 may further be provided with a guide surface 88 for guiding the conductive cable 14. The example shown in FIG. 8 has a structure similar to that of the example shown in FIG. 5 , except for the guide surface 88. Since the description of FIG. 5 can be referred to for similar portions, a description thereof will be omitted here. When the second pivot assembly 20 is in a neutral position relative to the first pivot assembly 30, the conductive cable 14 is wound around the guide surface 88. The guide surface may be configured as a cylindrical surface extending to surround the second pivot axis PA2. Referring to FIG. 8 , when the second pivot assembly 20 rotates clockwise relative to the first pivot assembly 30, the conductive cable 14 is further wound around the guide surface 88. When the second pivot assembly 20 rotates counterclockwise relative to the first pivot assembly 30, a portion of the conductive cable 14 disengages from the guide surface 88 and is blocked by the guide surface 88, preventing it from extending from the opening of the cable-guiding groove 25. Therefore, by providing the guide surface 88, it is ensured that the cable is always accommodated in the cable-guiding groove 25, regardless of how the second pivot assembly 20 rotates relative to the first pivot assembly 30. Furthermore, the guide surface 88 may be configured to rotate about the second pivot axis PA2 to reduce or avoid sliding friction between the conductive cable 14 and the guide surface 88. As an example, a guide wheel 87 may be provided in the cable-guiding groove. The guide wheel 87 is rotatably attached to the second base 21 about the second pivot axis PA2. The conductive cable 14 is wound around the guide wheel 87. That is, the outer peripheral surface of the guide wheel 87 is the guide surface 88 or a part of the guide surface 88.

[0036] The second base 21 includes two third side surfaces 28B that are perpendicular to the second pivot axis PA2 and spaced apart along the extension direction of the second pivot axis PA2, and the second pivot shaft 22 may be provided on both sides of the two third side surfaces 28B. The second flexible transmission assembly 70 is connected to the second base 21 and drives the second base 21 to rotate relative to the first pivot assembly 30. The second flexible transmission assembly 70 is located outside the cable-guiding groove 25 and does not interfere with the movement of the conductive cable 14 within the cable-guiding groove 25.

[0037] To facilitate rotation of the second pivot assembly 20 relative to the first pivot assembly 30, the proximal end of the second base 21 has a second arcuate surface 23. The second arcuate surface 23 has an axis along the second pivot axis PA2. The second arcuate surface 23 has a second arcuate line parallel to the first wall surface 28A. The central angle of the second arcuate line is related to the maximum rotation angle of the second pivot assembly 20. The opening of the cable routing groove 25 extends along the second arcuate line at least to both ends of the second arcuate line to prevent both ends of the opening of the cable routing groove 25 from pulling on the conductive cable 14 during rotation of the second pivot assembly 20. In this example, because the maximum rotation angle of the second pivot assembly 20 is approximately ±90°, the central angle of the second arcuate line is 180° or more. In this example, the opening of the cable-passing groove 25 extends along the second arc line beyond both ends of the second arc line because the conductive cable 14 has a certain outer diameter, and the length of the exceeding portion is equal to or greater than the radius of the conductive cable 14, preventing the conductive cable 14 from being partially bent when the second pivot assembly 20 moves to the maximum pivot angle.

[0038] The first pivot assembly 30 includes a first base 31. The first base 31 includes a seat plate 35, a connecting arm 37, and a support arm 38. The extension direction of the seat plate 35 is parallel to the second pivot axis PA2 and the first pivot axis PA1. The seat plate 35 has through holes formed therein for passing the conductive cable 14 and the second flexible transmission assembly 70 therethrough. The connecting arm 37 and the support arm 38 are located on either side of the seat plate 35, respectively, and are connected to the seat plate 35.

[0039] Here, the connecting arm 37 is connected to the side of the seat plate 35 facing the base assembly 40 and is used to pivotally connect to the base assembly 40. The connecting arm 37 is provided to surround the first pivot axis 44A. This allows the first pivot assembly 30 to rotate around the first pivot axis 44A. The connecting arm 37 is configured, for example, in a plate shape. Alternatively, the connecting arm 37 may extend perpendicular to the seat plate 35. The first flexible transmission assembly 60 is connected to the connecting arm 37 and drives the rotation of the first base 31 relative to the base assembly 40.

[0040] The support arm 38 is connected to the side of the seat plate 35 facing the second pivot assembly 20 and is used to support and connect the second pivot assembly 20. The support arm 38 is configured as two support arms arranged opposite to each other. Optionally, the support arm 38 extends perpendicular to the seat plate 35, and the extension plane of the connecting arm 37 is perpendicular to the extension plane of the support arm 38. The space between the two opposite support arms 38 is used to accommodate the second pivot assembly 20.

[0041] Both ends of the second pivot shaft 22 are connected to two support arms 38, respectively. Therefore, the two support arms 38 are spaced apart in the extension direction of the second pivot axis PA2. For example, the two support arms 38 are each provided with an open groove 39. The two open grooves 39 are aligned along the second pivot axis PA2. Both ends of the second pivot shaft 22 are provided within the two open grooves 39, respectively, and are fixed by the end caps 32 (the end caps 32 position the second pivot shaft 22 within the open grooves 39). This allows the second pivot shaft 22 to be stably connected to the first pivot assembly 30.

[0042] Optionally, the connecting arm 37 extends perpendicular to the second direction D2, is connected to the seat plate 35 at one end of the seat plate 35 along the second direction D2, and forms a side wall of the first base 31. The connecting arm 37 has one end connected to the seat plate 35 and one end remote from the seat plate 35. Optionally, to facilitate rotation of the first pivot assembly 30 relative to the base assembly 40, the surface of the one end of the connecting arm 37 remote from the seat plate 35 is configured as a first arcuate surface (see FIG. 4 ). The center of the arc of the first arcuate surface is located on the first pivot axis PA1.

[0043] The base assembly 40 includes a pedestal 41 and the first pivot shaft 44A. The pedestal 41 extends along a first direction D1. The first direction D1 is also referred to as the longitudinal axis direction of the base assembly. The first direction D1 is, for example, the up-down direction in the drawing. Alternatively, the first direction D1 is perpendicular to the first pivot axis PA1. The pedestal 41 includes a pedestal body 47 and a pedestal stand arm 48 located at opposite ends along the first direction D1. The pedestal body 47 is configured as a cylinder whose axial direction is the first direction D1. The pedestal stand arm 48 is configured as two opposing stand arms extending from the pedestal body 47 along the first direction D1. Both ends of the first pivot shaft 44A are connected to the two pedestal stand arms 48, respectively. Therefore, the two pedestal stand arms 48 are spaced apart in the extension direction of the first pivot axis PA1 (second direction D2). The space between the two pedestal stand arms 48 is used to accommodate at least the first pivot assembly 30 and the conductive cable 14. For example, each of the two pedestal stand arms 48 is provided with a first through-hole 49A. The two first through-holes 49A are aligned along the first pivot axis PA1. Both ends of the first pivot shaft 44A are connected to the two first through-holes 49A, respectively. This allows the first pivot shaft 44A to be stably provided on the pedestal 41 of the base assembly 40. Therefore, the pedestal stand arms 48 are used to support and connect the first pivot assembly 30.

[0044] The base 41 further includes a base bottom plate 46 provided at a connection position between the base body 47 and the base stand arm 48. The base bottom plate 46 forms an upper cover plate of the base body 47. The base body 47 and the base stand arm 48 are respectively located on both sides of the base bottom plate 46 and connected to the base bottom plate 46. Alternatively, the base bottom plate 46 extends in a direction perpendicular to the first direction D1. For example, in the drawing, the base bottom plate 46 is a horizontal plate. The base bottom plate 46 is provided with through holes for passing the conductive cable 14 and the transmission mechanism.

[0045] The end effector 90 is further provided with a cable pulley 86 for guiding the conductive cable 14 between the two base stand arms 48. The cable pulley 86 is connected to the base assembly 40 to be rotatable about a first pivot axis PA1. For example, the cable pulley 86 is provided to surround the first pivot shaft 44A. The conductive cable 14 is wound around the cable pulley 86 along a cable groove of the cable pulley 86 and is locked and guided by the cable pulley 86.

[0046] The cable guide groove 25 limits the movement of the conductive cable 14 along the third direction D3 at a position relatively close to the distal end of the conductive cable 14. The cable pulley 86 limits the movement of the conductive cable 14 along the second direction D2 at a position relatively close to the proximal end of the conductive cable 14. Using the cable pulley 86 and the cable guide groove 25 to simultaneously position the conductive cable 14 is advantageous for maintaining a smooth posture of the conductive cable 14 and for avoiding interference between the conductive cable 14 and the power transmission mechanism when the arm mechanism moves.

[0047] When the first pivot assembly 30 is in a neutral position relative to the base assembly 40, the first direction D1 is perpendicular to the second pivot axis PA2. In the illustrated embodiment, when the first pivot assembly 30 and the second pivot assembly 20 are both in their neutral positions, the surgical instrument 100 is formed into an elongated structure extending along the first direction D1, and the base assembly 40, the first pivot assembly 30, the second pivot assembly 20, and the execution assembly 10 are arranged in order from the proximal end to the distal end generally along the first direction D1. In this case, the first direction D1 can also be understood as the longitudinal axis direction of the end effector 90.

[0048] Alternatively, the second flexible transmission assembly 70 may be configured as a drive cable (e.g., a steel wire rope, a tungsten wire rope, etc.). The drive cable is connected to the second terminal 73 and connected to the second base 21 via the second terminal 73. When the length of the drive cable at both ends of the second terminal 73 changes, the second flexible transmission assembly 70 rotates about the second pivot axis PA2, i.e., realizes yaw rotation of the end effector 90. The second terminal 73 and the second base 21 are fixed to each other in a tight fit, allowing the second base 21 to move synchronously with the second terminal 73. Using a drive cable to realize the rotation (swing) of the second pivot assembly 20 is advantageous in reducing the size of the surgical instrument 100.

[0049] Optionally, the second flexible transmission assembly 70 includes a first cable portion 71 and a second cable portion 72. When the surgical instrument 100 is in an assembled state, the first cable portion 71 and the second cable portion 72 are located on either radial side of the second pivot axis 22, respectively.

[0050] Alternatively, the extension path of the first cable portion 71 in the second pivot assembly 20 and the extension path of the second cable portion 72 in the second pivot assembly 20 may be located in the same plane (first plane). The first plane is perpendicular to the second pivot axis PA2 and is located outside the cable-guide groove 25. The second flexible power transmission assembly 70 is located outside the cable-guide groove 25, which may reduce interference with the conductive cable 14. In some examples, the first cable portion 71 and the second cable portion 72 may be two portions of the same cable. That is, as in the illustrated embodiment, a second terminal 73 is provided in the middle of the same drive cable, and the first cable portion 71 and the second cable portion 72 are formed by portions of the same drive cable located on either side of the second terminal 73. In some other examples (not shown), the first cable portion 71 and the second cable portion 72 are two independent cables that are not connected to each other. That is, the first cable portion 71 and the second cable portion 72 are two independent drive cables, each having a terminal and fixed to the second base 21 via each terminal.

[0051] Alternatively, the extension path of the first cable portion 71 in the second pivot assembly 20 may lie in a first plane, and the extension path of the second cable portion 72 in the second pivot assembly 20 may lie in a second plane, the first and second planes being parallel to each other and perpendicular to the second pivot axis PA2, and the cable routing groove 25 being located between the first and second planes. In this case, the first and second cable portions 71 and 72 are two cables that are not connected to each other. That is, the first and second cable portions 71 and 72 are two independent drive cables, each having a terminal and fixed to the second base 21 via the respective terminals.

[0052] Alternatively, the first and second planes may be flush with the two third side surfaces 28B of the second base 21. That is, the first cable portion 71 and the second cable portion 72 may be connected to the same of the two third side surfaces 28B. Alternatively, the first cable portion 71 may be connected to one of the two third side surfaces 28B, and the second cable portion 72 may be connected to the other of the two third side surfaces 28B.

[0053] For example, as shown in FIGS. 1 to 4, a second cable groove 24 for guiding the first cable portion 71 and the second cable portion 72 is provided on the third side surface 28B of the second base 21. For example, the second cable groove 24 is configured as an arc-shaped groove (with a central angle of at least 180 degrees) with the second pivot axis PA2 as its axis, and the first cable portion 71 and the second cable portion 72 extend along both sides of the arc. Therefore, the first cable portion 71 and the second cable portion 72 are connected to the same third side surface 28B. The second terminal 73 is provided on an outer surface corresponding to the second arc-shaped surface 23 of the second base 21, so that the first cable portion 71 and the second cable portion 72 can be easily routed from both radial sides of the second pivot shaft 22.

[0054] Furthermore, for example, each of the two third side surfaces 28B is provided with a cable groove (not shown) for guiding the first cable portion 71 and the second cable portion 72. In this manner, the first cable portion 71 and the second cable portion 72 are connected to each of the two third side surfaces 28B.

[0055] Of course, in other examples not shown, the above-mentioned first and second planes may not be flush with the two third side surfaces 28B of the second base 21, but may be closer to the cable passage groove 25 than the two third side surfaces 28B.

[0056] The first cable portion 71 and the second cable portion 72 extend from the second pivot assembly to the base assembly 40 and have a long travel distance. To place the first cable portion 71 and the second cable portion 72 in a stable position, the present application further positions the first cable portion 71 and the second cable portion 72 using pulleys.

[0057] As shown in FIGS. 3 , 4 , 6 , and 7 , the surgical instrument 100 further includes a first pulley 81 and a second pulley 82 for guiding the first cable portion 71 and the second cable portion 72, respectively. The first pulley 81 and the second pulley 82 are both connected to the base assembly 40 so as to be pivotable about a first pivot axis PA1. For example, the first pulley 81 and the second pulley 82 are both provided to surround the first pivot axis 44A and are spaced apart from each other along the first pivot axis PA1 at the first pivot axis 44A. Here, the first cable portion 71 is wound around the first pulley 81, and the second cable portion 72 is wound around the second pulley 82. Therefore, the first pulley 81 serves to position and guide the first cable portion 71, and the second pulley 82 serves to position and guide the second cable portion 72. Selectably, the winding direction of the first cable portion 71 around the first pulley 81 and the winding direction of the second cable portion 72 around the second pulley 82 are opposite to each other, so that when the end effector 90 pitches, the first pivot assembly 30 is prevented from being pulled by the first cable portion 71 and the second cable portion 72 and becoming stuck and unable to move. Selectably, the cable pulley 86 is located between the first pulley 81 and the second pulley 82. Selectably, the cable pulley 86 and the second pulley 82 are located on both sides of the connecting arm 37, respectively. That is, the cable pulley 86 is located between the first pulley 81 and the connecting arm 37.

[0058] To improve positioning of the first cable portion 71, the surgical instrument 100 further includes a third pulley 83 pivotally connected to the base assembly 40 about a third pivot axis PA3. Specifically, the base assembly 40 is provided with a third pivot shaft 44B. For example, each of the two pedestal stand arms 48 of the base assembly 40 is provided with a second through-hole 49B. The two second through-holes 49B are aligned in the first direction D1, and both ends of the third pivot shaft 44B are connected to the two second through-holes 49B, respectively, thereby stably providing the third pivot shaft 44B on the base assembly 40. As shown in FIGS. 1 and 2, the third pivot shaft 44B has a third pivot axis PA3 that is parallel to the first pivot axis PA1. The third pulley 83 is provided to surround the third pivot shaft 44B. A third plane can be defined by the first pivot axis PA1 and the third pivot axis PA3. As shown in Fig. 6, the first cable portion 71 is wound around a first pulley 81 on one side of the third plane and around a third pulley 83 on the other side of the third plane. The first cable portion 71 is positioned by two pulleys on each side of the third plane. When the end effector 90 pitches, the first cable portion 71 does not come off the first pulley 81 and the third pulley 83, and the position of the first cable portion 71 becomes more stable.

[0059] Furthermore, because the stroke over which the first cable portion 71 extends from the second cable groove 24 of the second base 21 to the first pulley 81 is long, the position of the first cable portion 71 can be further restricted by the seat plate 35 of the first base 31 during this stroke. Specifically, a through hole for passing the first cable portion 71 can be formed in the seat plate 35. In this way, by restricting the position of the first cable portion 71 by the seat plate 35, the first cable portion 71 is always aligned with the cable groove of the first pulley 81 when the end effector 90 makes a pitch rotation.

[0060] To turn the second cable portion 72, the winding direction of the first cable portion 71 around the first pulley 81 is set to be opposite to the winding direction of the second cable portion 72 around the second pulley 82. At the same time, to better position the second cable portion 72, the surgical instrument 100 further includes a fourth pulley 84 connected to the first pivot assembly 30. Specifically, the axis PA4 of the fourth pulley 84 is fixed relative to the first pivot assembly 30, i.e., the fourth pulley 84 is movable together with the first pivot assembly 30. At the same time, the fourth pulley 84 is rotatable about the axis PA4 relative to the first pivot assembly 30. The axis PA4 of the fourth pulley 84 is parallel to the first pivot axis PA1. This allows the first pivot axis PA1 and the axis PA4 of the fourth pulley 84 to define a fourth plane. 7, the second cable portion 72 is wound around the fourth pulley 84 on one side of the fourth plane and around the second pulley 82 on the other side of the fourth plane. The second cable portion 72 is positioned by two pulleys on each side of the fourth plane. When the end effector 90 pitches, the second cable portion 72 does not come off the second pulley 82 and the fourth pulley 84, and the position of the second cable portion 72 becomes more stable.

[0061] For example, in order to define the axial position of the fourth pulley 84 , the fourth pulley 84 is provided on the connecting arm 37 and the pulley cap 33 is connected to the connecting arm 37 .

[0062] Optionally, the connecting arm 37 includes a first side 37A and a second side 37B that are perpendicular to the first pivot axis and positioned on opposite sides. The first flexible transmission assembly 60 is connected to the first side 37A of the connecting arm 37. The first pulley 81 and the cable pulley 86 are provided on the same side of the connecting arm 37, i.e., the side where the first side 37A is located. The fourth pulley 84 and the second pulley 82 are provided on the same side of the connecting arm 37, i.e., the side where the second side 37B is located. The connecting arm 37 physically isolates the first cable portion 71 and the second cable portion 72 to prevent them from interfering with each other.

[0063] In the illustrated embodiment, the running direction of the first cable portion 71 is guided by the second cable groove 24, the first pulley 81, the third pulley 83, and the through-hole in the base bottom plate 46. Optionally, the end effector 90 is configured such that, when the first pivot assembly 30 is in a neutral position relative to the base assembly 40, the first cable portion 71 extends from the second cable groove 24 of the second pivot assembly 20 to the first pulley 81 along the first direction D1, then bends and turns from the first pulley 81, passes through a third plane, is wound around the third pulley 83, and further extends from the third pulley to the through-hole in the base bottom plate 46 of the base assembly 40 along the first direction D1. With this configuration, during the process of pitch rotation and yaw rotation of the end effector 90, the section of the first cable portion 71 extending from the payout position of the second cable groove 24 (a position away from the second cable groove 24) to the through hole of the base bottom plate 46 of the base assembly 40 is always located within a fifth plane parallel to both the first direction D1 and the third direction D3. This allows the first cable portion 71 to always extend smoothly and without interference (for example, without interference from the groove wall of the second cable groove 24 and / or the groove wall of the pulley groove of the first pulley 81), which is advantageous for stabilizing the force reception of the first cable portion 71.

[0064] It can be seen that to achieve this effect, it is necessary to match the dimensions and positions of the second cable groove 24, the first pulley 81, and the third pulley 83. For example, the extension locus of the cable groove of the first pulley 81 and the extension locus of the cable groove of the third pulley 83 are flush with each other, and the planes of both are tangent to the arc of the second cable groove 24. This allows the first cable portion 71 to extend to its maximum extent within the same plane, which is advantageous for maintaining the first cable portion 71 smoothly.

[0065] In the illustrated embodiment, the running direction of the second cable portion 72 is guided by the second cable groove 24, the fourth pulley 84, the second pulley 82, and the through-hole in the base bottom plate 46. Optionally, the end effector 90 is configured such that, when the first pivot assembly 30 is in a neutral position relative to the base assembly 40, the second cable portion 72 extends from the second cable groove 24 of the second pivot assembly 20 to the fourth pulley 84 along the first direction D1, then bends and turns from the fourth pulley 84, passes through a fourth plane, is wound around the second pulley 82, and further extends from the second pulley 82 along the first direction D1 to the through-hole in the base bottom plate 46 of the base assembly 40. With this configuration, during pitch and yaw rotation of the end effector 90, the section of the second cable portion 72 extending from the payout position of the second cable groove 24 (a position away from the second cable groove 24) to the through hole in the base bottom plate 46 of the base assembly 40 is always located within a sixth plane parallel to both the first direction D1 and the third direction D3. This allows the second cable portion 72 to always extend smoothly and without interference (e.g., without interference from the groove wall of the second cable groove 24 and / or the groove wall of the pulley groove of the fourth pulley 84), which is advantageous for stabilizing the force reception of the second cable portion 72. Furthermore, the fifth and sixth planes are parallel to and spaced apart from each other so that the first cable portion 71 and the second cable portion 72 do not interfere with each other.

[0066] To achieve this effect, it is understood that the dimensions and positions of the second cable groove 24, the fourth pulley 84, and the second pulley 82 must be matched. For example, the extension path of the cable groove of the fourth pulley 84 and the extension path of the cable groove of the second pulley 82 are flush with each other, and the planes of both are tangent to the arc of the second cable groove 24. This allows the second cable portion 72 to extend to its maximum extent within the same plane, which is advantageous for maintaining smooth running of the second cable portion 72.

[0067] Alternatively, the first pivot shaft 44A and the third pivot shaft 44B are arranged along the first direction D1. The first pivot shaft 44A may be located above the third pivot shaft 44B or below the third pivot shaft 44B. Alternatively, the first pivot shaft 44A and the third pivot shaft 44B may have the same structure. Alternatively, the first pulley 81, the second pulley 82, and the third pulley 83 may be configured as the same pulley.

[0068] The conductive cable 14 is anchored by a cable pulley 86. The cable pulley 86 is disposed to surround the first pivot shaft 44A, so that the conductive cable 14 passes on one side of the third pivot shaft 44B. Optionally, to prevent damage to the insulating layer on the surface of the conductive cable 14 due to friction between the conductive cable 14 and the third pivot shaft 44B (for example, the third pivot shaft 44B is made of a metal material), a shaft sleeve 43 for contacting the conductive cable 14 is fitted onto the third pivot shaft 44B. The shaft sleeve 43 is rotatable around the third pivot shaft 44B, thereby minimizing the frictional force with the conductive cable 14. The shaft sleeve 43 can simultaneously restrict the position of the third pulley 83 in the second direction D2 (or along the third pivot axis PA3).

[0069] Optionally, like the second flexible transmission assembly 70, the first flexible transmission assembly 60 is also configured as a drive cable. The first flexible transmission assembly 60 includes a third cable portion 61 and a fourth cable portion 62. For example, the third cable portion 61 and the fourth cable portion 62 are the same drive cable. A first terminal 63 is provided in the middle of the drive cable, thereby dividing the drive cable into two portions, the third cable portion 61 and the fourth cable portion 62. The first terminal 63 is provided at the connection portion 31A of the first base 31 (see FIG. 3). For example, the first terminal 63 and the connection portion 31A are closely contacted. This allows the first base 31 to move synchronously with the first terminal 63. When the lengths of the third cable portion 61 and the fourth cable portion 62 change, the first pivot assembly 30 rotates, thereby realizing pitch rotation of the end effector 90. Alternatively, the third cable portion 61 and the fourth cable portion 62 are two cables that are not connected to each other, i.e., the third cable portion 61 and the fourth cable portion 62 are two independent drive cables, each having a terminal and fixed to the first base 31 by each terminal.

[0070] Optionally, the connection portion 31A is provided on the connection arm 37. Optionally, when the first pivot assembly 30 is in a neutral position, the connection portion 31A and the first pivot axis 44A are aligned along a first direction D1. The third cable portion 61 and the fourth cable portion 62 are located on either radial side of the first pivot axis 44A, respectively.

[0071] The connecting arm 37 is provided with a first cable groove 34 for guiding the third cable portion 61 and the fourth cable portion 62. For example, the first cable groove 34 is located on a first side surface 37A of the connecting arm 37. Optionally, the first cable groove 34 is configured as an arc-shaped groove (having a central angle of at least 180 degrees) with the first pivot axis PA1 as its axis. The third cable portion 61 and the fourth cable portion 62 extend along both sides of the arc, respectively. The connecting portion 31A is adjacent to the first cable groove 34.

[0072] In the illustrated embodiment, the base assembly 40 (specifically, the base bottom plate 46) is provided with through holes for passing the third cable portion 61 and the fourth cable portion 62. Therefore, the running directions of the third cable portion 61 and the fourth cable portion 62 are determined by the first cable groove 34 and the through holes in the base bottom plate 46.

[0073] Optionally, as shown in FIGS. 3 to 5, the execution assembly 10 further includes an insulating sleeve 12 and a seal ring 13. The electrode member 11 is fixed to the insulating sleeve 12 (e.g., by adhesive or screws), and the second base 21 is also fixed to the insulating sleeve 12 (e.g., by adhesive or screws), thereby connecting the second pivot assembly 20 to the execution assembly 10. The insulating sleeve 12 is used to prevent damage to the second base 21 due to an electric arc during discharge of the electrode member 11, and its material must have certain arc-resistant properties. The seal ring 13 is provided at the connection between the conductive cable 14 and the electrode member 11 to provide a certain level of waterproofing for the fixed portion of the conductive cable 14 and prevent other liquids from entering the cable fixed portion during use or cleaning of the instrument, causing a short circuit or improper cleaning, which could damage the instrument or injure the patient or operator. As shown in FIG. 5, the inner wall of the cable-through hole 26 is provided with an annular stepped surface 26A for engaging the seal ring 13.

[0074] Optionally, the surgical instrument 100 further includes a shaft tube 50. The end effector 90 is provided at a distal portion of the shaft tube 50. A drive device is connected to a proximal portion of the shaft tube 50. The first flexible transmission assembly 60 and the second flexible transmission assembly 70 are connected to the drive device through a hollow portion of the shaft tube 50. This allows the drive device to drive the flexible transmission assemblies 60 and 70 to move and rotate the pivot assemblies 20 and 30.

[0075] In this application, the conductive cable 14 is mechanically connected to a drive device at the rear end of the surgical instrument 100, allowing the conductive cable 14 to be unwound and retracted.

[0076] In an example where the guide wheel 87 is not provided, the conductive cable 14 needs to be unwound and wound as the surgical instrument 100 pitches. Taking the orientation shown in FIG. 2 as an example, when the end effector 90 rotates outward from the page, the drive unit winds the conductive cable 14, shortening the length of the conductive cable 14 extending from the base bottom plate 46 to prevent the conductive cable 14 from disengaging from the cable pulley 86. Conversely, when the end effector 90 rotates inward from the page, the conductive cable 14 is unwound, reducing the pulling force on the conductive cable 14. To ensure that the unwound and wound conductive cable 14 cooperate with the pitch rotation, the conductive cable 14 and the fourth cable portion 62 may be driven to unwound and wound simultaneously. For example, the conductive cable 14 and the fourth cable portion 62 may be connected within the shaft tube 50 so that the fourth cable portion 62 moves the conductive cable 14 synchronously. Furthermore, providing the cable pulley 86 close to the first cable groove 34 is advantageous for simultaneously driving the unwinding and winding of the conductive cable 14 and the fourth cable portion 62. In another example (not shown), the conductive cable 14 may be guided to the other side of the cable pulley 86. In this case, it can be understood that the conductive cable 14 may be driven simultaneously with the third cable portion 61 to be unwinded and wound.

[0077] In an example where the guide wheel 87 is provided, the conductive cable 14 needs to be unwound and wound as the surgical instrument 100 yaws. Taking the orientation shown in FIG. 7 or FIG. 8 as an example, when the end effector 90 rotates counterclockwise, the drive device winds the conductive cable 14, reducing the accumulation of the conductive cable 14 in the cable channel 25. Such accumulation could cause excessive bending of the conductive cable 14 and impede the movement of the second pivot assembly 20. Conversely, when the end effector 90 rotates clockwise, the conductive cable 14 unwinds, reducing the pulling force on the conductive cable 14. To ensure that the unwinding and winding of the conductive cable 14 cooperate with the yaw rotation, the conductive cable 14 and the first cable portion 71 may be driven to unwind and wind simultaneously. For example, the conductive cable 14 and the first cable portion 71 may be tied together within the shaft tube 50 so that the first cable portion 71 drives the conductive cable 14 to move synchronously. In another example (not shown), the conductive cable 14 may be guided to the other side of the guide wheel 87. At this time, it can be understood that the conductive cable 14 may be driven simultaneously with the second cable portion 62 to be unwound and wound.

[0078] Specifically, the base assembly 40 is provided at the distal portion of the shaft tube 50. Specifically, the shaft tube 50 extends straight along the first direction D1, and the base body 47 is connected to the shaft tube 50. For example, the base body 47 is bonded to the shaft tube 50, which can simultaneously ensure the airtightness of the surgical instrument 100.

[0079] In the illustrated embodiment, the shaft tube 50 includes a support tube 51 and an insulating outer sheath 52. The support tube 51 is used for connection to the base assembly 40. The insulating outer sheath 52 is provided to surround the outer periphery of the support tube 51 or is coated on the outer periphery of the support tube 51. To fulfill its supporting role, the support tube 51 is formed, for example, of a rigid material having high strength. The insulating outer sheath 52 is formed of an insulating material to prevent electric shock injury caused by direct contact of the support tube 51 with the human body.

[0080] In embodiments not shown herein, the shaft tube 50 may be formed entirely from a rigid insulating material such as fiberglass or plastic tubing.

[0081] Optionally, a seal is provided between the base assembly 40 and the shaft tube 50. For example, the surgical instrument 100 includes a gasket 85 provided within the base body 47 and connected (e.g., glued) to the base bottom plate 46. The gasket 85 has through-holes corresponding to the through-holes in the base bottom plate 46, allowing the cables of the first flexible transmission assembly 60, the second flexible transmission assembly 70, and the conductive cable 14 to pass through the gasket. Optionally, a certain amount of tightness is provided between the through-holes of the gasket 85 and the drive cable or conductive cable to ensure a seal and prevent fluid from entering the instrument tube from the front end.

[0082] The surgical instrument according to the first embodiment of the present invention uses a wiring arrangement of a conductive cable, a first flexible transmission assembly, and a second flexible transmission assembly to ensure the strength of the cable and each component, and to ensure the normal use and lifespan of the surgical instrument. This allows the surgical instrument to be made smaller, particularly in terms of radial dimensions, which can be reduced to 5mm or 4mm, which is a breakthrough in the current field of surgical instruments.

[0083] A second aspect of the present embodiment provides a surgical robot. The surgical robot according to the present embodiment includes a robot arm and the above-described surgical instrument 100. Here, the surgical instrument 100 is detachably connected to the robot arm. The robot arm has multiple degrees of freedom of movement to operate the surgical instrument 100 and perform surgical operations more flexibly. Furthermore, the robot arm is provided with a drive unit (e.g., a motor). The transmission mechanism of the surgical instrument 100 is mechanically connected to the drive unit, and the drive unit can drive the end effector 90 to perform yaw rotation and / or pitch rotation.

[0084] The surgical robot of the present application includes all the features and advantages of the surgical instrument of the present application.

[0085] In understanding the scope of the present application, the term "comprises" and its derivatives as used herein are open-ended terms that specify the presence of stated features, components, elements, groups, wholes, and / or steps, but do not exclude the presence of other unstated features, components, elements, groups, wholes, and / or steps. This concept also applies to terms with similar meanings, such as "comprises," "have," and their derivatives.

[0086] As used herein, the term "attached" or "attach" includes structures in which a component is directly secured to another component by directly fastening the component to another component, structures in which a component is indirectly secured to another component by fastening the component to an intermediate member and then fastening the intermediate member to the other component, and structures in which one component is integral with the other component, i.e., one component is essentially part of the other component. This definition also applies to terms of similar meaning, such as "connected," "coupled," "bonded," "attached," "adhered," "fixed," and derivatives thereof. Finally, terms of degree, such as "substantially," "about," and "approximately," as used herein, represent the amount of variation that modifies a term without significantly changing the end result.

[0087] Unless otherwise defined, technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art of this application. The terms used herein are for describing specific implementation purposes only and are not intended to limit the present application. A feature described in this specification for one embodiment can be applied to other embodiments, either alone or in combination with other features, unless the feature is not applicable to other embodiments or is otherwise described.

[0088] Although the present application has been described using the above embodiments, it should be understood that the above embodiments are used for the purpose of illustration and explanation only and are not intended to limit the present application to the scope of the described embodiments. In addition, the present application is not limited to the above embodiments, and it is understood by those skilled in the art that many more variations and modifications are possible based on the teachings of the present application, and all of these variations and modifications are within the scope of the claims of the present application.

Claims

1. 1. A surgical instrument including an end effector, The end effector A base assembly; a first pivot assembly pivotally connected to the base assembly about a first pivot axis; a first flexible transmission assembly connected to the first pivot assembly for driving the first pivot assembly to pivot about the first pivot axis relative to the base assembly; a second pivot assembly pivotally connected to the first pivot assembly about a second pivot axis that is not parallel to the first pivot axis; a second flexible transmission assembly connected to the second pivot assembly for driving the second pivot assembly to pivot about the second pivot axis relative to the first pivot assembly; an execution assembly connected to the second pivot assembly and including an electrode member and a conductive cable; the conductive cable is used to supply power to the electrode member; the conductive cable extends through the second pivot assembly, the first pivot assembly, and the base assembly; a cable passage groove is formed at one end of the second pivot assembly remote from the electrode member; The conductive cable is movably housed in the cable guide groove, the cable channel extends toward the electrode member and is defined by at least two first walls that are perpendicular to the second pivot axis and opposed to each other, and a second wall that is transverse to the first walls; The second pivot axis extends through the two first walls.

2. The surgical instrument of claim 1 , wherein the second wall surface and the electrode member are located on the same side of the second pivot axis.

3. a cable passage hole is further formed at an end of the second pivot assembly near the electrode member; the cable passage hole communicates with the cable passage groove; the conductive cable extends through the cable passage groove and into the cable passage hole; the second wall surface has a third arcuate surface and transitions to an inner wall of the cable-passing hole via the third arcuate surface; 3. The surgical instrument of claim 1, wherein the third arcuate surface has a third arcuate line parallel to the third wall surface and is used to guide the conductive cable when the second pivot assembly pivots relative to the first pivot assembly.

4. The surgical instrument according to claim 3 , wherein the third arcuate surface is in contact with an inner wall of the cable passage hole.

5. 5. The surgical instrument according to claim 3, wherein one end of the third arcuate surface remote from the cable-passing hole extends to an opening of the cable-passing groove.

6. an end surface of the second pivot assembly facing away from the electrode member having a second arcuate surface; the second arc surface has an axis along the second pivot axis and a second arc line parallel to the first wall surface; 6. The surgical instrument according to claim 1, wherein the opening of the cable-passing groove extends along the second arc line to at least both ends of the second arc line.

7. The surgical instrument according to claim 6, wherein the central angle of the second arc line is 180° or greater.

8. 8. The surgical instrument according to claim 6, wherein the opening of the cable-passing groove extends along the second arc line so as to extend beyond both ends of the second arc line.

9. The surgical instrument according to any one of claims 1 to 8, characterized in that the distance between the two first wall surfaces corresponds to the diameter of the conductive cable.

10. A surgical instrument according to any one of claims 1 to 9, characterized in that the first pivot axis is perpendicular to the second pivot axis.

11. 11. The surgical instrument of claim 1, wherein the second flexible transmission assembly includes a first cable portion and a second cable portion, the first cable portion and the second cable portion being used to drive the second pivot assembly to rotate the second pivot assembly in opposite directions about the second pivot axis.

12. a locus of extension of the first cable portion at the second pivot assembly and a locus of extension of the second cable portion at the second pivot assembly lie in a first plane; The surgical instrument of claim 11 , wherein the first plane is perpendicular to the second pivot axis and is located outside the cable channel.

13. a locus of extension of the first cable portion in the second pivot assembly lies in a first plane; a locus of extension of the second cable portion in the second pivot assembly lies in a second plane; the first plane and the second plane are parallel to each other and perpendicular to the second pivot axis; The surgical instrument of claim 11 , wherein the cable routing channel is located between the first plane and the second plane.

14. a first pulley pivotally connected to the base assembly about the first pivot axis; a second pulley pivotally connected to the base assembly about the first pivot axis; the second pulley and the first pulley are spaced apart along the first pivot axis; the first cable portion is guided by the first pulley; the second cable portion is guided by the second pulley; The surgical instrument according to any one of claims 11 to 13, characterized in that the winding direction of the first cable portion around the first pulley and the winding direction of the second cable portion around the second pulley are opposite directions.

15. a longitudinal axis of the base assembly extending along a first direction; the first pivot axis is perpendicular to the first direction; The surgical instrument of claim 14, wherein the second pivot axis is perpendicular to the first direction when the first pivot assembly is in a neutral position relative to the base assembly.

16. a third pulley pivotally connected to the base assembly about a third pivot axis; the third pivot axis is parallel to the first pivot axis; a third plane is defined by the first pivot axis and the third pivot axis; 16. The surgical instrument of claim 15, wherein the first cable portion is wrapped around the first pulley on one side of the third plane and around the third pulley on the other side of the third plane.

17. 17. The surgical instrument of claim 16, wherein the end effector is configured such that when the first pivot assembly is in a neutral position relative to the base assembly, the first cable portion extends from the second pivot assembly to the first pulley along the first direction and from the third pulley to the base assembly along the first direction.

18. a fourth pulley connected to the first pivot assembly; the axis of the fourth pulley is parallel to the first pivot axis; a fourth plane is defined by the first pivot axis and the axis of the fourth pulley; The surgical instrument according to any one of claims 15 to 17, characterized in that the second cable portion is wound around the fourth pulley on one side of the fourth plane and around the second pulley on the other side of the fourth plane.

19. 20. The surgical instrument of claim 18, wherein the end effector is configured such that when the first pivot assembly is in a neutral position relative to the base assembly, the second cable portion extends from the second pivot assembly along the first direction to the fourth pulley and from the second pulley along the first direction to the base assembly.

20. the first pivot assembly includes a first base; The first base comprises: a seat plate extending parallel to the first pivot axis and the second pivot axis and having through holes formed therein for passing the first cable portion and the conductive cable; a support arm connected to the seat plate on a side facing the second pivot assembly, extending perpendicular to the seat plate, for supporting and connecting the second pivot assembly; 20. The surgical instrument of claim 18 or 19, further comprising: a connecting arm connected to the side of the seat plate facing the base assembly, extending perpendicular to the seat plate, and pivotally connected to the base assembly.

21. the connecting arm includes first and second opposed sides perpendicular to the first pivot axis; the first flexible transmission assembly is connected to a first side of the connecting arm; The surgical instrument according to claim 20, wherein the conductive cable is provided on a side where the first side surface is located after passing through the seat plate.

22. the first pulley is provided on the side where the first side surface is located, The surgical instrument according to claim 21, wherein the second pulley and the fourth pulley are provided on the side where the second side surface is located.

23. further including a cable pulley; the cable pulley is rotatably connected to the base assembly about the first pivot axis and is located between the first pulley and the connecting arm; 23. The surgical instrument of claim 22, wherein the conductive cable is guided by the cable pulley.

24. the first flexible transmission assembly includes a third cable portion and a fourth cable portion; 24. The surgical instrument of any one of claims 1 to 23, wherein the third cable portion and the fourth cable portion are adapted to respectively drive the first pivot assembly to rotate in opposite directions about the first pivot axis.

25. 25. The surgical instrument of claim 24, wherein the conductive cable is configured to move synchronously with the third cable portion or the fourth cable portion.

26. a guide surface extending around the second pivot axis is provided within the cable-passing groove; The surgical instrument of any one of claims 1 to 24, wherein the conductive cable is wound around the guide surface when the second pivot assembly is in a neutral position relative to the first pivot assembly.

27. the second pivot assembly further includes a guide wheel mounted in the cable channel for rotation about the second pivot axis; 27. The surgical instrument of claim 26, wherein the guide surface includes an outer circumferential surface of the guide wheel.

28. the second flexible transmission assembly includes a first cable portion and a second cable portion; the first cable portion and the second cable portion are respectively used to drive the second pivot assembly to rotate the second pivot assembly in opposite directions about the second pivot axis; 28. A surgical instrument according to claim 26 or claim 27, wherein the conductive cable is configured to be movable in synchronism with the first cable portion or the second cable portion.

29. 29. The surgical instrument according to claim 1, wherein a sealing material is provided at a position where the conductive cable and the electrode member are connected.

30. further comprising a shaft tube; the end effector is disposed at a distal portion of the shaft tube; The surgical instrument according to any one of claims 1 to 29, characterized in that a sealant is provided between the end effector and the shaft tube.

31. The shaft tube is a support tube for connecting to the base assembly; 31. The surgical instrument of claim 30, further comprising an insulating outer covering made of an insulating material, fitted or coated onto the outer periphery of the support tube.

32. A robotic arm, and a surgical instrument according to any one of claims 1 to 31, which is detachably connected to the robot arm.

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