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.

Claims

1. Surgical instruments including end effectors, The aforementioned end effector is, Base assembly and, A first pivot assembly connected to the base assembly so as to be pivotable around a first pivot axis, A first flexible transmission assembly connected to the first pivot assembly and for driving the first pivot assembly to pivot relative to the base assembly about the first pivot axis, A second pivot assembly connected to the first pivot assembly so as to be pivotable 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 relative to the first pivot assembly about the second pivot axis, The execution assembly, which is connected to the second pivot assembly and includes an electrode member and a conductive cable, The conductive cable is used to supply power to the electrode member. The conductive cable extends and penetrates the second pivot assembly, the first pivot assembly, and the base assembly. A cable passage groove is formed at the end of the second pivot assembly that is away from the electrode member. The conductive cable is movably housed within the cable passage groove. The cable passage groove extends toward the electrode member and is defined by two first wall surfaces that are perpendicular to and opposite each other to at least the second pivot axis, and a second wall surface that intersects the first wall surfaces. The second pivot axis extends so as to penetrate the two first wall surfaces, A cable pass-through hole is further formed at the end of the second pivot assembly adjacent to the electrode member. The cable passage hole communicates with the cable passage groove, The conductive cable extends so as to penetrate the cable passage groove and enter the cable passage hole, The second wall surface has a third arcuate surface, and transitions to the inner wall of the cable passage hole via the third arcuate surface. A surgical instrument characterized in that the third arc surface has a third arc line parallel to the first wall surface and is used to guide the conductive cable when the second pivot assembly pivots relative to the first pivot assembly.

2. The surgical instrument according to claim 1, characterized in that the second wall surface is provided between the electrode member and the second pivot axis.

3. The second pivot assembly includes a second base formed in a substantially elongated shape and a second pivot shaft mounted on the second base so as to be pivotably supported by the first pivot assembly, The electrode member is attached to one end of the second base. A pair of opposing walls are formed at the other end of the second base, On the side of the pair of opposing walls that is close to the electrode member, a second wall surface is formed that intersects with the first wall surface of the pair of opposing walls. A pair of the second pivot shafts is attached to each of the pair of opposing walls, which face away from each other. The surgical instrument according to claim 1, characterized in that the region surrounded only by the pair of first and second walls forms a cable passage groove for housing the conductive cable.

4. The second pivot assembly includes a second base formed in a substantially elongated shape and a second pivot shaft mounted on the second base so as to be pivotably supported by the first pivot assembly, The electrode member is attached to one end of the second base. A pair of opposing walls are formed at the other end of the second base, The pair of opposing surfaces of the pair of opposing walls are the pair of the first wall surfaces, The second pivot assembly further comprises a guide wheel rotatably mounted between a pair of opposing walls relative to the second base, The surgical instrument according to claim 1, characterized in that the area surrounded by the pair of first walls and the guide rings forms a cable passage groove for housing the conductive cable.

5. The surgical instrument according to claim 1, characterized in that one end of the third arcuate surface away from the cable passage hole extends to the opening of the cable passage groove.

6. The end face of the second pivot assembly away from the electrode member has a second arcuate surface, The second arc surface has a second arc line parallel to the first wall surface, with the second pivot axis as its axis. The surgical instrument according to claim 1, characterized in that the opening of the cable passage groove extends along the second arc to at least both ends of the second arc.

7. The central angle of the second arc is 180° or greater, and / or The surgical instrument according to claim 6, characterized in that the opening of the cable passage groove extends along the second arc so as to extend beyond both ends of the second arc.

8. The surgical instrument according to 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 each used to drive the second pivot assembly to rotate the second pivot assembly in opposite directions about the second pivot axis.

9. The extension trajectory of the first cable portion in the second pivot assembly and the extension trajectory of the second cable portion in the second pivot assembly are located in the first plane, The first plane is perpendicular to the second pivot axis and located outside the cable passage groove, or The extension trajectory of the first cable portion in the second pivot assembly is located in the first plane. The extension trajectory of the second cable portion in the second pivot assembly is located in the second plane. The first plane and the second plane are parallel to each other and perpendicular to the second pivot axis. The surgical instrument according to claim 8, characterized in that the cable passage groove is located between the first plane and the second plane.

10. A first pulley is pivotably connected to the base assembly around the first pivot axis, The present invention further includes a second pulley pivotably 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 section is guided by the first pulley, The second cable section is guided by the second pulley, The winding direction of the first cable portion on the first pulley and the winding direction of the second cable portion on the second pulley are in opposite directions, and The longitudinal axis of the base assembly extends along the first direction, The first pivot axis is perpendicular to the first direction, The surgical instrument according to claim 8, characterized in that when the first pivot assembly is in a neutral position relative to the base assembly, the second pivot axis is perpendicular to the first direction.

11. The system further includes a third pulley connected to the base assembly so as to be pivotable around a third pivot axis, The third pivot axis is parallel to the first pivot axis. The third plane is determined by the first pivot axis and the third pivot axis, 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. The surgical instrument according to claim 10, 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 in the first direction to the first pulley, and extends from the third pulley in the first direction to the base assembly.

12. Further including a fourth pulley connected to the first pivot assembly, The axis of the fourth pulley is parallel to the first pivot axis. The fourth plane is determined by the first pivot axis and the axis of the fourth pulley, The second cable portion is wrapped around the fourth pulley on one side of the fourth plane and around the second pulley on the other side of the fourth plane. The surgical instrument according to claim 10, 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 in the first direction to the fourth pulley, and extends from the second pulley in the first direction to the base assembly.

13. The first flexible transmission assembly includes a third cable section and a fourth cable section, The third cable section and the fourth cable section are used to drive the first pivot assembly so that it rotates in opposite directions around the first pivot axis, and, The surgical instrument according to claim 1, characterized in that the conductive cable is configured to move in synchronization with the third cable portion or the fourth cable portion.

14. A guide surface is provided within the cable passage groove, extending to surround the second pivot axis. The surgical instrument according to claim 1, characterized in that when the second pivot assembly is in a neutral position relative to the first pivot assembly, the conductive cable is wrapped around the guide surface.

15. The second flexible transmission assembly includes a first cable section and a second cable section, The first cable section and the second cable section are each used to drive the second pivot assembly to rotate the second pivot assembly in opposite directions around the second pivot axis. The surgical instrument according to claim 1, characterized in that the conductive cable is configured to move in synchronization with the first cable portion or the second cable portion.

16. A robotic arm and A surgical robot comprising a surgical instrument according to claim 1, which is detachably connected to the robot arm.

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