End effector, surgical instrument, slave operation device, and surgical robot

Abstract

Provided are an end effector (100), a surgical instrument, a slave operation device, and a surgical robot. The end effector (100) comprises an execution member (1), a middle support member (2), an end support member (3), and four drive wires (4). The execution member (1) is rotatably connected to the middle support member (2) by means of a first rotary shaft (5). The middle support member (2) is rotatably connected to the end support member (3) by means of a second rotary shaft (6). The axis of the first rotary shaft (5) is spatially perpendicular to the axis of the second rotary shaft (6). A tail end of each of the drive wires (4) is guided to the execution member (1) through the end support member (3) and the middle support member (2) in sequence, and then fixedly connected to the execution member (1). The execution member (1) is driven by means of pulling a proximal end of one or more drive wires (4), thereby enabling the execution member (1) to rotate around the first rotary shaft (5) relative to the middle support member (2) to achieve a pitching action, and enabling the execution member (1) and the middle support member (2) to rotate together around the second rotary shaft (6) relative to the end support member (3) to achieve a deflection action.

Description

End effectors, surgical instruments, operating equipment, and surgical robots Technical Field

[0001] The present invention relates to a surgical robot for minimally invasive surgery, and in particular to an end effector, a surgical instrument, a slave operating device and a surgical robot. Background Art

[0002] Surgical robots assist doctors in performing minimally invasive procedures, such as intraoperative positioning, cutting, puncturing, hemostasis, and suturing. The end effector, located at the end of the surgical robot, is used to perform surgical procedures within the body. These end effectors typically have multiple degrees of freedom, enabling pitch and yaw movements. Forceps-based end effectors can also open and close the two jaws.

[0003] Chinese invention patent application CN116509551A, published on August 1, 2023, proposes an end effector mechanism for a surgical instrument and a surgical instrument that achieves pitch, yaw, and opening and closing movements through a number of guide wheels and cooperating drive cables. A Chinese invention patent application published on January 29, 2021, proposes a surgical instrument, a slave operating device, and a surgical robot that achieves pitch, yaw, and opening and closing movements through a number of pulleys and cooperating drive cables.

[0004] However, the end effectors in these two invention patent applications both require multiple guide wheels or pulleys to guide the driving member. Moreover, these two types of end effectors require many parts, making it difficult to reduce the radial size of the end effector mechanism. Summary of the Invention

[0005] The present invention proposes an end effector, a surgical instrument, a slave operating device and a surgical robot. Different from the existing technology, the present invention avoids the technical idea of ​​using a guide wheel (or pulley) to guide the driving part to achieve pitch and yaw movements, and further reduces the radial size of the end effector.

[0006] The present invention is achieved through the following technical solutions:

[0007] A terminal actuator comprises an actuator, an intermediate support, an end support and four drive wires, wherein the actuator is rotatably connected to the intermediate support via a first rotating shaft, and the intermediate support is rotatably connected to the end support via a second rotating shaft; the axis of the first rotating shaft and the axis of the second rotating shaft are vertical in space; the end of each drive wire is guided to the actuator through the end support and the intermediate support in turn and then fixedly connected to the actuator; the actuator is driven by pulling the proximal end of one or more drive wires, thereby realizing the pitch action of the actuator relative to the intermediate support around the first rotating shaft, and realizing the yaw action of the actuator and the intermediate support together rotating around the second rotating shaft relative to the end support.

[0008] Optionally, the four drive wires are respectively a first drive wire, a second drive wire, a third drive wire and a fourth drive wire. After the first drive wire and the second drive wire are guided by the end support member on the first side of the end actuator, they are wound around to the second side of the end actuator and guided by the intermediate support member. After the third drive wire and the fourth drive wire are guided by the end support member on the second side, they are wound around to the first side and guided by the intermediate support member. The first drive wire and the fourth drive wire are located on the same side of the first rotating shaft and close to the fourth side of the end actuator. The second drive wire and the third drive wire are located on the same side of the first rotating shaft and close to the third side of the end actuator; wherein, the first side and the second side are two sides formed by the end actuator in the axial direction of the first rotating shaft, and the third side and the fourth side are two sides formed by the end actuator in the axial direction of the second rotating shaft.

[0009] Optionally, the end of each driving wire includes an end straight section, a reversing section, an intermediate straight section and a fixed section connected in sequence, the end straight section is guided by the end support member, the two ends of the reversing section are respectively located on the first side and the second side, the end of the intermediate straight section close to the reversing section is guided by the intermediate support member, and the end of the fixed section is fixed on the actuator.

[0010] Optionally, a first reference plane is defined to be perpendicular to the axis of the first rotating shaft, and a second reference plane is defined to be perpendicular to the axis of the second rotating shaft;

[0011] The projection of the straight section of the end of each driving wire on the first reference plane is perpendicular to the projection of the axis of the second rotating shaft on the first reference plane;

[0012] The projection of the middle straight section of the first driving wire on the first reference plane intersects with the projection of the middle straight section of the fourth driving wire on the first reference plane, and forms a first acute misalignment angle; the projection of the middle straight section of the second driving wire on the first reference plane intersects with the projection of the middle straight section of the third driving wire on the first reference plane, and forms a second acute misalignment angle;

[0013] The projection of the end of each driving wire on the second reference plane is perpendicular to the projection of the axis of the first rotating shaft on the second reference plane.

[0014] Optionally, the first driving wire and the second driving wire are respectively fixed to the actuator through a first connecting member, and the first connecting member is a short tube, a ring or a block; the end of the third driving wire and the end of the fourth driving wire are respectively fixed to the actuator through a second connecting member, and the second connecting member is a short tube, a ring or a block.

[0015] Optionally, the actuator includes two pliers bodies rotatably connected by the first rotating shaft, the pliers bodies include a guide part and a connecting part, and the driving wire is guided to the connecting part by the guide part and then fixed to the connecting part; the opening and closing action of the actuator is realized by pulling one or more driving wires to drive the two pliers bodies to rotate in opposite directions around the axis of the first rotating shaft.

[0016] Optionally, the guide portion and the connecting portion are located on a surface of the pliers body on which they are located that faces away from the other pliers body;

[0017] The caliper body is partially protruded to form the guide portion, and the side surfaces of the guide portion form two symmetrical arc-shaped guide surfaces, and the two arc-shaped guide surfaces of the same guide portion are distributed on both sides of the first rotating shaft;

[0018] The connecting portion is in a groove shape;

[0019] One of the pliers is provided with a slider, and the other pliers is provided with a slide groove. When the slider slides from one end of the slide groove to the other end of the slide groove, the two pliers rotate relative to each other by 30° to 50°.

[0020] Optionally, the intermediate support member includes two connecting plates arranged opposite to each other, the two connecting plates are connected to the actuator via the first rotating shaft, and one end of the actuator is clamped between the two connecting plates.

[0021] Optionally, the intermediate support member is provided with an intermediate guide portion corresponding one-to-one to the drive wire, and the intermediate guide portion is used to guide the drive wire toward the position of the actuator; the intermediate guide portion is a groove concave relative to the surface of the intermediate support member.

[0022] Optionally, a first reference plane is defined to be perpendicular to the axis of the first rotating shaft, and a second reference plane is defined to be perpendicular to the axis of the second rotating shaft;

[0023] The projections of the four intermediate guide parts on the second reference plane are perpendicular to the projection of the axis of the first rotating shaft on the second reference plane;

[0024] The projections of the intermediate guide parts on the same side of the first rotating shaft on the first reference plane intersect and form a first acute offset angle, and the projections of the other two intermediate guide parts on the first reference plane intersect and form a second acute offset angle.

[0025] Optionally, the end of the intermediate support member is provided with an intermediate arc-shaped reversing portion connected one-to-one with the intermediate guide portion, and the intermediate arc-shaped reversing portion extends from the first side to the second side, and the intermediate arc-shaped reversing portion is a groove concave relative to the surface of the intermediate support member.

[0026] Optionally, the end support member includes a hollow terminal base and a reversing member, the terminal base is rotatably connected to the intermediate support member, and the reversing member is rotatably connected to the terminal base.

[0027] Optionally, the reversing member adopts a reversing wheel, and the driving wire cuts into the reversing wheel under the guidance of the end base, and cuts into the intermediate support member after switching between the first side of the end actuator and the second side of the end actuator under the guidance of the reversing wheel, wherein the first side and the second side are two sides formed by the end actuator in the axial direction of the first rotating shaft.

[0028] Optionally, the terminal base is provided with a guide hole for the driving wire to pass through, and the reversing wheel is provided with reversing grooves corresponding to the four driving wires one by one;

[0029] The end base includes a connecting column and two ear plates arranged at one end of the connecting column, the guide hole is arranged on the connecting column, and the reversing wheel is arranged between the two ear plates and has a gap between it and the connecting column;

[0030] When projected orthographically onto a reference plane perpendicular to the axis of the connecting post, the projection of the driving wire at the reversing slot is located within the projection of the outer contour of the connecting post.

[0031] Optionally, the reversing member adopts a structural block, the structural block is built into the terminal base, and the terminal base and / or the structural block is used to guide the driving wire toward the position of the intermediate support member;

[0032] The end base includes two ear plates arranged opposite to each other, the ear plates are rotatably connected to the intermediate support member, and one end of the intermediate support member is clamped between the two ear plates;

[0033] The end base also includes a tube body, one end of which is provided with the ear plate, the tube body is connected to the structural block via a third rotating shaft, and the inner surface of the tube body is provided with a limiting structure for constraining the structural block's rotational freedom relative to the tube body around the third rotating shaft.

[0034] Optionally, the structural block is provided with an end guide portion corresponding one to the drive wire, and the projection of each end guide portion on a first reference plane perpendicular to the axial direction of the first rotating shaft is perpendicular to the projection of the axis of the second rotating shaft on the first reference plane, and the projection of each end guide portion on a second reference plane perpendicular to the second rotating shaft is perpendicular to the projection of the axis of the first rotating shaft on the second reference plane.

[0035] Optionally, one end of the structural block is provided with an end arc-shaped reversing portion corresponding one-to-one to the end guide portion, the end arc-shaped reversing portion extends from the first side to the second side, and the end arc-shaped reversing portion and the end guide portion are grooves concave relative to the surface of the structural block.

[0036] Optionally, the end support piece is integrally formed, and a guide hole corresponding one-to-one to the drive wire is provided in the end support piece.

[0037] A surgical instrument comprises a drive device, a flexible tubing device and an end effector as described above, wherein the flexible tubing device has a working channel, the drive device is arranged at the proximal end of the flexible tubing device, and the end effector is arranged at the end of the flexible tubing device, and the proximal end of each drive wire extends from the proximal end of the working channel and is controlled by the drive device.

[0038] A surgical operation device comprises a robotic arm and the above-mentioned surgical instrument, wherein the flexible pipeline device is fixed on the robotic arm.

[0039] A surgical robot comprises a main operating console and the above-mentioned slave operating device, wherein the main operating console is used to control the robotic arm and the driving device.

[0040] The present invention has the following beneficial effects:

[0041] 1. In the present invention, the end supports and the intermediate supports are used to guide multiple drive wires at the same time. There is a one-to-many relationship between the end supports and the drive wires, and there is also a one-to-many relationship between the intermediate supports and the drive wires. The end supports and the intermediate supports are distributed along the length direction and occupy the space in the length direction, not the space in the radial direction. In other words, this solution uses the end supports and the intermediate supports, two components distributed along the length direction, to guide multiple drive wires to the actuator. Compared with the existing technology, this solution has fewer parts, a more compact structure, and the radial space can be further compressed. Judging from the three-dimensional model and the mechanical force simulation results of the three-dimensional model, this solution achieves the control of the radial dimension of the end actuator within 3 mm, which is unattainable by other products on the market.

[0042] 2. When the actuator uses medical forceps, the end actuator can control the three rotational degrees of freedom of the actuator, namely opening and closing, pitch and yaw, through four drive wires. Only two components, the end support and the intermediate support, are required to guide the four drive wires to the actuator, which not only simplifies the structure of the end actuator, but also reduces the risk of the pulley or guide wheel falling.

[0043] 3. In some schemes, the projection of the end of each driving wire on the second reference plane is perpendicular to the projection of the axis of the first rotating shaft on the second reference plane, which reduces the wear of the driving wire and reduces the risk of wire cutting; the projection of the straight section of the end of each driving wire on the first reference plane is perpendicular to the projection of the axis of the second rotating shaft on the first reference plane, which also reduces the wear of the driving wire and reduces the risk of wire cutting.

[0044] 4. In some solutions, the first offset acute angle and the second offset acute angle are both acute angles, which not only stagger the drive wires but also reduce wear on the drive wires. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] To more clearly illustrate the embodiments of the present invention, the following briefly describes the relevant drawings. It should be understood that the drawings described below are only used to illustrate some embodiments of the present invention, and those skilled in the art can also obtain many other technical features and connection relationships not described herein based on these drawings.

[0046] FIG1 is a front view of an end effector according to an embodiment of the present invention.

[0047] FIG2 is a cross-sectional view taken along the line DD in FIG1 .

[0048] FIG. 3 is a side view of an end effector according to an embodiment of the present invention.

[0049] FIG4 is a cross-sectional view taken along the line EE in FIG3 .

[0050] FIG. 5 is a perspective view of an end effector according to an embodiment of the present invention from one viewing angle.

[0051] FIG6 is a three-dimensional view of the end effector according to an embodiment of the present invention from another perspective, wherein the base is hidden.

[0052] FIG. 7 is an exploded view of an end effector according to an embodiment of the present invention from one perspective.

[0053] FIG. 8 is an exploded view of the end effector according to an embodiment of the present invention from another perspective.

[0054] FIG. 9 is a front view of an end effector according to another embodiment of the present invention.

[0055] FIG10 is a three-dimensional view of an end effector according to another embodiment of the present invention from one perspective, wherein the end base is hidden.

[0056] FIG11 is a three-dimensional view of an end effector according to another embodiment of the present invention from another perspective, wherein the end base is hidden.

[0057] FIG12 is a perspective view of a switching member in another embodiment of the present invention.

[0058] FIG. 13 is a schematic diagram of a support member of an end effector according to an embodiment of the present invention from one perspective.

[0059] FIG. 14 is a schematic diagram of a support member of an end effector according to an embodiment of the present invention from another perspective.

[0060] FIG. 15 is a front view of an end effector according to an embodiment of the present invention.

[0061] FIG16 is a cross-sectional view taken along the line AA of FIG15 .

[0062] FIG. 17 is a side view of an end effector according to an embodiment of the present invention.

[0063] FIG18 is a cross-sectional view taken along line BB in FIG17 .

[0064] FIG19 is a three-dimensional view of an end effector according to an embodiment of the present invention from one perspective, wherein the end base is hidden.

[0065] FIG20 is a three-dimensional view of the end effector according to an embodiment of the present invention from another perspective, wherein the end base is hidden.

[0066] FIG. 21 is an exploded view of an end effector according to an embodiment of the present invention from one perspective.

[0067] FIG. 22 is an exploded view of the end effector according to an embodiment of the present invention from another perspective.

[0068] FIG23 is a front view of an intermediate support member in one embodiment of the present invention.

[0069] FIG. 24 is a rear view of an intermediate support member according to an embodiment of the present invention.

[0070] FIG25 is a front view of a reversing member in one embodiment of the present invention.

[0071] FIG26 is a rear view of a reversing member according to an embodiment of the present invention.

[0072] FIG27 is an enlarged view of portion C of FIG15 .

[0073] Reference numerals and names in the figures are as follows: 100, end effector; 101, first side; 102, second side; 103, third side; 104, fourth side; 1, actuator; 11, clamp body; 111, guide portion; 112, connecting portion; 113, arc-shaped guide surface; 114, slider; 115. Slide; 2. Intermediate support; 21. Connecting plate; 22. Intermediate guide; 23. Intermediate arc-shaped reversing portion; 3. End support; 31. End base; 311. Ear plate; 312. Tube; 313. Guide hole; 314. Connecting column; 32. Reversing member; 321. Structural block; 3211. End guide; 322. Reversing wheel; 3221. Reversing groove; 4. Four drive wires; 41. First drive wire; 411. First end straight section; 412. First reversing section; 413. First intermediate straight section; 414. First fixed section; 42. Second drive wire Moving wire; 421, second end straight section; 422, second reversing section; 423, second middle straight section; 424, second fixed section; 43, third driving wire; 431, third end straight section; 432, third reversing section; 433, third middle straight section; 434, third fixed section; 44, fourth driving wire; 441, fourth end straight section; 442, fourth reversing section; 443, fourth middle straight section; 444, fourth fixed section; 5, first rotating shaft; 6, second rotating shaft; 7, first connecting member; 8, second connecting member; 9, third rotating shaft. DETAILED DESCRIPTION

[0074] The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention.

[0075] Figures 1-14 correspond to one embodiment, and Figures 15-27 correspond to another embodiment. As can be seen from the accompanying drawings, the two embodiments share many similarities and significant differences. To facilitate a comprehensive understanding of the design concepts of the present invention, the similarities and differences between the two embodiments are described below in conjunction with Figures 1-27. This embodiment of the present invention provides an end effector 100 for intervening at a target location within a living organism to perform medical procedures such as detection and treatment.

[0076] The end effector 100 comprises an actuator 1, an intermediate support 2, end supports 3, and four drive wires 4. The actuator 1 is used to perform specific medical procedures, such as tissue shearing, visual acquisition, and acupuncture sampling. The intermediate support 2 connects the actuator 1 and the end supports 3, and the drive wires apply force to the actuator 1 to control its operation.

[0077] The actuator 1 is rotatably connected to the intermediate support 2 via a first rotating shaft 5, and the intermediate support 2 is rotatably connected to the end support 3 via a second rotating shaft 6. The axes of the first rotating shaft 5 and the second rotating shaft 6 are perpendicular to each other, allowing the actuator 1 to rotate in two directions. Accordingly, the intermediate support 2 and the end support 3 are arranged along the length of the end actuator 100. The ends of the drive wires are guided to the actuator 1 through the end support 3 and the intermediate support 2 in sequence, and then fixedly connected to the actuator 1. During use, the proximal ends of the drive wires are located outside the body (Figures 1-11 and 15-22 only show the distal ends of the drive wires, not the proximal ends). The actuator 1 is driven by pulling the proximal ends of one or more drive wires, thereby achieving pitch motion of the actuator 1 relative to the intermediate support 2 about the first rotating shaft 5, and yaw motion of the actuator 1, the first rotating shaft 5, and the intermediate support 2 together rotating relative to the end support 3 about the second rotating shaft 6.

[0078] In this solution, the end support member 3 and the intermediate support member 2 guide multiple drive wires at the same time. There is a one-to-many relationship between the end support member 3 and the drive wire, and there is also a one-to-many relationship between the intermediate support member 2 and the drive wire. In addition, the end support member 3 and the intermediate support member 2 are distributed along the length direction, occupying the space in the length direction rather than the radial space. In other words, this solution uses the end support member 3 and the intermediate support member 2, two components distributed along the length direction, to guide the four drive wires 4 to the actuator 1. Compared with the existing technology, this solution has fewer parts, a more compact structure, and the radial space can be further compressed. Judging from the three-dimensional model and the mechanical force simulation analysis results of the three-dimensional model, this solution achieves the control of the radial size of the end actuator 100 within 3 mm, which is unattainable by other products on the market.

[0079] In conjunction with Figures 1-11 and 15-22, the four driving wires 4 are respectively a first driving wire 41, a second driving wire 42, a third driving wire 43 and a fourth driving wire 44. The first driving wire 41 and the second driving wire 42 are guided by the end support member 3 on the first side 101 of the end effector 100, and then go around to the second side 102 of the end effector 100 and are guided by the intermediate support member 2. The third driving wire 43 and the fourth driving wire 44 are guided by the end support member 3 on the second side 102, and then go around to the first side 101 and are guided by the intermediate support member 2. In the direction, the first driving wire 41 and the fourth driving wire 44 are located on the same side of the first rotating shaft 5 and close to the fourth side 104 of the end effector 100, and the second driving wire 42 and the third driving wire 43 are located on the same side of the first rotating shaft 5 and close to the third side 103 of the end effector 100; wherein, the first side 101 and the second side 102 are the two sides formed by the end effector 100 in the axial direction of the first rotating shaft 5, and the third side 103 and the fourth side 104 are the two sides formed by the end effector 100 in the axial direction of the second rotating shaft 6.

[0080] With reference to Figures 1 and 15 , to control the actuator 1 to perform an upward movement, it is sufficient to apply the same tension to the first drive wire 41 and the fourth drive wire 44. At this time, the actuator 1 rotates about the axis of the first rotating shaft 5 toward the left as shown in Figures 1 and 15 , and the second drive wire 42 and the third drive wire 43 move slightly with the rotation of the actuator 1. Accordingly, when resetting is required, the same tension is applied to the second drive wire 42 and the third drive wire 43. To control the actuator 1 to perform an upward movement, it is sufficient to apply the same tension to the second drive wire 42 and the third drive wire 43. At this time, the actuator 1 rotates about the axis of the first rotating shaft 5 toward the right as shown in the figure, and the first drive wire 41 and the fourth drive wire 44 move slightly with the rotation of the actuator 1. Accordingly, when resetting is required, the same tension is applied to the first drive wire 41 and the fourth drive wire 44.

[0081] With reference to Figures 3 and 17 , to control the actuator 1 to deflect rightward, tension can be applied to the first drive wire 41 and / or the second drive wire 42. At this point, the actuator 1 and the intermediate support member 2 rotate together about the axis of the second rotating shaft 6 toward the right as shown in Figures 3 and 17 . The third drive wire 43 and the fourth drive wire 44 move slightly with the rotation of the actuator 1. Accordingly, when resetting is required, tension can be applied to the third drive wire 43 and / or the fourth drive wire 44. To control the actuator 1 to deflect leftward, tension can be applied to the third drive wire 43 and / or the fourth drive wire 44. At this point, the actuator 1 and the intermediate support member 2 rotate together about the axis of the second rotating shaft 6 toward the left as shown in Figures 3 and 17 . The first drive wire 41 and the second drive wire 42 move slightly with the rotation of the actuator 1. Accordingly, when resetting is required, tension can be applied to the first drive wire 41 and / or the second drive wire 42.

[0082] In an embodiment of the present invention, the end of the drive wire includes a sequentially connected end straight section, a reversing section, an intermediate straight section, and a fixed section. The end straight section is guided by the end support 3. The two ends of the reversing section are located on the first side 101 and the second side 102, respectively. The reversing section is curved, and the drive wire achieves reversal between the first side 101 and the second side 102 in the reversing section. In the embodiments shown in Figures 1-14 and 15-27, the reversing section directly bypasses the gap between the intermediate support 2 and the reversing member 32 (the reversing wheel 322 or the reversing structure block 321) of the end support 3 to achieve reversal. In other embodiments, the reversing section can achieve reversal by passing through the hole of the end support 3 or the hole of the intermediate support 2. The end of the intermediate straight section near the reversing section is guided by the intermediate support 2, and the other end cuts into the actuator 1. The fixed section is in contact with the corresponding structure on the actuator 1, and the end of the fixed section is fixed to the actuator 1.

[0083] As shown in Figures 7, 8, 21 and 22, the end of the first driving wire 41 includes a first end straight section 411, a first reversing section 412, a first middle straight section 413 and a first fixed section 414; the end of the second driving wire 42 includes a second end straight section 421, a second reversing section 422, a second middle straight section 423 and a second fixed section 424; the end of the third driving wire 43 includes a third end straight section 431, a third reversing section 432, a third middle straight section 433 and a third fixed section 434; the end of the fourth driving wire 44 includes a fourth end straight section 441, a fourth reversing section 442, a fourth middle straight section 443 and a fourth fixed section 444.

[0084] A first reference plane is defined as perpendicular to the axis of the first rotating shaft 5, and a second reference plane is defined as perpendicular to the axis of the second rotating shaft 6. The projections of the end straight segments of each drive wire (i.e., the first end straight segment 411, the second end straight segment 421, the third end straight segment 431, and the fourth end straight segment 441) on the first reference plane are perpendicular to the projections of the axis of the second rotating shaft 6 on the first reference plane. The projections of the middle straight segment of the first drive wire 41 (i.e., the first middle straight segment 413) and the middle straight segment of the fourth drive wire 44 (i.e., the fourth middle straight segment 443) on the first reference plane intersect, forming a first acute misalignment angle (as shown in FIG. 27). Setting the first acute misalignment angle allows the first and fourth drive wires 41 and 44 to be offset in the reversing section, avoiding interference. The value of the first acute misalignment angle is relatively small and can be determined based on the diameter of the drive wires, as long as the first and fourth drive wires 41 and 44 do not interfere with each other.

[0085] The projection of the middle straight segment of the second drive wire 42 (i.e., the second middle straight segment 423) on the first reference plane intersects with the projection of the middle straight segment of the third drive wire 43 (i.e., the third middle straight segment 433) on the first reference plane, forming a second acute misalignment angle. In FIG27 , the dotted line L is an auxiliary line parallel to the third middle straight segment 433. The angle between the dotted line L and the second middle straight segment 423 is the second acute misalignment angle. After setting the second acute misalignment angle, the second drive wire 42 and the third drive wire 43 can be staggered in the reversing section, avoiding interference. The value of the second acute misalignment angle is relatively small and can be determined based on the diameter of the drive wire, as long as the second drive wire 42 and the third drive wire 43 do not interfere with each other.

[0086] As shown in Figure 3, the projection of the end of the driving wire on the second reference plane is not perpendicular to the projection of the axis of the first rotating shaft 5 on the second reference plane. As an alternative, combined with Figures 16 and 17, in this embodiment, the projection of the end of each driving wire on the second reference plane is perpendicular to the projection of the axis of the first rotating shaft 5 on the second reference plane, thereby avoiding the phenomenon of wire cutting when the driving wire is converted between different components, thereby improving reliability and service life.

[0087] With reference to Figures 7, 8, 21, and 22, it is understood that the first drive wire 41 and the second drive wire 42 are respectively fixed to the actuator 1 via the first connecting member 7. The first connecting member 7 is in the shape of a short tube, a ring, or a block. The first drive wire 41 and the second drive wire 42 can be two separate parts, each fixed to the first connecting member 7. As an alternative, the first drive wire 41 and the second drive wire 42 can be integrally formed, that is, implemented by a single wire (or thread). During assembly, the wire (or thread) can be positioned relative to the first connecting member 7 and the actuator 1 before the two are fixedly connected. The first connecting member 7 and the actuator 1 can be fixed by welding or clamping.

[0088] Continuing to refer to Figures 7, 8, 21, and 22, it can be understood that the ends of the third drive wire 43 and the fourth drive wire 44 are respectively fixed to the actuator 1 via the second connecting member 8. The second connecting member 8 is in the shape of a short tube, a ring, or a block. The third drive wire 43 and the fourth drive wire 44 can be two separate parts, each fixed to the second connecting member 8. As an alternative, the third drive wire 43 and the fourth drive wire 44 can be integrally formed, that is, implemented by a single wire (or thread). During assembly, after positioning the wire (or thread) relative to the second connecting member 8 and the actuator 1, the two can be fixedly connected. The second connecting member 8 and the actuator 1 can be fixed by welding or clamping.

[0089] The actuator 1 can be medical forceps, a sampling brush, a sampling needle, an image acquisition device, or the like. In the two embodiments shown in Figures 1-14 and 15-27, the actuator 1 is a medical forceps used to perform sampling or treatment operations. The actuator 1 comprises two forceps bodies 11 rotatably connected by a first rotating shaft 5. The opening and closing of the actuator 1 is achieved by pulling one or more drive wires to drive the two forceps bodies 11 in opposite directions about the axis of the first rotating shaft 5. For reference, Figure 1 illustrates that to control the opening of the actuator 1, the first and third drive wires 41, 43, 42, and 44 are pulled simultaneously, or only one of the four drive wires 4 is pulled.

[0090] In the prior art, the opening and closing, pitching and yaw movements are each controlled by two different drive wires matched with pulleys. In the two embodiments of the present invention, four drive wires 4 are used in conjunction with the end supports 3 and the intermediate supports 2 to realize the opening and closing, pitching and yaw movements of the actuator 1. This not only reduces the number of drive wires and correspondingly reduces the risk of drive wire entanglement, but also reduces the number of components guiding the drive wires, thereby further simplifying the structure and improving the compactness of the device.

[0091] As shown in Figures 7, 8, 21, and 22, the pliers body 11 includes a guide portion 111 and a connecting portion 112. The actuating wire is guided to the connecting portion 112 via the guide portion 111 and then fixed to the connecting portion 112. Specifically, the facing surfaces of the two pliers bodies 11 (i.e., the inner surfaces of the pliers bodies 11) are arranged in a close relationship, and the guide portion 111 and the connecting portion 112 are provided on the opposite surfaces of the pliers bodies 11 (i.e., the outer surfaces of the pliers bodies 11). Accordingly, the actuating wire is connected to the outer surfaces of the pliers bodies 11, thereby increasing the distance between the first actuating wire 41, the second actuating wire 42 and the third actuating wire 43, and the fourth actuating wire 44, preventing entanglement between the different actuating wires and facilitating assembly.

[0092] The pliers body 11 partially protrudes to form a guide portion 111, and the side surfaces of the guide portion 111 form two symmetrical arc-shaped guide surfaces 113. The arc-shaped guide surface 113 adopts a cylindrical surface. The two arc-shaped guide surfaces 113 of the same guide portion 111 are distributed on both sides of the first rotating shaft 5, wherein the first drive wire 41 and the second drive wire 42 share a guide portion 111, and the first fixed section 414 and the second fixed section 424 each extend in contact with an arc-shaped guide surface 113 until they are fixedly connected to the first connecting member 7; the third drive wire 43 and the fourth drive wire 44 share another guide portion 111, and the third fixed section 434 and the fourth fixed section 444 each extend in contact with an arc-shaped guide surface 113 until they are fixedly connected to the second connecting member 8.

[0093] In the two embodiments shown in Figures 1-14 and 15-27, the connecting portion 112 is groove-shaped, which facilitates the positioning of the first connecting member 7 and the second connecting member 8. If the first connecting member 7 or the second connecting member 8 becomes loose, the connecting portion 112 can also lock it and prevent it from moving, thereby improving the reliability of the device. In addition, each embodiment shows a specific shape of the connecting portion 112. In other embodiments, the connecting portion 112 can be arbitrarily deformed while still being groove-shaped.

[0094] As shown in Figures 7, 8, 21, and 22, one of the jaws 11 is provided with a slider 114, and the other jaw 11 is provided with a slot 115. When the slider 114 slides from one end of the slot 115 to the other end of the slot 115, the two jaws 11 rotate relative to each other by 30° to 50°. The slider 114 and slot 115 cooperate to improve the stability of the two jaws 11 during relative rotation and also limit the maximum angle at which the two jaws 11 can open, preventing damage to human tissue due to excessive opening angles.

[0095] In an embodiment of the present invention, the intermediate support member 2 includes two connecting plates 21 arranged opposite each other, the two connecting plates 21 are connected to the actuator 1 through the first rotating shaft 5, and one end of the actuator 1 is clamped between the two connecting plates 21, that is, the intermediate support member 2 is connected to the actuator 1 from the outside.

[0096] Refer to Figures 9, 10, 23, and 24 for understanding. In an embodiment of the present invention, intermediate support member 2 is provided with an intermediate guide portion 22 corresponding one-to-one with the drive wire. Intermediate guide portion 22 is used to guide the drive wire toward the position of actuator 1. In some embodiments, intermediate guide portion 22 is a groove recessed relative to the surface of intermediate support member 2. In other embodiments, as an alternative, intermediate guide portion 22 can be a hole provided within intermediate support member 2, or a structure including a hole or groove provided protruding from the surface of intermediate support member 2.

[0097] The intermediate guide portion 22 corresponds to one end of the above-mentioned intermediate straight section close to the reversing section. Specifically, in the embodiment corresponding to Figures 1-14, the projections of the four intermediate guide portions 22 on the second reference plane are not perpendicular to the projection of the axis of the first rotating shaft 5 on the second reference plane. In the embodiment shown in Figures 15-27, the projections of the four intermediate guide portions 22 on the second reference plane are perpendicular to the projection of the axis of the first rotating shaft 5 on the second reference plane; in the embodiment shown in Figures 15-27, the projections of the intermediate guide portions 22 located on the same side of the first rotating shaft 5 (the two intermediate guide portions 22 corresponding to the first intermediate straight section 413 and the fourth intermediate straight section 443) on the first reference plane intersect and form a first acute misalignment angle, and the projections of the other two intermediate guide portions 22 (the two intermediate guide portions 22 corresponding to the second intermediate straight section 423 and the third intermediate straight section 433) on the first reference plane intersect and form a second acute misalignment angle. It should be noted that the first offset acute angle and the second offset acute angle are explained from the perspective of the intermediate guide portion 22 , which does not conflict with the above explanation from the perspective of the driving wire.

[0098] The end of the intermediate support member 2 is provided with an intermediate arcuate reversing portion 23 connected in a one-to-one correspondence with the intermediate guide portion 22. The intermediate arcuate reversing portion 23 extends from the first side 101 to the second side 102 and is a groove concave relative to the surface of the intermediate support member 2. The shape of the intermediate arcuate reversing portion 23 facilitates smooth cutting in and out of the drive wire, reducing the risk of wire cutting.

[0099] In an embodiment of the present invention, the end support member 3 includes a hollow terminal base 31 and a reversing member 32. The structure of the reversing member 32 and its connection relationship with the terminal base 31 can have different forms of embodiment. The following describes this part separately for the two embodiments of Figures 1-14 and Figures 15-27 respectively.

[0100] 14-17 , the reversing member 32 adopts a reversing wheel 322 , and the driving wire cuts into the reversing wheel 322 under the guidance of the base, and cuts into the intermediate support member 2 after switching between the first side 101 of the end effector 100 and the second side 102 of the end effector 100 under the guidance of the reversing wheel 322 .

[0101] Specifically, the terminal base 31 is provided with guide holes 313 for the drive wires to pass through. The guide holes 313 are arranged one-to-one with the drive wires, and the guide holes 313 ensure that the drive wires are smoothly connected to the reversing wheel 322. The reversing wheel 322 is provided with reversing grooves 3221 corresponding one-to-one with the four drive wires 4. As shown in Figure 12, the reversing grooves 3221 are annular grooves, so that the reversing wheel 322 can rotate while also smoothly guiding the drive wires.

[0102] The end base 31 includes a connecting column 314 and two ear plates 311 arranged at one end of the connecting column 314. The guide hole 313 is arranged on the connecting column 314. The reversing wheel 322 is arranged between the two ear plates 311 and there is a gap between it and the connecting column 314, thereby increasing the contact length between the driving wire and the reversing groove 3221 and improving the stability of the driving wire.

[0103] When projected onto a reference plane perpendicular to the axis of the connecting post 314 , the projection of the driving wire at the reversing groove 3221 is located within the projection of the outer contour of the connecting post 314 , so that the radial dimension of the end effector 100 can be minimized.

[0104] In the embodiment shown in Figures 15-27, the reversing member 32 adopts a structural block 321, which is a block structure. The end base 31 is rotatably connected to the intermediate support member 2, and the structural block 321 is built into the end base 31. The end base 31 and / or the structural block 321 are used to guide the driving wire toward the position of the intermediate support member 2.

[0105] Specifically, the end base 31 includes two ear plates 311 arranged opposite to each other. The ear plates 311 are rotatably connected to the intermediate support member 2 , and one end of the intermediate support member 2 is clamped between the two ear plates 311 .

[0106] The end base 31 also includes a tube body 312, one end of which is provided with an ear plate 311. The tube body 312 is connected to the structural block 321 via the third rotating shaft 9. The structural block 321 is integrally built into the tube body 312 and partially extends out of the end face of the tube body 312. A limiting structure is provided on the inner surface of the tube body 312 for constraining the rotational freedom of the structural block 321 relative to the tube body 312 around the third rotating shaft 9. In other words, the structural block 321 is fixed to the tube body 312 via the third rotating shaft 9 and the limiting structure.

[0107] As shown in Figures 25 and 26, the structural block 321 is provided with end guide parts 3211 corresponding to the driving wires one by one. The projection of each end guide part 3211 on the first reference plane is perpendicular to the projection of the axis of the second rotating shaft 6 on the first reference plane. The projection of each end guide part 3211 on the second reference plane perpendicular to the second rotating shaft 6 is perpendicular to the projection of the axis of the first rotating shaft 5 on the second reference plane, thereby reducing the risk of wire cutting of the driving wire.

[0108] One end of the structural block 321 is provided with a terminal arc-shaped reversing portion corresponding one-to-one with the terminal guide portion 3211. The terminal arc-shaped reversing portion extends from the first side 101 to the second side 102. The terminal arc-shaped reversing portion and the terminal guide portion 3211 are grooves concave relative to the surface of the structural block 321. The shape of the terminal arc-shaped reversing portion facilitates smooth cutting in and out of the drive wire, reducing the risk of wire cutting.

[0109] In the embodiment shown in Figures 15-27, the end base 31 and the structural block 321 are relatively independent components. In some other embodiments, as a replacement means, the end support member 3 is integrally formed, and the end support member 3 is provided with a guide hole corresponding to the drive wire one by one, and the drive wire passes through the guide hole.

[0110] An embodiment of the present invention further provides a surgical instrument comprising a drive device, a flexible conduit device, and an end effector 100 as described in any of the aforementioned embodiments. The flexible conduit device is used to establish a flexible working channel, the drive device is disposed at the proximal end of the flexible conduit device, and the end effector 100 is disposed at the distal end of the flexible conduit device. The proximal ends of the drive wires extend from the proximal end of the working channel and are controlled by the drive device. The flexible conduit device and the drive device can be implemented using existing technologies. Since neither of these components is an improvement of the present invention, their structures will not be described in detail here.

[0111] The present invention also provides a slave operation device comprising a robotic arm and the above-mentioned surgical instrument, wherein the flexible conduit device is fixed to the robotic arm. The large-scale movement of the end control device is achieved by the robotic arm, and the fine-tuning movement is achieved by the drive device.

[0112] An embodiment of the present invention also provides a surgical robot, including a main operating console and the above-mentioned slave operating device. The main operating console is used to control the robotic arm and the drive device. The main operating device and the slave operating device can be made separately so that the slave operating device can be remotely controlled by the master operating device.

[0113] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. An end effector, characterized in that: The invention comprises an actuator, an intermediate support, an end support and four driving wires, wherein the actuator is rotatably connected to the intermediate support via a first rotating shaft, and the intermediate support is rotatably connected to the end support via a second rotating shaft; the axis of the first rotating shaft and the axis of the second rotating shaft are vertical in space; the end of each driving wire is guided to the actuator through the end support and the intermediate support in sequence and then fixedly connected to the actuator; the actuator is driven by pulling the proximal end of one or more driving wires, thereby realizing the pitch and pitch motion of the actuator relative to the intermediate support rotating around the first rotating shaft, and realizing the yaw motion of the actuator and the intermediate support rotating together relative to the end support around the second rotating shaft.

2. The end effector according to claim 1, characterized in that: The four driving wires are respectively a first driving wire, a second driving wire, a third driving wire and a fourth driving wire. After the first driving wire and the second driving wire are guided by the end support member on the first side of the end actuator, they are wound around to the second side of the end actuator and guided by the intermediate support member. After the third driving wire and the fourth driving wire are guided by the end support member on the second side, they are wound around to the first side and guided by the intermediate support member. The first driving wire and the fourth driving wire are located on the same side of the first rotating shaft and close to the fourth side of the end actuator. The second driving wire and the third driving wire are located on the same side of the first rotating shaft and close to the third side of the end actuator; wherein the first side and the second side are two sides formed by the end actuator in the axial direction of the first rotating shaft, and the third side and the fourth side are two sides formed by the end actuator in the axial direction of the second rotating shaft.

3. The end effector according to claim 2, characterized in that: The end of each driving wire includes an end straight section, a reversing section, an intermediate straight section and a fixed section connected in sequence, the end straight section is guided by the end support member, the two ends of the reversing section are respectively located on the first side and the second side, the end of the intermediate straight section close to the reversing section is guided by the intermediate support member, and the end of the fixed section is fixed to the actuator.

4. The end effector according to claim 3, characterized in that: Define a first reference plane perpendicular to the axis of the first rotating shaft, and define a second reference plane perpendicular to the axis of the second rotating shaft; The projection of the end straight section of each driving wire on the first reference plane is perpendicular to the projection of the axis of the second rotating shaft on the first reference plane; The projection of the middle straight section of the first driving wire on the first reference plane intersects with the projection of the middle straight section of the fourth driving wire on the first reference plane, and forms a first acute misalignment angle; the projection of the middle straight section of the second driving wire on the first reference plane intersects with the projection of the middle straight section of the third driving wire on the first reference plane, and forms a second acute misalignment angle; The projection of the end of each driving wire on the second reference plane is perpendicular to the projection of the axis of the first rotating shaft on the second reference plane.

5. The end effector according to claim 4, characterized in that: The first driving wire and the second driving wire are respectively fixed to the actuator through a first connecting member, and the first connecting member is a short tube, a ring or a block; the end of the third driving wire and the end of the fourth driving wire are respectively fixed to the actuator through a second connecting member, and the second connecting member is a short tube, a ring or a block.

6. The end effector according to claim 1, characterized in that: The actuator includes two pliers bodies rotatably connected by the first rotating shaft, the pliers bodies include a guiding part and a connecting part, the driving wire is guided to the connecting part by the guiding part and then fixed to the connecting part; the opening and closing action of the actuator is realized by pulling one or more driving wires to drive the two pliers bodies to rotate in opposite directions around the axis of the first rotating shaft.

7. The end effector according to claim 6, characterized in that: The guide portion and the connecting portion are located on the surface of the pliers body where they are located facing away from the other pliers body; The caliper body is partially protruded to form the guide portion, and the side surface of the guide portion forms two symmetrical arc-shaped guide surfaces, and the two arc-shaped guide surfaces of the same guide portion are distributed on both sides of the first rotating shaft; The connecting portion is in the shape of a groove; One of the pliers is provided with a slider, and the other pliers is provided with a slide groove. When the slider slides from one end of the slide groove to the other end of the slide groove, the two pliers rotate relative to each other by 30° to 50°.

8. The end effector according to claim 1, characterized in that: The intermediate support member includes two connecting plates that are arranged opposite to each other. The two connecting plates are connected to the actuator via the first rotating shaft, and one end of the actuator is clamped between the two connecting plates.

9. The end effector according to claim 8, characterized in that: The intermediate support member is provided with an intermediate guide portion corresponding to the drive wire one by one, and the intermediate guide portion is used to guide the drive wire toward the position of the actuator; the intermediate guide portion is a groove concave relative to the surface of the intermediate support member.

10. The end effector according to claim 9, characterized in that: Define a first reference plane perpendicular to the axis of the first rotating shaft, and define a second reference plane perpendicular to the axis of the second rotating shaft; The projections of the four intermediate guide parts on the second reference plane are perpendicular to the projections of the axis of the first rotating shaft on the second reference plane; The projections of the intermediate guide parts on the same side of the first rotating shaft on the first reference plane intersect and form a first acute misalignment angle, and the projections of the other two intermediate guide parts on the first reference plane intersect and form a second acute misalignment angle.

11. The end effector according to claim 8, characterized in that: An intermediate arc-shaped reversing portion connected to the intermediate guide portion in one-to-one correspondence is provided at the end of the intermediate support member, and the intermediate arc-shaped reversing portion extends from the first side to the second side, and the intermediate arc-shaped reversing portion is a groove concave relative to the surface of the intermediate support member.

12. The end effector according to claim 1, characterized in that: The end support member comprises a hollow end base and a reversing member, wherein the end base is rotatably connected to the intermediate support member, and the reversing member is rotatably connected to the end base.

13. The end effector according to claim 12, characterized in that: The reversing member adopts a reversing wheel, and the driving wire cuts into the reversing wheel under the guidance of the end base, and cuts into the intermediate support member after switching between the first side of the end actuator and the second side of the end actuator under the guidance of the reversing wheel, wherein the first side and the second side are two sides formed by the end actuator in the axial direction of the first rotating shaft.

14. The end effector according to claim 13, characterized in that: The terminal base is provided with a guide hole for the driving wire to pass through, and the reversing wheel is provided with reversing grooves corresponding to the four driving wires one by one; The end base includes a connecting column and two ear plates arranged at one end of the connecting column, the guide hole is arranged on the connecting column, and the reversing wheel is arranged between the two ear plates and there is a gap between the reversing wheel and the connecting column; When projected orthographically onto a reference plane perpendicular to the axis of the connecting post, the projection of the driving wire at the reversing groove is located within the projection of the outer contour of the connecting post.

15. The end effector according to claim 12, characterized in that: The switching member adopts a structural block, and the structural block is built in the terminal base. The terminal base and / or the structural block are used to guide the driving wire toward the position of the intermediate support member; The end base includes two ear plates arranged opposite to each other, the ear plates are rotatably connected to the intermediate support member, and one end of the intermediate support member is clamped between the two ear plates; The end base also includes a tube body, one end of which is provided with the ear plate, the tube body is connected to the structural block via a third rotating shaft, and the inner surface of the tube body is provided with a limiting structure for constraining the rotational freedom of the structural block relative to the tube body around the third rotating shaft.

16. The end effector according to claim 15, characterized in that: The structural block is provided with end guide parts corresponding to the driving wires one by one, and the projection of each end guide part on a first reference plane perpendicular to the axial direction of the first rotating shaft is perpendicular to the projection of the axis of the second rotating shaft on the first reference plane, and the projection of each end guide part on a second reference plane perpendicular to the second rotating shaft is perpendicular to the projection of the axis of the first rotating shaft on the second reference plane.

17. The end effector according to claim 16, characterized in that: One end of the structural block is provided with a terminal arc-shaped reversing portion corresponding to the terminal guide portion one by one, the terminal arc-shaped reversing portion extends from the first side to the second side, and the terminal arc-shaped reversing portion and the terminal guide portion are grooves concave relative to the surface of the structural block.

18. The end effector according to claim 1, characterized in that: The end support is integrally formed, and guide holes corresponding to the drive wires are provided in the end support.

19. A surgical instrument, characterized in that: It comprises a driving device, a flexible pipeline device and an end effector according to any one of claims 1 to 18, wherein the flexible pipeline device has a working channel, the driving device is arranged at the proximal end of the flexible pipeline device, the end effector is arranged at the end of the flexible pipeline device, and the proximal end of each driving wire extends from the proximal end of the working channel and is controlled by the driving device.

20. A slave operating device, characterized in that: It comprises a robotic arm and the surgical instrument according to claim 19, wherein the flexible tubing device is fixed on the robotic arm.

21. A surgical robot, characterized in that: It comprises a main operation console and a slave operation device as claimed in claim 20, wherein the main operation console is used to control the mechanical arm and the driving device.

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