Parallel motion mechanism, surgical instrument, and surgical robot

Abstract

A parallel motion mechanism (130), a surgical instrument (100), and a surgical robot (200). The parallel motion mechanism (130) comprises a proximal joint (10), a distal joint (20), constraint lines (30), and a plurality of drive assemblies (40). The distal end of the proximal joint (10) is swingable along at least one plane relative to the proximal end thereof, and each plane passes through the central axis of the parallel motion mechanism (130) and defines a normal plane passing through the central axis. The distal end of the distal joint (20) is swingable along at least one plane relative to the proximal end thereof. The constraint lines (30) are used for maintaining the orientation of the distal end of the distal joint (20) relative to the proximal end of the proximal joint (10). The drive assemblies (40) are used for actuating the distal joint (20), and each drive assembly (40) comprises a distal flexible member (45), a proximal flexible member (46), and a connecting member (47). The distal flexible member (45) comprises a distal section (48) located within the distal joint (20). The proximal flexible member (46) comprises a proximal section (49) located within the proximal joint (10). The connecting member (47) is connected to the distal flexible member (45) and the proximal flexible member (46), and the stiffness thereof is greater than that of the two flexible members (45, 46). In a neutral state, the distal section (48) and the proximal section (49) are located on two sides of the normal plane, respectively.

Description

Parallel motion mechanism, surgical instrument and surgical robot CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to Chinese patent application 202311871655.1, filed on December 29, 2023, entitled “Parallel Motion Mechanism, Surgical Instrument and Surgical Robot,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the technical field of medical instruments, and in particular to a parallel motion mechanism for a surgical instrument, a surgical instrument having the parallel motion mechanism, and a surgical robot having the surgical instrument. Background Art

[0003] Prior art techniques employ a parallel motion mechanism connected in series between the end effector and the rear end of a surgical instrument, enabling the end effector to more easily reach the desired operating position. Furthermore, the parallel motion mechanism alters the end effector's position without changing its orientation. Compared to joint-connected structures, the use of a parallel motion mechanism ensures a greater range of motion for the end effector. Improving the actuation stiffness of the parallel motion mechanism also improves the mechanism's motion precision. Summary of the Invention

[0004] The Summary of the Invention introduces a series of simplified concepts that will be further described 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 claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] The first aspect of the present application provides a parallel motion mechanism for a surgical instrument, comprising: a proximal joint, the distal end of the proximal joint being capable of swinging along at least one plane relative to the proximal end of the proximal joint, each of the planes defining a normal plane, the normal plane passing through the central axis and being perpendicular to the corresponding plane; a distal joint for connecting an end effector, the distal end of the distal joint being capable of swinging along at least one plane relative to the proximal end of the distal joint, the proximal end of the distal joint being connected to and relatively fixed to the distal end of the proximal joint; a constraint line for maintaining the orientation of the distal end of the distal joint relative to the proximal end of the proximal joint, one end of the constraint line being fixed to the distal joint The distal end of the joint, the other end of the constraint line is fixed to the proximal end of the proximal joint; a plurality of drive assemblies for actuating the distal joint, each of the drive assemblies comprising: a distal flexible member, the distal flexible member passing through the distal joint and fixed to the distal end of the distal joint, the distal flexible member comprising a distal section located within the distal joint; a proximal flexible member, the proximal flexible member passing through the proximal joint and used to be connected to a rear-end transmission device, the proximal flexible member comprising a proximal section located within the proximal joint; and a connecting member connecting the distal flexible member and the proximal flexible member, the stiffness of the connecting member being greater than the stiffness of the distal flexible member and greater than the stiffness of the proximal flexible member.

[0006] A second aspect of the present application provides a surgical instrument, comprising:

[0007] The parallel motion mechanism according to any one of the technical solutions of the first aspect;

[0008] an end effector connected to a distal joint of the parallel motion mechanism; and

[0009] A rear end transmission device is provided, to which the distal end of the proximal flexible member is connected.

[0010] A third aspect of the present application provides a surgical robot, comprising:

[0011] a robotic arm, wherein the robotic arm is provided with an instrument driving device; and

[0012] According to the surgical instrument described in any one of the technical solutions of the second aspect, the surgical instrument is detachably connected to the robotic arm, and the instrument driving device is in transmission connection with the rear end transmission device to control the proximal flexible member through the rear end transmission device. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The following drawings of the present application are used as a part of the present application for understanding the present application. The drawings show the embodiments of the present application and the description thereof, which are used to explain the principle of the present application.

[0014] In the attached figure:

[0015] FIG1 is a schematic top view of a surgical robot according to an embodiment of the present application;

[0016] FIG2 is a schematic side view of the robotic arm system in FIG1 ;

[0017] FIG3 is a schematic diagram of a surgical instrument according to an embodiment of the present application;

[0018] FIG4 is a schematic diagram of some components of the surgical instrument shown in FIG3 , showing the distal joint, the terminal joint and the end effector;

[0019] FIG5 is a schematic diagram of the surgical instrument shown in FIG3 , wherein the shaft tube is omitted;

[0020] FIG6 is a schematic diagram of some components of the surgical instrument shown in FIG3 , showing the proximal joint, distal joint, distal joint, end effector and end drive wire;

[0021] 7 is a schematic diagram of some components of a parallel motion mechanism according to an embodiment of the present application, showing a proximal joint, a distal joint, and a constraint line;

[0022] FIG8 is a schematic diagram of some components of a parallel motion mechanism according to an embodiment of the present application, showing a proximal joint, a distal joint, and a drive assembly;

[0023] FIG9 is a schematic diagram of the drive assembly shown in FIG8 ;

[0024] FIG10 is a schematic diagram of the connecting member shown in FIG9 ;

[0025] 11 and 12 are schematic diagrams of modified examples of the connecting member shown in FIG. 10 ;

[0026] FIG13 is a schematic diagram of a parallel motion mechanism according to an embodiment of the present application, wherein the shaft tube and the constraint wire are omitted, and the parallel motion mechanism is in a zero position state;

[0027] FIG14 is a schematic side view of the parallel motion mechanism shown in FIG3 along a direction parallel to the first plane, wherein the first proximal joint portion and the first distal joint portion deviate from a zero angle;

[0028] FIG15 is a schematic side view of the parallel motion mechanism shown in FIG3 along a direction parallel to the second plane, wherein the second proximal joint portion and the second distal joint portion deviate from a zero angle;

[0029] FIG16 is a schematic diagram of a view taken along the L1 direction in FIG13;

[0030] FIG17 is a schematic diagram of a view taken along the L2 direction in FIG13;

[0031] FIG18 is a schematic diagram of various forms of arrangement of the multiple connecting members shown in FIG13 along the axial direction of the parallel motion mechanism;

[0032] FIG. 19 is a schematic diagram of the proximal joint shown in FIG. 13 . DETAILED DESCRIPTION

[0033] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it will be apparent to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, some technical features well known in the art are not described in order to avoid confusion with the present application.

[0034] In order to thoroughly understand the present application, a detailed description will be provided in the following description. It should be understood that these embodiments are provided to make the disclosure of the present application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art. Obviously, the implementation of the embodiments of the present application is not limited to the specific details familiar to those skilled in the art. The preferred embodiments of the present application are described in detail below, but in addition to these detailed descriptions, the present application may also have other embodiments.

[0035] Ordinal numbers such as "first" and "second" used in this application are merely identifiers and do not convey any other meaning, such as a specific order. Furthermore, for example, the term "first component" itself does not imply the existence of a "second component," nor does the term "second component" itself imply the existence of a "first component." The use of terms such as "first," "second," and "third" does not indicate any order; these terms should be interpreted as names.

[0036] It should be noted that the terms "upper", "lower", "front", "back", "left", "right", "inside", "outside" and similar expressions used in this application are for illustrative purposes only and are not restrictive.

[0037] The terms "distal" and "proximal" used in this application are directional words, which are commonly used terms in the field of interventional medical devices, where "distal" refers to the end away from the operator during the operation, and "proximal" refers to the end close to the operator during the operation.

[0038] The terms "center," "parallel," "perpendicular," and "aligned" as used in this application do not necessarily have to be exact, but may include typical engineering tolerances.

[0039] The present application provides a parallel motion mechanism for a surgical instrument, a surgical instrument having the parallel motion mechanism, and a surgical robot having the surgical instrument.

[0040] Hereinafter, specific embodiments of the present application will be described in more detail with reference to the accompanying drawings. These drawings illustrate representative embodiments of the present application and do not limit the present application.

[0041] The surgical robot 200 according to an embodiment of the present application is a robot that can be remotely controlled to perform surgery. Referring to FIG1 , the surgical robot 200 may include a control system 210 (also referred to as a physician's console 210 ), a robotic arm system 220 (also referred to as an adjacent robotic arm system 220 ), and an imaging system 230 (also referred to as an endoscope system 230 ).

[0042] The control system 210 includes a display unit for displaying the surgical instrument environment, operator control mechanisms, and armrests. The display unit features an observation window for the surgeon, the operator control mechanisms are designed to correspond to the movements of the surgical instruments, and the armrests are used to support the surgeon's arms. Additionally, the surgeon's console 210 features other control switches that can be easily touched or pressed by the surgeon's hands or feet to operate various functions and facilitate human-computer interaction.

[0043] The imaging system 230 has a display screen, an endoscope controller, system electronics, an image processor, and the like.

[0044] 2 , the robotic arm system 220 may include at least one robotic arm 221 and a surgical instrument 100 mounted thereon. The robotic arm 221 has several connecting arms, with adjacent connecting arms moving relative to each other with specific degrees of freedom, allowing the distal end of the robotic arm to achieve multiple degrees of freedom (e.g., 7 degrees of freedom, with varying degrees of freedom depending on the surgical instrument). A holding arm 222 is provided at the distal end of the robotic arm 221, to which the surgical instrument 100 is detachably mounted. The surgical instrument 100 may be an instrument for performing surgical operations, such as an electrocauterizer, clamp, or vascular occluder, or a camera for capturing images of the surgical area, such as an endoscope, or other surgical instrument.

[0045] In some examples, the robotic arm 221 can be configured to mechanically move about a remote center of motion (RCM). For example, in laparoscopic surgery, the RCM is defined as the port for accessing the patient's abdominal cavity during surgery. During surgery, the robotic arm 221 is manipulated to cause the robotic arm 222 to move the surgical instrument 100 to perform pitch, yaw, insertion, and rotation. During this movement, the longitudinal axis of the surgical instrument 100 always passes through the RCM point to prevent the surgical instrument 110 from causing non-surgical damage to the patient's abdominal incision.

[0046] The surgical instrument 100 includes, from the proximal end to the distal end, a rear transmission device 150, a shaft 140, and an end effector 110. The rear transmission device 150 is in transmission connection with an instrument drive device provided in the arm 222. The rear transmission device 150 can be connected to the end effector 110 via a transmission member such as a push-pull rod, a wire, a rope, or a belt. The shaft 140 is connected between the rear transmission device 150 and the end effector 110 to separate the rear transmission device 150 and the end effector 110 and to support the end effector 110. The end effector 110 can be a cutting head for surgical operations such as cutting tissue, such as a hook, a spatula, a needle, a clamp, or a pair of scissors, or can be an endoscopic lens for image acquisition. For example, in the example of the present application, referring to FIG4 , the end effector 110 is a clamp comprising a first jaw 111 and a second jaw 112 capable of opening and closing. When the surgical instrument 100 is an electric surgical instrument, the surgical instrument 100 further includes a cable electrically connected to the end effector 110 for energizing the end effector 110 .

[0047] Furthermore, a joint, such as a wrist joint, a parallel motion mechanism, an elbow joint, etc., may be provided between the end effector 110 and the shaft 140 to improve the mobility of the end effector 110. The rear transmission device 150 may drive the joint to move via a transmission member such as a push-pull rod, a wire, a rope, or a belt.

[0048] 3 , a surgical instrument 100 according to an embodiment of the present application includes an end joint 120 and a parallel motion mechanism 130. An end effector 110 is connected to the distal end of the wrist joint 120, and the proximal end of the wrist joint 120 is connected to the distal end of the parallel motion mechanism 130. In the example of the present application, the wrist joint 120 is closer to the end effector 110 than the other joints and is therefore also referred to as the end joint in this application.

[0049] In the example of the present application, the end joint 120 includes a pitch joint and a yaw joint. Specifically, as shown in FIG4 , the end joint 120 may include a pitch joint seat 122 and a yaw joint seat 121 connected to each other. The yaw joint seat 121 is used to connect the end effector 110. The pitch joint seat 122 is used to connect to the distal end of the parallel motion mechanism 130, so that the end joint 120 and the end effector 110 can move with the distal end of the parallel motion mechanism 130. The proximal end of the end effector 110 is rotatably connected to the distal end of the yaw joint seat 121 around the yaw axis AX1, forming a yaw joint. For example, the proximal end of the end effector 110 is rotatably connected to the distal end of the yaw joint seat 121 via a first pin 123, and the axis of the first pin 123 is the yaw axis AX1. The proximal end of the yaw joint seat 121 is rotatably connected to the distal end of the pitch joint seat 122 around the pitch axis AX2, forming a pitch joint. For example, the proximal end of the yaw joint seat 121 is rotatably connected to the distal end of the pitch joint seat 122 via the second pin 124. The axis of the second pin 124 is the pitch axis AX2. The axis AX1 and the axis AX2 are not parallel, for example, perpendicular to each other.

[0050] In the example of the present application, the end effector 110 is configured as a clamp, for example, and includes a first clamping jaw 111 and a second clamping jaw 112 disposed opposite each other. The proximal ends of the first clamping jaw 111 and the proximal ends of the second clamping jaw 112 are both rotatably connected to the yaw joint base 121 via a first pin 123, so that the first clamping jaw 111 and the second clamping jaw 112 can respectively rotate relative to the yaw joint base 121 about the first pin 123.

[0051] For example, the yaw joint seat 121 can be configured in a U-shape, with the proximal ends of the first and second jaws 111, 112 of the end effector 110 positioned within the U-shaped space of the yaw joint seat 121 and rotatably connected to the yaw joint seat 121 via the first pin 123. The rotation of the first and second jaws 111, 112 enables yaw motion of the end joint 120 and opening and closing motion of the end effector 110. For example, the pitch joint seat 122 can also be configured in a U-shape, with the proximal end of the yaw joint seat 121 positioned within the U-shaped space of the pitch joint seat 122 and rotatably connected to the pitch joint seat 122 via the second pin 124. The rotation of the yaw joint seat 121 enables pitch motion of the end joint 120.

[0052] It is understood that in the example of the present application, the pitch joint and the yaw joint in the terminal joint 120 are both configured as revolute joints to shorten the length of the terminal joint 120 and reduce the range of motion of the terminal joint 120. However, in other examples not shown, the pitch joint and the yaw joint may also be configured as roll joints, a combination of revolute and roll joints, or a serpentine joint, etc.

[0053] It can be understood that in the example of the present application, the end joint 120 includes two degrees of freedom, pitch and yaw. However, in other examples not shown, the end joint 120 may include only one degree of freedom, such as pitch or yaw, or the end joint 120 may include three or more degrees of freedom.

[0054] It is understandable that in other examples not shown, as a variation of the example of the present application, the wrist joint 120 may not be set between the end effector 110 and the parallel motion mechanism 130, and / or an elbow joint may be set between the parallel motion mechanism 130 and the rear end transmission device 150.

[0055] FIG5 shows the transmission mechanism of the aforementioned rear-end transmission device used to drive the parallel motion mechanism 130 and the terminal joint 120. As shown in FIG5 , the surgical instrument 100 further includes a terminal drive wire 50. The instrument drive device (not shown) provided in the arm 222 brakes the terminal joint 120 and / or the end effector 110 via the rear-end transmission device 150 and the terminal drive wire 50. The number of terminal drive wires 50 is related to the degrees of freedom of the terminal joint 120. Referring to FIG6 , since the terminal joint 120 in this example has two degrees of freedom of movement, namely pitch and yaw, two pairs of terminal drive wires 50 can be provided. For example, one pair of terminal drive wires 51 and 52 controls the pitch movement of the terminal joint 120, and the other pair of terminal drive wires 53 and 54 controls the yaw movement of the terminal joint 120.

[0056] If the end effector 110 is a tool such as a clamp or scissors that requires opening and closing motion, the opening and closing motion of the end effector 110 can be controlled by a pair of end drive wires 53 and 54 that control the yaw motion. In other words, the yaw motion and opening and closing motion of the end effector 110 are controlled by a pair of end drive wires. The specific control method and the specific structure and operating principle of the rear-end transmission device 150 that cooperates with it can be referenced in existing solutions and will not be described in detail here. Alternatively, the opening and closing motion of the end effector 110 can also be controlled by additional end drive wires.

[0057] The terminal driving wire 50 can be constructed as a metal wire, such as a steel wire, a tungsten wire, etc., or a driving wire rope with good rigidity.

[0058] The parallel motion mechanism 130 includes a proximal joint 10 and a distal joint 20. The proximal joint 10 is provided at the proximal end of the parallel motion mechanism 130 for connection to the shaft 140. The distal joint 20 is provided at the distal end of the parallel motion mechanism 130. The distal joint 20 is used to connect to the end effector 110, for example, through the end joint 120. The end effector 110 is connected to the distal end of the end joint 120, and the proximal end of the end joint 120 is connected to the distal end of the parallel motion mechanism 130, so that the end effector 110 and the distal joint 20 are connected via the end joint 120. The proximal end of the distal joint 20 is connected to the distal end of the proximal joint 10 and is relatively fixed.

[0059] In one example, the proximal end of the distal joint 20 and the distal end of the proximal joint 10 are connected and relatively fixed via a shaft tube 91. The shaft tube 91 is, for example, constructed as a rigid component, and its shape remains unchanged, so that the proximal end of the distal joint 20 and the distal end of the proximal joint 10 maintain an unchanged relative position and orientation. The shaft tube 91 is, for example, constructed as an elongated cylindrical shape, which can increase the active radius of the parallel motion mechanism 130 on the one hand, and facilitate crossing the line on the other hand. When the parallel motion mechanism 130 does not deflect, that is, when it is in a zero position state (also called a neutral state), as shown in Figures 3, 5 to 8, the proximal joint 10 and the distal joint 20 both extend along the axial direction DA, so that the parallel motion mechanism 130 has a linear structure. At this time, the central axis of the shaft tube 91 coincides with the central axis PC of the parallel motion mechanism 130, and the extension direction of the central axis PC is also the axial direction DA. The proximal end of the distal joint 20 and the distal end of the proximal joint 10 can be connected to the shaft tube 91 by, for example, threading, gluing, snaps, etc. In other examples not shown, the shaft tube 91 may be omitted, that is, the proximal end of the distal joint 20 and the distal end of the proximal joint 10 may be directly connected to each other by means of threads, gluing, snaps, etc.

[0060] The distal end of proximal joint 10 is capable of swinging relative to the proximal end of proximal joint 10 along at least one plane, each plane passing through central axis PC of parallel motion mechanism 130 and not coinciding with each other. The distal end of distal joint 20 is also capable of swinging relative to the proximal end of distal joint 20 along the at least one plane. The at least one plane may include first plane P1 and / or second plane P2 as shown in FIG. 3 , or may include other planes that do not coincide with first plane P1 and second plane P2.

[0061] It should be noted that, when component one is described herein as swinging along a plane relative to component two, it can be understood that the motion trajectory of any point in component one relative to component two is on or parallel to the plane.

[0062] As shown in Figures 5 and 7, the parallel motion mechanism 130 further includes a constraint wire 30. As shown in Figures 5 and 8, the parallel motion mechanism 130 further includes a drive assembly 40. The drive assembly 40 is configured to actuate the distal joint 20. The constraint wire 30 is used to maintain the orientation of the distal end of the distal joint 20 relative to the proximal end of the proximal joint 10. As the distal joint 20 moves, the proximal joint 10 is actuated via the constraint wire 30.

[0063] For example, one end of the constraint wire 30 is fixed to the proximal end of the proximal joint 10, and the other end is fixed to the distal end of the distal joint 20. In order to maintain the orientation of the distal end of the distal joint 20 relative to the proximal end of the proximal joint 10, the constraint wire 30 can be configured so that the proximal joint 10 and the distal joint 20 have the same angle and opposite direction of swing. The constraint wire 30 is always in a tensioned state in the parallel motion mechanism 130, thereby ensuring that the proximal joint 10 and the distal joint 20 move synchronously. The constraint wire 30 has good rigidity, so that when subjected to a tensile force that maintains its tensioned state, the length of the constraint wire 30 remains basically unchanged. The constraint wire 30 can be made of a metal wire, such as a steel wire, a tungsten wire, etc., or a driving cable with good rigidity.

[0064] The drive assembly 40 is used to actuate the distal end of the distal joint 20 to swing relative to the proximal end of the distal joint 20 along the at least one plane. Specifically, one end of the drive assembly 40 is fixed to the distal end of the distal joint 20, and the other end extends sequentially through the distal joint 20, the shaft tube 91, and the proximal joint 10, and then connects to the rear end transmission device located at the proximal end of the surgical instrument 100. Thus, the instrument drive device disposed on the arm 222 can actuate the distal joint 20 via the rear end transmission device and the drive assembly 40. When the instrument drive device outputs a driving force, the driving force is transmitted to the distal end of the distal joint 20 via the rear end transmission device and the drive assembly 40, causing the distal end of the distal joint 20 to rotate relative to the proximal end of the distal joint 20, thereby pulling the distal end of the constraint wire 30. Since the length of the constraint wire 30 remains unchanged, the proximal end of the constraint wire 30 is also pulled, causing the proximal end of the constraint wire 30 to actuate the proximal end of the proximal joint 10, causing the proximal end of the proximal joint 10 to swing relative to the distal end of the proximal joint 10. At this time, the parallel motion mechanism 130 presents a shape in which both ends are bent in opposite directions relative to the middle, which is called the yaw state of the parallel motion mechanism 130 .

[0065] As shown in FIG8 and FIG9 , each driving assembly 40 includes a distal flexible member 45 , a proximal flexible member 46 and a connecting member 47 .

[0066] The distal flexible member 45 passes through the distal joint 20 and is fixed to the distal end of the distal joint 20. The distal flexible member 45 includes a distal section 48 located within the distal joint. The proximal flexible member 46 passes through the proximal joint 10 and is used to connect to the rear end transmission device. The proximal flexible member 46 includes a proximal section 49 located within the proximal joint. The distal flexible member 45 and the proximal flexible member 46 can be constructed as drive wires or belts similar to the terminal drive wire 50 and / or the restraint wire 30, such as steel wire, tungsten wire, steel belt, etc.

[0067] The connector 47 connects the distal flexible member 45 and the proximal flexible member 46. The rigidity of the connector 47 is greater than (further, much greater than) the rigidity of the distal flexible member 45 and the rigidity of the proximal flexible member 46, so that when subjected to the same tensile force, the deformation of the connector 47 is less than the deformation of the distal flexible member 45 and the proximal flexible member 46, or the deformation of the connector 47 is negligible compared to the deformation of the distal flexible member 45 and the proximal flexible member 46. For example, the connector 47 can be constructed as a rigid component, such as a metal member or a hard plastic member. The rigidity of the connector 47 can be increased, for example, by changing the force-bearing area and / or material.

[0068] The end of the proximal flexible member 46 is connected to the rear end transmission device, and the instrument drive device of the robotic arm 221 is connected to the rear end transmission device to control the movement of the proximal flexible member 46 (for example, control the retraction and extension of the proximal flexible member 46) through the rear end transmission device, that is, to control the movement of the drive assembly 40.

[0069] In the present application, the distal end of the proximal joint 10 is capable of swinging relative to the proximal end of the proximal joint 10 along at least one plane, and the distal end of the distal joint 20 is also capable of swinging relative to the proximal end of the distal joint 20 along the at least one plane. Each plane defines a normal plane that passes through the central axis PC and is perpendicular to the corresponding plane. When the parallel motion mechanism 130 is in a neutral state, the distal section 48 and the proximal section 49 of the drive assembly 40 are located on either side of the normal plane. As a result, when the parallel motion mechanism 130 swings, the lengths of the distal section 48 and the proximal section 49 increase or decrease simultaneously. Compared to a case where the distal section 48 and the proximal section 49 are located on the same side of the normal plane, the length change of the drive assembly 40 within the parallel motion mechanism 130 is increased, thereby increasing the transmission ratio and, in other words, increasing the displacement of the drive assembly 40, thereby reducing the driving force of the rear-end transmission device. The reduced tension on the drive assembly 40 helps reduce tensile deformation of the drive assembly 40, thereby reducing transmission error and improving drive precision.

[0070] In one example, when parallel motion mechanism 130 is in a neutral state, proximal section 49 and distal section 48 of drive assembly 40 extend parallel to central axis PC, and the distance between proximal section 49 and the normal plane is equal to the distance between distal section 48 and the normal plane. Consequently, the extension or contraction of proximal section 49 is equal to the extension or contraction of distal section 48, increasing the transmission ratio by an integer multiple, which helps simplify structural design and drive control.

[0071] In one example, when parallel motion mechanism 130 is in a neutral state, proximal section 49 and distal section 48 of drive assembly 40 extend parallel to central axis PC. In a projection of parallel motion mechanism 130 along extension direction DA of central axis PC, proximal section 49 and distal section 48 of drive assembly 40 are centrally symmetric about central axis PC. This is advantageous when parallel motion mechanism 130 has multiple degrees of freedom. The number of drive assemblies 40 is related to the number of degrees of freedom, facilitating the design of extension paths for the flexible members of each drive assembly 40 and preventing cross-talk and motion interference between the multiple flexible members.

[0072] Since the distal section 48 and the proximal section 49 of the drive assembly 40 are respectively located on either side of the normal plane, it is easy for the distal flexible member 45 and the proximal flexible member 46 to bend and spirally extend within the parallel motion mechanism 130. This extension method will reduce the overall stiffness of the drive assembly 40, which is not conducive to improving the driving accuracy. In order to ensure the overall stiffness of the drive assembly 40, the drive assembly 40 needs to be constructed so that the distal flexible member 45 and the proximal flexible member 46 both extend along a straight line between the proximal end of the distal joint 20 and the distal end of the proximal joint 10. Specifically, the distal flexible member 45 extends along a first straight line between the proximal end of the distal joint 20 and the distal end of the proximal joint 10, and the proximal flexible member 46 extends along a second straight line between the proximal end of the distal joint 20 and the distal end of the proximal joint 10.

[0073] In one example, the first and second straight lines can be coplanar, so that the driving force of the rear-end transmission device is transmitted in this plane, which can improve the transmission efficiency of the rear-end driving force. Optionally, the plane in which the first and second straight lines lie passes through the central axis PC, that is, the first and second straight lines are coplanar with the central axis PC, which can further improve transmission efficiency.

[0074] In one example, the first straight line and the second straight line can both be parallel to the central axis PC of the parallel motion mechanism 130. On the one hand, the length of the distal flexible part 45 and the proximal flexible part 46 can be reduced, thereby reducing the amount of tensile deformation. On the other hand, it is beneficial for the situation where there are multiple drive components 40, and is conducive to the design of the flexible part extension path of each drive component 40, preventing intersection and motion interference between multiple flexible parts.

[0075] In order to ensure that the distal flexible member 45 and the proximal flexible member 46 extend in a straight line between the proximal end of the distal joint 20 and the distal end of the proximal joint 10, the connection point between the connector 47 and the distal flexible member 45 and the connection point between the connector 47 and the proximal flexible member 46 can be spaced apart in the circumferential direction around the central axis. Specifically, as shown in Figures 9 and 10, the connector 47 includes a first connection point 47D connected to the distal flexible member 45 and a second connection point 47F connected to the proximal flexible member 46, and the first connection point 47D and the second connection point 47F are spaced apart in the circumferential direction around the central axis.

[0076] In one example, when parallel motion mechanism 130 is in a neutral state, in a projection of parallel motion mechanism 130 along extension direction DA of central axis PC, first connection location 47D and second connection location 47F are both located on a line connecting the position of distal flexible member 45 and the position of proximal segment 49, thereby making the first and second straight lines coplanar. Alternatively, the line connecting the position of distal flexible member 45 and the position of proximal segment 49 passes through the position of central axis PC, thereby making the first and second straight lines coplanar with central axis PC.

[0077] In one example, when the parallel motion mechanism 130 is in a neutral state, in the projection of the extension direction DA of the parallel motion mechanism 130 along the central axis PC, the first connection position 47D coincides with the position of the distal flexible member 45, and the second connection position 47F coincides with the position of the proximal section 49, so that the above-mentioned first straight line and the second straight line are parallel to the central axis PC.

[0078] In one example, the first connection position 47D and the second connection position 47F may be spaced apart along the extension direction DA of the central axis PC, thereby increasing the proportion of the connection member 47 in the drive assembly 40 and helping to improve the rigidity of the drive assembly 40 .

[0079] 10 to 12 are used as examples to introduce three exemplary structures of the connecting member 47.

[0080] As shown in Figures 10 to 12, the connector 47 includes a first connecting portion 47C for connecting to the distal flexible member 45. Specifically, the distal flexible member 45 is connected to a first connecting position 47D of the first connecting portion 47C. Similarly, the connector 47 also includes a second connecting portion 47E for connecting to the proximal flexible member 46. Specifically, the proximal flexible member 46 is connected to a second connecting position 47F of the second connecting portion 47E. The connector 47 also includes a connecting rod 47A, connecting the first connecting portion 47C and the second connecting portion 47E. For example, the connecting rod 47A may extend along the central axis PC and have two ends, namely, a distal end and a proximal end. The first connecting portion 47C is disposed at the distal end of the connecting rod 47A, and the second connecting portion 47E is disposed at the proximal end of the connecting rod 47A.

[0081] The parallel motion mechanism 130 also includes a central tube 92. The central tube 92 extends along the extension direction DA of the central axis PC and is connected between the proximal joint 10 and the distal joint 20 for guiding other cables, for example, a cable for powering the end effector 110. The central tube 92 is also constructed as a rigid component, and its shape remains unchanged. The axis of the central tube 92 coincides with the central axis PC. The connectors 47 of the multiple drive assemblies 40 of the parallel motion mechanism 130 are arranged around the central tube 92, that is, the multiple drive assemblies 40 are distributed in the annular space between the shaft tube 91 and the central tube 92 at intervals along the circumference of the parallel motion mechanism 130. Optionally, the multiple drive assemblies 40 are distributed at equal intervals along the circumference of the parallel motion mechanism 130.

[0082] The connector 47 may further include a guide portion 47B, which is configured to connect to the central tube 92 to offset the torque generated by the distal flexible member 45 and the proximal flexible member 46 on the connector 47. The guide portion 47B is movable relative to the central tube 92 along the extension direction DA of the central axis PC. For example, the guide portion 47B may be configured as a guide ring that is sleeved around the outer circumference of the central tube 92. The guide ring 47B may be disposed at the end or the middle of the connecting rod 47A. Accordingly, the first connecting portion 47C may radially protrude from the outer circumference of the guide ring 47B or the connecting rod 47A, and the second connecting portion 47E may radially protrude from the outer circumference of the guide ring 47B or the connecting rod 47A.

[0083] As shown in Figure 10, the connecting member 47 includes a guide ring 47B provided at the proximal end of the connecting rod 47A. A second connecting portion 47E is connected to the outer circumference of the guide ring 47B and radially protrudes from the outer circumference of the guide ring 47B. A first connecting portion 47C is connected to the distal end of the connecting rod 47A and radially protrudes from the outer circumference of the distal end. Of course, the guide ring 47B can also be provided at the distal end of the connecting rod 47A, with the first connecting portion 47C radially protruding from the outer circumference of the guide ring 47B and the second connecting portion 47E radially protruding from the outer circumference of the proximal end.

[0084] As shown in Figure 11, the connecting member 47 includes two guide rings 47B, respectively disposed at the proximal and distal ends of the connecting rod 47A. As will be appreciated, the two guide rings 47B are coaxially arranged, with their central axes coinciding with the central axis PC. A first connecting portion 47C is connected to the outer circumference of the distal guide ring 47B and projects radially therefrom. A second connecting portion 47E is connected to the outer circumference of the proximal guide ring 47B and projects radially therefrom.

[0085] As shown in Figure 12, the connecting member 47 includes a guide ring 47B disposed in the middle of the connecting rod 47A. A first connecting portion 47C and a second connecting portion 47E are disposed at either end of the connecting rod 47A, projecting from the outer circumference of the connecting rod 47A. The connecting rod 47A includes a first rod 47G and a second rod 47H, located on either side of the guide ring 47B along the axial direction DA. Optionally, the first rod 47G and the second rod 47H are spaced apart along the circumference of the guide ring 47B to facilitate the placement of the first connecting portion 47C and the second connecting portion 47E.

[0086] In this application, the outer peripheral surface of connecting rod 47A refers to the side surface of connecting rod 47A that connects between the two end surfaces. The cross-sectional shape of connecting rod 47A can be a portion of a ring, or it can be another shape to adapt to guide ring 47B or center tube 92. For example, as can be seen in Figures 11 and 12, the side of connecting rod 47A facing guide ring 47B is configured as a concave surface that conforms to the arc shape of the outer surface of guide ring 47B. Therefore, when guide ring 47B is inserted into center tube 92, a gap exists between connecting rod 47A and center tube 92, which does not affect the movement of connector 47 relative to center tube 92.

[0087] Along the extension direction DA of the central axis PC, the multiple connectors 47 may not be staggered with each other, which helps to avoid interference between the multiple connectors 47. Alternatively, at least two connectors 47 may be staggered, which helps to shorten the length of the parallel motion mechanism 130. When the connectors 47 adopt the structure shown in Figures 10 and 12, it can be applicable to the situation where the multiple connectors 47 are staggered with each other. For example, as shown in Figure 13, four connectors 47 of the structure shown in Figure 10 are staggered with each other. When the multiple connectors 47 adopt the structure shown in Figure 11, it can be applicable to the situation where the connectors 47 are not staggered with each other, or two connectors 47 are staggered as a group.

[0088] The following describes in detail the embodiment of the present application by taking the parallel motion mechanism 130 having two degrees of freedom as an example.

[0089] In the first degree of freedom of parallel motion mechanism 130, the distal end of proximal joint 10 can swing relative to the proximal end of proximal joint 10 along first plane P1, and the distal end of distal joint 20 can also swing relative to the proximal end of distal joint 20 along first plane P1, where the normal plane to first plane P1 is first normal plane P3. Drive assembly 40 includes first drive assembly 41 and second drive assembly 42. It will be appreciated that each of first drive assembly 41 and second drive assembly 42 includes the distal flexible member, proximal flexible member, and connector described above, and further description thereof will be omitted.

[0090] When parallel motion mechanism 130 is in a neutral state, the proximal and distal sections of first drive assembly 41 are located on either side of first normal plane P3, and the proximal and distal sections of second drive assembly 42 are located on either side of first normal plane P3. Since the proximal sections of first drive assembly 41 and second drive assembly 42 are located on either side of first normal plane P3, the distal sections of first drive assembly 41 and second drive assembly 42 are also located on either side of first normal plane P3.

[0091] In the second degree of freedom of motion of the parallel motion mechanism 130, the distal end of the proximal joint 10 can also swing relative to the proximal end of the proximal joint 10 along the second plane P2, and the distal end of the distal joint 20 can also swing relative to the proximal end of the distal joint 20 along the second plane P2, where the normal plane of the second plane P2 is the second normal plane P4. In this embodiment, the first plane P1 and the second plane P2 intersect perpendicularly with the central axis PC of the parallel motion mechanism 130. The drive assembly 40 includes a third drive assembly 43 and a fourth drive assembly 44. It will be understood that the third drive assembly 43 and the fourth drive assembly 44 each include the distal flexible member, the proximal flexible member, and the connecting member as described above, and no further details will be given.

[0092] When parallel motion mechanism 130 is in a neutral state, the proximal and distal sections of third drive assembly 43 are respectively located on either side of second normal plane P4, and the proximal and distal sections of fourth drive assembly 44 are respectively located on either side of second normal plane P4. Since the proximal sections of third drive assembly 43 and fourth drive assembly 44 are respectively located on either side of second normal plane P4, the distal sections of third drive assembly 43 and fourth drive assembly 44 are respectively located on either side of second normal plane P4.

[0093] It can be understood that, in this embodiment, since the first plane P1 is perpendicular to the second plane P2, the first normal plane P3 coincides with the second plane P2, and the second normal plane P4 coincides with the first plane P1.

[0094] In the example shown in this embodiment, the proximal joint 10 includes a first proximal joint part 11, a second proximal joint part 12 and a third proximal joint part 13 connected in sequence. Among them, the first proximal joint part 11 is arranged at the proximal end of the parallel motion mechanism 130. The second proximal joint part 12 is connected to the distal end of the first proximal joint part 11, and can swing along the second plane P2 relative to the first proximal joint part 11, that is, the motion trajectory of any point in the second proximal joint part 12 relative to the first proximal joint part 11 is on the second plane P2 or parallel to the second plane P2. The third proximal joint part 13 is connected to the distal end of the second proximal joint part 12, and can swing along the first plane P1 relative to the second proximal joint part 12, that is, the motion trajectory of any point in the third proximal joint part 13 relative to the second proximal joint part 12 is on the first plane P1 or parallel to the first plane P1.

[0095] The distal joint 20 includes a first distal joint portion 21, a second distal joint portion 22 and a third distal joint portion 23 connected in sequence. Among them, the third distal joint portion 23 is connected to the third proximal joint portion 13 and is relatively fixed to keep the relative positions and orientations of the two unchanged. The second distal joint portion 22 is connected to the distal end of the third distal joint portion 23 and can swing along the above-mentioned first plane P1 relative to the third distal joint portion 23, that is, the motion trajectory of any point in the second distal joint portion 22 relative to the third distal joint portion 23 is on the first plane P1 or parallel to the first plane P1. The first distal joint portion 21 is connected to the distal end of the second distal joint portion 22 and can swing along the above-mentioned second plane P2 relative to the second distal joint portion 22, that is, the motion trajectory of any point in the first distal joint portion 21 relative to the second distal joint portion 22 is on the second plane P2 or parallel to the second plane P2.

[0096] The third distal joint 23 and the third proximal joint 13 are connected by the shaft tube 91. Since the shape of the shaft tube 91 remains unchanged, the relative position and orientation of the third distal joint 23 and the third proximal joint 13 remain unchanged.

[0097] Optionally, in the example of the present application, referring to FIG7 , the parallel motion mechanism 130 includes two pairs of constraint lines 30, namely a first constraint line 31, a second constraint line 32, a third constraint line 33, and a fourth constraint line 34. When the parallel motion mechanism 130 is in a neutral state, the two pairs of constraint lines 30 are arranged symmetrically relative to the first plane P1 and the second plane P2, and optionally extend parallel to the central axis PC. Since the length of the constraint lines 30 remains unchanged, this arrangement of the constraint lines can, on the one hand, cause a change in the length of the constraint lines 30 within the distal joint 20 to result in an opposite change in the length of the constraint lines 30 within the proximal joint 10, thereby achieving parallel motion of the parallel motion mechanism 130, while at the same time, the two degrees of freedom of the parallel motion mechanism 130 do not affect each other.

[0098] Specifically, when the parallel motion mechanism 130 moves with the first degree of freedom, the first distal joint 21 rotates relative to the second distal joint 22 by a first angle, with one side of the first distal joint 21 relatively away from the second distal joint 22 and the other side relatively close to the second distal joint 22 (as shown in FIG14 ). For example, the lengths of the restraint lines 31 and 32 increase by a first length between the first distal joint 21 and the second distal joint 22, while correspondingly decreasing by a first length between the second proximal joint 12 and the first proximal joint 11. Simultaneously, the lengths of the restraint lines 33 and 34 decrease by a first length between the first distal joint 21 and the second distal joint 22, while correspondingly increasing by a first length between the second proximal joint 12 and the first proximal joint 11, so that the second proximal joint 12 also rotates relative to the first proximal joint 11 by a first angle, and the rotation direction is opposite to the rotation direction of the first distal joint 21 relative to the second distal joint 22.

[0099] When the parallel motion mechanism 130 moves with the second degree of freedom, the second distal joint 22 rotates relative to the third distal joint 23 by a second angle, with one side of the second distal joint 22 relatively away from the third distal joint 23 and the other side relatively close to the third distal joint 23 (as shown in FIG15 ). For example, the lengths of the restraint lines 31 and 34 increase by a second length between the second distal joint 22 and the third distal joint 23, while correspondingly decreasing by a second length between the third proximal joint 13 and the second proximal joint 12. Simultaneously, the lengths of the restraint lines 32 and 33 decrease by a second length between the second distal joint 22 and the third distal joint 23, while correspondingly increasing by a second length between the third proximal joint 13 and the second proximal joint 12, so that the third proximal joint 13 also rotates relative to the second proximal joint 12 by a second angle, and the rotation direction is opposite to the rotation direction of the second distal joint 22 relative to the third distal joint 23.

[0100] Thus, during the swinging of the parallel motion mechanism 130, the first proximal joint 11 and the first distal joint 21 are always kept parallel (or aligned in orientation), which means that the direction of the end effector 110 is not affected, thereby achieving translational motion of the end effector 110. In the present application, the end effector 110 can achieve translational motion in two degrees of freedom.

[0101] In one example, the distance between the proximal section of the first drive assembly 41 and the first normal plane P3 is equal to the distance between the proximal section of the second drive assembly 42 and the first normal plane P3, and the distance between the distal section of the first drive assembly 41 and the first normal plane P3 is equal to the distance between the distal section of the second drive assembly 42 and the first normal plane P3. Thus, when the parallel motion mechanism 130 moves only in the first degree of freedom, the amount of extension or contraction of the first drive assembly 41 within the parallel motion mechanism 130 is the same as the amount of contraction or extension of the second drive assembly 42 within the parallel motion mechanism 130. In other words, the sum of the lengths of the first drive assembly 41 and the second drive assembly 42 within the parallel motion mechanism 130 remains unchanged, facilitating control.

[0102] Optionally, the proximal section of the first drive assembly 41 and the proximal section of the second drive assembly 42 are centrally symmetrical about the central axis PC, and the distal section of the first drive assembly 41 and the distal section of the second drive assembly 42 are centrally symmetrical about the central axis PC. Thus, when the parallel motion mechanism 130 simultaneously moves with the first and second degrees of freedom, the amount of extension or contraction of the first drive assembly 41 within the parallel motion mechanism 130 is the same as the amount of contraction or extension of the second drive assembly 42 within the parallel motion mechanism 130. In other words, the sum of the lengths of the first drive assembly 41 and the second drive assembly 42 within the parallel motion mechanism 130 remains unchanged, further facilitating control.

[0103] Further optionally, the proximal section of the first drive assembly 41, the proximal section of the second drive assembly 42, the distal section of the first drive assembly 41, and the distal section of the second drive assembly 42 are all located within the first plane P1. Thus, when the parallel motion mechanism 130 simultaneously moves with the first and second degrees of freedom, and because the first plane P1 and the second plane P2 are perpendicular, the length changes of the first drive assembly 41 and the second drive assembly 42 are not affected by the second degree of freedom.

[0104] Accordingly, the rear-end transmission device 150 may include a first capstan, and the proximal flexible member of the first drive assembly 41 and the proximal flexible member of the second drive assembly 42 are two wires wound in opposite directions from the first capstan. When the parallel motion mechanism 130 is in a neutral state, the lengths of the first drive assembly 41 and the second drive assembly 42 are equal. When the first capstan rotates, the length of the proximal flexible member of the first drive assembly 41 extended (retracted) is equal to the length of the proximal flexible member of the second drive assembly 42 retracted (retracted).

[0105] In one example, the distance between the proximal section of the third drive assembly 43 and the second normal plane P4 is equal to the distance between the proximal section of the fourth drive assembly 44 and the second normal plane P4, and the distance between the distal section of the third drive assembly 43 and the second normal plane P4 is equal to the distance between the distal section of the fourth drive assembly 44 and the second normal plane P4. Thus, when the parallel motion mechanism 130 moves only with the second degree of freedom, the extension or contraction of the third drive assembly 43 within the parallel motion mechanism 130 is the same as the contraction or extension of the fourth drive assembly 44 within the parallel motion mechanism 130. In other words, the total length of the third drive assembly 43 and the fourth drive assembly 44 within the parallel motion mechanism 130 remains unchanged, facilitating control.

[0106] Optionally, the proximal section of the third drive assembly 43 and the proximal section of the fourth drive assembly 44 are centrally symmetrical about the central axis PC, and the distal section of the third drive assembly 43 and the distal section of the fourth drive assembly 44 are centrally symmetrical about the central axis PC. Thus, when the parallel motion mechanism 130 simultaneously moves with the first and second degrees of freedom, the amount of extension or contraction of the third drive assembly 43 within the parallel motion mechanism 130 is the same as the amount of contraction or extension of the fourth drive assembly 44 within the parallel motion mechanism 130. That is, the total length of the third drive assembly 43 and the fourth drive assembly 44 within the parallel motion mechanism 130 remains unchanged, further facilitating control.

[0107] Further optionally, the proximal section of the third drive assembly 43, the proximal section of the fourth drive assembly 44, the distal section of the third drive assembly 43, and the distal section of the fourth drive assembly 44 are all located within the second plane P2. When the parallel motion mechanism 130 moves simultaneously with the first and second degrees of freedom, and because the first plane P1 and the second plane P2 are perpendicular, the length changes of the third drive assembly 43 and the length changes of the fourth drive assembly 44 are not affected by the first degree of freedom.

[0108] Accordingly, the rear-end transmission device 150 may include a second capstan, and the proximal flexible member of the third drive assembly 43 and the proximal flexible member of the fourth drive assembly 44 are two wires wound in opposite directions from the second capstan. When the parallel motion mechanism 130 is in a neutral state, the lengths of the third drive assembly 43 and the fourth drive assembly 44 are equal. When the second capstan rotates, the extended (retracted) length of the proximal flexible member of the third drive assembly 43 and the retracted (retracted) length of the proximal flexible member of the fourth drive assembly 44 are equal.

[0109] The end drive wire 50 is used to drive the end joint 120 and the end effector 110 to move. One end of the end drive wire 50 is connected to the rear-end transmission device, and the other end extends through the shaft 140 and the parallel motion mechanism 130 and is connected to the end joint 120 or the end effector 110. In order to prevent the movement of the parallel motion mechanism 130 from affecting the control of the end joint 120 and the end effector 110 by the end drive wire 50, it is necessary to decouple the end drive wire 50 from the parallel motion mechanism 130. To this end, the end drive wire 50 can be configured so that when the parallel motion mechanism 130 is in a neutral state, each pair of end drive wires 50 extends parallel to the central axis PC and is arranged symmetrically about the central axis PC. This arrangement ensures that when the parallel motion mechanism 130 moves, the increase (decrease) in the length of each end drive line 50 at the proximal joint 10 is equal to the decrease (increase) in its length at the distal joint 20, that is, the length of the end drive line 50 in the parallel motion mechanism 130 remains constant, that is, the movement of the parallel motion mechanism 130 will not cause the length of the end drive line 50 to change, thereby achieving decoupling of the end drive line 50 from the parallel motion mechanism 130.

[0110] In the present example, the end joint 120 includes two degrees of freedom, pitch and yaw, which are controlled by two pairs of end drive lines 50. The first pair of end drive lines 50 comprises a first end drive line 51 and a second end drive line 52, and the second pair of end drive lines 50 comprises a third end drive line 53 and a fourth end drive line 54. When the parallel motion mechanism 130 is in a neutral state, the four end drive lines 50 extend parallel to the central axis PC within the parallel motion mechanism 130. The first end drive line 51 and the second end drive line 52 are centrally symmetrical about the central axis PC, while the third end drive line 53 and the fourth end drive line 54 are centrally symmetrical about the central axis PC.

[0111] As described above, in the example of the present application, the surgical instrument 100 includes four constraint wires 30, four drive assemblies 40, and four distal drive wires 50. All 12 wires extend sequentially through the first proximal joint 11, the second proximal joint 12, the third proximal joint 13, the third distal joint 23, the second distal joint 22, and the first distal joint 21. Therefore, as shown in Figures 16 and 17, each of the first proximal joint 11, the second proximal joint 12 and the third proximal joint 13 is correspondingly provided with four proximal constraint wire through holes 70B for allowing the constraint wire 30 to pass through, four proximal parallel motion drive wire through holes 60B for allowing the drive assembly 40 to pass through, and four proximal terminal drive wire through holes 80B for allowing the terminal drive wire 50 to pass through; each of the third distal joint 23, the second distal joint 22 and the first distal joint 21 is correspondingly provided with four distal constraint wire through holes 70A for allowing the constraint wire 30 to pass through, four distal parallel motion drive wire through holes 60A for allowing the drive assembly 40 to pass through, and four distal terminal drive wire through holes 80A for allowing the terminal drive wire 50 to pass through.

[0112] Optionally, in the neutral state, the section of the drive assembly 40 at the proximal joint 10 and the section at the distal joint 20 extend parallel to the central axis PC. In addition, as mentioned above, in the neutral state, the constraint line 30 and the terminal drive line 50 both extend parallel to the central axis PC. Therefore, each line is aligned in a direction parallel to the central axis PC at a group of through holes (including three through holes in the example of the present application) corresponding to the first proximal joint 11, the second proximal joint 12 and the third proximal joint 13, each line is aligned in a direction parallel to the central axis PC at the three through holes corresponding to the third distal joint 23, the second distal joint 22 and the first distal joint 21, and each constraint line 30 and the terminal drive line 50 are aligned in a direction parallel to the central axis PC at the two through holes corresponding to the third proximal joint 13 and the first distal joint 21.

[0113] The following describes the arrangement of the twelve lines, with reference to the twelve through-holes of the third proximal joint 13 (see FIG16 ) and the twelve through-holes of the first distal joint 21 (see FIG17 ). FIG16 and FIG17 illustrate the third proximal joint 13 and the first distal joint 21, respectively, when the parallel motion mechanism 130 is in a neutral state, with the first plane P1, the second plane P2, and the central axis PC perpendicular to the paper.

[0114] For the four end drive wires 50, the proximal joint 10 is provided with four sets of proximal end drive wire through holes 80B. Taking the third proximal joint 13 as an example, referring to Figure 16, these are the first proximal drive wire through hole 81B, the second proximal drive wire through hole 82B, the third proximal drive wire through hole 83B, and the fourth proximal drive wire through hole 84B. The distal joint 20 is provided with four sets of distal end drive wire through holes 80A. Taking the first distal joint 21 as an example, referring to Figure 17, these are the first distal drive wire through hole 81A, the second distal drive wire through hole 82A, the third distal drive wire through hole 83A, and the fourth distal drive wire through hole 84A. The first proximal drive wire through hole 81B and the first distal drive wire through hole 81A are used to pass the first end drive wire 51. The second proximal drive wire through hole 82B and the second distal drive wire through hole 82A are used to pass the second end drive wire 52. The third proximal drive wire through hole 83B and the third distal drive wire through hole 83A are used to pass the first terminal drive wire 53. The fourth proximal drive wire through hole 84B and the fourth distal drive wire through hole 84A are used to pass the second terminal drive wire 54.

[0115] As can be seen in Figure 16 , through-holes 81B, 82B, 83B, and 84B are equidistant from central axis PC. Through-holes 81B and 82B are arranged symmetrically about central axis PC, while through-holes 83B and 84B are arranged symmetrically about central axis PC. For example, through-holes 81B, 82B, 83B, and 84B are arranged rotationally symmetrically about central axis PC. As can be seen in Figure 17 , the arrangement of through-holes 81A, 82A, 83A, and 84A in distal joint 20 is similar to that of proximal joint 10 in Figure 16 , and therefore will not be further described.

[0116] In combination with Figures 16 and 17, it can be seen that the through holes 81B, 82B, 83B, and 84B of the proximal joint 10 and the through holes 81A, 82A, 83A, and 84A of the distal joint 20 are aligned in a direction parallel to the central axis PC. Therefore, in the neutral state, the four end drive lines 51, 52, 53, and 54 extend parallel to the central axis PC in the parallel motion mechanism 130.

[0117] For the four restraining wires 30, the proximal joint 10 is provided with four sets of proximal end restraining wire through holes 70B. Taking the third proximal joint portion 13 as an example, referring to FIG16 , these are the first proximal restraining wire through hole 71B, the second proximal restraining wire through hole 72B, the third proximal restraining wire through hole 73B, and the fourth proximal restraining wire through hole 74B. The distal joint 20 is provided with four sets of distal end restraining wire through holes 70A. Taking the first distal joint portion 21 as an example, referring to FIG17 , these are the first distal restraining wire through hole 71A, the second distal restraining wire through hole 72A, the third distal restraining wire through hole 73A, and the fourth distal restraining wire through hole 74A. The first proximal restraining wire through hole 71B and the first distal restraining wire through hole 71A are used to pass the first end restraining wire 31. The second proximal restraining wire through hole 72B and the second distal restraining wire through hole 72A are used to pass the second end restraining wire 32. The third proximal restraint wire through hole 73B and the third distal restraint wire through hole 73A are used to pass the third terminal restraint wire 33. The fourth proximal restraint wire through hole 74B and the fourth distal restraint wire through hole 74A are used to pass the fourth terminal restraint wire 34.

[0118] As can be seen from Figure 16, the through holes 71B, 72B, 73B and 74B are arranged rotationally symmetrically about the central axis PC. The through holes 71B, 72B, 73B and 74B are symmetrically arranged about the first plane P1 and the second plane P2, so that the four constraint lines 30 are symmetrically arranged about the first plane P1 and the second plane P2 in the proximal joint 10. Furthermore, the distance between each of the through holes 71B, 72B, 73B and 74B and the first plane P1 is equal to the distance between each of the through holes 71B, 72B, 73B and 74B and the central axis PC, that is, the line connecting the center of each of the through holes 71B, 72B, 73B and 74B and the central axis PC bisects the angle between the first plane P1 and the second plane P2. As can be seen from Figure 17, the arrangement of the through holes 71A, 72A, 73A, 74A of the distal joint 20 is similar to the arrangement of the proximal joint 10 in Figure 16, and will not be repeated in this article.

[0119] In combination with Figures 16 and 17, it can be seen that the through holes 71B, 72B, 73B, and 74B of the proximal joint 10 and the through holes 71A, 72A, 73A, and 74A of the distal joint 20 are aligned in a direction parallel to the central axis PC. Therefore, in the neutral state, the four constraint lines 31, 32, 33, and 34 extend parallel to the central axis PC in the parallel motion mechanism 130.

[0120] For the four drive assemblies 40, the proximal joint 10 is provided with four sets of proximal parallel motion drive line through holes 60B. Taking the third proximal joint 13 as an example, referring to Figure 16, these are the first proximal parallel motion drive line through hole 61B, the second proximal parallel motion drive line through hole 62B, the third proximal parallel motion drive line through hole 63B, and the fourth proximal parallel motion drive line through hole 64B. The distal joint 20 is provided with four sets of distal parallel motion drive line through holes 60A. Taking the first distal joint 21 as an example, referring to Figure 17, these are the first distal parallel motion drive line through hole 61A, the second distal parallel motion drive line through hole 62A, the third distal parallel motion drive line through hole 63A, and the fourth distal parallel motion drive line through hole 64A. The first proximal parallel motion drive line through hole 61B is used to allow the proximal flexible member of the first drive assembly 41 to pass through, and the first distal parallel motion drive line through hole 61A is used to allow the distal flexible member of the first drive assembly 41 to pass through. The second proximal parallel motion drive wire through hole 62B is used to allow the proximal flexible member of the second drive assembly 42 to pass through, and the second distal parallel motion drive wire through hole 62A is used to allow the distal flexible member of the second drive assembly 42 to pass through. The third proximal parallel motion drive wire through hole 63B is used to allow the proximal flexible member of the third drive assembly 43 to pass through, and the third distal parallel motion drive wire through hole 63A is used to allow the distal flexible member of the third drive assembly 43 to pass through. The fourth proximal parallel motion drive wire through hole 64B is used to allow the proximal flexible member of the fourth drive assembly 44 to pass through, and the fourth distal parallel motion drive wire through hole 64A is used to allow the distal flexible member of the fourth drive assembly 44 to pass through.

[0121] Different from the through holes 70B, 70A and the through holes 80B, 80A, the proximal parallel motion driving wire through hole 60B is not aligned with the distal parallel motion driving wire through hole 60A in a direction parallel to the central axis PC.

[0122] Specifically, in the projection of the parallel motion mechanism 130 along the axial direction DA, the first proximal parallel motion drive line through hole 61B and the first distal parallel motion drive line through hole 61A are symmetrical about the center of the central axis PC, so that the proximal section of the first drive component 41 and the distal section of the first drive component 41 are symmetrical about the center of the central axis PC; the second proximal parallel motion drive line through hole 62B and the second distal parallel motion drive line through hole 62A are symmetrical about the center of the central axis PC, so that the proximal section of the second drive component 42 and the distal section of the second drive component 42 are symmetrical about the center of the central axis PC. The segments are symmetrical about the central axis PC; the first proximal parallel motion drive line through hole 61B and the second proximal parallel motion drive line through hole 62B are symmetrical about the central axis PC, so that the proximal segment of the first drive component 41 and the proximal segment of the second drive component 42 are symmetrical about the central axis PC; the first distal parallel motion drive line through hole 61A and the second distal parallel motion drive line through hole 62A are symmetrical about the central axis PC, so that the distal segment of the first drive component 41 and the distal segment of the second drive component 42 are symmetrical about the central axis PC.

[0123] When the first plane P1 is perpendicular to the second plane P2, the first proximal parallel motion driving wire through hole 61B and the second distal parallel motion driving wire through hole 62A are aligned, and the first distal parallel motion driving wire through hole 61A and the second proximal parallel motion driving wire through hole 62B are aligned.

[0124] Similarly, in the projection of the parallel motion mechanism 130 along the axial direction DA, the third proximal parallel motion drive line through hole 63B and the third distal parallel motion drive line through hole 63A are symmetrically arranged about the center axis PC, so that the proximal section of the third drive assembly 43 and the distal section of the third drive assembly 43 are symmetrical about the center axis PC; the fourth proximal parallel motion drive line through hole 64B and the fourth distal parallel motion drive line through hole 64A are symmetrically arranged about the center axis PC, so that the proximal section of the fourth drive assembly 44 and the distal section of the fourth drive assembly 44 are symmetrical about the center axis PC. The segments are symmetrical about the central axis PC; the third proximal parallel motion drive line through hole 63B and the fourth proximal parallel motion drive line through hole 64B are symmetrically arranged about the central axis PC, so that the proximal segment of the third drive component 43 and the proximal segment of the fourth drive component 44 are symmetrical about the central axis PC; the third distal parallel motion drive line through hole 63B and the fourth distal parallel motion drive line through hole 64A are symmetrically arranged about the central axis PC, so that the distal segment of the third drive component 43 and the distal segment of the fourth drive component 44 are symmetrical about the central axis PC.

[0125] When the first plane P1 is perpendicular to the second plane P2, the third proximal parallel motion driving line through hole 63B is aligned with the fourth distal parallel motion driving line through hole 64A, and the third distal parallel motion driving line through hole 63A is aligned with the fourth proximal parallel motion driving line through hole 64B.

[0126] Since this embodiment includes four drive components 40, it has four connectors 47, and the arrangement of the connectors 47 can be as shown in Figure 18. Figure 18 (a) shows that the four connectors 47 are arranged in a non-staggered manner in the extension direction DA of the central axis PC. Figure 18 (b) shows that the connectors 47 of the first drive component 41 and the connectors 47 of the second drive component 42 are staggered in the extension direction DA of the central axis PC, and the connectors 47 of the third drive component 43 and the connectors 47 of the fourth drive component 44 are staggered in the extension direction DA of the central axis PC. Figure 18 (c) shows that the four connectors 47 are staggered in the extension direction DA of the central axis PC. It can be understood that the arrangement order of the four connectors 47 does not need to be consistent with that shown in the figure, but can be adjusted as needed.

[0127] In the embodiment of the present application, the proximal joint 10 and the distal joint 20 can be configured as rolling joints. The following, in conjunction with FIG19 , takes the proximal joint 10 as an example to briefly describe the motion mechanism of the rolling joint and the schematic structure for implementing the motion mechanism.

[0128] As shown in Figure 19, the second proximal joint portion 12 is provided with first retaining grooves 15 on two opposing sides, and the first proximal joint portion 11 is provided with first tooth profiles 17 on two opposing sides. The first tooth profiles 17 are retained in the first retaining grooves 15. When the first proximal joint portion 11 and the second proximal joint portion 12 rotate relative to each other, the first tooth profiles 17 rotate in the first retaining grooves 15, while the notches of the first retaining grooves 15 always contact the edges 17A of the first tooth profiles 17.

[0129] At the same time, the first proximal joint part 11 is provided with a first rolling surface 19A, and the second proximal joint part 12 is provided with a second rolling surface 19B. When the first proximal joint part 11 and the second proximal joint part 12 rotate relative to each other, the first rolling surface 19A and the second rolling surface 19B are always in contact with each other and roll relative to each other. The first rolling surface 19A and the second rolling surface 19B serve as a load-bearing mechanism, used to withstand the interaction force between the first proximal joint part 11 and the second proximal joint part 12 caused by the tension of the drive assembly. Specifically, the first rolling surface 19A and the second rolling surface 19B are both constructed as arc surfaces. Among them, the axis of the arc of the first rolling surface 19A is the first proximal axis A1. The axis of the arc of the second rolling surface 19B is the third proximal axis A3, which is parallel to the first proximal axis A1 and maintains a constant distance from the first proximal axis A1. The first proximal axis A1 and the third proximal axis A3 are perpendicular to the second plane P2.

[0130] Due to the shape of the first tooth profile edge 17A and the fit between the first tooth profile 17 and the first slot 15, when the first tooth profile 17 rotates in the first slot 15, the first rolling surface 19A and the second rolling surface 19B simultaneously and rigidly roll relative to each other (without relative sliding). When the first rolling surface 19A rigidly rolls on the second rolling surface 19B in the first rotational direction, the first rolling surface 19A (or any part of the first proximal joint portion 11) revolves around the third proximal axis A3 in the first rotational direction by a first angle, while simultaneously rotating around the first proximal axis A1 in the first rotational direction by a first angle. This achieves relative rotation (swing) between the first proximal joint portion 11 and the second proximal joint portion 12.

[0131] Similar to the mutual rotation between the first proximal joint portion 11 and the second proximal joint portion 12, the second proximal joint portion 12 and the third proximal joint portion 13 also achieve mutual rotation through rigid pure rolling between the components. For example, the third joint portion 13 is provided with a second tooth profile 14, and the second proximal joint portion 12 is provided with a second retaining groove 16 for retaining the second tooth profile 14. Simultaneously, the second proximal joint portion 12 is provided with an arc-shaped fourth rolling surface 19D, and the third proximal joint portion 13 is provided with an arc-shaped third rolling surface 19C corresponding to the fourth rolling surface 19D and configured to achieve rigid pure rolling with the fourth rolling surface 19D. The axis of the arc of the fourth rolling surface 19D is the second proximal axis B1, and the axis of the arc of the third rolling surface 19C is the fourth proximal axis B3. The third rolling surface 19C and the fourth rolling surface 19D serve as a load-bearing mechanism, configured to withstand the interaction force between the third proximal joint portion 13 and the second proximal joint portion 12 caused by the tension of the drive assembly. The second proximal axis B1 and the fourth proximal axis B3 are parallel and maintain a constant distance between them. The second proximal axis B1 and the fourth proximal axis B3 are perpendicular to the first plane P1. The shape of the second tooth profile edge 14A and the fit between the second tooth profile 14 and the second retaining groove 16 ensure that when the second tooth profile 14 rotates within the second retaining groove 16, the third rolling surface 19C and the fourth rolling surface 19D simultaneously and rigidly roll relative to each other (without relative sliding).

[0132] The movement mechanism of the relative rotation (swing) of the third proximal joint part 13 and the second proximal joint part 12 is similar to the movement mechanism of the relative rotation (swing) of the aforementioned first proximal joint part 11 and the second proximal joint part 12, and will not be repeated here.

[0133] The first clamping groove 15 and the second clamping groove 16 are, for example, arranged at a 90-degree interval along the circumferential direction, so that the first proximal axis A1 and the second proximal axis B1 are perpendicular to each other.

[0134] Similarly, the distal joint 20 may also have the same motion mechanism as the proximal joint 10, and therefore may also be constructed into the same structure, which will not be described in detail here.

[0135] In addition to the structure shown in Figure 19, rolling joints can also be implemented in other ways. For example, the rolling surfaces provided at two adjacent joints can be omitted, and a connecting rod can be provided between the two joints, with the ends of the connecting rod rotatably connected to the two joints, thereby using the connecting rod as a load-bearing mechanism. For another example, the tooth profiles and slots provided at two adjacent joints can be replaced with a pair of meshing gears.

[0136] Although the embodiment of the present application specifically introduces an embodiment in which the parallel motion mechanism 130 has two degrees of freedom, it can be understood that in other embodiments, the parallel motion mechanism 130 may also have one degree of freedom, or may have more than two degrees of freedom.

[0137] In understanding the scope of this application, the term "comprise" and its derivatives as used herein are intended to be open terms that specify the presence of recited features, elements, components, groups, wholes, and / or steps, but do not exclude the presence of other unrecorded features, elements, components, groups, wholes, and / or steps. This concept also applies to words with similar meanings, such as the terms "include," "have," and their derivatives.

[0138] As used herein, the terms "attached" or "attached" include: configurations where an element is directly secured to another element by securing it directly to the other element; configurations where an element is indirectly secured to the other element by securing it to an intermediate member that is in turn secured to the other element; and configurations where one element is integral with the other, i.e., one element is substantially a part of the other. This definition also applies to words with similar meanings such as "connect," "connect," "couple," "mount," "bond," "secure," and their derivatives. Finally, terms of degree such as "substantially," "approximately," and "approximately" as used herein represent an amount of deviation that would modify the term such that the end result would not be significantly changed.

[0139] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art in the art of this application. The terms used herein are merely for describing specific implementation purposes and are not intended to limit this application. Features described herein in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or is otherwise indicated.

[0140] The present application has been described through the above-described embodiments, but it should be understood that the above-described embodiments are for illustrative and illustrative purposes only and are not intended to limit the present application to the described embodiments. In addition, those skilled in the art will understand that the present application is not limited to the above-described embodiments, and that various variations and modifications may be made based on the teachings of the present application, all of which fall within the scope of protection claimed in the present application.

Claims

1. A parallel motion mechanism for a surgical instrument, comprising: a proximal joint, the distal end of the proximal joint being capable of swinging relative to the proximal end of the proximal joint along at least one plane, each of the planes defining a normal plane that passes through the central axis and is perpendicular to the corresponding plane; a distal joint for connecting an end effector, the distal end of the distal joint being capable of swinging relative to the proximal end of the distal joint along the at least one plane, the proximal end of the distal joint being connected to and relatively fixed to the distal end of the proximal joint; a constraint wire for maintaining the orientation of the distal end of the distal joint relative to the proximal end of the proximal joint, one end of the constraint wire being fixed to the distal end of the distal joint and the other end of the constraint wire being fixed to the proximal end of the proximal joint; a plurality of drive assemblies for actuating the distal joint, each drive assembly comprising: a distal flexible member that passes through the distal joint and is fixed to the distal end of the distal joint, the distal flexible member including a distal section located within the distal joint, a proximal flexible member that passes through the proximal joint and is for connection to a rear transmission, the proximal flexible member including a proximal section located within the proximal joint, and a connecting member that connects the distal flexible member and the proximal flexible member, the stiffness of the connecting member being greater than the stiffness of the distal flexible member and greater than the stiffness of the proximal flexible member.

2. The parallel motion mechanism according to claim 1, wherein When the parallel motion mechanism is in a neutral state, the distal section and the proximal section are respectively located on both sides of the normal plane.

3. The parallel motion mechanism according to claim 2, wherein, When the parallel motion mechanism is in a neutral state, the proximal section and the distal section of the drive assembly extend parallel to the central axis, and the distance between the proximal section and the normal plane is equal to the distance between the distal section and the normal plane.

4. The parallel motion mechanism according to claim 2, wherein, When the parallel motion mechanism is in a neutral state, in the projection of the parallel motion mechanism in the extending direction along the central axis, the proximal section and the distal section of the drive assembly are centrosymmetric about the central axis.

5. The parallel motion mechanism according to any one of claims 1 to 4, wherein, Between the proximal end of the distal joint and the distal end of the proximal joint, the distal flexible member extends along a first straight line, and the proximal flexible member extends along a second straight line.

6. The parallel motion mechanism according to claim 5, wherein, The first straight line and the second straight line are coplanar.

7. The parallel motion mechanism according to claim 5, wherein, The first straight line is parallel to the second straight line and parallel to the central axis of the parallel motion mechanism.

8. The parallel motion mechanism according to any one of claims 1 to 7, wherein The connecting member includes a first connection position connected to the distal flexible member and a second connection position connected to the proximal flexible member, and the first connection position and the second connection position are spaced apart in the circumferential direction around the central axis.

9. The parallel motion mechanism according to claim 8, wherein, When the parallel motion mechanism is in a neutral state, the proximal section and the distal section of the drive assembly extend parallel to the central axis, and in the projection of the parallel motion mechanism in the extending direction along the central axis, the first connection position and the second connection position are located on the straight line connecting the position of the distal flexible member and the position of the proximal section.

10. The parallel motion mechanism according to claim 8, wherein, When the parallel motion mechanism is in a neutral state, the proximal section and the distal section of the drive assembly extend parallel to the central axis. In the projection of the parallel motion mechanism along the extension direction of the central axis, the first connection position coincides with the position of the distal flexible member, and the second connection position coincides with the position of the proximal section.

11. The parallel motion mechanism according to claim 8, wherein, The first connection position and the second connection position are spaced apart along the extension direction of the central axis.

12. The parallel motion mechanism according to any one of claims 1 to 11, wherein, The parallel motion mechanism further includes a central tube that extends along the extension direction of the central axis and is connected between the proximal joint and the distal joint, and a plurality of the connecting members are arranged around the central tube.

13. The parallel motion mechanism according to claim 12, wherein, The connecting member includes a guiding portion that is connected to the central tube and is movable relative to the central tube along the extension direction of the central axis.

14. The parallel motion mechanism according to claim 13, wherein, The guiding portion is configured as a guiding ring that is sleeved on the outer periphery of the central tube.

15. The parallel motion mechanism according to claim 14, wherein, The connecting member further includes a connecting rod that extends parallel to the central axis, and the guiding ring is disposed at an end or a middle portion of the connecting rod.

16. The parallel motion mechanism according to claim 15, wherein, The connecting member further includes a first connecting portion connected to the distal flexible member and a second connecting portion connected to the proximal flexible member, wherein the first connecting portion protrudes radially from the outer peripheral surface of the guiding ring or the connecting rod, and the second connecting portion protrudes radially from the outer peripheral surface of the guiding ring or the connecting rod.

17. The parallel motion mechanism according to any one of claims 1 to 16, wherein along the extension direction of the central axis, the plurality of the connecting members do not intersect with each other; or along the extension direction of the central axis, at least two of the connecting members are arranged in an interleaved manner.

18. The parallel motion mechanism according to any one of claims 1 to 17, wherein, The at least one plane includes a first plane, the normal plane of the first plane is a first normal plane, and the plurality of drive assemblies include: a first drive assembly and a second drive assembly, the proximal sections of the first drive assembly and the second drive assembly are respectively located on both sides of the first normal plane.

19. The parallel motion mechanism according to claim 18, wherein, The distance between the proximal section of the first drive assembly and the first normal plane is equal to the distance between the proximal section of the second drive assembly and the first normal plane, and the distance between the distal section of the first drive assembly and the first normal plane is equal to the distance between the distal section of the second drive assembly and the first normal plane.

20. The parallel motion mechanism according to claim 18, wherein, The proximal section of the first drive assembly and the proximal section of the second drive assembly are centrosymmetric about the central axis, and the distal section of the first drive assembly and the distal section of the second drive assembly are centrosymmetric about the central axis.

21. The parallel motion mechanism according to claim 18, wherein, The at least one plane further includes a second plane, the second plane and the first plane intersect at the central axis, the normal plane of the second plane is a second normal plane, and the plurality of drive assemblies further include: a third drive assembly and a fourth drive assembly, the proximal sections of the third drive assembly and the fourth drive assembly are respectively located on both sides of the second normal plane.

22. The parallel motion mechanism according to claim 21, wherein, The distance between the proximal section of the third drive assembly and the second normal plane is equal to the distance between the proximal section of the fourth drive assembly and the second normal plane, and the distance between the distal section of the third drive assembly and the second normal plane is equal to the distance between the distal section of the fourth drive assembly and the second normal plane.

23. The parallel motion mechanism according to claim 21, wherein, The proximal section of the third drive assembly and the proximal section of the fourth drive assembly are centrosymmetric about the central axis, and the distal section of the third drive assembly and the distal section of the fourth drive assembly are centrosymmetric about the central axis.

24. A surgical instrument, comprising: A parallel motion mechanism according to any one of claims 1 to 23; An end effector connected to the distal joint of the parallel motion mechanism; And A rear-end transmission device, wherein the end of the proximal flexible member is connected to the rear-end transmission device.

25. The surgical instrument according to claim 24, wherein, The end effector is configured as a hook, a spatula, a needle, a clamp or scissors.

26. The surgical instrument according to claim 24 or 25, wherein, It further includes an end joint, and the end effector and the distal joint are connected through the end joint.

27. The surgical instrument according to claim 26, wherein, The end joint includes a yaw joint seat and a pitch joint seat. The proximal end of the end effector is rotatably connected to the distal end of the yaw joint seat about a yaw axis, and the proximal end of the yaw joint seat is rotatably connected to the distal end of the pitch joint seat about a pitch axis.

28. The surgical instrument according to claim 27, wherein, The proximal end of the end effector is rotatably connected to the distal end of the yaw joint seat through a first pin shaft, and / or the proximal end of the yaw joint seat is rotatably connected to the distal end of the pitch joint seat through a second pin shaft.

29. The surgical instrument according to claim 28, wherein, The end effector includes a first jaw and a second jaw. The proximal ends of the first jaw and the second jaw are rotatably connected to the yaw joint seat through the first pin shaft, and the first jaw and the second jaw can rotate relative to the yaw joint seat about the first pin shaft respectively.

30. The surgical instrument according to any one of claims 26 to 29, wherein, It further includes at least a pair of end drive wires. The ends of the at least a pair of end drive wires are connected to the rear-end transmission device, and the end drive wires are used to drive the end joint and / or the end effector to move relative to the distal joint.

31. The surgical instrument according to any one of claims 24 to 30, wherein, It further includes a cable. The cable is electrically connected to the end effector, and when the parallel motion mechanism is in a neutral state, the cable extends along the central axis.

32. A surgical robot, comprising: A robotic arm provided with an instrument drive device thereon; And A surgical instrument according to any one of claims 24 to 31, the surgical instrument being detachably connected to the robotic arm, and the instrument drive device is in transmission connection with the rear-end transmission device to control the proximal flexible member through the rear-end transmission device.

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