Tensioning device for surgical instrument and surgical robot

Abstract

A tensioning device (60) for a surgical instrument and a surgical robot. The tensioning device (60) comprises an elastic member (61), a locking mechanism (62), a first acting member (63), and a second acting member (64). At least one of the first acting member (63) and the second acting member (64) is configured to connect to a cable (71). Both ends of the elastic member (61) respectively cooperate with the first acting member (63) and the second acting member (64), and provide the acting force for driving the first acting member (63) and the second acting member (64) to perform a first movement. The locking mechanism (62) cooperates with the first acting member (63) and the second acting member (64) and is configured to at least prevent the first acting member (63) and the second acting member (64) from performing a second movement. By connecting the cable (71) (e.g., a steel wire) to the first acting member (63) and / or the second acting member (64), the elastic force of the elastic member (61) is used to drive the first acting member (63) and the second acting member (64) to perform the first movement, to drive the cable (71) to perform a tensioning action, and the locking mechanism (62) is used to prevent the first acting member (63) and the second acting member (64) from performing the second movement during a surgery, which would cause the tensioned cable (71) to become slack.

Description

Tensioning devices for surgical instruments and surgical robots

[0001] This application claims priority to Chinese Patent Application No. CN 202411434846.6, filed on October 14, 2024, entitled "Tensioning Device for Surgical Instruments and Surgical Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention relates to the field of medical device technology, and in particular to a surgical instrument. Background Technology

[0003] Minimally invasive medical techniques refer to medical procedures performed inside the human body cavity using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared with traditional surgical methods, minimally invasive medical techniques have advantages such as less trauma, less pain, faster recovery, reduced patient discomfort, and fewer harmful side effects.

[0004] With advancements in technology, minimally invasive surgical robot technology has matured and is widely used. Minimally invasive surgical robots typically include a main control console and slave operating devices. The surgeon controls the slave operating devices via input devices on the main control console. The slave operating devices respond to control commands sent by the main control console and perform corresponding surgical procedures. Instruments are connected to the drive units of the slave operating devices to perform surgical procedures. The distal end of the instrument includes an end effector for performing surgical operations and joint components connected to the end effector that can move in multiple degrees of freedom. Examples of end effectors include clamps, grippers, surgical scissors, endoscopes, ultrasonic scalpels, staplers, and needle holders. The drive unit is, for example, an instrument case containing a transmission mechanism (not shown in the figure). The transmission mechanism includes multiple transmission units (e.g., winches), which are connected to the joint components and end effectors via multiple cables. Each transmission unit is coupled to and driven by multiple actuators (e.g., motors) within the drive system.

[0005] The existing transmission devices mainly use steel wires for transmission. During long-term use, the steel wires will elongate due to stress and will not be able to tighten automatically. After the steel wires elongate, they will become loose, which will significantly reduce the control accuracy of the instruments and greatly affect the performance of the instruments. For example, the gripping force of the forceps will be reduced, and the doctor's operation will be deviated.

[0006] Summary of the Invention

[0007] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this invention is to provide a tensioning device and a surgical robot to solve the problem that the steel wire cannot be automatically tensioned after it stretches in the existing technology.

[0008] The objective of this invention is achieved through the following technical solution:

[0009] This invention provides a tensioning device for a surgical instrument, comprising an elastic element, a locking mechanism, a first action element, and a second action element. At least one of the first action element and the second action element is used to connect a cable. The two ends of the elastic element respectively cooperate with the first action element and the second action element and have a force to drive the first action element and the second action element to perform a first movement. The locking mechanism cooperates with the first action element and the second action element and is at least used to prevent the first action element and the second action element from performing a second movement.

[0010] When the first and second actuators perform the first movement, they can drive the cable to perform a tensioning action.

[0011] Furthermore, the first and second action members are respectively used to connect two sections of the cable with opposite extension directions. The second action member is provided with a receiving cavity. The elastic member and the locking mechanism are both provided in the receiving cavity. One end of the first action member is provided in the receiving cavity and is provided with a baffle. One end of the elastic member is connected to the baffle, and the other end of the elastic member is connected to the inner wall of the receiving cavity. The elastic member has a force to drive the first action member to slide towards the inside of the receiving cavity.

[0012] Furthermore, the locking mechanism includes a phase change alloy. When the temperature is greater than a preset temperature value, the phase change alloy is in a liquid state, and the locking mechanism is in an unlocked state. When the temperature is less than or equal to the preset temperature value, the phase change alloy is in a solid state, and the locking mechanism is in a locked state.

[0013] Alternatively, the locking mechanism includes a first ratchet and a second ratchet that cooperate with each other, the first actuating member is provided with the first ratchet, and the inner wall of the second actuating member is provided with a plurality of second ratchets distributed along the axial direction.

[0014] Furthermore, one end of the cable is wound around the second action member. The first action member includes a spring fixing member and a locking member that rotate synchronously. The second action member is provided with a receiving cavity. The locking mechanism and the locking member are both disposed in the receiving cavity. The locking mechanism is at least used to prevent the locking member and the second action member from rotating in opposite directions. One end of the elastic member is connected to the spring fixing member, and the other end of the elastic member is connected to the second action member. The elastic member has a torque that drives the first action member and the second action member to rotate in the same direction.

[0015] Furthermore, the locking mechanism includes a phase change alloy. When the temperature is greater than a preset temperature value, the phase change alloy is in a liquid state, and the locking mechanism is in an unlocked state. When the temperature is less than or equal to the preset temperature value, the phase change alloy is in a solid state, and the locking mechanism is in a locked state.

[0016] Furthermore, the locking member is provided with a first protrusion, and the second actuating member is provided with a second protrusion on the inner wall of the receiving cavity. Both the first protrusion and the second protrusion cooperate with the locking mechanism.

[0017] Furthermore, both the spring fixing member and the elastic member are located outside the receiving cavity, and the elastic member is sleeved on the outer wall of the second actuating member; or, both the spring fixing member and the elastic member are located inside the receiving cavity.

[0018] Furthermore, the tensioning device includes a rotating shaft, and the first and second action members are both sleeved on the rotating shaft. The first action member rotates synchronously with the rotating shaft, and the second action member can rotate relative to the rotating shaft.

[0019] Furthermore, the second functional member includes a housing and a winding wheel, the winding wheel being fixed to one end of the housing and used for winding the cable.

[0020] Furthermore, the first actuating member includes a wedge-shaped slider and a cooperating radial slider, the radial slider being used to fix the cable. The second actuating member has a receiving cavity and a radial groove communicating with the receiving cavity. The radial slider is installed in the radial groove and can slide within the radial groove. The wedge-shaped slider and the elastic member are both disposed in the receiving cavity. One end of the elastic member is connected to the wedge-shaped slider, and the other end of the elastic member is connected to the inner wall of the receiving cavity. The elastic member has a force that drives the wedge-shaped slider and the second actuating member to rotate relatively in the forward direction, so as to drive the radial slider to slide in the forward direction relative to the radial groove.

[0021] The locking mechanism includes a first wedge-shaped protrusion on the wedge-shaped slider; or, the locking mechanism includes a plurality of first ratchet teeth on the wedge-shaped slider, and a second ratchet tooth on the radial slider that engages with the first ratchet tooth, wherein the inclined surface engaging with the first ratchet tooth engages with the inclined surface of the second ratchet tooth.

[0022] Furthermore, the radial slider is provided with a second wedge-shaped protrusion that cooperates with the first wedge-shaped protrusion, and the inclined surface of the first wedge-shaped protrusion cooperates with the inclined surface of the second wedge-shaped protrusion.

[0023] Furthermore, the tensioning device includes a rotating shaft, and the wedge-shaped slider and the second action member are both sleeved on the rotating shaft. The second action member rotates synchronously with the rotating shaft, and the wedge-shaped slider can rotate relative to the rotating shaft; or, the wedge-shaped slider rotates synchronously with the rotating shaft, and the second action member can rotate relative to the rotating shaft.

[0024] Furthermore, the rotating shaft is provided with a winding shaft for winding the cable, and the winding shaft rotates synchronously with the rotating shaft.

[0025] This application also provides a surgical robot, including the tensioning device described above.

[0026] The beneficial effects of this invention are as follows: by connecting a cable (e.g., steel wire) to the first and / or second action members, the elastic force of the elastic member is used to drive the first and second action members to perform a first movement, thereby driving the cable to perform a tensioning action, thus achieving automatic tensioning of the cable. The tensioned cable improves the control precision of surgical instruments, thereby increasing the doctor's satisfaction with the operation experience; and a locking mechanism is used to prevent the first and second action members from performing a second movement during surgery, which would cause the tensioned cable to loosen. Attached Figure Description

[0027] Figure 1 is a top view of a surgical robot system according to an embodiment of this application, arranged in an operating room.

[0028] Figure 2A is a schematic diagram of the main control console of a surgical robot system according to an embodiment of this application.

[0029] Figure 2B is a schematic diagram of the slave operating device of a surgical robot system according to an embodiment of this application.

[0030] Figures 3A and 3B are schematic diagrams of surgical tools according to an embodiment of this application.

[0031] Figure 4 is a three-dimensional structural diagram of the tensioning device and transmission unit in Embodiment 1 of the present invention.

[0032] Figure 5 is a schematic cross-sectional view of the tensioning device in Embodiment 1 of the present invention.

[0033] Figure 6 is a schematic diagram of the disassembled structure of the tensioning device in Embodiment 1 of the present invention.

[0034] Figure 7 is a schematic cross-sectional view of another tensioning device in Embodiment 1 of the present invention.

[0035] Figure 8 is a three-dimensional structural diagram of the tensioning device and transmission unit in Embodiment 2 of the present invention.

[0036] Figure 9 is a schematic diagram of the disassembled structure of the tensioning device in Embodiment 2 of the present invention.

[0037] Figure 10 is a schematic diagram of another tensioning device in Embodiment 2 of the present invention.

[0038] Figure 11 is a top-view three-dimensional structural diagram of the tensioning device and transmission unit in Embodiment 3 of the present invention.

[0039] Figure 12 is a bottom-view three-dimensional structural diagram of the tensioning device and transmission unit in Embodiment 3 of the present invention.

[0040] Figure 13 is a top-view three-dimensional structural diagram of the tensioning device without the cover plate in Embodiment 3 of the present invention.

[0041] Figure 14 is a schematic diagram of the disassembled structure of the tensioning device in Embodiment 3 of the present invention.

[0042] Figure 15 is a schematic cross-sectional view of another tensioning device in Embodiment 3 of the present invention.

[0043] In the diagram: Operating device 10, axes 101, 102, 103, 104, 105, central axis 106, robotic arm 11, holding device 112, docking device 114, sleeve 115, remote motion center 116, incision 117, base 110, column 120, support column 121, lifting column 122, upper arm 130, forearm 140, vertical arm 150, control device 160, control panel 170, switch 171, first joint J1, second joint J2, third joint J... 3. Fourth joint J4, Fifth joint J5, Instrument holding mechanism 12, Support column 121, Lifting column 122, Sleeve 13, Main control console 20, Display device 21, Handrail 22, Input device 23, Observation device 24, Control signal processing system 25, Electronic equipment trolley 30, Surgical tools 40, Instrument box 41, Long shaft 42, Joint assembly 43, End device 44, Endoscope 51, Surgical instruments 52, 53, 54, Assistant A, Anesthesiologist B, Surgeon S, Operating table T, Patient P.

[0044] Tensioning device 60, receiving cavity 601, injection port 602, radial groove 603, elastic element 61, locking mechanism 62, first ratchet 621, second ratchet 622, first actuating element 63, spring fixing element 631, locking element 632, first protrusion 6321, wedge slider 633, first wedge protrusion 6331, radial slider 634, second wedge protrusion 6341, second actuating element 64, receiving housing 641, second protrusion 6411, second stop 6412, cover plate 642, winding wheel 643, rotating shaft 65, winding shaft 651, first stop 652; transmission unit 70, cable 71, first section cable 711, first connecting block 7111, second section cable 712, second connecting block 7121, chuck 72, bearing 73. Detailed Implementation

[0045] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application and are not intended to limit the scope of this application.

[0046] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element present, or it can refer to the two elements being interconnected via signals. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intermediate element present, or it can refer to the two elements interacting via signals. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or operation, in addition to those depicted in the figures. For example, if the device is flipped in the figures, an element or feature described as "below" or "under" other elements or features would be oriented "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0047] The terms "distal" and "proximal" used in this article are directional terms commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the surgeon during the procedure, while "proximal" refers to the end closest to the surgeon. The term "multiple" used in this article includes two or more.

[0048] The term "instrument" is used herein to describe a medical device for insertion into a patient's body and for performing surgical or diagnostic procedures. This instrument includes an end effector, which may be a surgical tool used to perform surgical procedures, such as a biopsy needle, electrocautery device, forceps, stapler, scissors, imaging equipment (e.g., an endoscope or ultrasound probe), and the like. Some instruments used in embodiments of this application further include a hinged component (e.g., a joint assembly) for the end effector, allowing the position and orientation of the end effector to be manipulated with one or more mechanical degrees of freedom relative to an instrument axis. Furthermore, the end effector includes functional mechanical degrees of freedom, such as opening and closing clamps. The instrument may also include stored information that can be updated by a surgical system, whereby the storage system can provide one-way or two-way communication between the instrument and one or more system components.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms “and / or” and “and / or” as used herein include any and all combinations of one or more of the associated listed items.

[0050] As shown in FIG1, one embodiment of the surgical robot system of this application includes a main console 20 and a slave operating device 10. The main console 20 is remotely connected to the slave operating device 10, and the surgeon S can remotely operate and control the slave operating device 10 from the main console 20. The main console 20 is configured to send control signals to the slave operating device 10 and display images acquired by the slave operating device 10 according to the operation of the surgeon S. The surgeon S can observe the three-dimensional stereoscopic image of the patient's body provided by the imaging system through the main console 10. By observing the three-dimensional image of the patient's body, the surgeon S can control the slave operating device 10 to perform related operations (such as performing surgery or acquiring images of the patient's body) with an immersive sensory experience.

[0051] The operating device 10 includes a control unit, a robotic arm 11, and a tool-holding mechanism 12. The control unit can be located in the base of the operating device 10 or on the robotic arm 11. In one embodiment, the control unit is used to control the joint movement of the robotic arm 11 and the movement of the drive device in the tool-holding mechanism 12. Multiple surgical tools can be mounted on the tool-holding mechanism 12, and the drive device of the tool-holding mechanism 12 is used to drive the surgical tools to perform various surgeries.

[0052] In one embodiment, the surgical robot system further includes a gas inhalation device, a lumen assembly (not shown), and a cannula 13, the lumen assembly providing fluid communication between the cannula 13 and the gas inhalation device. The cannula 13 is connected to the distal end of the instrument holding mechanism 12 and is inserted into the body cavity of the patient P lying on the operating table T. The end devices of multiple surgical instruments or cameras at the distal end of an endoscope extend through the cannula 13 into the body cavity of the patient P to perform surgery-related procedures or acquire images of the patient P's internal environment.

[0053] In one embodiment, surgeon S can control the operating mode of the gas inhalation device via main control console 10, such as injecting gas from a gas source into the body cavity of patient P to create an artificial pneumoperitoneum, or aspirating gas from the body cavity of patient P. Assistant A attaches surgical instruments 40 to or replaces surgical instruments 40 from the instrument holding mechanism 12 according to the surgical situation. Surgeon S, assistant A, and anesthesiologist B constitute a basic surgical team. Surgical instruments 40 can be surgical tools used to perform surgical operations, such as electrocautery devices, forceps, staplers, ultrasonic scalpels, etc., or imaging devices (e.g., endoscopes) or other surgical tools for acquiring images.

[0054] The main control console 10 is also remotely connected to the electronic device cart 30, which in turn is remotely connected to the slave operating device 10. The electronic device cart 30 may include an energy generating device, an image signal processing device, and the aforementioned gas blowing device. In this embodiment, the main control console 10, the slave operating device 10, and the electronic device cart 30 communicate remotely via wired Ethernet. However, remote communication is not limited to wired Ethernet; it can also be other wired methods, such as, but not limited to, serial port, CAN, RS485, RS232, USB, SPI, etc., or wireless communication methods, such as, but not limited to, 5G, WiFi, NB, Zigbee, Bluetooth, RFID, etc.

[0055] In one embodiment, as shown in FIG2A, the main console 20 includes a display device 21, an armrest 22, an input device 23, an observation device 24, and a control signal processing system 25. The display device 21 displays images acquired by the imaging system. The display device 21 can be an image source reflected into the eyepiece via multiple mirrors, or it can be a 3D display. The armrest 22 is used to support the surgeon's arm and / or hand, allowing the surgeon to operate the input device 23 more comfortably. The observation device 24 is used to observe the images displayed on the display device. Depending on actual needs, the armrest or observation device 24 can be omitted, allowing direct observation. The surgeon manipulates the surgical instruments of the secondary operating device 10 by operating the input device 23. The control signal processing system of the main console 20 processes the input signal from the input device 23 and sends control commands to the secondary operating device. The secondary operating device 10 responds to the control commands of the main console 20 and performs corresponding operations. In some embodiments, the control signal processing system 25 can also be located in the secondary operating device 10, for example, in the base of the secondary operating device 10. The control signal processing system 25 can be the same device as the control device described above.

[0056] Surgical robotic systems typically also include an imaging system (not shown) that enables the surgeon S to view the surgical site from outside the patient's body. This imaging system typically includes a surgical tool 40 with video image acquisition capabilities (e.g., an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the surgical tool 40 with image acquisition capabilities includes optics of one or more imaging sensors (e.g., CCD or CMOS sensors) that acquire images of the patient's body. These one or more imaging sensors can be positioned distal to the surgical tool 40 with image acquisition capabilities, and the signals generated by these sensors can be transmitted via cable or wirelessly for processing and display on the video display device.

[0057] In one embodiment, as shown in FIG2B, the robotic arm 11 of the surgical robot system from the operating device 10 includes a base 110, a column 120 connected to the base 110, and a large arm 130, a forearm 140, and a vertical arm 150 connected in sequence. The robotic arm also includes multiple joints J1-J5 for connecting the column 120, the large arm 130, the forearm 140, and the vertical arm 150. Specifically, the column 120 includes a support column 121 and a lifting column 122. The support column 121 is fixedly connected to the base 110, and the lifting column 122 is connected to the support column 121 through a first joint J1. The first joint J1 is a linear motion joint, and the lifting column 122 can move linearly along the axis 101 of the first joint J1 to change the height of the portion of the robotic arm 11 connected to the distal end of the column 120. The lifting column 122 is connected to the upper arm 130 via the second joint J2. The upper arm 130 is connected to the lower arm 140 via the third joint J3. The lower arm 140 is connected to the vertical arm 150 via the fourth joint J4. The second joint J2, the third joint J3, and the fourth joint J4 are all rotary joints, and the rotation axes 102, 103, and 104 of these three rotary joints are all perpendicular to the horizontal plane. The vertical arm 150 is connected to the holding device 112 via the fifth joint J5. The axis 105 of the fifth joint J5 is perpendicular to the axes 101-104.

[0058] The control device 160 is configured to control multiple joints J1-J5 in linkage to achieve various positions of the entire robotic arm 11, adjust the position and posture of the holding device 112, and realize the rotational movement of the holding device 112 around its remote motion center 116 at its far end. The control device 160 can be set in the base 110 or in the main control console 20.

[0059] In one embodiment, the holding device 112 further includes a cannula 115, which is detachably connected to the holding device 112 via a docking device 114. The central axis 106 of the holding device 112 is substantially coincident with the axis 118 of the cannula 115. The holding device 112 drives the cannula 115 to rotate around a remote center of motion 116. Since the remote center of motion 116 is located at the incision 117, the patient P will not be injured when the cannula 115 rotates around the remote center of motion 116.

[0060] In one embodiment, the operating device 10 further includes a control panel 170 disposed on the support column 121. The control panel 170 includes at least one switch 171. The switch 171 is used to input a positioning command to the control device 160. The control device 160 responds to the action of the switch 171 to control the movement of the robotic arm 11 to quickly achieve various predetermined positions of the robotic arm 11, such as unfolding it into a position for arranging a sterile curtain.

[0061] In one embodiment, the instrument holding device 112 may be equipped with multiple surgical instruments 40, which enter the body through an incision 117 via a common cannula 115. As shown in FIG3A, the surgical instrument 40 includes an instrument housing 41, a long shaft 42, a joint assembly 43, and an end effector 44. The surgical instrument 40 is detachably mounted on a drive system of the instrument holding device 112 of the operating device 10. The instrument housing 41 contains a transmission device (not shown), which includes multiple transmission units 70 (FIG. 4, e.g., winches). The transmission units 70 are connected to the joint assembly 43 and the end effector 44 via multiple cables 71 (FIG. 4). The multiple transmission units 70 are respectively coupled to and driven by multiple actuators (e.g., motors) within the drive system. The multiple actuators receive control commands from a control device and, according to the control commands, drive the transmission units 70 to move, thereby driving the end effector 44. For example, the drive units rotate the transmission units 70 to pull / tighten the cables 71 to control the movement of the end effector 44. The end effector 44, via the joint assembly 43, is capable of performing multiple Cartesian degrees of freedom movements, such as translational movements (including lateral and / or longitudinal movements) to change the position of the end effector 44 and pitch, yaw, and roll movements to change the orientation of the end effector 44. It is understood that translation, pitch, yaw, and roll can occur independently or simultaneously. The end effector 44 is used to perform surgical procedures. Depending on the needs of the surgical procedure, the end effector 44 can be an electrocautery device, forceps, stapler, scissors, ultrasonic scalpel, camera, imaging device, etc., where the camera or imaging device is used to acquire images of the inside of the human body.

[0062] In one embodiment, as shown in FIG3B, multiple surgical instruments pass through a cannula 115 to reach the vicinity of the target tissue T to perform related surgical procedures or examinations. The multiple surgical instruments include an endoscope 51 and surgical instruments 52, 53, 54 for performing the surgery. Each surgical instrument includes the articulated assembly shown in FIG3A to enable the endoscope 51 and the surgical instruments 52, 53, 54 to perform the related surgery flexibly and freely.

[0063] The specific implementation, structure, features, and effects of the surgical instrument according to the present invention are described in detail below with reference to the accompanying drawings and preferred embodiments:

[0064] [Example 1]

[0065] Figure 4 is a three-dimensional structural diagram of the tensioning device and transmission unit in Embodiment 1 of the present invention. Figure 5 is a cross-sectional structural diagram of the tensioning device in Embodiment 1 of the present invention. Figure 6 is a disassembled structural diagram of the tensioning device in Embodiment 1 of the present invention.

[0066] As shown in Figures 4 to 6, a tensioning device 60 for a surgical instrument according to Embodiment 1 of the present invention includes an elastic element 61, a locking mechanism 62, a first actuating element 63, and a second actuating element 64. At least one of the first actuating element 63 and the second actuating element 64 is used to connect a cable 71. The two ends of the elastic element 61 respectively cooperate with the first actuating element 63 and the second actuating element 64 and have a force to drive the first actuating element 63 and the second actuating element 64 to perform a first movement. When the first actuating element 63 and the second actuating element 64 perform the first movement, they can drive the cable 71 to perform a tensioning action. The locking mechanism 62 cooperates with the first actuating element 63 and the second actuating element 64 and is at least used to prevent the first actuating element 63 and the second actuating element 64 from performing a second movement. The first movement and the second movement are in opposite directions; for example, the first movement is a relative forward movement of the first actuating element 63 and the second actuating element 64, and the second movement is a relative reverse movement of the first actuating element 63 and the second actuating element 64.

[0067] In this embodiment, the first actuating member 63 and the second actuating member 64 are respectively used to connect two cable sections 71 with opposite extension directions, that is, both the first actuating member 63 and the second actuating member 64 are used to connect the cable 71. As shown in Figures 4 to 6, the cable 71 includes a first cable 711 and a second cable 712 with opposite extension directions. The end of the first cable 711 facing the second cable 712 is provided with a first connecting block 7111, and the end of the second cable 712 facing the first cable 711 is provided with a second connecting block 7121. One end of the first cable 711 is installed on the first actuating member 63 through the first connecting block 7111, and one end of the second cable 712 is installed on the second actuating member 64 through the second connecting block 7121.

[0068] Furthermore, the second actuating member 64 is provided with a receiving cavity 601, and the elastic member 61 and the locking mechanism 62 are both located within the receiving cavity 601. One end of the first actuating member 63 is located within the receiving cavity 601 and is provided with a baffle 631, which is an annular structure (e.g., a flange structure). One end of the elastic member 61 is connected to the baffle 631, and the other end of the elastic member 61 is connected to the inner wall of the receiving cavity 601. The elastic member 61 has a force that drives the first actuating member 63 to slide towards the inside of the receiving cavity 601, thereby causing the opposing ends of the first cable 711 and the second cable 712 to move closer together, thereby driving the cable 71 to perform a tensioning action and achieving automatic tensioning of the cable 71. The second action member 64 includes a housing 641 and a cover plate 642 connected to each other, forming a cavity 601 between the housing 641 and the cover plate 642. One end of the first action member 63 extends from the bottom wall of the housing 641 into the cavity 601, and one end of the second cable 712 is installed on the cover plate 642 through the second connecting block 7121.

[0069] In this embodiment, the elastic element 61 is a compression sheet or a compression spring, as shown in Figure 4. One end of the elastic element 61, baffle 631, is connected to the side wall away from the first cable 711, and the other end of the elastic element 61 is connected to the inner wall of the receiving cavity 601 away from the first cable 711 (the inner bottom wall of the receiving housing 641). Thus, the tension of the compression sheet or compression spring drives the first action element 63 to slide towards the inside of the receiving cavity 601. Of course, in other embodiments, the elastic element 61 can also be a tension sheet or tension spring. One end of the elastic element 61, baffle 631, is connected to the side wall towards the first cable 711, and the other end of the elastic element 61 is connected to the inner wall of the receiving cavity 601 towards the first cable 711 (the inner bottom wall of the cover plate 642). Thus, the tension of the compression sheet or compression spring drives the first action element 63 to slide towards the inside of the receiving cavity 601.

[0070] In this embodiment, the locking mechanism 62 includes a phase change alloy. When the temperature is greater than a preset temperature value (e.g., 130 degrees Celsius, the sterilization temperature), the phase change alloy is in a liquid state. At this time, the locking mechanism 62 is in an unlocked state, and the elastic member 61 can drive the first action member 63 to slide towards the inside of the receiving cavity 601, thereby causing the opposite ends of the first cable 711 and the second cable 712 to come together, so as to drive the cable 71 to perform a tensioning action, thereby realizing the automatic tensioning of the cable 71. When the temperature is less than or equal to the preset temperature value, the phase change alloy is in a solid state. At this time, the locking mechanism 62 is in a locked state, and the first action member 63 and the second action member 64 cannot move relative to each other, so as to prevent the first action member 63 and the second action member 64 from performing a second movement during the operation, thereby causing the tensioned cable to loosen. In its solid state, the phase change alloy prevents both the first actuating element 63 and the second actuating element 64 from undergoing a second movement, and also prevents them from undergoing a first movement. Under normal use, the solidified phase change alloy can withstand the maximum tensile force of the cable 71 without significant deformation, ensuring that the relative positions of the first actuating element 63 and the second actuating element 64 remain fixed under the maximum tensile force of the cable 71. The phase change alloy can be, for example, a SnBi alloy, but it can also be other alloys or materials that can undergo phase transitions between high-temperature sterilization and room temperature. Using the high-temperature sterilization process, when heated to 130 degrees Celsius, the phase change alloy changes from solid to liquid. When the tension between the first cable 711 and the second cable 712 is less than the preload of the elastic element 61, the elastic element 61 can push the first action element 63 to drive the first action element 63 to slide towards the inside of the receiving cavity 601, thereby re-tightening the cables 71 at both ends and achieving automatic tensioning. After the high-temperature sterilization equipment is removed, the phase change alloy slowly cools down and solidifies into a solid. The first action element 63 and the second action element 64 cannot move relative to each other, so as to prevent the first action element 63 and the second action element 64 from making a second movement during the operation, which would cause the tensioned cable to loosen.

[0071] Figure 7 is a cross-sectional structural schematic diagram of another tensioning device in Embodiment 1 of the present invention. As shown in Figure 7, in other embodiments, the locking mechanism 62 can also employ a first ratchet 621 and a second ratchet 622 that cooperate with each other. The first actuating member 63 is provided with the first ratchet 621, and the second actuating member 64 is provided with a plurality of second ratchet 622 distributed axially on the inner wall of the receiving cavity 601. Through the mutual cooperation of the first ratchet 621 and the second ratchet 622, the first actuating member 63 and the second actuating member 64 are prevented from performing a second movement. Among them, the second ratchet 622 can be a ring-shaped triangular structure, and the plurality of ring-shaped triangular structures are distributed axially. By using the mutual cooperation of the first ratchet 621 and the second ratchet 622, the cable 71 can be automatically tensioned without heating, but there is a tooth gap between two adjacent second ratchet 622s, which cannot achieve stepless adjustment; while using a phase change alloy can achieve stepless adjustment, but automatic tensioning can only be performed during high-temperature sterilization.

[0072] This embodiment also provides a surgical robot, including a transmission unit 70 and a tensioning device 60 as described above. The transmission unit 70 includes a rotating shaft 65, a winding shaft 651, a chuck 72, and cables 71. The winding shaft 651 is sleeved on the rotating shaft 65 and rotates synchronously with the rotating shaft 65. One end of each of the two cables 71 is wound onto the winding shaft 651 in the forward and reverse directions, respectively. The chuck 72 is fixed to one end of the rotating shaft 65. The drive unit drives the rotating shaft 65 to rotate in the forward and reverse directions through the chuck 72. When the rotating shaft 65 rotates, the winding shaft 651 loosens one cable 71 and tightens the other cable 71, thereby controlling the movement (e.g., turning) of the end effector 44 (FIG. 3A). The tensioning device 60 is disposed on the two cables 71. Each cable 71 includes a first cable 711 and a second cable 712, which are connected together by the tensioning device 60. For the other structures of the surgical robot, please refer to the introduction of the surgical robot in Figures 1 to 3B above, which will not be repeated here.

[0073] [Example 2]

[0074] Figure 7 is a three-dimensional structural diagram of the tensioning device and transmission unit in Embodiment 2 of the present invention. Figure 9 is a disassembled structural diagram of the tensioning device in Embodiment 2 of the present invention. As shown in Figures 8 and 9, the tensioning device 60 provided in Embodiment 2 of the present invention includes an elastic element 61, a locking mechanism 62, a first action element 63, and a second action element 64. At least one of the first action element 63 and the second action element 64 is used to connect a cable 71. The two ends of the elastic element 61 respectively cooperate with the first action element 63 and the second action element 64 and have a force to drive the first action element 63 and the second action element 64 to perform a first movement. When the first action element 63 and the second action element 64 perform the first movement, they can drive the cable 71 to perform a tensioning action. The locking mechanism 62 cooperates with the first action element 63 and the second action element 64 and is at least used to prevent the first action element 63 and the second action element 64 from performing a second movement. The first movement and the second movement have opposite directions of motion. For example, the first movement is the relative forward movement of the first action member 63 and the second action member 64, and the second movement is the relative reverse movement of the first action member 63 and the second action member 64.

[0075] In this embodiment, one end of the cable 71 is wound around the second actuating member 64, i.e., the second actuating member 64 is used to connect the cable 71. The first actuating member 63 includes a spring fixing member 631 and a locking member 632 that rotate synchronously. The second actuating member 64 is provided with a receiving cavity 601. The locking mechanism 62 and the locking member 632 are both provided in the receiving cavity 601. The locking mechanism 62 is used to prevent the locking member 632 and the second actuating member 64 from rotating in opposite directions. One end of the elastic member 61 is connected to the spring fixing member 631, and the other end of the elastic member 61 is connected to the second actuating member 64. The elastic member 61 has a torque that drives the first actuating member 63 and the second actuating member 64 to rotate in the forward direction relative to each other, thereby driving one end of the cable 71 to be tightly wound around the second actuating member 64, so as to drive the cable 71 to perform a tensioning action, thereby realizing the automatic tensioning of the cable 71.

[0076] Furthermore, the tensioning device 60 also includes a rotating shaft 65. The first actuating member 63 and the second actuating member 64 are both sleeved on the rotating shaft 65. The first actuating member 63 rotates synchronously with the rotating shaft 65. The spring fixing member 631 and the locking member 632 are fixed to the rotating shaft 65 and rotate synchronously with it, thus enabling the spring fixing member 631 and the locking member 632 to rotate synchronously. The second actuating member 64 can rotate relative to the rotating shaft 65. The second actuating member 64 includes a receiving housing 641 and a winding wheel 643. The winding wheel 643 is fixed to one end of the receiving housing 641 and is used to wind the cable 71. The winding wheel 643 rotates synchronously with the receiving housing 641.

[0077] In this embodiment, both the spring fixing member 631 and the elastic member 61 are located outside the receiving cavity 601, and the elastic member 61 is sleeved on the outer wall of the second actuating member 64, for example, the elastic member 61 is sleeved on the outer wall of the receiving housing 641. Of course, the spring fixing member 631 and the elastic member 61 can also be located inside the receiving cavity 601, thereby increasing aesthetics. The elastic member 61 can be a torsion spring, which initially has a torque to drive the first actuating member 63 and the second actuating member 64 to rotate relative to each other in a positive direction. Of course, the elastic member 61 can also be a tension spring, compression spring, or other elastic element, as long as it can drive the first actuating member 63 and the second actuating member 64 to rotate relative to each other in a positive direction.

[0078] In this embodiment, the locking mechanism 62 includes a phase change alloy. When the temperature is greater than a preset temperature value (e.g., 130 degrees Celsius, the sterilization temperature), the phase change alloy is in a liquid state. At this time, the locking mechanism 62 is in an unlocked state, and the elastic member 61 can drive the torque of the first action member 63 and the second action member 64 to rotate in a positive direction relative to each other. This causes the cable 71 to be tightly wound on the winding wheel 643 of the second action member 64, thereby driving the cable 71 to perform a tensioning action and thus achieving automatic tensioning of the cable 71. When the temperature is less than or equal to the preset temperature value, the phase change alloy is in a solid state. At this time, the locking mechanism 62 is in a locked state, and the first action member 63 and the second action member 64 cannot move relative to each other. This prevents the first action member 63 and the second action member 64 from performing a second movement during surgery, which would cause the tensioned cable to loosen. In its solid state, the phase change alloy prevents both the first actuating element 63 and the second actuating element 64 from undergoing a second movement, and also prevents them from undergoing a first movement. Under normal use, the solidified phase change alloy can withstand the maximum tensile force of the cable 71 without significant deformation, ensuring that the relative positions of the rotating shaft 65 and the second actuating element 64 remain fixed under the maximum tensile force of the cable 71. The phase change alloy can be, for example, a SnBi alloy, but it can also be other alloys or materials that can undergo phase change between high-temperature sterilization and room temperature. Utilizing the high-temperature sterilization process, when heated to 130 degrees Celsius, the phase change alloy changes from a solid to a liquid state. When the tension on the cable 71 is less than the pre-torque of the elastic element 61, the elastic element 61 can drive the first action element 63 and the second action element 64 to rotate in a relatively forward direction, thereby tightening the cable 71 again and achieving automatic tensioning. After being removed from the high-temperature sterilization equipment, the phase change alloy slowly cools down and solidifies into a solid. The first action element 63 and the second action element 64 can no longer rotate relative to each other, making the first action element 63 and the second action element 64 firmly connected. The elastic element 61 no longer plays a role, preventing the first action element 63 and the second action element 64 from rotating in opposite directions during surgery. The force on the cable 71 is directly transmitted to the rotating shaft 65, preventing the taut cable from loosening.

[0079] Furthermore, the fixed member 632 is provided with a first protrusion 6321, and the second actuating member 64 is provided with a second protrusion 6411 on the inner wall of the receiving cavity 601. Both the first protrusion 6321 and the second protrusion 6411 cooperate with the locking mechanism 62. When the phase change alloy is in a solid state, the first protrusion 6321 and the second protrusion 6411 can cooperate better with the locking mechanism 62 to prevent the first actuating member 63 and the second actuating member 64 from rotating in opposite directions. The first protrusion 6321, the second protrusion 6411, and the phase change alloy in the solid state are prismatic structures with a fan-shaped cross-section. Of course, the shapes of the first protrusion 6321, the second protrusion 6411, and the phase change alloy in the solid state can also be other structural shapes. Their shapes can be set according to actual conditions, as long as the first actuating member 63 and the second actuating member 64 can rotate freely during high-temperature sterilization and can withstand the maximum tensile force of the cable 71 at room temperature without failure.

[0080] Figure 10 is a schematic diagram of another tensioning device in Embodiment 2 of the present invention. As shown in Figure 10, in other embodiments, the locking mechanism 62 includes a first ratchet 621 and a second ratchet 622 that cooperate with each other. The locking member 632 is provided with the first ratchet 621, and the inner wall of the receiving cavity 601 has a plurality of second ratchets 622 arranged circumferentially. Through the cooperation of the first ratchet 621 and the second ratchet 622, the first actuating member 63 and the second actuating member 64 are prevented from rotating in opposite directions. By using the cooperating first ratchet 621 and the second ratchet 622, the cable 71 can be automatically tensioned without heating. However, there is a tooth gap between two adjacent second ratchets 622, which cannot achieve stepless adjustment. While using a phase change alloy can achieve stepless adjustment, automatic tensioning can only be performed during high-temperature sterilization.

[0081] This embodiment also provides a surgical robot, including a transmission unit 70 and a tensioning device 60 as described above. The transmission unit 70 includes a rotating shaft 65, a winding wheel 643, a chuck 72, and cables 71. In this embodiment, the tensioning device 60 and the transmission unit 70 are integrated, sharing the rotating shaft 65 and the winding wheel 643, thereby reducing the size of the surgical robot. The winding wheel 643 is sleeved on the rotating shaft 65 and can rotate on the rotating shaft 65. One end of each of the two cables 71 is wound in the forward and reverse directions on the winding wheels 643 of the two tensioning devices 60, respectively. The chuck 72 is fixed to one end of the rotating shaft 65. The drive unit drives the rotating shaft 65 to rotate in the forward and reverse directions through the chuck 72. When the rotating shaft 65 rotates, the winding wheel 643 loosens one cable 71 and tightens the other cable 71, thereby controlling the movement (e.g., turning) of the end effector 44 (FIG. 3A). There are two tensioning devices 60 and two cables 71. The two tensioning devices 60 share a rotating shaft 65, which is equipped with two elastic elements 61, two locking mechanisms 62, two first action elements 63, and two second action elements 64. The winding wheels 643 of the two second action elements 64 are arranged facing each other; however, the winding wheels 643 of the two second action elements 64 are also arranged in opposite directions, so the two second action elements 64 can share a housing 641. For the other structures of the surgical robot, please refer to the description of the surgical robot in Figures 1 to 3B above, which will not be repeated here.

[0082] [Example 3]

[0083] Figure 11 is a top-view perspective view of the tensioning device and transmission unit in Embodiment 3 of the present invention. Figure 12 is a bottom-view perspective view of the tensioning device and transmission unit in Embodiment 3 of the present invention. Figure 13 is a top-view perspective view of the tensioning device without the cover plate in Embodiment 3 of the present invention. Figure 14 is a disassembled structural diagram of the tensioning device in Embodiment 3 of the present invention. As shown in Figures 11 to 14, the tensioning device 60 provided in Embodiment 3 of the present invention includes an elastic element 61, a locking mechanism 62, a first action element 63, and a second action element 64. At least one of the first action element 63 and the second action element 64 is used to connect a cable 71. The two ends of the elastic element 61 respectively cooperate with the first action element 63 and the second action element 64 and have a force to drive the first action element 63 and the second action element 64 to perform a first movement. When the first action element 63 and the second action element 64 perform the first movement, they can drive the cable 71 to perform a tensioning action. The locking mechanism 62 cooperates with the first actuating member 63 and the second actuating member 64 and is at least used to prevent the first actuating member 63 and the second actuating member 64 from performing a second movement. The first movement and the second movement are in opposite directions; for example, the first movement is a relative forward movement of the first actuating member 63 and the second actuating member 64, and the second movement is a relative reverse movement of the first actuating member 63 and the second actuating member 64.

[0084] In this embodiment, the first actuating member 63 includes a wedge-shaped slider 633 and a cooperating radial slider 634. The radial slider 634 is used to fix the cable 71, that is, the first actuating member 63 is used to connect the cable 71. The end of the cable 71 can be directly fixed to the radial slider 634, or it can pass through the radial slider 634 and be fixed to other components (such as the second actuating member 64). The second actuating member 64 is provided with a receiving cavity 601 and a radial groove 602 communicating with the receiving cavity 601. The radial slider 634 is installed in the radial groove 602 and can slide in the radial groove 602. Both the wedge slider 633 and the elastic element 61 are disposed in the receiving cavity 601. One end of the elastic element 61 is connected to the wedge slider 633, and the other end of the elastic element 61 is connected to the inner wall of the receiving cavity 601. The elastic element 61 has a force that drives the wedge slider 633 and the second action element 64 to rotate in a positive direction relative to each other, so as to drive the radial slider 634 to slide in a positive direction relative to the radial groove 602, that is, to drive the radial slider 634 to slide outward (away from the axis) relative to the radial groove 602, thereby tightening one end of the cable 71, so as to drive the cable 71 to perform a tensioning action, thereby realizing the automatic tensioning of the cable 71.

[0085] In this embodiment, the tensioning device 60 includes a rotating shaft 65, a wedge-shaped slider 633, and a second actuating member 64, both of which are sleeved on the rotating shaft 65. The second actuating member 64 rotates synchronously with the rotating shaft 65, and the wedge-shaped slider 633 can rotate relative to the rotating shaft 65, i.e., the wedge-shaped slider 633 is a circumferential slider. The second actuating member 64 includes a receiving housing 641 and a cover plate 642 fixed to each other, forming a receiving cavity 601 between the cover plate 642 and the receiving housing 641. The rotating shaft 65 is provided with a first stop 652, and the receiving housing 641 is provided with a second stop 6412 within the receiving cavity 601. The first stop 652 is located within the receiving cavity 601 and cooperates with the second stop 6412, thereby allowing the rotating shaft 65 to rotate synchronously with the second actuating member 64. Of course, in other embodiments, the wedge-shaped slider 633 can rotate synchronously with the rotating shaft 65, and the second actuating member 64 can rotate relative to the rotating shaft 65. Alternatively, the wedge slider 633 can be a slider in other directions, such as an axial slider, in which case it is only necessary to press against the radial slider 634.

[0086] Furthermore, the rotating shaft 65 is provided with a winding shaft 651 for winding the cable 71. The winding shaft 651 is sleeved on the rotating shaft 65 and rotates synchronously with the rotating shaft 65. The area on the winding shaft 651 for winding the cable 71 is located on the upper and lower sides of the second action member 64.

[0087] In this embodiment, the elastic element 61 is a compression spring. One end of the compression spring is connected to the wedge-shaped slider 633, and the other end of the elastic element 61 is connected to the inner wall of the receiving cavity 601. The wedge-shaped slider 633 has a third protrusion 6332. One end of the compression spring abuts against the third protrusion 6332 of the wedge-shaped slider 633, thereby driving the wedge-shaped slider 633 to rotate. Of course, the elastic element 61 can also be a tension spring, torsion spring, or other elastic element, as long as it can drive the wedge-shaped slider 633 and the second actuating element 64 to rotate in the same direction relative to each other.

[0088] In this embodiment, the locking mechanism 62 includes a first wedge-shaped protrusion 6331 on the wedge-shaped slider 633. Because the pressure angle of the first wedge-shaped protrusion 6331 is small, less than the self-locking friction angle, the first wedge-shaped protrusion 6331 has a sliding self-locking function. The force of the elastic element 61 can cause the radial slider 634 to slide outward through the wedge-shaped slider 633, but the force of the cable 71 cannot cause the radial slider 634 to drive the wedge-shaped slider 633 to move in the opposite direction, thus compressing the elastic element 61. Optionally, the radial slider 634 is provided with a second wedge-shaped protrusion 6341 that cooperates with the first wedge-shaped protrusion 6331. The inclined surface of the first wedge-shaped protrusion 6331 and the inclined surface of the second wedge-shaped protrusion 6341 cooperate with each other, so that the wedge-shaped slider 633 can better drive the radial slider 634 to slide outward and prevent the radial slider 634 from sliding inward (towards the axis).

[0089] Figure 15 is a cross-sectional structural schematic diagram of another tensioning device in Embodiment 3 of the present invention. As shown in Figure 15, in other embodiments, the locking mechanism 62 includes a plurality of first ratchet teeth 621 on the wedge-shaped slider 633 and second ratchet teeth 622 on the radial slider 634 that engage with the first ratchet teeth 621. The inclined surfaces of the first ratchet teeth 621 and the inclined surfaces of the second ratchet teeth 622 engage with each other. Through the engagement of the first ratchet teeth 621 and the second ratchet teeth 622, the relative opposite rotation of the first actuating member 63 and the second actuating member 64 is prevented. However, there is a tooth gap between two adjacent first ratchet teeth 621, which makes stepless adjustment impossible. Since the first wedge-shaped protrusion 6331 is an arc surface, stepless adjustment can be achieved by using the first wedge-shaped protrusion 6331.

[0090] This embodiment also provides a surgical robot, including a transmission unit 70 and a tensioning device 60 as described above. The transmission unit 70 includes a rotating shaft 65, a winding shaft 651, a chuck 72, and cables 71. In this embodiment, the tensioning device 60 and the transmission unit 70 are integrated, sharing the rotating shaft 65 and the winding shaft 651, thereby reducing the size of the surgical robot. The winding shaft 651 is sleeved on the rotating shaft 65 and rotates synchronously with the rotating shaft 65. One end of each of the two cables 71 is wound around the winding shaft 651 in the forward and reverse directions, respectively, and fixed to the radial slider 634. The chuck 72 is fixed to one end of the rotating shaft 65. The drive unit drives the rotating shaft 65 to rotate in the forward and reverse directions through the chuck 72. When the rotating shaft 65 rotates, the winding shaft 651 loosens one cable 71 and tightens the other cable 71, thereby controlling the movement (e.g., turning) of the end effector 44 (FIG. 3A). The transmission unit 70 also includes a bearing 73, which is located at the end of the rotating shaft 65 away from the chuck 72, making it easier for the bearing 73 to rotate. There is one tensioning device 60 and two cables 71, which share one tensioning device 60. For other structural details of the surgical robot, please refer to the descriptions in Figures 1 to 3B above; they will not be repeated here.

[0091] In this document, the directional terms such as up, down, left, right, front, and back are defined according to the position of the structures in the accompanying drawings and the relative positions of the structures, and are only used for clarity and convenience in expressing the technical solution. It should be understood that the use of these directional terms should not limit the scope of protection claimed in this application. It should also be understood that the terms "first" and "second," etc., used herein are only used for distinction in name and are not used to limit the number or order.

[0092] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content without departing from the scope of the technical solution of the present invention, which are equivalent embodiments with equivalent changes. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the technical solution of the present invention shall still fall within the protection scope of the technical solution of the present invention.

Claims

1. A tensioning device for a surgical instrument, characterized in that The device includes an elastic element (61), a locking mechanism (62), a first action element (63), and a second action element (64). At least one of the first action element (63) and the second action element (64) is used to connect a cable (71). The two ends of the elastic element (61) cooperate with the first action element (63) and the second action element (64) respectively and have a force to drive the first action element (63) and the second action element (64) to perform a first movement. The locking mechanism (62) cooperates with the first action element (63) and the second action element (64) and is at least used to prevent the first action element (63) and the second action element (64) from performing a second movement. When the first actuating member (63) and the second actuating member (64) perform the first movement, they can drive the cable (71) to perform a tensioning action.

2. The tensioning device of claim 1, wherein, The first actuating member (63) and the second actuating member (64) are respectively used to connect two sections of the cable (71) extending in opposite directions. The second actuating member (64) is provided with a receiving cavity (601). The elastic member (61) and the locking mechanism (62) are both provided in the receiving cavity (601). One end of the first actuating member (63) is provided in the receiving cavity (601) and is provided with a baffle (631). One end of the elastic member (61) is connected to the baffle (631), and the other end of the elastic member (61) is connected to the inner wall of the receiving cavity (601). The elastic member (61) has a force to drive the first actuating member (63) to slide toward the inside of the receiving cavity (601).

3. A tensioning device according to claim 1 or 2, characterized in that The locking mechanism (62) includes a phase change alloy. When the temperature is greater than a preset temperature value, the phase change alloy is in a liquid state, and the locking mechanism (62) is in an unlocked state. When the temperature is less than or equal to the preset temperature value, the phase change alloy is in a solid state, and the locking mechanism (62) is in a locked state. Alternatively, the locking mechanism (62) includes a first ratchet (621) and a second ratchet (622) that cooperate with each other. The first actuating member (63) is provided with the first ratchet (621), and the inner wall of the second actuating member (64) is provided with a plurality of second ratchets (622) distributed along the axial direction.

4. The tensioning device of claim 1, wherein, One end of the cable (71) is wound around the second action member (64). The first action member (63) includes a spring fixing member (631) and a locking member (632) that rotate synchronously. The second action member (64) is provided with a receiving cavity (601). The locking mechanism (62) and the locking member (632) are both provided in the receiving cavity (601). The locking mechanism (62) is at least used to prevent the locking member (632) and the second action member (64) from rotating in opposite directions. One end of the elastic member (61) is connected to the spring fixing member (631), and the other end of the elastic member (61) is connected to the second action member (64). The elastic member (61) has a torque that drives the first action member (63) and the second action member (64) to rotate in the forward direction relative to each other.

5. A tensioning device according to claim 4, characterized in that The locking mechanism (62) includes a phase change alloy. When the temperature is greater than the preset temperature value, the phase change alloy is in a liquid state, and the locking mechanism (62) is in an unlocked state. When the temperature is less than or equal to the preset temperature value, the phase change alloy is in a solid state, and the locking mechanism (62) is in a locked state.

6. A tensioning device according to claim 5, characterized in that The locking member (632) is provided with a first protrusion (6321), and the second actuating member (64) is provided with a second protrusion (6411) on the inner wall of the receiving cavity (601). The first protrusion (6321) and the second protrusion (6411) both cooperate with the locking mechanism (62).

7. The tensioning device of claim 4, wherein, The spring fixing member (631) and the elastic member (61) are both located outside the receiving cavity (601), and the elastic member (61) is sleeved on the outer wall of the second actuating member (64); or, the spring fixing member (631) and the elastic member (61) are both located inside the receiving cavity (601).

8. The tensioning device of claim 4, wherein, The tensioning device (60) includes a rotating shaft (65), and the first actuating member (63) and the second actuating member (64) are both sleeved on the rotating shaft (65). The first actuating member (63) rotates synchronously with the rotating shaft (65), and the second actuating member (64) can rotate relative to the rotating shaft (65).

9. The tensioning device of claim 4, wherein, The second actuating member (64) includes a housing (641) and a winding wheel (643), the winding wheel (643) being fixed to one end of the housing (641) and used for winding around the cable (71).

10. The tensioning device of claim 1, wherein, The first actuating element (63) includes a wedge-shaped slider (633) and a cooperating radial slider (634), the radial slider (634) being used to fix the cable (71). The second actuating element (64) has a receiving cavity (601) and a radial groove (602) communicating with the receiving cavity (601). The radial slider (634) is installed in the radial groove (602) and can slide within the radial groove (602). Both the wedge slider (633) and the elastic element (61) are disposed in the receiving cavity (601). One end of the elastic element (61) is connected to the wedge slider (633), and the other end of the elastic element (61) is connected to the inner wall of the receiving cavity (601). The elastic element (61) has a force that drives the wedge slider (633) and the second action element (64) to rotate in a positive direction relative to each other, so as to drive the radial slider (634) to slide in a positive direction relative to the radial groove (602). The locking mechanism (62) includes a first wedge-shaped protrusion (6331) on the wedge-shaped slider (633); or, the locking mechanism (62) includes a plurality of first ratchet teeth (621) on the wedge-shaped slider (633) and a second ratchet tooth (622) on the radial slider (634) that engages with the first ratchet teeth (621), wherein the inclined surface engaging with the first ratchet teeth (621) engages with the inclined surface of the second ratchet tooth (622).

11. A tensioning device according to claim 10, characterized in that The radial slider (634) is provided with a second wedge-shaped protrusion (6341) that cooperates with the first wedge-shaped protrusion (6331), and the inclined surface of the first wedge-shaped protrusion (6331) cooperates with the inclined surface of the second wedge-shaped protrusion (6341).

12. The tensioning device of claim 10, wherein, The tensioning device (60) includes a rotating shaft (65), and the wedge-shaped slider (633) and the second action member (64) are both sleeved on the rotating shaft (65). The second action member (64) rotates synchronously with the rotating shaft (65), and the wedge-shaped slider (633) can rotate relative to the rotating shaft (65); or, the wedge-shaped slider (633) rotates synchronously with the rotating shaft (65), and the second action member (64) can rotate relative to the rotating shaft (65).

13. The tensioning device of claim 12, wherein, The rotating shaft (65) is provided with a winding shaft (651) for winding the cable (71), and the winding shaft (651) rotates synchronously with the rotating shaft (65).

14. A surgical robot, characterized in that, Includes the tensioning device (60) as described in any one of claims 1-13.

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